Small video made up of a number of hours of footage from a week in Portroe Quarry, Ireland. Big thanks to @williangalvani for the help received in setting up the firmware before we headed out. Ran position hold for about 4 hours total over the few dives with only two small hiccups. The DVL-A50 is definitely a great piece of kit.
I was in the quarry/dive centre with the Centre for Robotics & Intelligent Systems in the University of Limerick, http://www.mmrrc.ul.ie/dotnetnuke/mmrrc/Home.aspx who were preforming tests with the two larger ROVs as can be seen in the video.