# Dive Notes 

*VENTANA DIVE:** 3990
*Location:* Iceberg wall, 1180m

## Log

*  able to control well on bottom measurement from DVL
*  unable to improve basic control loop, some sign errors and lack of proportional gain

## Remaining Items

*  tune up bottom following sensor math
*  improve control loop
*  account for over-the-horizon issues with any measurement.
*  analyze data
*