We took the boat out for longer and farther than we ever have before. The boat successfully ran a set of waypoints and demonstrated virtual anchoring. We were going for a second run of our waypoint set when the boat started to slow down. We thought at the time that it might be due to a declining battery, but hand measuring the cell voltage before and after the trip casts some doubt on that idea, especially since we were only out for about half the time the batteries ought to last. Once i dump the boat data I can graph the motor current and voltage and see where we're really at.