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Which 100%? Map updates or no updates?
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no updates and/or no sonar/sound lines.
just the law of sines to solve the triangle--done twice to determine the difference to solve distance travelled in 3:15 = speed.
yes...sleep
long patrols. Some folks read, some play cribbage, chess, solitaire, some knit. I've already made 3 sweaters, 3 pair of socks, 3 pr of gloves, and 3 watch caps...my christmas list is about complete.