As usual Serenity cruised through the buoy channel. However we did have some single detection issues that were solved easily.  However, she started driving in circles right as she exited the buoy navigation. We soon realized that our obstacle avoidance system had crashed, causing Serenity to not get an updated waypoint, and circling back to the old one. We fixed this issue as soon as we got out of the water, and we ran some tests in the practice area to work on shore detect and the water gun challenge. More to come!