I did another test run at Heather Farm in Walnut Creek.

Here's links to the data files the boat made:

(temp on a map)  (csv file) (geojson format)

I still would like the boat to automatically upload the data but it's very easy to access right now.

Things to fix:

• Leaks!  I think the hull doesn't leak with 2 coats of epoxy, but the hatch seals and the hatch itself are not fully waterproof.  Before I go out into salt water I need more waterproofness.
• Sometimes when the motor comes on it auto mode the ESC is out of sync.  Since it's a sensorless brushless motor if the motor does not go the right speed it just vibrates.  There are throttle time constants that I will try to adjust.
• The boat leans a lot when turning, and sometimes catches a rail and goes straight.  Only when going fast, and if the bow is up enough it is fine.  I wonder if a shorter rudder would help or if it's just the v-hull.  Maybe I'll print a shorter rudder.  I can shift the center of gravity by moving components aft too.