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__    __     ___     ______    _    _    _____    
\ \\ / //   / _ \\  |      \\ | || | || |  __ \\  
 \ \/ //   | / \ || |  --  // | || | || | |  \ || 
  \  //    | \_/ || |  --  \\ | \\_/ || | |__/ || 
   \//      \___//  |______//  \____//  |_____//  
    `       `---`   `------`    `---`    -----`

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Text this: Localization of an underwater robot for remote data collection