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

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Text this: Navigation of an underwater robotics vehicle using an inertial navigation system and a global positioning system