Fig. 3

Time-based dive profiles. Depth (a), pitch (b), and temperature (c) profiles of gliding robotic fish GRACE during a 10-min segment of run 18–1 in Higgins Lake. Depths, pitch, and temperature were recorded by the on-board sensors (open symbols) and were estimated at the time of tag signal transmissions (red symbols). Horizontal broken line in a shows depth of the stationary transmitter at site T6. The black dot in c shows a single temperature measurement by the stationary transmitter at site T6 and the broken line connects that observation to the previous and next temperature measurements at that site