Fig. 6

Detection range curves of USV trials in drifting mode with a tether length (i.e., receiver depth) of 2.9 m when the thruster was off. Lines are model predictions from trials with a tethered receiver (VEMCO VR2Tx; dashed maroon) or integrated sensor hub (VEMCO miniVR2C/RXlive; solid beige) for high- (left) and low-power (right) transmissions. Shaded regions are 95% confidence intervals of model predictions