Time series of performance metrics and environmental variables for the estuarine array. Measurements of (a, b) performance metrics and (c-f) environmental variables during the study period from 2 September 2009 to 9 August 2010. Performance metrics were only calculated for discrete 5-day intervals to correspond with sampling of macrophytes. Dotted lines show linear interpolation between these 5-day intervals while vertical grey bars in (c) through (e) indicate the corresponding time periods in plots of other environmental metrics. The yellow line in (b) shows the daily mean positioning errors during the daytime period (7:00 to 19:00), while the gray line shows the daily mean positioning errors during the night period (19:00 to 7:00). For data sources, see text.