This week I started writing the behavioral tree code in C++ while using the diagrams I created last week as a reference. After writing the behavioral tree code for two of the tasks I worked on improving the object detection model. We recorded new footage underwater after we received the final prints of the objects. I annotated each image and we started the training of the object detection model. As a team we expect the drone to be fully next week before our next pool test. During our next pool test, we plan to use a tether to control the movements of the drone and also test out the object detection model to see how well it works.