diff --git a/NaviGator/mission_control/navigator_launch/config/camera_calibration/dell.yaml b/NaviGator/mission_control/navigator_launch/config/camera_calibration/dell.yaml
index ca760aabe..3f540b3d9 100644
--- a/NaviGator/mission_control/navigator_launch/config/camera_calibration/dell.yaml
+++ b/NaviGator/mission_control/navigator_launch/config/camera_calibration/dell.yaml
@@ -1,6 +1,6 @@
 ---
-image_width: 1920
-image_height: 1080
+image_width: 640
+image_height: 480
 camera_name: head_camera
 camera_matrix:
   rows: 3
diff --git a/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/dell_right.launch b/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/dell_right.launch
index c9c48093a..f60658313 100644
--- a/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/dell_right.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/dell_right.launch
@@ -1,19 +1,18 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="simulation" default="False" />
-  <group ns="camera/front/right" >
-    <node pkg="usb_cam" type="usb_cam_node" name="dell_driver" unless="$(arg simulation)" >
+  <group ns="camera/front/right">
+    <node pkg="usb_cam" type="usb_cam_node" name="dell_driver" unless="$(arg simulation)">
       <param name="video_device" value="/dev/v4l/by-id/usb-Alpha_Imaging_Tech._Corp._Dell_Webcam_WB7022_A7D19B26B27A-video-index0" />
       <param name="camera_frame_id" value="wamv/front_right_cam_link_optical" />
       <param name="camera_info_url" value="file://$(find navigator_launch)/config/camera_calibration/dell.yaml" />
       <param name="pixel_format" value="yuyv" />
-      <param name="image_width"  value="1920" />
-      <param name="image_height" value="1080" />
-      <param name="framerate" value="7" />
+      <param name="image_width" value="640" />
+      <param name="image_height" value="480" />
+      <param name="framerate" value="30" />
       <remap from="dell_driver/image_raw" to="image_raw" />
       <remap from="dell_driver/camera_info" to="camera_info" />
     </node>
-    <node pkg="image_proc" type="image_proc" name="dell_right_image_proc">
-  </node>
+    <node pkg="image_proc" type="image_proc" name="dell_right_image_proc"></node>
   </group>
 </launch>
diff --git a/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/front_cameras.launch b/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/front_cameras.launch
index 9bd832f5c..c4c0de246 100644
--- a/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/front_cameras.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/hardware/cameras/front_cameras.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="front_left"  default="True" />
+  <arg name="front_left" default="False" />
   <arg name="front_right" default="True" />
   <arg name="simulation" default="False" />
   <include if="$(arg front_left)" file="$(find navigator_launch)/launch/hardware/cameras/dell_left.launch">
diff --git a/NaviGator/mission_control/navigator_launch/launch/hardware/kill_board.launch b/NaviGator/mission_control/navigator_launch/launch/hardware/kill_board.launch
index 55cc23647..0cd3c3c01 100644
--- a/NaviGator/mission_control/navigator_launch/launch/hardware/kill_board.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/hardware/kill_board.launch
@@ -1,6 +1,6 @@
 <launch>
   <node pkg="navigator_kill_board" type="kill_board_driver.py" name="kill_board_interface">
-    <param name="port" value="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A104OWRY-if00-port0" />
+    <param name="port" value="/dev/serial/by-id/usb-Texas_Instruments_In-Circuit_Debug_Interface_0E237EF7-if00" />
     <param name="baud" value="9700" />
   </node>
 </launch>
diff --git a/NaviGator/mission_control/navigator_launch/launch/master.launch b/NaviGator/mission_control/navigator_launch/launch/master.launch
index 80c0cc849..639593a62 100644
--- a/NaviGator/mission_control/navigator_launch/launch/master.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/master.launch
@@ -10,7 +10,7 @@
     <include if="$(arg online-bagger)" file="$(find navigator_launch)/launch/online_bagger.launch" />
     <include unless="$(arg simulation)" file="$(find navigator_launch)/launch/hardware.launch"/>
     <include unless="$(arg simulation)" file="$(find navigator_launch)/launch/perception/classifier.launch" >
-        <arg name="main_image_topic" value="/camera/front/left/image_color"/>
+        <arg name="main_image_topic" value="/camera/front/right/image_color"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
diff --git a/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch b/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
index f5d795b50..6f365998e 100644
--- a/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
@@ -1,68 +1,67 @@
 <?xml version="1.0"?>
 <launch>
 
-    <arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
-    <arg name="weights_model2" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
-    <arg name="weights_model3" default="$(find yolov7_ros)/src/mil_weights/stc.pt" />
-    <arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
-    <arg name="data_yaml_model2" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
-    <arg name="data_yaml_model3" default="$(find yolov7_ros)/src/data/stc.yaml" />
-    <arg name="main_image_topic" default="/camera/front/left/image_color"/>
-    <arg name="image_topic_model1" default="/yolov7/model1" />
-    <arg name="image_topic_model2" default="/yolov7/model2" />
-    <arg name="out_topic_model1" default="detections_model1" />
-    <arg name="out_topic_model2" default="detections_model2" />
-    <arg name="out_topic_model3" default="stc_detections_model" />
-    <arg name="conf_thresh" default="0.25" />
-    <arg name="image_size" default="640" />
-    <arg name="device" default="cpu" />
-    <arg name="use_yolo_model1" default="False"/>
-    <arg name="use_yolo_model2" default="False"/>
-    <arg name="use_yolo_model3" default="True"/>
+  <arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
+  <arg name="weights_model2" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
+  <arg name="weights_model3" default="$(find yolov7_ros)/src/mil_weights/stc.pt" />
+  <arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
+  <arg name="data_yaml_model2" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
+  <arg name="data_yaml_model3" default="$(find yolov7_ros)/src/data/stc.yaml" />
+  <arg name="main_image_topic" default="/camera/front/right/image_color" />
+  <arg name="image_topic_model1" default="/yolov7/model1" />
+  <arg name="image_topic_model2" default="/yolov7/model2" />
+  <arg name="out_topic_model1" default="detections_model1" />
+  <arg name="out_topic_model2" default="detections_model2" />
+  <arg name="out_topic_model3" default="stc_detections_model" />
+  <arg name="conf_thresh" default="0.7" />
+  <arg name="image_size" default="640" />
+  <arg name="device" default="cpu" />
+  <arg name="use_yolo_model1" default="False" />
+  <arg name="use_yolo_model2" default="False" />
+  <arg name="use_yolo_model3" default="True" />
 
-    <node name="testing_arbiter" pkg="topic_tools" type="demux"
-		args="$(arg main_image_topic) $(arg image_topic_model1) $(arg image_topic_model2) /yolov7/none">
-		<remap from="demux" to="/yolov7"/>
-	</node>
+  <node name="testing_arbiter" pkg="topic_tools" type="demux" args="$(arg main_image_topic) $(arg image_topic_model1) $(arg image_topic_model2) /yolov7/none">
+    <remap from="demux" to="/yolov7" />
+  </node>
 
-    <!-- Use YOLOv7 -->
-    <include if="$(arg use_yolo_model1)" file="$(find yolov7_ros)/launch/yolov7.launch">
-        <arg name="weights" value="$(arg weights_model1)"/>
-        <arg name="image_topic" value="$(arg image_topic_model1)"/>
-        <arg name="out_topic" value="$(arg out_topic_model1)"/>
-        <arg name="conf_thresh" value="$(arg conf_thresh)"/>
-        <arg name="image_size" value="$(arg image_size)"/>
-	<arg name="device" value="$(arg device)"/>
-	<arg name="data_yaml" value="$(arg data_yaml_model1)"/>
-    </include>
+  <!-- Use YOLOv7 -->
+  <include if="$(arg use_yolo_model1)" file="$(find yolov7_ros)/launch/yolov7.launch">
+    <arg name="weights" value="$(arg weights_model1)" />
+    <arg name="image_topic" value="$(arg image_topic_model1)" />
+    <arg name="out_topic" value="$(arg out_topic_model1)" />
+    <arg name="conf_thresh" value="$(arg conf_thresh)" />
+    <arg name="image_size" value="$(arg image_size)" />
+    <arg name="device" value="$(arg device)" />
+    <arg name="data_yaml" value="$(arg data_yaml_model1)" />
+  </include>
 
-    <!-- Use YOLOv7 -->
-    <include if="$(arg use_yolo_model2)" file="$(find yolov7_ros)/launch/yolov7.launch">
-        <arg name="weights" value="$(arg weights_model2)"/>
-        <arg name="image_topic" value="$(arg image_topic_model2)"/>
-        <arg name="out_topic" value="$(arg out_topic_model2)"/>
-        <arg name="conf_thresh" value="$(arg conf_thresh)"/>
-        <arg name="image_size" value="$(arg image_size)"/>
-	<arg name="device" value="$(arg device)"/>
-	<arg name="data_yaml" value="$(arg data_yaml_model2)"/>
-    </include>
+  <!-- Use YOLOv7 -->
+  <include if="$(arg use_yolo_model2)" file="$(find yolov7_ros)/launch/yolov7.launch">
+    <arg name="weights" value="$(arg weights_model2)" />
+    <arg name="image_topic" value="$(arg image_topic_model2)" />
+    <arg name="out_topic" value="$(arg out_topic_model2)" />
+    <arg name="conf_thresh" value="$(arg conf_thresh)" />
+    <arg name="image_size" value="$(arg image_size)" />
+    <arg name="device" value="$(arg device)" />
+    <arg name="data_yaml" value="$(arg data_yaml_model2)" />
+  </include>
 
-    <!-- Use YOLOv7 -->
-    <include if="$(arg use_yolo_model3)" file="$(find yolov7_ros)/launch/yolov7.launch">
-        <arg name="weights" value="$(arg weights_model3)"/>
-        <arg name="image_topic" value="/stc_mask_debug"/>
-        <arg name="out_topic" value="$(arg out_topic_model3)"/>
-        <arg name="conf_thresh" value="$(arg conf_thresh)"/>
-        <arg name="image_size" value="$(arg image_size)"/>
-	<arg name="device" value="$(arg device)"/>
-	<arg name="data_yaml" value="$(arg data_yaml_model3)"/>
-    </include>
+  <!-- Use YOLOv7 -->
+  <include if="$(arg use_yolo_model3)" file="$(find yolov7_ros)/launch/yolov7.launch">
+    <arg name="weights" value="$(arg weights_model3)" />
+    <arg name="image_topic" value="/stc_mask_debug" />
+    <arg name="out_topic" value="$(arg out_topic_model3)" />
+    <arg name="conf_thresh" value="$(arg conf_thresh)" />
+    <arg name="image_size" value="$(arg image_size)" />
+    <arg name="device" value="$(arg device)" />
+    <arg name="data_yaml" value="$(arg data_yaml_model3)" />
+  </include>
 
-    <arg name="train" default="False" />
-    <node pkg="navigator_vision" type="classifier.py" name="classifier" output="screen">
-        <param name="debug" value="True" />
-        <param name="image_topic" value="$(arg main_image_topic)" />
-	    <param name="model_location" value="config/model" />
-        <param name="train" value="$(arg train)" />
-    </node>
+  <arg name="train" default="False" />
+  <node pkg="navigator_vision" type="classifier.py" name="classifier" output="screen">
+    <param name="debug" value="True" />
+    <param name="image_topic" value="$(arg main_image_topic)" />
+    <param name="model_location" value="config/model" />
+    <param name="train" value="$(arg train)" />
+  </node>
 </launch>
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py
index b40136d8d..f51865b0b 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py
@@ -290,10 +290,18 @@ async def explore_closest_until(self, is_done, filter_and_sort):
             # and find closest one within 25 meters (max width of a gate).
             if cone_buoys_investigated > 0 and potential_candidate is None:
                 for i in range(len(objects)):
-                    print(positions[i])
+                    obj_vol = (
+                        objects[i].scale.x * objects[i].scale.y * objects[i].scale.z
+                    )
+
+                    # Catch case where we invesitegate the shore
+                    if obj_vol > 3:
+                        continue
+
                     if (
                         objects[i].id not in investigated
                         and "round" not in objects[i].labeled_classification
+                        and obj_vol < 3
                     ):
                         distance = np.linalg.norm(positions[i] - self.pose[0])
                         if distance < shortest_distance and distance <= 25:
@@ -308,9 +316,18 @@ async def explore_closest_until(self, is_done, filter_and_sort):
             # if that doesn't produce any results, literally just go to closest buoy
             if potential_candidate is None:
                 for i in range(len(objects)):
+                    obj_vol = (
+                        objects[i].scale.x * objects[i].scale.y * objects[i].scale.z
+                    )
+
+                    # Catch case where we invesitegate the shore
+                    if obj_vol > 3:
+                        continue
+
                     if (
                         objects[i].id not in investigated
                         and "round" not in objects[i].labeled_classification
+                        and obj_vol < 3
                     ):
                         distance = np.linalg.norm(positions[i] - self.pose[0])
                         if distance < shortest_distance:
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
index 36c78fcbc..47ce2ac8a 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
@@ -3,6 +3,7 @@
 
 import asyncio
 import os
+from enum import IntEnum
 from typing import Callable
 
 import genpy
@@ -42,6 +43,16 @@
 from .pose_editor import PoseEditor2
 
 
+class UAVModes(IntEnum):
+    """
+    Enumerates constants of friendly uav mode names to ints
+    """
+
+    STOWED = 1
+    DEPLOYED = 2
+    FAULTED = 3
+
+
 class MissionResult:
     NoResponse = 0
     ParamNotFound = 1
@@ -130,6 +141,7 @@ async def setup_base(cls, mission_runner):
         )
 
         cls.pose = None
+        cls.uav_status = UAVModes.STOWED
 
         def odom_set(odom: Odometry):
             return setattr(cls, "pose", mil_tools.odometry_to_numpy(odom)[0])