A video which demonstrates the performance of the microAUV localization system can be found under: https://youtu.be/qT9MzZRaZfI
Please find the corresponding rosbag files of the experiments here https://drive.google.com/drive/folders/1_KiHCTKcxUmNFTifseMDGi3o-0_pG4M6?usp=sharing