The above photo is the thrusters, controllers, position sensor and barely visible servos mounted in the main body, thois assembly is made of delrin and makes up the inner sealed cavity. We would tell how we intend to insure water tight ness, but decided the competition would benefit too much from our example. So this will remain a secret. We are now ready for main sensors, accoustic, and optical, the main CPU cammera and the battery compartment, The above design can manuver, control prop speed 2 stern palnes, and rudders each and accurately calculate 6 axis position sub temperature and depth to .1cm... all queried from the main cpu.
Next stop the brains...
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