Available resources
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Power:  26-34 VDC power bus up to 15Amps (not switched by computer)
Comms:  10/100 ethernet on UTP, 1.0 Mbps CANbus using CANopen protocol
Standard Bus Connector: Seacon Min-K-10-Long (pinout available)
Energy: 3 KWhr, 6KWhr, 9KWhr, or 12 KWhr (we have 1x 3KWhr battery bank, and 2x 6KWhr battery banks)
Speeds: 2-4 knots with appox. 100N positive buoyancy
Payload Space: Nose section or parallel mid-body cut to any length <= 66" (payload section should be slightly positively buoyant)
AUV is at least 4000m pressure rated.
AUV might have a spare RS-232/RS-422/RS-485 port on the main vehicle computer (MVC) to run a payload. Connector would then be a LPIL-9-MP.
MVC is a PC/104+ stack with a NS Geode processor running QNX 4.25. A PCI framegrabber in a PC/104+ format may be plugged into the stack. Many, many CPU cycles are free. There is at least 64 MB of free RAM for payload computing.