1. This was an easy choice. Looking to see what other folks had done pushed me in the direction of 1/2 inch PVC pipe. It's cheap and easy to work w...

2. First pic is the buoyancy test. Second pic attempts to show how thruster wires are led into potted bullet connectors. Third pic is more of the s...

3. I got a lot of ideas from the web and decided to go with bilge pump cartridges. They're relatively cheap (about $20+) each and have about the ri...

4. I used a 50 foot length of Cat 6 Ethernet cable. I pushed it into 50 feet of polypropylene rope. I used the end of a ball point pen taped onto t...

5. First pic shows camera and compass. Second pic shows what happens when you keep adding stuff. Third pic shows underside-mounted motor controller...

6. The first video shows Depth Hold working pretty well.The second video is a test of the Heading Hold feature.PseudocodeThe Arduino Mega runs a sk...

7. 6 Channel RC transmitter Control BoxThe original control box (old cigar box) that held electronics not on the sub has been replaced by a floatin...

8. I did add a mini DVR module to the control box to sit between the OSD (On Screen Display) and the little TV to record the video. But with the ch...