An Autonomous Submersible Designed for Software Development

'Sea Grant College Program, Massachusetts Institute of Technology, 292 Main Street, Cambridge, Massachusetts 02139 Vharles Stark Draper Laboratory, 555 Technology Square, Cambridge, Massachusetts 02139 3Department of Ocean Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, Massachusetts 02139 41nternationaI Submarine Engineering, I734 Broadway Street, Port Coquitlum, British Columbia, Canada V3C 2M8