2.4.3 Depth Sensor

The depth sensor is a pressure transducer located in the propulsion module. The data is collected by the External Sensor Unit.
The data produced by the depth sensor may be used in simple depth hold algorithms, or may be used to help trim the vertical buoyancy of the vehicle by closing a depth hold loop through the VBC. The depth sensor data is currently not used by the vehicle state estimation software.
The analog depth sensor data is collected by the ESU 6811 microprocessor through a New Micros 12 bit ADC board. The sensor information is collected, and returned to the main processor via a RS422 serial communications line at a rate of about 200 Hz.