APPENDIX A: LIST OF ACRONYMS

3DAPS Three Dimensional Acoustical Positioning System
BCS Buoyancy Compensation System
BCU Buoyancy Compensation Unit
CBC Coarse Buoyancy Compensator
DOF Degree (or Degrees) of Freedom
EM Electronics Module
ESU External Sensor Unit
IMU Inertial Measurement Unit
LPU Local Processor Unit
MiMiCS Microprocessor Microcontroller Communication System
MM Manipulator Module
NBRF Neutral Buoyancy Research Facility
NBV Neutral Buoyancy Vehicle
NL Nonlinear
PDU PWM Drive Unit
PM Propulsion Module
PWM Pulse Width Modulation
RBC Rotational Buoyancy Compensator
RNBV Ranger Neutral Buoyancy Vehicle
SSL Space Systems Laboratory
TCU Thruster Control Unit
VBC Vertical Buoyancy Compensator