OceanServer Iver2 Autonomous Underwater Vehicle remote helm functionality

The Iver2 Autonomous Underwater Vehicle remote helm functionality provides an open system interface, which allows users to easily integrate their own sensors, and take full control over the vehicle in real time. The remote helm option provides a separate CPU to communicate with the main vehicle control CPU. The remote helm API provides all the commands when interfacing the Iver2 to a user control program. This paper will describe the remote helm commands of this serial bus API and the software tools that can aid in implementing a system.