The Dagon System: A Modular AUV for Long-term Monitoring and Observation

This paper presents the concept of a new modular AUV called “Dagon” that combines active motion capabilities of autonomous underwater vehicles with energy efficiency of moored vertical profilers, yielding a system capable of mobile and energy-efficient monitoring and observation of coastal waters using dedicated chemical and biological sensors. Different mission scenarios and vehicle applications are discussed. The article contains a detailed description of all functional modules of the vehicle and mechanical systems that implement the transition between an AUV and a profiler type of observation.