As part of the WHOI team working on this project, I worked across engineering disciplines (mechanical, electrical, and software) to debug and improve overall performance of multiple critical subsystems for an extra-large, bioinspired AUV. Systems included an open-loop seawater buoyancy engine, anchoring system, and assorted mechatronic actuators. I developed key proficiencies in motor controller integration (Elmo Motion Controllers), PCB debugging and systems engineering.