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Frank, Although in the early stages of design, my boat will have a superstructure simular to the cold war "boomers". in this free flooded superstructure will be two barn doors. when these open up and outward, a small ROV with a tether will rise straight up slowly until clear of the deck. Once operational checks are performed such as camera reception and thruster tests, its away to explore. It will be retieved in a like manner and the doors once again closed. A spool will store the wire and aid in deployment/stowage. Power will be supplied from the mother boat via the tether. David Bartsch
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