Harbor Branch Foundation, Inc. has developed a tethered underwater vehicle, CORD 11 (Cabled Observation and Rescue Device). This system uses 3,500 feet of 3/8" o.d. armored coaxial cable to send 500 VAC power, three channels of FSK information for control of the vehicle plus frequency modulated television and sonar echo information.
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This manuscript is available at http://ieeexplore.ieee.org/ and may be cited as: Vulih, S., & Clayton, D. L. (1981). Electronic control system for an electro-hydraulic winch. Conference proceedings: IEEE Southeastcon '81, 5-8 April 1981, Von Braun Civic Center, Huntsville, Alabama. (pp. 42-46). New York, NY: Institute of Electrical and Electronics Engineers. doi:10.1109/SECON.1981.673395
Florida Atlantic University. Harbor Branch Oceanographic Institute contribution #219.