The current software stack for the underwater communication is entierly written in C++, for reasons only known by it's developper, as the API provided by the manufacturer is entierly python based.
The modem model used for our inter-sub communication is the M64 from WaterLinked. We are currently using the channel 6 of the modem, which puts us in the 187kHz-218kHz frequency band.
For the official documentation, follow this link to the WaterLinked website. Additionaly we also have our own copy of the user manual saved here.
Here is the mission list and the state interpretation used by the underwater comminucation.
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