Mongoose AUV - Linux and PVC tubing

Here's a page describing Georgia Tech's entrant to the Eighth Annual AUVSI and ONR Autonomous Underwater Vehicle Competition,   This model actually took 12th place in the competition, which ran Aug. 3-7, 2005, with the University of Florida's Subjugator taking first place.

The Georgia Tech students describe the design and construction of their pretty functional-looking AUV.  There are photos and schematics and in the end you actually get to see the craft in the water.

  http://www.linuxdevices.com/articles/AT7101484471.html