Below considerations require opening up the frame by 4 inches to take the sub from 24 inches wide to 28 inches wide. Alternative considerations would be to lengthen the sub to eliminate the obstruction of the thrusters by the batter tubes on the side of the DVL enclosure.
Option 1: utilizing the face mounting technique, slimming down faces of the dvl enclosure to enable side mounting of the penetrators. Note side mounting is found on the side of the length wise enclosure on the side of the DVL not the power box, need at least 12 in longer cable compared to if we utilized penetrators ont he back of the enclosure near the control box.This placement was selected as there was more area for the bend radius of the cable near the DVL compared to the area around the control box.
Need to utilize blue robotics penetrators and do our own potting. The old blue robotics penetrators have a 25 mm long thread, the new blue robotic penetrators have a 20mm long thread, blue trail engineering connectors have a 16 mm long thread.
Blue robotics penetrator here
Blue trail engineering connector here
Link to CAD
Option 2:
Dead simple variation. We are able to utilize cables with blue trail engineering connectors on either end.
Link to CAD
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