Autonomous Submarine.

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    Im trying to build a Autonomous submarine AUV similar to the Slocum glider.

    In order to dive the battery tray is moved forward thus altering the centre of balance on the pitch to a predetermined angle (25 deg). At a certain depth the tray moves back to the negative angle (-25) and the sub rises. the sub moves through the water in a sawtooth motion.

    Using your balance robot would this be possible? Its basically the reverse of what the robot does. Could you help?

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