**2. P-SURO AUV overview**

As aforementioned, P-SURO AUV is a test-bed for developing underwater technologies. And most of its experimental tests will be carried out in an engineering basin in the PIRO with dimension of 12(L)×8(W)×6(D)m. Under these considerations, the vehicle is designed to be compact size with easiness of various algorithm tests (Li et al., 2010). The general specification of the vehicle is as Table. 1.


Table 1. General specification of P-SURO AUV.
