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Acknowledgments
In true DIT spirit, this book was made possible thanks to the love, support, and generosity of dozens of people.
Im eternally grateful to the team at Make, who gave this project a chance: Dale Dougherty, Gareth Branwyn, Brian Jepson (my intrepid editor), Mark Fraunfelder, Sherry Huss, and everyone else. The team at TechShop that took me under their wing: Mark Hatch, Jim Newton, Dan Gonzalez, Zack Johnson; and all the makers mentioned in this book who put up with me, especially Tim Anderson.
Writing-wise, I never would have made it without the patience and encouragement of Ethan Watters, Jason Rezaian, Stephen Hanselman, and Julia Serebrinsky. And everyone who read drafts and provided such wonderful feedback: Malcolm Knapp, Abe Fetterman, and Mom!
Writing this book served as a constant reminder of how lucky I am to know and work with Eric Stackpole (and everyone else in the OpenROV community). What a crazy ride. Im looking forward to the many more adventures to come.
And, of course, all 2,582 Kickstarter backers. Writing is a lonely battle, and their support was wind in the sails. A special thank you to the True Believers: Adam Anderson, Aimee Sonderman, Alan McNeil, Alexander Kiselev, Andrew Buckman, Andrew Foster, Andrew Thaler, Anton Willis, Antony Evans, Bhushan Lele, Brad Doane, Brett Bayley, Brian Boyle, Charlotte Zejlon, Chris Lin, Christian Latouche, Colin Ho, Courtney Harrison, Craig Selvaggi, Cyril Ebersweiler, Daemon Eye, David Cooper, David Lusby, Davis, Deepak Mehta, Dominik Fretz, Douglas Schuberth, Douglas Yee, Emily Pilloton, Eric Facas, Eric Hall, Ezequiel Calderara, Fadi Musleh, Frank, Fred & Bonnie davis, Friedrich Boeckh, Gillian Benary, Giovanni Farinazzo, Greg P Flanagan, Gretchen Frankenthal, Jacob Hurwitz and David Neill, Jacque Pruitt II, James, James Green, JamesLechner, Jason Lucas, Jay, Jeff Konrardy, Jeff Petre, Jeff Ziehler, Jeffrey Corbett, Jeremiah Rogers, Jessica Jackley, Jocelyn Corbett, Joe Lillibridge, John La Puma, John Parts Taylor, Julia Kernitz, Justin Shaw, Kacy Oen, Karen Baumgartner, Kate Linge, Katherine Adams, Katie Wilson, Keith Chapman, Keith Nelson, Keith Woeltje, Kevin I, Kiel Luse, Kim, Kosi2801, kwyjib0, Kyle Smith, Lawrence Neeley, Lisa Ballard, Lisa Q. Fetterman, Lynda Davis, MakerStash, Mark Pereyda, Matthew F. Reyes, Matthias E., Max Fancher, Melissa Spencer, Michael Pepper, Nathan, ND356, Nick Campbell, Nick Pinkston, Nicole Tindall, Nik Martelaro, Olivier Vigneresse, OttawaGuy, Paolo Tabaroni, Paul Lang, Rachel Tobias, Richard Brull, rkt88edmo, Ronny, Ryan Huff, Sabrina Merlo, Sam Brown, Samantha Farbman, shawn looker, Stephen Marchand, Steve Huynh, Steven Keating, Sue Lang, T.J. Anderson, Tamara Dunaye, Teresa Gonczy, Thanh Vo, Tom Lang, Tom Waloszek, Tony Guntharp, Tucker Max, vlaskovits, Yasser Ansari, and Zach Berke.
Chapter 1. Down the Rabbit Hole
The cave you fear to enter holds the treasure you seek.
Joseph Campbell
The entire situation was unfamiliar. I was in a part of the world I had never seenthe foothills of the Trinity Alps in Northern California, deep in the heart of Humboldt County, where the cell phone reception seemed as prehistoric as the surrounding landscape. We completed the seven-hour drive from San Francisco, through the giant redwood forest, to explore the Hall City Cave. The beam of light emanating from my headlamp exposed vivid details: threatening stalactites, a rock wall covered in spiders, and a few inverted, sleeping bats. I was carrying a large yellow Pelican case containing an underwater robot I had helped design and build. That was really new.
I think the next time we do this, we should wait until the summer, I said to Eric as I handed him the case to get a better footing as we descended further into the cave. The clunky, waterproof boots I was wearing were not the best choice for spelunking, but they were my only option given the awful weather outside the cave. He looked at me and smiled. It was obvious to all six brave souls who made the trek that choosing a January date for our trip to the cave was not wise. With such a dry and mild winter we thought Mother Nature might spare us a few more nice days, but we had pushed our luck. The heavy, constant snowfall was an hourglass constantly reminding us of how little daylight was left and how much worse the return trip could get.
My remark to Eric was meant to be lighthearted. A series of nearly trip-ending incidents had left the group exhausted. We woke up to worse-than-expected weather and were forced to scramble to find chains for our car tires. After we made it up the mountain, we found the back roads to be impenetrable. Luckily, we met a local Wildwood resident who offered to help plow us through the snow-covered back roads. By the time we reached the cave, everyone was tense and tired.
Ever since Eric Stackpole and I first met and talked about underwater Remotely Operated Vehicles (ROVs) and ocean exploration, we had been plotting for this moment. Eric tells the backstory, The Legend of Hall City Cave, much better than I do; its his favorite story to tell and he will share it with anyone willing to listen, whether its a full auditorium or a small dinner party. He always starts out the same way: ensuring that his audience has a full 90-second attention span to dedicate to his tale. He shakes out his arms and takes a deep, preparatory breath, Whooooosh! A wave of his hands and an exaggerated exhale take them back in time: