Modular sensing device, system, and method

A modular sensing device configured to execute one or more underwater missions has multiple separable modules physically attached end-to-end and forming an elongated structure of the device that the modules each having a cylindrical shape and attached together to form an elongated cylinder, at least one of the modules selected, from among multiple module choices, for inclusion in the device based on mission-specific requirements. The modules include (i) a nose module that houses a set of sensors configured to make underwater measurements, (ii) an electronics module that houses electronic control circuitry configured to operate the device autonomously, the electronics module electrically coupled to the nose module for receiving and storing the underwater measurements, (iii) a variable buoyancy module electrically coupled to the electronics module, the variable buoyancy module configured to vary its own buoyancy in response to control signals from the electronics module, (iv) a communications module, and (v) a parachute module. Wherein the communications module has a convex outer end disposed against the parachute module such that, upon separation of the parachute module from the device, the convex outer end of the communications module forms a convex end of the device opposite the nose module and facilitates upward movement of the device in water.