PeRL has modified two commercial Ocean-Server Iver2 AUV systems for simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). PeRL upgraded the vehicles with additional navigation and perceptual sensors including 12-bit stereo down-looking Prosilica cameras, a Teledyne 600 kHz RDI ExplorerDVL for 3-axis bottom-lock velocity measurements, a KVH single-axis fiber-optic gyroscope for yaw rate, and a WHOI Micromodem. To accommodate the additional sensor payload, a new Delrin nosecone was designed and fabricated in-house. Additional 32-bit embedded CPU hardware was added for data-logging, real-time control, and in-situ real-time SLAM algorithm testing and validation. The vehicles, as shipped, are rated to a maximum depth of 100m and a maximum speed of approximately 4 knots. The standard vehicle weighs 29.48kg and can be transported by two people.