diff --git a/.gitignore b/.gitignore
index a8a6e51..ec6f810 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,6 @@
 # autogenerated files
-lib/cmn_hdrs/ros_info.h
+/lib/cmn_hdrs/ros_info.h
 *.pyc
+
+# PlantUML diagram export directory
+/diagrams/out/
diff --git a/projects/can_transceiver/diagrams/common_sequence.puml b/projects/can_transceiver/diagrams/common_sequence.puml
new file mode 100644
index 0000000..95bca74
--- /dev/null
+++ b/projects/can_transceiver/diagrams/common_sequence.puml
@@ -0,0 +1,37 @@
+@startuml common_sequence
+title Local Transceiver Common Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+
+autonumber
+
+!startsub PARTICIPANTS
+box "Common Sequence"
+participant CanTransceiver as can
+participant CanTransceiverRosIntf as ros_intf
+end box
+== Inbound ==
+!endsub PARTICIPANTS
+
+-> can : Inbound Sensor(s) [CAN]
+
+!startsub SEQUENCE
+
+activate can
+can -> can : Convert from CAN to ROS
+can -> can : Filter Sensor(s)
+can -> ros_intf --++ : Transmit Sensor(s) [ROS]
+ros_intf -> : Publish sensor(s) to Software ROS Network
+deactivate ros_intf
+
+== Outbound ==
+
+ros_intf <- ++ : Command(s) from Software ROS Network (ex. Desired Heading)
+can <- ros_intf --++ : Transmit Command(s) [ROS]
+can -> can : Convert Command(s) from ROS to CAN
+!endsub SEQUENCE
+
+<- can : Outbound Command(s) [CAN]
+deactivate can
+
+@enduml
diff --git a/projects/can_transceiver/diagrams/deployment_sequence.puml b/projects/can_transceiver/diagrams/deployment_sequence.puml
new file mode 100644
index 0000000..f1d9174
--- /dev/null
+++ b/projects/can_transceiver/diagrams/deployment_sequence.puml
@@ -0,0 +1,16 @@
+@startuml deployment_sequence
+title Local Transceiver Deployment Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+
+autonumber
+
+!includesub common_sequence.puml!PARTICIPANTS
+
+-> can : Sensors from ELEC [CAN]
+
+!includesub common_sequence.puml!SEQUENCE
+
+<- can -- : Transmit Command(s) to ELEC [CAN]
+
+@enduml
diff --git a/projects/can_transceiver/diagrams/simulation_sequence.puml b/projects/can_transceiver/diagrams/simulation_sequence.puml
new file mode 100644
index 0000000..43578fb
--- /dev/null
+++ b/projects/can_transceiver/diagrams/simulation_sequence.puml
@@ -0,0 +1,29 @@
+@startuml simulation_sequence
+title Local Transceiver Simulation Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+
+autonumber
+
+box "Simulation Sequence"
+participant CanSimIntf as sim_intf
+participant CanSimTransceiver as sim_t
+end box
+
+!includesub common_sequence.puml!PARTICIPANTS
+
+-> sim_intf ++ : Mock Sensors from Simulator [ROS]
+sim_intf -> sim_t --++ : Process Mock Sensors [ROS]
+sim_t -> sim_t : Convert ROS sensor object to CAN
+sim_t --> can -- : Call new Sensors API [CAN]
+deactivate sim_intf
+note right sim_t : API call should be async to replicate deployment behavior.
+
+!includesub common_sequence.puml!SEQUENCE
+
+sim_t <-- can --++ : Call Write to CAN API
+note left can : API call should be async to replicate deployment behavior.
+sim_t -> sim_t : Convert Command(s) from CAN to ROS
+sim_intf <- sim_t --++ : Transmit Command(s) [ROS]
+activate sim_intf
+<- sim_intf -- : Publish Command(s) to Simulator [ROS]
diff --git a/projects/local_transceiver/diagrams/common.puml b/projects/local_transceiver/diagrams/common.puml
new file mode 100644
index 0000000..63c2147
--- /dev/null
+++ b/projects/local_transceiver/diagrams/common.puml
@@ -0,0 +1,19 @@
+' To be included by other files. Do not use on its own.
+@startuml common
+
+box Modules
+participant "Local Transceiver ROS Intf" as intf
+participant "Local Transceiver" as local
+end box
+
+box Resources
+Collections "Sensor Buffer" as buf
+Queue "Serial Port" as port
+end box
+
+note across
+    As ROS is used for synchronizing access to resources, the module control
+    flow is blocking, meaning only one subsequence can happen at at a time.
+end note
+
+@enduml
diff --git a/projects/local_transceiver/diagrams/receive_global_path_sequence.puml b/projects/local_transceiver/diagrams/receive_global_path_sequence.puml
new file mode 100644
index 0000000..e5a672f
--- /dev/null
+++ b/projects/local_transceiver/diagrams/receive_global_path_sequence.puml
@@ -0,0 +1,24 @@
+@startuml receive_global_path_sequence
+title Local Transceiver Receive Global Path Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+!include common.puml
+
+autonumber
+
+== Update Global Waypoints Subsequence ==
+
+note over buf : Unused
+
+intf -> intf ++ : Update Timer Triggers
+intf -> local ++ : Get Global Waypoints
+local -> local : Create Global Waypoints Object
+loop While Iridium Mailbox is Not Empty &&\nThere are Global Waypoints Remaining
+    local --> port : Issue AT Read Command
+    local <-- port : Read response
+    local -> local : Update Global Waypoints Object
+end
+opt If New Global Waypoints
+    intf <- local -- : Return New Global Waypoints
+    <- intf -- : Publish Global Waypoints
+end
diff --git a/projects/local_transceiver/diagrams/transmit_sensors_sequence.puml b/projects/local_transceiver/diagrams/transmit_sensors_sequence.puml
new file mode 100644
index 0000000..c0fc227
--- /dev/null
+++ b/projects/local_transceiver/diagrams/transmit_sensors_sequence.puml
@@ -0,0 +1,40 @@
+@startuml transmit_sensors_sequence
+title Local Transceiver Transmit Sensors Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+!include common.puml
+
+autonumber
+
+== Update Sensors Subsequence ==
+
+note across : Very Frequent - On Demand Execution
+
+-> intf ++ : New Sensor Data
+intf -> local ++ : Update Sensor
+local -> local : Convert Data from ROS to Google Protobuf
+local --> buf : Store Sensor in Buffer
+deactivate intf
+deactivate local
+
+...
+
+== Transmit Sensors Subsequence ==
+
+note across : Very Infrequent - Execute Every Few Hours
+
+intf -> intf ++ : Transmit Timer Triggers
+intf -> local ++ : Start Transmission
+local <-- buf : Read Current Sensors
+local -> local : Serialize Sensor Data
+local -> local : Create AT Write Binary Command With Data
+note right of local : If payload is too large, split the data across multiple commands
+loop Until Successful or <SOME_TBD_NUMBER> Unsuccessful Attempts
+    local --> port : Write Command
+    local <-- port : Read Response
+end
+opt If Failed to Transmit Sensors Data
+    intf <- local -- : Return failure
+    intf -> intf : Set Shorter Transmit Timer Interval
+end
+deactivate intf
diff --git a/projects/remote_transceiver/diagrams/common.puml b/projects/remote_transceiver/diagrams/common.puml
new file mode 100644
index 0000000..ee3c27d
--- /dev/null
+++ b/projects/remote_transceiver/diagrams/common.puml
@@ -0,0 +1,16 @@
+' To be included in other files, do not use on its own
+@startuml common
+
+box Modules
+participant "HTTP Handler" as handler
+participant "HTTP Server" as server
+participant SailbotDB as db
+end box
+
+note over handler, server
+    Part of the same class. The handler is separated from the
+    server in the diagram to illustrate that the server does
+    not block on requests, and multiple can be handled simultaneously.
+end note
+
+@endmul
diff --git a/projects/remote_transceiver/diagrams/receive_sensors_sequence.puml b/projects/remote_transceiver/diagrams/receive_sensors_sequence.puml
new file mode 100644
index 0000000..780fe79
--- /dev/null
+++ b/projects/remote_transceiver/diagrams/receive_sensors_sequence.puml
@@ -0,0 +1,35 @@
+@startuml receive_sensors_sequence
+title Remote Transceiver Receive Sensors Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+!include common.puml
+
+autonumber
+
+box Resources
+Collections "Sensors Buffer" as buf
+Database "MongoDB" as mongo
+end box
+
+note over buf : Contents of this buffer are \nunparsed, raw binary strings
+
+-> handler ++ : POST Sensors
+handler -> server --++: Process POST Request
+server -> server : Parse HTTP
+server --> buf : Update Sensors Buffer
+alt If Incomplete Sensors Payload
+    handler <- server --++ : Return OK
+    <- handler -- : Send Response
+
+else Else All Sensor Payloads Received
+    activate server
+    handler <-- server ++ : Return OK
+    note right of server : Execution continues after returning HTTP response
+    <- handler -- : Send Response
+    server <-- buf : Read Entire Buffer
+    server -> server : Parse Protobuf Sensors Object from Binary
+    server -> db ++ : Commit Sensors to DB
+    db -> db : Convert Sensors to BSON Format
+    db --> mongo -- : Write Sensors to MongoDB
+    deactivate server
+end
diff --git a/projects/remote_transceiver/diagrams/transmit_global_path_sequence.puml b/projects/remote_transceiver/diagrams/transmit_global_path_sequence.puml
new file mode 100644
index 0000000..f8d1bb8
--- /dev/null
+++ b/projects/remote_transceiver/diagrams/transmit_global_path_sequence.puml
@@ -0,0 +1,30 @@
+@startuml transmit_global_path_sequence
+title Remote Transceiver Transmit Global Path Sequence
+
+!include %getenv("PLANTUML_TEMPLATE_PATH")
+!include common.puml
+
+autonumber
+
+note over db : Unused
+
+-> handler ++ : POST Global Path
+handler -> server --++ : Process POST request
+server -> server : Parse HTTP Request for Waypoints
+server -> server : Convert Waypoints to Protobuf and Serialize
+opt If Waypoints are too Large for One Message
+    server -> server : Split Waypoints Across Multiples Messages
+end
+loop For Each Waypoint Message
+    server -> handler ++ : Transmit Waypoints
+    <-- handler : POST Waypoints to Iridium
+    handler -> server -- : POST complete
+    note over handler, server
+        To prevent out of order transmissions on random
+        POST failures, POSTING to Iridium should be a
+        blocking operation.
+    end note
+end
+deactivate server
+
+@enduml