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This article proposed an underwater simultaneous wireless power transfer and data transfer system for the autonomous underwater vehicle. The double-sided LLCC compensation topology is proposed to effectively suppress the interference to the data channel at switching instant. With the increase of the size and turns of the coupling coils, the self-resonance frequency gradually decreases. However, the frequency of data carriers is usually much lower than the self-resonant frequency, which will reduce the data rate or improve the bit error rate at a high data rate. Moreover, the high voltage generated by coupling coils causes high voltage stress on the data channel. To deal with these two issues, the last turn of each coupling coil is used to transfer data in the proposed system. The two transceivers are, respectively, connected with the last turn of the two coupling coils, which excites the entire coils to self-resonate and generates two resonant frequencies. The two resonant frequencies are utilized to realize high-speed full-duplex communication. And the voltage stress of the data channel is effectively reduced. A 518-W full-duplex prototype is built, and the maximum data rate is 700 kb/s, which verifies the feasibility of the proposed system. [ABSTRACT FROM AUTHOR]