Looking for PSK31/Other Digital Pipe

[Benjamin Seidenberg <benjamin@debian.org>]

[Please CC me, I'm not on debian-hams!]

I was wondering if someone could point me in the right direction for 
some software, I wasn't having much luck using debtags.

I'm looking for either a PSK31 Library or a program that I can use as a 
pipe to do PSK31 I/O. My end goal is an acoustic modem for an underwater 
robot, using some kind of radio-based digital encoding. I was hoping I 
could find something where I could pipe input/output on the server side 
and use a standard PSK31 terminal on the other end to start testing.

Can anyone point me at anything like this? I'd settle for a library to 
do the text<->audio translations.

Thanks in advance!

Benjamin
KI4CXN