Weight

With 1 battery: 55.6 lb

Degrees of Freedom

3 translational (x,y,z)

3 rotational (roll, pitch, yaw)

Power System

Lithium-ion battery 14.8V, 15.6Ah (x2)

Wireless Communications

Succorfish Delphis modem

Wifi

Dimensions

24.5”w x 31”l x 19.5”h

Endurance

Normal usage: 1.5 hour runtime

Main Processor

Jetson Xavier NX

Propulsion System

T200 thruster (x8)

Full throttle FWD/REV thrust @ nominal (16V) 11.6 / 9.0 lb f

Sensors

Blue Robotics low-light camera

OAK-D Lite (x2)

OAK-D PoE

Imaging scanning sonar

Navigation System

Pixhawk orange cube

Teledyne Xplorer DVL

Software Architecture

Robot Operating System (ROS)

Payload

Gripper

Torpedo launcher

Marker dropper

Acoustics

Hydrophone array of AS-1 Hydrophones (x3) and custom digitally adjustable notch filter circuit