Parameter Verdi
Length 457 mm 18 in
Width 338 mm 13.3 in
Height 254 mm 10 in
Weight in Air (with Ballast) 10-11 kg 22-24 lb
Weight in Air (without Ballast) 9-10 kg 20-22 lb
Net Buoyancy (with Ballast) 0.2 kg 0.5 lb
Net Buoyancy (without Ballast) 1.4 kg 3 lb
Cable Penetrator Holes 14 x 10 mm 14 x 0.4 in
Construction HDPE frame, aluminum flanges/end cap, and acrylic tubes
Main Tube (Electronics Enclosure) Blue Robotics 4 inch series w/ aluminum end caps
Battery Tube Blue Robotics 3 inch series w/ aluminum end caps
Buoyancy Foam R-3318 Urethane Foam  rated to 244 meters
Ballast Weight 6 x 200 g coated lead weights
Battery Connector XT90
Maximum Rated Depth 100 m 330 ft
Maximum Tested Depth (so far) 130 m 425 ft
Temperature Range 0-40°C 32-86°F
Maximum Forward Speed 1.5 m/s 3 knots
Thrusters Blue Robotics T200
ESC Blue Robotics Basic 30A ESC
Thruster Configuration 6 thrusters
(4 Vectored)
(2 Vertical)
Forward Bollard Thrust (45°) 9 kgf 19.8 lbf
Vertical Bollard Thrust 7 kgf 15.4 lbf
Lateral Bollard Thrust (45°) 9 kgf 19.8 lbf
Battery Life (Normal Use) ~2 hours w/ 18AH Lithium-ion Battery
Battery Life (Light Use) ~4 hours w/ 18AH Lithium-ion Battery
The batteries can be changed in about 30 seconds.
Brightness 1500 lumens each with dimming control
Light Beam Angle 135 degrees, with adjustable tilt
Diameter 7.6 mm 0.30 in
Length 25-300 m 80-980 ft
Working Strength 45 kgf 100 lbf
Breaking Strength 160 kgf 350 lbf
Strength Member Kevlar with waterblock
Buoyancy in Freshwater Neutral
Buoyancy in Saltwater Slightly Positive
Conductors 4 twisted pairs, 26 AWG
Gyroscope 3-DOF Gyroscope (on the PixHawk)
Accelerometer 3-DOF Accelerometer (on the PixHawk)
Compass 3-DOF Magnetometer (on the PixHawk)
Internal pressure Internal barometer (on the PixHawk)
Pressure/Depth and Temperature Sensor (external) Blue Robotics Bar30
Current and Voltage Sensing Blue Robotics Power Sense Module
Camera Tilt
Tilt Range +/- 90 degree camera tilt (180 total range)
Tilt Servo Hitec HS-5055MG
Field of View (Underwater) 110 degrees (horizontal)
Light Sensitivity 0.01 lux
Resolution 1080p
Control System
Tether Interface Board Fathom-X Tether Interface Board
Control Board Pixhawk 1
Control Software ArduSub