Physical Parameter
| Length | 457 mm | |
| Width | 575 mm | |
| Height | 254 mm | |
| Weight in Air (with default Ballast and Blue Robotics Lithium-ion Battery) | 11 - 12 kg | |
| Weight in Air (without Ballast or battery) | 10 - 11 kg | |
| Net buoyancy(with default Ballast and Blue Robotics Lithium-ion Battery) | 0.2 kg | |
| Net buoyancy(without Ballast or battery) | 1.4 kg | |
| Payload Capacity (configuration dependent) | 1.0 kg (4x Lumens) ~ 1.2 kg (No Lumens) | |
| Cable Penetrator Holes | 14 × 10 mm | |
| 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 | BR3318 (rated to 244 meters ) | |
| Ballast Weight | 9x200 g stainless steel weights | |
| Battery Connector | XT90 |
Performance Parameter
| Maximum Rated Depth | 100 m (可选 300 m ) | |
| Maximum Tested Depth (so far) | 130 m | |
| Temperature Range | 0 - 30 ℃ | |
| Maximum Forward Speed | 3 knots ( 1.5 m/s ) | |
| Thrusters | T200 | |
| ESC | ESC30C | |
| Thruster Configuration | thrusters × 8 | |
| - Vectored × 4 | ||
| - Vertical × 4 | ||
| Forward Bollard Thrust (45°) | 9 kgf | |
| Vertical Bollard Thrust | 14 kgf | |
| Lateral Bollard Thrust (45°) | 9 kgf |
Tether
| Diameter | 7.6 mm | |
| Length | 25 - 300 m | |
| Working Strength | 45 kgf | |
| Breaking Strength | 160 kgf | |
| Strength Member | Kevlar with waterblock | |
| Buoyancy in Freshwater | Neutral | |
| Buoyancy in Saltwater | Slightly Positive | |
| Conductors | 4 twisted pairs, 26 AWG |
Lights
| Brightness | 1500 lumens each with dimming control | |
| Light Beam Angle | 135 degrees, with adjustable tilt |
Camera
| Resolution | 1080P | |
| Field of View (Underwater) | 110 degrees (horizontal) | |
| Light Sensitivity | 0.01 lux | |
| Tilt Range | +/- 90 degree camera tilt (180 total range) | |
| Tilt Servo | Hitec HS - 5055 MG |
Sensors
| Gyroscope | 3 轴 ( Pixhawk ) | |
| Accelerometer | 3 轴 ( Pixhawk ) | |
| Compass | 3 轴 ( Pixhawk ) | |
| Pressure/Depth and Temperature Sensor (external) | B30 ( MS5837-30Bar ) | |
| Leak Sensor | LD04 | |
| GALV | Blue Robotics PSM | |
| Thermometer | 可扩展 | |
| Altimeter | 可扩展（ P30 ） |
Battery
| Nominal Capacity | 18 Ah | |
| Cell Configuration | 4S6P | |
| Nominal Voltage | 14.8 V | |
| Full Voltage | 16.8 V | |
| Battery Life (Normal Use) | ~2 hours w/ Blue Robotics Lithium-ion Battery | |
| The batteries can be changed in about 30 seconds. |
2D Drawing
