Physical
|
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
|
Payload Capacity (configuration dependent)
|
1.0 kg (4x Lumens) to 1.2 kg (no Lumens)
|
2.2 to 2.6 lbs
|
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
|
Performance
|
Maximum Rated Depth
|
100 m
|
330 ft
|
Maximum Tested Depth (so far)
|
130 m
|
425 ft
|
Temperature Range
|
0-30°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
|
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.
|
Lights
|
Brightness
|
1500 lumens each with dimming control
|
Light Beam Angle
|
135 degrees, with adjustable tilt
|
Tether
|
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
|
Sensors
|
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
|
Camera
|
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
|