The Catalog

Detects faults, contains them, and gets the vehicle home safely.

The decision layer that runs the plan and reacts when reality disagrees with it.

Fuses every noisy sensor into one best guess of where the vehicle is and how it's moving.

Turns a high-level goal into the ordered waypoints and actions the vehicle executes.

The software nervous system: every sensor, actuator, and decision as cooperating nodes.

The floating relay: acoustic below, radio above, bridging the two worlds.

Broadcasting live video up to a surface buoy using off-the-shelf TV standards.

High-speed data over blue light — fast, but only over short, clear-water spans.

Talking through water with sound at 133–150 kHz — slow, but it works in the deep.

The surfaced link: LTE, LoRa, and satellite, plus the cockpit ground station.

A dedicated look-ahead so the vehicle stops before it hits what it didn't expect.

Measures speed over the seabed by the Doppler shift of its own reflected pings.

Listening only — detecting other sources without ever revealing your own position.

Multiple transmitters and a fast array that build a true 3D picture, not just a slice.

The 360° active sonar that lets the vehicle see the seafloor and obstacles in the dark.

The last-resort failsafe: release ballast mechanically and float up, no power needed.

Keeps oil-filled volumes at sea pressure so nothing gets crushed or sucked in.

Moves water fore-and-aft to keep the vehicle level.

The tank whose water content sets how heavy the vehicle is right now.

The pneumatic system that makes the vehicle sink, rise, and hover by changing its weight in water.

Steering by aiming the thrust itself — the way to manoeuvre at zero speed.

Fins that steer the vehicle by deflecting flow as it moves.

The duct around the prop that boosts thrust and straightens the wake.

A motor with no central shaft — the magnets ride the blade tips inside the duct.

Two coaxial, contra-rotating motors that turn battery amps into thrust.

Step the raw battery voltage to the clean rails each node actually wants.

Waste heat dumped straight to the sea through the hull — no fans, no air.

The energy store. Lithium cells in a pressure-tolerant arrangement with its own BMS.

The brain of the power system: it decides charge, discharge, and load-shed policy.

The central DC bus that takes the battery and feeds every node through fused, switched rails.

Internal rings that brace the hull against buckling and carry mounting loads.

Buoyancy you can machine: glass microspheres in epoxy that float but don't crush.

Every wire and pipe that crosses the hull does so through a pressure-rated penetrator.

The hydrodynamic outer skin that floods with water — it shapes flow, it doesn't hold pressure.

The sealed cylinder that keeps one atmosphere of dry air around the electronics.