The anatomy of the boat,
in plain English.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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