> For the complete documentation index, see [llms.txt](https://repo.cpsdrone.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://repo.cpsdrone.com/auv/v2/about.md).
# About
The V2 is the **slightly improved version of the V1.** This guide follows this [build video](https://www.youtube.com/watch?v=zy59TOSpoZk). Here is the **picture of the submarine:**
Main improvements vs V1:
* **2 more thrusters** for yaw and pitch control in the front (3 Degrees of Freedom) - no fins;
* **Better GPS buoy** (big ball), instead of the boat that had stability issues
## Specs
| Criterion | Value | Notes |
| ----------------------- | --------------------------------------- | ----------------------------------------------------------------------- |
| Speed (cruise & max) | 0.5m/s & 1m/s | Speed during exploration operations. |
| Range | >20km | Distance achievable under nominal payload and environmental conditions. |
| Endurance | \~TBD | Total mission duration on a full energy reserve. |
| Maximum operating depth | \~10m | Beyond that range, the GPS buoy starts being impractical |
| Navigation systems | GPS & compass | Simple waypoint navigation |
| Navigation accuracy | As good as your GPS reading | Position error during submerged operations. |
| Maneuverability | 3DoF (3 motors) | No roll capability |
| Autonomy | Ability to follow a pre-determined path | |
---
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