> 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/v3/about.md).
# About
The V3 is the first version of our AUV to **feature fully independent underwater navigation, without a GPS buoy.** This guide follows this [build video](https://www.youtube.com/watch?v=nMnOE_XJ5O4). Here is the **picture of the submarine:**
Main **improvements to the submarine vs V2**:
* 2 more thrusters for **sway & heave control** (5 degrees of freedom);
* Added **DVL for underwater navigation,** removed the GPS buoy;
* Added an **antenna mast with compass** & **LoRa for communication** when floating at the surface
## 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 | 300m (65m for cameras) | Maximum approved depth below the surface. |
| Navigation systems | GPS, Compass & DVL | |
| Navigation accuracy | \~250m/km | Position error during submerged operations. |
| Maneuverability | 5DoF (5 motors) | No roll capability |
| Autonomy | Ability to follow a pre-determined path, at a stable distance from the bottom | |
That's it, have a good night :)
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