> 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/v4/about.md).

# About

The build video of the V4 version of the submarine is coming, but it's not out yet :)

<figure><img src="https://867219916-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT2yJfjPKyJQfUYLUF5AJ%2Fuploads%2FsHN5jrGnpHBN1g0ozojE%2FScreenshot%202026-10-14%20at%2015.35.22.png?alt=media&amp;token=680fc729-2654-416a-92bc-aa0a72be92cf" alt="" width="563"><figcaption></figcaption></figure>

The improvements of this version are:&#x20;

* doubled the main thrusters for better roll control
* added lights
* attachments for cameras
* major software improvements enabling missions following the sea bottom

## Specs

<table><thead><tr><th>Criterion</th><th>Value</th><th width="309.875">Notes</th></tr></thead><tbody><tr><td><strong>Speed (cruise &#x26; max)</strong></td><td>1 m/s &#x26; 2 m/s</td><td>Speed during exploration operations.</td></tr><tr><td><strong>Range</strong></td><td>>20km</td><td>Distance achievable under nominal payload and environmental conditions.</td></tr><tr><td><strong>Endurance</strong></td><td>~TBD</td><td>Total mission duration on a full energy reserve.</td></tr><tr><td><strong>Maximum operating depth</strong></td><td>300m (65m for cameras)</td><td>Maximum approved depth below the surface.</td></tr><tr><td><strong>Navigation systems</strong></td><td>GPS, Compass &#x26; DVL</td><td></td></tr><tr><td><strong>Navigation accuracy</strong></td><td>~250m/km</td><td>Position error during submerged operations. Depends on the magnetic field in the operation area.</td></tr><tr><td><strong>Maneuverability</strong></td><td>5DoF (6 motors)</td><td>No roll capability</td></tr><tr><td><strong>Autonomy</strong></td><td>Ability to follow a pre-determined path, at a set distance from the bottom</td><td></td></tr><tr><td><strong>Camera</strong></td><td>GoPro + Insta360</td><td></td></tr><tr><td><strong>Lights</strong></td><td>4x 1500 lumen LEDs</td><td></td></tr></tbody></table>

That's it, have a good night :)


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