The Virginia Tech 690 AUV is designed for bathymetric surveys. It has a side-scan sonar and a high-end navigation system. Principal characteristics are
Displacement: 91 lbs.
Length: 81 inches
Diameter: 6.9 inches
Max depth: 500 meters
Communication: Iridium satcom, RF modem, Wi-Fi, acoustic modem
Endurance: 24 hours at 4 knots
B. McCarter, S. Portner, W. L. Neu, D. J. Stilwell, D. Malley and J. Mims, "Design elements of a small AUV for bathymetric surveys," 2014 IEEE/OES Autonomous Underwater Vehicles (AUV), Oxford, MS, 2014, pp. 1-5.
Jabari, R. S. and Stilwell, D. J., 2016, Range-based AUV navigation expressed in geodetic coordinates, in Proc. MTS/IEEE OCEANS, Monterey, CA.
S. B. Gibson, B. McCarter, D. J. Stilwell and W. L. Neu, "A comparison of hydrodynamic damping models using least-squares and adaptive identifier methods for autonomous underwater vehicles," OCEANS 2015 - MTS/IEEE Washington, Washington, DC, 2015, pp. 1-7.