 The Amador Valley Barracuda line, started in 2002, "is propelled by two laterally mounted SeaBotix thrusters controlling speed and heading and two auxiliary thrusters aligned vertically controlling pitch and depth." To guide the AUV autonomously, a pressure sensor, compass, camera, and hydrophone array return navigation input data to the software. The AUV uses a Beagle Board single-board computer that runs Angstrom Linux.
