A system to inspect a tank containing a flammable fluid , comprising: a vehicle comprising a battery , a pressure switch , a control unit , a propeller , an inspection device , and a ranging device , wherein the control unit and battery are located within the vehicle; the pressure switch detecting when a pressure of the fluid external to the vehicle reaches a predetermined pressure threshold corresponding to a predetermined depth in the fluid, and responsive to detecting that the vehicle has reached the predetermined depth closing an electronic circuit between the control unit and the battery ; the battery of the vehicle providing, responsive to closing of the electronic circuit by the pressure switch , power to the control unit , the propeller , the inspection device , and the ranging device ; the control unit generating, based on data received from the ranging device , a map of the tank , and determining a first position of the vehicle on the map of the tank; the inspection device receiving, from the control unit responsive to identifying the first position of the vehicle on the map of the tank based on data from the ranging device , a command to initiate inspection at the first position on the map; the inspection device , responsive to the command to initiate inspection, detecting values at a portion of the tank corresponding to the first position on the map ; the inspection device providing, to the control unit , data comprising the detected values; the control unit determining a quality metric based upon the detected values at the portion of the tank corresponding to the first position of the vehicle on the map , and storing, in a memory of the vehicle, the quality metric; and the propeller of the vehicle moving, responsive to a second command from the control unit, the vehicle through the flammable fluid in the tank towards a second position on the map . a vehicle comprising a battery , a pressure switch , a control unit , a propeller , an inspection device , and a ranging device , wherein the control unit and battery are located within the vehicle; the pressure switch detecting when a pressure of the fluid external to the vehicle reaches a predetermined pressure threshold corresponding to a predetermined depth in the fluid, and responsive to detecting that the vehicle has reached the predetermined depth closing an electronic circuit between the control unit and the battery ; the battery of the vehicle providing, responsive to closing of the electronic circuit by the pressure switch , power to the control unit , the propeller , the inspection device , and the ranging device ; the control unit generating, based on data received from the ranging device , a map of the tank , and determining a first position of the vehicle on the map of the tank; the inspection device receiving, from the control unit responsive to identifying the first position of the vehicle on the map of the tank based on data from the ranging device , a command to initiate inspection at the first position on the map; the inspection device , responsive to the command to initiate inspection, detecting values at a portion of the tank corresponding to the first position on the map ; the inspection device providing, to the control unit , data comprising the detected values; the control unit determining a quality metric based upon the detected values at the portion of the tank corresponding to the first position of the vehicle on the map , and storing, in a memory of the vehicle, the quality metric; and the propeller of the vehicle moving, responsive to a second command from the control unit, the vehicle through the flammable fluid in the tank towards a second position on the map . <EOS>