Capable of movement in U (forward/backward) axis at 1 m/s for at least 30 minutes.
Capable of moving in W (diving) axis at 0.2 m/s.
Capable of rotation about W axis (yaw).
Station-keeping (hover) capability: Maintain specific location relative to seabed with tolerance of 0.1m in X,Y, and Z (forward/lateral/vertical) axes for at least 30 minutes.
Include payload capability for sensors
At least one electro-optical video camera
Able to communicate w/ control terminal through radio or a tether
Use electric propulsion system
Self-contained power supply if not using a tether
Way of establishing reference coordinates
Capability to autonomously navigate through a set of 3-dimensional waypoints.