Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here. two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. F... https://www.spidertattooz.com/OMEGA-Seamaster-Aqua-Terra-150M-220-10-38-20-02-001-p15833/