 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 . 
