====== Power budget/usage ======
The Otter is battery powered, constraining the duration of missions it can perform. A power budget is given
in the table below, showing the worst-case power usage for each component. The
total capacity of the four batteries is 3660Wh, resulting in a worst-case duration of battery operation of
3660Wh/833.762W= 4.39h. As can be seen in the table, the motors dominate power consumption, and
actuation should therefore be limited for long duration missions.

^ Description ^ Hardware ^ Voltage      ^ Current       ^ Watts          ^
| CPU | RPI4 4GB + StratoPi CAN | 12    | 1.4     | 16.8        |
| GPS | Hemisphere v104s| 12    | 0.165 | 1.98 |
| AirMax | PoE injector + BulletAC IP67 | 24    | 0.3     | 7        |
| 4G router | Teltonika RUT950 | 12    | 0.6     | 7        |
| SignalLED | Hella Marine NaviLED 360 | 12 | 0.08 | 0.96|
| Hydrophone | Thelma TBR700RT | 5    | 0.0044 | 0.022 |
| Motors Full | Torqeedo Ultralight 403 | 24-32    | Varies | 2x400     |
^ Total ^       ^ ^        ^ 833.762 ^
Note that the power usage of the hydrophone is based on the TBR700 battery usage of 6 mA at 3.6 V, and
the TBR700RT may use a some small amount more.