The electrical system on Magikarp is very minimal. It consists of a thruster ESC board that handles the kill switch and signals/power to the thrusters, an arduino board running the stabilization controllers, a LattePanda computer for ROS and computer vision, a sensor suite, and a buck converter for stepping down voltage from the batteries for the computer and microcontroller. Its sensor suite included a camera, an IMU, and a barometer. The stabilization controller on Magikarp is a simple PID system, with a set of gains that apply to yaw, pitch, and roll, collectively, and a separate set of gains for depth control. The entire submarine is powered by a single 10Ah, 14.8V LiPo battery.