This autopilot system is an example of a custom robotics and control systems project. Designed and installed for the Roatan Institute of Deepsea Exploration on their flagship MUV, Idabel, the autopilot is capable of using a 3-axis magnetometer and GPS to follow a preset course at the surface or hold heading while submerged as deep as 2500 feet. The system is designed to use a basic PID loop to control the 4 forward thrusters as needed to maintain the required position. It uses an Arduino Mega 2650 and off-the-shelf electronics (magnetometer, gps unit, LED screen, opto-isolator, etc.) to keep cost low while maintaining a high level of functionality during proof-of-concept and development. All work from programming to machining custom pressure vessels was completed by OutsideInnovation reducing cost by limiting outsourced work. This system was intended as a proof of concept that would then be built out into a production quality system.