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, 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. Finally, the system was installed on location in Roatan, Honduras to ensure flawless operation in the field.