Battery

The battery capacity must provide power of a 10 hour missing with 1 hour of thruster and lights operation.  A sizeable portion of the power will be consumed by the controller, network which are active for the full 10 hours.  If additional power is required the hull can be lengthened to accommodate as much as 72 Amp-hours at 12 volts in 42 inches of hull.

Notes:
About Lithium Batteries:
Lithium Polymer Batteries:  Cells have a nominal voltage of 3.6 volts, fully charged 4.2 volts and low voltage is 3.0 volts. Set ESC's low voltage cutout (LVC) to 3.0 volts per cell or 3.3 volts per cell with a soft cutoff.  C is how long it takes to discharge the battery in fractions of an hour. For instance 1 C discharges the battery in 1/1 hours or 1 hour. 2 C discharges the battery in ½ or half an hour. The number in front of the S represents the number of series cells in the pack so 3S means it's a 3 cell pack. The number in front of P means the number of cells in parallel. So a 3S4P pack of 2100mAh cells has a total of 12 cells inside. It will have the voltage of any other 3S pack since the number of cells in series determines the voltage. It will have the current handling of 4 times the maximum C rating of the 12 individual cells. So say our 3S4P pack had a maximum discharge of 6C. That means that it has a nominal voltage of 10.8 volts (3x3.6) and a maximum discharge rate of 50.4 amps (2100mAh x 6Cx4P ).   Temperature during charge and discharge must be less than 100F.

www.batteryjunction.com
Tenergy 31206 - 11.1V 6000mAh Heavy Duty Li-Poly Lipo Battery Pack with PCB and Bare Leads
$85 13.4 oz, Dimensions: 170mm x 53mm x 22mm  - 3 together
11.1 * 6 * 3 / 170 =  1.175 Watt/mm
Buoyancy:  Pos 3.84 lbs/ft or .20157oz/mm :  13.4 * 3 /  170 = 0.23647 - .20157 =  .0349 Neg oz/mm, 0.989 Neg g/mm
11.1 * 6  / 85 = .784w/$
and
Tenergy TLP-4000 Universal Smart Charger for Li-Ion battery Packs 3.7V - 14.8V 1-4 cells (01281) $24

Tenergy 14.8V 10000mAh LiPo PCB Protected Rechargeable Battery Pack with Bare Leads
$150 920g, Dimensions: 203 x 80 x 30 mm  - 1 together
14.8 * 10 * 1 / 203 = .729 Watt/mm
Buoyancy:  Pos 3.84 lbs/ft or .20157oz/mm  or 5.7144 g/mm : 920 * 1 / 203 = 4.532 - 5.7144 = 1.182 Pos g/mm
14.8 * 10 * / 150 = .9867w/$

www.all-battery.com
Tenergy 11.1V 5800mAh Heavy Duty LIPO PCB Protected Battery Pack w/ Bare Leads
$64.49  13.4 oz, Dimension: 170mm x 53mm x 22mm  - 3 together
11.1 * 5.8 * 3 / 170 =  1.136 Watt/mm
Buoyancy:  Pos 3.84 lbs/ft or .20157oz/mm :  13.4 * 3 /  170 = 0.23647 - .20157 =  .0349 Neg oz/mm, 0.989 Neg g/mm
11.1 * 5.8 / 64.49 = 0.998w/$
and
Tenergy TLP-2000 Smart Charger for Li-Ion/LiPo Battery Packs: 3.7V - 14.8VTenergy TLP-2000 Smart Charger for Li-Ion/LiPo Battery Packs: 3.7V - 14.8V  $22

Tenergy 14.8V 5800mAh LIPO PCB Protected Rechargeable Battery Pack w/ Bare Leads
$82.5  495 grams Dimensions: 168mm x 55mm x 30mm  - 3 together
14.8 * 5.8 / 168 = .51 Watt/mm
Buoyancy:  Pos 3.84 lbs/ft or .20157oz/mm  or 5.7144 g/mm : 495 * 3 / 168 = 8.8398 - 5.7144 = 3.125 Neg g/mm
14.8 * 5.8 / 82.50 = 1.04w/$

30pcs F Size 1.2V 13000mAh Flat Top NiMH Rechargeable Batteries
$356, 246g, Dimension: 33 mm Diameter. x 91 mm Height   - 4 together
1.2 * 13 * 4 / 91 = .6857

Other
www.electriccarpartscompany.com/Pouch-Lithium-Batteries_c_7.html

Power Inventory (1000mAh = 1.0A)