Description:   The Girona 500 AUV is a reconfigurable AUV designed for a maximum operating depth of up to 500 m. The vehicle is composed of an aluminum frame which supports three torpedo-shaped hulls. Its core is very similar to the one of SPARUS II AUV but has been concieved to manage larger payloads and or payloads where stability is a key element, for instance, for optical mapping.