Currently there are 2 copies of the GARBI robot. One is an ROV fitted with two teleoperated arms. This copy belong to the team of professor Josep Amat in the UPC. The other, has been converted into GARBI-AUV and belongs to the university of Girona. GARBI AUV is endowed with two pressure vessels which houses batteries for 4 hours of autonomy approximately. GARBI-AUV is not pressurised anymore. The hull is flood with water, and uses technical foam to provide buoyancy. All the electronics are housed in two pressure vessels. With respect to the sensing subsystem, it has been equipped with a sontek argonat DVL, a Tritech miniking imaging sonar, a forward looking camera and a down looking camera. GARBI uses two main computers, a PC104 for navigation, guidance and control and a Mini-ITX board for acoustic and video image processing. GARBI is propelled by 5 thrusters, 2 in the  surge direction, one in the sway direction and two more in the heave direction. Although GARBI-AUV was build recently, it is not being used anymore since some of his equipment have been moved to ICTINEU AUV which is right now our research vehicle.