ARHEA (Advanced Drifter GPS Coverage Area) is an oceanographic parameter measurement instrument equipped with diving capabilities and depth settings capable of providing high-quality data and capable of data acquisition in operations at depth of the water column. ARHEA makes it possible to observe the water column remotely for a long time and from a distance for use in academic, military, and commercial applications. ARHEA has ability to dive and measure oceanographic parameters based on the depth of the water column equipped with propulsion in the form of thrusters and static fins that can control the depth and use of an altimeter for obstacle avoidance. ARHEA can record water quality data using turbidity, pH, temperature, DO (dissolved oxygen), conductivity, and depth sensors with high accuracy.