Abstract
In this chapter the design of a plunge diving AquaMAV is detailed. This enhanced AquaMAV prototype is capable of propelled flight, wing retraction for diving into water and jet propelled aquatic escape. The selection process for key components is detailed, as well as the specific attributes necessary for aerial-aquatic locomotion. The AquaMAV includes some limited automation, to allow the robot to self launch when in water, where radio communication is challenging.