DPV Identification From Video

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As @Manatee Diver said, they are Silent Submerge DPVs. They don't look like the older UV18 or UV26 models, so maybe a Valkyrie Minnus based on size. Silent Submerge was acquired and is now operating under the name Subsea Propulsion Systems.
 
https://www.shearwater.com/products/perdix-ai/

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