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AUV Lipo Battery capacity

I'm making an AUV that requires 15-20 minutes of operating time. I'm using 6 of these motors (Blue Robotics T200 Thrusters) for propulsion; I'm looking for 6S lipo batteries (22.2V) but i don't know ...
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What's the most effective type of rechargeable battery when taking into account size / weight / Ah?

I'm looking to build an underwater glider robot that will need to remain autonomous for long periods of time, perhaps even months. Power draw should be minimal, and I'm thinking of including some form ...