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In the postwar era, ZAFT unveils its "Second Stage" of advanced new Gundam mobile suits. Unlike the other Second Stage suits, ZGMF-X31S Abyss Gundam is a transformable amphibious unit. As with other Gundam designs, the Abyss Gundam is equipped with Phase Shift armor that blocks conventional weapon attacks. Because the Junius Treaty bans the use of N-Jammer Cancelers, ZAFT develops the deuterion beam energy supply system to recharge batteries on the battlefield. When energy reserves are low, the Abyss Gundam can receive an incoming energy beam from its mothership and recharge its batteries.

Although the Abyss Gundam's mobile suit mode is operable in Earth and space, its mobile armor mode can only be used underwater. In its mobile armor mode, the Abyss Gundam is faster and more maneuverable than any of ZAFT's previous amphibious designs. Unlike other amphibious designs, the Abyss Gundam lacks phonon maser weaponry. Instead, it is armed with various types of beam weaponry. These armaments include the "Balaena Kai" dual beam cannon, an improved version of the "Balaena" plasma cannon used by the ZGMF-X10A Freedom Gundam. The Abyss Gundam also includes several other beam cannons mounted in its chest and fins, along with several CIWS guns. In addition, it is also armed with a beam lance for melee combat. For its intial testing, the Abyss Gundam is assigned to ZAFT test pilot Mare Strode. On October 2, C.E. 73, the Abyss Gundam is stolen from ZAFT's Armory One PLANT by Earth Alliance operative Auel Neider, and Mare is shot by Stella Loussier. The Abyss Gundam is later destroyed by Shinn Asuka's ZGMF-X56S/γ Blast Impulse Gundam in a naval battle near the Greek island of Crete in the Mediterranean Sea.