TiVo announces a new affordable HD DVR dubbed TiVo HD.

The TiVo HD gives you 180 hours of SD video recording or 20 hours of HD video recording for $299.99. Monthly paid service plan starts at $16.95.

Features of the TiVo HD include download videos via Internet, simultaneous recording of two shows, 480i, 480p, 720p, 1080i video output modes, Dual CableCARD support and online scheduling. Later this year you are supposed to be able to expand the storage on the TiVo HD.
The TiVo HD can be already ordered on the TiVo site.

Gizmodo already unboxed the TiVo HD.