General
DEPTH CaPaBILITY | 4,000 meters (13,123 feet)
TETHER | 30–45 meters (98.4–147.6 feet), 20 millimeters
(0.79 inches) diameter, neutrally buoyant
SIZE | 3.9 meters long × 1.9 meters wide × 2.2 meters tall
(12.8 feet long × 6.2 feet wide × 7.2 feet tall)
MaSS | ~ 2,500 kilograms (5,500 pound-mass) in air
MaXIMUM VEHICLE SPEED | 0.77 meters/second
(1.5 knots) forward, 0.25 meters/second (0.5 knots)
lateral, 0.5 meters/second (1 knots) vertical (on site,
within tether range)
MaXIMUM TRaNSIT SPEED | 1 meter/second (2 knots),
no sampling, in layback mode
MaXIMUM ON-BOTTOM TRaNSIT SPEED |
0.5 meters/second (1 knot), no sampling
MaXIMUM SaMPLING TRaNSIT SPEED |
0.25 meters/second (0.5 knots) on flat seafloor;
< 0.13 meters/second (< 0.25 knots) over featured terrain
ROV CLOSED LOOP POSITION CONTROL |
Station Keep, X/Y step, Auto Depth, Auto Altitude,
X/Y/Z step and hold velocity control
DESCENT/aSCENT RaTE | 30 meters/minute
(98.4 feet/minute)
PROPULSION |
• Six hydraulic thrusters powered by 15 kW (20 hp),
207 bar (3,000 psi) hydraulic system
• Fore/Aft & Vertical – Four 27.94 cm (11 inch) ducted
thrusters, each providing 900 N (200 lbf) thrust
• Lateral – Two 22.86 cm (9 inch) ducted thrusters,
each providing 450 N (100 lbf) thrust
Remotely Operated Vehicle Hercules
Vehicle Sensors & Navigation
HEaDING aND aTTITUDE |
• Primary Heading – IXSEA Octans III north-seeking fiber-
optic gyrocompass (0.1° secant latitude accuracy with
0.01° resolution)
• Secondary Heading – TCM2 solid state fluxgate compass
PRESSURE SENSOR | Paroscientific Digiquartz 8CB series
CTD | Seabird FastCAT 49
OXYGEN OPTODE | Aanderaa 3830
TEMPERaTURE PROBE | WHOI high temperature probe
(0°–450°C, .1°C resolution)
USBL NaVIGaTION | LINKQUEST TrackLink 5000
DOPPLER NaVIGaTION & aLTITUDE | RDI Workhorse
Navigator Doppler Velocity Log 600 kHz, 0.7–90 meter
range (2.3–295.3 feet)
FORWaRD-LOOKING SONaRS |
• Kongsberg Mesotech 1071 profiling sonar, 300 kHz,
200 meter range (164 feet)
• TriTech Super SeaPrince 675 kHz, 50 meter range
(164 feet)
Imaging & Lighting
STaNDaRD IMaGING SUITE | One high definition video
channel on fiber optic, four standard definition video
channels on coax, generally configured as:
• Insite Pacific, 6,000 msw rated, Zeus Plus with 10× zoom
lens, Ikegami HDL-45A with zoom/pan/tilt/extend
–1080i SMPTE 292M output format
• Insite Pacific, 6,000 msw rated, Titan Rotate-Tilt standard
definition camera (bubble camera) 480 line NTSC format
• Three Insite Pacific NOVA utility cameras, mounted to
view the starboard sample box, 480 line NTSC format
• One Insite Pacific Aurora utility camera, NTSC format
LIGHTING |
• Two Deep Sea Power & Light 400 Watt HMI with dual-
ballast, 12,000 lumens, forward mounted
• Two Deep Sea Power & Light Matrix-3 LED lamps,
20,000 lumens, forward mounted
• Six to twelve Deep Sea Power & Light Sphere LED lamps,
6,000 lumens mounting configurable