F-3 



SPURV I & II 

 (SELF-PROPELLED UNDERWATER RESEARCH VEHICLE) 



Operating Depth: (SPURV l) 3, 658111 (12,000 ft) 



(SPURV II) l,52Um (5,000 ft) 

 Dimensions (LxWxH) : 3- Im x 0.508m x 0.508m (10.2 ft x 1.7 ft x 1.7 ft) 

 Weight (Dry) : H^kg ( 1,000 lbs) 

 Speed: Max - 7 knots (l2km/hr) 



Low - h knots (7kin/hr) 

 Structure: Cylindrical shape consisting of an aluminum, central cylinder 

 and two spherogive end sections with nominal thickness of 2.5)4cm (im). 

 A free-flooding tailcone is attached to the aft section to provide a 

 fairing about the propulsion system and to provide support for the rudder 

 and elevator surfaces. 



Power: Primary power is supplied by two sets of 16 silver-zinc cells 

 (Yardney LR-90) connected in parallel through diodes to form a 2k volt, 

 200 ampere-hour supply. Under vehicle loads of about Uo amperes total 

 the cells supply about 130 ampere-hours when new. Operating (running) 

 time for both vehicles is 5-5 hours. 



Command/Control : Commands to the vehicle require 12 binary bits in the 

 transmitted acoustic data word, of which k are used for the command proper. 

 The remaining 8 bits provide incremental depth or course changes referred 

 to as depth or turn steps. The h command bits provide 16 commands which 

 are listed below in decimal order. Some commands have alternative uses 

 which are shown in parentheses. 



Motor Off-Track only 8 Left turn N steps 



1 Surface-Depth 1 9 Azimuth Program ON 



2 Depth 2 10 Azimuth Program OFF 



3 Depth 3 11 Depth Search ON 

 k Depth h 12 Depth Search OFF 



5 Climb N steps (Start Climb Ramp) 13 Hold Ramp (increase Fluorom. Sens.) 



6 Dive N steps (Start Dive Ramp) ik Reset Ramp (Decrease Fluorom. Sens.) 



7 Right turn N steps 15 Spare 



The 8 command step bits can provide up to 256 turn or depth steps every 



10 seconds, somewhat more than the vehicle can follow. The command options 



available are, briefly, any one of 3 pre-selected depths from which incremental 



changes can be made, course changes relative to the initial gryo-retained 



course, and three programs: a long ramp-like depth change, a sawtooth-like 



depth search, and an azimuth program. The control system is broken down 



into azimuth, depth and r-un program subheadings. 



Azimuth reference is established by means of a self-leveling, 

 directional gyro obtained from a high quality aircraft autopilot. It can 

 be adjusted for a drift rate of less than one degree per hour at most 

 operating latitudes. The gyro is free in azimuth, its only load being a 

 lightweight brush which grounds one of the segments of the split-ring 

 commutator when the course error is large enough. 



Prior to launch, the vehicle and ship are pointed in the desired 

 direction and the system is nulled out by entering turn steps lontil one 

 of the two gaps in the commutator coincides with the brush. Either gap 



