F-10 



(UNNAMED) 

 NAVAL OCEAN SYSTEMS CENTER 



Operating Depth: 6lin (200 ft) (capable of 609m) 



Dimensions (LxWxH ) : 2 . 7m x . 5m x . 5m (9 ft x 1 . T ft x 1.7 f t ) 

 Weight (Dry) : l36kg (300 lbs) 



Speed : 1.5 knots (3km/hr) (5 knots with fairing) 



Structure : An expandable, rectangular metallic frame supports all 

 components. Syntactic foam nodules atop the framework provide positive 

 buoyancy (about 1 or 2kg submerged). Four cylindrical flasks contain 

 all electronics. Two ^p stern propellers provide thrust, one, i^hp 

 vertical thruster is mounted amidship. 



Power : Lead acid batteries providing 5 ampere hours can operate the 

 vehicle for 1 hour duration. 



Command/Control : The system is controlled by micro-processors which 

 compares programmed altitude, heading, depth and run sequence input data 

 with measured data coming from an on-board altimeter, gyro compass, depth 

 sensor and clock. The microprocessor generates digital error signals 

 between the programmed values, and issues error signals to the appropriate 

 motor controllers. The motor controllers then power the DC motors which 

 directly drive the propellers from a separate 2^V battery supply. Later 

 developments will include command/control of the vehicle via either an 

 acoustic link or fiber optic cable. 



Instrumentation : Compass, pressure/depth gage, downward-looking echo- 

 sounder. The vehicle developmental emphasis is as a testbed for advanced 

 sensor concepts. Present instrumentation only reflects that required for 

 elementary control. 

 Launch/Retrieval : Not designated. 



Status : Under development, pool trials were made in 1978. 

 Builder : Naval Ocean Systems Center 

 San Diego, CA 



