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Table 1: Ictineu AUV sensor suite

Sensor Model Characteristics
Mechanically Scanned Imaging Sonar Tritech Miniking Maximum range: 100m Horizontal beamwidth: 3º Scan rate: 5-20 sec./360º sect. Frequency 675kHz
DVL Sontek Argonaut Accuracy: 0.2 % of measured vel. Frequency: 1500kHz
MRU+FOG Tritech iGC/iFG Accuracy: better than 1º
Vision system B&W Camera, Halogen lights 1/3" CCD 0.01 Lux 50Hz 625 lines
Echo sounder Airmar Smart Sensor Frequency: 235 kHz
USBL Linkquest Tracklink 1500 HA Angular acc.: 0.25º . Range acc.: 0.5% slant range. Frequency: 31 to 43.2 kHz