Table 1.

NORDACC design requirements and comparison with ARCAB.

Parameter	Requirement	NORDACC	ARCAB
1. Usage
Deployment	Ship or shore	X	X
Handling	1–2 people	X	X
Endurance	4 h	X
Range	2 km	X	X
Speed	0.25–2 ms−1	X	X
Status Indicators	Color LED	X
Visual Tracking	Strobe Light	X	X
2. Water sampling
Sample Volume	$⩾$1 L	X
No. Samples	$⩾$1	X
Transfer Time	$<$ 5 min	X
Contamination	Flushable plumbing	X
Collection	Waypoint and Manual	X
Sample Depth	$<$15 cm below surface	X
Sediments	Obtain sampling without clogging	X
3. Water column profiling
Acoustic Doppler Current Profiler	Mounting For ADCP	(X)	X
4. Environment
Air Temperature	0 to 30°C	X	X
Water Temperature	0 to 20°C	X	X
Wind Speed	$⩽$15 ms−1	X	X
Waves	0.5 m	X	X
Current	0.25 ms−1	X	X
Salinity	Fresh to salt	X	X
5. Design
Trim	Movable batteries	X
Power	Hot-swap batteries	X	X
Assembly	Modular hull assembly	X
Arm/Disarm	External switch	X
Navigation Modes	Manual and Auto	X	X
Emergency	RC Override for MyRIO	X
Turn Radius	$<$5 m	X	X
Directional Steering	Forward and Reverse	X	X
Situational Awareness	Real-Time Video (FPV)	X
6. Autonomy
Compatible with Mission Planner		X	X
Waypoint Navigation		X	X
Sampling Radius	$⩽$10 m while sampling	X
Low Battery	Return to Home	X
Moving Mother Ship	Dynamic Return to Home	X
Obstacle Avoidance	Lidar system		X
Arctic Navigation	Dual GNSS	X
7. Data
Surface Data	Sea surface temperature and salinity	X
Power	Transmit battery level	X
Data Management	Log vehicle parameters and science data	X
Log File	Vehicle mode, date/time, position, data	X
8. Transport
Shipping	Fits on euro pallet (80 $\times$ 120 cm)	X	X
Storage Temperature	−10°C to  + 50°C	X	X