L3Harris OceanServer – Autonomous Underwater Vehicles
Iver3 EP Open System AUVs

Iver3 Open System AUVs

The Iver3 EP open system AUVs incorporate all of the standard Iver3 features along with options for added forward payload sections and an intuitive API for remote helm applications. These autonomous systems benefit from 15 years of experience in building reliable systems with well over 300 AUVs shipped. 

The EP model is an open system AUV, where the users can install their hardware and make software extensions to the vehicle without a custom design. L3Harris OceanServer provides physical space inside the forward section for user electronics as well as hull penetrators to make connections to external sensors. 

The remote helm design model includes a separate CPU, which allows the users to install their own operating system that can connect to the added hardware. The second CPU communicates with the Iver3 control CPU through a serial port via a rich set of commands for remote helm control. The user applications are wide ranging including remote helm use with MOOS-IvP (Mission Oriented Operating Suite – Interval Programming) software.

Open System Models Available:

Iver3 EP

  • No Forward Section
  • Includes User 2nd CPU (remote helm) & drive in main section.

Iver3 EP10

  • 10″ Forward Section
  • Includes User 2nd CPU (remote helm)

Iver3 EP16

  • 16″ Forward Section
  • 6 External Ports
  • Includes User 2nd CPU (remote helm)
Iver3 EP16 Payload Section
EP16 Payload Section
Iver3 EP Details
  • State of the art open system
  • Models Available
    • EP: No Forward Section. Includes User 2nd CPU (remote helm) & drive in main section.
    • EP10: 10″ Forward Section. Includes User 2nd CPU (remote helm).
    • EP16: 16″ Forward Section. 6 External Ports. Includes User 2nd CPU (remote helm).
  • Reliable, efficient, simple to operate
  • Launch and operate from shore
  • Single person operation
  • Affordable systems
  • Intuitive mission planner – mission planning in minutes
  • Field rugged
  • Compact design
  • Extended operation time
  • Wide variety of high resolution sonar options


  • Standard Length: 74-85 in. (longer if payload section added)

Tube Diameter

  • 5.8 in.


  • 59-85 lb.

Depth Rating

  • 100 meters


  • 8 to 14 hours at speed of 2.5 knots, configuration dependent

Speed Range

  • 1 to 4 knots (0.5 to 2.0 m/s)


  • Wireless 802.11n Ethernet standard (Iridium and Acomms optional)

Antenna Mast

  • Navigation Lights with IR and visible LEDs (programmable strobe)

Tracking Internal Data Log

  • Programmable resolution


  • Surface: PS (WAAS corrected)
  • Subsurface: RPI Doppler Velocity Log (DVL), 81 m range, depth sensor and corrected compass


  • VectorMap: Mission planning and data viewing
  • Sonarmosaic: Creates GeoTIFF images of side-scan records and KMZ files for Google Earth
  • Bathymosaic: Creates GeoTIFF images for bathymetric data
  • Underwater Vehicle Console (UVC): Operation, run mission, remote control


  • 800 W hrs. of rechargeable Lithium-Ion batteries (Swappable section)

Onboard Electronics

  • Intel Dual-Core 1.6 GHz N2600 processor with MS Windows embedded; Up to 512 GB solid-state drive for data storage

Propulsion System

  • 48 V Servo Controlled DC Motor with three-blade cast bronze propeller


  • Four independent control planes (Pitch/Yaw Fins)


  • 24 V External Connector with USB 2.0 Support

Sonar Side Scan

  • Edgetech 2205: Dual-frequency 400/900 kHz or 600/1600 kHz
  • Klein UUV-3500: Dual-frequency 455/900 kHz
  • Tritech Starfish: Single-frequency 450 kHz

Interferometric Co-Registered Sonar

  • Edgetech 2205B: Swath bathymetry 600 kHz
  • Klein UUV-3500B: Swath bathymetry 455 kHz

Inertial Navigation System

  • INS based on iXBlue PHINS Compact C3 fiber-optic gyroscope

CT Sensor

  • Conductivity and temperature (NBOSI)

SVP Sensor

  • Sound velocity probe (AML)


  • Surface: 2.4 GHz telemetry radio for handheld remote and/or Iridium with cloud-based tracking software
  • Subsurface: Acoustic modem: (Benthos or WHOI)

Embedded Camera Module

  • Downlooking Mako-G-234C (Color) Camera with strobe lighting

Topside Deck Box

  • Surface equipment for subsurface comms with Benthos Acoustic Modem option

Handheld Remote Controller

  • Touch screen based remote with joystick for surface control (300+ m range)

Acoustic Pinger

  • Underwater locator beacon

Rugged Transit Case

  • Includes custom foam inserts for Iver3 and collapsible AUV field stand


  • Support for towed Marine Magnetics Explorer

Field Rugged Operator Console

  • Getac for mission planning, operating and data viewing

GPS Compass Stand

  • High-accuracy, land based AUV calibration tool

Object Avoidance Sounder

  • Imagenex 852 forward-looking echo sounder in AUV bow

Launch and Recovery Device

  • Capture cocoon

Other Options

  • Iver3 spares kit, swappable battery section with tail
Remote Helm CPU

Paper: OceanServer Iver3-580 EP AUV Remote Helm Functionality

The Iver3 Autonomous Underwater Vehicle remote helm functionality provides an open system interface, which allows users to easily integrate their own sensors, and take full control over the vehicle in real time.

Specifications subject to change without notice. Call for latest revision. All brand names and product names referenced are trademarks, registered trademarks or trade names of their respective holders.