Communications Primary communications is via a cable containing a single optical fibre. A drum containing four kilometres of cable is carried on the vehicle and cable is paid out and retrieved as required. Data is transmitted in both directions over the fibre using different optical wavelengths. Telemetry data, two video channels, and an audio channel are multiplexed onto a 125 Megabits per second digital channel for transmission to the surface. The downlink to the vehicle operates at 2 Mbps and carries an audio channel and command data.
Gas analysis is carried out continuously, and results are updated on the surface computer.
Gas composition inside the vehicle is measured regularly using the same system to check the status of the vehicle pressurisation. Environmental Navigation Normal navigation uses four video cameras. Two are fixed, facing front and rear, and two further cameras are mounted in a turret capable of both pan and tilt motion on top of the vehicle. One of the turret-mounted cameras has zoom capability and is used for close inspection of details. The surface control station includes driving controls for the vehicle, video displays, a VCR and a visual display of all vehicle and environmental monitoring data.