Clarification on Bollard Thrust Force Measurement Setup for BlueROV2

I have several points on which I seek clarification or confirmation regarding the test conditions during the assessment of the ROV’s maximum specifications as stated in the datasheet / technical reference:

Bollard Thrust:
Forward (45°): 9 kgf
Vertical: 7 kgf
Lateral (45°): 9 kgf

Here are my questions:

  1. Operating Voltage and Current Drawn: Could you specify the operating voltage and the current drawn by the ROV when it was generating its maximum force?

    • Is there time series data of the bollard tests including the force, battery voltage, current and esc control signals that could be shared?

    • Specifically, I’m interested in the voltage drop during your bollard thrust measurements.

      • The vertical bollard thrust scenario was also discussed in the “Thruster Force” topic, mentioning

        Assuming a fully charged battery at 16.8 v/ 4.2 v per cell, under a 50 A load the cell voltage could
        be expected to drop to about 3.8 v, or ~15.2 v total.

      • From own measurements I can confirm that voltage drop can be around 2 V @ 50 A and 3V @ 75 A.

  2. Battery Voltage Confirmation: Can you confirm that the battery used was initially charged to a voltage of 16.8 V for these tests?

  3. Test Environment: Was the BlueROV tested in a tank fully submerged, similar to the single thruster tests, as detailed in the T200-Public-Performance-Data-10-20V-September-2019.xlsx and shown in this article thruster test stand ?

    • And/or was a different, alternative setup used, such as an open-water experiment in a sea or lake, involving the actual pulling of a steel rope?
  4. Measurement Uncertainty: What was the uncertainty (standard deviation) associated with the force measurements?