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The AUV Tri-TON 2 was built in 2013 under the governmental project to develop instruments to estimate ore reserves in underwater hydrothermal deposits, after the success of the prototype AUV Tri-TON [1]. The vehicle has two suites of imaging instruments looking forward and downward directions, in order to obtain dense, large-area 3D image of hydrothermal vent fields. The vehicle can follow rugged...