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Titan weighs 9,525 kg (21,000 lbs), and can travel at a speed of 3 knots (3-1/2 miles per hour) using electric thrusters.
The Titan, operated by the US-based company OceanGate Expeditions, had been missing since it lost contact with its surface support ship on Sunday morning.
Experts are reviewing the information gathered by the remotely operated vehicle that was deployed from a Canadian ship, the agency said on Twitter, without offering additional details.
The Titan submersible was estimated to have about a four-day supply of breathable air when it launched Sunday morning in the North Atlantic.
Mike Reiss adds that he is 'not optimistic' about a rescue of the missing submarine that was exploring the Titanic wreckage.
Underwater craft Titan vanished on Sunday with five people onboard while on a deep-sea tourist voyage to the world-famous, century-old shipwreck of the Titanic.
The mini-sub was designed to remain underwater for 96 hours, according to its specifications, giving its five occupants until Thursday morning before the air supply would run out if the craft was still intact.
The 21-foot submersible Titan is built to stay underwater for 96 hours, according to its specifications - giving the five people aboard until Thursday morning before air runs out.
One pilot and four passengers were on board the submersible that went missing on Sunday, the US Coast Guard said, adding the vessel could stay underwater for up to 96 hours, although it was unclear if it had resurfaced but was unable to communicate.
The top South Korean, US and Japanese nuclear envoys met in Seoul on Friday in their first gathering in four months to discuss how to cope with North Korea's growing nuclear arsenal.