What kinds of mini-subs did the Japanese use at Pearl Harbor?

At Pearl Harbor, the Japanese used the HA-19 (type A) which had a complement of two crewmen; was 78 feet long, 6 feet wide, and a draft of 6 feet. It was armed with two torpedo tubes, which fired a 45cm type 97 torpedo. It was powered by a one shaft electrical motor which could move it at 23 knots at the surface, and 19 knots submerged. While submerged at 2mph, it had a range of approximately 100 miles. Mini subs (Midget Subs) had to be carried by mother submarines. I Boats, such as I-24, carried some of the attacking Mini-Submarines to their pre-attack areas for the Pearl Harbor assault on 07 December 1941.