Max. Others may disagree, but I would only have one ESC, of about 20A, and this will run all 3 motors in parallel easily, it will not even get warm. the Rx will be powered by the BEC (battery elimination circuit) in the ESC, unless you buy an ESC that does not have this facility.
Generally I would say get the largest capacity you can, but even a bog standard 3700mAhr Nimh will run the boat for probably an hour I would say. The no-load current rating has no relevance practically speaking. The motors are at their most efficient at the manufacturers max efficiency current rating and thus produce the most power at this value from the battery supply, and if you were mucking about with props and so on you could possibly get the motors running at max efficiency, but you have a set size prop, so the motors will draw what they draw. About oooo….2A possibly, bit more, or more likely a lot less.
SO. 3 motors at 2A is 6 amps …..a 4200mA battery supplies 4.2A for an hour, 8.4A for 30 mins and so on…there is no set formula for the run time, the more throttle you use, the less the run time, but with small motors like this even with mostly full throttle it will run and run.
HOWEVER, you will not be running the Bismark at full throttle for very long, it will be running at 1/2 throttle or even less, and so the motor current draw will be..oooooo….probly only2A or so….thus even a standard sort of battery will last well over an hour, at least.. My Titanic can be on the water for 2 hours and not run flat, but consider that the boat will not be moving all the time.
Ashley