The HP 9153C came out when IDE Drives were just being introduced. HP used a proprietary drive and controller that is incompatible with anything else on the market. They also had a high failure rate. HP manufactured 2 drives for the 9153, a 10MB and a 20MB. The box houses 2 hard drives so the capacity you mentioned above is the total of the 2 drives. It also has a 1.44MB floppy that is incompatible with the standard 3.5" floppy interface. If you power-up the box and the hard drives fails or is non-existant, then an error occurs and the floppy is inaccessible also.
You could buy and aftermarket HP-IB unit but at
$2,950.00 it's not an option for most people. http://www.tamsinc.com/storage/2085/index.htm
From time to time the 9144A tape drives come up on eBay. Unfortunately, the pinch roller in the units turn to goo over time and has to be repaired. See info at this link:
http://www.hpmuseum.net/display_item.php?hw=257
The drives also use a tape cartridge that is preformatted at the factory and no longer manufactured.
Sorry for the bad news but that is the reality with these drives. You would have a better chance getting a 9133H dive that uses a Seagate St-225 drive or a 9133L that uses a Seagate ST-251. If the drive is dead, there is at least some hope of finding a working replacement.