EXPLORATION VESSEL NAUTILUS
General
BUILT | 1967, Rostock, Germany
LENGTH | 64.23 meters (211 feet)
BEAM | 10.5 meters (34.5 feet)
DRAFT | 4.9 meters (14.75 feet)
TONNAGE | 1,249 gross, 374 net
RANGE | 24,000 kilometers (13,000 nautical miles)
ENDURANCE | 40 days at sea
SPEED | 10 knots service, 12 knots maximum
FUEL CAPACITY | 330 cubic meters
MAIN PROPULSION | Single 1,286 kilowatt (1,700 horsepower) controllable pitch
BOW THRUSTER | 250 kW
STERN THRUSTER | 350 kW jet pump
SHIP SERVICE GENERATORS | Two 500 kVa generators, one 350 kVa generator,
and one 450 kVa shaft generator
PORTABLE VAN SPACE | One 20-foot van
COMPLEMENT | 17 crew; 31 science and operations
FLAG | St. Vincent and the Grenadines
WINCHES |
• Dynacon 421 ROV winch with 4,300 meter (14,108 feet) Rochester A307573
1.73 centimeter (0.68 inch) diameter cable
• DT Marine 210 winch with 1,200 m Rochester A320327 0.82 centimeter
(0.322 inch) diameter wire
• Hatlapa hydrographic winch
HEAVY EQUIPMENT |
• Bonfiglioli knuckle-boom crane, 4.2 ton capacity, two extensions
• A-frame, 6 ton capacity
SEWAGE SYSTEM | Biological Sewage Treatment Plant - RWO - Veolia Water STP WWT-LC 5
OTHER FACILITIES | Praxis dynamic positioning system, rigid inflatable rescue/work boat, gym
Telepresence Technology
VSAT | 2.4 meter tracking ELSP antenna capable of up to 20 Mbps (C-band circular or linear)
REAL-TIME VIDEO STREAMING |
• Four Tandberg standard definition encoders with multiplex for encapsulating real-time video
• Harmonic Electra 7000 high definition encoder
CAMERAS | One Sony BZR-800 high definition pan/tilt/zoom camera mounted in the
Control Van and one on the aft deck; one Marshall Electronics VS-570-HDSDI high
definition pan/tilt/zoom camera, and microphone for interaction with shore, mounted in
Wet Lab and in ROV hangar.
COMMUNICATIONS |
• Ship-wide RTS Telex intercom system for real-time communications between ship and shore
• Handheld UHF radios are interfaced with the RTS intercom system for deck, bridge,
and pilot communications.
Control & Imaging Vans
AREA | 28 square meters (301.4 square feet)
WORKSTATIONS | Nine; typical configuration for ROV operations: two to three scientists,
data logger, Hercules pilot, Argus pilot, navigator, video engineer, educator
Data Lab
AREA | 36 square meters (387.5 square feet)
WORKSTATIONS | Six workstations for data manager, data loggers, navigators, educators;
high-resolution map, multibeam, and side-scan sonar processing; flexible bench space
Satellite Room
AREA | 30.5 square meters (328.3 square feet)
WORKSTATIONS | Three workstations for data, video, and satellite engineers; electronics workbench
VIDEO STORAGE | Two Omneon Mediadecks (MDM-5321 and SMD-2200-BB) for video recording,
playback, and storage
DATA STORAGE | 27 terabyte disk storage for nonvideo data
EMERGENCY COMMUNICATIONS | Iridium phone
Wet Lab
AREA | 19 square meters (204.5 square feet)
BENCH SPACE | 5-meter-long (16-foot) stainless steel worktop
REFRIGERATION |
• Panasonic MDF-C8V1 ULT –80/–86°C Scientific Freezer, 0.085 cubic meters (3 cubic feet)
• Science refrigerator/freezer, approximately 0.57 cubic meters (20 cubic feet)
• ThermoSafe 560 dry ice machine (planned for 2013)
MICROSCOPE |
• Nikon SMZ800 trinocular microscope, 6.3× zoom, Vari-Mag C-mount camera adapter
with additional 2.5× ocular
• Dual output cold-light source
• Nikon D300 SLR camera
• HDMI out for sharing microscope video with shore
HAZMAT |
• Fume hood/ventilation to be upgraded in 2013
• Chemical and waste storage to be upgraded in 2013
• Carry-on, carry-off chemical policy
ROV Hangar
AREA | 24 square meters (258.3 square feet)
POWER | 110/60 Hz and 220/50 Hz available
PERSONAL PROTECTIVE EQUIPMENT | Hard hats, PFDs, high voltage gloves
LIFTS | 2 × 2-ton overhead manual chainfall lifts
STORAGE | Storage for spares and other equipment
ROV Workshop
AREA | 18 square meters (193.8 square feet)
TOOLS | Complete set of hand tools, cordless tools, electrical and fiber-optic test equipment
MACHINES | Mill-drill combination machine
STORAGE | Storage for spares and other equipment
Production Studio
AREA | 16.5 square meters (177.6 square feet)
VIDEO TELECONFERENCING UNIT | Cisco C90
SWITCHER | Ross CrossOver16
CONVERTER | BrightEye Mitto scan converter
HULL MOUNTED SYSTEMS
Kongsberg EM302 Multibeam Echosounder
FREQUENCY | 30 kHz
DEPTH RANGE | 10–7,000 meters (33–22,966 feet)
SWATH WIDTH | Up to 5.5 times water depth, to approximately 8,000 meters (26,247 feet)
PULSE FORMS | CW and FM chirp
BEAMWIDTH | 1° × 1°
BEAMS PER SWATH | 288
MAXIMUM NUMBER OF SOUNDINGS PER SWATH | 432
MAXIMUM NUMBER OF SWATHS PER PING | 2
MAXIMUM NUMBER OF SOUNDINGS PER PING | 864
PLANNED INSTALLATION | March 2013
Knudsen Echosounder & Subbottom Profiler
PROFILER | Knudsen 3260 Chirp Echosounder/Subbottom profiler
OPERATING FREQUENCY | Dual frequency, 3.5 kHz and 15 kHz
POWER | 4 kW on Channel 1 and up to 2 kW on Channel 2
RANGE | Up to 5,000 meters (16,404 feet)
FILEFORMAT | Knudsen Raw or SEG-Y
PLANNED INSTALLATION | March 2013
Ultra-Short Baseline Navigation System
SYSTEM | TrackLink 5000MA system for USBL tracking of ROVs Hercules and Argus
RANGE | Up to 5,000 meters (16,404 feet)
POSITIONING ACCURACY | 1.0° (better than 2% of slant range)
OPERATIONAL BEAMWIDTH | 120°
OPERATING FREQUENCY | 14.2 to 19.8 kHz
TARGETS TRACKED | Up to eight
Space for Future Hull-Mounted Sensors
SENSORS |
• RDI 75 kHz ADCP
• Kongsberg 12/18 kHz transduscer for EK60 or EA600 system
• Sonardyne Ranger USBL
SIDE-SCAN TOWFISH DIANA
SIDE-SCAN SONAR | EdgeTech 4200 MP CHIRP side-scan sonar with depressor wing
DEPTH CAPABILITY | 2,000 meters (6,561.7 feet)
TOWFISH SIZE | 125.6 centimeters × 11.4 centimeters (49.5 inches × 4.5 inches)
WEIGHT IN AIR | 48 kilograms (106 pounds)
FREQUENCY | 300 and 600 kHz dual simultaneous
OPERATING RANGE | 230 meters (300 kHz), 12 meters (600 kHz)
HORIZONTAL BEAMWIDTH | 0.54° and 0.34° (high speed mode),
0.28° and 0.26° (high definition mode)
VERTICAL BEAMWIDTH | 50°
DEPRESSION ANGLE | Tilted down 20°
RESOLUTION ALONG TRACK (HIGH SPEED MODE) | 300 kHz: 1.9 meters @ 200 meters;
600 kHz: 0.6 meters @ 100 meters
RESOLUTION ALONG TRACK (HIGH DEFINITION MODE) | 300 kHz: 1.0 meter @ 200 meters;
600 kHz: 0.45 meters @ 100 meters
RESOLUTION ACROSS TRACK | 3 centimeters (300 kHz), 1.5 centimeters (600 kHz)
FILE FORMAT | Native JSF or XTF
SENSORS | Heading, pitch, roll, pressure
REMOTELY OPERATED VEHICLE HERCULES
General
DEPTH CAPABILITY | 4,000 meters (13,123 feet)
TETHER | 30–45 meters (98.4–147.6 feet), 20 millimeters (0.79 inches) diameter, neutrally buoyant
SIZE | 3.9 meters long × 1.9 meters wide × 2.2 meters tall
(12.8 feet long × 6.2 feet wide × 7.2 feet tall)
MASS | Approximately 2,500 kilograms (5,500 pound-mass) in air
MAXIMUM VEHICLE SPEED | 0.77 meters/second (1.5 knots) forward,
0.25 meters/second (0.5 knots) lateral, 0.5 meters/second (1 knots) vertical
(on site, within tether range)
MAXIMUM TRANSIT SPEED | 1 meter/second (2 knots), no sampling, in layback mode
MAXIMUM ON-BOTTOM TRANSIT SPEED | 0.5 meters/second (1 knot), no sampling
MAXIMUM SAMPLING TRANSIT SPEED | 0.25 meters/second (0.5 knots) on flat seafloor;
< 0.13 meters/second (< 0.25 knots) over featured terrain
DESCENT/ASCENT RATE | 30 meters/minute (98.4 feet/minute)
PROPULSION |
• Six hydraulic thrusters powered by 15 kW (20 hp), 207 bar (3,000 psi) Hydraulic system
• Four 27.94 centimeter (11 inch) ducted thrusters, each providing 900 N (200 lbf) thrust
• Two 22.86 centimeter (9 inch) ducted thrusters, each providing 450 N (100 lbf) thrust
Imaging & Lighting
STANDARD IMAGING SUITE | One high definition video channel on fiber optic,
four standard definition video channels on coax, generally configured as:
• Insite Pacific, 6,000 msw rated, Zeus Plus with 18× zoom lens, Ikegami HDL-45A with zoom/pan/tilt
• Insite Pacific, 6,000 msw rated, Titan Rotate-Tilt standard definition camera (bubble camera)
• Two Insite Pacific NOVA utility cameras, mounted to view the starboard sample box
• One Insite Pacific Aurora utility camera, mounted aft
LIGHTING |
• Two Deep Sea Power & Light 400 Watt HMI with dual-ballast, 12,000 lumens, forward mounted
• Two Deep Sea Power & Light Matrix-3 LED lamps, 20,000 lumens, forward mounted
• Two Deep Sea Power & Light Multi-Sealite, incandescent. One mounted aft,
one utility lamp for sample storage.
SCALING | Two red Deep Sea Power & Light Micro Sea-Lasers, mounted 10 centimeters
(3.94 inches) apart, in parallel with main HD camera
HIGH-RESOLUTION MAPPING SUITE |
• Available for nonstandard mapping products; users should contact the OET
Operations Director regarding use
• Typical configuration is downward-looking; custom configurations possible
• 1375 kHz BlueView multibeam, 90° total swath, 30 meter range
• Two stereo Prosilica still cameras, one black & white, one color; 1,024 × 1,360 pixels;
29° × 39° field of view; strobe lighting
• Green laser sheet with dedicated laser camera; 532 nanometers; 100 mW;
45° line generating head; inclined plane
• Raytrix R5 lightfield camera
Vehicle Sensors & Navigation
GYRO | Ixsea Octans fiber optic north-seeking
PRESSURE SENSOR | Paroscientific Digiquartz 8CB series
CTD | Seabird FastCAT 49
OPTODE | Aanderaa 3830
TEMPERATURE PROBE | WHOI high temperature probe (0°–500°C)
USBL NAVIGATION | TrackLink 5000MA system, electrically triggered
DOPPLER NAVIGATION & ALTITUDE | RDI Workhorse Navigator Doppler Velocimeter, 600 kHz, 0.7–90 meter range (2.3–295.3 feet)
FORWARD-LOOKING SONARS |
• Mesotech 1071 profiling sonar, 600 kHz, 50 meter range (164 feet)
• TriTech Super SeaPrince 675 kHz, 50 meter range (164 feet)
Manipulators and Sampling
MANIPULATORS |
• Kraft Predator: Hydraulic, seven function, six degrees of freedom, force feedback
• ISE Magnum: Hydraulic, seven function
SUCTION SYSTEMS |
• Suction sampling system, two 8 liter acrylic buckets
• Jet-suction excavation system
SAMPLING TOOLS |
• Mission configurable
• Up to eight 6.35 centimeter (2.5 inch) inner diameter, 28 centimeter (11 inch) long push cores with T-handle or hardwood ball handle
• Up to three 5 liter Niskin bottles, manually triggered with manipulator
• Custom sampling tools can be integrated
SAMPLE STORAGE |
• Forward sample tray (inboard): 45 centimeters × 33 centimeters × 25 centimeters
(17.7 inches × 13 inches × 9.8 inches)
• Forward sample tray (outboard): 68 centimeters × 35 centimeters × 30 centimeters
(26.8 inches × 13.8 inches × 11.8 inches)
• Starboard sample drawer: 65 centimeters × 50 centimeters × 30 centimeters
(25.5 inches × 19.7 inches × 11.8 inches)
• Payload: Up to 300 lbs. depending on sensor package
• Custom configuration of boxes, crates, and containers
ELEVATORS | Mission configurable; free ascent; maximum standard payload 70 kilograms (150 pounds)
Scientific Instrument Support
POWER | 110 V 60hz AC, 24 VDC, 12 VDC, 5 VDC power options
TELEMETRY | Three single mode fiber optic. Fiber 1 (Hercules): 8-channel 1,470–1,590 nm.
Fiber 2 (Argus) four-channel 1,510–1,570 nm. Fiber 3: Spare.
DIGITAL DATA CHANNELS | One RS-232, One RS-485, One Gig Ethernet
REMOTELY OPERATED VEHICLE ARGUS
General
DEPTH CAPABILITY | 6,000 meters (19,685 feet), currently limited by cable length
CABLE | 4,000 meters, 0.68 inch steel cable
SIZE | 3.8 m long × 1.2 m wide × 1.3 m high
WEIGHT | 1,800 kilograms (4,000 pounds)
MAXIMUM TRANSIT SPEED | 2 knots
ASCENT/DESCENT RATE | 30 meters/minute (98.4 feet/minute)
PROPULSION | Two Deep Sea Systems International 404 brushless DC thrusters for heading control
Imaging & Lighting
CAMERAS |
• One Insite Pacific Zeus Plus high definition camera with Ikegami HDL-45A tilt head
and Fujinon HA 10 × 5.2 lens
• Three Insite Pacific standard definition mini utility cameras (fixed mounted)
• One Insite Pacific low-light "fish-eye," downward looking standard definition camera (fixed mounted)
LIGHTING |
• Two Deep Sea Power & Light 1,000 Watt HMI (approximately 100,000 lumens each)
• Two Deep Sea Power & Light 400 Watt HMI
Vehicle Sensors & Navigation
USBL NAVIGATION | TrackLink 5000MA system, acoustically triggered
HEADING | TCM2 magnetic compass, Crossbow magnetic compass
PRESSURE SENSOR | Paroscientific Digiquartz 8CB series
ALTIMETER | Benthos PSA-916
FORWARD-LOOKING SONAR | Mesotech 1071, 325 kHz, 100 meters range
SIDE-SCAN SONAR | EdgeTech 4200 MP transducers from Diana can be installed by request
SUBBOTTOM PROFILING SONAR | TriTech SeaKing Parametric Subbottom (10–30 kHz)
Scientific Instrument Support
POWER | 110 V 60 Hz AC, 24 VDC, 12 VDC, 5 VDC power options
TELEMETRY | Three single mode fiber optic. Fiber 1 (Hercules): 8-channel 1,470–1,590 nm.
Fiber 2 (Argus) 4-channel 1,510–1,570 nm. Fiber 3: Spare.
DIGITAL DATA CHANNELS | Three RS-232, one 100base-T Ethernet
DATA PRODUCTS
Seafloor Mapping
MULTIBEAM ECHOSOUNDER |
• XBT profiles
• Sound speed velocity profiles
• Raw datagram
• Gridded multibeam bathymetry
• Backscatter mosaic
• Water column analysis
SUBBOTTOM PROFILER | Knudsen Raw or XTF data files
SIDE-SCAN SONAR | JSF raw data files
Hercules Operations
IMAGING | High definition video from Hercules main camera, still captures from high definition video
NAVIGATION | Vessel lat/lon, vessel heading, vehicle lat/lon, vehicle heading, vehicle attitude,
Doppler velocity log
SENSOR DATA | CTD, O2, depth, altitude, temperature probe
ACOUSTIC DATA | SeaKing forward-looking sonar raw data files
SAMPLES | Sampling may include grab samples, push cores, Niskin water samples
OPERATIONAL LOGS | EventLog, Dive Reports, Sample Logs
PRECISION SEAFLOOR MAPPING |
• Stereo imagery, bathymetry
• High-frequency multibeam
• Laser mapping
Argus Operations
IMAGING | High definition video from Argus main camera, still captures from high definition video
NAVIGATION | Vessel lat/lon, vessel heading, vehicle lat/lon, vehicle heading, vehicle attitude
SENSOR DATA | Depth, altitude
ACOUSTIC DATA |
• SeaPrince subbottom profiler raw data files
• EdgeTech side-scan sonar raw JSF (by advance request)
OPERATIONAL LOGS | EventLog, dive reports