James G. English Can-Dive Services Ltd Crown Street North Vancouver, B. C. CANADA V7J 1G4

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1 DEEP ROVER SUBMERSIBLE OPERATIONS FOR SCIENCE James G. English Can-Dive Services Ltd Crown Street North Vancouver, B. C. CANADA V7J 1G4 The acrylic hulled, one-man submersible DEEP ROVER has gained acceptance as a valuable research tool for the support of marine science. This paper summarizes two specific research cruises which took place in the Monterey Canyon and the Exuma Islands. Specific reference is made to training of personnel and overall support capabilities. INTRODUCTION DEEP ROVER is a unique, one-man acrylic hulled submersible which has been utilized to support both bottom oriented and midwater scientific research The DEEP ROVER is the first submersible to be utilized for this lype of work, with the scientist having direct contro of the submersible, and therefore, the mission objective. The physical size, weight and configuration of the submersible permit it to be easily transported and utilized from a wide variety of 31

2 Coldwater Diving For Science support vessels with their attendant launch and recovery systems (crane, A-frame, boom, LRT, etc.) General SPECIFICATIONS Operating depth: Collapse depth: Speed (cruise): Crew: Surface support crew: Weight in air: Payload: Mission duration: Life support duration: Power: Height: Width (with thrusters): Length (manips. stored): 3,000 ft. (814 m) 12,000 ft. (3658 m) 1.5 knots (.75 m/sec) One Three 7,200 lbs. (3266 kg) 200 lbs. (90 kg) 4-6 hrs. 150 hrs. 120 volt DC (26 Kw/hr) 87" (2.21 m) 100" (2.54 m) 121" (3.4 m) Standard equipment Mesotech through-water communication system VHF surface radio Emergency location acoustic beacon Variable lighting system (up to 2 Kw) Strobe flasher (external) Two five-function Hawkes manipulators Hydrostar acoustic tracking Observation systems 360 operator vision Interface for up to 4 video camera systems Internal color video display Interface for stills photography interface for internal recording Instrumentation Digital depth gauge with analog back-up Wesmar color sonar 32

3 ENGLISH. DEEP ROVER OPERATIONS Ground fault detection system PP02 displays (redundant) C02 displays Compass Cabin pressure monitor Electrical system status meters Interface for scientific equipment Safety systems Payload jettisons (up to 5 systems) Hull jettison Acoustic tracking and location (subsea) VHF - RDF tracking (surface) Radar tracking (surface) Strobe (surface) 100% life support redundancy Fire suppression (internal) Certification Lloyds Register of Shipping (ABS, DNV, USCG available) Shippin~ and transport Truck transport - (one 40-ft. air ride trailer) Can be air or sea freighted as required Four modular units - total weight 22,000 lbs. Support vessel services required Total deck area ft2 (can be reduced) 240 volt or 460 volt - 3 phase - 10 amp power 110 volt - 1 phase - 15 amp power Fresh water washdown Deck lighting Suitable equipment tie-down points Crane or A-frame for launch and recovery Zodiac and outboard Note: Vessels with a stern launch system and equipped with a bow thruster are preferred 33

4 Coldwater Diving For Science OPERATIONS Operations are supervised by a three-man team from Can-Dive who are responsible for all training, pilot familiarization, operational planning and supervision, system maintenance and repair and interface of scientific equipment. This team requires the direct support of two diver/tenders for launch and recovery assistance, as well as the ship's crew for crane operation and line handling assistance. The key to the success of DEEP ROVER operations has been the direct, active involvement of the members of the scientific team in all aspects of the submersible operation. Since the scientist is also the pilot, each individual participates in the submersible preparation and set-up of his/her experiments. The close working relationship between the crews leads to a total team effort with a refreshing and stimulating exchange of information between all concerned. The benefits of the generally good morale over an extended cruise with long hours of work cannot be ignored. In order to have a successful cruise, the operation must be safe, efficient and fun. DEEP ROVER is supplied with a quick change battery system which provides it with the ability to complete at least two maximum duration dives per day, each with full battery power. The working day is established to suit mission objectives, the need for day or night dives, and to suit weather or environmental conditions which may be encountered in a particular geographical area. Dive duration is varied according to mission objectives, power consumption, life support status and pilot fatigue. A normal dive cycle is as follows: Pre-dive checks and eqr;pment interface: - Launch sequence: - Dive mission: - Recovery sequence: - Battery change out and life support replenishment and pre-dives: 1-2 hrs 15 min 4-8 hrs 15 min 1 hour 34

5 ENGLISH. DEEP ROVER OPERATIONS On completion of the above, the cycle is repeated. The actual time between dives is normally governed by the amount of scientific equipment which is changed for the next pilot. A full, battery change can be completed in 8 hours. Given additional supervisory crew, dives can take place on a 24 hr/day basis. During the dive, a well-formulated communications and status check plan is followed, based on verbal communication with the pilot. The checks are varied to provide adequate status monitoring while minimizing disruption to the mission. Fixed procedures are followed in the event of lost communications or tracking system failure. TRAINING Since the scientist is his/her own pilot, a comprehensive training program has been established in order to familiarize the pilot with all operational and emergency procedures. This consists primarily of: Pilot review of all manuals and procedures m advance of the program start date minute introduction to the submersible, followed by a minute dive in a harbor or controlled environment to a depth no greater than 40 f1. This dive is monitored by swimmers or divers. One or two day "classroom" review of all documents and procedures, supplemented by hands-on interaction with the submersible systems. Operational dives to suit. The DEEP ROVER is configured to be inherently simple to operate and has controls set up for instinctive operation. A good mechanical aptitude and previous experienc~ with offshore or suumersible field operations are essential. The pilot candidate must also be comfortable and relaxed with regard to underwater operations and be prepared to respond to surface control instructions. 35

6 Coldwater Diving For Science At present there are 9-10 scientists who are fully qualified for operation of the sub, and approximately 15 who have had a basic introduction to the system. A comprehensive training program, supplemented by a video presentation may be established in the near future in order to support some larger scale operator training. To date (since its launch in 1983) there have been over 100 individuals who have made untethered dives with DEEP ROVER. SCIENTIFIC RESEARCH AND RELATED PROJECTS The DEEP ROVER has been used on a variety of commercial and scientific related operations. The following are capsule summaries of the science related work completed to date. 1. Hawaii Underwater Research Laboratory The HURL-LRT launch facility was utilized to conduct the first deep water sea trials of DEEP ROVER. Four dives were made off Diamond Head to depths of 1500 ft. The DEEP ROVER was then contracted to HURL to serve as emergency stand-by for operations at French Frigate Shoals. No dives were made. On completion of the shoals work, two additional DEEP ROVER dives were made on the coral beds of Makapu Point. The LRT platform used by HURL is one of the best and most versatile systems available for launch and recovery of submersibles in all weather conditions. 2. University of California. Santa Barbara A series of dives were conducted in the Monterey Canyon area to depths of 2000 feet (limited by backup system capability). A total of 51 dives were made over the 28-day contract period. Participating scientists were: Bruce Robison, Jose Torres, Larry Madin, ::=dith Widder and Richard Harbison. Operations were mounted from the R/V Wecoma using the ship's crane for over-the-side launch and recovery. Dives were scheduled to correspond to a weather/wave pattern which repeated itself consistently over the duration of the program. 36

7 ENGLISH. DEEP ROVER OPERATIONS One dive was made in the early morning, with recovery by 10 a.m. and the second dive made in early evening for midnight recovery. This program was the first major use of the DEEP ROVER and was providing ground for both the training and operational procedures. This was the first biological exploration of the waters within the Monterey Canyon, which is the largest coastal submarine canyon of the American continents. The scientists witnessed new behaviors, new distributions and species never seen before in their natural habitat. They controlled the submersible with remarkable precision and were able to capture and preserve delicate animals for further study. Unique acoustic and bioluminescence studies were possible due to the unique low noise and minimal physical disturbance characteristics of the DEEP ROVER. Table 1 summarizes the operation. TABLE 1 DEEP ROVER - HONTEREY CANYON Dive Total Max. Avg. Max. Avg. ~ Number Duration Duration Duration Depth Depth Working hr-11 Min ft ft. Training hr-21 min ft. 94 ft. Testing 2 4 hr-21 min ft. 489 ft. Totals hr-53 min. Pilot Swranary Pilot ~ Max. Avg. Total Max. Avg. Work Depth( ft.) Depth Duration Duration Duration (work~n9) B.R ft. 74: J.T ft :27 E.W ft. 46:12 4: L.M ft. 15:33 5: R.H ft. 10:08 4:48 2:32 - Totals : Hubbs!SeaWorld Research Institute! Deep Ocean Engineering 1985 A series observation dives Thirteen training of demonstration and deep water scientific were made off San Diego at depths to 3000 feet. and deep dives were made over a 10-day period, 37

8 Coldwater Diving For Science including four 3000 foot dives. Dives were made from the Egabrag III in the La Jolla Canyon. This series of dives marked the first use of DEEP ROVER to its maximum design depth. 4. Carribbean Marine Research Center An intensive series of scientific and training/demonstration dives were made at Lee Stocking Island in The DEEP ROVER was installed on board the Undersea. Hunter. Over the 28-day operations period, 65 dives were made by a total of 46 different pilots at depths to 3000 feet. Participating scientists included: Sylvia Earle, Bruce Robison, Larry Madin, Richard Harbison, Mike Jorden, Bob Wicklund, C. Levett-Smith, and Jim Tyler. Observation/test dives were made by Jim Griffin, Lynne Carter-Hanson, Jay Langelder, Barry Walden, Tim Askew and John Perry. Table 2 provides a brief summary of the dive program and participants. TABLE 2 CARIBBEAN MARINE RESEARCH CENTER-l.985 DIVE SUMMARY Parti-eipants. National Geographic Explorer Magazine Deep Ocean Engineering University of North Carol.ina Woods Hole BBC National Science Foundation Discover Magazine NOAA University of Rhode Island Harbour Branch Foundation Perry Corporation National Science Museum Smithsonian Air/Space Museum Caribbean Marine Research Center Dive Summary Film related Demonstration Science Test Individual Pilots. Average Duration. Max. duration: Max. depth. Avg. Depth: ft. 425 ft. Dive Days: Weather Days: Equipment downtime: Equipment delays: (dives were conducted on these days) 38

9 ENGLISH. DEEP ROVER OPERATIONS SPECIALIZED EQUIPMENT AND PROJECTS The DEEP ROVER has been outfitted with a variety of specialized scientific and industrial tools to support its operations. These include: Low speed suction sampler High speed suction sampler Harbor Branch high speed sampler with multiple chambers Recording CTD Sony Beta-Cam video system (Sea Studios) Nansen bottles H. P. fish traps H. P. cable crimping tool Osprey color camera Osprey S. 1. T. camera Photosea 35 mm cameras CCD camera (internal and external) Hi-low seawater thermometer ISIT low light camera/record system Infrared night vision equipment In a recent commercial operation, conducted for Ontario Hydro in Niagara Falls, Canada, the DEEP ROVER was fitted with a PHANTOM 300 remotely operated vehicle and special tether management system. The DEEP ROVER was piloted 3000 feet into two different 45 ft diameter power plant intake tunnels, where it performed structural inspections to a depth of 300 feet. The ROV was controlled by the DEEP ROVER pilot, and flown into a restricted access dewatering sump structure. The sub was tethered to the surface via a specially built neutral umbilical for real time video transmission ARCTIC OPERATIONS The DEEP ROVER was designed for use in offshore oil operations based in Newfoundland and Labrador. This region is sv.b-arctic in nature, with partial ic~ cover, icebergs and water temperatures from 29 0F-40 of. Surface conditions are often sub zero. The life support of DEEP ROVER was configured to support an entrapped pilot for 150 hours under these conditions. The acrylic hull, and use of plastics results in excellent thermal insulation properties. 39

10 Coldwater Diving For Science DEEP ROVER has not been used under true Arctic conditions, to date, but the simple open design of the structure, and its air, oxygen and ballast systems are fully compatible with proper drainage, delcmg and general service in these conditions. The neutral tether can be used for under ice operations. Based on our experiences with other ADS systems in the high Arctic (JIM, WASP) and other remote vehicles, we feel DEEP ROVER is well suited to under ice operation 40

BACKGROUND TO STUDY CASE

BACKGROUND TO STUDY CASE German Aerospace Center (DLR) is using Andøya Rocket Range for a sounding rocket campaign. On 27th October 2005 a 300 kg payload (SHEFEX) was launched Due do a technical problems