Abstract: The invention relates to a carrier (5) for transporting seismic nodes (9) to and from a sea floor (4), comprising an interior (8) for storing the nodes and a node transfer position (10) for transferring nodes (9) to and from the carrier (5); a support (14) for supporting the nodes (9) in a row (33) between the interior (8) of the carrier (5) and the node transfer position (10); and an endless driven belt or chain (11) with pushers (19) for pushing the row (33) of nodes (9). The invention also relates to a seismic node (9) adapted to use in the carrier (5). Further the invention relates to a method for loading seismic nodes (9) into the carrier (5), and a method for unloading seismic nodes (9) from the carrier (5).

Abstract: The present disclosure is directed to delivering nodes to an ocean bottom. A system can include a tether management system (TMS) towed by a vessel that moves on the surface of the ocean in a first direction. An underwater vehicle (UV) can be connected to the TMS and can move in a second direction that is different from the first direction. A thruster can be coupled to the TMS can cause the TMS to move in a third direction that is different from the first direction. A control unit can control the thruster to move the TMS in the third direction based on a cross-line location policy, and cause the UV to deploy nodes to target locations on the ocean bottom.

Abstract: Apparatuses, systems, and methods for data and/or power transfer to and from an ocean bottom seismic node are described. In an embodiment, an autonomous seismic node is configured with a bulkhead connector assembly that may be coupled to a plug assembly for data and/or power transfer and a pressure cap assembly when utilized subsea. A plurality of pins may be located on the bulkhead assembly in a substantially flat contact surface to obtain an external electrical connection to the node. The pins on the bulkhead assembly may form a flat circuit with an external device, such as a plug assembly or pressure cap assembly. One or more external devices may be coupled to the pressure cap assembly and/or bulkhead connector for increased functionality to the node. A quick release assembly and/or locking ring may be utilized to fasten any external device to the bulkhead connector assembly.

Abstract: An adapter includes a waterproof container, a photoelectric conversion device housed in the waterproof container and connected to an optical cable, and an attachment structure provided at the waterproof container, for use in detachably attaching the adapter to an ROV.

Abstract: Systems and methods for retrieving seismic data acquisition units from an underwater seismic survey are provided. The system includes an underwater vehicle with a base and an underwater vehicle interlocking mechanism. The underwater vehicle receives environmental information and identifies a seismic data acquisition unit located on an ocean bottom. The underwater vehicle obtains an indication to perform a non-landing retrieval operation. The underwater vehicle sets a position of the underwater vehicle interlocking mechanism to extend away from the base of the underwater vehicle. The underwater vehicle retrieves the seismic data acquisition unit by coupling the underwater vehicle interlocking mechanism with a seismic data acquisition unit interlocking mechanism. The underwater vehicle stores the seismic data acquisition unit and then sets the underwater vehicle interlocking mechanism in a second position to perform the non-landing retrieval operation for a second seismic data acquisition unit.

Abstract: Systems and methods are disclosed herein for a modular buoy deployment system including modules arranged to be assembled at a destination location and an aerial delivery apparatus arranged to deliver the buoy modules to the destination location. The modules are connectable to at least one other module and form a buoy when assembled. The module buoy deployment system also optionally includes a platform arranged to receive one or more aerial delivery apparatuses. Each module conforms to a delivery criteria of the aerial delivery apparatus. The module buoy deployment system also optionally includes a power system arranged to recharge the aerial delivery apparatus.

Abstract: An apparatus for use with a submerged compartment is presented. The apparatus includes deployable physical connection hardware provided with the submerged compartment. The deployable physical connection allows for a transfer of fluid between the submerged compartment and a region near a marine free surface when deployed. The deployable physical connection hardware comprises a hose in one aspect.

Abstract: A method and a system for pressure regulation of well fluid produced from a hydrocarbon well in a hydrocarbon production field. The system comprises a pump arranged on a well head in fluid communication with a process fluid passage from the well, the pump arranged for receiving well fluid produced from the well and to deliver the fluid to downstream piping or equipment. The pump comprises a motor/generator unit operable as a generator as the pump is driven by well fluid in power generation mode, and wherein the pump is driven in power consumption mode by operation of the motor/generator unit as a motor.

Abstract: A wheel loader includes a work implement, an obtaining unit, and a control unit. The work implement includes a bucket. The obtaining unit obtains soil property information on a soil property of an excavation object. The control unit controls an operation to excavate the excavation object with the bucket of the work implement based on the soil property information obtained by the obtaining unit.

Abstract: A skeg mounts from the stern of a towing vessel and extends below the waterline. A channel in the skeg protects cables for steamers and a source (e.g., air gun array) of a seismic system deployed from the vessel. Tow points on the skeg lie below the water's surface and connect to towlines to support the steamers and the source. A floatation device supports the source and tows below the water's surface to avoid ice floes or other issues encountered at the water's surface. The floatation device has a depth controlled float and one or more adjustable buoyancy floats. The controlled float has its buoyancy controlled with pressurized gas used for the air gun source and actively controls the depth of air gun source in the water. Each of the adjustable float connects in line with the controlled float with flexible connections. Each adjustable float has its buoyancy preconfigured to counterbalance the weight in water of the air gun or portion of the source that the float supports.

Abstract: A cable hang-off arrangement for an elevated support including a cable assembly with a flexible reinforced protective tube for accommodating a transmission cable arrangement, a mounting assembly arranged on the elevated support, and a lifting assembly for lifting the cable assembly from a lower level to the elevated support, which lifting assembly is realized to engage with the mounting assembly such that the cable assembly is suspended between the elevated support and the lower level. An offshore facility mounted on an elevated support above a variable lower level including a transmission cable arrangement and a flexible protective tube for guiding the transmission cable arrangement through an essentially vertical direction from the elevated support to the lower level into an essentially horizontal direction at the lower level is also provided. A method of mounting such a cable hang-off arrangement is also provided.

Abstract: An atmospheric working cabin for underwater operation for implementing operations on the underwater object is provided. The working cabin has two or more layers of cabin bodies, each layer of the cabin body has an interface for butting with the underwater object, the interface of the each layer of the cabin bodies is provided with a flexible gel. A space between an innermost cabin body and an outer cabin body is filled with water, after the working cabin butting with the underwater object, the flexible gel is contacted with the surface of the underwater object, water is drawn out successively from the outside to the inside, whilst air is injected therein, an atmospheric pressure is maintained inside the innermost cabin body, the pressure between the cabin bodies is less than the atmospheric pressure and gradually increases from the outside to the inside.

Abstract: A tool for subsea installation and testing of wellhead modules such as Xmas trees and similar equipment, from a ship using a ship crane. The tool includes a subsea unit that includes a connector for releasable connection to subsea wellhead modules or equipment, means for positioning and means for testing, and a connector for electric power and electric and/or optical control.

Abstract: A spool has a cylinder, a first flange coupled to a first end of the cylinder and a second flange coupled to a second end of the cylinder. A compressible material surrounds the cylinder and an optical fiber is wrapped around the compressible material. When tension is applied to the optical fiber the compressible material can be deformed to reduce the tension on the optical fiber. When submerged underwater the water pressure will not compress the compressible material.

Abstract: A clamp connector emergency release tool designed for subsea operations, when normal release of a subsea clamp connector (14) is not possible, is shown and described. The tool is adapted to be handled and operated remotely by a work class ROV tool. The tool includes a clamp connector (14) adapter housing (7) arranged to engage with and connect to the clamp connector (14) body, a rotatable hole saw (11) mounted on the housing (7), a rotary motor (1) in driving connection with the hole saw (11) and a piston (3) and cylinder assembly (4,5). The piston (3) and cylinder assembly (4,5) enables advancing the rotatable hole saw (11) into the clamp connector (14) body around its jack screw, in order to separate the jack screw together with a threaded portion of said clam connector (14) in order to separate the jack screw from the clamp connector (14) body.

Abstract: There is described an apparatus and method for deploying a sensor array comprising a plurality of sensors (5) joined together by connection cables (6) in one or more “chains”, and connected to an input/output device (8). An input/output connection unit (7, 15) is provided on a carrier (10), and the sensors are held on or in deployment devices (14a-14e) mounted to the carrier with their connection cables (6) connected to the input/output connection unit (7, 15). The input/output device (8) may also be mounted to the carrier, and connected to the connection unit (7, 15). The carrier (10), sensors, and input/output device (8) may be delivered as a single package to the area where the sensor array is to be deployed. The sensors are then moved from the carrier to their final positions. The deployment devices (14a-14e) may be detached from the carrier and moved sequentially to the sensor positions, and a sensor may be removed from the deployment device at each sensor position.

Abstract: A spool has a cylinder, a first flange coupled to a first end of the cylinder and a second flange coupled to a second end of the cylinder. A compressible material surrounds the cylinder and an optical fiber is wrapped around the compressible material. When tension is applied to the optical fiber the compressible material can be deformed to reduce the tension on the optical fiber. When submerged underwater the water pressure will not compress the compressible material.

Abstract: Systems and methods for deployment and retrieval of ocean bottom seismic receivers. In some embodiments, the system includes a carrier containing receivers. The carrier can include a frame having a mounted structure (e.g., a movable carousel, movable conveyor, fixed parallel rails, or a barrel) for seating and releasing the receivers (e.g., axially stacked). The structure can facilitate delivering receivers to a discharge port on the frame. The system can include a discharge mechanism for removing receivers from the carrier. In some embodiments, the method includes loading a carrier with receivers, transporting the carrier from a surface vessel to a position adjacent the seabed, and using an ROV to remove receivers from the carrier and place the receivers on the seabed. In some embodiments, an ROV adjacent the seabed engages a deployment line that guides receivers from the vessel down to the ROV for “on-time” delivery and placement on the seabed.

Abstract: Systems and methods for deployment and retrieval of ocean bottom seismic receivers. In some embodiments, the system includes a carrier containing receivers. The carrier can include a frame having a mounted structure (e.g., a movable carousel, movable conveyor, fixed parallel rails, or a barrel) for seating and releasing the receivers (e.g., axially stacked). The structure can facilitate delivering receivers to a discharge port on the frame. The system can include a discharge mechanism for removing receivers from the carrier. In some embodiments, the method includes loading a carrier with receivers, transporting the carrier from a surface vessel to a position adjacent the seabed, and using an ROV to remove receivers from the carrier and place the receivers on the seabed. In some embodiments, an ROV adjacent the seabed engages a deployment line that guides receivers from the vessel down to the ROV for “on-time” delivery and placement on the seabed.

Abstract: An electrical and hydraulic configuration on a subsea tree that facilitates the use of an ROV control system to operate the tree during well installations, interventions, and workovers. An SCM at the tree is in communication with a fixed junction plate that receives a production umbilical during normal operation. The ROV can be deployed to disconnect and park the production umbilical during well installations, interventions, and workovers to prevent accidental operation of the SCM or tree. The junction plate is configured to connect with the ROV and thereby establish communication with the hydraulic lines of the SCM. The ROV may carry an umbilical from a vessel to provide electrical and hydraulic service to the SCM during well operations. In addition, the ROV has facilities to repressurize spent control fluid to thereby allow reuse of the control fluid by the SCM.

Abstract: A deployment and retrieval method for ocean bottom seismic receivers, the method employs a remotely operated vehicle (ROV) having a carrier attached thereto to carry a plurality of receivers. The receivers are individually placed on the ocean bottom floor by utilizing a conveyor to move the receivers along a linear path to remove the receivers from the carrier. In one embodiment, multiple linear conveyors may be operated independently to alter the relative positions of the receivers on the respective conveyors to adjust the weight distribution of the receivers within the carrier.

Abstract: A deployment method and system for ocean bottom seismometers (OBS) includes providing a plurality of circular shaped, wireless, self-contained OBS units. The circular shaped OBS units are loaded into a carrier and transported from a surface vessel to the ocean floor where a remotely operated vehicle (ROV) is utilized to individually place the plurality of circular OBS units on the ocean floor. Placement of each OBS unit is accomplished by utilizing suction mechanism attached to a robotic arm. The suction mechanism is defined about an axis and employs a suction cup to individually engage each circular shaped OBS unit so that the suction mechanism is coaxially aligned with the OBS unit, and move the OBS unit from a first location to the ocean floor.

Abstract: Methods and apparatus for installing underwater devices on sub-sea structures. The apparatus can include a body having at least one pair of support members extending therefrom. At least one actuator, adapted to move in a linear direction, can be disposed on each support member. At least one connector can be disposed on each actuator. The connector can include at least one aperture disposed therethrough for receiving an attachment member.

Abstract: An optical fiber management system for a remotely operated vehicle (ROV) includes a spool containing a length of optical cable, a motor coupled to the spool, a motor controller, a speed sensor and a feed mechanism. The motor controller can detect the speed of the ROV through water and control the rotational speed of the motor so that the optical cable is removed from the spool at a speed that is equal to or greater than the speed of the ROV. A feed mechanism is used to apply a tension to the optical cable so that it is removed from the spool and emitted from the ROV without becoming tangled.

Abstract: Embodiments described herein relate to an apparatus and method of transferring seismic equipment to and from a marine vessel and subsurface location. In one embodiment, a marine vessel is provided. The marine vessel includes a deck having a plurality of seismic sensor devices stored thereon, two remotely operated vehicles, each comprising a seismic sensor storage compartment, and a seismic sensor transfer device comprising a container for transfer of one or more of the seismic sensor devices from the vessel to the sensor storage compartment of at least one of the two remotely operated vehicles.

Abstract: A deployment and retrieval apparatus for ocean bottom seismic receivers, the apparatus being a remotely operated vehicle (ROV) having a carrier attached thereto and carrying a plurality of receivers. The carrier includes a frame in which is mounted a structure for seating and releasing the receivers. The structure includes one or more movable conveyors disposed to move receivers along a linear path relative to the frame in order to discharge and retrieve ocean bottom seismic receivers.

Abstract: A spool has a cylinder, a first flange coupled to a first end of the cylinder and a second flange coupled to a second end of the cylinder. A compressible material surrounds the cylinder and an optical fiber is wrapped around the compressible material. When tension is applied to the optical fiber the compressible material can be deformed to reduce the tension on the optical fiber. When submerged underwater the water pressure will not compress the compressible material.

Abstract: A deployment and retrieval apparatus for ocean bottom seismic receivers, the apparatus being a remotely operated vehicle (ROV) having a carrier attached thereto and carrying a plurality of receivers. The carrier comprises a frame in which is mounted a structure for seating and releasing said receivers. The structure may comprise a movable carousel or a movable conveyor or fixed parallel rails or a barrel. The structure includes a discharge port on said frame and a discharge mechanism for removing and retrieving said receivers. A method for deployment and retrieval of ocean bottom seismic receivers comprises the steps of loading a carrier with a plurality of receivers, attaching said carrier to an ROV, utilizing said ROV to transport the carrier from a surface vessel to a position adjacent the seabed and thereafter utilizing said ROV to remove receivers from said carrier and place the receivers on the seabed.

Abstract: Embodiments described herein relate to an apparatus and method of transferring seismic equipment to and from a marine vessel and subsurface location. In one embodiment, the method includes deploying at least one remotely operated vehicle from a vessel operating in a first direction, and operating the at least one remotely operated vehicle in a pattern relative to the direction of the vessel to form at least two receiver lines.

Abstract: Methods and apparatus for installing underwater devices on sub-sea structures. The apparatus can include a body having at least one pair of support members extending therefrom. At least one actuator, adapted to move in a linear direction, can be disposed on each support member. At least one connector can be disposed on each actuator. The connector can include at least one aperture disposed therethrough for receiving an attachment member.

Abstract: A method of abandoning an underwater pipeline on the bed of a body of water from a laying vessel includes the steps of lowering the free end of the pipeline into the body of water and onto the bed of the body of water using a first and second rope, both connected to the free end of the pipeline and extending from the laying vessel to the free end of the pipeline. The method also includes disconnecting the first rope from the free end of the pipeline, once the free end of the pipeline is laid on the bed of the body of water; and rewinding the first rope onto the laying vessel, while the second rope is still connected to the free end of the pipeline.

Abstract: An electrical power system for stationary or movable subsea loads (7) provides one common feeder for multiple electric motors which can be individually controlled. Operational flexibility and operational safety for operation in varying water depths is provided by encapsulating electrical functional element (6) of a subsea power system with a subsea electrical distribution system (5) individually or in-groups. Electrical functional element (6) and their semi-conductor elements are arranged within at least one fluidized internal pressure casing (13). An external pressure casing (12) is provided for the subsea electrical distribution system (5) and/or other components of the subsea system. A high frequency power transmission to the subsea pressurized distribution system (5) with pressurized semi-conductor components reduces weight and size of subsea transformers (4b) and cables (9) employed in subsea systems (10).

Abstract: A subsea hanging device comprises a hanging frame 1 adapted to support an assembly (such as a gooseneck 3 and a subsea connector 4 being used to attach a heavy pipe 7 to a pipe hub 11. on the seabed), a hanging eye 8 which slides on said frame when a shaft 10 threaded through it is axially rotated, and a ROV drive bucket 12 attached to one end of the shaft. A guide funnel 13, 16 pivoted to the frame and adapted to fit over a guide post 17 on the seabed actuates a pointer 15 which indicates on a scale 14 whether the hanging angle needs adjustment to enable the connector 4 to be engaged with the hub 11.

Abstract: In one embodiment, the subsea deployment system may be used to install flying leads with integral buoyancy. In another embodiment, the subsea deployment system may be used to install flying leads with separate buoyancy modules. The installation sling assembly may be used with the subsea deployment system or with other systems to deploy flying leads subsea. The universal removable cartridge may be interchanged for use on a horizontal drive unit and a mud mat.

Abstract: A deployment and retrieval apparatus for ocean bottom seismic receivers, the apparatus being a remotely operated vehicle (ROV) having a carrier attached thereto and carrying a plurality of receivers. The carrier includes a frame in which is mounted a structure for seating and releasing the receivers. The structure may include a movable conveyor or fixed parallel rails or a barrel. The structure includes a discharge port on the frame and a discharge mechanism for removing and retrieving the receivers. A method for deployment and retrieval of ocean bottom seismic receivers includes the steps of loading a carrier with a plurality of receivers, attaching the carrier to an ROV, utilizing the ROV to transport the carrier from a surface vessel to a position adjacent the seabed and thereafter utilizing the ROV to remove receivers from the carrier and place the receivers on the seabed.

Abstract: A subsea well intervention system that permits dynamic disconnection from subsea well intervention equipment without removing any of the equipment during a drive-off condition is provided. The system includes a blowout preventer module operatively connected to a subsea tree and a subsea control system. The subsea control system is connected via electrical jumper to an ROV's tether management system. The subsea control system is connected via hydraulic jumpers to a multipurpose fluid-injection skid and one or more hydraulic accumulation banks. A fail-safe disconnect assembly is utilized with respect to the electrical jumper in order to provide easy removal during a drive-off condition.

Abstract: Methods and apparatus for monitoring a remotely operated vehicle umbilical condition in real time allowing for improving of power delivery as well as early detection of threats to integrity of the umbilical. The umbilical may include an optical fiber. Processing equipment may enable distributed temperature sensing along the optical fiber.

Abstract: A method and apparatus for storing, transporting, and transferring one or more sensor devices is described. In one embodiment, the apparatus includes a transfer device having a frame, and a movable platform coupled to the frame. A mesh material may be coupled to the frame and surround at least one side of the movable platform and a mating interface is formed in a side of the frame that is adapted to couple with a remotely operated vehicle in an underwater location.

Abstract: Disclosed is a system that performs inspection and repair of an underwater structure, specifically core internals in a pressure vessel. An underwater vehicle is provided with a drive wheel, a contact force generating unit (e.g., thruster) that presses the drive wheel to a vertical wall of the underwater structure, an ascending force control unit (e.g., ballast) that controls the buoyancy of the vehicle, a guide roller that engages with and is pressed against an undersurface of the underwater structure by the ascending force controlled by the ascending force control unit. The underwater vehicle is appropriately positioned with respect to the vertical direction by the guide roller. The drive wheel is driven for rotation so that the underwater vehicle runs horizontally along the vertical wall to reach the inspection or repair site, where the inspection or repair is carried out by work tool mounted to the underwater vehicle.

Abstract: An apparatus and method is provided for transporting, installing, retrieving, and replacing a sensor array of individual sensor pods at a geographically remote location, such as on the sea floor. The apparatus consists of a remotely operated vehicle (ROV), a carousel attached to the ROV, a pod ejector mechanism attached to the carousel, and a manipulator with a manipulator end effector attached to the ROV. The carousel contains a plurality of sensor pod holders, where each sensor pod holder is capable of holding a sensor pod. The pod ejector mechanism is capable of discharging a fresh sensor pod, while the manipulator end effector is capable of lifting a depleted sensor pod and placing the depleted sensor pod in an empty sensor pod holder in the carousel.

Abstract: A device for inspecting submersed plant parts is particularly suited for ultrasonic inspection of screws in the core baffle of a nuclear reactor pressure vessel. The device includes a remote-controlled underwater vehicle that is provided at its end face with a carrier that can be pivoted about a pivot axis oriented parallel to the longitudinal central axis of the underwater vehicle, and is provided with a holding device for an inspection head that is arranged on the carrier spaced apart from the pivot axis.

Abstract: The flying lead deployment apparatus with one reel assembly is made of a frame assembly; a reel assembly with flying lead disposed in the frame assembly adapted to rotate to distribute the flying lead; a first ROV-flying lead interface connected to the frame assembly and one end of the flying lead; a second ROV-flying lead interface connected to the reel assembly and the other end of the flying end; a drive assembly connected to the reel assembly with a counting gear adapted to count the number of times the reel assembly rotates, an adjustable rack gear, and a locking mechanism connected to the adjustable rack gear and the reel assembly adapted to stop the reel assembly when the counting gear reaches a predetermined number; and a friction brake connected to the frame assembly and reel assembly adapted to apply friction to maintain constant tension on the flying lead.

Abstract: Apparatus for substantially horizontal connection of a conduit to a subsea structure, the apparatus comprising a frame being connectable to and supportable by the subsea structure, the frame having docking means to allow horizontal connection means including a remotely operated vehicle and/or a toolskid to dock with the frame such that the frame is capable of bearing at least part of an operational load associated with the horizontal connection of the conduit to the subsea structure.

Abstract: Subsea connection apparatus comprising: a frame (5) connectable to a subsea structure (1); docking means for connecting the frame to the subsea structure; conduit handling means (10) positioned on the frame to facilitate the positioning of a conduit for attachment to a subsea structure; and means for docking a subsea tool and/or vehicle (20) onto the frame.

Abstract: Apparatus and methods for remotely installing vortex-induced vibration (VIV) reduction and drag reduction devices on elongated structures in flowing fluid environments. The apparatus is a tool for transporting and installing the devices. The devices installed can include clamshell-shaped strakes, shrouds, fairings, sleeves and flotation modules.

Abstract: The present invention provides a method for drilling, analyzing, and stabilizing subsurface formations. The system is generally formed around a reusable bottomhole assembly (BHA) that provides an anchoring and thrust mechanism, furnishing the necessary downward force needed to provide comminution of geological material in a borehole. The BHA is conveyed into the borehole via a communications link wireline equiped with internal power and data telemetry lines. The BHA permits the use of multiple comminution sampling and analysis tools via a coupling device. The BHA and communications link wireline are mounted so as to couple with different tools. The main drilling mechanism is a torque drive assembly powered coring tool. A borehole televiewer and/or logging analysis tool may follow each coring period. The final step in each coring period is a wellbore consolidation technique. This series of steps is then repeated, each time coring the wellbore to a deeper depth.

Abstract: To install a modular seabed processing system (1) on a seabed, a monopile foundation (3) is first lowered down and driven in to the seabed. A docking unit (4) is lowered towards the installed foundation (3) so that a mating clamp system (6) mounted on the docking unit is aligned with a spigot (5) on the foundation. The clamp system then clamps the spigot to fix the docking unit onto the foundation. Flowlines (2) and an electrical power connector plug (18) are connected to the docking unit. A first retrievable substantially autonomous module (8) is lowered and connected to the docking unit (4) by a multi-bored connector (10, 11) and the plug (18) on the docking unit is engaged by a corresponding socket (17) on the module. Isolation valves (14, 16) in the docking unit and module are opened so that the module (8) is able to act on fluid received from the flowlines (2) via the multi-bored connector (10, 11).

Abstract: A method and an apparatus, for deploying an object or a load on the seabed, the object or the load being coupled to a hoist, such as a hoisting wire in order to enable the object or the load to be lowered to the seabed from a vessel, the apparatus including a body having parts for releasably securing the object or the load to the body and propulsion for moving the body when submerged, whereby the propulsion is positioned offset from the parts for releasably securing the object or the load, in order to be able to induce rotational control on the hoist, when the propulsion is in use.

Abstract: A subsea steep wave lock and guide mechanism (1) for elongated articles (2) such as cables, pipes and umbilicals provides a substantially horizontal inlet (6) for the article at seabed level and a substantially vertical flexible article outlet (4) leading to the steep wave. The lock and guide mechanism (1) includes a number of lockable/releasable gates (20-24) for restricting and defining allowable movements of the article in the horizontal as well as in the vertical direction.

Abstract: An underwater apparatus for performing subsurface operations adapted to be operated from a remote location above the surface of a body of water is disclosed. The apparatus includes a linelatch system that is made up of a tether management system connected to a flying latch vehicle by a tether. The tether management system controls the amount of free tether between itself and the flying latch vehicle. The flying latch vehicle interfaces with various underwater structures. Also disclosed are methods of transferring power and/or data between two or more underwater devices using the linelatch system of the invention.