Abstract: A buoyancy control system comprises a housing, first and second pistons, and a source of pressurized air. The pistons are coaxially aligned and are supported by the housing such that movement of the pistons changes a volume of a control chamber. In a shallow mode, fluid flows from the source of pressurized fluid to the first piston such that the pressurized fluid displaces the first piston to alter the volume of the control chamber and thus a buoyancy of the buoyancy control system. In a deep mode, fluid flows from the source of pressurized fluid to the first and second pistons such that the pressurized fluid displaces both of the first and second pistons to alter the volume of the control chamber and thus the buoyancy of the buoyancy control system.

Abstract: A system for displacing a floating object comprising a jaw assembly and at least one latch assembly. The jaw assembly supports the latch assembly such that, when the latch assembly is in a latched configuration, the latch assembly maintains the jaw assembly in an open configuration and, when the jaw assembly is in the open configuration, the at least one jaw assembly defines a jaw gap through which the floating object may pass. The latch assembly is adapted to engage the floating object when the floating object has passed through the jaw gap such that the latch assembly is placed from the latched position into the unlatched position to allow the jaw assembly to move from the open configuration into the closed configuration. The jaw assembly is adapted to engage the floating object when in the closed configuration.

Abstract: A system for displacing a floating object comprising a jaw assembly and at least one latch assembly. The jaw assembly supports the latch assembly such that, when the latch assembly is in a latched configuration, the latch assembly maintains the jaw assembly in an open configuration and, when the jaw assembly is in the open configuration, the at least one jaw assembly defines a jaw gap through which the floating object may pass. The latch assembly is adapted to engage the floating object when the floating object has passed through the jaw gap such that the latch assembly is placed from the latched position into the unlatched position to allow the jaw assembly to move from the open configuration into the closed configuration. The jaw assembly is adapted to engage the floating object when in the closed configuration.