Abstract: Depth triggers for marine geophysical survey cable retriever systems. At least some of the illustrative embodiments are methods including causing a submerged geophysical survey cable to surface. The cause may include: moving a piston within a cylinder of a housing coupled to the geophysical survey cable, the moving of the piston responsive to pressure exerted on a face of the piston as the geophysical survey cable reaches or exceeds a predetermined depth, wherein the movement of the piston overcomes a force created by interaction between two materials, the force latches the piston in place at depths above the predetermined depth; and responsive to the piston overcoming the force that latches the piston deploying a mechanism that makes the geophysical survey cable more positively buoyant, the deploying responsive to movement of the piston.

Abstract: A marine geophysical survey cable retriever system. At least some of the illustrative embodiments are methods including causing a submerged survey cable to surface. In some cases, causing the submerged survey cable to surface includes: shedding ballast weights when the survey cable reaches or exceeds a first predetermined depth; and inflating a lifting bag when the survey cable reaches or exceeds a second predetermined depth.

Abstract: A device for arranging a profiled element on the bow side of a water vehicle and a water vehicle having a wind-impacted element. The device has at least one profiled element (40, 40.1, 40.2) and means for arranging the at least one profiled element (40, 40.1, 40.2) on the bow (20) of a water vehicle (10, 100), wherein the profiled element(s) (40, 40.1, 40.2) is/are or can be supported about a pivot axis (S) which is parallel, preferably horizontal, to the midship plane, wherein the profiled element(s) (40, 40.1, 40.2) can be or is/are connected to a wind-impacted element (14) at a leading point (43) of a wind-impacted-element-driven water vehicle (10, 100) by means of a connecting device (42), in particular by means of a whippletree (42.

Abstract: An offshore floating production, storage, and off-loading vessel has a hull of generally cylindrical or polygonal configuration surrounding a central double tapered conical moon pool and contains water ballast and oil and/or liquefied gas storage compartments. An adjustable water ballast system induces heave, roll, pitch and surge motions of the vessel to dynamically position and maneuver the vessel. The moon pool shape and other devices on the vessel provide added virtual mass for increasing the natural period of the roll and heave modes, reducing dynamic amplification and resonance due to waves and vessel motion, and facilitate maneuvering the vessel. A disconnectable turret buoy at the bottom of the moon pool connects risers and mooring lines.

Abstract: An offshore structure having a vertically symmetric hull, an upper vertical wall, an upper inwardly-tapered wall disposed below the upper vertical wall, a lower outwardly-tapered wall disposed below the upper sloped wall, and a lower vertical wall disposed below the lower sloped wall. The upper and lower sloped walls produce significant heave damping in response to heavy wave action. A heavy slurry of hematite and water ballast is added to the lower and outermost portions of the hull to lower the center of gravity below the center of buoyancy. The offshore structure provides one or more movable hawser connections that allow a tanker vessel to moor directly to the offshore structure during offloading rather than mooring to a separate buoy at some distance from the offshore storage structure. The movable hawser connection includes an arcuate rail with a movable trolley that provides a hawser connection point that allows vessel weathervaning.

Abstract: The present invention reduces loads and saves steel on topsides and grillage of a catamaran system by creating a lifting force from a barge to the topsides to offset a sagging bending moment of the self-weight on the topsides during transportation. The present invention can reduce the span of the supports on the topsides on the catamaran float-over barges and move the reaction forces toward inner edges of the float-over barges. The lifting force can cause a reduction of stress on the topsides' and grillage's members caused during the topside offloading and transportation. The stress reduction can result in the members withstanding the additional dynamic load caused by a catamaran system without increasing member sizes adequate for an offloading operation. The reduction results in a significant savings, given the size of a typical topsides for a Spar hull or other offshore structure.

Abstract: Disclosed is a tug-barge offshore cargo transport device and method, comprised of two separate elements which are removably attached: a barge and a tug boat. The barge includes a bow shaped to cut through and deflect waves, a rectangular cargo deck protected by a bulwark, compartments below the cargo deck, means for maneuvering the barge, and means at the stern of the barge for removably attaching the barge to a tug boat. The tug boat includes means at the bow to removably attach to the barge, and means to control the means for maneuvering the barge from the tug boat.

Abstract: A disconnectable mooring system for a vessel is presented, comprising a moonpool in the vessel, a turret structure mounted for a rotation in said moonpool and a buoy member having a plurality of passages each adapted to receive a riser. The turret structure has a lower end comprising a buoy receptacle for detachably receiving the buoy member, wherein the mooring system further comprises a plurality of mooring lines for transmitting mooring forces and each have a lower end and an upper end connected to the seabed and the buoy member, respectively. The mooring lines each comprise a first section which in a disconnectable manner is connected to the turret structure and a second section connected to the first section at a coupling point and connected to the buoy member. Also methods for disconnecting and reconnecting such a mooring system are presented.

Abstract: The invention relates to a platform for collecting marine energy sources, which comprises solar energy collecting devices, wind energy generating devices and tidal generating devices. The platform also comprises electric energy gathering devices for gathering and outputting electric energy output by the collecting devices or the generating devices. The devices are arranged on the platform on the sea surface. The platform comprises a support partially submerged under the sea surface, a table arranged on the support, and a mounting bracket arranged on the table and used for placing the solar energy collecting devices and the wind energy generating devices.

Abstract: A system is disclosed for dynamically stabilizing a ship in high sea states. A six degree-of-freedom robotic arm is attached to the ship, and a thruster is located at the distal end of the manipulator. The manipulator is be used to orient the thruster to counteract wave forces that act against the ship's hull in real time. This active balancing technique can be used to keep the ship substantially erect in rough seas by making continual corrections to the ship's body attitude. The center of gravity and the center of buoyancy of the ship are utilized, along with a precisely oriented and controlled thrust at the end of the manipulator, to optimally control the ship's state against impending waves.

Abstract: The invention relates to a spar based vessel for accessing offshore installations and vessels, including wind farm turbines, in which the centre of gravity of the vessel is positioned below the centre of buoyancy, which is positioned below the operational waterline, the operational waterline occurs at low cross-sectional area vertical struts, and the vertical struts support a topside structure for passengers. Active ballast control system and location of the propulsive elements permits the vessel to travel in spar orientation by positioning the vector of propulsion to lie in the same horizontal plane as the transverse centre of drag of the vessel. A docking system permits safe connection of the vessel to offshore installations, including wind turbines of generic design.

Abstract: This device is a manual and/or automatic inflatable flotation device with reflective material. The device is permanently, semi-permanently or temporarily mounted to a pleasure vessel, canoe/kayak, personal watercraft or other vessel. It provides additional flotation and incremental buoyancy to the vessel. The device has hand grab(s) which can be used to roll the vessel to an upright position or used by the passenger(s) to stay with the vessel when in the water.

Abstract: A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.

Abstract: Buoyancy is controlled in a tethered object by pumping fluids, either of a first or second specific gravity, from an external source into either a first or second containment chamber to change the respective volumetric capacities of the first and second containment chambers. The containment chambers are configured such that the second chamber is at least partially enclosed within the first chamber. The second chamber is configured to expand and retract within the first chamber, which has a fixed housing. Expansion or contraction of the second chamber results in a corresponding inverse change in a volumetric capacity of the first chamber. The fluid chambers may be separate or contained within the same housing, and may be located on a towing vessel. Sensor data from the tethered object's environment may be used to control the transfer of fluid to the first and second chambers.

Abstract: A vessel (2) comprises a first stabilizer assembly (14) and a second stabilizer assembly, each stabilizer assembly comprising at least one submergible at least partially hollow body; and suspending means (16) for suspending the or each body from the vessel, the first and second stabilizer assemblies being suspended from substantially opposite sides of the vessel. Fins (22) are provided on the stabilizer assembly.

Abstract: A method of installing marine equipment, the method including providing a marine apparatus comprising the marine equipment and a buoyancy device including at least a first and a second tank. The first tank containing air and the second tank containing a buoyant liquid having a specific gravity of less than 0.8 g/cm3. The method including providing a template on the seabed and guiding the marine apparatus down onto the template. Also a buoyancy device comprising at least a first and a second tank, the first tank containing a first fluid and the second tank containing a second fluid.

Abstract: For protecting surface floating wave energy converters (WEC's) against surface turbulence, the WEC's are removed from the water surface. For reducing the force required, the WEC's include a hollow member having an apertured outer wall. In the case where the WEC is to be lifted out of the water, the hollow member is normally submerged and full of water, and, during its lifting, water drains through the wall apertures thereby reducing the weight of the member and reducing the force required to lift it. In the case where the WEC is to be submerged, the hollow member is normally empty of water but fills with water through the wall apertures as the member is pulled beneath the surface. The weight of the water reduces the force required to submerge the member.

Abstract: A water navigable vessel or glider can transport cargo across oceans and other bodies of water without the use of fossil or nuclear fuels. The vessel includes a housing, a cargo or payload area within the housing, one or more control fins attached to the housing, a ballast within the housing, an expandable and contractible container configured to receive a clathrate and maintain a minimum amount of pressure on the clathrate within the housing in proximity to the ballast, and an intake valve coupled to the ballast. The clathrate changes state, thereby changing the buoyancy of the glider, and causing the glider to move through the body of water.

Abstract: [Object] Conventionally, measures for securing stability of a ship when it is damaged are required. [Solution] The invention is characterized by having a remotely openable seawater inlet means provided to a lowermost watertight deck that forms a void space at the bottom of the ship. Thereby, when a side shell plate or the like of the ship is damaged and seawater enters the ship, the seawater that has entered the ship can be introduced into the void space by opening the seawater inlet means provided to the lowermost watertight deck, so that the void space, which usually provides a huge auxiliary buoyancy, can be made to function as a sort of a seawater ballast tank, whereby the ship's stability can be recovered.

Abstract: A sailboat, which include an extendable keel having a moveable inner member positioned within a fixed keel and a control system for lowering or retracting the inner member.

Abstract: A motion compensation system for a helipad on a vessel includes a sensor for measuring a parameter related to at least one or pitch and roll of the vessel. The system includes a first actuator functionally coupled to the helipad to move the helipad translationally with respect to the vessel in response to the measured at least one of pitch and roll of the vessel.

Abstract: The attitude of a submerged array of sensing elements can be changed using a fixed quantity of transferable ballast fluid having density different than water. In one embodiment, a non-rigid array of sensor elements is equipped with two expandable reservoirs connected between a flexible conduit which allows the ballast fluid to be transferred back and forth. Pumping fluid between the two reservoirs causes one reservoir to expand while the other contracts. Due to the density difference between the pumped fluid and water, the difference in volume between the two expandable reservoirs causes a shift in the center of buoyancy of the array system. The center of buoyancy in this way becomes offset from the center of gravity of the array system, causing a shift in the attitude of the array.

Abstract: A floatation device of any size or shape stabilized by a ballast system comprised of sponge contained in permeable enclosures, which enclosures in turn are secured to the underside of the device, which sponge, upon contact with water, rapidly absorbs such water and provides prompt, sufficient ballast.

Abstract: The invention provides a means by which the attitude or orientation of a submerged object can be changed or altered using a fixed quantity of transferable ballast fluid which has a density less than that of the surrounding fluid in which the object is submerged. In one embodiment, the process utilizes a static negatively buoyant material (which could be a lead weight) to offset the net negative buoyancy of the transferable ballast fluid. In this way, the total overall buoyancy of the system does not change, but by transferring ballast fluid into expandable reservoirs which are physically separated from the static negatively buoyant material, the separation between the center of buoyancy and the center of mass of the object can be changed, and thus the attitude or orientation of the object, if it is unrestrained, may be changed.

Abstract: A method of moving a floating wind turbine relative to a body of water, the floating wind turbine having a buoyant body with a nacelle at the upper end thereof, including the steps of floating the floating wind turbine in the body of water, and towing the floating wind turbine whilst holding the buoyant body in an inclined position, whereby the nacelle is held clear of the water. As the wind turbine is held in an inclined position, it can be towed through regions of shallower water than if it were in a vertical position.

Abstract: The system provides a means by which the attitude or orientation of a submerged object can be changed using a fixed quantity of transferable ballast fluid which has a density greater than that of the surrounding fluid in which the object is submerged. In one embodiment, the process utilizes a static flotation shell offset the net negative buoyancy of the transferable ballast fluid. In this way, the total overall buoyancy of the system does not change, but by transferring fluid into expandable reservoirs which are physically separated from the static flotation shell, the separation between the center of buoyancy and the center of mass of the object can be changed, and thus the attitude or orientation of the object, if it is unrestrained, may be changed.

Abstract: The invention is directed to an apparatus for mitigating the load impact on a surface watercraft and passengers therein, during high speed travel. The hull includes a damping cavity for mitigating the load impact on the surface watercraft. The damping cavity is positioned on a dry portion of an undersurface of the hull between a forward end and an aft end of the hull. The damping cavity includes a porous plate on the undersurface, and a deck plate within the hull body. The deck plate and the porous plate are separated by a gap, and an inflatable bladder may be positioned in the gap between the plates.

Abstract: A damping control system includes a first sensor configured to detect movement of a vessel and generate a first signal representing the vessel movement and a second sensor configured to detect movement of a cable and generate a second signal representing the cable movement. An actuator is configured to dampen a force applied to a payload during a force event. The force event is at least partially caused by the movement of the vessel and the cable. A controller is configured to identify the force event based at least in part on the first and second signals and control the actuator during the force event to substantially dampen the force applied to the payload.

Abstract: The present invention discloses a gravity center adjustment device for a wind turbine installation vessel, with the gravity center adjustment device (2) fixedly mounted to the outside of the vessel body (4) of the wind turbine installation vessel. The existence of the gravity center adjustment device (2) according to the present invention is independent from the vessel body and no longer limited by the size of the installation vessel and the size of the ballast bank provided in the vessel body of the wind turbine installation vessel. The size of the gravity center adjustment device (2) may be set as desired so that the adjustment ability of the gravity center adjustment device can be changed, whereby its ability for adjusting gravity center of the wind turbine installation vessel can be improved and the stability of the wind turbine installation vessel can be improved.

Abstract: The present invention which relates to the field of offshore wind turbine installation technology, discloses a wind turbine holding and lifting system for a movable operating platform above water. The wind turbine holding and lifting system comprises a first standing column, a second standing column, a beam lifting device, no less than one beam and enclasping means for holding the wind turbine tower; the first standing column and the second standing column are juxtaposed, and the opposed faces of the first and second standing columns are provided with guiding grooves for sliding the beams; the enclasping means is arranged on the beam, and the two ends of the beam are interfitted within the guiding grooves of the first and second standing columns; the beam lifting device is fixed to the first or second standing column, and the lifting end of the beam lifting device is connected to the beam.

Abstract: An offshore structure having a vertically symmetric hull, an upper vertical wall, an upper inwardly-tapered wall disposed below the upper vertical wall, a lower outwardly-tapered wall disposed below the upper sloped wall, and a lower vertical wall disposed below the lower sloped wall. The upper and lower sloped walls produce significant heave damping in response to heavy wave action. The addition of a heavy slurry of hematite and water ballast is added to the lower and outermost portions of the hull to lower the center of gravity below the center of buoyancy. The offshore structure provides one or more movable hawser connections that allow a tanker vessel to moor directly to the offshore structure during offloading rather than mooring to a separate buoy at some distance from the offshore storage structure. The movable hawser connection includes an arcuate rail with a movable trolley that provides a hawser connection point that allows vessel weathervaning.

Abstract: The present invention is an apparatus and method directed to a variable buoyancy gas-can buoyancy module or buoy having a flexible barrier between a variable volume gas chamber in the gas-can hull and water in the hull. More specifically, the present invention is directed to a variable buoyancy module for a Self Supporting Riser (SSR) wherein the tension in the SSR may be increased/decreased by increasing/decreasing the variable volume of a chamber formed by a flexible liner that provides a barrier between the variable volume gas chamber in the gas-can hull and water.

Abstract: An anti-sloshing moon pool structure is disclosed. The anti-sloshing moon pool structure of the present invention includes moon pool plates (112, 114 and 116), which are provided on a bow-side wall (401), a stern-side wall (403) and opposite sidewalls (405) of a moon pool (100), and a moon pool bottom block (130), which is provided on a bow-side lower edge (407) of the moon pool (100). The moon pool plates and the moon pool bottom block have protruding lengths within which they do not interfere with a maximum working area. Upper steps (112a, 112b, 114a, 114b, 116a, 116a-1, 116b and 116b-1) of the moon pool plates are disposed such that, when a ship is in a working position, they are lower than the free surface of the seawater, and lower steps (112c, 112d, 116c and 116d) of the moon pool plates are disposed such that, when the ship runs, they are lower than the free surface of the seawater.

Abstract: The present disclosure relates to techniques for reducing roll motion experienced by a floating vessel. The disclosure reveals several different techniques for damping roll motion, which may be used alone or in conjunction to stabilize a floating vessel. A typical disclosed embodiment of a roll motion damping device would employ a sponson on each side of the vessel. Each sponson would typically encompass one or more baffles. And a wing keel could be located on the outside of each sponson. When all of these features are used in conjunction, they work synergistically to maximize the resistance to roll experienced by the floating vessel.

Abstract: An emission management system (200) for a vessel (100) adapted to travel on water. The emission management system includes a monitoring assembly (202) for monitoring an emission from the vessel. The monitoring assembly is adapted to automatically detect the emission from the vessel and generate a data set representative of a vessel location at a time the emission occurred. The emission management system also includes a data storage system (210) in communication with the monitoring assembly for recording the data set generated by the monitoring assembly.

Abstract: The present invention relates to a semi-submersible vessel comprising at least one lower hull section (22) which defines a first water displacing volume; a support structure (24) connected to the at least one lower hull section (22) and extending upward from the at least one lower hull section, wherein the support structure (24) has a waterplane area which is substantially smaller than the waterplane area of the at least one lower hull section; a deck structure (26) connected to the support structure (24), wherein the deck structure (26) is provided at a distance above the at least one lower hull section (22); a ballast system for controllably varying the draft of the vessel such that at a first draft (30) the at least one lower hull section (22) may be provided at least in part above the water-line and at a second draft (28) the support structure may be provided at least partly below the water-line; wherein the assembly of said at least one lower hull section, said support structure and said deck structure c

Abstract: The present invention reduces loads and saves steel on topsides and grillage of a catamaran system by creating a lifting force from a barge to the topsides to offset a sagging bending moment of the self-weight on the topsides during transportation. The present invention can reduce the span of the supports on the topsides on the catamaran float-over barges and move the reaction forces toward inner edges of the float-over barges. The lifting force can cause a reduction of stress on the topsides' and grillage's members caused during the topside offloading and transportation. The stress reduction can result in the members withstanding the additional dynamic load caused by a catamaran system without increasing member sizes adequate for an offloading operation. The reduction results in a significant savings, given the size of a typical topsides for a Spar hull or other offshore structure.

Abstract: A flood resistant structure includes a building structure container and a building structure positioned proximate to the building structure container. The building structure is moveable relative to the building structure container in response to water flow through the building structure container. The building structure moves upwardly in response to water entering the building structure container. The building structure moves downwardly in response to water leaving the building structure container.

Abstract: A buoyant actuator (10) for use in apparatus (11) for harnessing ocean wave energy and for converting the harnessed energy to high-pressure seawater. The buoyant actuator (10) comprises a body (21) defining a chamber (23) having a pliant outer skin (27). The chamber (23) is adapted to contain matter and a hydrodynamic property of the body (21) is selectively variable by varying the matter within the chamber (23). The variation to the hydrodynamic property may comprise a variation to the buoyancy (either positively or negatively) or a variation to the response area (such as the volume or shape) of the body (21), as well as a combination thereof. The variation to the matter may comprise addition of matter to, or extraction of matter from, the chamber (23). The matter may comprise a solid, liquid or gas, as well as any combination thereof. In the arrangement shown, the matter comprises foam spheres (53).

Abstract: A flood and wind resistant structure includes a building cover which includes a guide beam, and a building structure which includes a buoyant material structure positioned proximate to a floor of the building structure. The building structure is within an inner volume of the building cover. The building structure moves between raised and lowered positioned in response to being engaged by water. The building cover is shaped to deflect incident wind upwardly.

Abstract: The ship body of the present invention comprises at least two levels. One is an upper level that comprises a floatable body. The other is a lower level. The lower level is intended to be submerged under water in normal use. The lower level comprises at least two parallel, essentially vertical walls, a floor, and a ceiling connecting the at least two parallel essentially vertical walls. The front end and a rear end of the lower level are open to allow water to enter through the front end and exit through the rear end of the lower level.

Abstract: The present invention is directed to a maritime vessel that uses a solid or semi-solid material to enclose substantially natural gas storage vessels in the hold of the vessel.

Abstract: A vehicle includes a submersible housing and a propulsion mechanism, which is coupled to drive the housing over an interior surface of a container in which the housing is submerged. A hollow tube is fixed to the housing and is configured to be filled with a fluid having a first specific gravity. One or more objects, which have a second specific gravity that is less than the first specific gravity, are contained within and capable of moving inside the hollow tube so as to stabilize the housing in response to changes of an angle of the interior surface over which the vehicle travels.

Abstract: The present invention provides a wave and wind power generation system including a platform (12) and one or more oscillating water columns (OWC's) (14) including an airflow control mechanism (50, 54), a controller (56) and a motion sensor (118) for detecting motion of the platform (12) and a controller (56) for causing control of the airflow control mechanism (50, 54) so as to at least partially arrest undesirable motion of the platform (12).

Abstract: A marine structure comprises a supporting member adapted to be located at least partially immersed in water. The supporting member comprises a wall at least partially delimiting the supporting member such that an inner side of the wall at least partially delimits an inner hollow volume of the supporting member and an outer side of the wall is adapted to be in contact with the ambient environment of the supporting member. The supporting member further comprises a stiffening web frame attached to the wall in order to modify the structural capacity of the supporting member, which stiffening web frame comprises a rib and a flang.

Abstract: A sailboat, which include an extendable keel having a moveable inner member positioned within a fixed keel and a control system for lowering or retracting the inner member.

Abstract: A method and an installation for loading and unloading compressed natural gas on ships, said ships being suitable for sea navigation and the ships having receivers. The compressed natural gas is storable in tubes, installed on the receivers. The installation comprises fixed containers for housing tubes, supports for holding a container supported above the sea surface at a given height, devices operable for lowering the receivers, such as to carry each receiver below a fixed container and to lift the receivers so as to lift the fixed container above the given height to support the containers on the receivers.

Abstract: The invention relates to a vibratory floor consisting of independent vibratory modules that can be pre-fabricated and are strictly controlled before being put into place in structures for storage or transport of bulk products. Each vibratory module consists of a frame (14) in which a support material (12) is arranged, on which a metal sheet (9) is mounted, said metal sheet being attached to a vibratory element (10) and a stiffener (19) and held in place only by a peripheral sealing membrane (11), optionally supported by compression springs (13). The filling material can comprise ribs (30) for deforming the metal sheet in the form of transversal waves (31) under the effect of the weight of the stored product. The vibratory modules constructed in this way are dust-tight, do no transmit vibrations to the surrounding structure, and effectively drain any lumpy or powdery product from silos, ships, railroad cars, or other containers.

Abstract: A mooring system for stabilizing a vessel for handling offshore structures includes at least one mooring unit, a connection mechanism for connecting the mooring unit to the vessel, and a tractive mechanism for stabilizing the vessel by establishing permanent tension in the connection mechanism. Furthermore, the tractive mechanism includes a mechanism for lowering the connected vessel's position in relation to the water level. A method of stabilizing a vessel, a vessel for handling offshore structures and use of a mooring system are also contemplated.

Abstract: A double-hulled vessel has a ballast draft line previously set at an empty state thereof. The double-hulled vessel of the present invention comprises an outer shell formed on bottom and side portions of the vessel; an inner shell formed on bottom and side portions of the vessel within the outer shell; an air tube positioned between the inner and outer shells; and a seawater tube positioned between the inner and outer shells, wherein seawater holes are formed in the outer shell to be connected to the seawater tube, the seawater tube is capable of containing seawater to substantially fill a space between the inner and outer shells extending from the bottom portion of the vessel up to the ballast draft line of the side portion of the vessel when the vessel is not loaded with cargo, and the air tube is capable of containing air to substantially fill the space between the inner and outer shells of the bottom and side portions of the vessel when the vessel is loaded with cargo.