Batteries 319 



Fuel Cells 331 



Nuclear Power 334 



Cable-To-Surface 334 



Diesel-Electric 336 



Power Distribution 338 



Penetrators 1 338 



Connectors 345 



Cables 351 



Junction Boxes 355 



Interference 361 



8. MANEUVERABILITY AND CONTROL 369 



Propulsion 371 



Maneuvering 381 



Motors 388 



Drag Forces 392 



Propulsion Power Requirements 395 



Control Devices 397 



9. LIFE SUPPORT AND HABITABILITY 409 



Life Support 409 



Replenishment 412 



Removal 419 



Control 428 



Monitoring 430 



Philosophical Approach ^ 437 



K-250 438 



BEN FRANKLIN 438 



Habitability 449 



Psychological Aspects 463 



10. OPERATIONAL EQUIPMENT, NAVIGATION, MANIPULATORS 467 



Equipment 467 



Environmental 468 



Depth 481 



Speed 487 



Pitch/Roll 488 



Communications 488 



Navigation 494 



Surface Tracking 496 



Submerged Navigation 503 



Homing 512 



Manipulators 519 



Power 523 



Design/capabilities 525 



Claws 531 



Control 531 



11. SCIENTIFIC AND WORK EQUIPMENT 537 



Constraints on Submersible Instruments 538 



Survey Instruments 544 



Research Instruments 556 



Engineering/Inspection/Salvage 557 



12. SEA AND SHORE SUPPORT 577 



Transportation , ■• 577 



