C-4 



CETUS 

 (Computerized Exploration. and Technical Underwater Surveyor) 



Operating Depth: 1,500 ft (UjTm) 



Dimensions (LxWxH) : 96in.x60in.x)48in. (2)4licin x 152cni x 122cm) 



Weight (D ry): 2,000 lbs (90Tlcg) 



Speed : (Max. Surface): i+.2 knots (7.8km/hr). 



(Max. Operating Current): 1.6 knots (3.0km/hr) at 1,500 ft. 

 Structure : Rectangular, open aluminum (n8) framework encloses and 

 supports all components. Syntactic foam blocks are attached to the 

 top of the framework. 



Buoyancy : Positive buoyancy is provided by syntactic foam blocks. 

 Variable buoyancy is provided by two trim tanks (one forward, one aft) 

 which are blown by compressed air, a total buoyancy change of it20 lbs 

 (190kg) is possible. 



Power Requirements: ^15V, 3 phase, 50Hz or U98V, 3 phase 60Hz. 

 Propulsion : Four thrusters, two horizontal, one vertical, one lateral. 

 All are U.3 hp, 9^0 rpm, kl'^Y , electric 3-phase, variable pitch control. 

 Instrimientat ion : One fixed TV (for piloting) one TV mounted on pan/ 

 tilt mechanism (for observing), 35nim still camera, magnetic compass, 

 directional gyro, echo sounder, pressure/transducer, magnetic gradio- 

 meter (for buried pipeline detection) and transponder. Two manipulators, 

 both have four degrees-of-freedom, an extension of 36 in. (91cm) and a 

 maximum working load of 200 lbs (91kg) at maximum extension. 

 Navigation: Two systems are used, a long and a short baseline. The 

 long baseline system consists of three, bottom-mounted transponders 

 deployed about 0.5nm (ikm) apart. Relative ROV positions of plus or 

 minus 3m (9- 8ft) accuracy are obtainable. The short baseline system 

 involves suspending one transponder from the ship's bow and one from 

 the stern, both about 5ni (l6ft) below the water. A fish transponder 

 is streamed and the round trip time for a pulse to travel from the fish 

 to the ROV and back to the bow and stern transponders provide slant 

 range. The arrival time differences at the bow and stern transponders 

 is used to calculate angular bearing of the ROV relative to the ship. 

 A work area range of about 500m (1,6^+0 ft) is possible with the short 

 baseline system, 23m accuracy is reported. 



Shipboard Components: Control cabin, diesel generator (optional), 

 cable winch. Support ship supplies crane for launch/retrieval 

 crane, open deck space of 1,679 sq ft (156 sq m) for control cabin, 

 winch, ROV and store cabin. 



Operation/Maintenance Crew: Four (l2 hrs), nine (2^ hrs ) . 

 Total Shipping Volume: 1,655 cu ft {Uo cu m) (approximate). 

 Total Shipping Weight: Not available. 



Status : Three operational vehicles 

 Builder: ULS Marine Ltd. 



Gloucester 



England 



