page 



Availability Vector 33 



Dependability Matrix 34 



Capability Matrix. 34 



Heavy- Lift Analysis 35 



Selection of the Figures of Merit 39 



Costs 42 



Systems Descriptions 43 



Results and Conclusions 43 



POSITIONING AND GUIDANCE OF LOADS 



DIVERCON I - ATESTCASE 49 



MOTIVE SYSTEMS 52 



Winches 52 



Bottom Crawler 54 



Submersibles 60 



Displacement/Rotation of Surface Craft 61 



ALIGNMENT SYSTEMS 63 



Underwater Lighting 63 



Underwater Television 64 



Underwater Lasers 64 



Guidelines 64 



Acoustic Devices 66 



