Page 333 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

both experimental and theoretical determinations at any level of uncertainty in any field of science and technology.”
A typical sensor load-out of a vehicle tasked for a subsea construction project includes:
• Single-beam obstacle avoidance sonar
• 3D multibeam sonar for in-situ characterization of subsea structures
• HD camera for documenting the job
• CTD for sound velocity profiling (for acoustic positioning)
• USBL or LBL subsea acoustic positioning
• High-tolerance fiber-optic gyro for orientation of subsea structures
• ISO and/or API standard tooling interface with torque and turn counter sensors
12.3.4 Salvage
Since salvage operations are typically “smash and grab” operations involving the removal of items on the seafloor, few sensors are typically needed other than navigational and survey-type sensors.
A typical sensor load-out of a vehicle tasked for a salvage project includes:
• Fuel level sensor for removing any hydrocarbons present
• Single-beam obstacle avoidance sonar
• 3D multibeam sonar for in-situ characterization of subsea structures
• Standard definition camera for documenting the job (or HD if the job is a documentary)
• CTD for sound velocity profiling (for acoustic positioning)
• USBL or LBL subsea acoustic positioning
12.3.5 Science
For science assignments, the typical investigator (sometimes called the “beaker”) will be quite demanding of the sensor load-out as the gathering of information is of utmost importance.
A typical sensor load-out of a vehicle tasked for a science project includes:
• Dissolved O2 meter
• Alkalinity and pH sensor
• CTD for temperature and salinity measurement by depth
• ORP (oxidation reduction potential)
• Rhodamine
• Turbidity
• Chlorophyll
• Hydrocarbon and chemical sensor tuned for chemical spectroscopy
• Water and bottom sampling devices
• Laser scaling and measuring devices
• Single-beam obstacle avoidance sonar
• Sub-bottom profiler
• 3D multibeam sonar for in-situ characterization of subsea structures
12.3 Common ROV sensors 325