A mooring system, comprising: a mooring support structure comprising: a base structure; a turntable disposed on the base structure, wherein the turntable is configured to at least partially rotate about the base structure; a post extending from and connected at a first end to the turntable and a second end extending out from the turntable, wherein the post comprises a yoke head connector (160, 680) disposed on a second end thereof; and a vessel support structure disposed on a vessel floating on a surface of a body of water; at least one extension arm suspended from the vessel support structure; a ballast tank connected to the at least one extension arm, the ballast tank configured to move back and forth below the vessel support structure; a yoke extending from and connected at a first end to the ballast tank, wherein the yoke comprises a yoke head disposed on a second end thereof, wherein the yoke head is disconnectedly engaged with the yoke head connector (160, 680), wherein a length of the post is configured to provide a connection location between the yoke head and the yoke head connector (160, 680) such that when the yoke head is disconnected from the yoke head connector (160, 680), the yoke head falls from the yoke head connector (160, 680) toward the surface of the body of water without contacting the mooring support structure; and a first elongated support connected at a first end to the vessel support structure and connected at a second end to the yoke, wherein the elongated support is configured to support the yoke when the yoke head is disconnected from the yoke head connector (160, 680). a mooring support structure comprising: a base structure; a turntable disposed on the base structure, wherein the turntable is configured to at least partially rotate about the base structure; a post extending from and connected at a first end to the turntable and a second end extending out from the turntable, wherein the post comprises a yoke head connector (160, 680) disposed on a second end thereof; and a base structure; a turntable disposed on the base structure, wherein the turntable is configured to at least partially rotate about the base structure; a post extending from and connected at a first end to the turntable and a second end extending out from the turntable, wherein the post comprises a yoke head connector (160, 680) disposed on a second end thereof; and a vessel support structure disposed on a vessel floating on a surface of a body of water; at least one extension arm suspended from the vessel support structure; a ballast tank connected to the at least one extension arm, the ballast tank configured to move back and forth below the vessel support structure; a yoke extending from and connected at a first end to the ballast tank, wherein the yoke comprises a yoke head disposed on a second end thereof, wherein the yoke head is disconnectedly engaged with the yoke head connector (160, 680), wherein a length of the post is configured to provide a connection location between the yoke head and the yoke head connector (160, 680) such that when the yoke head is disconnected from the yoke head connector (160, 680), the yoke head falls from the yoke head connector (160, 680) toward the surface of the body of water without contacting the mooring support structure; and a first elongated support connected at a first end to the vessel support structure and connected at a second end to the yoke, wherein the elongated support is configured to support the yoke when the yoke head is disconnected from the yoke head connector (160, 680).