Patent Description:
Seismic data may be evaluated to obtain information about subsurface features. The information can indicate geological profiles of a subsurface portion of earth, such as salt domes, bedrock, or stratigraphic traps, and can be interpreted to indicate a possible presence or absence of minerals, hydrocarbons, metals, or other elements or deposits.

The patent application publication <CIT> describes a system to deploy seismic sensors in a marine environment, that comprises a remotely operated vehicle (ROV) that is coupled to afirst vessel by a tether and an umbilical cable that provides power, communications, and control to the ROV. A tether management system (TMS) is also coupled between the umbilical cable and the tether. Generally, the TMS may be utilized as an intermediary, subsurface platform from which to operate the ROV. The TMS can be positioned approximately <NUM> above seabed and can pay out tether as needed for the ROV to move freely above seabed in order to position and transfer seismic sensor devices thereon.

The patent application publication <CIT> describes a seismic receiver deployment system that comprises a seismic vessel , where seismic receivers or nodes are deployed from the seismic vessel by way of a carrier line, employing a sub-sea deployment system that includes a deployment apparatus that is towed behind the vessel by a tow line, it includes at least one surface that contacts the carrier line as the nodes are deployed on or near the ocean floor. The carrier line is anchored to the bottom floor via anchor. As the tension on the tow line acts to stabilize the deployment apparatus, the interaction of the carrier line with the at least one surface of the deployment apparatus provides controlled deployment rate and positioning accuracy as the nodes are deployed on or near the ocean floor. In a realization the deployment apparatus has a propulsion system including a propeller for propelling the deployment apparatus. A control system may control one or more control surfaces as well as the propeller, in order to maneuver the deployment apparatus to defined positions along the ocean floor, thus the nodes may be deployed at predefined locations on the ocean floor with improved accuracy in three dimensions.

Performing an ocean bottom seismic survey to detect the presence or absence of minerals, hydrocarbons, metals, or other elements or deposits can include placing ocean bottom seismic data acquisition units on the ocean bottom or seabed. Depending the size of the survey and the width between survey lines, a vessel can make numerous passes to deploy hundreds, thousands or more seismic data acquisition units at specific, predetermined positions on the ocean bottom. However, due to the large size of the seismic survey, the width between survey lines, and the large number of seismic data acquisition units being deployed, it can be challenging to efficiently deploy the large number of seismic data acquisition units at the specified locations without excessive resource consumption or utilization by virtue of excessive vessel passes. For example, as the width between the lines increase, or the number of lines increase, then the amount of energy, battery resources, or fuel consumed or utilized by the vessel and the underwater vehicle deploying or placing the seismic data acquisitions also increases. Furthermore, as the amount of time taken to deploy the seismic data acquisition units increases, then the amount of resources consumed by the marine vessel can also increase. Thus, it can be technically challenging to perform increasingly larger seismic surveys in an energy efficient and time efficient manner due to the increased amount of time and resources utilized or consumed by the vessel and the underwater vehicle deploying the seismic data acquisition units.

Systems and methods of the present technical solution provide a system that includes a tether management system ("TMS") with a thruster. The TMS is tethered to an underwater vehicle that deploys ocean bottom seismic data acquisition units. The TMS can be connected to a vessel with a cable. As the vessel moves in a forward direction, the thruster powered TMS of the present technical solution can move the TMS to the left or right relative to the direction of motion of the vessel such that the underwater vehicle tethered to the TMS can deploy ocean bottom seismic data acquisition units at further locations. By extending the horizontal distance the underwater vehicle can travel from the vessel moving in a forward direction, the thruster powered tether management system can deploy units for a seismic survey with wider line spacing while reducing the number of passes made by the vessel, thereby reducing the amount of resources consumed by the underwater vehicle, the marine vessel, or the seismic data acquisition units themselves as the operation time can be reduced.

At least one aspect of the present technical solution is directed to a system to perform a seismic survey in a marine environment. The system includes a tether management system towed, via a first cable, by a vessel that moves through an aqueous medium in a first direction. The system also includes an underwater vehicle connected, via a second cable, to the tether management system, the underwater vehicle to move in a second direction different from the first direction to deploy seismic data acquisition units on an ocean bottom, wherein the first direction is perpendicular to the second direction. The system includes a thruster coupled to the tether management system to move the tether management system in a third direction different from the first direction, wherein the third direction is perpendicular to the first direction to widen a deployment zone of the underwater vehicle, and the second direction is parallel with the third direction. The system includes a control unit comprising one or more processors to instruct, based on a cross-line location policy, the thruster to move the tether management system in the third direction different from the first direction to cause the underwater vehicle to deploy at least one of the seismic data acquisition units on the ocean bottom.

The control unit can determine a position of the underwater vehicle as the underwater vehicle moves in the second direction, and instruct, based on the position of the underwater vehicle and the cross-line location policy, the thruster to move in the third direction. The control unit can instruct, based on the cross-line location policy, the thruster to move the tether management system in the third direction to extend a deployment zone of the underwater vehicle. The underwater vehicle can deploy a first seismic data acquisition unit at a first location on the ocean bottom, and the control unit can instruct, subsequent to deployment of the first seismic data acquisition unit at the first location and based on the cross-line location policy, the thruster to move the tether management system in the third direction, and the underwater vehicle to deploy, subsequent to movement of the tether management system by the thruster, a second seismic data acquisition unit at a second location on the ocean bottom.

The control unit can instruct, subsequent to deployment of the second seismic data acquisition unit at the second location and based on the cross-line location policy, the thruster to move the tether management system in a fourth direction opposite the third direction, and the underwater vehicle to deploy, subsequent to movement by the thruster of the tether management system in the fourth direction, a third seismic data acquisition unit at a third location on the ocean bottom. The underwater vehicle can deploy a first seismic data acquisition unit at a first location on the ocean bottom within a first deployment zone of the underwater vehicle. The control unit can instruct, subsequent to deployment of the first seismic data acquisition unit at the first location and based on the cross-line location policy, the thruster to move the tether management system in the third direction. The underwater vehicle can deploy, subsequent to movement of the tether management system by the thruster, a second seismic data acquisition unit at a second location on the ocean bottom within a second deployment zone outside the first deployment zone. The second deployment zone may not accessible by the underwater vehicle prior to movement by the thruster of the tether management system in the third direction.

The tether management system can include the control unit. The underwater vehicle can include the control unit. The control unit can be remote from, and external to, the tether management system. The system can include a second tether management system towed, via a third cable, by the vessel, and a second underwater vehicle connected, via a fourth cable, to the second tether management system. The system can include a second tether management system towed, via a third cable, by the vessel. The system can include a second thruster coupled to the second tether management system to move the tether management system in a fourth direction different from the first direction. The system can include a second underwater vehicle connected, via a fourth cable, to the second tether management system. The second underwater vehicle can move in a fifth direction different from the first direction to deploy second seismic data acquisition units on the ocean bottom. The control unit can instruct, based on the cross-line location policy, the second thruster to move the second tether management system in the fourth direction different from the first direction to cause the second underwater vehicle to deploy at least one of the second seismic data acquisition units on the ocean bottom.

The cross-line location policy can be configured to extend a lateral range of deployment by at least <NUM> meters. The first direction can intersect with the second direction and the third direction. The first direction is perpendicular to the second direction, and the second direction is parallel with the third direction.

At least one aspect is directed to a method of performing a seismic survey in a marine environment. The method includes towing, by a vessel via a first cable, a tether management system through an aqueous medium in a first direction. The method includes moving, by an underwater vehicle connected, via a second cable, to the tether management system, in a second direction different from the first direction to deploy seismic data acquisition units on an ocean bottom, wherein the first direction is perpendicular to the second direction. The method includes exerting, by a thruster coupled to the tether management system, a force to move the tether management system in a third direction different from the first direction, wherein the third direction is perpendicular to the first direction to widen a deployment zone of the underwater vehicle, and the third direction is parallel to the second direction, and instructing, by a control unit comprising one or more processors, based on a cross-line location policy, the thruster to move the tether management system in the third direction different from the first direction to cause the underwater vehicle to deploy at least one of the seismic data acquisition units on the ocean bottom.

The method can include determining a position of the underwater vehicle as the underwater vehicle moves in the second direction, and instructing, based on the position of the underwater vehicle and the cross-line location policy, the thruster to move in the third direction. The method can include instructing, based on the cross-line location policy, the thruster to move the tether management system in the third direction to extend a deployment zone of the underwater vehicle. The method can include deploying, by the underwater vehicle, a first seismic data acquisition unit at a first location on the ocean bottom. The method can include the control unit instructing, subsequent to deployment of the first seismic data acquisition unit at the first location and based on the cross-line location policy, the thruster to move the tether management system in the third direction. The method can include the underwater vehicle deploying, subsequent to movement of the tether management system by the thruster, a second seismic data acquisition unit at a second location on the ocean bottom.

The method can include instructing, subsequent to deployment of the second seismic data acquisition unit at the second location and based on the cross-line location policy, the thruster to move the tether management system in a fourth direction opposite the third direction, and deploying, by the underwater vehicle subsequent to movement by the thruster of the tether management system in the fourth direction, a third seismic data acquisition unit at a third location on the ocean bottom.

The drawings are not intended to be drawn to scale. In the drawings:.

Following below are more detailed descriptions of various concepts related to, and implementations of, methods, apparatuses, and systems for delivering seismic nodes to an ocean bottom using an underwater vehicle. The various concepts introduced above and discussed in greater detail below may be implemented in any of numerous ways.

Systems, methods, and apparatus of the present disclosure generally relate to delivering seismic data acquisition units or nodes to target locations on the ocean bottom. In some instances, an underwater vehicle can be towed by a tether connected to a tether management system, which in turn is connected by an umbilical cable to a surface vessel. During deployment, the vehicle can travel over one or more target locations on the ocean bottom. When the underwater vehicle reaches a target location, the underwater vehicle can deploy a node. The vessel can be made to travel over multiple rows or columns of target locations to deploy the desired number of nodes. This can increase the cost and the time associated with deploying nodes.

The tether management system can include thrusters that can be controlled by a control unit to move the tether management system in a direction that is different from the direction of travel of the vessel. The thrusters on the tether management system can allow movement in a direction that is laterally oriented to the direction of travel of the vessel. The lateral movement of the tether management system can widen a deployment zone of the underwater vehicle. In some instances, the underwater vehicle may also include thrusters that can move the underwater vehicle in a direction that is lateral to the direction of travel of the vessel. The lateral movements of both the tether management system and the underwater vehicle in concert can further widen the deployment zone of the underwater vehicle.

Referring now to <FIG>, an isometric schematic view of an embodiment of a seismic operation in deep water facilitated by a first marine vessel <NUM> is shown. The data processing system can obtain the seismic data via the seismic operation. While this figure illustrates a deep water seismic operation, the systems and methods described herein can use seismic data obtained via streamer data, land-based seismic operations. In this example, the first vessel <NUM> is positioned on a surface <NUM> of a water column <NUM> (also referred to as an "aqueous medium") and includes a deck <NUM> which supports operational equipment. At least a portion of the deck <NUM> includes space for a plurality of sensor device racks <NUM> where seismic sensor devices (or seismic data acquisition units or nodes) are stored. The sensor device racks <NUM> may also include data retrieval devices or sensor recharging devices.

The deck <NUM> also includes one or more cranes 25A, 25B attached thereto to facilitate transfer of at least a portion of the operational equipment, such as an underwater vehicle, an autonomous underwater vehicle (AUV), autonomously operated vehicle (AOV), a remotely operated underwater vehicle (ROV) or seismic sensor devices, from the deck <NUM> to the water column <NUM>. An underwater vehicle can refer to or include a ROV 35A, AUV, or AOV. For example, a crane 25A coupled to the deck <NUM> is configured to lower and raise an ROV 35A, which transfers and positions one or more sensor devices <NUM> (e.g., ocean bottom seismometer "OBS" units, seismic data acquisition units, or nodes) on a seabed <NUM>. The ROV 35A can be coupled to the first vessel <NUM> by a tether 46A and an umbilical cable 44A that provides power, communications, and control to the ROV 35A. A tether management system (TMS) 50A is also coupled between the umbilical cable 44A and the tether 46A. Generally, the TMS 50A may be utilized as an intermediary, subsurface platform from which to operate the ROV 35A. For most ROV 35A operations at or near the seabed <NUM>, the TMS 50A can be positioned approximately <NUM> (<NUM> feet) above seabed <NUM> and can pay out tether 46A as needed for ROV 35A to move freely above seabed <NUM> in order to position and transfer seismic sensor devices <NUM> thereon. The seabed <NUM> can include or refer to a continental shelf.

A crane 25B may be coupled (e.g., via a latch, anchor, nuts and bolts, screw, suction cup, magnet, or other fastener. ) to a stern of the first vessel <NUM>, or other locations on the first vessel <NUM>. Each of the cranes 25A, 25B may be any lifting device or launch and recovery system (LARS) adapted to operate in a marine environment. The crane 25B may be coupled to a seismic sensor transfer device <NUM> by a cable <NUM>. The transfer device <NUM> may be a drone, a skid structure, a basket, or any device capable of housing one or more sensor devices <NUM> therein. The transfer device <NUM> may be a structure configured as a magazine adapted to house and transport one or more sensor devices <NUM>. The transfer device <NUM> may be configured as a sensor device storage rack for transfer of sensor devices <NUM> from the first vessel <NUM> to the ROV 35A, and from the ROV 35A to the first vessel <NUM>. The transfer device <NUM> may include an on-board power supply, a motor or gearbox, or a propulsion system. In some embodiments, the transfer device <NUM> may not include any integral power devices or not require any external or internal power source. In some embodiments, the cable <NUM> may provide power or control to the transfer device <NUM>. In some embodiments, the transfer device <NUM> can operate without external power or control. In some embodiments, the cable <NUM> may include an umbilical, a tether, a cord, a wire, a rope, and the like, that is configured to support, tow, position, power or control the transfer device <NUM>.

The ROV 35A can include a seismic sensor device storage compartment <NUM> that is configured to store one or more seismic sensor devices <NUM> therein for a deployment or retrieval operation. The storage compartment <NUM> may include a magazine, a rack, or a container configured to store the seismic sensor devices. The storage compartment <NUM> may also include a conveyor, such as a movable platform having the seismic sensor devices thereon, such as a carousel or linear platform configured to support and move the seismic sensor devices <NUM> therein. In one embodiment, the seismic sensor devices <NUM> may be deployed on the seabed <NUM> and retrieved therefrom by operation of the movable platform. The ROV 35A may be positioned at a predetermined location above or on the seabed <NUM> and seismic sensor devices <NUM> are rolled, conveyed, or otherwise moved out of the storage compartment <NUM> at the predetermined location. In some embodiments, the seismic sensor devices <NUM> may be deployed and retrieved from the storage compartment <NUM> by a robotic device <NUM>, such as a robotic arm, an end effector or a manipulator, disposed on the ROV 35A.

The seismic sensor device <NUM> may be referred to as seismic data acquisition unit <NUM> or node <NUM>. The seismic data acquisition unit <NUM> can record seismic data. The seismic data acquisition unit <NUM> may include one or more of at least one geophone, at least one power source (e.g., a battery, external solar panel), at least one clock, at least one tilt meter, at least one environmental sensor, at least one seismic data recorder, at least global positioning system sensor, at least one wireless or wired transmitter, at least one wireless or wired receiver, at least one wireless or wired transceiver, or at least one processor. The seismic sensor device <NUM> may be a self-contained unit such that all electronic connections are within the unit. During recording, the seismic sensor device <NUM> may operate in a self-contained manner such that the node does not require external communication or control. The seismic sensor device <NUM> may include several geophones configured to detect acoustic waves that are reflected by subsurface lithological formation or hydrocarbon deposits. The seismic sensor device <NUM> may further include one or more geophones that are configured to vibrate the seismic sensor device <NUM> or a portion of the seismic sensor device <NUM> in order to detect a degree of coupling between a surface of the seismic sensor device <NUM> and a ground surface. One or more component of the seismic sensor device <NUM> may attach to a gimbaled platform having multiple degrees of freedom. For example, the clock may be attached to the gimbaled platform to minimize the effects of gravity on the clock.

For example, in a deployment operation, a first plurality of seismic sensor devices, comprising one or more sensor devices <NUM>, may be loaded into the storage compartment <NUM> while on the first vessel <NUM> in a pre-loading operation. The ROV 35A, having the storage compartment coupled thereto, is then lowered to a subsurface position in the water column <NUM>. The ROV 35A can utilize commands from personnel on the first vessel <NUM> to operate along a course to transfer the first plurality of seismic sensor devices <NUM> from the storage compartment <NUM> and deploy the individual sensor devices <NUM> at selected locations on the seabed <NUM> or ground surface <NUM> or sea floor <NUM> or earth surface <NUM> in a land based deployment. Once the storage compartment <NUM> is depleted of the first plurality of seismic sensor devices <NUM>, the transfer device <NUM> (or transfer system <NUM>) can be used to ferry a second plurality of seismic sensor devices <NUM> as a payload from first vessel <NUM> to the ROV 35A.

The transfer system <NUM> may be preloaded with a second plurality of seismic sensor devices <NUM> while on or adjacent the first vessel <NUM>. When a suitable number of seismic sensor devices <NUM> are loaded onto the transfer device <NUM>, the transfer device <NUM> may be lowered by crane 25B to a selected depth in the water column <NUM>. The ROV 35A and transfer device <NUM> are mated at a subsurface location to allow transfer of the second plurality of seismic sensor devices <NUM> from the transfer device <NUM> to the storage compartment <NUM>. When the transfer device <NUM> and ROV 35A are mated, the second plurality of seismic sensor devices <NUM> contained in the transfer device <NUM> are transferred to the storage compartment <NUM> of the ROV 35A. Once the storage compartment <NUM> is reloaded, the ROV 35A and transfer device <NUM> are detached or unmated and seismic sensor device placement by ROV 35A may resume. In one embodiment, reloading of the storage compartment <NUM> is provided while the first vessel <NUM> is in motion. If the transfer device <NUM> is empty after transfer of the second plurality of seismic sensor devices <NUM>, the transfer device <NUM> may be raised by the crane 25B to the vessel <NUM> where a reloading operation replenishes the transfer device <NUM> with a third plurality of seismic sensor devices <NUM>. The transfer device <NUM> may then be lowered to a selected depth when the storage compartment <NUM> needs to be reloaded. This process may repeat as needed until a desired number of seismic sensor devices <NUM> have been deployed.

Using the transfer device <NUM> to reload the ROV 35A at a subsurface location reduces the time required to place the seismic sensor devices <NUM> on the seabed <NUM>, or "planting" time, as the ROV 35A is not raised and lowered to the surface <NUM> for seismic sensor device reloading. Further, mechanical stresses placed on equipment utilized to lift and lower the ROV 35A are minimized as the ROV 35A may be operated below the surface <NUM> for longer periods. The reduced lifting and lowering of the ROV 35A may be particularly advantageous in foul weather or rough sea conditions. Thus, the lifetime of equipment may be enhanced as the ROV 35A and related equipment are not raised above surface <NUM>, which may cause the ROV 35A and related equipment to be damaged, or pose a risk of injury to the vessel personnel.

Likewise, in a retrieval operation, the ROV 35A can utilize commands from personnel on the first vessel <NUM> to retrieve each seismic sensor device <NUM> that was previously placed on seabed <NUM>. The retrieved seismic sensor devices <NUM> are placed into the storage compartment <NUM> of the ROV 35A. In some embodiments, the ROV 35A may be sequentially positioned adjacent each seismic sensor device <NUM> on the seabed <NUM> and the seismic sensor devices <NUM> are rolled, conveyed, or otherwise moved from the seabed <NUM> to the storage compartment <NUM>. In some embodiments, the seismic sensor devices <NUM> may be retrieved from the seabed <NUM> by a robotic device <NUM> disposed on the ROV 35A.

Once the storage compartment <NUM> is full or contains a pre-determined number of seismic sensor devices <NUM>, the transfer device <NUM> can be lowered to a position below the surface <NUM> and mated with the ROV 35A. The transfer device <NUM> may be lowered by crane 25B to a selected depth in the water column <NUM>, and the ROV 35A and transfer device <NUM> are mated at a subsurface location. Once mated, the retrieved seismic sensor devices <NUM> contained in the storage compartment <NUM> are transferred to the transfer device <NUM>. Once the storage compartment <NUM> is depleted of retrieved sensor devices, the ROV 35A and transfer device <NUM> are detached and sensor device retrieval by ROV 35A may resume. Thus, the transfer device <NUM> can ferry the retrieved seismic sensor devices <NUM> as a payload to the first vessel <NUM>, allowing the ROV 35A to continue collection of the seismic sensor devices <NUM> from the seabed <NUM>. In this manner, sensor device retrieval time is significantly reduced as the ROV 35A is not raised and lowered for sensor device unloading. Further, mechanical stresses placed on equipment related to the ROV 35A are minimized as the ROV 35A may be subsurface for longer periods.

In this embodiment, the first vessel <NUM> may travel in a first direction <NUM>, such as in the +X direction, which may be a compass heading or other linear or predetermined direction. The first direction <NUM> may also account for or include drift caused by wave action, current(s) or wind speed and direction. In one embodiment, the plurality of seismic sensor devices <NUM> are placed on the seabed <NUM> in selected locations, such as a plurality of rows Rn in the X direction (R1 and R2 are shown) or columns Cn in the Y direction (C1, C2, C3, and C4 are shown), wherein n equals an integer. In one embodiment, the rows Rn and columns Cn define a grid or array, wherein each row Rn comprises a receiver line in the width of a sensor array (X direction) or each column Cn comprises a receiver line in a length of the sensor array (Y direction). The distance between adjacent sensor devices <NUM> in the rows is shown as distance LR and the distance between adjacent sensor devices <NUM> in the columns is shown as distance LC. While a substantially square pattern is shown, other patterns may be formed on the seabed <NUM>. Other patterns include non-linear receiver lines or non-square patterns. The pattern(s) may be pre-determined or result from other factors, such as topography of the seabed <NUM>. In some embodiments, the distances LR and LC may be substantially equal (e.g., plus or minus <NUM>% of each other) and may include dimensions between about <NUM> meters to about <NUM> meters. In some embodiments, the distances LR and LC may be different. In some embodiments, the distances LR or LC may include dimensions between about <NUM> meters to about <NUM> meters. The distance between adjacent seismic sensor devices <NUM> may be predetermined or result from topography of the seabed <NUM> as described above.

The first vessel <NUM> is operated at a speed, such as an allowable or safe speed for operation of the first vessel <NUM> and any equipment being towed by the first vessel <NUM>. The speed may take into account any weather conditions, such as wind speed and wave action, as well as currents in the water column <NUM>. The speed of the vessel may also be determined by any operations equipment that is suspended by, attached to, or otherwise being towed by the first vessel <NUM>. For example, the speed is typically limited by the drag coefficients of components of the ROV 35A, such as the TMS 50A and umbilical cable 44A, as well as any weather conditions or currents in the water column <NUM>. As the components of the ROV 35A are subject to drag that is dependent on the depth of the components in the water column <NUM>, the first vessel speed may operate in a range of less than about <NUM> knot. For example, when two receiver lines (rows R1 and R2) are being laid, the first vessel includes a first speed of between about <NUM> knots and about <NUM> knots. In some embodiments, the first speed includes an average speed of between about <NUM> knots, which includes intermittent speeds of less than <NUM> knots and speeds greater than about <NUM> knot, depending on weather conditions, such as wave action, wind speeds, or currents in the water column <NUM>.

During a seismic survey, one receiver line, such as row R1 may be deployed. When the single receiver line is completed a second vessel <NUM> can be used to provide a source signal. The second vessel <NUM> can be provided with a source device <NUM>, which may be a device capable of producing acoustical signals or vibrational signals suitable for obtaining the survey data. The source signal propagates to the seabed <NUM> and a portion of the signal is reflected back to the seismic sensor devices <NUM>. The second vessel <NUM> may be required to make multiple passes, for example at least four passes, per a single receiver line (row R1 in this example). During the time the second vessel <NUM> is making the passes, the first vessel <NUM> continues deployment of a second receiver line. However, the time involved in making the passes by the second vessel <NUM> can be shorter than the deployment time of the second receiver line. This causes a lag time in the seismic survey as the second vessel <NUM> sits idle while the first vessel <NUM> is completing the second receiver line.

In some embodiments, the first vessel <NUM> can utilize an ROV 35A to lay sensor devices to form a first set of two receiver lines (rows R1 and R2) in any number of columns, which may produce a length of each receiver line of up to and including several miles. The two receiver lines (rows R1 and R2) can be substantially parallel, e.g. within +/-<NUM> degrees of parallel. When a single directional pass of the first vessel <NUM> is completed and the first set (rows R1, R2) of seismic sensor devices <NUM> are laid to a predetermined length, the second vessel <NUM>, provided with the source device <NUM>, is utilized to provide the source signal. The second vessel <NUM> may make eight or more passes along the two receiver lines to complete the seismic survey of the two rows R1 and R2.

While the second vessel <NUM> is shooting along the two rows R1 and R2, the first vessel <NUM> may turn <NUM> degrees and travel in the -X direction in order to lay seismic sensor devices <NUM> in another two rows adjacent the rows R1 and R2, thereby forming a second set of two receiver lines. The second vessel <NUM> may then make another series of passes along the second set of receiver lines while the first vessel <NUM> turns <NUM> degrees to travel in the +X direction to lay another set of receiver lines. The process may repeat until a specified area of the seabed <NUM> has been surveyed. Thus, the idle time of the second vessel <NUM> is minimized as the deployment time for laying receiver lines is cut approximately in half by deploying two rows in one pass of the vessel <NUM>.

Although only two rows R1 and R2 are shown, the sensor device <NUM> layout is not limited to this configuration as the ROV 35A may be adapted to layout more than two rows of sensor devices in a single directional tow. For example, the ROV 35A may be controlled to lay out between three and six rows of sensor devices <NUM>, or an even greater number of rows in a single directional tow. The width of a "one pass" run of the first vessel <NUM> to layout the width of the sensor array is typically limited by the length of the tether 46A or the spacing (distance LR) between sensor devices <NUM>.

<FIG> shows a top schematic view of a system <NUM> for acquiring seismic data in accordance with an embodiment. The system includes a vessel <NUM>, a TMS 50A, and an underwater vehicle <NUM>. The vessel <NUM>, the TMS 50A, and the underwater vehicle <NUM> can be similar to the vessel <NUM>, the TMS 50A and the ROV 35A, respectively, discussed above in relation to <FIG>. The underwater vehicle <NUM> can refer to or include one or more component or functionality of ROV 35A, AOV or AUV. The underwater vehicle <NUM> can be tethered to the vessel <NUM>, or be untethered and operate autonomously without external communication or commands from the vessel <NUM>. The vessel <NUM> can be positioned on the surface of an ocean, and can travel in a first direction <NUM> with respect to a frame of reference <NUM> that includes Cartesian X, Y, and Z axes. In the example shown in <FIG>, the vessel <NUM> can travel in the positive-Y direction. However, the first direction <NUM> of travel of the vessel <NUM> is only an example, and the vessel <NUM> may travel in any direction on the surface of the ocean. An umbilical cable 44A can be coupled between the vessel <NUM> and the TMS 50A. The umbilical cable 44A can be similar to the umbilical cable 44A shown in <FIG> that connects between the vessel <NUM> and the TMS 50A. A tether 46A can be coupled between the underwater vehicle <NUM> and the TMS 50A. The tether 46A can be similar to the tether 46A coupled between the TMS 50A and the ROV 35A shown in <FIG>. The umbilical cable 44A and the tether 46A can provide power, communication, and control from the vessel <NUM> to the TMS 50A and the underwater vehicle <NUM>. In addition, the umbilical cable 44A and the tether 46A can pull the TMS 50A and the underwater vehicle <NUM> in the direction of travel of the vessel <NUM>. The underwater vehicle <NUM> can be positioned to move close the ocean bottom, while the TMS 50A can be positioned to move at a depth between the surface of the ocean and the surface bottom. The lengths of the umbilical cable 44A and the tether 46A can be adjusted to appropriately position the TMS 50A and the underwater vehicle <NUM>.

In an example seismic sensor deployment operation, the vessel <NUM> can move in the first direction <NUM>, towing the TMS 50A and the underwater vehicle <NUM> behind it. The TMS 50A and the underwater vehicle <NUM> can move approximately directly behind the vessel <NUM>. As a result, when the underwater vehicle <NUM> deploys seismic sensors on the ocean bottom, the seismic sensors would be deposited collinearly at various locations along a first direction <NUM> of the vessel <NUM>. If deployment of additional seismic sensors at locations lateral to the first direction <NUM> is desired, then the vessel <NUM> would have to carry out another deployment run and adjust its travel direction so that it is directly above the desired deployment locations. Additional deployment runs can increase the cost of the deployment operation.

In some instances, the underwater vehicle <NUM> can include a propulsion system that can allow the underwater vehicle <NUM> to move laterally with respect to the direction of motion of the vessel <NUM>. For example, the underwater vehicle <NUM> can use the propulsion system to cause the underwater vehicle <NUM> to move in a second direction <NUM>, which is laterally oriented with respect to the first direction <NUM> of the vessel <NUM> and to the right of the vessel <NUM>. The second direction <NUM>, when viewed in the frame of reference <NUM>, is parallel to the positive-X direction and is orthogonal to the first direction <NUM>. However, the second direction <NUM> can be any direction that has a non-zero component in the positive-X direction or in a direction that is orthogonal to the first direction <NUM>. For example, the second direction <NUM> can be about forty-five degrees with respect to the first direction <NUM>. In another example, the second direction can make any angle with respect to the first direction <NUM>. The propulsion system can cause the underwater vehicle <NUM> to also move to the left of the vessel <NUM> in a direction <NUM> that is opposite to the second direction <NUM>. In addition, similar to the second direction <NUM>, the direction <NUM> can form any angle with the first direction <NUM>.

The extent to which the underwater vehicle <NUM> can be moved laterally in relation to the first direction <NUM> can be based on several factors, such as, for example, a length of the tether 46A, a power of the propulsion system, a speed of the vessel <NUM> in the first direction <NUM>, etc. As an example, the extent to which the underwater vehicle <NUM> can move on either side of the vessel <NUM> can be defined as a first deployment zone <NUM>. The first deployment zone <NUM> is bounded by a first left boundary <NUM> and a first right boundary <NUM>. The first left boundary <NUM> can be the farthest extent on the left of the vessel <NUM> to which the underwater vehicle <NUM> can deploy seismic sensor devices. Similarly, the first right boundary <NUM> can be the farthest extent on the right of the vessel <NUM> to which the underwater vehicle <NUM> can deploy seismic sensor devices. Thus, with the ability to move laterally with respect to the first direction <NUM> of the vessel <NUM>, the underwater vehicle <NUM> can deploy seismic sensor devices anywhere within the first deployment zone. It should be noted that the first deployment zone <NUM> can be based on the assumption that the TMS 50A to which the underwater vehicle <NUM> is tethered via the tether 46A may not include a propulsion system.

In the embodiments, the TMS 50A includes a propulsion system. The propulsion system of the TMS 50A, similar to the propulsion system of the underwater vehicle <NUM>, can allow the movement of the TMS 50A in the lateral direction in relation to the first direction <NUM> of the vessel <NUM>. For example, the TMS 50A can move in a third direction <NUM> that is lateral in relation to the first direction <NUM> of the vessel <NUM> and is to the right of the vessel <NUM>. The third direction <NUM> is along the positive-X direction and is orthogonal to the first direction <NUM>. However, the third direction <NUM> can form any angle with respect to the first direction <NUM>. For example, the third direction <NUM> can form a forty-five degree angle with respect to the first direction <NUM>. In some examples, the third direction <NUM> can form any angle that has a non-zero magnitude in the positive-X direction, or a direction that is orthogonal to the first direction <NUM>. The propulsion system of the TMS 50A can also allow the TMS 50A to move laterally towards the left of the vessel <NUM> in a direction <NUM> that is opposite to the third direction <NUM>. Similar to the third direction <NUM>, the direction <NUM> can form any angle with respect to the first direction <NUM> of the vessel <NUM>. In some examples, the third direction <NUM> can be parallel to the second direction <NUM>. In some examples, the first direction <NUM> can intersect the second direction <NUM> and the third direction <NUM>.

The extent to which the TMS 50A can be moved laterally in relation to the first direction <NUM> of the vessel <NUM> can be based on factors, such as, for example, a length of the cable 44A, a power of the propulsion system, a speed of the vessel <NUM> in the first direction <NUM>, the load offered by the tether 46A and the underwater vehicle <NUM>, etc. An advantage of the ability to move both the TMS 50A and the underwater vehicle <NUM> in the lateral direction is the potential increase in a width of the deployment zone. For example, as shown in <FIG>, in one example configuration, both the TMS 50A and the underwater vehicle <NUM> can be moved in the third direction <NUM> and in the second direction <NUM>, respectively, to the right of the vessel <NUM>. Similarly, in another example configuration shown in <FIG>, both the TMS 50A and the underwater vehicle <NUM> can be moved to the left of the vessel <NUM> in the direction <NUM> and the direction <NUM>, respectively. As a result, the extent to which the underwater vehicle <NUM> can deploy seismic sensor devices on the ocean bottom can increase by the extent of movement of the TMS 50A. For example, the deployment zone for deploying seismic sensor devices can increase from the first deployment zone <NUM> to a second deployment zone <NUM>. The second deployment zone <NUM> can be bounded by the second left boundary <NUM> and the second right boundary <NUM>. A lateral distance of the second left boundary <NUM> from the vessel <NUM> can be greater than a lateral distance of the first left boundary <NUM> from the vessel <NUM>. Similarly, a lateral distance of the second right boundary <NUM> from the vessel <NUM> can be greater than the lateral distance of the first right boundary <NUM> from the vessel <NUM>. In some examples, the lateral distances from the vessel <NUM> to each of these boundaries can be measured orthogonal to the first direction <NUM> of the vessel <NUM>. An increase in the width of the deployment zone is facilitated at least by the lateral movement of the TMS 50A in a direction that is different from the direction of travel (the first direction <NUM>) of the vessel <NUM>. In some instances, a lateral range of deployment can be extended by at least <NUM> meters. For example, the lateral range of the second deployment zone <NUM> can be at least <NUM> meters larger than the lateral range of the first deployment zone <NUM>. In some instances, a largest increase in the deployment zone can be achieved when the second direction <NUM> and the third direction <NUM> are parallel and are orthogonal to the first direction <NUM>.

Another technical advantage of providing propulsion to the TMS 50A is the reduction in the tether length that would have otherwise been needed to achieve the increase in the deployment zone with a longer tether alone. For example, one approach to increasing the deployment zone would be to increase the length of the cable 44A and the tether 46A, and rely on increase in the deployment zone based on the propulsion system of the underwater vehicle <NUM>. However, increasing the length of the cable 44A or the tether 46A can also increase the stress on cable 44A or tether 46A, thereby increasing the risk of failure. By providing propulsion to the TMS 50A, the lengths of the cable 44A or the tether 46A can be reduced without a relative reduction in the deployment zone. As a result, the stress, and the associated failure risk, on the cable 44A and the tether 46A can be reduced.

Yet another technical advantage of providing propulsion to the TMS 50A is the ability to keep safe separation between the TMS 50A and other subsea vehicles, such as, for example, the underwater vehicle <NUM>. In instances where the TMS 50A does not include a propulsion system, there can be a risk of collision between the TMS 50A and the underwater vehicle <NUM>. However, by providing propulsion to the TMS 50A, the position of the TMS 50A can be actively controlled and safe separation between the TMS 50A and other subsea vehicles, such as, for example, the underwater vehicle <NUM>, can be maintained. As a result, the risk of collision between the TMS 50A and other subsea vehicles can be reduced.

<FIG> illustrates a perspective view of a tether management system having a propulsion system. The system <NUM> illustrated in <FIG> can be used, for example, to implement the TMS 50A shown in <FIG>. The system <NUM> can include one or more steering devices <NUM> and one or more propulsion systems <NUM>. The steering device <NUM> can steer or orient the TMS 50A as the propulsion device <NUM> generates force to move the TMS 50A.

The propulsion device <NUM> can include a force generation mechanism <NUM> (or thruster) to generate force, such as a propeller, a thruster, a paddle, an oar, a waterwheel, a screw propeller, a fixed pitch propeller, a variable pitch propeller, a ducted propeller, an azimuth propeller, a water jet, a fan, or a centrifugal pump. The force generation mechanism <NUM> can include a fluid propulsion system such as a pump-jet, hydrojet, or water jet that can generate a jet of water for propulsion. The force generation mechanism <NUM> can include a mechanical arrangement having a ducted propeller with a nozzle, or a centrifugal pump and nozzle. The force generation mechanism <NUM> can have an intake or inlet (e.g., facing a bottom of the TMS 50A) that allows water to pass into the propulsion device <NUM>. The water can enter the pump of the propulsion system through the inlet. The water pressure inside the inlet can be increased by the pump and forced backwards through a nozzle. The propulsion device <NUM> can include a reversing bucket. With the use of a reversing bucket, reverse thrust can be generated. The reverse thrust can facilitate slowing movement of the TMS 50A as the movement of the vessel <NUM> slows.

The system <NUM> can include one or more propulsion systems <NUM>. The propulsions system <NUM> can be integrated with, or mechanically coupled to, a portion of the TMS 50A. The propulsion device <NUM> can be built into a portion of the TMS 50A. The propulsion device <NUM> can be attached onto the portion of the TMS 50A using an attachment or coupling mechanism such as one or more screws, bolts, adhesives, grooves, latches, or pins.

The system <NUM> can include multiple propulsion systems. The multiple propulsions systems <NUM> can be centrally controlled or individually controlled by a control unit. The multiple propulsions systems can be independently activated or synchronously activated.

The system <NUM> can include a propulsion device <NUM> located on a portion of the TMS 50A. For example, the propulsion device <NUM> can be located on a back end <NUM> of the TMS 50A that faces a direction opposite the direction of movement. The propulsion device <NUM> can be located in the center of the back end <NUM>, on a left side of the back end <NUM> or a right side of the back end <NUM>. The propulsion device <NUM> can, in some embodiments, span a width of the back end <NUM>. The propulsion device <NUM> can be mechanically coupled to the back end <NUM>, extend off from the back end <NUM>, or be integrated or built-into the back end <NUM>. The propulsions system <NUM> can be removably, mechanically coupled to the back end <NUM>. The propulsions system <NUM> can be permanently or fixedly mechanically coupled to the back end <NUM>. In some embodiments, the back end <NUM> can be removably coupled to the TMS 50A, while the propulsion device <NUM> is fixedly coupled to, or integrated with, the back end <NUM>.

The TMS 50A can include two propulsion systems <NUM> (or two propulsion systems <NUM> can be attached to the back end <NUM>). For example, a first propulsions system can be located on the left side of the back end <NUM>, and a second propulsion system can be located on the right side of the back end <NUM>. The two propulsion systems <NUM> can be separated by a predetermined distance. The predetermined distance of separation can facilitate allowing the two propulsion systems <NUM> to move the system <NUM> in a direction. For example, the predetermined distance of separation can allow the two propulsion systems <NUM> to steer the TMS 50A by allowing a first propulsions system <NUM> to generate a greater force relative to a second propulsions system <NUM> on the back end <NUM>. By generating different amounts of force, the two propulsion systems <NUM> can steer or control a direction of movement of the system <NUM> or TMS 50A.

The different amounts of force generated by the two propulsion systems <NUM> on the TMS 50A can facilitate orienting the system <NUM> in a direction. For example, the two propulsion systems <NUM> can facilitate the movement of the TMS 50A in a lateral direction in relation to the direction of travel of the vessel. For example, referring to <FIG>, the propulsion systems <NUM> can facilitate the movement of the TMS 50A in the third direction <NUM>, the direction <NUM>, or any direction that is at an angle with respect to the first direction <NUM> of the vessel <NUM>.

The system <NUM> can include one or more steering devices <NUM>. The steering device <NUM> can refer to a steering apparatus <NUM> that includes multiple components. The steering device <NUM> can receive instructions from the propulsion device <NUM> or a control unit <NUM>. The steering device <NUM> can include, for example, a rudder. In some embodiments, the steering device <NUM> can include fins or runners. For example, the steering device <NUM> can include an actuator, spring-mechanism, or hinge that can pivot, rotate or change the orientation of one or more of the fins, runners, or rudders to steer the TMS 50A.

The steering device <NUM> can use the propulsion device <NUM>, or component thereof, to steer the system <NUM>. For example, the propulsion device <NUM> can include a nozzle and pump-jets. The nozzle can provide the steering of the pump-jets. Plates or rudders <NUM> can be attached to the nozzle in order to redirect the water flow from one side to another side (e.g., port and starboard; right and left). The steering device <NUM> can function similar to air thrust vectoring to provide a pumpjet-powered system <NUM> with increased agility in the aqueous medium.

<FIG> depicts a front side perspective view of the tether management system shown in <FIG>. The propulsion device <NUM> can include a front end <NUM> and a back end <NUM>. The back end <NUM> can include an inlet, and the front end <NUM> can include an outlet <NUM>. Water can go into the inlet and flow out of the outlet <NUM>. The propulsion device <NUM> can include an engine or a pump that receives water via the inlet, and pumps water out via outlet <NUM> to form a jet stream that can generate force to move the TMS 50A thereof.

The force generation mechanism <NUM> of system <NUM> can include one or more pairs of inlets <NUM> and outlets <NUM>. The pair of inlet <NUM> and outlet <NUM> can be located on the TMS 50A. The inlet <NUM> can be connected to the outlet <NUM> by a tube or pipe. An engine can be located in between the inlet <NUM> and outlet <NUM> to generate force to draw water into the inlet and push water out of the outlet to thrust the TMS 50A or system <NUM> in the desired direction.

While <FIG> and <FIG> discuss a propulsion system in relation to the TMS, a similar propulsion system can be implemented to provide propulsion to the underwater vehicle <NUM> shown in <FIG>. The propulsion system can provide thrust to move the underwater vehicle <NUM> in a direction that is lateral to the direction of travel (the first direction <NUM>) of the vessel <NUM>. A combination of the side-way thrust provided to the TMS and to the ROV can result in a widening of the deployment zone for deploying seismic sensor devices.

<FIG> shows a block diagram of an example system <NUM> for deploying seismic sensor devices. The system <NUM> can include a propulsion system <NUM>. The propulsion system <NUM> can include, interface or communicate with one or more system, component or functionality of propulsion device <NUM> depicted in <FIG>. The propulsion system <NUM> can include one or more of at least one energy source <NUM>, at least one local control unit <NUM>, at least one engine <NUM>, at least one thruster <NUM>, and at least one steering device <NUM>. The propulsion system <NUM> can communicate with a remote control unit <NUM> via a network <NUM>. For example, the propulsion system <NUM> can receive, via network <NUM>, an instruction from remote control unit <NUM> to generate force to move the TMS 50A or the underwater vehicle <NUM>. The local control unit <NUM> can receive the instruction and, responsive to the instruction, cause the engine <NUM> to convert energy provided by the energy source <NUM> into force. The engine <NUM> can convey the energy or force to a thruster <NUM>, such as a propeller or pump. The thruster <NUM> can include one or more component or functionality of propulsion device <NUM> depicted in <FIG> and <FIG>.

The energy source <NUM> can include a battery, fuel, fossil fuel, petroleum, gasoline, natural gas, oil, coal, fuel cell, hydrogen fuel cell, solar cell, wave power generator, hydropower, or uranium atoms (or other fuel source for a nuclear reactor). The energy source <NUM> can be located on the TMS 50A or the underwater vehicle <NUM>. The energy source <NUM> can be located on the vessel <NUM>, and the vessel <NUM> can provide power to the engine <NUM> via a power cable, such as the umbilical cable 44A or the tether 46A. The energy source <NUM> can include a sensor or monitor that measures an amount of power or fuel remaining in the energy source <NUM>. The sensor or monitor can provide an indication as to the amount of fuel or power remaining in the energy source <NUM> to the local control unit <NUM>. The local control unit <NUM> can conserve the energy source <NUM> by reducing the amount of force generated using energy from the energy source. The local control unit <NUM> can provide the indication of the amount of fuel remaining to the remote control unit <NUM>.

The propulsion system <NUM> can include an engine <NUM>. The engine <NUM> can convert energy provided by the energy source <NUM> to mechanical energy or force. The engine <NUM> can convert the energy provided by the energy source <NUM> to mechanical energy responsive to an instruction from the local control unit <NUM> or remote control unit <NUM>. The engine <NUM> can include a motor. The engine <NUM> can include a heat engine, internal combustion engine, or external combustion engine. The engine <NUM> can include an electric motor that converts electrical energy into mechanical motion. The engine <NUM> can include a nuclear reactor that generates heat from nuclear fission. The engine <NUM> can include a pneumatic motor that uses compressed air to generate mechanical motion. The engine <NUM> can use chemical energy to create force.

The engine <NUM> can transfer the mechanical energy to a thruster <NUM>. The thruster <NUM> can include any device or mechanism that can generate force to move the TMS 50A or the underwater vehicle <NUM> in a desired direction through the aqueous medium. The thruster <NUM> can include a propeller, a paddle, an oar, a waterwheel, a screw propeller, a fixed pitch propeller, a variable pitch propeller, a ducted propeller, an azimuth propeller, a water jet, a fan, or a pump. The engine <NUM> can provide the thruster <NUM> with mechanical energy to generate force. For example, the engine <NUM> can provide mechanical energy to spin or rotate a propeller. The engine <NUM> can provide mechanical energy to a pump to generate pressure to create a water jet that propels or move TMS 50A or the underwater vehicle <NUM> in the desired direction.

The propulsion system <NUM> can include a steering device <NUM> (e.g., steering device <NUM> shown in <FIG>). The steering device <NUM> can include a rudder or use a fin, plate or runner as a rudder. The steering device <NUM> can steer the case by generating greater force on one side of the TMS 50A or the underwater vehicle <NUM> relative to another side. For example, the TMS 50A can have two propulsion systems <NUM> or two thrusters <NUM> (<FIG> and <FIG>) separated by a distance. By generating greater force via one of the thrusters <NUM> relative to the other thruster <NUM>, the TMS 50A can be steered through the aqueous medium. The propulsion system <NUM> can be similarly operated to move the underwater vehicle <NUM> in the desired direction.

The propulsion system <NUM> can include a local control unit <NUM>. In some embodiments, the system <NUM> can include a local control unit <NUM> and a remote control unit <NUM>. In some embodiments, the system <NUM> may include one of the local control unit <NUM> or the remote control unit <NUM>. The local control unit <NUM> can include one or more function or component depicted in <FIG>. The local control unit <NUM> can be designed and constructed to cause the engine <NUM> to convert the energy provided by energy source <NUM> to mechanical energy to push surrounding water away from the TMS 50A or the underwater vehicle <NUM> in a direction opposite a direction of movement of the TMS 50A or the underwater vehicle <NUM>. The engine <NUM> can cause a thruster <NUM> to create force that moves the water in a direction opposite to the desired direction of motion of the case.

The local control unit <NUM> can monitor the speed or velocity of the TMS 50A or the underwater vehicle <NUM>. The local control unit <NUM> can include a GPS sensor, gyroscope, or accelerometer. The GPS sensor can receive GPS signals from a GPS satellite to determine a location of the TMS 50A or the underwater vehicle <NUM>. The GPS sensor can provide the location information (e.g., latitude and longitude coordinates) to the local control unit <NUM> or the remote control unit <NUM>. The accelerometer can determine an acceleration, speed or velocity of the TMS 50A or the underwater vehicle <NUM> (e.g., knots, nautical miles per hour, miles per hour, or meters per hour). The gyroscope can determine an orientation of the TMS 50A or the underwater vehicle <NUM>. The control unit <NUM> can determine one or more of the location, velocity, or orientation from these components. The local control unit <NUM> can use this information to determine how much force to generate to move the TMS 50A or the underwater vehicle <NUM>. The local control unit <NUM> can provide this information to the remote control unit <NUM>, which can, in-turn, process the information and provide instructions to the local control unit <NUM>.

The remote control unit <NUM> can be external to the propulsion system <NUM>. The remote control unit <NUM> can be located on the vessel <NUM>. The remote control unit <NUM> can provide instructions to the propulsion system <NUM> to cause the propulsion system <NUM> to move, direct, or slow down the TMS 50A or the underwater vehicle <NUM>. The remote control unit <NUM> can receive an indication from a person or can automatically generate instructions based on a configuration, policy, or setting. For example, the remote control unit <NUM> can be configured to instruct the TMS 50A or the underwater vehicle <NUM> to follow the vessel <NUM> at a predetermined location relative to a portion of the vessel <NUM>. The remote control unit <NUM> can receive location information for the TMS 50A or the underwater vehicle <NUM> from the local control unit <NUM>. The location information can include a velocity, location or orientation of the TMS 50A or the underwater vehicle <NUM>. The remote control unit <NUM> can determine, based on the received location, velocity, or orientation information, to provide an instruction to the local control unit <NUM> to adjust the location, velocity or orientation.

In some embodiments, the local control unit <NUM> can monitor the location, velocity and orientation of the TMS 50A or the underwater vehicle <NUM>, and automatically instruct the thruster <NUM> or engine <NUM> to generate more or less force to adjust the velocity, orientation, or direction. The local control unit <NUM> can monitor an orientation of the TMS 50A or the underwater vehicle 215and determine that the case is leaning to a side. For example, the TMS 50A or the underwater vehicle <NUM> may lean to a side if the case is towed by a vessel <NUM> that is turning. The local control unit <NUM>, responsive to detecting that the TMS 50A or the underwater vehicle <NUM> is leaning at an angle greater than a predetermined threshold (e.g., <NUM> degrees, <NUM> degrees, <NUM> degrees <NUM> degrees, <NUM> degrees) in a plane orthogonal to the direction of motion, can steer or thrust the TMS 50A or the underwater vehicle <NUM> to re-orient the case.

In some embodiments, the local control unit <NUM> can include one or more sensors to detect the location of the TMS 50A or the underwater vehicle <NUM> relative to the vessel <NUM>. For example, the control unit <NUM> can include a proximity sensor to detect a location of the case relative to the vessel <NUM>. In some embodiments, the remote control unit <NUM> on the vessel can generate beacons or pings that the local control unit <NUM> can detect to triangulate a position of the TMS 50A or the underwater vehicle <NUM> relative to the vessel <NUM>.

For example, the local control unit <NUM> can include an instruction to follow an object moving through an aqueous medium, or an instruction to follow a vessel <NUM> towing TMS 50A or the underwater vehicle <NUM> through an aqueous medium. The object can include, for example, a vessel <NUM>, buoy, water vehicle, transfer device, or skid structure. The local control unit <NUM> can include sensors such as a camera, position sensor, motion sensor, proximity sensor, transducers, radar, or other sensors that allow the local control unit <NUM> to determine a change in a position of the object, and move the TMS 50A or the underwater vehicle <NUM> to follow the object at a predetermined distance from the object. In some embodiments, the remote control unit <NUM> can provide an indication to the local control unit <NUM> as to a change in direction, speed or position of the vessel <NUM>. The local control unit <NUM> can receive this indication of a change in direction or speed of the vessel <NUM>, and adjust a speed or direction of the TMS 50A or the underwater vehicle <NUM> accordingly.

The network <NUM> can include a wired or wireless network. The network <NUM> can include a wire such as an umbilical cable 44A or a tether 46A from the vessel <NUM>. Instructions can be conveyed via the network <NUM> using one or more communication protocols. The network <NUM> may be connected via wired or wireless links. Wired links may include Digital Subscriber Line (DSL), coaxial cable lines, or optical fiber lines. The wireless links may include BLUETOOTH, Wi-Fi, Worldwide Interoperability for Microwave Access (WiMAX), an infrared channel or satellite band. The wireless links may also include any cellular network standards used to communicate among mobile devices, including standards that qualify as <NUM>, <NUM>, <NUM>, or <NUM>. The network standards may qualify as one or more generation of mobile telecommunication standards by fulfilling a specification or standards such as the specifications maintained by International Telecommunication Union. The <NUM> standards, for example, may correspond to the International Mobile Telecommunications-<NUM> (IMT-<NUM>) specification, and the <NUM> standards may correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards may use various channel access methods e.g. FDMA, TDMA, CDMA, or SDMA. In some embodiments, different types of data may be transmitted via different links and standards. In other embodiments, the same types of data may be transmitted via different links and standards.

The network <NUM> may be any type and/or form of network. The geographical scope of the network <NUM> may vary widely and the network <NUM> can be a body area network (BAN), a personal area network (PAN), a local-area network (LAN), e.g. Intranet, a metropolitan area network (MAN), a wide area network (WAN), or the Internet. The topology of the network <NUM> may be of any form and may include, e.g., any of the following: point-to-point, bus, star, ring, mesh, or tree. The network <NUM> may be an overlay network which is virtual and sits on top of one or more layers of other networks. The network <NUM> may utilize different techniques and layers or stacks of protocols, including, e.g., the Ethernet protocol, the internet protocol suite (TCP/IP), the ATM (Asynchronous Transfer Mode) technique, the SONET (Synchronous Optical Networking) protocol, or the SDH (Synchronous Digital Hierarchy) protocol. The TCP/IP internet protocol suite may include application layer, transport layer, internet layer (including, e.g., IPv6), or the link layer. The network <NUM> may be a type of a broadcast network, a telecommunications network, a data communication network, or a computer network. The network <NUM> can include wireless communication technologies such as Bluetooth, Zigbee, or RFID. The network <NUM> can allow for communication using small, low-power digital radios based on the IEEE <NUM>. <NUM> standard for WPANs, such as those based on the ZigBee standard. Systems based on the ZigBee standard can use radio-frequency (RF) and provide a long battery life and secure networking.

<FIG> shows a flow diagram of an example method for deploying seismic sensor devices on a seabed. The method <NUM> can be executed, for example, by the local control unit <NUM> of the TMS 50A or the underwater vehicle <NUM>, or a remote control unit <NUM> located on a vessel <NUM>. The method <NUM> includes towing a tether management system through an aqueous medium in a first direction (ACT <NUM>). As an example, a vessel <NUM> disposed on the surface of the aqueous medium is coupled to the TMS 50A, which is positioned sub-surface, by umbilical cable 44A. A control unit can instruct the vessel <NUM> to travel in a first direction <NUM> on the surface of the aqueous medium. As the TMS 50A is towed behind the vessel <NUM> by the umbilical cable 44A, the TMS 50A also travels in the first direction <NUM>.

The method <NUM> includes moving an underwater vehicle in a second direction (ACT <NUM>). As an example, <FIG> shows an underwater vehicle such as the underwater vehicle <NUM> positioned near the seabed. The underwater vehicle <NUM> is coupled to one end of the tether 46A, the other end of which is coupled to the TMS 50A. The movement of the vessel <NUM> in the first direction <NUM> also causes the underwater vehicle <NUM> to move in the first direction. The control unit can instruct the thrusters on the underwater vehicle <NUM> to activate such that the underwater vehicle <NUM> moves in the second direction <NUM>. In some instances, the second direction <NUM> can be orthogonal to the first direction <NUM> of the vessel <NUM>. In some examples, the second direction <NUM> can be at any non-zero angle with respect to the first direction <NUM> of the vessel <NUM>. The control unit can instruct the thrusters, such as the propulsion systems <NUM> shown in <FIG> or the thrusters <NUM> shown in <FIG>.

The method <NUM> includes moving the TMS in a third direction (ACT <NUM>). The TMS can be moved in the third direction that is different from the first direction of the vessel. For example, referring to <FIG>, the control unit can instruct the propulsion system in the TMS 50A to move the TMS 50A in the third direction <NUM>. The third direction <NUM> can be different from the first direction <NUM> of the vessel <NUM>. For example, the third direction <NUM> can be at a non-zero angle with respect to the first direction <NUM>. As an example, the third direction <NUM> can be orthogonal to the first direction <NUM> of the vessel <NUM>. The control unit can activate the propulsion system of the TMS 50A, such as the propulsion device <NUM> shown in <FIG> or the thrusters <NUM> shown in <FIG> to move the TMS 50A in the desired third direction <NUM>.

The method <NUM> includes instruct thruster to move the TMS in the third direction and deploy seismic data acquisition units (ACT <NUM>). As an example, the control unit can instruct the thrusters to move the TMS in the third direction based, in part, on a cross-line location policy. The cross-line location policy can specify the conditions for employing the thrusters in the TMS 50A. In one example, the cross-line location policy can specify a first threshold distance. If the distance or span between adjacent rows of locations where seismic data acquisition units are to be deployed is greater than the first threshold distance, the cross-line location policy can indicate that the TMS 50A may employ thrusters to move the TMS 50A in lateral directions to aid in the deployment of the seismic data acquisition units. The cross-line location policy may also specify a second threshold distance. If the distance of span between adjacent rows of locations where seismic data acquisition units are to be deployed is also less than the second threshold distance, the policy can indicate use of thrusters of the TMS 50A during deployment. In some examples, the first threshold distance can include the width of the first deployment zone <NUM>, and the second threshold distance can include the width of the second deployment zone <NUM>. As discussed above, the width of the first deployment zone <NUM> can indicate the extent to which seismic data acquisition units can be deployed with employing the thrusters on the underwater vehicle <NUM> alone. If the distance between two adjacent rows of locations of deployment is wider than the first deployment zone <NUM>, the vessel <NUM> may have to make two separate trips to deploy the seismic data acquisition units. If however, the distance the distance between two adjacent rows of locations of deployment is less than the width of the second deployment zone <NUM>, the control unit can activate the propulsion system of the TMS 50A. The control unit can instruct the thrusters of each of the TMS 50A and the underwater vehicle <NUM> to move in the third direction and the second direction, respectively. When the underwater vehicle <NUM> reaches a target location for a data acquisition unit, the control unit can instruct a deployment mechanism in the underwater vehicle <NUM> to deploy the data acquisition unit.

The combination of the movement of the TMS 50A and the underwater vehicle <NUM> in a direction that is different from the first direction, such as for example, in a direction that is orthogonal to the first direction, the deployment zone of the system can be widened. The widening of the deployment zone allows the underwater vehicle <NUM> to deploy a larger number of seismic data acquisition units over a wider region in the seabed for each pass of the vessel <NUM>. For example, referring to <FIG>, the first right boundary <NUM> corresponds to the lateral extent, relative to the position of the vessel <NUM>, to which the underwater vehicle <NUM> is able deploy seismic data acquisition units when the TMS 50A lacks thrusters, or the thrusters are not activated. However, when the control unit instructs the thrusters on the TMS 50A to move the TMS 50A in the third direction <NUM>, the extent to which the underwater vehicle <NUM>, which also moves in the second direction <NUM>, is extended to the second right boundary <NUM>.

In some examples, the control unit can determine a position of the underwater vehicle, such as the underwater vehicle <NUM>, as the underwater vehicle moves in the second direction. For example, referring to <FIG>, the control unit can instruct the thrusters on the underwater vehicle <NUM> to move the underwater vehicle <NUM> in the second direction <NUM>. The control unit can also determine the position of the underwater vehicle <NUM> while the underwater vehicle <NUM> is moving in the second direction <NUM>. Based on the location of the underwater vehicle <NUM>, and the cross-line location policy, the control unit can instruct the thrusters in the TMS 50A to move the TMS 50A in the third direction <NUM>. For example, the control unit can determine that target location for deployment of the seismic data acquisition unit is outside of the first deployment zone <NUM> of the underwater vehicle <NUM>. The control unit can also determine that the target location could be reached by the underwater vehicle <NUM> upon movement of the TMS 50A in the third direction <NUM>. That is, the target location is within the second deployment zone <NUM>. The control unit can then actuate the thrusters of the TMS 50A to move the TMS 50A in the third direction <NUM>.

<FIG>, <FIG> and <FIG> show a schematic of an example deployment sequence. <FIG>, <FIG> and <FIG> show deployment of three seismic data acquisition units: a first seismic data acquisition unit <NUM> at a first stage <NUM> depicted in <FIG>, a second seismic data acquisition unit <NUM> at a second stage <NUM> depicted in <FIG>, and a third seismic data acquisition unit <NUM> at a third stage <NUM> depicted in <FIG>. At the first stage <NUM> depicted in <FIG>, the underwater vehicle <NUM> deploys a first seismic data acquisition unit <NUM> at a first location on the ocean bottom. The first second and third seismic data acquisition units <NUM>, <NUM> and <NUM> can include or refer to seismic data acquisition unit <NUM> depicted in <FIG>.

The first location can be any location that is within the extended deployment zone bounded by the second left boundary <NUM> and the second right boundary <NUM>. Subsequent to the deployment of the first seismic data acquisition unit <NUM>, the control unit can determine the target location of the second seismic data acquisition unit <NUM>. For example, the control unit can determine that the target location is between the first right boundary <NUM> and the second right boundary <NUM>. Based on the second target location and based on the cross-line location policy, the control unit can activate the thrusters on the TMS 50A to move the TMS 50A in the third direction <NUM>. The control unit can also instruct the thrusters on the underwater vehicle <NUM> to actuate and to move the underwater vehicle <NUM> in the second direction <NUM>. The sole or the combined movement of the TMS 50A and the underwater vehicle <NUM> can result in the underwater vehicle <NUM> being positioned between the first right boundary <NUM> and the second right boundary <NUM>. As the underwater vehicle <NUM> moves forward by the towing action of the vessel <NUM> in the first direction, the underwater vehicle <NUM> can arrive at the target location. At the second stage <NUM> depicted in <FIG>, the underwater vehicle <NUM> reaches the target location and deploys the second seismic data acquisition unit <NUM>.

Subsequent to the deployment of the second seismic data acquisition unit <NUM>, the control unit can determine the third target location for deploying the third seismic data acquisition unit <NUM>. As an example, the control unit may determine that the third target location lies between the first left boundary <NUM> and the second left boundary <NUM>. The control unit can also determine that the current location of the underwater vehicle <NUM> is not near the third target location. Based on the cross-line location policy, the control unit can instruct the thrusters on the TMS 50A to move the TMS 50A in a fourth direction <NUM> depicted in <FIG>. The fourth direction <NUM> can be opposite to the third direction <NUM>. As a result, the TMS 50A can move from the first right boundary <NUM> towards the first left boundary <NUM>. The control unit can also activate the thrusters on the underwater vehicle <NUM> to move the underwater vehicle <NUM> in the same direction as the TMS 50A. The control unit can continue to activate the thrusters of the TMS 50A and the underwater vehicle <NUM> until the position of the underwater vehicle <NUM> is in line with the third target location between the first left boundary <NUM> and the second left boundary <NUM>. When the forward movement, in the first direction <NUM>, causes the underwater vehicle <NUM> to be positioned above the third target location, the control unit can instruct the underwater vehicle <NUM> to deploy the third seismic data acquisition unit <NUM> as depicted in <FIG>.

<FIG> shows a top schematic view of another system <NUM> for acquiring seismic data in accordance with an embodiment. The system <NUM> includes a vessel <NUM>, a first TMS <NUM>, a second TMS <NUM>, a first ROV <NUM> (e.g., an ROV 35A or an underwater vehicle <NUM>), a second ROV <NUM> (e.g., an ROV 35A or an underwater vehicle <NUM>), a first umbilical cable <NUM> (e.g., a cable 44A), a second umbilical cable <NUM> (e.g., a cable 44A), a first tether <NUM> (e.g., a tether 46A), and a second tether <NUM> (e.g., a tether 46A). The system <NUM> shown in <FIG> is similar in many aspects to the system <NUM> discussed above in relation to <FIG>. However, while the system <NUM> included a single pair of TMS 50A and underwater vehicle <NUM>, the system <NUM> shown in <FIG> includes two pairs of TMS and ROVs towed by the vessel <NUM>. The first umbilical cable <NUM> is coupled to the vessel <NUM> and the first TMS <NUM>. The second umbilical cable <NUM> is coupled to the vessel <NUM> and the second TMS <NUM>. In some examples, the first umbilical cable <NUM> and the second umbilical cable <NUM> can be connected a same pulley on the vessel <NUM>. In some examples, the first umbilical cable <NUM> and the second umbilical cable <NUM> can be connected to separate respective cranes on the vessel <NUM>. The first tether <NUM> is coupled between the first TMS <NUM> and the first ROV <NUM>, while the second tether <NUM> is coupled between the second TMS <NUM> and the second ROV <NUM>.

Each of the first TMS <NUM>, the second TMS <NUM>, the first ROV <NUM>, and the second ROV <NUM> can be equipped with propulsion systems, such as the propulsion systems discussed above in relation to <FIG>. The control unit can control the operation of thrusters in the TMSs and the ROVs such that the TMSs and the ROVs can move in a direction that is lateral to the first direction <NUM> of the motion of the vehicle. For example, the control unit can actuate the thrusters in the first TMS <NUM> and the first ROV <NUM> to cause the first TMS <NUM> and the first ROV <NUM> to move in a left lateral direction with respect to the first direction <NUM>. The movement of the first TMS <NUM> and/or the first ROV <NUM> an allow deployment of seismic data acquisition units beyond the first deployment zone <NUM> and into the second deployment zone230.

Similarly, the control unit can actuate the propulsion systems of the second TMS <NUM> and the second ROV <NUM>, such that the second TMS <NUM> and the second ROV <NUM> move in a direction that is to the right of and lateral to the first direction <NUM> of the vessel <NUM>. Including a second pair of TMS and ROV can increase a number of seismic data acquisition units that can be deployed per unit time.

<FIG> is a block diagram of a computer system <NUM> in accordance with an embodiment. The computer system or computing device <NUM> can be used to implement one or more control unit, sensor, interface or remote control of system <NUM>, system <NUM>, system <NUM>, method <NUM>, or system <NUM>. The computing system <NUM> includes a bus <NUM> or other communication component for communicating information and a processor 910a-n or processing circuit coupled to the bus <NUM> for processing information. The computing system <NUM> can also include one or more processors <NUM> or processing circuits coupled to the bus for processing information. The computing system <NUM> also includes main memory <NUM>, such as a random access memory (RAM) or other dynamic storage device, coupled to the bus <NUM> for storing information, and instructions to be executed by the processor <NUM>. Main memory <NUM> can also be used for storing seismic data, binning function data, images, reports, tuning parameters, executable code, temporary variables, or other intermediate information during execution of instructions by the processor <NUM>. The computing system <NUM> may further include a read only memory (ROM) <NUM> or other static storage device coupled to the bus <NUM> for storing static information and instructions for the processor <NUM>. A storage device <NUM>, such as a solid state device, magnetic disk or optical disk, is coupled to the bus <NUM> for persistently storing information and instructions.

The computing system <NUM> may be coupled via the bus <NUM> to a display <NUM> or display device, such as a liquid crystal display, or active matrix display, for displaying information to a user. An input device <NUM>, such as a keyboard including alphanumeric and other keys, may be coupled to the bus <NUM> for communicating information and command selections to the processor <NUM>. The input device <NUM> can include a touch screen display <NUM>. The input device <NUM> can also include a cursor control, such as a mouse, a trackball, or cursor direction keys, for communicating direction information and command selections to the processor <NUM> and for controlling cursor movement on the display <NUM>.

In some embodiments, hard-wired circuitry may be used in place of or in combination with software instructions to effect illustrative implementations. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.

Although an example computing system has been described in <FIG>, embodiments of the subject matter and the functional operations described in this specification can be implemented in other types of digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them.

The subject matter described in this specification can be implemented as one or more computer programs, e.g., one or more circuits of computer program instructions, encoded on one or more computer storage media for execution by, or to control the operation of, data processing apparatus. Alternatively or in addition, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. Moreover, while a computer storage medium is not a propagated signal, a computer storage medium can be a source or destination of computer program instructions encoded in an artificially generated propagated signal. The computer storage medium can also be, or be included in, one or more separate components or media (e.g., multiple CDs, disks, or other storage devices).

The operations described in this specification can be performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources. The term "data processing apparatus" or "computing device" encompasses various apparatuses, devices, and machines for processing data, including by way of example a programmable processor, a computer, a system on a chip, or multiple ones, or combinations of the foregoing.

A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a circuit, component, subroutine, object, or other unit suitable for use in a computing environment. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more circuits, subprograms, or portions of code).

Moreover, a computer can be embedded in another device, e.g., a personal digital assistant (PDA), a Global Positioning System (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few. Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto optical disks; and CD ROM and DVD-ROM disks.

To provide for interaction with a user, implementations of the subject matter described in this specification can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer.

While various inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means or structures for performing the function or obtaining the results or one or more of the advantages described herein, and each of such variations or modifications can be within the scope of the inventive embodiments described herein, as far as it falls within the scope of the invention as set forth in the accompanying claims. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, or configurations will depend upon the specific application or applications for which the inventive teachings are used. The foregoing embodiments are presented by way of example, and within the scope of the appended claims, other embodiments may be practiced otherwise than as specifically described, as far as they fall within the scope of the invention as set forth in the accompanying claims. The systems and methods described herein are directed to each individual feature, system, article, material, or kit, described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, or methods, if such features, systems, articles, materials, kits, or methods are not mutually inconsistent, is included within the present disclosure.

The above-described embodiments can be implemented in any of numerous ways. For example, the embodiments may be implemented using hardware, software or a combination thereof. When implemented in software, the software code can be executed on any suitable processor or collection of processors, whether provided in a single computer or distributed among multiple computers.

Such computers may be interconnected by one or more networks in any suitable form, including a local area network or a wide area network, such as an enterprise network, and intelligent network (IN) or the Internet. Such networks may be based on any suitable technology and may operate according to any suitable protocol and may include wireless networks, wired networks or fiber optic networks.

A computer employed to implement at least a portion of the functionality described herein may comprise a memory, one or more processing units (also referred to herein simply as "processors"), one or more communication interfaces, one or more display units, and one or more user input devices. The memory may comprise any computer-readable media, and may store computer instructions (also referred to herein as "processor-executable instructions") for implementing the various functionalities described herein. The processing unit(s) may be used to execute the instructions. The communication interface(s) may be coupled to a wired or wireless network, bus, or other communication means and may therefore allow the computer to transmit communications to or receive communications from other devices. The display unit(s) may be provided, for example, to allow a user to view various information in connection with execution of the instructions. The user input device(s) may be provided, for example, to allow the user to make manual adjustments, make selections, enter data or various other information, or interact in any of a variety of manners with the processor during execution of the instructions.

The various methods or processes outlined herein may be coded as software that is executable on one or more processors that employ any one of a variety of operating systems or platforms. Additionally, such software may be written using any of a number of suitable programming languages or programming or scripting tools, and also may be compiled as executable machine language code or intermediate code that is executed on a framework or virtual machine.

In this respect, various inventive concepts may be embodied as a computer readable storage medium (or multiple computer readable storage media) (e.g., a computer memory, one or more floppy discs, compact discs, optical discs, magnetic tapes, flash memories, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other non-transitory medium or tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement the various embodiments of the solution discussed above. The computer readable medium or media can be transportable, such that the program or programs stored thereon can be loaded onto one or more different computers or other processors to implement various aspects of the present solution as discussed above.

The terms "program" or "software" are used herein in a generic sense to refer to any type of computer code or set of computer-executable instructions that can be employed to program a computer or other processor to implement various aspects of embodiments as discussed above. Additionally, it should be appreciated that according to one aspect, one or more computer programs that when executed perform methods of the present solution need not reside on a single computer or processor, but may be distributed in a modular fashion amongst a number of different computers or processors to implement various aspects of the present solution.

Generally, program modules include routines, programs, objects, components, data structures, or other components that perform particular tasks or implement particular abstract data types.

Also, various inventive concepts may be embodied as one or more methods, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments.

" References to "or" may be construed as inclusive so that any terms described using "or" may indicate any of a single, more than one, and all of the described terms.

Thus, as a non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B,") can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc..

Claim 1:
A system to perform a seismic survey in a marine environment, comprising:
a tether management system (50A, <NUM>) towed, via a first cable, by a vessel that moves through an aqueous medium in a first direction (<NUM>);
an underwater vehicle (<NUM>) connected, via a second cable, to the tether management system (50A, <NUM>), the underwater vehicle (<NUM>) to move in a second direction (<NUM>) different from the first direction (<NUM>) to deploy seismic data acquisition units on an ocean bottom, wherein the first direction (<NUM>) is perpendicular to the second direction (<NUM>);
the system characterized by further comprising:
a thruster (<NUM>) coupled to the tether management system (50A, <NUM>) to move the tether management system (50A, <NUM>) in a third direction (<NUM>) different from the first direction (<NUM>), wherein the third direction (<NUM>) is perpendicular to the first direction to widen a deployment zone of the underwater vehicle, and the second direction (<NUM>) is parallel with the third direction (<NUM>); and
a control unit (<NUM>, <NUM>) comprising one or more processors to instruct, based on a cross-line location policy, the thruster (<NUM>) to move the tether management system (50A, <NUM>) in the third direction (<NUM>) different from the first direction (<NUM>) to allow the underwater vehicle (<NUM>) to deploy at least one of the seismic data acquisition units on the ocean bottom.