Patent Description:
Seismic or other operations performed on a piece of earth can identify characteristics or features of or on the analyzed piece of earth. Document <CIT> discloses discloses a seismic data acquisition unit <NUM> comprising a case having an internal compartment, a power source, a clock, a seismic data recorder, wherein at least one sensor disposed within the case, and a telltale <NUM> which is attached to a seismic data acquisition unit <NUM> with a rope <NUM>, wherein the rope is bolted to the unit <NUM>.

At least one aspect of the present disclosure is directed to a seismic data acquisition positioning apparatus as defined in claim <NUM>.

Another aspect of the present disclosure is directed to a method as defined in claim <NUM>.

Those skilled in the art will appreciate that the summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices and/or processes described herein, as defined solely by the claims, will become apparent in the detailed description set forth herein and taken in conjunction with the accompanying drawings.

Following below are more detailed descriptions of various concepts related to, and implementations of, methods, apparatuses, and systems for positioning seismic data acquisition units.

A seismic data acquisition system and survey can acquire seismic data relating to subsurface features, such as lithological formations or fluid layers that may indicate the presence of hydrocarbons, minerals or other elements. An acoustic signal can penetrate the surface of the earth. The acoustic signal can reflect, refract, or diffract off of subsurface lithological formations. The reflected, refracted, or diffracted acoustic signals can be acquired, analyzed, and interpreted to indicate physical characteristics of, for example, the lithological formations such as the presence of hydrocarbons. The reflected, refracted, or diffracted acoustic signals can be received by seismic data acquisition units. It can be challenging to efficiently deploy the seismic data acquisition units such that the seismic data acquisition units are positioned in a target location, with a target orientation, and with a suitable retrieval mechanism. Additionally, confidence that seismic data acquisition unit can be retrieved and knowledge regarding the ocean bottom can improve seismic surveys. Inefficiencies related to increased complexity and survey time can increase the operating cost of these surveys. Systems and methods of the present disclosure can solve these and other problems associated with positioning seismic data acquisition units.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM> (e.g., positioning apparatus). The seismic data acquisition positioning apparatus <NUM> can be non-buoyant in naturally occurring bodies of water (e.g., oceans, lakes, intertidal regions, etc.). The seismic data acquisition positioning apparatus <NUM> can be used for acquiring data to indicate the presence of hydrocarbons, minerals, or other elements. The seismic data acquisition positioning apparatus <NUM> can be used for CO<NUM> monitoring and sequestration, mineral exploration, subsurface mapping, and ocean bottom construction and subsurface analysis.

The seismic data acquisition positioning apparatus <NUM> can include a seismic data acquisition unit <NUM> (e.g., node, seismic node, seismic data acquisition node, etc.). The seismic data acquisition unit <NUM> has a first density. The seismic data acquisition unit <NUM> can include a case (e.g., bracket) having an internal compartment (e.g., cavity, void, chamber, pocket, etc.). The case can include holes such that water is configured to flow through the case of the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include one or more components, such as a sensor (e.g., geophone, hydrophone, seismic sensor, micro-electromechanical systems (MEMS), accelerometer, fiber optic sensor, etc.), clock, power source, memory, high speed recorder, seismic recorder, a control unit (e.g., processor), accelerometer, transducer, transmitter, or wireless transmitter. The power source, clock, seismic data recorder, control unit, and at least one sensor can be disposed within the case. The seismic data acquisition unit <NUM> can have a first side <NUM>. The first side <NUM> can be referred to as a top side. The seismic data acquisition unit <NUM> can have a second side <NUM>. The second side <NUM> can be referred to as a bottom side. The seismic data acquisition unit <NUM> can couple with a seabed (e.g., seafloor, sea floor, ocean floor, etc.) via the second side <NUM> of the seismic data acquisition unit <NUM> (e.g., bottom side of the seismic data acquisition unit <NUM>). The seismic data acquisition unit <NUM> can be in contact with or embedded in the seabed. The seismic data acquisition unit <NUM> can include a transponder.

The seismic data acquisition unit <NUM> can have a negative buoyancy in water (e.g., seawater, freshwater, etc.). The seismic data acquisition unit <NUM> can have a first buoyancy in water. The surfaces of the seismic data acquisition unit <NUM> can be circular, rectangular, oval, octagonal, pentagonal, polygonal, combinations of these shapes, or have another shape that facilitates seismic data acquisition. The seismic data acquisition unit <NUM> can have a cylindrical shape. The case of the seismic data acquisition unit <NUM> can have an elongated cylindrical shape. The seismic data acquisition unit <NUM> can have a length in a range of <NUM> inches (<NUM>) to <NUM> inches (<NUM>), for example, <NUM> inches (<NUM>). The seismic data acquisition unit <NUM> can have a width in a range of <NUM> inches (<NUM>) to <NUM> inches (<NUM>), for example, <NUM> inches (<NUM>). The seismic data acquisition unit <NUM> can have a depth in a range of <NUM> inch (<NUM>) to <NUM> inches (<NUM>), for example, <NUM> inches (<NUM>). The seismic data acquisition unit <NUM> can have a rectangular shape. The seismic data acquisition unit <NUM> can have a disk or puck shape. The seismic data acquisition unit <NUM> can have a diameter in a range of <NUM> inches (<NUM>) to <NUM> inches (<NUM>), for example, <NUM> inches (<NUM>). The seismic data acquisition unit <NUM> can have a height of <NUM> inches (<NUM>) to <NUM> inches (<NUM>), for example, <NUM> inches (<NUM>).

The seismic data acquisition positioning apparatus <NUM> comprises a hanging unit <NUM> (e.g., hanging kit, pinger, pinger assembly, etc.). The hanging unit <NUM> can include one or more components, such as a battery and a case. The hanging unit <NUM> comprises a beacon unit <NUM> (e.g., sonar component, beacon, acoustic beacon, optical beacon, sonar pinger, etc.). The beacon unit <NUM> can include electronics configured to transmit a signal (e.g., acoustic signal, optical signal, etc.). The beacon unit <NUM> can initiate an acoustic transmission. The beacon unit <NUM> can include an antenna. The beacon unit <NUM> can be configured to transmit a location of the seismic data acquisition unit <NUM>. The beacon unit <NUM> can be configured to indicate a location of the seismic data acquisition unit <NUM> in transit through the water column or on a seabed. For example, the beacon unit <NUM> can indicate and transmit the GPS coordinates of the seismic data acquisition unit <NUM>. The beacon unit <NUM> can transmit heading information from a transducer or transponder. The pinger can be located in the water. The transponder can be located in the air. The pinger can include an extension to transmit a signal above the surface of the water. The beacon unit <NUM> can be pinged periodically to transmit the location of the seismic data acquisition unit <NUM>. The beacon unit <NUM> can be electronically coupled with the seismic data acquisition unit <NUM>. For example, the beacon unit <NUM> can draw power from the seismic data acquisition unit <NUM>. The beacon unit <NUM> can be given operational commands from the seismic data acquisition unit <NUM>. The beacon unit <NUM> can have an internal battery. The beacon unit <NUM> can have transmitting and receiving capabilities. The beacon unit <NUM> can be incorporated into the seismic data acquisition unit <NUM>. The hanging unit <NUM> can include a dense unit at the bottom of the hanging unit <NUM>.

The hanging unit <NUM> can include a buoyant unit <NUM> (e.g., foam, buoyant foam, plastic, plastic with air bubbles, closed cell foam, open cell foam, wood, air cavity element, bladder unit, buoyant non-compressible material, or a combination thereof, etc.). For example, the buoyant unit <NUM> can be configured to adjust the buoyancy of the hanging unit <NUM>. The buoyant unit <NUM> can adjust the amount of buoyant force (e.g., lift) applied to the hanging unit <NUM>. The buoyant unit <NUM> can adjust the location and/or distribution of the force applied to the hanging unit <NUM> across the hanging unit <NUM>. The buoyant unit <NUM> can adjust the buoyancy of the hanging unit <NUM>. The buoyant unit <NUM> can be coupled with the beacon unit <NUM>. For example, the buoyant unit <NUM> can be attached to, adhered to, or incorporated into the beacon unit <NUM>. The buoyant unit <NUM> can be integral with or integrated into the beacon unit <NUM>. The buoyant unit <NUM> can be directly coupled with the beacon unit <NUM>. For example, the buoyant unit <NUM> can be mounted on the beacon unit <NUM>. The buoyant unit <NUM> can be indirectly coupled with the beacon unit <NUM>. For example, the buoyant unit <NUM> can be coupled with the beacon unit <NUM> via a cable, rope, or a case. The buoyant unit <NUM> can be buoyant in water (e.g., seawater, freshwater, etc.). The buoyant unit <NUM> can be incorporated into the beacon unit <NUM>. For example, the beacon unit <NUM> can be manufactured from the buoyant unit <NUM> to achieve desired structural and buoyancy design criteria. The buoyant unit <NUM> can be buoyant in naturally occurring bodies of water (e.g., oceans, lakes, intertidal regions, etc.).

The hanging unit <NUM> has a second density. The second density being less than the first density. For example, the density of the hanging unit <NUM> can be less than the density of the seismic data acquisition unit <NUM>. The density of the beacon unit <NUM> and the buoyant unit <NUM> combined can be less than the density of the seismic data acquisition unit <NUM>. The hanging unit <NUM> can include a non-buoyant hanging unit <NUM>. For example, the hanging unit <NUM> can have neutral buoyancy in water (e.g., seawater, freshwater, etc.). The hanging unit <NUM> can have a second buoyancy. The second buoyancy can be greater than the first buoyancy. For example, the buoyancy of the hanging unit <NUM> can be greater than the buoyancy of the seismic data acquisition unit <NUM>.

The hanging unit <NUM> can have a shape profile configured to hinder a lateral movement of the seismic data acquisition unit <NUM>. For example, the hanging unit <NUM> can have cylindrical shape, an elongated shape, or an oblong shape. The hanging unit <NUM> can have a plate shape or an inverted cone shape. The hanging unit <NUM> can have a shape that increases drag of the seismic data acquisition positioning apparatus <NUM>. The shape of the hanging unit <NUM> can cause the seismic data acquisition positioning apparatus <NUM> to resist lateral movement when the seismic data acquisition positioning apparatus <NUM> is descending in a body of water. The shape of the hanging unit <NUM> can control (e.g., determine, manage, regulate, minimize, hinder, direct, assist, support, effect, impact, diminish, impede, etc.) lateral movement when the seismic data acquisition positioning apparatus <NUM> is descending in a body of water. The hanging unit <NUM> can provide consistent (e.g., repeatable, reliable, etc.) lateral movement of the seismic data acquisition unit <NUM>. The shape of the hanging unit <NUM> can control the descent of the seismic data acquisition unit <NUM> to the seabed. The hanging unit <NUM> can have a shape profile configured to make the seismic data acquisition positioning apparatus <NUM> resistant to flipping and turning while the seismic data acquisition positioning apparatus <NUM> is descending in the body of water. The hanging unit <NUM> can have hydrodynamic stability. The hanging unit <NUM> can add drag to the seismic data acquisition positioning apparatus <NUM> as the seismic data acquisition positioning apparatus <NUM> is descending in the body of water. The hanging unit <NUM> can have a hydrodynamic shape to create drag during descent of the seismic data acquisition positioning apparatus <NUM>. Each of the components of the seismic data acquisition positioning apparatus <NUM> can contribute to how the seismic data acquisition positioning apparatus <NUM> descends to the seafloor. The hanging unit <NUM> can include a drogue to control the descent of the seismic data acquisition positioning apparatus <NUM>. The drogue can include a device configured to reduce speed or improve stability. The drogue can include a device configured to reduce speed or improve stability of the seismic data acquisition positioning apparatus <NUM>.

The seismic data acquisition positioning apparatus <NUM> comprises a connector <NUM> (e.g., hose, tube, harness, H-shaped harness, lanyard, tubing, plastic tubing, semi-rigid cable, etc.). The connector <NUM> can include a rope (e.g., stress member) running through a center of the connector <NUM>. The connector <NUM> can include a rope connected to the end of the connector <NUM>. The connector <NUM> can reduce the possibility of the rope tangling during descent of the seismic data acquisition positioning apparatus <NUM>. The rope can be made of, for example, nylon, Kevlar, high-modulus polyethylene (HMPE), carbon fiber, polyester or polypropylene. The connector <NUM> can ensure that the hanging unit <NUM> does not fall on top of the seismic data acquisition unit <NUM> when the seismic data acquisition unit <NUM> is on the seafloor. The connector <NUM> can ensure that the hanging unit <NUM> does not rest on top of the seismic data acquisition unit <NUM> when the seismic data acquisition unit <NUM> is on the seafloor.

The connector <NUM> can maintain tension between the hanging unit <NUM> and the seismic data acquisition unit <NUM>. Maintaining tension can be important during deployment when the seismic data acquisition positioning apparatus <NUM> is descending through the water. The rope can introduce (e.g., generate) slack between the connector <NUM> and the seismic data acquisition unit <NUM>. Introducing slack can be important when the seismic data acquisition unit <NUM> is collecting data. For example, the connector <NUM> and the seismic data acquisition unit <NUM> can be loosely connected. The connector <NUM> and the seismic data acquisition unit <NUM> can be loosely connected on at least one degree of freedom. The connector <NUM> and the seismic data acquisition unit <NUM> can rotate along a single axis.

The seismic data acquisition positioning apparatus <NUM> can include a plurality of connectors (e.g., two connectors, three connectors, four connectors, five connectors, etc.). The connector <NUM> can have first rigidity. The connector <NUM> can include a semi-rigid connector. The connector <NUM> can be configured to pivot about the first end of the connector <NUM>. The connector <NUM> can have a rigidity such that the hanging unit <NUM> does not land on the seismic data acquisition unit <NUM>. The connector <NUM> can include a single connector <NUM>. The connector <NUM> can have one point of connection with the seismic data acquisition unit <NUM> and the hanging unit <NUM>. The connector <NUM> can couple with a T-bar attached to the seismic data acquisition unit <NUM> and/or the hanging unit <NUM>. The connector <NUM> can be coupled with the seismic data acquisition unit <NUM> on a first side <NUM> of the seismic data acquisition unit <NUM>. The connector <NUM> can be coupled with the case of the seismic data acquisition unit <NUM>. For example, the hanging unit <NUM> can be coupled with the case of the seismic data acquisition unit <NUM> via the connector <NUM>. The connector <NUM> can be coupled to a mechanical interface between the seismic data acquisition unit <NUM> and the connector <NUM>. The seismic data acquisition unit <NUM> can couple with a seabed via a second side <NUM> of the seismic data acquisition unit <NUM>.

The connector <NUM> can couple with the seismic data acquisition unit <NUM> via a rope (e.g., nylon rope, Kevlar, HMPE, carbon fiber, polyester, polypropylene etc.). The connector <NUM> can have a length in a range of <NUM> meter to <NUM> meters, for example, <NUM> meters. The connector <NUM> can have a length such that the hanging unit <NUM> does not land on the seismic data acquisition unit <NUM>. Because the seismic data acquisition unit <NUM> can sink into mud after deployment, the connector <NUM> can introduce distance between the seismic data acquisition unit <NUM> and the beacon unit <NUM>. The connector <NUM> can include a stress member. The stress member can withstand the stress of the seismic data acquisition positioning apparatus <NUM> being retrieved from the seafloor.

The connector <NUM> having a first end <NUM> (e.g., first end <NUM> of the connector <NUM>). The first end <NUM> of the connector <NUM> coupled with the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be directly coupled with the seismic data acquisition unit <NUM>. For example, the first end <NUM> of the connector <NUM> can be mounted on the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be mounted on a case of the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be indirectly coupled with the seismic data acquisition unit <NUM>. For example, the first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM> via a cable, rope, hose clamp, or other attachment mechanism. The first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM> through a connection that isolates vibrations. For example, the connection can include a rubber connector or poor vibration conductors. The first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM> via a rope attached to a ring disposed on the seismic data acquisition unit <NUM>. Rope can be connected at the end of the connector <NUM> and does not have to run through the center of the connector <NUM>.

The connector <NUM> having a second end <NUM> (e.g., second end <NUM> of the connector <NUM>). The second end <NUM> of the connector <NUM> coupled with the hanging unit <NUM>. The second end <NUM> of the connector <NUM> can be directly coupled with the hanging unit <NUM>. For example, the second end <NUM> of the connector <NUM> can be mounted to the hanging unit <NUM>. The second end <NUM> of the connector <NUM> can be mounted to the beacon unit <NUM>. The second end <NUM> of the connector <NUM> can be indirectly coupled with the hanging unit <NUM>. For example, the second end <NUM> of the connector <NUM> can be coupled with the hanging unit <NUM> via a cable, rope, hose clamp, or other attachment mechanism. The second end <NUM> of the connector <NUM> can be coupled with the hanging unit <NUM> through a connection that isolates vibrations. For example, the connection can include a rubber connector or poor vibration conductors. The second end <NUM> of the connector <NUM> can be coupled to the center of the hanging unit <NUM>.

The connector <NUM> can include a first connector. The first connector can have a first end coupled with the seismic data acquisition unit <NUM>. The first connector can have a second end coupled with the hanging unit <NUM>. The first connector can be coupled with the seismic data acquisition unit <NUM> on the first side <NUM> of the seismic data acquisition unit <NUM> (e.g., top side of the seismic data acquisition unit <NUM>). For example, the first connector can be directly coupled with the top side of the seismic data acquisition unit <NUM>. The first connector can be indirectly coupled with the top side of the seismic data acquisition unit <NUM>. For example, the first connector can be coupled with the top side of the seismic data acquisition unit <NUM> via a first nylon rope. The first nylon rope can be attached to a ring (e.g., metal ring, polymer ring, etc.) located on a case of the seismic data acquisition unit <NUM>.

The connector can include a second connector. The second connector can have a first end coupled with the seismic data acquisition unit <NUM>. The second connector can have a second end coupled with the hanging unit <NUM>. The second connector can be coupled with the seismic data acquisition unit <NUM> on the first side <NUM> of the seismic data acquisition unit <NUM>. For example, the second connector can be directly coupled with the top side of the seismic data acquisition unit <NUM>. The second connector can be indirectly coupled with the top side of the seismic data acquisition unit <NUM>. For example, the second connector can be coupled with the top side of the seismic data acquisition unit <NUM> via a second nylon rope. The second nylon rope can be attached to a ring (e.g., metal ring, polymer ring, etc.) located on a case of the seismic data acquisition unit <NUM>. The second nylon rope can be the same rope as the first nylon rope. The second nylon rope can be a different rope than the first nylon rope.

The first end of the first connector and the first end of the second connector can be symmetrically disposed about the seismic data acquisition unit <NUM>. The first end of the first connector and the first end of the second connector can be asymmetrically disposed about the seismic data acquisition unit <NUM>. The second end of the first connector and the second end of the second connector can be symmetrically disposed about the hanging unit <NUM>. The second end of the first connector and the second end of the second connector can be asymmetrically disposed about the hanging unit <NUM>. The first end of the first connector and the first end of the second connector can be equidistant from a centerline of the seismic data acquisition unit <NUM>. The second end of the first connector and the second end of the second connector can be equidistant from a centerline of the hanging unit <NUM>. The first connector and the second connector can be spaced a distance apart. The first connector and the second connector can be connected to the seismic data acquisition unit <NUM> along a longitudinal axis of the seismic data acquisition unit <NUM>. The first connector and the second connector can be connected to the seismic data acquisition unit <NUM> along a longitudinal axis of the hanging unit <NUM>. The first connector can be coupled with the second connector via a cross brace unit (e.g., cross bar unit). The cross brace unit can minimize or prevent the seismic data acquisition positioning apparatus <NUM> from twisting during descent of the seismic data acquisition positioning apparatus <NUM>.

The seismic data acquisition positioning apparatus <NUM> comprises a retrieval unit <NUM> (e.g., retrieval kit). The retrieval unit <NUM> has a third density. The third density being less than the second density. The third density can be less than the first density. The third density can be less than the second density. For example, the density of the retrieval unit <NUM> can be less than the density of the hanging unit <NUM>. The density of the retrieval unit <NUM> can be less than the density of the seismic data acquisition unit <NUM>. The retrieval unit <NUM> can have a positive buoyancy in water (e.g., seawater, freshwater, etc.). For example, the retrieval unit <NUM> can float in water. The retrieval unit <NUM> can have a third buoyancy. The third buoyancy can be greater than the second buoyancy. For example, the buoyancy of the retrieval unit <NUM> can be greater than the buoyancy of the hanging unit <NUM>. The third buoyancy can be greater than the first buoyancy. For example, the buoyancy of the retrieval unit <NUM> can be greater than the buoyancy of the seismic data acquisition unit <NUM>. The retrieval unit <NUM> can include the beacon unit <NUM>. For example, the beacon unit <NUM> can be coupled with or incorporated into the retrieval unit <NUM>. For example, the beacon unit <NUM> can be coupled with the retrieval unit <NUM> to ensure that the antenna not located in the seafloor (e.g., in the mud) when the seismic data acquisition positioning apparatus <NUM> is disposed on the seafloor.

The retrieval unit <NUM> can include a rope. For example, the retrieval unit <NUM> can include a buoyant rope, cable, line, lanyard, or recovery line. The retrieval unit <NUM> can include a buoyant knot <NUM> (e.g., monkey's fist, monkey paw, knot, buoy, etc.). The buoyant knot <NUM> can include a floatation device or bobber. The floatation device can have any general shape. For example, the floatation device can have a cube shape, cone shape, sphere shape, cylinder shape, brick shape, block shape, plate shape, bowl shape, or ring shape. The floatation device can have a solid form. he floatation device can have one or more cavities, holes, slots, barbs, arms, fingers or protrusions designed to facilitate ocean bottom retrieval. The buoyant knot <NUM> can be rigid or flexible. The buoyant knot <NUM> can be made of buoyant plastic, foam, or other materials. The buoyant knot <NUM> can include a buoyant element. For example, the buoyant knot <NUM> can float in water (e.g., seawater, freshwater, etc.).

The retrieval unit <NUM> can have a first end (e.g., first end of the retrieval unit <NUM>). The first end of the retrieval unit <NUM> can be coupled with a first portion of the hanging unit <NUM>. The retrieval unit <NUM> can have having a second end (e.g., second end of the retrieval unit <NUM>). The second end of the retrieval unit <NUM> can be coupled with a second portion of the hanging unit <NUM>. For example, the retrieval unit <NUM> can have a first end tied to the first portion of the hanging unit <NUM>. The retrieval unit <NUM> can have a second end tied to the second portion of the hanging unit <NUM>. The retrieval unit <NUM> can have the first end and the second end disposed symmetrically about the hanging unit <NUM>. The retrieval unit <NUM> can have the first end and the second end disposed asymmetrically about the hanging unit <NUM>. The retrieval unit <NUM> can have the first end and the second end coupled to a top portion of the hanging unit <NUM>. The retrieval unit <NUM> can include a floating cable, a floatation device, a ring, a toroid, or ball (e.g., spherical buoyancy unit). The seismic data acquisition positioning apparatus <NUM> including the seismic data acquisition unit <NUM>, the hanging unit <NUM>, and the retrieval unit <NUM> can be non-buoyant. The retrieval unit <NUM> can have a second rigidity. The first rigidity can be greater than the second rigidity. For example, the connector <NUM> can have a rigidity greater than the rigidity of the retrieval unit <NUM>. The first connector can have a rigidity greater than the rigidity of the retrieval unit <NUM>. The second connector can have a rigidity greater than the rigidity of the retrieval unit <NUM>. The first connector and the second connector can be pliable.

The retrieval unit <NUM> can be used to identify, locate, and/or pick up the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can be retrieved by a vessel (e.g., boat, crewed boat, etc.). The seismic data acquisition unit <NUM> can be retrieved by an air drone. The seismic data acquisition unit <NUM> can be retrieved by a marine drone. The retrieval unit <NUM> can include a quick connection. For example, the quick connection can coupled with the retrieval unit <NUM> and a drone. The retrieval unit <NUM> can include an extension to be coupled with the drone. The extension can be above the surface of the water. The extension can be above the surface of the water such that the drone does not get hit by surface waves. The drones can be deployed and/or retrieved from a platform (e.g., production rig). The drones can be deployed and/or retrieved from a vessel. The drones can be deployed and/or retrieved from a vessel-platform hybrid. For example, the vessel-platform hybrid can include a vessel that can transform into a platform.

The seismic data acquisition positioning apparatus <NUM> can include a surface buoy. The surface buoy can mark the location of the seismic data acquisition unit <NUM> below. The surface buoy can facilitate finding the submerged seismic data acquisition unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include one or more signal devices (e.g., pinger, light, AIS transponder, iridium GPS, radio, radar, etc.). The one or more signal devices can provide the location of the seismic data acquisition unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can be lifted completely from the seafloor such that there is no debris left on the seafloor or ocean when the seismic data acquisition positioning apparatus <NUM> is retrieved. It can be environmentally beneficial that there is no debris left on the seafloor.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition unit <NUM> can have the first side <NUM>. The seismic data acquisition unit <NUM> can have the second side <NUM>.

The seismic data acquisition positioning apparatus <NUM> comprises the retrieval unit <NUM>. The retrieval unit <NUM> can have a first density. The retrieval unit <NUM> can have an end coupled with the hanging unit <NUM>. The retrieval unit <NUM> can have a first end coupled with a first portion of the hanging unit <NUM>. The retrieval unit <NUM> can include a balloon <NUM> (e.g., inflatable balloon, rescue balloon, retrieval balloon, lifting balloon, lift bag, etc.). An acoustic pinger can set off a trigger device to inflate the balloon <NUM>. The acoustic pinger can set off the trigger device to inflate the balloon <NUM> and cause the balloon <NUM>, seismic data acquisition unit <NUM>, and hanging unit <NUM> to float (e.g., rise) to the surface of the body of water. The acoustic pinger can set off the trigger device to inflate the balloon <NUM> and cause the seismic data acquisition positioning apparatus <NUM> to float (e.g., rise) to the surface of the body of water. The balloon <NUM> can be triggered to inflate by a sonar signal. The balloon <NUM> can be triggered to inflate by a chemical reaction. A mechanism can trigger the balloon <NUM> to inflate. A mechanism can actuate the balloon <NUM>. A mechanism can communicate with the balloon <NUM>. The balloon <NUM> can cause the seismic data acquisition unit <NUM> to float. The size of the balloon <NUM> can be dictated by the size of the seismic data acquisition unit <NUM> and the deployment depth (e.g., depth at which the seismic data acquisition unit <NUM> settles on the seafloor). The balloon <NUM> can be inflated with compressed gas. The balloon <NUM> can be inflated via a chemical reaction that produces gas. The balloon <NUM> can be inflated with N<NUM>. The balloon <NUM> can be inflated with N<NUM> generated by the decomposition of sodium azide (NaN<NUM>). The balloon <NUM> can be inflated with H<NUM> and/or O<NUM> generated from the decomposition of water (H<NUM>O). The balloon <NUM> can be lifted to the surface of the water by powered propulsion.

The seismic data acquisition positioning apparatus <NUM> can include a plurality of retrieval units <NUM>. For example, the seismic data acquisition positioning apparatus <NUM> can include the rope (e.g., buoyant rope) and the balloon <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the buoyant knot <NUM> and the balloon <NUM>. The seismic data acquisition positioning apparatus <NUM> can include a plurality of retrieval units <NUM> for redundancy. For example, if the balloon <NUM> does not inflate, a remotely operated vehicle can retrieve the seismic data acquisition unit <NUM> via the buoyant knot <NUM> or the rope.

The seismic data acquisition positioning apparatus <NUM> comprises the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The hanging unit <NUM> can include a pinger. The hanging unit <NUM> can include a gas canister <NUM> (e.g., pressurized gas canister, air canister, pressurized air canister, gas bottle, gas vessel, etc.). The gas canister <NUM> can be filled with pressurized gas. For example, the gas canister <NUM> can be filled with CO<NUM>, N<NUM>, O<NUM>, or H<NUM>. The gas canister <NUM> can be made of metal or a composite material. The gas canister <NUM> can be metallic. The gas canister <NUM> can be configured to inflate the balloon <NUM>. A receiver can receive a ping from a transducer to cause the gas canister <NUM> to inflate the balloon <NUM>. The receiver can cause a valve coupled with the gas canister <NUM> to open. The receiver can cause the valve coupled with the gas canister <NUM> to open responsive to receiving a ping. The valve can be opened by a remote release function. In response to the valve opening, air (e.g., pressurized air) can travel through a hose <NUM> (e.g., tube) into the balloon <NUM>. The hose <NUM> can couple the balloon <NUM> with the hanging unit <NUM>. The gas canister <NUM> can be coupled with the balloon <NUM>. The gas canister <NUM> can be coupled with the balloon <NUM> via the hose <NUM>. The gas canister <NUM> can fill the balloon <NUM> with gas. The hanging unit <NUM> can be programmable. For example, the hanging unit <NUM> can receive multiple instructions. The hanging unit <NUM> can receive information from the seismic data acquisition unit <NUM>. For example, the information can include water quality, currents while the seismic data acquisition unit <NUM> is dropping, environmental information, salinity, depth, temperature, or dissolved oxygen. The hanging unit <NUM> has a second density. The second density is less than the first density. For example, the density of the hanging unit <NUM> can be less than the density of the seismic data acquisition unit <NUM>. The balloon <NUM> can be coupled with the hanging unit <NUM>. For example, the balloon <NUM> can be coupled with the hanging unit <NUM> via a clip or carabiner.

The seismic data acquisition positioning apparatus <NUM> comprises the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The connector <NUM> can include a third end coupled with the seismic data acquisition unit <NUM>. The connector <NUM> can include a fourth end coupled with the hanging unit <NUM>. The connector <NUM> can pivot about a pivot point. For example, the connector <NUM> being configured to pivot about the first end of the connector <NUM>. The pivot point can have little to no friction. The connector <NUM> can include a pivoting member (e.g., pivoting leg). The connector <NUM> can have a degree of rigidity such that the hanging unit <NUM> does not collapse on top of the seismic data acquisition unit <NUM>. The connector <NUM> can separate the seismic data acquisition unit <NUM> from the hanging unit <NUM>. The connector <NUM> can cause the hanging unit <NUM> to settle on the ground adjacent to the seismic data acquisition unit <NUM>. The connector <NUM> can be rigid enough to separate the seismic data acquisition unit <NUM> from the hanging unit <NUM> while being flexible enough to isolate vibrations and noise caused by the hanging unit <NUM> from the seismic data acquisition unit <NUM>. For example, water currents can act on the hanging unit <NUM> to cause vibrations that are isolated from the seismic data acquisition unit <NUM> by the connector <NUM>. Water currents can act on the pinger to cause vibrations that are isolated from the seismic data acquisition unit <NUM> by the connector <NUM>. Water currents can act on the gas canister <NUM> to cause vibrations that are isolated from the seismic data acquisition unit <NUM> by the connector <NUM>. Water currents can act on the balloon <NUM> to cause vibrations that are isolated from the seismic data acquisition unit <NUM> by the connector <NUM>. The connector <NUM> can seismically isolate the seismic data acquisition unit <NUM> from the hanging unit <NUM>. The connector <NUM> can seismically isolate the seismic data acquisition unit <NUM> from the retrieval unit <NUM>.

The connector <NUM> can include a trapezoidal element. The connector <NUM> can include a triangular element. The connector <NUM> can include a square element. The connector <NUM> can include a square element with protrusions. The connector <NUM> can seismically decouple the seismic data acquisition unit <NUM> from the hanging unit <NUM>. The connector <NUM> can be seismically decoupling. For example, vibrations or noise generated by the hanging unit <NUM> can be isolated from the seismic data acquisition unit <NUM>. Vibrations or noise generated by the hanging unit <NUM> can be isolated from the retrieval unit <NUM>. The seismic decoupling can be achieved through the composition of the connector <NUM>. For example, the connector <NUM> can be made of rubber (e.g., stamped rubber, recycled rubber, etc.). The connector <NUM> can include a flat piece of rubber. The seismic decoupling can be achieved through connections between the connector <NUM> and the seismic data acquisition unit <NUM>. For example, a soft shackle can couple the connector <NUM> with the seismic data acquisition unit <NUM>. The seismic decoupling can be achieved through the flexibility and stiffness of the connector <NUM>. The seismic decoupling can be achieved through the degrees of freedom the connector <NUM> has with respect to the seismic data acquisition unit <NUM>.

The retrieval unit <NUM> can include a rope (e.g., recovery line). The rope can have a first end. The first end of the rope can be coupled with the balloon <NUM>. The first end of the rope can be coupled with the hanging unit <NUM>. The first end of the rope can be coupled with the pinger. The first end of the rope can be coupled with the gas canister <NUM>. The rope can have a second end. The second end of the rope can be coupled with the balloon <NUM>. The second end of the rope can be coupled with the hanging unit <NUM>. The second end of the rope can be coupled with the pinger. The second end of the rope can be coupled with the gas canister <NUM>. The rope can float above the seismic data acquisition unit <NUM>. The rope can float above the balloon <NUM>. The rope can float above the hanging unit <NUM>. The rope can float above the pinger. The rope can float above the gas canister <NUM>. The rope can be in a loop configuration. The rope can be in a straight configuration. A remotely operated vehicle can retrieve the seismic data acquisition unit <NUM> via the rope. The seismic data acquisition positioning apparatus <NUM> can include multiple ropes. The rope can allow the seismic data acquisition unit <NUM> to be retrieved after the seismic data acquisition unit <NUM> sinks into sand on the seafloor. The seismic data acquisition positioning apparatus <NUM> can include an appendage to keep the seismic data acquisition unit <NUM> from sinking. The seismic data acquisition positioning apparatus <NUM> can include an appendage that protrudes from the seafloor. The appendage can include a retrieval arm. The appendage can include a retrieval arm that extends above the seafloor.

The seismic data acquisition positioning apparatus <NUM> can float to the surface of the water. The seismic data acquisition positioning apparatus <NUM> can self-propel to the surface of the water. The seismic data acquisition positioning apparatus <NUM> can self-propel to an underwater vehicle. The seismic data acquisition positioning apparatus <NUM> can return to a base (e.g., distant base). The seismic data acquisition positioning apparatus <NUM> can self-propel to a local pick-up point. The seismic data acquisition positioning apparatus <NUM> can self-propel to a drone rendezvous point. The seismic data acquisition positioning apparatus <NUM> can transmit its position and status (e.g., via sonar, iridium GPS, AIS transponder, light beacon, radar reflector, acoustic transmitter, radio transmitter, etc.).

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The retrieval unit <NUM> may be absent from the seismic data acquisition positioning apparatus <NUM>. In some surveys, the seafloor can be hard such that the seismic data acquisition unit <NUM> does not sink into the seafloor. The seismic data acquisition unit <NUM> can sink into the seafloor if the seafloor is made of mud or silt. The hanging unit <NUM> can have a shape profile configured to increase drag. The seismic data acquisition positioning apparatus <NUM> can include a battery-powered fan. The battery-powered fan can position the seismic data acquisition unit <NUM> at a specific location. The hanging unit <NUM> can have a shape profile configured to create a disparity in fall rates between the hanging unit <NUM> and the seismic data acquisition unit <NUM>. The hanging unit <NUM> can be above the seismic data acquisition unit <NUM> as the seismic data acquisition positioning apparatus <NUM> falls through water. The seismic data acquisition unit <NUM> can be retrieved by a remotely operated vehicle.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include a case <NUM> to hold the seismic data acquisition unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The hanging unit <NUM> can include the buoyant unit <NUM>. The buoyant unit <NUM> can allow the hanging unit <NUM> to achieve a target buoyancy. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM> having a first end coupled with a first portion of the hanging unit <NUM> and having a second end coupled with a second portion of the hanging unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> comprising the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The hanging unit <NUM> can include the buoyant unit <NUM>. The buoyant unit <NUM> can allow the hanging unit <NUM> to achieve a target buoyancy. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM> having a first end coupled with a first portion of the hanging unit <NUM> and having a second end coupled with a second portion of the hanging unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> comprising the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM>. The retrieval unit <NUM> can include the balloon <NUM>. The retrieval unit <NUM> can include a rope. The seismic data acquisition positioning apparatus <NUM> can include the gas canister <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the hose <NUM>. The hose <NUM> can couple the balloon <NUM> with the hanging unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The retrieval unit <NUM> may be absent from the seismic data acquisition positioning apparatus <NUM>. The hanging unit <NUM> can have a shape profile configured to increase drag. The seismic data acquisition positioning apparatus <NUM> can include a battery-powered fan. The battery-powered fan can position the seismic data acquisition unit <NUM> at a specific location. The hanging unit <NUM> can have a shape profile configured to create a disparity in fall rates between the hanging unit <NUM> and the seismic data acquisition unit <NUM>. The hanging unit <NUM> can be above the seismic data acquisition unit <NUM> as the seismic data acquisition positioning apparatus <NUM> falls through water. The seismic data acquisition unit <NUM> can be retrieved by a remotely operated vehicle.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The hanging unit <NUM> can include the buoyant unit <NUM>. The buoyant unit <NUM> can allow the hanging unit <NUM> to achieve a target buoyancy. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM> having a first end coupled with a first portion of the hanging unit <NUM> and having a second end coupled with a second portion of the hanging unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The hanging unit <NUM> can have a target buoyancy without the buoyant unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> and having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM> having a first end coupled with a first portion of the hanging unit <NUM> and having a second end coupled with a second portion of the hanging unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can be positioned on the seafloor <NUM> (e.g., ocean bottom). The second side <NUM> of the seismic data acquisition unit <NUM> can be coupled with (e.g., interface with, laying on, positioned on, etc.) the seafloor <NUM>. The hanging unit <NUM> can be positioned on the seafloor <NUM>. The hanging unit <NUM> can disposed a first distance <NUM> from the seismic data acquisition unit <NUM>. For example, the hanging unit <NUM> can disposed a first distance <NUM> from the seismic data acquisition unit <NUM> when the hanging unit <NUM> and the seismic data acquisition unit <NUM> are disposed on the seafloor <NUM>. The first distance <NUM> can be a fixed distance. The hanging unit <NUM> can be disposed on a left side, right side, front side, back side, or any other side of the seismic data acquisition unit <NUM>.

The retrieval unit <NUM> can float above the hanging unit <NUM>. For example, the buoyant knot <NUM> can float above the hanging unit <NUM>. The buoyant knot <NUM> can be disposed a second distance <NUM> from the hanging unit <NUM>. The first distance <NUM> can be greater than the second distance <NUM>. For example, the first distance <NUM> can be such that the buoyant knot <NUM> cannot reach the seismic data acquisition unit <NUM>. The first distance <NUM> can be less than the second distance <NUM>. For example, the first distance <NUM> can be such that the buoyant knot <NUM> does not hit the seismic data acquisition unit <NUM> while the retrieval unit <NUM> is in an ocean environment. The first distance <NUM> can be such that the buoyant knot <NUM> does not transmit vibrations to the seismic data acquisition unit <NUM> while the retrieval unit <NUM> is in an ocean environment.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can be positioned on the seafloor <NUM> (e.g., ocean bottom). The second side <NUM> of the seismic data acquisition unit <NUM> can be coupled with (e.g., interface with, laying on, positioned on, etc.) the seafloor <NUM>. The hanging unit <NUM> can be positioned on the seafloor <NUM>. The hanging unit <NUM> can be disposed on a left side, right side, front side, back side, or any other side of the seismic data acquisition unit <NUM>. The connector <NUM> can pivot about the first end of the connector <NUM>. The retrieval unit <NUM> can float above the hanging unit <NUM>. The balloon <NUM> can be positioned on the seafloor <NUM>.

<FIG> illustrates seismic data acquisition positioning apparatuses <NUM>. The seismic data acquisition positioning apparatuses <NUM> can be a part of a positioning system. The seismic data acquisition positioning apparatuses <NUM> can include a plurality of seismic data acquisition positioning apparatuses <NUM>. The seismic data acquisition positioning apparatus <NUM> can be located (e.g., disposed, placed, etc.) in a target area <NUM>. For example, the seismic data acquisition positioning apparatus <NUM> can be dropped onto the seafloor <NUM> such that the seismic data acquisition positioning apparatus <NUM> lands in the target area <NUM>. The seismic data acquisition positioning apparatus <NUM> can be dropped such that the seismic data acquisition unit <NUM> does not fall on its edge. The seismic data acquisition positioning apparatus <NUM> can be dropped such that a base of the seismic data acquisition unit <NUM> makes contact with the seafloor. The seismic data acquisition positioning apparatus <NUM> can land with a target orientation (e.g., top part up, bottom part down). The target area <NUM> can have a circular shape or any other shape that defines a landing perimeter of the seismic data acquisition positioning apparatus <NUM>. A plurality of target areas <NUM> can be organized in a grid or other pattern on the seafloor <NUM>. Each of the plurality of target areas <NUM> can be equally spaced or non-equally spaced in a chosen pattern or randomly spaced from one another. The target area <NUM> can have a diameter in a range of <NUM> meters to <NUM> meters. For example, the target area <NUM> can have a diameter of <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, or <NUM> meters. The seismic data acquisition positioning apparatuses <NUM> can land partly on the target areas <NUM>. The seismic data acquisition positioning apparatus <NUM> can land in a location ±<NUM> meters from an intended target. The seismic data acquisition positioning apparatus <NUM> can land with an accuracy of ±<NUM> meters plus <NUM>% of the water depth.

A first seismic data acquisition positioning apparatus <NUM> can be disposed a third distance <NUM> from a second seismic data acquisition positioning apparatus <NUM>. The third distance <NUM> can be between <NUM> and <NUM> meters. For example, the third distance <NUM> can be <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, or <NUM> meters. The second seismic data acquisition positioning apparatus <NUM> can be disposed a fourth distance <NUM> from a third seismic data acquisition positioning apparatus <NUM>. The fourth distance <NUM> can be between <NUM> and <NUM> meters. For example, the fourth distance <NUM> can be <NUM> meters, <NUM> meters, <NUM> meters, <NUM> meters, or <NUM> meters. The third distance <NUM> can be equal to the fourth distance <NUM>. The third distance <NUM> can be different from the fourth distance <NUM>. The seismic data acquisition unit <NUM> of the first seismic data acquisition positioning apparatus <NUM> can be disposed the third distance <NUM> from the seismic data acquisition unit <NUM> of the second seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition unit <NUM> of the second seismic data acquisition positioning apparatus <NUM> can be disposed the fourth distance <NUM> from the seismic data acquisition unit <NUM> of the third seismic data acquisition positioning apparatus <NUM>.

The hanging unit <NUM> can be disposed the first distance <NUM> from the seismic data acquisition unit <NUM>. The hanging unit <NUM> can be disposed on a left side, right side, front side, back side, or any other side of the seismic data acquisition unit <NUM>. For example, the hanging unit <NUM> of the first seismic data acquisition positioning apparatus <NUM> can be disposed on the left side of the seismic data acquisition unit <NUM>. The hanging unit <NUM> of the second seismic data acquisition positioning apparatus <NUM> can be disposed on the right side of the seismic data acquisition unit <NUM>. The hanging unit <NUM> of the third seismic data acquisition positioning apparatus <NUM> can be disposed on the back and left side of the seismic data acquisition unit <NUM>. The beacon unit <NUM> of the seismic data acquisition positioning apparatus <NUM> can transmit a signal to indicate the position of the seismic data acquisition positioning apparatus <NUM> on the seafloor <NUM>. The beacon unit <NUM> of the seismic data acquisition positioning apparatus <NUM> can initiate an acoustic transmission.

<FIG> illustrates a seismic data acquisition positioning apparatus connector <NUM>. The seismic data acquisition positioning apparatus connector <NUM> can include the first end (e.g., first end <NUM> of the connector <NUM>). The first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be directly coupled with the seismic data acquisition unit <NUM>. For example, the first end <NUM> of the connector <NUM> can be mounted on the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be mounted on a case of the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be mounted with the first side <NUM> of the seismic data acquisition unit <NUM>. The first end <NUM> of the connector <NUM> can be indirectly coupled with the seismic data acquisition unit <NUM>. For example, the first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM> via a cable, rope, or hose clamp. The first end <NUM> of the connector <NUM> can be coupled with the seismic data acquisition unit <NUM> via a rope <NUM> (e.g., nylon rope, Kevlar rope, HMPE, carbon fiber rope, polyester rope, polypropylene rope, stress member, etc.) attached to a ring <NUM> disposed on the seismic data acquisition unit <NUM>. The ring <NUM> can be welded to the seismic data acquisition unit <NUM>.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can be positioned on the seafloor <NUM>. The second side <NUM> of the seismic data acquisition unit <NUM> can be coupled with (e.g., interface with, laying on, positioned on, etc.) the seafloor <NUM>. The hanging unit <NUM> can be positioned on the seafloor <NUM>. The hanging unit <NUM> can disposed a first distance <NUM> from the seismic data acquisition unit <NUM>. For example, the hanging unit <NUM> can disposed a first distance <NUM> from the seismic data acquisition unit <NUM> when the hanging unit <NUM> and the seismic data acquisition unit <NUM> are disposed on the seafloor <NUM>. The first distance <NUM> can be a fixed distance. The hanging unit <NUM> can be disposed on a left side, right side, front side, back side, or any other side of the seismic data acquisition unit <NUM>. The hanging unit <NUM> can be oriented such that the antennae is located above the seafloor <NUM>. For example, the seismic data acquisition unit <NUM> can be buried beneath the seafloor (e.g., underneath mud, rocks, etc.). The hanging unit <NUM> can be located in the seafloor or above the seafloor. The antennae can be located outside of the seafloor and/or mud. The hanging unit <NUM> can be positioned on the seafloor <NUM> on a preferential side of the seismic data acquisition unit <NUM>. For example, the preferential side of the seismic data acquisition unit <NUM> can include a side such that the antennae is located above the seafloor <NUM>. The hanging unit <NUM> can have a shape profile configured to encourage one side of the hanging unit <NUM> to fall to the seafloor <NUM> such that the antennae points or is oriented towards the water surface. The hanging unit <NUM> can have a buoyancy profile configured to encourage one side of the hanging unit <NUM> to fall to the seafloor <NUM> such that the antennae points or is oriented towards the water surface. The hanging unit <NUM> can have a weight profile configured to encourage one side of the hanging unit <NUM> to fall to the seafloor <NUM> such that the antennae points or is oriented towards the water surface. For example, the hanging unit <NUM> can be asymmetrically weighted such that the hanging unit <NUM> lands on a preferential side of the seismic data acquisition unit <NUM>.

<FIG> illustrates a seismic data acquisition system <NUM>. The seismic data acquisition system <NUM> can include the seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition system <NUM> can include a remotely operated vehicle <NUM> (e.g., underwater vehicle, ROV, etc.). The remotely operated vehicle <NUM> can grab a hoop formed by the retrieval unit <NUM> using a hook <NUM>. The remotely operated vehicle <NUM> can coupled with the retrieval unit <NUM>. For example, the remotely operated vehicle <NUM> can grab the retrieval unit. The remotely operated vehicle <NUM> can pick up the seismic data acquisition unit <NUM> directly. The remotely operated vehicle <NUM> can include an arm (e.g., fixed arm or robotic arm) which can move towards the hoop formed by the retrieval unit <NUM>. The arm can move within the perimeter of the hoop. The remotely operated vehicle <NUM> can engage with a protrusion of the retrieval unit <NUM>. The remotely operated vehicle <NUM> can engage with the retrieval unit <NUM>. The remotely operated vehicle <NUM> can spear the retrieval unit <NUM>. The remotely operated vehicle <NUM> can lift the seismic data acquisition positioning apparatus <NUM>. The remotely operated vehicle <NUM> can move the seismic data acquisition positioning apparatus <NUM> via the hoop. For example, remotely operated vehicle <NUM> can use the arm to lift rope up via the hoop, which can lift up the seismic data acquisition unit <NUM>. The remotely operated vehicle <NUM> can detect the seismic data acquisition unit <NUM> via a beacon from the beacon unit <NUM>. The remotely operated vehicle <NUM>, using the hoop to pick up the seismic data acquisition unit <NUM>, can more efficiently retrieve the seismic data acquisition units <NUM> to more efficiently perform the seismic survey. For example, using the hoop configuration can save up to <NUM> seconds, <NUM> minute, <NUM> minutes or more per seismic data acquisition unit <NUM> for retrieval, which can reduce the overall resource consumption of the underwater vehicle or ROV, battery usage, power usage, or number of seismic data acquisition units <NUM> used. The remotely operated vehicle <NUM> can perform a fly-by retrieval. A fly-by retrieval can include retrieving seismic data acquisition units <NUM> while the remotely operated vehicle <NUM> is in motion. The fly-by retrieval can save time over the remotely operated vehicle <NUM> having to stop to retrieve nodes. The remotely operated vehicle <NUM> can transmit status information for the seismic data acquisition unit <NUM>. The remotely operated vehicle <NUM> can detect the seismic data acquisition unit <NUM> via a beacon from the beacon unit <NUM>. The remotely operated vehicle <NUM> can detect the seismic data acquisition unit <NUM> via an optical beacon from the beacon unit <NUM>. The seismic data acquisition unit <NUM> can be configured to respond to polling.

<FIG> illustrates a seismic data acquisition positioning apparatus <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the seismic data acquisition unit <NUM>. The seismic data acquisition unit <NUM> can include the case having the wall defining the internal compartment. The seismic data acquisition unit <NUM> can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus <NUM> can include the hanging unit <NUM>. The hanging unit <NUM> can include the beacon unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the connector <NUM> having a first end coupled with the seismic data acquisition unit <NUM> having a second end coupled with the hanging unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the retrieval unit <NUM>. The retrieval unit <NUM> can include the balloon <NUM>. The retrieval unit <NUM> can include a rope. The seismic data acquisition positioning apparatus <NUM> can include the gas canister <NUM>. The seismic data acquisition positioning apparatus <NUM> can include the hose <NUM>. The hose <NUM> can couple the balloon <NUM> with the hanging unit <NUM>. The balloon <NUM> can be inflated by the gas canister <NUM>. The balloon <NUM> can lift the seismic data acquisition unit <NUM> off the seafloor and to the water surface.

<FIG> illustrates a seismic data acquisition positioning system <NUM>. The seismic data acquisition positioning system <NUM> can include a vessel <NUM> (e.g., surface vessel). The vessel <NUM> can be positioned on a surface of a water column and include a deck which supports operation equipment. The vessel <NUM> can include electronics, such as shipside electronics, that can retrieve seismic data from or with the seismic data acquisition unit <NUM>, perform quality assessments, status checks, or charge one or more batteries of the seismic data acquisition unit <NUM>. The vessel <NUM> can move in a direction as indicated by arrow <NUM>. The seismic data acquisition positioning apparatus <NUM> can be deployed off the vessel <NUM>. The seismic data acquisition positioning apparatus <NUM> can descend towards the target area <NUM> on the seafloor <NUM>. The seismic data acquisition positioning apparatus <NUM> can reach the target area <NUM> as the vessel <NUM> is moving in the direction as indicated by arrow <NUM>. The descent of the seismic data acquisition positioning apparatus <NUM> can be affected by underwater currents. The seismic data acquisition positioning apparatus <NUM> can be deployed to take the underwater currents into account. The overall shape of the seismic data acquisition positioning apparatus <NUM> can have a hydrodynamic profile that allows the seismic data acquisition positioning apparatus <NUM> to descend towards a target area in a controlled manner. The seismic data acquisition positioning apparatus <NUM> can include one or more descent elements (e.g., fins, rudders, streamers pathways, channels, etc.) to control the descent of the seismic data acquisition positioning apparatus <NUM>. For example, the hanging unit <NUM> or the seismic data acquisition unit case can include one or more fins. The one or more fins can make the seismic data acquisition positioning apparatus <NUM> spin in a controlled manner. The seismic data acquisition positioning apparatus <NUM> can include one or more fixed fins to make the seismic data acquisition positioning apparatus <NUM> spin in a certain pattern. The seismic data acquisition positioning apparatus <NUM> can be deployed from the vessel <NUM> and land in an intended target area <NUM>. The vessel <NUM> can detect the seismic data acquisition unit <NUM> via a beacon from the beacon unit <NUM>.

The seismic data acquisition positioning apparatus <NUM> can be deployed by dropping the seismic data acquisition unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can be deployed by dropping the seismic data acquisition unit <NUM> from a vessel. The seismic data acquisition positioning apparatus <NUM> can be deployed by dropping the seismic data acquisition unit <NUM> from a helicopter. The seismic data acquisition positioning apparatus <NUM> can be deployed by dropping the seismic data acquisition unit <NUM> from a drone (e.g., air done, marine drone, etc.). The marine drone can drop the seismic data acquisition unit <NUM> from the surface of the water. The marine drone can drop the seismic data acquisition unit <NUM> from underwater with an ROV or AUV. The seismic data acquisition positioning apparatus <NUM> can be deployed by shooting the seismic data acquisition unit <NUM>. The seismic data acquisition positioning apparatus <NUM> can be deployed by ejecting the seismic data acquisition unit <NUM>.

The seismic data acquisition positioning apparatus <NUM> can include an algorithm for automatic adjustments and corrections for errors. The seismic data acquisition positioning apparatus <NUM> can include an algorithm for automatic adjustments and corrections for issues. The seismic data acquisition positioning apparatus <NUM> can poll the seismic data acquisition unit <NUM> to confirm the seismic data acquisition unit <NUM> is at a designated location at a particular time. The seismic data acquisition positioning apparatus <NUM> can report that the seismic data acquisition unit <NUM> is at a designated location at a particular time.

The seismic data acquisition positioning apparatus <NUM> can land on the seafloor at a designated drop location (e.g., target area <NUM>). The seismic data acquisition positioning apparatus <NUM> can may dynamic adjustments to land at or near the target area <NUM>. The seismic data acquisition positioning apparatus <NUM> can travel laterally to land at or near the target area <NUM>. The seismic data acquisition unit <NUM> can sink fpartially into the seafloor mud. The sink rate can be controlled such that the seismic data acquisition unit <NUM> does not sink deeply into the mud.

<FIG> illustrates a method of providing a seismic data acquisition positioning apparatus. In brief summary, the method <NUM> can include providing a seismic data acquisition unit (BLOCK <NUM>). The method <NUM> can include providing a hanging unit (BLOCK <NUM>). The method <NUM> can include coupling a connector (BLOCK <NUM>). The method <NUM> can include providing a retrieval unit (BLOCK <NUM>). The method <NUM> can include pivoting the connector (BLOCK <NUM>). The method <NUM> can include detecting the seismic data acquisition unit (BLOCK <NUM>). The method <NUM> can include retrieving the seismic data acquisition unit (BLOCK <NUM>).

The method <NUM> can include providing a seismic data acquisition unit (BLOCK <NUM>). The seismic data acquisition unit hasa first density. The seismic data acquisition unit can include a case having an internal compartment. The seismic data acquisition unit can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition unit can have a first buoyancy.

The method <NUM> can include providing a hanging unit (BLOCK <NUM>). The hanging unit can include a beacon unit and having a second density. The second density is less than the first density. The hanging unit can include a buoyant unit. The hanging unit can have a shape profile configured to control a lateral movement of the seismic data acquisition unit. The method <NUM> can include indicating, by the beacon unit, a location of the seismic data acquisition unit on a seabed. The hanging unit can have a second buoyancy. The second buoyancy can be greater than the first buoyancy. The second buoyancy can be less than the first buoyancy. The first buoyancy can be less than the second buoyancy. The hanging unit can include a non-buoyant hanging unit.

The method <NUM> can include coupling a connector (BLOCK <NUM>). The connector can have a first end. The first end of the connector can be coupled with the seismic data acquisition unit. The connector can have a second end. The second end of the connector can be coupled with the hanging unit. The method <NUM> can include coupling a first connector. The first connector can have a first end. The first end of the first connector can be coupled with the seismic data acquisition unit. The first connector can have a second end. The second end of the first connector can be coupled with the hanging unit. Coupling the connector can include coupling the first connector with the seismic data acquisition unit on a first side of the seismic data acquisition unit. Coupling the connector can include coupling the second connector with the seismic data acquisition unit on the first side of the seismic data acquisition unit. The method <NUM> can include coupling the seismic data acquisition unit with a seabed on via a second side of the seismic data acquisition unit. The method <NUM> can include coupling the first connector with the seismic data acquisition unit via a first nylon rope. The method <NUM> can include coupling the second connector with the seismic data acquisition unit via a second nylon rope. The method <NUM> can include coupling a second connector having a first end with the seismic data acquisition unit and coupling the second connector having a second end with the hanging unit. The first connector and the second connector can have a rigidity greater than a rigidity of the retrieval unit. The method <NUM> can include coupling a second connector. The second connector can have a first end. The first end of the second connector can be coupled with the seismic data acquisition unit. The second connector can have a second end. The second end of the second connector can be coupled with the hanging unit.

The method <NUM> can include providing a retrieval unit (BLOCK <NUM>). The retrieval has a third density. The third density is less than the second density. The retrieval unit can have a first end coupled with a first portion of the hanging unit. The retrieval unit can have a second end coupled with a second portion of the hanging unit. The retrieval unit can have a third buoyancy. The third buoyancy can be greater than the second buoyancy. The third buoyancy can be less than the second buoyancy. The third buoyancy can be greater than the first buoyancy. The third buoyancy can be less than the first buoyancy. The second buoyancy can be less than the third buoyancy. The first buoyancy can be less than the third buoyancy. The retrieval unit can include a rope.

The method <NUM> can include pivoting the connector (BLOCK <NUM>). The connector can be configured to pivot about the first end of the connector. The connector can pivot about a pivot point. For example, the connector can be configured to pivot about the first end of the connector. The pivot point can have little to no friction. The connector can include a pivoting member (e.g., pivoting leg). The connector can pivot when the seismic data acquisition unit reaches the seafloor.

The method <NUM> can include detecting the seismic data acquisition unit (BLOCK <NUM>). For example, the method <NUM> can include detecting, by an underwater vehicle, the seismic data acquisition unit via a beacon (e.g., acoustic beacon, optical beacon, sonar pinger, sonar unit, etc.) The beacon unit can initiate an acoustic transmission. The beacon unit can include an antenna. The beacon unit can be configured to transmit a location of the seismic data acquisition unit. The beacon unit can be configured to indicate a location of the seismic data acquisition unit on a seabed. For example, the beacon unit can indicate and transmit the GPS coordinates of the seismic data acquisition unit. The beacon unit can transmit heading information from a transducer or transponder. The beacon unit can be pinged periodically to transmit the location of the seismic data acquisition unit.

The method <NUM> can include retrieving the seismic data acquisition unit (BLOCK <NUM>). For example, the method <NUM> can include retrieving the seismic data acquisition unit by an underwater vehicle (e.g., remotely operated vehicle). Retrieving the seismic data acquisition unit can include retrieving the seismic data acquisition positioning apparatus. The remotely operated vehicle can grab a hoop formed by the retrieval unit using a hook. The remotely operated vehicle can pick up the seismic data acquisition unit directly. The remotely operated vehicle can include an arm (e.g., fixed arm or robotic arm) which can move towards the hoop formed by the retrieval unit. The arm can move within the perimeter of the hoop. The remotely operated vehicle can move the seismic data acquisition positioning apparatus via the hoop. For example, remotely operated vehicle can use the arm to lift rope up via the hoop, which can lift up the seismic data acquisition unit. The remotely operated vehicle can detect the seismic data acquisition unit via a beacon from the beacon unit. The remotely operated vehicle, using the hoop to pick up the seismic data acquisition unit, can more efficiently retrieve the seismic data acquisition units to more efficiently perform the seismic survey. For example, using the hoop configuration can save up to <NUM> seconds, <NUM> minute, <NUM> minutes or more per unit for retrieval, which can reduce the overall resource consumption of the underwater vehicle or ROV, battery usage, power usage, or number of units used. The remotely operated vehicle can perform a fly-by retrieval. A fly-by retrieval can include retrieving seismic data acquisition units while the remotely operated vehicle is in motion. The fly-by retrieval can save time over the remotely operated vehicle having to stop to retrieve nodes. The remotely operated vehicle can transmit status information for the seismic data acquisition unit. The remotely operated vehicle can detect the seismic data acquisition unit via a beacon from the beacon unit. The remotely operated vehicle can detect the seismic data acquisition unit via an optical beacon from the beacon unit.

<FIG> illustrates a method <NUM> of providing a seismic data acquisition positioning apparatus, according to an example implementation. The method <NUM> can include providing a seismic data acquisition positioning apparatus (BLOCK <NUM>). The seismic data acquisition positioning apparatus comprises a seismic data acquisition unit having a first density. The seismic data acquisition unit comprises a case having an internal compartment. The seismic data acquisition unit can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus can include a hanging unit including a beacon unit and having a second density. The seismic data acquisition positioning apparatus can include a connector having a first end coupled with the seismic data acquisition unit and having a second end coupled with the hanging unit. The seismic data acquisition positioning apparatus comprises a retrieval unit having a third density and having an end coupled with the hanging unit.

<FIG> illustrates a method <NUM> of seismic data acquisition, according to an example implementation. In brief summary, the method <NUM> can include deploying an apparatus (BLOCK <NUM>). The method <NUM> can include positioning the apparatus (BLOCK <NUM>). The method <NUM> can include collecting data (BLOCK <NUM>).

The method <NUM> can include deploying an apparatus (BLOCK <NUM>). For example, the method <NUM> can include deploying a seismic data acquisition positioning apparatus. The seismic data acquisition positioning apparatus comprises a seismic data acquisition unit having a first density. The seismic data acquisition unit can include a case having an internal compartment. The seismic data acquisition unit can include a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case. The seismic data acquisition positioning apparatus can include a hanging unit including a beacon unit and having a second density. The seismic data acquisition positioning apparatus can include a connector having a first end coupled with the seismic data acquisition unit and having a second end coupled with the hanging unit. The seismic data acquisition positioning apparatus comprises a retrieval unit having a third density and having an end coupled with the hanging unit. For seismic surveys, sparse nodes with streamer data can include seismic data acquisition units with long battery life. For example, the seismic data acquisition units can have a battery life of greater than <NUM> days. The seismic data acquisition units can have auxiliary batteries.

The method <NUM> can include positioning the apparatus (BLOCK <NUM>). For example, the method <NUM> can include positioning the seismic data acquisition positioning apparatus on a seabed. The seismic data acquisition positioning apparatus can be positioned on the seabed such that the hanging unit is above or on the seafloor. The seismic data acquisition positioning apparatus can be positioned on the seabed such that the seismic data acquisition unit is on or below the seabed. The seismic data acquisition positioning apparatus can be positioned on the seabed such that the retrieval unit is above the seafloor.

The method <NUM> can include collecting data (BLOCK <NUM>). For example, the method <NUM> can include collecting data (e.g., seismic data, gravity data, microgravity data, electromagnetic data, etc.) with the seismic data acquisition unit. A remotely operated vehicle can ping the beacon unit of the seismic data acquisition positioning apparatus. The remotely operated vehicle can transmit a signal to the seismic data acquisition positioning apparatus. The seismic data acquisition positioning apparatus can transmit data to a remotely operated vehicle. The method <NUM> can include collecting data from the seismic data acquisition unit.

<FIG> depicts a block diagram of an architecture for a computing system employed to implement various elements of the systems or components depicted in <FIG>. <FIG> is a block diagram of a data processing system including a computer system <NUM> in accordance with an embodiment. The data processing system, computer system or computing device <NUM> can be used to implement one or more component configured to filter, translate, transform, generate, analyze, or otherwise process the data or signals depicted in <FIG>. The computing system <NUM> includes a bus <NUM> or other communication component for communicating information and a processor <NUM> 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).

Processors suitable for the execution of a computer program include, by way of example, microprocessors, and any one or more processors of a digital computer. A processor can receive instructions and data from a read only memory or a random access memory or both. The elements of a computer are a processor for performing actions in accordance with instructions and one or more memory devices for storing instructions and data. A computer can include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. A computer need not have such devices. 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 nonvolatile 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.

The implementations described herein can be implemented in any of numerous ways including, for example, 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, electronic storage media, 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 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. 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.

Program modules can include routines, programs, objects, components, data structures, or other components that perform particular tasks or implement particular abstract data types. The functionality of the program modules can be combined or distributed as desired in various embodiments.

Any references to implementations or elements or acts of the systems and methods herein referred to in the singular can include implementations including a plurality of these elements, and any references in plural to any implementation or element or act herein can include implementations including only a single element.

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. References to at least one of a conjunctive list of terms may be construed as an inclusive OR to indicate any of a single, more than one, and all of the described terms. For example, a reference to "at least one of 'A' and 'B'" can include only 'A', only 'B', as well as both 'A' and 'B'. Elements other than 'A' and 'B' can also be included.

Claim 1:
A seismic data acquisition positioning apparatus (<NUM>), comprising:
a seismic data acquisition unit (<NUM>) comprising:
a case having an internal compartment; and
a power source, a clock, a seismic data recorder, a control unit, and at least one sensor disposed within the case;
a hanging unit (<NUM>) comprising a beacon unit (<NUM>); and;
a connector (<NUM>) having a first end coupled with the seismic data acquisition unit (<NUM>) and having a second end coupled with the hanging unit (<NUM>), the connector (<NUM>) configured to pivot about the first end of the connector wherein the seismic data acquisition unit (<NUM>) has a first density and the hanging unit (<NUM>) has a second density, characterized in that the seismic data acquisition positioning apparatus comprises:
a retrieval unit (<NUM>) having an end coupled with the hanging unit (<NUM>) and having a third density;
the second density less than the first density; and
the third density less than the second density.