Professional Documents
Culture Documents
Engineering Notes.
Compiled
by
Ian S. Coote
Part 3
Handbook
for
Ocean Cable Engineering.
Volume 2
This compilation
Contents.
Page No.
1. Introduction. 1
1.1 General. 1
1.2 Units. 1
Contents ( Continued ).
Page No.
Appendices.
B.1 Laying. A5
B.2 Recovery. A9
Contents ( Continued ).
Page No.
Figures.
Page No.
Figures ( Continued ).
Page No.
Figures ( Continued ).
Page No.
Figures ( Continued ).
Page No.
cosh '
D.2(b) Variation of with '. A32
& (' )
&3 (' )
D.2(c) Variation of sin ! with '. A33
&2 (' )
Tables.
Page No.
The following are the identifiable sources from which the material used in this volume has
been derived.
Chapters, Sections.
1. Introduction.
1.1 General.
This part of the handbook presents the calculations used in the normal working of ocean
cables. The calculations cover laying, grappling, recovery and standing-to a cable end. For
specialized working of ocean cables, these calculations can be used as a base from which any
new calculations can be developed. Supporting information is given on ocean cable
hydrodynamics and the effects of the cable structure.
The appendices give the mathematical basis from which the calculations are derived.
The calculations are based on the classical analysis of the working of ocean cables by Zajac
and others, updated to include more recent work. It should be noted that many of the
calculations have simplifications to allow easy calculation by hand, and many of the results
are in graphical form. However given that cable working has some degree of uncertainty due to
its nature, and that these calculations have stood the test of time, the simplifications have
proven acceptable.
1.2 Units.
The units used in this part are the same as those used in Zajacs original work, that is English
gravitational units. The fathom is now an archaic unit but was widely used at the time of the
initial work, and for practical purposes can be considered as 1/1000 of a n. mile. The Metric
units normally used in cable working can be gravitational or SI units. Given that in most cases
the calculations would now be done on a computer, and the units to be used would be selected
when using the program(s), there is no pressing need to rationalize the units to either
standard English or Metric units.
Page 2
This chapter contains the formulation of the basic model from which the majority of the
calculations used for cable laying and repair are derived. The basic assumptions used are
presented in Section 2.1 and the solution of the model in Section 2.2.
The analysis like most analysis of physical problems, are based on idealizations or
mathematical models of the actual physical system. The extent of the validity of these models
must be ultimately determined by experiment and experience. However, we shall try give the
user of this manual indication of when they are clearly applicable and when they are not.
Bending effects are caused by locally large curvatures, and are significant mainly where the
cable leaves the pay out sheaves and at the ocean bottom. However, for a cable with a steel
strength member, bending, even to the small radius of the pay out sheave, typically does not
materially reduce the tension required to break the cable. Hence, in these cases we can expect
an analysis based on the first idealization to give a reasonable idea of when cable rupture will
occur. In laying, ship speeds are normally steady, and with the exception of the fluctuations
caused by wave action which are considered in a later chapter. The second idealization for
cable is also reasonable. In recovery, on the other hand, ship speeds are apt not to be steady,
and the second idealization is more tenuous. But because of the very slow speeds usually
employed, this idealization may in fact be meaningful in recovery as well.
2.2 Solution.
Assume that each cable element is traveling along the stationary cable configuration with
constant speed Vc . Starting at the ocean bottom let s be the are length along the stationary
the cable elements. So as figure 2.2(a) indicates, in laying, positive s is directed from the
ocean bottom toward the ship, while in recovery the situation is reversed. We let ! be the
angle between the positive s direction and the direction of the ship velocity.
V V
#s
Recovery Laying
y !
Vc Vc
s x
2 d!
Vc
ds
T +"T
n "!
"s
! Vt VN
!
T Dt " s Dn " s V
w"s
Figure 2.2(b) shows the forces acting on an element of the cable, with tension at the point s
being denoted by T. The normal drag force per unit length DN may be written in the form:
CD $ VN VN d
DN =
2
Where CD is the transverse drag coefficient of the cable, $ the fluid mass density, VN the
fluid velocity normal to the cable and d the cable diameter. VN is used to give DN the
CD $ V 2 d
DN = sin! sin ! (2.2.1)
2
We note that if the pay out speed Vc is greater than or equal to the ship speed V , then the
tangential velocity:
Hence in normal laying and recovery the unit tangential force DT is always in the positive s
direction.
forces along the directions t (tangential), then n (normal), dividing by " s and sending " !
to zero, we obtain:
d! C $V 2 d
( T -$ V )
c c
2
ds
+ D
2
sin ! sin ! % wcos! = 0 (a)
(2.2.3)
dT
+ DT % wsin ! = 0 (b)
ds
It is seen that ! =# is a solution of 2.2.3(a). This is the straight line solution which is
If ! '# and DT varies only with Vt we may divide 2.2.3(b) into 2.2.3(a) and integrate to
( T - $ c Vc 2 + ! ( w sin. % DT )
ln * 2- = / d.
( )
(a)
) T0 % $c Vc , !0 w cos. % sin. sin .
(2.2.4)
C D $V cos#
2
0= = (b)
2w sin2 #
At the cable touchdown point on the ocean bottom only two conditions are possible. If the
angle ! is not zero or 1 there, the cable tension T must be zero. Otherwise a finite tension
would act on an infinite length of cable, producing an infinite acceleration. Hence, either the
tension T must be zero or the angle ! must be zero or 1. The first case normally implies a
straight-line configuration, which has already been discussed. In the other cases, we define
T0 as the tension at the touchdown point, and we let !0 be zero or 1, whichever is
appropriate.
If x, y are the coordinates in the translating ( x, y ) frame of a point along the cable
configuration, then:
dx=ds cos !
dy=ds sin !
!
( T- $ V ) 2
!
( T - $ V ) cos.
2
!
( T % $ V ) sin .
2
Equations 2.2.4 and 2.2.5 are an integral representation of the complete solution of the basic
two-dimensional model. In general, the integrals appearing in these equations cannot be
evaluated in terms of elementary functions, and the solution must be obtained by numerical
integration. For ocean cable problems, other approximations allow more convenient ways of
evaluating the integrals 2.2.4 and 2.2.5.
For example, it is more accurate simply to assume that DT is zero. As we indicate in Section
5, this approximation gives negligible deviation from the exact solution if the relative
tangential velocity VT is small. Furthermore, in this situation we obtain from 2.2.3(b):
dT dy
= w sin! = w ,
ds ds
Ts = T0 + w h (2.2.6)
Where h is the depth at the touchdown point. Thus if the tangential force is negligible, the
tension at the ship is essentially the bottom tension plus w h, regardless of the nature of the
normal drag forces. This also applies in the three dimensional case as well.
Note: When standing to a cable end ( Section 4.5 ), i.e. the cable shape is a catenary due to the
ship being stationary, this relationship is not accurate enough.
Page 7
This chapter contains the methods for calculating the loads and cable configurations that
occur during the laying of ocean cables. The sections cover steady-state laying on flat and
sloping bottoms, cable drag forces and sinking velocities, transient effects, ship motions,
cross currents, cable laying control and slack requirements.
The steady state model for laying cable on a flat bottom represents the normal condition for
cable laying. with sufficient slack to maintain the tension at the bottom equal to zero.
We assume that the cable ship is sailing with constant speed, the cable pay-out rate is
constant and the drag of the water on the cable depends only on the relative velocity between
the water and the cable. The frame of reference translates with the ship and the cable
configuration is time independent or stationary.
The solution to these conditions is that the cable is paid out in a straight line from the cable
ship to the bottom. That the straight line is a possible configuration can be seen from figure
3.1(a).
V Ts
#
VN =V cos #
Vt =V sin #
Vt VN
#
DN
Dt V
w
In the vector diagram the velocity of the water with respect to the cable is resolved into a
component VN , normal to the cable and a component VT , tangential to it. Associated with VN
and VT are drag forces DN and DT . In the straight line configuration the cable inclination is
such that DN just balances the normal component of the cable weight forces. Summing forces
w cos# = DN (3.1.1)
while the summation in the tangential direction gives for Ts , the tension at the ship:
Ts = w L sin# % DT L (3.1.2)
Here w is the weight per unit length of the cable, # the cables angle of incidence, DN and
DT the normal and tangential drag forces per unit length of the cable, and L is the inclined
length of the cable. For most ocean cables used concurrently, the force DT L is negligible and
we arrive at:
Ts 2 w L sin# = w h (3.1.3)
where h is the ocean depth at the cable touchdown point. Hence during slack laying, the cable
tension at the ship is very nearly equal to the weight in water of a length of cable equal to the
ocean depth.
By following a cable element during the laying operation, the time-dependent tension T( t )
experienced by the element is given by:
wh h
T( t ) = w h % t, 0 3t 3 (3.1.4)
( h + V tan #
* -
) V tan# ,
Where t is the elapsed time after the cable element leaves the ship and enters the water, and
h V tan # is the time for cable element to travel from the surface to the bottom. At normal
laying speeds in deeper waters, the effect of ship motion and repeater weight are small.
The straight line solution is the simplest and probably the most important from the two
dimensional model.
Page 9
The resistance at sufficiently slow speeds to the flow of a fluid around an immersed body
varies as the square of the fluid velocity. This relationship is usually written:
$V N 2 d
DN = CD (3.2.1)
2
where DN is the normal drag force per unit length, CD the normal drag coefficient, $ the
mass density of the fluid and d the diameter of the cable. For the straight-line configuration,
the vector diagram in figure 3.1(a) shows that:
VN = V sin# (3.2.2)
$V 2 d
w cos# = C D sin2 # (3.2.3)
2
CD using towed lengths of cable have been shown to be inaccurate and should only be used if
no other data is available and consideration should be given to corrections along the lines of
those in Section 5.
most convenient description of the effect of the normal component of water velocity. For small
values of the incidence angle #:
cos# 2 1
sin # 2 # ( in radians )
2w
#0 V = (3.2.4)
CD $ d
Page 10
where #0 is the approximate value for # . The quantity 2w CD $ d is a constant for a given
cable. It brings together all the basic parameters which influence the magnitude of the
incidence angle #. If the angle # for a given speed is determined accurately with a sextant
during laying, this quantity is easily computed. Because of its importance it is known as the
hydrodynamic constant of the cable and is denoted by H , namely:
2w
H = const (3.2-5)
CD $ d
#0 V = H
with #0 in degrees and V in knots. The constant H rather than the drag coefficient is used in
cable work.
Where the approximate relationship 3.2.6 is not valid, # can be obtained by solving 3.2.3.
This gives:
1+ 14 ( H * V ) % 12 ( H * V )
4 2
cos# = (3.2-7)
where H * = H 1 180
1+ 14 ( # 0 1 180 ) % 12 ( # 0 1 180 )
4 2
cos# = (3.2.8)
Page 11
80
60
# 40
in degrees
20
0
0 20 40 60 80 100 120
# 0 in degrees
This relationship is shown in figure 3.2(a) where the incidence angle # is plotted as a
function of the approximate incidence angle #0 . It is seen that for # <20 0 the difference
Physically # as given by 3.2.7 is the angle the cable assumes in the straight line shape for
velocity V. However in addition, 3.2.7 shows that # can be used as a parameter which
embodies both properties of the cable and the ship speed and is called the critical angle.
The tangential drag force is due to skin friction from flow along the cable and is defined by
the expression:
DT = C f 12 $V t 2 1 d
Page 12
where Cf is the skin friction drag coefficient, $ the fluid mass density, Vt the tangential
flow velocity and d the cable diameter. DT is the tangential drag force per unit length. The
Vt = Vc %V cos #
where Vc is the pay out rate, V the ship speed and # the critical angle.
( NR )
0.14
From towing cable lengths it has been found that C f =const for smooth covered
along the cable from the surface to the point at which Cf is being determined and 4 is the
kinematic viscosity of water. Hence for a smooth cable the tangential drag is a function of
position along the cable.
For cables with conventional jute covering it was found that C f =const V 0.52 that is,
The ratio of DT to the tangential component of cable weight is given by DT w sin # . For # the
order of 12 ,
0
Vt of 0.6 knots, DT w sin # is about 6%. In most situations Vt will be smaller
and we can neglect DT compared to w sin# , thus simplifying the calculations. It should be
noted that towing techniques to find Cf can provide only rough approximations due to the
restrictions on length compared to actual laying conditions and possible modifications to flow
around the cable during laying as suggested in section 5.
Sinking velocity was the original technique used to characterize the hydrodynamic forces
acting on a cable. The transverse sinking velocity us is defined as the terminal velocity
attained by a straight, horizontal length of cable sinking in water. Similarly the longitudinal
sinking velocity vs is the terminal velocity of a cable length sinking with its axis constrained
to be vertical. If for a cable the drag forces are only functions of velocity, the parameters w,
us and vs , together with the laws of variation of drag forces with velocity completely define
As sinking velocities are still used in modern ocean cable technology, their relationship with
other coefficients is useful.
Page 13
For a cable sinking horizontally at its terminal velocity, its drag force must be equal to its
weight in water, that is:
2w
5 us = (3.4.2)
CD $ d
Thus the transverse sinking velocity is of identical form as H the hydrodynamic constant.
We can then write the relationship 3.2.6 as:
# 0 V = 180us 1 (3.4.3)
For the tangential sinking velocity the concept of relationship to tangential drag forces is
inadequate for smooth cables due to the effect of length, as seen in section 3.3. For jute
covered cables it can be derived, but is of little practical use.
It should be noted that the cable does not sink to the bottom at the transverse sinking velocity
us. The term "vertical cable sinking rate" is ambiguous. There are in fact two vertical sinking
rates which may be important. Although both these rates are approximately equal to us,
neither is identical to it .
Relative to the earth, the resultant velocity VR of a cable element has two components; a
horizontal component of the magnitude of the ship velocity V , and a component inclined at an
angle # of the magnitude of the cable pay out rate Vc , as shown in figure 3.4(a). The
component Vvert of VR given by Vvert =Vc sin# , is the rate at which a cable element sinks
vertically. For a laying depth h , the time ! it takes for a cable element to sink to the bottom
is:
where h is in n. miles and Vc in knots. This time would be how long a lightweight repeater (
or a heavy one with a parachute ) integral with the cable would take to reach the ocean floor.
Page 14
V.t
#
A V.t
V
#
Vvert VR
A' Vc
P'
If the intersection of the cable configuration with a vertical line ( figure 3.4(a) ) is
considered, then in the time t as the ship sails a distance V t, the intersection moves from A
to A, a distance V t tan # . Hence the cable configuration in this sense sinks vertically at the
rate V tan# , and the time ! for the configuration to reach the bottom at a depth h is:
where h is in n. miles and V in knots. The time taken for the cable configuration to reach an
anomaly P ( figure 3.4(a) ) on the bottom from the time the ship sails over the anomaly is !.
Hence the vertical sinking rate Vc sin # and V tan# can be both used. At normal ship speeds
sin# 2 tan # 2 # (radians), hence Vc differs little from V and both vertical sinking rates are
3.5 Approximate Transient Solution for Laying on a Flat Bottom and Negative
Slack Effects.
On longer cable lays the ship speed is normally of the order of 4 to 8 knots, with
accompanying values for the critical angle for the cable, #, 0
of less than 30 . For these small
values of # , the effect of the tangential drag on the cable may be neglected to provide a
Page 15
simplification of the general solution. The angle ! that the cable element makes with the
horizontal ( figure 2.2(b) ) is closely given by:
1% ( T0 ( T0 + y ) )
6
! #
tan = tan (3.5.1)
#
1+ ( T0 ( T0 + y ) ) tan4 2
2 2 6
where y and T0 are dimensionless depth and bottom tension, defined by:
y=y h
T0 = T0 w h
with # =H V
H being the hydrodynamic constant of the cable in degree knots and V the ship speed in
knots.
2-sin2 #
6 = (3.5.2)
sin2 #
T0
0 < <1
T0 + y
Hence, the denominator in 3.5.2 is very nearly unity and ! approaches the critical angle # at
very small values of y, even for relatively large values of T0 of order three or four. Thus in
the laying case, the cable configuration is very close to a straight line except for a short
distance at the ocean bottom.
Page 16
For small #, in figure 3.5(b), the values for the length of cable S, and the distance from the
ship to the touchdown point X, are given by:
S = L +7 T0 w
X = L cos# +8 T0 w (3.5.3)
where L and L cos# are the corresponding distances for S and X for straight line laying at
the same ship speed; and 7 and 8 are functions of the critical angle #, given in figure
3.5(a).
E x a m p l e : SD List 1 cable ( H = 34 degree knots ) is being laid without slack onto a rough
bottom from a cable ship moving at 4 knots. If the pay out rate is decreased so that the slack is
1 per cent negative, what is the subsequent rise of the tension with time at the ship.
This is a transient problem, the average behavior of the cable will be approximated by
assuming it passes through a sequence of stationary configurations. Also, we assume that
because of the rough bottom there is no slippage of cable along the ocean floor.
If 9 is the amount of negative slack, and V the ship speed, then in a time t, an amount
V ( 1- 9 ) t of cable will have been paid out. This amount plus the inclined length L will equal
the amount contained in the curve AOC ( figure 3.5(b) ). We then have:
T0 = ( w ( 8 % 7 ))9 V t 60
w 9Vt
Ts = w h +
8 % 7 60
Page 17
0.4
0.3
7 0.2
0.1
0
0 5 10 15 20 25
# in degrees
0.016
0.012
8 %7 0.008
0.004
0
0 5 10 15 20 25
# in degrees
y
B C
V.t
V
L
t=0 S
# x
A O D
V.t L cos#
X
# =H V
= 34/4
= 8.5 degrees
From figure 3.5(a) we get 8 -7 = 0.001. Also we have w = 1926 lb/n. mile so:
( lbs +
Ts = w h + 1284 t
) min,
Hence the tension rises by the rapid rate of 1284 lb/minute. We note that this is independent
of the depth h.
The above does not include the elasticity of the cable. Because the difference between the
lengths of AOC and the sum of the linear segments AD and DC ( figure 3.5(b) ) is small, it
would be expected that the effect of the elasticity of the cable would be important.
Page 19
The effect of elasticity can be roughly approximated by assuming that the curve AOC has
additional length corresponding to the stretching caused by the load T0 acting over the length
L. For a cable made of a single material this stretching would be T0 L EA , where E is the
Young's modulus of the material and A the cross sectional area of the cable. For actual cable
we denote the extensional rigidity of the cable by EA to indicate the value obtained from
tests on a length of actual cable. With this notation we get:
L +V (1% 9 ) t + = S + V t % ( X % L cos# )
T0 L
(3.5.6)
EA
: 9Vt
Ts = w h + (3.5.7)
wh
+ 8 %7 60
EA sin #
where h is in n. miles.
As most cables twist under load, one cannot define a single extensible rigidity because of
coupling between pulling and twisting. Thus how much the cable will stretch under tension
depends on how much it is restrained from twisting at the ship and at the bottom. Instead of
trying to determine these restraints, we consider the cases of no restraint to twisting and
complete restraint to twisting.
h = 1 n. mile:
h=2 n. miles:
Compared to the inelastic computation, we see the elasticity markedly reduces the rate of
tension build up. Nevertheless, even for the case of no restraint of twisting at a depth of 2 n.
miles, the rise is a relatively high 92 lbs./min. Hence, at least over rough bottom, the tension
would quickly indicate the onset of negative slack, although sensitivity of this indication
decreases quickly with increasing depth.
Ocean bottom topography is not everywhere flat and horizontal as postulated in the basic
model. On the continental slopes and mid-ocean ridges, slopes may reach thirty or forty
degrees. Furthermore where the bottom is steep, it is most likely to be rocky or craggy since
erosion will tend to remove mud or sand from slopes. Therefore it is important to determine
the amount of cable to be paid out to cover a bottom of varying depth. The basic model is
extended to cover the case of a sloping bottom.
If the cable tension at the bottom is zero as in the basic model then the cable configuration is
a straight line, regardless of how the cable is paid out. ( Section 3.1 )
When the cable is paid out with slack relative to the bottom, then the zero touchdown
condition is fulfilled, and cable mechanics are simple.
Two sloping bottom laying types exist, downhill or descent laying and uphill or ascent laying.
For the analysis the bottom will be considered to have constant slope since any bottom contour
can be approximated by straight-line segments.
Laying on a descending bottom requires the cable pay out rate to exceed the ship speed, figure
3.6.1(a). Laying on an ascending bottom requires the angle of incidence of the cable, # , which
for a given cable depends only on ship speed, to exceed the ascent angle of the bottom, 6 , as
shown in figure 3.6.1(a). Hence the critical parameters are cable pay out speed and ship
speed.
Page 21
Descent Laying
< #
Ascent laying
#>6
#
6
Ascent laying
6 >#
# 6
V.t
< #
9
b a
During descent laying we see from figure 3.6.1(b) that in a time t an amount of cable equal to
a+b must be paid out. Hence the required pay-out rate Vc is ( a+b ) t. By straightforward
trigonometry:
where < is the angle of descent and # is the straight-line incidence angle.
= = ( Vc % V ) V (3.6.1.2)
Slack is composed of two parts; a fill f , which is the amount of slack required for cable to
cover the bottom, and an excess, equal to =- f which is laid to provide a margin of safety and
to allow for repair operations. Substituting Vc from 3.6.1.1 into 3.6.1.2 the expression for fill
Page 23
# < f
tan tan = (3.6.1.3)
2 2 2+ f
The quantities #, < and f are normally all small and we may make the approximations:
# #
tan 2
2 2
< <
tan 2
2 2
f f
2
2 +f 2
For #, < < 30 0 and f < 0.06 , the error in each of these approximations is less than 3 per cent.
f = #< 2 (3.6.1.4)
hydrodynamic constant, is in degree knots. Substituting this expression into 3.6.1.4 and
converting < to degrees, we get for the fill:
H<
f = (3.6.1.5)
6566V
H<
Vc % V = (3.6.1.6)
6566
with Vc , V , in knots, H in degree knots and < in degrees for 3.6.1.5 and 3.6.1.6.
Page 24
Thus, the increment in the required pay-out rate to compensate for the descending bottom is
essentially a function only of the descent angle < and is independent of ship speed.
In the case of an ascending bottom for which # >6 figure 3.6.1(a), positive bottom slack may
be obtained with a pay out of less than ship speed. The allowable decrement in pay-out rate is
given by:
H6
V % Vc = (3.6.1.7)
6566
This is the same as the increment required for descent laying. Likewise the fill f in this
case is:
H6
f =- (3.6.1.8)
6566V
The only way to avoid the situation shown in the lower drawing of figure 3.6.1(a) where # <6
is to sail slowly enough to maintain an incidence angle a greater than the angle of rise 6 . From
# = H V , we can obtain a maximum ship speed to ensure # > 6 from:
V =H 6 (3.6.1.9)
E x a m p l e : List 1 SD cable ( H =34 degree knots ) is being laid with an excess slack of 6 per
cent on a flat bottom. The lay encounters a down slope of 10 degrees, what is the total slack
and pay out rate required to ensure coverage of the bottom for a ship speed of 4 knots.
H<
f =
6566V
34 ;10
=
6566; 4
= 0.013
= = 0.06+f
= 0.06 +0.013
= 7.3%
Vc %V
= =
V
Vc = V ( 1+ = )
= 4 ( 1+ 0.073)
= 4.29knots
When a cable is laid with excess onto a bottom of constant slope, then the variation of mean
tension at the ship can be directly calculated. During descent laying the increase in depth 9
after a time t is given by ( from figure 3.6.1(b) ):
Similarly, during an ascent lay for which the bottom is less steeply inclined than the
dT sin # sin 6
= % wV (3.6.2.2)
dt sin ( # % 6 )
It is possible during descent or ascent laying for the cable to become suspended, that is the
condition of zero tension at the bottom is no longer true.
Page 26
Figure 3.6.3(a) shows the condition during descent laying, where the pay out rate of additional
fill slack is insufficient to allow the cable to lie on the bottom down the slope, and sliding of
the cable along the ocean floor is not occurring.
Cable supported
by hydrodynamic
Cable forms forces
catenary
It is possible, as shown in the appendices, to calculate the tension change in the cable at the
ship as the ship travels along. In practice the indication that the cable is being laid with
insufficient excess is normally required and this case can be calculated from 3.6.2.1 by
dT w 9 sin#
= = wV
dt t cos# (3.6.3.1)
= wV tan#
Hence if the rate of tension rise is greater than this value, when laying on a down slope, then
the cable is being suspended and not effectively covering the bottom.
In the case of ascent laying where the ship speed is too rapid, resulting in 6 ># , as shown in
figure 3.6.1(a), then as the cable is laid over the crest there will be a sudden decrease in
shipboard tension. If the bottom is rough, the the cable would remain suspended on the face of
Page 27
the rise, but if the cable can slide along the bottom, then the cable will slide back over the
crest causing the shipboard tension to rise again rapidly. Hence in ascent laying if there is a
sudden decrease in shipboard laying tension, it would indicate the cable was not effectively
covering the bottom, particularly if the decrease in tension was in proportion to the height of
the rise compared to the water depth before it.
If the cable is not paid out rapidly enough, the ship speed is excessive, or small rises or
descents not found in surveying exist, then the cable can be left with residual suspensions
after it has been laid. The exact nature of these suspensions will depend on the magnitude of
the initial error, the coefficient of friction of the cable along the bottom and the elasticity of
the cable.
While it is possible to estimate the magnitude of the tension in a residual suspension if one
knows the factors causing the suspension, as is shown in the appendices, in practical cable
laying it would not be done. The main aim is to ensure that no residual suspensions exist as
they normally are subject to excessive wear at the ends of the suspension, particularly in
shallow water, and cause cable failure in a relatively short time after laying.
It is therefore essential that during the survey phase of the route engineering that the bottom
contours are accurately determined and that the errors that can occur with the sounding
system(s) used are known, so that the slack and ship speed requirements can be determined to
prevent residual suspensions, That is, in simple terms the less accuracy in the surveying, the
more excess slack is required to ensure effective cover of the bottom.
During laying, the information presented from the sensors must be closely watched for
anomalies that could cause residual suspensions and carefully logged for future reference.
Ocean cables are often laid with cross currents and it is useful to determine the distance that
the laid cable will be displaced from the ship's track. From this data either the ship's track
can be adjusted to keep the laid cable within specified bounds or the plotted track of the laid
cable adjusted to provide a more accurate track.
Significant cross currents are commonly confined to a region near the ocean surface, and this
analysis is for a surface cross current of velocity Vw with a direction < relative to the ships
Page 28
track, as shown in figure 3.7(a), and depth h' . The ship speed is V and total water depth h.
V' Vw
> <
%V V
The resultant velocity V' of the water with respect to the cable in the surface current has the
magnitude:
and is inclined to the ship's reverse track at angle > given by:
Vw sin <
tan> = (3.7.2)
V % Vw cos <
Associated with V' we have the critical angle #' given by:
# ' 2 H V'
The displacement from the ship's track of the laid cable, e, and the distance behind the ship
where the cable leaves the cross current, d , are given by
where "# = # - # ' , is the difference of lower and upper stratum critical angles.
For practical applications, curves to evaluate d and e are given in figures 3.7(b) and 3.7(c).
12 0 #'= 5
0
#' =5
10
57.3 e
6 0
> h'
10
0
10 0
12
0 0
12 14
4 0
14
0 16
0
16
0 20
2
0
20
0
0 0.1 0.2 0.3 0.4 0.5 0.6
h' h
20 0
#' =5
16
0
10
0
( 1 d + 57.3 12 12
* % - 14
0
8
0
20
0
0 0.02 0.04 0.06 0.08 0.10 0.12 0.14 0.16
h' h
h' h = 0.1 1
= 0.1
# = 34 5.57
= 6.1 deg rees
57.3 e
= 8.4
> h'
Page 31
( 1 d + 57.3
* tan # ' % h' - "# = 4.4
) ,
34 34
"# = %
V V'
34 34
= %
6 5.57
= % 0.4 degrees
Hence we have:
> h'
e = 8.4
57.3
8.4 ; 8.9; 0.1
=
57.3
= 0.13 n.miles
( 1 "# +
d = h' % 4.4
) tan # ' 57.3,
( 1 0.4 +
= 0.1 + 4.4
) 0.107 57.3 ,
= 0.1( 9.35+ 0.03)
= 0.94 n.miles
Now from the bottom of the current to the ocean floor is:
h - h' = 1.0-0.1
= 0.9 n.miles
and
34
#=
6
= 5.67 degrees
Page 32
Therefore the distance between the bottom of the current and the ocean floor where the cable
touches down is given by:
h-h'
d' =
tan #
0.9
=
0.099
= 9.09 n.miles
Hence the cable track is 0.13 n. miles to the north of the ship's track and the cable touches
down 10.03 n. miles aft of the ship.
In the basic stationary model a perfectly calm sea is postulated. However, in reality, wave
action gives rise to a random motion of the ship which, in turn, induces variations in the cable
tension around those corresponding to the basic model.
To analyze this effect, we assume that the mean forward velocity of the ship and the mean pay-
out or haul-in rate are constant, and that the mean tension at the ship and the mean direction
of the cable as it enters the water are those given by the stationary model. In a reference frame
moving with the mean velocity, we resolve the ship displacement into a longitudinal component
P0 ( see figure 3.8.1(a) ) along the mean or stationary direction, and a transverse component
negligible compared to those of the longitudinal displacement P0 . The analysis given in the
appendices yields this result, unless ship motions are so severe as to rarely occur.
In addition, the analysis shows that for the transverse disturbance, Q0 , the amplitude of the
responding transverse cable motion decreases exponentially after the cable enters the water
because of the damping action of the water drag forces. The "half-life" distance for SB type D
cable, that is, the distance along the cable at which the amplitude of the harmonic transverse
motion is damped to one half its surface value, is plotted in figure 3.8.1(b) as a function of the
Page 33
period of the motion for various depths h and ship velocities V. The rapidity of the damping
is evident.
V Q0
P0
#s
x
240
h inn. miles
160
V inknots 3
6 1
in feet 3
80 0.5
40
(i) (ii)
0
0 4 8 12 16 0 4 8 12 16
Period of transverse shipmotion in seconds
For cable tensions, the most important ship displacement is the longitudinal component P0 ,
directed along the stationary direction of the cable. The one dimensional wave equation:
G2 p 1 G2 p
% =0 (3.8.1.1)
G x 2 c12 G t 2
describes the longitudinal motion. In this equation p is the deviation in the longitudinal
displacement from the mean pay-out or haul-in displacement, and the remaining symbols are
defined as ( figure 3.8.1(a) ).
c = EA $ c
EA = extensional rigidity of the cable.
$c = mass per unit length of the cable in air.
The additional tension Tp , due to the ship motion is in turn given by:
Gp
Tp = EA (3.8.1.2)
Gx
Following the convention used in section 3.5, we assume that by using the limiting values for
In solving 3.8.1.1 it is assumed that the cable is semi-infinite, that is, although damping of
the cable is normally so small that we neglect it, we assume that because of the cables great
length, that the damping is sufficient to cause complete decay of the disturbance initiated at
the ship, and that such a disturbance is not reflected from the ocean floor. Under these
conditions, the additional tension Tp is given by:
dP
Tp = % EA $c , (3.8.1.3)
dt
Page 35
In this case we assume that in a frame of reference traveling at the mean horizontal ship
velocity, ship surging ( to and fro forward motion ) is zero and the combined heave and pitch
motion at the bow or stern sheave is normal to the ocean surface and is given by:
t
W = Asin21
H
Further for steady state laying, the deviation P1 in the pay-out or haul-in rate is zero, hence
21
(T )p max
=% EA $c
H
A sin# s (3.8.2.1)
During recovery by conventional means, the surface incidence angle #s , is in general much
larger than that which occurs during laying. Since stationary tensions are also much larger
during recovery, recovery is the condition for which the strength of the cable should be
designed.
Here we have considered a regular seaway, something that does not happen in nature. It is
possible to use stochastic techniques to describe ship motion, and hence the magnitudes of the
ship motion tensions, but for simple calculations during cable working the above can be used
to get an estimate of the level of tension fluctuations.
Example: For a period of 6 seconds and an amplitude of 15 ft at the bow sheaves, find for SD
List 1 cable ( H = 34 degree knots, EA = 2.4;10 6 lbs. twist restrained, 2.0; 106 lbs. twist
i) (T )p
max
for laying at a constant pay-out rate and a ship speed of 6 knots.
Page 36
ii) (T )
p
max
for recovery at constant haul-in rate with surface incidence angle of 60
degrees.
We have:
For laying:
# s = 5.67 degrees
(T )
p max
= 154 ;1.03
= 159 lbs twist restrained
= 140;1.03
= 144 lbs twist unrestrained
For recovery:
# s = 60 degrees
(T )
p max
= 154 ;13.6
= 2094 lbs twist restrained
= 140;13.6
= 1904 lbs twist unrestrained
Page 37
If during cable laying, the cable pay-out is suddenly stopped due to cable machinery failure
or fouling of the cable, a sharp rise in tension will occur. For a calm sea we have P0 = 0 and
hence:
dP dt = P1 = % V cos# s
and
Tp = EA $c V cos # s (3.8.3.1)
The value for Tp pertains only to this initial rise, while the tension wave is being transmitted
to the ocean bottom. If the stoppage occurs in 3 n. miles depth, a typical transit time for the
tension wave to reach the bottom is of order 9 seconds. On reaching the bottom, the wave will
be reflected, violating one of the initial assumptions and 3.8.1.2 would no longer hold. In
reality the cable tension at the ship would continue to rise and some action would be required
to prevent breaking of the cable.
The primary requirement in laying cable is the control of the slack, both to ensure effective
cover of the bottom and to prevent excessive amounts of cable being laid. From the previous
parts of this section it can be seen that slack can be determined from cable tension at the ship
or by ship speed and cable pay-out rate.
The change in tension at the ship due to slack being laid can be calculated from the change in
tangential drag caused by the effect of slack on the cable pay-out rate ( equation 3.1.2 ).
Figure 3.9.1(a) shows the variation of tension with slack for SB type D cable for a ship speed
of 6 knots and a water depth of 2 n. miles.
As can be seen in the figure, a variation in slack from 3 to 6 per cent causes the tension to
change by only 220 lbs. in a mean tension of about 8100 lbs. This small change could easily be
obscured by ship motion effects and dynamometer system " noise".
Page 38
9000
8600
wh
8200
Tension
in pounds
7800
7400
7000
0 1 2 3 4 5 6 7 8 9 10
Percent slack
Similarly, small residual suspensions can occur with essentially no indication in tension
readings at the ship. Hence, although tension readings can give a valuable check on how the
cable is covering the bottom, it is difficult to use them to provide exact enough data for the
control of cable slack.
Since it is not possible to use cable tension at the ship to accurately determine slack, the
alternative technique of measuring ship speed and cable pay-out rate must be used, that is:
Vc % V
= =
V
The cable pay-out rate Vc , can be measured at the cable machinery, however it is normally
more accurate to measure distance, that is the length of cable paid out, and determine cable
pay-out rate from this. For a plain drum type cable machinery, one revolution of the drum
gives a pay-out distance of:
ld = 1 ( Dd + dc ) (3.9.1.1)
where ld is the distance of cable paid out for one revolution of the drum, Dd is the diameter
of the drum and dc is the diameter of the cable. For Dd and dc in inches:
Page 39
Dd + dc
ld = n. miles (3.9.1.2)
23209
l d = Ld + 1 dc
Where Ld is the measured circumference of the drum over the self fleeting belts. For Ld and
dc in inches:
Ld dc
ld = + n. miles (3.9.1.4)
6076.1 23209
Thus by counting the revolutions of the cable machinery drums by a digital counter ( or
revolutions of the sprockets on linear cable machinery ) it is possible to get accurate distance
and hence by using an accurate time base the incremental cable pay-out rate.
Ship speed and distance traveled along the track are more difficult to measure accurately.
Older cable ships use the taut wire technique, corrected for bottom contours, however modern
cable ships now use a wide range of radio, acoustic and satellite navigation aids, which not
only give distance and ship speed, but also accurate track data.
Thus by using short, accurate time intervals " t, it is possible to get accurate slack given by:
where "ld is the cable paid out and "l is the distance the ship travels along the track in the
The other factor needed to control the cable laying is a knowledge of bottom contours, so that
for a given ship speed one can compute the required cable pay-out rate(s). Also, with
foreknowledge of the bottom, one can anticipate steep bottom ascents and decrease ship speed
accordingly.
The bottom contours would be determined during the route surveys, but as a check during
laying and to ensure full control, the depth of the bottom would be measured by an echo
Page 40
sounder on the cable ship. Since the cable ship is normally far ahead of the touchdown point of
the cable, one can make the necessary adjustments to the slack to compensate for the bottom
slopes.
Note: For deeper depths, the echo sounder should be of the narrow beam type otherwise
anomalies and bottom slope will not be accurately depicted. If this is not available, bottom
slope will have to be corrected by hand plotting, or other means.
In the system design slack is the difference between the length of cable laid, or to be laid,
along the section of the bottom to the length of the cable track over the section, that is:
"lc % "lt
=s = (3.9.2.1.1)
"lt
where =s is the slack ( system design ), "lc , the actual cable length in the section and "lt the
Hence the total length of the cable laid, or to be laid, and the total track length are given by:
l c = I "lc (3.9.2.1.2)
l t = I "lt (3.9.2.1.3)
As can be seen the slack in the system design is always greater than or equal to zero.
If we take the excess slack as s, then for a flat bottom section, where no fill is required:
=s = s (3.9.2.1.4)
On a sloping section of constant gradient, <, the fill slack required to cover the bottom is
1-cos <
f =
cos <
Page 41
1% cos <
=s = +s (3.9.2.1.5)
cos <
In laying cable slack is related to the ship's speed and cable pay-out rate as well as the
bottom contours. Slack during laying is defined:
Vc %V
==
V
where = is the slack ( laying ), Vc is the cable pay-out rate and V is the ship' s speed. As
with the system design the slack consists of two parts, the fill f and the excess s, that is:
= = f +s
The fill slack in laying is different from system design as it is effected by the laying
dynamics, the excess is related to track length only and thus is the same for system design
and laying. However, the final result after laying results in the same configuration as
determined in the system design.
On a flat bottom where f =0 , the system design slack and the laying slack are identical.
However on descending and ascending bottoms, as shown in section 3.6.1, the laying fill slack
is a function of ship speed, bottom slope and the cable hydrodynamic coefficient. For a
descending bottom:
H<
== +s (3.9.2.2.1)
6566V
H6
==- +s (3.9.2.2.2)
6566V
By equating the two expressions for slack, we obtain the cable pay-out rate for a given ship's
speed:
It should be noted that in burying cable as it is laid, the only slack is fill slack and this is
controlled by measuring the distance the plow travels along the bottom and adjusting the cable
pay-out to prevent negative or excess slack occurring.
Of the two portions of slack, the fill slack is determined by the laying dynamics and bottom
contours. The excess slack, however is free to be adjusted by the system designer(s), with the
previously noted exception of cable burial during laying where no excess slack is permitted.
In determining the amount of excess slack, three factors are of importance, The first is the
accuracy of the depth contours from the route survey and during laying. An allowance must be
made to ensure that an amount of excess slack is incorporated to cover these inaccuracies.
The second factor is the allowance of slack to allow the lifting of a bight of cable to the surface
for repair work. This is a function of the water depth and cable strength and can be
determined using the technique in section 4.2. Typical excess slack varies from about 6 per
cent in deep water to around 2 per cent in the shore end sections and shallow water. It should
be noted that modern systems are not designed to have a bight raised to the surface for repair
due to small repeater spacings ( large coaxial cables ), or are designed with little excess slack
( optical fiber cables ). These are cut through first and each end raised separately. Slack for
these systems can be 2 per cent in deep water.
The third factor is the accuracy of the ship navigation and positioning and the cable speed and
distance measuring equipment. On proper cable ships these are normally neglected as they are
very small due to the fitting of the necessary equipment and experience of the ship's officers
and crew. On auxiliary vessels, equipment of this standard is not normally fitted and some
allowance must be made in the determining of excess slack.
Page 43
This chapter contains methods for calculating the loads and configurations of grapnel rope and
ocean cables that occur in cable recovery, and the torque effects in armored cables during
recovery.
In order to raise ocean cable from the bottom of the ocean for repair, it is necessary to grapple
for the cable. When grappling it is important, of course, that sufficient grapnel rope be paid
out in order to place the grapnel in continuous contact with the bottom in a favorable position
for hooking the cable. On the other hand, it is undesirable to pay out large amounts of excess
grapnel rope because of the additional time involved, the wear of the additional rope in contact
with the bottom, and its contribution to the insensitivity of the tension indication when the
cable is hooked.
The required length of grapnel rope for a given operation depends on the depth of water, the
rope weight and hydrodynamic properties, the bottom tension usually related to the weight of
the grapnel and chain and the ship speed through the water. Table 4.1(c) gives the tabulation
of grappling rope length for 6x3 and 8x3 grapnel rope as a function of ocean depth, ship speed
and bottom tension, with figure 4.1(a) showing the configuration. This table was computed
from the results of a grapnel experiment conducted on the BTL 1963 SD Hydrodynamic Trial.
The tables are based on the maintenance of 50 fathoms of grapnel rope in addition to the chain
and grapnels in contact with the bottom. Tables 4.1(a) and 4.1(b) gives a guide for the
estimation of bottom tension from the grapnel(s), grapnel rope and chain.
E x a m p l e : It is desired to grapple for a cable in water that is 1200 fathoms deep ( 1.185 n.
miles ). With a ship speed of 0.8 knots, 6x3 grapnel rope is used to tow 10 fathoms of 1 1/8
inch chain, a Rennie's. and a Sliding Prong grapnel in series.
Page 44
Ts
V
Grapnel
Grapnel(s) rope
h
Touchdown
Chain point
50 Sg
fms
T0
Xg
From tables 4.1(a) and 4.1(b) the estimated bottom tension is found as:
Since table 4.1(c) tabulates rope length for bottom tension of only 600, 900 and 1200 pounds
and since a greater tension results in more rope being used, the 1200 pound bottom tension
will be used, In the column labeled 0.80 knots and the row labeled 1200 fathoms depth it is
found that:
X g = 1311 fathoms
Sg = 1718 fathoms
Sg refers to the amount of rope that should be paid out to keep the grapnel' s chain and 50
Page 45
fathoms of rope on the bottom, while Xg refers to the horizontal distance from the ship to the
junction of the grapnel rope and the chain ( see figure 4.1(a) ).
The approximate tension at the ship may be calculated from equation 2.2.6. that is:
Ts 2T0 + : h
where Ts is the tension at the ship, T0 the tension at the bottom, : the weight per unit length
Table 4.1(a)
Table 4.1(b)
Table of Grapnels.
_______________________________________________________________
1 Bat fish 1600 - 1380 600*
2 Chisel Point Medium 336 - 281 210
Long 560 - 485 350
3 Spear Point Medium 336 - 281 210
Long 560 - 485 350
4 5-Prong Short 252 - 218 160
Common Medium 336 - 281 210
Long 560 - 485 350
5 Common Cutting 550 - 477 350*
6 Cut and Hold Both 1625 - 1408 1010
Ends
7 BPO Cut and Hold 5500 - 4766 600**
8 BPO Cutting 4000 - 3466 600**
9 Detrenching 26 inch 3500 - 3033 17000
36 inch 8500 - 7366 34000
10 Flat fish 400 - 346 200*
11 Combination Flatfish 300 - 260 200*
12 Cutter Flatfish 550 - 477 250*
13 Gifford 30 ton 224 - 194 140
50 ton 450 - 390 280*
Vee Jaw 224 - 194 140*
14 List 1 Jamming 200 - 173 100*
15 Lucas Cut and Hold 504 - 436 315
16 Rennie's 30 ton 324 - 280 200*
50 ton 690 - 598 430*
17 Rouilliard 896 - 776 560
18 Sand Light 253 - 219 160*
Medium 396 - 343 210*
Heavy 550 - 477 350*
19 Sliding Short 504 - 436 315
Prong Long 584 - 506 410*
______________________________________________________________
* estimated from similar grapnels
** estimated from configuration
Page 47
Table 4.1(c)
It is sometimes possible to safely raise a bight of cable to the surface for repair with an
ordinary grapnel. Quite often however, particularly in deep water, a cable bight cannot be
raised to the surface without parting, When this is the case it becomes necessary to cut the
cable near the bottom before bringing it to the surface. A cut and hold grapnel can be used for
this operation or the cable can be cut on the bottom with a cutting grapnel and the end(s) then
brought to the surface with an ordinary grapnel.
If a cable bight could be raised to the surface without exceeding a tension well below the
tensile strength of the cable, it would be the preferred method of recovery. The use of an
ordinary grapnel is in general simpler to use than a cut and hold grapnel or cutting grapnel. It
is therefore necessary to be able to determine if a cable bight can be brought to the surface for
the purpose of deciding what kind of grapnel to use for a particular repair operation. A
procedure for accomplishing this is outlined below.
Figure 4.2(a) shows a cable bight being lifted off the bottom. At the normal low grappling
rates, inertia and drag forces can be neglected. The cable on either side of the grapnel takes
the form of a catenary which is tangent to the ocean bottom. If the grapnel is picked up
vertically, the two sides of the bight will be identical in shape.
The measured length along the cable between the two tangent points is greater than the
horizontal distance measured along the ocean bottom between these two points. The excess
cable comes from the slack originally laid in the section of cable between the two tangent
points and the cable pulled along the bottom against friction by the cable tension at the
tangent points. Stretch or extension of the cable resulting from tension in the cable is small
and may be neglected. Thus the height to which the cable bight can be lifted without exceeding
the breaking strength of the cable depends on the magnitude of that breaking strength, the
cable slack, the weight per unit length of the cable, the ocean depth and the frictional
properties of the bottom. The cable properties are fairly well known from calculations and
experiments. A reasonable approximation of the slack can be obtained if good cable laying
records are available. The bottom friction, on the other hand, is a parameter which is most
difficult to obtain a realistic value.
The cable angle at the grapnel !g ( figure 4.2(a) ) can be shown to be independent of the height
to which the bight is lifted and is, in fact, only a function of the slack and bottom friction.
Figure 4.2(b) gives the cable angle at the grapnel as a function of slack for various values of
bottom friction.
Page 60
Tg
!g
Tcg Tcg
h
90
=0.1
80
0.3
70
1.0
60
J
50
Cable angle !g ( ) 40
in degrees
30
! g = Angle between cable and horizontal at grapnel
= Coefficient of bottom friction
20
10
0
0 10 20 30 40 50 60 70
percent slack
Once the cable angle !g is known, the cable tension at the grapnel Tcg and the grapnel rope
tension Tg ( figure 4.2(a) ) can be determined from the application of the catenary equations.
Tcg 1
= (4.2.1)
wh 1-cos! g
Tg 2sin ! g
= (4.2.2)
wh 1-cos! g
Dimensionless cable tension and grapnel force given by equations 4.2.1 and 4.2.2 are plotted
in figure 4.2(c).
Page 62
14
Tcg = Cable tension at Tg = Grapnel rope
grapnel tension
12 ! g = Cable angle at h= Ocean depth
grapnel
w= Weight perunit length of cable in sea water
10 2.0
Grapnel
8 1.6
Dimension % force
less % Cable
6 1.2
tension tension
(T w h ) 4 T
G T 0.8 ratio
( )
TCG G
wh
Tg Tcg
2 0.4
T
CG
wh
0 0
0 10 20 30 40 50 60 70 80 90
( )
Cable angle !g in degrees
E x a m p l e : List 1 SD cable ( w= 1926 lb/n. mile in water, tensile strength 19500 lbf. ) at a
depth of 1 n. mile is to be raised to the surface for repair, What choice of grapnel is
recommended? Assume a coefficient of bottom friction of 0.3, a tension safety factor of 3, and
that the cable was laid with 10 per cent slack.
With a safety factor of 3, the allowable cable tension at the grapnel Tcg is equal to 6500 lbf.
For a depth of 1 n. mile wh is equal to 1926 lbf. and Tcg w h is consequently equal to 3.37.
With this value of Tcg w h we obtain a grapnel angle !g of 45 degrees from figure 4.2.(c).
From figure 4.2(b) with =0.3 and !g = 45 degrees, we see that the cable must have been laid
with at least 6 per cent slack in order to be raised to the surface. Since 10 per cent slack was
originally laid, the cable bight can be raised to the surface, hence an ordinary grapnel would
be recommended.
Page 63
Ocean cable is recovered from the bow of the cable ship as illustrated in figure 4.3.1(a) for
bow working or double ended cable ships, or over the stern in stern working cable ships. The
general shape of the resulting cable configuration may readily be determined by observing the
direction of the forces acting on a cable element during recovery.
The velocity of a cable element with respect to the water VR ( figure 4.3.1(a) ) is equal to the
vector sum of the cable element haul-in velocity Vc ( with respect to the ship ) and the cable
ship velocity Vs . VN , the normal component of VR with respect to a cable element, will be
directed upward. Consequently, the normal cable drag DN , which is proportional to the square
of VN , will act downward as shown in figure 4.3.1(b). Thus the normal drag DN and the normal
component of the cable weight per unit length ( wcos! ) act in the same direction during
recovery. If a straight-line configuration were possible, these would be the only forces acting
normal to the cable element and for force equilibrium their summation would have to be equal
to zero. Since both forces act in the same direction, their summation cannot equal zero and
therefore the straight-line configuration is not possible. Thus, during recovery the cable
configuration will be curved as illustrated in figure 4.3.1(a).
A cable element with curvature ( figure 4.3.1(b) ) will have a component of cable tension
acting normal to the cable. The summation of this normal component of tension together with
the normal drag and normal weight per unit length must then be equal to the centripetal
acceleration of the cable element times its mass. This equation will then dictate the resulting
shape of the cable configuration.
Since the cable configuration during recovery is not a straight line the cable tension at the
bottom T0 is not zero. This implies a higher tension at the ship during recovery than normal
laying. The tension at the ship will depend on the cable properties, the ship speed, the ocean
depth and the cable angle at the surface. Because of the relatively high tensions involved in
recovery, it is important to have an understanding of the tension dependance on these
quantities.
Page 64
Vs
#s
Vc
VR Vc
! VN
!
Vs
n
T +"T
DN
DT
!
!
w T
Two equations of motion of a cable element may be obtained for recovery as well as for the
general laying situation by summing the normal and tangential forces acting on a cable
element. The solution of these equations must, in general, be obtained by numerical
integration ( see section 2.2 ). However, if the tangential cable drag and the centrifugal force
are neglected together with further simplifying assumptions, the tension at the ship Ts may be
1 6
Ts %1 ( cos# +cos# s +
= * tan2 #
1-cos # cos# s -,
(4.3.2.1)
Ts )
where:
Ts
Ts =
wh
and
2-sin2 #
6 =
sin2 #
The cable angle at the ship is denoted by #s . Here we use the angle # as a parameter
Equation 4.3.2.1 is valid only for the steady state recovery situation where the cable haul-in
rate Vc is identically equal to the ship speed Vs . ( This statement is based on the assumption
that cable ahead of the touchdown point is not pulled along the bottom. Otherwise, the cable
haul-in rate Vc would be equal to Vs ( 1+ =s ) ).) A difference between the haul-in rate and the
ship speed would produce a cable transient that could result in tensions greater or less than
those given by equation 4.3.2.1 under otherwise similar conditions. However, if it is desired
to change the cable angle at the ship, for example to increase # a for the purpose of
decreasing cable tension, it would be necessary to alter the cable haul-in rate ( or
alternatively the ship speed ). When the desired change has been made in the cable angle, the
cable haul-in may again be set equal to the ship speed in order to maintain a steady-state
configuration.
Page 66
Equation 4.3.2.1 is plotted in figure 4.3.2(a) in the form of Ts w h versus # for various
surface incidence angles #s . It is seen that the recovery tensions are in fact considerably
The cable tension at the ship increases with ship speed ( # 2 H Vs ) as well as with decreasing
values of the cable angle at the ship # s . From figure 4.3.2(a), it can be seen that the maximum
allowable ship speed ( minimum # ) and hence maximum cable haul-in rate for a given tension
occurs when the cable angle at the ship is equal to 90 degrees. ( This assumes that the
maximum allowable cable angle #s is restricted to 90 degrees ) Since it desirable to recover
cable as rapidly as possible, it would appear that the best recovery situation is one where the
cable angle is equal to 90 degrees and the ship speed set to maintain the cable tension safely
below the tensile strength of the cable.
The distance along the cable S and the horizontal distance L, both measured from the cable
touchdown point to the ship during recovery, have been obtained by numerical integration and
are shown in figures 4.3.2(b) and 4.3.2(c ).
5
0
# s = 40
4
Ts w h
0
50
3
0
60
2 0
70
0
80
0
90
1
10 20 30 40 50 60 70 80 90
# in degrees
3 0
# s = 40
Lh
2 50
0
0
60
0
70
1 0
80
0
90
0
10 20 30 40 50 60 70 80 90
# in degrees
0
3 # s = 40
sh 50
0
2 60
0
0
70
0
80
0
1 90
0
10 20 30 40 50 60 70 80 90
# in degrees
By following a cable element during recovery we get the recovery time for a cable element as:
S
tr =
vc
where S is the length of the catenary and vc the cable recovery speed.
Not including the effects of wave motion and repeater weight, from 4.3.2.1 we get the cable
tension as Mwh where the magnification factor M , which indicates the difference in tension
between laying and recovery, as:
1
M= 1 (4.3.2.2)
( 2 cos # +cos # s + 6
1- * tan #
) 1-cos # cos # s -,
Hence the tension T( t ) experienced by a cable element as it is recovered from the bottom
varies from
T(0) = T0
to
T( t r ) = w h M + Tw + Tr
where Tr is the weight in water of a cable carried point mass such as a repeater and Tw is the
21 t
Tw = EA $c v y cos cos# s
H
with EA being the cable tensile stiffness, $c the cable mass per unit length, vy the maximum
ship vertical velocity, H the period of the wave motion, and #s the recovery angle. In normal
mile, H =34 degree knots ). Under steady-state conditions, what would be the tension at the
ship for surface angles #s of 50, 70 and 90 degrees at ship speeds of 0.5 and 1 knot?
For a ship speed of 0.5 knots, the approximate value of # is # =H Vs =68 0 , and for 1 knot
# =H Vs = 340 . The exact values of # are 59 degrees and 33 degrees, respectively, obtained
from figure 3.2(a). From figure 4.3.2(a) with the two values of a we may obtain Ts : h . In this
example the :h value for a depth of 2 n. miles is 3852 pounds and, hence, the value of Ts : h
and Ts are as follows:
Vs # #s Ts : h Ts
0.5 59 50 3.4 13096 pounds
59 70 2.2 8474 pounds
59 90 1.5 5778 pounds
1.0 33 50 5.0 19260 pounds
33 70 3.5 13482 pounds
33 90 2,7 10400 pounds
It will be noted from these results that a slight increase in ship speed or a decrease in cable
angle #s at the ship can significantly increase the cable tension, to the point that at the ship
speed of 1 knot and a cable angle # s = 50 degrees, the cable is nearly at breaking point.
4.4.1 Introduction.
Armored ocean cable may form kinks at the cable touchdown point and may also fail to coil
properly when being recovered from deep water. Turns or loops may be placed in the cable at
the touchdown point if torque exists in the cable at that point. These turns may then be pulled
into kinks as the cable is raised to the surface, which may eventually result in weakening the
cable to the point of causing it to part. The refusal of cable to coil properly is evidenced by
the cable coiling itself in a series of small turns. These two effects result from the tendency of
armored cable to twist or unlay when subject to tension and the twisting action of the bow
sheave.
The tension-twist characteristics of armored cable are described by a linearized model of the
twist, per unit length and will be used here to illustrate the recovery problem.
Page 70
When a cable tends to port or starboard of the plane of the bow sheave, the first point a cable
touches as it is picked up is the side of the sheave. As the sheave revolves the friction force
between the cable and the sheave applies a torque to the cable that causes it to roll into the
bottom of the sheave. With the usual left-hand lay cable tending to starboard, cable inboard of
the sheave will be laid up and cable outboard will be unlayed. When a cable tends to port the
opposite effects are observable.
In order to recover cable in deep water that will be undamaged and suitable for further use,
kinking of the cable must be avoided. The prevention of kinking can only be guaranteed when
the torque in the cable outboard of the bow sheave is equal to zero.
It is also desired to be able to coil cable properly after recovery. If cable is to coil properly,
its twist per unit length must be zero when it is relieved of tension. This requires that the
twist per unit length must also be zero on the high tension side of the cable engine ( Ts =: h ),
K =K 11 M t % K12 T (4.4.2.1)
with K =0 we see that the necessary torque in the cable at this point must be equal to
The desired tension, torque, and twist per unit length relationships are illustrated in figure
4.4.2(a), noting that the vertical cable configuration is an oversimplification of the true
recovery configuration. Clearly there is a difference between the desired value of cable torque
inboard and outboard of the bow sheave. The desired condition can only be satisfied if the bow
sheave is used to apply torque to the cable so as to reduce the twist per unit length to zero (
i.e. lay the cable up in order to return it to a normal lay inboard of the bow sheave ). For left-
hand lay this may be accomplished by causing the cable to tend to starboard during recovery.
The amount of twisting is believed not to be a straight-line function of the angle of the cable
lead. A small tend is sufficient for a substantial amount of twisting, but the increase in
twisting will fall off rapidly as the tend increases.
L K =0 L K=0
N N
N T =0 N T =Ts
NM M t =0 NM M t =K 12 Ts K 11
z z z
Zero
torque
0 w h+ % 0 + % 0 +
Tension (T ) Torque ( M t ) Unit twist (K )
Fig. 4.4.2(a) Desired tension, torque, and twist per unit length
relationships during recovery.
the cable outboard of the bow sheave. Furthermore, wind and sea conditions may prevent the
maintenance of a suitable tend to the cable. Regardless of the uncertainty involved, an attempt
to maintain a starboard tend during recovery will in any case reduce the cable torque at the
ocean bottom and offer the best chance of successful recovery. This method has been found to
be successful in many deep water recoveries. In any case, even in shallow water cable should
never be allowed to tend to port as the danger of kinking is even greater than it would be for
the case of no twisting at the bow sheave.
When recovering a torsionally free cable, the cable should not be permitted to tend to either
port or starboard.
As already noted, the cable torque and hence, the twist per unit length may vary as a function
of the length of the cable recovered. As an illustration of the torque transient, a situation will
Page 72
be considered where an end of cable ( originally with zero twist per unit length ) is lifted
from the ocean bottom without permitting the end to rotate. It will be assumed that bottom
friction will prevent cable in contact with the bottom from twisting.
When the end of the cable is on board prior to commencing pick up, the tension, torque, and
twist per unit length will be shown as in figure 4.4.3(a). The resulting twist per unit length
along the cable can best be understood by considering the behavior of an element of cable at
the ship and at the ocean bottom. At the ship the element of cable will attempt to unlay
(negative twist as a result of the tension in the cable at that point Ts =: h ). On the other
hand, an element of cable near the bottom is under zero tension and consequently will have no
tendency to unlay. In fact, the cable near the bottom will resist the unlaying of the cable at
the ship end, in doing so, will be laid up. Because of the assumed linear behavior of the cable,
cable below the point z=h 2 will be laid up ( positive twist ).
z z z
L M t =0
N
M K=0
%0 wh+ %0 + % 0 +
Tension (T ) Torque ( M t ) Unit twist (K )
Fig. 4.4.3(a) Cable tension, torque, and twist per unit length
before commencing recovery.
When picking up is commenced, with no twisting action of the bow sheave, cable will be
recovered at the ship with negative twist ( unlaid ) as the cable is picked up off the bottom
with zero twist or normal lay ( because of bottom friction ). The number of cable turns
initially in the length of suspended cable must then equal the number of turns in the
suspended cable, after a length of cable has been recovered, plus the number of turns removed
from the cable during this interval. From figure 4.4.3(a) the number of turns originally in the
suspended cable is zero since the areas above and below the ordinate of twist per unit length
Page 73
are equal. Thus, the number of turns in the cable configuration after a length of cable is
recovered is equal to the negative of the number of turns removed. As picking up is
commenced negative turns are removed at the ship ( negative twist ) so that positive turns are
accumulating in the length of suspended cable. Thus, the twist per unit length K must
increase in a positive sense and from the torque/twist characteristics for cables we see that
the cable torque must also increase. As recovery is continued the twist per unit length will
increase until the cable outboard of the bow sheave has normal lay ( zero twist ). At this point
turns are no longer being removed and hence turns will no longer accumulate in the length of
suspended cable. A steady-state condition will then have been reached ( figure 4,.4.3(b) ).
z z z
%0 wh+ %0 + % 0 +
Fig. 4.4.3(b) Steady-state tension, torque, and twist per unit length
( No twisting by bow sheaves ).
If we denote the cable twist at the ship by Ks . The number of turns removed at the ship as a
length of cable "x is recovered will be Ks " x . Thus, % Ks " x turns will be placed in the
suspended length and dividing this by the ocean depth, h, gives the change in twist per unit
length " Ks ( constant along the length of the cable. ). Thus we have:
Ks " x
" Ks = % (4.4-3.1)
h
Letting "x approach zero, we obtain the first order differential equation:
Page 74
d Ks 1
+ K =0 (4.4-3.2)
dx h s
Where K s (0 ) is the initial cable twist at the ship. Equation 4.4.3.3 indicates that 63 per cent
of the change from initial to final condition will take place during the recovery of a length of
cable equal to the depth of water, then 63 per cent of the remainder during the next similar
length, and so on.
From figures 4.4.3(a) and 4.4.3(b) we see that at no time at the beginning, during, or at the end
of the transient is the cable torque equal to zero at the touchdown point. Thus, it is possible to
form loops at the touchdown point under these conditions. In addition, during the cable
transient, the cable will not coil properly ( M t ' (K12 K11 ) Ts ). The cable will, however, coil
properly when the final steady-state condition is reached as the cable twist per unit length at
the ship will then be zero. Thus we see that there is no correlation between the ability of the
cable to coil properly and the cable torque outboard of the bow sheave.
If now, instead of picking up with no twisting action of the bow sheaves cable is allowed to
tend to starboard by the correct amount, the desired conditions for proper recovery ( figure
4.4.2(a) ) will be achieved after an initial cable transient. Cable inboard of the bow sheave
will be laid up by the required amount while the cable outboard of the sheave will be unlaid.
On the other hand, if cable is allowed to tend to port, the cable outboard of the bow sheave will
be laid up and the cable torque will be larger than it would be for the case of no twisting by
the bow sheave. This would result in further increasing the possibility of throwing turns in
the cable at the touchdown point. In this case, as well, the cable would coil properly when
steady-state conditions are reached.
The initial transient condition can be avoided if, when the cable is initially raised from the
bottom, the end is permitted to rotate freely. The cable will then be torque free outboard of
the bow sheave. As recovery is commenced, if the cable is tended to starboard by the correct
amount, the cable torque outboard of the sheave will remain zero and the cable will continue to
coil properly. The desired initial conditions may be satisfied by fitting grapnels with swivels
or using a grapnel line of opposite lay to that of the cable so that the cable end may be free to
rotate as it is raised. When recovering conventional armored cable in deep water over a
Page 75
thousand turns of cable end will normally be required to render the cable torque free.
In actual recovery, the cable will not generally be vertical and cable tension will exist at the
cable touchdown point. The tension will act to prevent the throwing of turns with consequent
kinks, even if some torque does exist at the touchdown point. However, since pitching of the
cable ship can act to periodically reduce the bottom tension somewhat, it is important to
attempt to avoid excessive bottom torque. The bottom tension may also go to zero if recovery is
halted and the cable ship is allowed to ride up on the touchdown point. If this occurs small
values of bottom torque may be sufficient to form loops. For this reason stoppages should be
avoided, if possible, during recovery or if they are unavoidable, it may be wise to maintain
shipboard tension greater than the :h value of the cable so that a finite bottom tension will
The shape of the suspended cable configuration can be easily shown to be a catenary, given no
currents and that the ship is stationary or virtually so, as shown in figure 4.5.1(a).
y Ts
#s
S
s
T0
x
The only measurements that can be made on the ship to determine the shape of the catenary
are the cable tension, the cable angle, and bottom depth. As cable tension is the most
important component, either cable angle or bottom depth are required. Cable angle is the
easiest to use, but in many circumstances cannot be readily measured. Depth under the ship is
normally readily available and unless the bottom has a steep slope, is adequate. The other
factor required is the weight of the cable per unit length in water, w.
Using cable angle at the ship # s , and the cable tension at the ship Ts , we get:
T0 = Ts cos# s
(4.5.1.1)
Tv = Ts sin # s
where T0 is the horizontal tension component and Tv is the vertical tension component at the
Tv
S=
w
(4.5.1.2)
T
= s sin # s
w
which gives for the distance from the touchdown point to the point where the cable reaches the
surface X:
T0 ( S w+
X= sinh-1 * - (4.5.1.3)
w ) T0 ,
T0 ( (w X+ +
h= * T - %1-
w *)
cosh (4.5.1.4)
) 0 , ,
T0
w
=
1
2h
( S2 % h2 ) (4.5.1.5)
Page 77
Figure 4.5.1(b) shows X h and S h in relation to #s which can be used where bottom depth
is known.
Where only the shipboard tension Ts , the water depth h , and the weight per unit length of the
cable in water are known, which is the most likely situation, then we get:
S 2 Ts
= %1 (4.5.1.7)
h wh
2
S h
1
X h
0
0 10 20 30 40 50 60 70 80 90
# s in degrees
X 1 ( ( S+
2
+ ( 2 (S h) +
= * %1- sinh -1 * - (4.5.1.8)
h 2 ) ) h, ) (S h) %1 ,
2
,
and
( 2 (S h) +
# s = tan -1 * -
) (S h) %1 ,
2
( 2 Ts +
2 %1 (4.5.1.9)
* wh -
= tan-1 * -
* 2Ts % 2 -
* wh -
) ,
Figure 4.5.1(c) shows the relationship of #s to Ts w h which can then be used with figure
90
80
70
#s 60
in degrees
50
40
30
1.0 2.0 3.0 4.0 5.0 6.0
Ts w h
Fig 4.5.1(c) The relationship between the cable angle at the surface, # s , and the
cable tension at the ship, Ts , the weight per unit length of the
cable in water, w , and the bottom depth, h .
Page 79
Ts 1
=
wh 1% cos# s
can also be used to determine #s , as in most practical circumstances it differs only slightly
Example: SD list 1 cable ( w = 1926 lb/n. mile in water, ( tensile strength 19500 lbf ) is at a
tension of 4000 lbf in 1 n. mile of water. How far away is the cable touchdown point from the
ship and how much cable is suspended?
Ts = 4000 lbf
: h = 1926;1
= 1926 lbf
This gives
Ts 4000
=
: h 1926
= 2.077
# s = 59 0
S X
= 1.82 = 1.4
h h
Therefore for h = 1 n. mile, the distance to touchdown and the length of cable suspended are
respectively:
Page 80
X = 1.4 n. miles
S = 1.82 n. miles
Ts1
Ts2
# s2
# s1
S2 S1
T02 T01
X1
X2
If # s1 is not able to be easily measured the it can be determined from Ts1 and h using figure
To pick-up cable, the tension is increased to Ts2 and the cable angle becomes # s2 , then a new
S2 and X2 can be found from figure 4.5.1(b). Hence the length of cable recovered from
"Sa = S2 % S1 (4-5.2.1)
If slack has been laid and it was not pulled out in raising the cable end to the surface,ie the
bottom is rough and no sliding of the cable along the bottom can occur, then an additional
amount of cable will be picked up from the section raised from the bottom, given by:
" Sb = = ( S 2 % S1 ) (4.5.2.2)
If the cable can slide along the bottom and slack was laid and not pulled out during raising the
cable end to the surface, then the change in bottom tension will pull an additional amount of
cable equal to:
= ( T01 % T02 )
"Sc =
w
and using T0 =
w
2h
( S2 % h2 )
=
" Sc = ( S 2 % S12)
2h 2
(4.5.2.3)
where is the coefficient of friction between the cable and the ocean bottom.
Three conditions exist, the first with no slack, or the slack has been pulled out, the length
picked up, "S is:
The second is with slack on a rough bottom,, ie. no sliding of the cable along the bottom, giving
The third is where there is both slack and the cable can slide along the bottom, giving
E x a m p l e : SD List 1 cable ( w=1926 lb/n. mile in water, tensile strength 19500 lbf ) is
being joined in a water depth of 4 n,miles. It is desired to bring additional cable inboard from
one bight to allow easier joining. If the tension in this bight is 8500 lbf, how much cable can
be brought inboard if a safety factor of two is required, assuming the ship does not move due
to the increase in tension in the bight? Original slack laid was 6% and the coefficient of
friction of the cable on the bottom in 0.2.
Ts2 = 19500 / 2
= 9750 lbf
from 4.5.1.1
wh = 1926; 4
= 7704lb
Ts1
= 1.10
wh
Ts2
= 1.27
wh
Therefore
# s1 = 850
Page 83
# s2 = 780
S1 = 4 ;1.06
= 4.24n.miles
S2 = 4;1.22
= 4.88 n.miles
Giving:
Now assuming that the slack has not been pulled out
= = 0.06
= 0.2
From 4.5.2.3
Therefore the total amount of cable able to be brought inboard from this bight is:
or
which can be seen to be more then adequate, so that the typical length needed to allow for
easier joining will keep tension in the bight will below that for a safety factor of two.
We consider the movement of a cable ship from a position directly above the cable touchdown
point, A in figure 4.5.3(a) to a point B , a distance d away. Initially no slack or sliding of the
cable along the bottom is permitted. The measurable parameters are normally the tension at
the ship Ts , and the bottom depth h ( and if conditions permit the cable angle #s ), with the
TsA TsB
90 0 #s
T0 C
e d
X
From figure 4.5.3(a) we see that for the distances along the cable CA and CB to be equal, we get
for CA:
S = e+ h (4.5.3.1)
Page 85
T0 ( w X+
S= sinh * - (4.5.3.2)
w ) T0 ,
TsA = w h (a)
(4.5.3.3)
TsB = Tv 2 + T0 2 (b)
T0 being the tension at C for CB ( Zero tension on the bottom for CA ) given by:
T0 =
w 2
2h
( e + 2eh ) (4.5.5.4)
Tv = w ( e + h ) (4.5.3.5)
2
( e + (1 ( ( e+ ( e + ++
2 2
Ts
= +1 + * * +2
) h , -, -,
(4.5.3.6)
wh ) h , ) 2 ) ) h,
and
( +
(e +
* 2 +1 -
X 1 ( ( e+ ( e+ + )h , -
2
-1 *
= +2
h 2 *) ) h , ) h , -,
sinh (4.5.3.7)
* ( ( e+ 2 ( e + + -
* * ) , + 2) , - -
)) h h ,,
Page 86
e X d
= % (4.5.3.8)
h h h
If the cable is laid with slack = , then in a distance l along the bottom there will be ( 1+= ) l
length of cable. Thus for a given d , e and X will be reduced.
The result for slack laid on a bottom where sliding does not occur will be given by replacing
e h with e' h , where e' h is given by:
= ( 1% = )
e' e
h h
If we allow the cable to slide across the bottom with being the coefficient of friction of the
cable on the bottom, then using eh we can get a value for T0 w h to calculate the amount of
cable slack pulled out, and use this for a new e' h to calculate an approximate solution, ie.:
e' e = T0
= %
h h wh
The relation between d h and Ts wh is plotted in figure 4.5.3(b) for various values of slack
= , and coefficients of bottom friction . We note that if the cable ship moves towards point A
from position B , then cable is laid on the bottom without slack, unless it is paid out from the
ship. Also if it is likely that the slack has been pulled out in the previous working of the
cable, then the = =0 , =J solution should be used.
Page 87
7.0
==0
6.0
= = 0.03
5.0
= = 0.06
= = 0.10
Ts w h 4.0
3.0
2.0
1.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
d h
7.0
==0
6.0
5.0
Ts w h 4.0
= = 0.03
= = 0.06
= = 0.10
3.0
2.0
1.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
d h
7.0
==0
6.0
5.0
= = 0.03
Ts w h 4.0
= = 0.06
= = 0.10
3.0
2.0
1.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
d h
7.0
==0
6.0
5.0
= = 0.03
= = 0.06
Ts w h 4.0 = = 0.10
3.0
2.0
1.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
d h
E x a m p l e : SD List 1 cable ( w = 1926 lb/n. mile in water, tensile strength = 19500 lbf ) is
suspended vertically under the bow sheaves in 3.5 n. miles of water. How far can the ship move
back from the cable track if a safety factor of two is to be maintained? The slack is 3% and the
coefficient of friction of the cable on the bottom is 0.2.
TsB = 19500 / 2
=9750 lbf
w h=3.5 ; 1926
=6741lb
TsB
= 1.45
wh
d
= 0.36
h
and hence:
d = 3.5 ; 0.36
= 1.26 n. miles
After a cable is recovered it is held for some time to allow testing, splicing into an onboard
cable, or splicing into a cable end that has been previously recovered in a repair operation.
Ideally the optimum configuration is with the cable vertical, that is # s =90 0 , which is easy to
do when spicing into an onboard cable. In this case the shipboard tension Ts = w h . However
when splicing into a cable that has been recovered the most likely situation is that # s < 90 0
for both cables, the #s for both cables should be such that the tension in both cables is the
same so that when the splice is released the cable will tend to sink vertically. The tension in
this case for the cable(s) can be calculated using the methods in 4.5.1
Page 92
The other effect that may need to be considered when standing-to a cable end is the effect of
wave motion on the tension. From 4.3.3 this is given by:
21 t
Tw = EA $c v y cos cos# s
H
Tmax = Ts + Tw
For determining if the cable could be near breaking point, the value for vy should be
determined from the maximum vertical velocity for the bow or stern sheaves in sea conditions
prevailing. If the fatigue of the cable is the consideration required then the vy would be based
on the average vertical velocity. In optical fiber cables this can become important if the
This chapter contains the method for determining values for the hydrodynamic properties of
ocean cables and data from cable laying trials.
The normal and tangential drag forces, which are proportional to the square of the normal and
tangential cable velocities respectively, are given in sections 3.2 and 3.3 as:
DN = 1
2 CD $ dV N 2 (5.1.1)
and
DT = 1
2 C f $1 dVt 2 (5.1.2)
where $ is the mass density of the fluid, CD and Cf are the transverse and tangential drag
coefficients, and d is the cable diameter. On substituting equation 5.1.1 into equation 3.2.2.
the hydrodynamic constant H may be alternately written as:
2w
H = const (5.1.3)
CD $ d
1
Us = H (5.1.4)
180 0
where w is the weight per unit length of the cable, H is expressed in degree knots, Us in
knots and the constant in the expression for H is to correct for units.
Thus the transverse cable hydrodynamic properties, on which the cable critical angle # is
dependent, may be expressed in terms of either the transverse drag coefficient CD the
Page 94
The tangential drag coefficient Cf from which the tangential drag may be computed, is of
resulting straight-line configuration as a function of the ship speed through the water, the
transverse hydrodynamic cable properties could be computed. This may be appreciated by
setting the normal drag ( equation 5.1.1 ) equal to the normal component of cable weight and
combining the result with equations 3.2.3 and 5.1.3 to obtain:
sin#
H = Vs (5.2.1)
cos#
The drag coefficient CD may also be determined for smooth cables from values published in
the literature for the resistance to flow about an immersed cylinder of infinite length. The
drag coefficient, based on these results, can be shown to be a function of the product of the
cable unit weight in water and the cable diameter, wd . In figure 5.2(a), the resulting values of
CD are plotted for values of wd ranging from 10 -7 to 10 pounds. For this computation, it has
been assumed that the sea water temperature is 320 F. with the density of 64.21 lbs/cub. ft (
It is believed that this discrepancy results from cable vibration that is induced by vortex
shedding during laying. Alternate clockwise and counterclockwise vortices are shed in the
wake of the cable. Associated with these vortices is an alternating sidewise force which is
believed to induce cable vibrations. As the cable vibrates, its effective diameter, in terms of
cable drag, will be increased. The resulting drag, consequently, indicates larger values of CD
Page 95
when drag calculations are made using the actual cable diameter.
w d in pounds ( % % % % % )
10 -7 10 -6 10 -5 10 -4 10 -3
1 2 4 6 81 2 4 6 8 1 2 4 6 8 1 2 4 6 81
3.0
2.0
CD 1.5
1.0
0.9
0.8
1 2 4 6 81 2 4 6 8 1 2 4 6 8 1 2 4 6 81
10 -3 10 -2 10 -1 1 10
w d in pounds ( % % % % % )
A hydrodynamic trial was conducted from C.S. LONG LINES during the period of 19 October to
11 November, 1963, in which the sinking characteristics of ocean cables in general and the
hydrodynamic properties of SD List 1 cable were measured.
The system for implementing the objectives of the hydrodynamic trial consisted of an
instrumented length of SD List 1 cable. The cable itself was used to telemeter the outputs of a
number of transducers, each located at a desired point in the cable, to the ship for recording.
Pressure ( depth ) transducers were used to define the shape of the cable configuration and
thus permitted the determination of the cable transverse drag properties. Tension transducers
were used to measure the cable longitudinal drag properties. Accelerometers were also placed
in the cable in order to measure the vibration characteristics of the cable.
(2) The transverse drag coefficient for cable being laid differs substantially from that for
Page 96
(3) For towing, the transverse drag coefficient CD is about 1.3, in fair agreement with the
value of 1.1 for a rigid cylinder rigidly supported transverse to a stream. This
corresponds to a hydrodynamic constant of 52.4 degree knots.
(4) For laying, CD 2 3 , which is in good agreement with results obtained from sextant
observations of the cable angle at the water surface during the laying of SD cable in the
Jamaica to Panama link by HMTS ALERT. Eleven observations of the cable angle for SD
List 1 cable, gave an average hydrodynamic constant of 35.2 degree knots, with a
standard deviation of 2.0 degree knots.
Table 5.2(a)
It is thus clear that the results obtained with steady-state towing are entirely different from
those for steady-state laying, and that the former cannot be used to predict the latter. Perhaps
this should not be surprising in view of the radically different flow about the cable in the two
cases, but it is contrary to the finding with rigidly supported short cylinders. Apparently the
induced cable vibration is significantly different in the two cases.
Page 97
Hence from this work, the value of transverse drag CD 2 3 should be used when determining
the hydrodynamic constant for a cable, unless one can undertake hydrodynamic trials. For
smooth plastic covered cables similar to SD List 1 cable this value should be able to be used
with confidence, however with the classic jute served cable the rougher surface may modify
this value, though not enough to cause major discrepancies.
However, more recent information from ocean cable manufacturers has used lower values for
CD . Simplex Undersea Cable for the SL21 ocean cable (1999) used an average CD = 2.67 ,
while Alcatel for their OALC-7 ocean cable (2001) used an average CD = 2.19 . No information
on the way the CD 's were determined was given. For the installation of the SOAR II range, it
As a result of the above, the most prudent approach would seem to be that if there were values
for the CD , or H, given by the manufacturer of the ocean cable, then these should be used,
unless one can carry out hydrodynamic trials, other wise the value of CD = 3 should be used.
The inclination # of the cable at the water surface is determined from the sextant angle !s
using the relation:
!s % # 1 w a y
= ctn! s (5.3.1)
57.3 2 w h
where !s and # are in degrees, w and wa are the weights per unit length of the cable
submerged in water and in air, respectively, h is the depth of water and y is the elevation
above the water surface of the point of contact of the cable and the laying sheave.
In laying over the bow care should be taken to ensure that the cable is not in contact with the
hull during the measuring of the angle. It will also be probably necessary to use a bosun's
chair to bring the sighting position into line with the cable.
Page 98
This chapter outlines the types of ocean cables and their properties which have an effect on
their laying, recovery and repair, including illustrations from standard ocean cables.
Ocean cables can be classed in two ways, the first by the form of the conductors and the
second by their usage,
Conductors fall into three general classes, the multiconductor, the coaxial and the optical
fiber. These are illustrated in figure 6.1(a) for the deep water cables. The multiconductor
cable can consist of single conductors, pairs, quads and/or small coaxials. The coaxial cable,
on the other hand, has a single, central coaxial conductor which transmits both power and
signals. The optical fiber cable has the optical fibers at its center, surrounded by a coaxial
conductor for power transmission ( in long haul systems ).
The usage of ocean cables, that is shallow water or deep water, determines the arrangement of
the strength members. For deep water, as shown in figure 6.1(a), the cable can have an
external helically wound armor of high strength wires, normally with layers of polypropylene,
jute, cotton and other materials forming their bedding, covering and outer protective sheath.
These layers are normally flushed with ashphaltic compounds to improve their life and
resistance to attack. A variant exists, known as caged armor, where the armor wires are
imbedded in the outer plastic sheath allowing a much lighter cable to be made.
The second type of strength member for deep water is the central strength member made up
from finer wires, with the outer sheath of the cable being of plastic. This form of construction
is known as armorless cable, It is particularly suitable for large coaxial cables where external
armor would result in an excessively heavy cable.
Deep water optical fiber cables have a strength member that lies between the two types
described above. The core of the cable consists of the optical fibers and these are surrounded
by the strength member, made up of high strength wires. This is clad by the coaxial
conductor/water vapor barrier and the cable is covered by a plastic sheath.
Page 99
For shallow water, external helically wound armor only is used, as shown in figure 6.1(b).
Here the function of the armor is as much to protect the conductors from the more severe
environment as to provide strength. The large armor wires with the jute or polypropylene
bedding and outer servings has proven to be the most durable.
As can be seen, the cable designer can normally select from a range of options to construct a
suitable ocean cable for the task in hand.
Fillers % cellulose
acetate
2 polyolefin tapes
1 serving of jute
& 1 of twine
30 armor wires 0.112
1.76
dia. cotton covered
2 servings of 17 / 3 1.84
jute
Inner conductor
0.330
copper tube
Polyethylene
( natural ) 1.000
Outer conductor
copper 1.020
Sheath polyethylene
1.250
( black )
Polyethylene 0.460
Diameter
SL Lightweight cable inch
Optical fibers
2 - 24
Thixotropic gel
Sheath polyethylene
( black ) 1.250
1 serving of jute
& 1 of twine
16 armor wires
0.300" dia. 2.00
2 servings of 28 / 3
2.20
jute
Thixotropic gel
20 wires 0.165"
galvanized steel
Polypropylene
servings 1.510
Ocean cable is designed to withstand tensions that would be encountered during recovery at
maximum depth. However, the recovery tension is not only proportional to the depth, but is
also significantly affected by ship speed, cable angle at the ship and ship motion ( see section
4.3.2 ). The cable breaking strength must be sufficient to permit the cable to be recovered
from the greatest depths under reasonable recovery conditions e.g. ship speed, cable angle, sea
conditions).
In the past, it has been considered adequate to design cable with a cable modulus of
approximately 7. The cable modulus being defined as the ratio of the tensile strength of the
cable to the weight in water of one n. mile of cable. For example, SB type H cable, the cable
modulus is equal to 8.5. and for SD List 1 cable, it is equal to 10.
If the cable modulus is divided by the depth of water in n. miles, the non dimensional tension
Ts : h at the expected failure is obtained. During recovery the non dimensional tension
should be kept safely below this value. For example, in recovering SD List 1 cable with a cable
modulus of 10 at a depth of 2 n. miles, the non dimensional tension Ts : h at failure is 5. The
ship speed and cable angle at the ship during recovery would then be set to maintain the
actual non dimensional tension well below 5.
The breaking strength of cables having their strength member located in the center will
remain unchanged throughout its service life. On the other hand, the tensile strength of
conventionally armored cable may be reduced after several years service through exposure of
the armor to the submerged environment. In the latter case additional caution would be
required when attempting to make a recovery.
Cable that is composed of strength members or other components that have a helical lay will
tend to unlay when subjected to tension ( It is possible to design cable with components of
opposite lay so that the cable will be torsionally dead and, consequently, will not unlay with
the application of tension, but most ocean cables are not of this form ). The driving torque for
this twist is the result of the summation of the tangential components of the helically directed
tensions in the individual armor wires. This twist is resisted by the torsional stiffness of the
armor wires and the remainder of the cable structure.
Page 107
The cable twist per unit length at any cross section is a function of the tension and net torque,
For a cable that is both linear and elastic, the twist per unit length K may be expressed as:
K =K 11 M t % K12 T (6.2.2.1)
where Mt is the cable torque, T is the cable tension, and K 11 and K 12 are influence
( K+
K 12 = % * - (6.2.2.2)
) T ,M t = 0
and
( T +
K 11 =K 12 * -
) M t ,K = 0
In this case the influence coefficients could be determined from two single-point experiments.
la,the first, the cable sample would be loaded in tension with no torsional restraint, that is
the end would be free to rotate. The tension twist coupling constant K 12 would be given by the
ratio of the unlay per unit length to the applied tension ( equation 6.2.2.2 ). In the second
experiment, the torque required to prevent twist under applied tension would be measured.
the ratio of the applied tension to the torque multiplied by K 12 would yield the coupling
Actual cables are not linear or elastic and the above experiments are carried out for various
values of tension and plots are then made of the results. Figure 6.2.2(a) shows the results of
loading SD List 1 and List 3 cables in tension with no torsional restraint, and figure 6.2.2(b)
shows the torque required to prevent cable from twisting under applied tension. The curves
are seen to form loops as a result of the inelastic behavior of the cable. Thus, the twist per
unit length is not uniquely determined by current values of torque and tension but also
depends on the history of loading. Nevertheless, a useful value for the influence coefficients
can be obtain,ed by taking the average slope of the pertinent curve.
Page 108
0.04
SD List
3BJ cable
0.03
Twist per unit
length (K )
0.02
in turns
per foot .
0.01
SD List 1
cable
0
0 1 2 3 4 5 6 7 8 9 10
Tension (T ) in thousands of pounds.
80
70
60
SD List 3BJ
cable
50
Torque ( M t ) in
40
pound feet.
30
20
10 SD List 1
cable
0
0 1 2 3 4 5 6 7 8 9 10
The cable elongation per unit length = ( strain) is also a function of the cable tension and
torque. On a linearized basis, the elongation per unit length is given by:
= =-K 21 M t + K 22 T (6.2.3.1)
( =+
K 22 = * - (6.2.3.2)
) T ,M t = 0
and
(K T = +
K 21 = * 22 % - (6.2.3.3)
) Mt M t ,K = 0
For linear cables the influence coefficients could be determined from two single-point
experiments. In the first, the cable sample would be loaded in tension with no torsional
restraint, that is the end is free to rotate. The influence coefficient K 22 would be given by the
ratio of the unit elongation to the applied tension ( equation 6.2.3.2 ). In the second
experiment the torque required to prevent twist under applied tension ( K =0 ) would be
measured as well as unit elongation. The influence coefficient K 21 may then be computed from
equation 6.2.3.3.
The nonlinear and inelastic behavior of actual cables requires that the above experiments be
carried out for various values of tension and plots must then be made of the results. Figure
6.2.3(a) illustrates the resulting curves obtained for SD List 1 and List 3 cables.
T = EA = (6.2.3.4)
For a homogeneous material the tensile stiffness would be equal to EA where E is the
modulus of elasticity, and A is the cross-sectional area. For a composite structure, such as a
cable, containing many components of varying properties, the tensile stiffness is generally
determined experimentally. The tensile stiffness in this case is denoted by the term EA .
Page 110
10000
9000
8000
SD List 3BJ
restrained
7000 SD List 1
restrained
6000
Tension (T )
5000
in pounds. SD List 1
unrestrained
4000
3000
2000
SD List 3BJ
unrestrained
1000
0
0 0.1 0.2 0.3 0 0.1 0.2 0.3 0.4 0.5 0.6
When tension is applied to a cable that is torsionally unrestrained, from equation 6.2.3.1 with
M t = 0 , we see that the ratio T = gives the tensile stiffness as:
1
EA (twist unrestrained) = (6.2.3.5)
K 22
which is given by the average slope of the twist unrestrained curve of figure 6.2.3(a). When a
cable is restrained from twisting ( K =0 ), equations 6.2.2.1 and 6.2.3.1 can be combined and
solved for the ratio T= to obtain the tensile stiffness. This is:
K 11
EA (twist restrained) = (6.2.3.6)
K 11 K22 %K 21 K12
which is given by the average slope of the twist restrained curves of figure 6.2.3(a).
Page 111
The bending stiffness of a cable EI is related to the bending moment Mb and the radius of
curvature $b as:
EI
Mb = (6.2.4.1)
$b
If cable behavior were linear and elastic, the bending stiffness would be constant. However,
the bending stiffness of an ocean cable is found experimentally to be a function of the radius
of curvature. In figure 6.2.4(a), the bending stiffness EI for SD List 1 and SB type H cables is
plotted as a function of the radius of curvature.
22000
20000 SD List 1
cable
18000
Bending
16000
stiffness EI ( )
in pound 14000
inches2 . 12000
10000 SB Type H
cable
8000
6000
4000
0 10 20 30 40 50 60 70 80 90 100 110 120
Radius of curvature ( $ ) in inches.
We assume again that the tangential drag DT depends only on the relative tangential velocity
Vt , and we consider in a T,! plane the solution trajectories of equations 2.2.3. These
( sin ! " DT w )
dT
d!
=
cos! -# sin! sin!
( T" $ V ) c c
2
(A.1)
and are periodic in ! with a period of 2% . In figure A(a) we have plotted the solution
trajectories qualitatively for ( & -% ) ' ! ' ( & + % ) . It is seen that the trajectories are either
the vertical straight lines ! =&, ! =& % or they lie completely within one of the four
regions, labeled I, II, III or IV, which are bounded by these vertical lines and the horizontal
T = $ c Vc ! =&
2
line . The trajectory corresponds to the straight line laying configuration,
while the trajectories ! =& % correspond to Shea's straight line recovery method.
Examine now the trajectories in Regions II and III at a point of which T =0 . As J.F.Shea has
T = $ c Vc
2
pointed out, these trajectories all lie below the line . On the other hand, the
trajectory ! =& contains all the values of T. Hence according to the stationary model, the only
T ( $ c Vc
2
cable configuration for laying which has the value T =0 and values of is the
&. $ c Vc
2
straight-line inclined at the critical angle The magnitude of is small. For example,
$ c Vc
2
for SB type D cable paid out at 6 knots is roughly six pounds, and for conditions
approximating stationary laying the observed tensions at the ship are in practice always many
$ c Vc
2
times the value. For such magnitudes of shipboard tension and zero bottom tension, the
two-dimensional stationary model thus yields the straight-line as the only possible cable
configuration.
T > $ c Vc
2
However, the empirical fact that does not guarantee that the shipboard tension must
$ c Vc
2
be greater than . We might somehow contrive to lay at a zero bottom tension with
Page A2
T < $ c Vc
2
and with the cable in one of the non-straight line configurations of Regions II or III.
I IV
$ c Vc
2
II III
Consider the cable configuration lying in Region II. From figure 3.4(a) it can be seen that the
vertical velocity of a cable element is given by:
dy
= " Vvert = " Vc sin !
dt
where y is measured upward. Hence, of the possible trajectories for which the bottom tension
is zero only those for which the bottom cable angle !0 is between zero and % correspond to
cable laying. For Region II therefore we need consider only the trajectories in the range
0 ' !0 ' & at T0 = 0 . From equation 2.2.5(c) the maximum value of ym for these trajectories is
given by:
Page A3
Let (DT ) m be the maximum value of DT , 0 ' + ' & . With set equal to (DT ) m the right hand
side of A.2 gives an upper bound on ym . This substitution further allows one to evaluate the
right hand side of this equation in terms of standard integrals. The result yields the following
upper bound on ym :
$ c Vc 2 1
ym < 2.1
w 1-r
where
(D T )m
r=
w sin&
In general, this upper bound will be much less than the laying depth. For example, for SB type
D cable being laid with 6 per cent slack at 6 knots y m <12.5 feet. That is, the cable
configurations corresponding to Region II do not reach the ocean surface. Hence these
solutions of the stationary model do not in general satisfy all the required boundary
conditions and can be discarded.
Similarly, in Region III, the laying trajectories for which T0 = 0 are in the range & <!0 < % .
Consider those for which !0 < % 2 . We get for these trajectories:
%
35 - ) wsin + -D (+) 0 75
$ V2 2
sin)
y% 2 = c c , ( #sin 2 ) "cos) )
4 * exp / " , w ( # sin2 + "cos +) 22 85 d)
T
d +
w !0 56 /
. 0 ! 19
(A.3)
the range & < + ' % 2 . If, as in the usual case, m is positive, we can obtain an upper bound
Page A4
on y% 2 by replacing sin+ - (DT (+ ) w) by m in the right hand side of A.3. By this means we
find that:
$c V c 2 2 ( 1+ cos & )
2
y% 2 <
w m tan& 2
For SB type D cable being laid with 6 per cent slack at 6 knots this relation yields y % 2 <1000
feet. So in the usual laying depths, which are many times greater than y% 2 the configuration
in Region III for which T0 = 0 correspond to a value ! at the surface greater than % 2, or to
cable being paid out in front of the ship during laying. It is doubtful whether such a
configuration would be stable and, at any rate, doubtful whether cable would ever be laid in
such a manner. Hence, we conclude that these T0 = 0 solutions of Regions II and III will in
general be mathematical curiosities, and that the only realistic laying solution of the
stationary model for which the bottom tension is zero is the straight-line ! :& .
Page A5
B.1 Laying.
We assume that the tangential drag and the centrifugal forces are negligible. The since for
laying 0 ' ! ' % , equation 2.2.3(a) by virtue of equation 2.2.6 becomes:
; T0 = d!
+y + # sin2 ! " cos ! = 0 (B.1.1)
< w > ds
Let the origin of an x, y coordinate system be at the cable touchdown point ( figure 2.2(a) ).
Further, let x be the x coordinate of a point along the cable configuration and s the
corresponding distance along the cable from the origin. If we define:
? = s -x (B.1.2)
then
d? ds dx !
= " = tan (B.1.3)
dy dy dy 2
and
dy
= sin! (B.1.4)
ds
d 2 ? 1 ( d?) ( d? ) " 1 = 0
4 2
( T0 + y ) d? 2 +
4 (dy )
+# (B.1.5)
dy dy (dy ) 4
T0 = T0 w h
Page A6
?= ? h
y=y h
integrating B.1.5:
( ( T + y ))
@
d? & 1" T0 0
= tan (B.1.6)
&
1+ ( T ( T + y )) tan
@
dy 2 4
0 0
2
where
2 - sin2 &
@ = (B.1.7)
sin2 &
The usual range of the critical angle & is between 10 and 30 degrees. Also
T0
0 ' '1 (B.1.8)
T0 + y
& 1
@
? (1) = S " X = tan , 1- { T0 ( T0 + ) )} d) (B.l.9)
2 0
Next we let
A = s +x
Page A7
A =A h
Then we have:
dA d?
=1
dy dy
& 1 1
, ;B<1"{ T0 =C
@ -2
A (1) = S + X = ctn
2
( T0 + ) )} >
d) (B.1.10)
0
T0
u=
T0 + )
T0
R=
1+ T0
& 1
1-u@
? (1) = T0 tan
2
, u2
du (B.1.11)
R
& 1
du
A (1) = T0 ctn ,u (B.1.12)
2 R
2
1" u@
1
1-u@ 1" R@ @ 1
1-u@ @ 1
du
, u2
du = + , 2 du " ,u
R R 2 R u 2 R
2
1" u@
Page A8
Combining the above three equations and making the approximation 1- R@ D1 , we find:
; @= @ & &
B 1- C ? (1) + tan2 A (1) = ( 1+ T0 ) tan (B.1.13)
< 2> 2 2 2
Thus ? (1) and A (1) are related, and we need evaluate only one of the quantities numerically
by means of equation B.l.ll or B.1.12 in order to compute both ? (1) and A (1) , and hence S
and X.
The singularity at u=1 makes the numerical evaluation of the integral in B.1.12 cumbersome.
Therefore we consider the evaluation of ? (1) . But for the convenience of numerical calculation
we write B.1.11 as:
& 1
; 1" u =
? (1) = "T0 tan
2
, 1-u@ dB
< u >
C
R
& ; @ u@ =
1
1" u
? (1) = tan B 1" R@ " T0
2 < 2 ,R u2 1" u@
du C
>
We note again that 1- R@ D1 . Further, essentially all of contributions to the integral in this
equation occurs near u=1 because of the large value of @ . On the other hand, the values of T0
which are of interest will normally be smaller than unity. Hence R, the lower limit, will
normally be less than one-half, and thus will be outside of the region of significant
contribution to the integral. Therefore, we can take the integral to be a constant for a given &,
Denoting this integral by n and combining these considerations we obtain:
& @ &
? (1) = tan " ntan T0 (B.1.14)
2 2 2
1
S= + E T0
sin &
1
X= + F T0
tan&
which are a dimensionless form of equations 3.5.3. For brevity we have written:
Since the integral n and the constant @ depend only on &. the constants E and F are also
functions of & only. We have evaluated n by numerical integration and have also plotted the
resulting values of E and F -E in figure 3.5(a).
B.2 Recovery.
!=0 at y=0
(B.2.1)
! = -& s at y = h
where &s is the incidence angle of the cable at the ship ( figure 2.2(a) ). With these boundary
conditions, the development leading to B.1.6 yields 4.3.2.1 for the relationship between
To evaluate S and X, the values of s and x at the ship, we use 2.2.4, 2.2.5(a) and 2.2.5(b).
DT = $ c V c =0 . -% ' ! ' 0,
2
Again we simplify by assuming Further, since for recovery we
"& s )
35 1 sin + 75
S = T0 , 4
56 cos ) + #sin )
2 exp ,0 cos+ + #sin 2 + 85 d)
d +
0 9
(B.2.2)
-& s 3 cos) )
sin + 7
X = T0 , 4 exp , cos+ + # sin2 + 89 d)
d +
6 cos ) +# sin )
2
0 0
The dimensionless bottom tension T0 is computed from 4.3.2.1. The integrals appearing in
B.2.2 have been evaluated numerically. The results are shown in figures 4.3.2(b) and 4.3.2(c).
Page A11
To analyze the effect of ship motion on cable tension we use the model shown in figure C.1(a).
We assume the cable is a perfectly flexible and elastic string whose motion is planar. The
distance L along the cable from the ship to the point of entry into the water is taken as
constant, and the longitudinal damping as negligible.
+ q Q0
p p P0
G
H x
Water Air
Unlike the solution of the basic stationary model, the complete solution of this model is not
simple. To make the problem tractable, we shall make further simplifying assumptions.
Although these assumptions may seem reasonable, they must be ultimately justified by
comparison of experience with predicted results.
Force diagrams of a differential element of cable are shown in figure C.l(b) for the two regions,
air and water. The notation is
! = the stationary angle, i.e. the angle the cable configuration makes with the ship
velocity in the absence of ship motion.
Page A12
T +? T ?s T n
K q p
t
q+ ? q wa ? x
p+? p
?x
! (a) in air
T +? T ?s T n
K t
DN ? s w ? H + p
++ ? + p + ? p
! ?H
(b) in water
Summing forces along the directions t ( tangential ) and n ( normal ) shown in figure C.l(b),
dividing by ?x (air) or ?H ( water ) and letting ? x J0 and ? H J0 , we obtain the following
equations of equilibrium.
Air :
Water:
Here, $c denotes the mass per unit length of the cable in air. As is known from hydrodynamic
theory in order to accelerate a body through a fluid, one must change not only the momentum
of the body but that of some of the surrounding fluid as well. Thus the body has a virtual or
apparent mass in addition to its intrinsic mass. In the first ( C.1.2 ), the equation of
equilibrium in the normal direction in water, we accordingly use $w given by:
% 2
$w = $c + d $
4
as the intrinsic plus virtual mass per unit length of cable moving through water. The
quantities d and $ are the outer diameter of the cable and mass density of the water,
respectively, and the quantity (% 4) d 2 $ is the virtual mass of a unit length circular
CD $ d
DN = V N VN (C.1.3)
2
Here VN is the normal component of velocity of the water relative to the cable, i.e.
and CD d 2 is a constant.
The quantities s and I are given by the following geometric relations which can be obtained
( 1+ pH )
2
+ +H
2
sH = (C.1.5)
tanI = +H (1 + +H ) (C.1.6)
T = EA { ( 1+ px )
2 2
+ qx "1 } ( air )
(C.1.7)
3 7
( 1+ pH )
2 2
T = EA 4 + qH "1 8 (water)
6 9
Equations C.1.1 through C.1.7 form a complete system in terms of the independent variables x
or H and t. Formulating boundary conditions in terms of the coordinate x ( or H ) is
awkward. This coordinate is measured along the unstretched cable so that a disturbance
applied at the ship is applied at different x 's as the cable is paid out. At the same time, if the
velocity of the pay-out is small compared to the significant wave velocity of the cable then we
can plausibly neglect the paying out effect. As will be shown subsequently, in the problem at
hand, there are two significant wave velocities, roughly corresponding to transverse and
longitudinal motion. The first of these is of the order of 200 ft/sec, while the second is of
order of 5000 to 10000 ft/sec. On the other hand, the pay-out velocity is of order of 10 ft/sec.
Hence, we take the pay-out velocity to be zero. This allows us to use C.1.1 through C.1.7
without further transformations and to identify x and H as coordinates fixed in the
We assume that the motion is a small perturbation about the undisturbed configuration of our
model. To determine which terms of the differential equations are important in this case, we
adopt the following procedure. Let:
( P0 + P1 )
2 2
M = max + Q0
where P0 and Q0 are displacements of the cable at the ship, and P1 is the variation of the
pay-out displacement from the mean. The quantity e= M L will normally be less than unity,
P0 + P1 = a f (t )
Q 0 = bg(t )
where f ( t ) , g( t ) are some bounded functions of time and a and b are constants. We assume
T = T0 + eT1 + e 2 T2 + .......
q = e q1 + e 2 q2 + ....... (C.2.1 )
p = p 0 + e p1 + e 2 p2 + .......
with counterparts for the submerged cable. The stationary transverse deflection is further
assumed to be zero, and therefore the series for q contains no q0 term. Substituting, for
example, C.2.1 into C.1.7 for air and equating like powers of e . we find:
T0 = EA p0x (a)
; q1x 2 =
T2 = E A B p 2x + C (c)
< 1+p0x >
Equation C.2.2(a) of this sequence shows that only longitudinal displacements are associated
with stationary tensions, while C.2.2(b) indicates that for small ship motions cable tensions
are independent of the transverse component of ship motion. To compute the effect of
transverse motion, C.2.2(c) shows that terms of the order e2 in p and e in q must be
considered. We assume further that 1+p0x D 1, since p0 x is the order of magnitude of a strain.
Equations C.2.1 and C.2.2 substituted into C.1.1, yield with this approximation:
A a cos& = 0 (a)
(C.2.3 )
1
q1xx " q =0 (a)
c 2 2 1tt
1
p1xx " p =0 (b) (C.2.4)
c1 2 1tt
1 1
p 2xx " 2 p2tt = q q "q q (c)
c1 c1 2 1tt 1xx 1x 1xx
where:
c1 = EA $ a
2
c 2 = T0 $ a
2
For non zero Aa and &L% 2 C.2.3(a) cannot be satisfied. This is a consequence of the
assumption q0 =0 . With p0 tt =0 , equation (b) implies in turn that T0 =constant, which agrees
with our model. For the submerged part of the cable, the equations do not yield a constant T0
and thus contradict the assumed model. However, on the assumption that the transverse motion
is confined to a region near the surface, we consider T0 to be constant in the submerged part
1
+1HH "M +1H "@ +1t " + =0 (a)
c 2 2 1tt
1
p1HH " p =0 (b) (C.2.5)
c12 1tt
1 1
p 2HH " 2 p2tt = + + "+ + (c)
c1 c12 1tt 1H 1H 1HH
where:
c 2 = T0 $ w
2
CD $ dV 2
M= cos & sin&
T0
C D $ dV 2
@ = sin&
T0
as the differential equations governing the motion of the submerged cable. The constant c1 is
the velocity of propagation of a longitudinal wave in the cable, while the constants c2 and c2
represent the propagation velocities of a transverse wave in air and water respectively.
We write:
p (0,t ) = P0 ( t) + P1 ( t )
q (0,t ) = Q0 (t )
P0 (t ) + P1 (t )
p1(0,t ) = (a)
e
Page A18
q1(0,t ) = Q 0 ( t ) e (c)
That is, we apportion all of the longitudinal boundary motion to p1 , and all of the transverse
boundary motion to q1 . Equations C.2.2(b), C.2.4(b) and C.2.5(b) then give the complete
tension due to the longitudinal component of ship motion to the first order. As mentioned in
the text, this tension is easily obtained from standard references, and is also the greater part
of the ship motion tension.
To determine the tensions due to transverse ship motion, we solve C.2.4(c) and C.2.5(c) for
boundary conditions C.3.1(b) and C.3.1(c). In addition, we have the transition conditions:
(C.3.2)
which follow if we assume that at the point of entry into the water the cable is continuous and
the tensions finite and continuous.
We consider only the problem of the tensions associated with a harmonic steady-state
transverse disturbance. Equations C.2.4(a) and C.2.5(a) show the transverse response to this
disturbance to be independent of the longitudinal motion to the first order. The first-order
transverse motion in turn can be thought of as a forcing action on the second order
longitudinal motion, as C.2.4(c) and C.2.5(c) indicate. This suggests the program we follow to
compute tensions. Namely, we first determine the first-order steady-state transverse
response, then the second-order steady-state longitudinal response which is excited by the
first-order transverse oscillation, and finally, by C.2.2(c) the resulting tension caused by
transverse motion.
Page A19
Q 0 (t ) = A cos A t (C.4.1)
q1 = Real{Q1 ( x ) e iA t }
+1 = Real{H1 (H ) e iA t }
The solution of C.2.4(a) and C.2.5(a) for the steady state may then be written:
; iA x = ; iA x=
Q1( x ) = B1 exp B C + B2 exp B " C
< c2 > < c2 >
where the B 's and F 's are complex constants and q1 and q2 are the roots of the quadratic:
A2
q 2 " M q" i A @ + =0
c 22
Throwing away the root of this equation which corresponds to the incoming wave in water, we
get:
where q1 is the root corresponding to the outgoing wave. The three complex constants B1 , B2 ,
and F can now be determined from C.3.2(a), C.3.2(b) and C.4.1:
Page A20
B1 + B2 = A e
; iA L = ; iA L =
B1 exp B C + B2 exp B " C" F =0 (C.4.2)
< c2 > < c2 >
iA 3 ; iA L = ; iA L =7
4 B1 exp B "
C 2 B expB- C8 " q1 F = 0
c2 6 < c2 > < c 2 >9
We note that B1 , B2 and F are proportional to the amplitude A of the forcing motion.
From the preceding results, the right-hand sides of the equations of longitudinal motion
C.2.4(c) and C.2.5(c) can be computed. This computation for C.2.4(c) results in:
1
v v "v v =
c1 2 1 tt 1x 1xx 1 x
3
1 ; c 22 = ; A = 3; 2A x 2A x=
B 2 "1 C B C * 4 B r1 sin + r2 cos cos2 A t +
c 2 C>
(C.5.1)
2 < c1 > < c2 > 6 < c2
; 2A x 2A x= 2A x 2A x 7
B r3 cos " r4 sin C sin2A t + r5 sin + r2 cos 8
< c2 c2 > c2 c2 9
where the r 's, which are proportional to the square of the amplitude A , are:
(
r1 = Real B1 + B2
2 2
)
(
r2 = Imag B1 " B2
2 2
)
(
r3 = Real B1 " B2
2 2
)
(
r4 = Imag B1 + B2
2 2
)
Page A21
r5 = 2Real( B1 B2 )
e 2 r2 2
r6 = r5 + 2
A
( The quantity r6 will be used later ) Similarly for the right-hand side of C.2.5(c) we get:
; 1 =
+1H B 2 +1tt " +1HH C =
< c1 >
e -2 $H {(a cos2 N H + a
1 2 sin2 N H ) cos2 A t + (C.5.2)
where:
q1 = " ( $ + i N )
F
2 35 ; A = 2 75
q1 4 B C cos ( 2f +g ) + q1 cos( 2f + 3 g)8
2
a1 =
2 65 < c1 > 95
F
2 35 ; A = 2 75
q1 4 B C sin ( 2f +g ) + q1 sin ( 2f + 3 g)8
2
a2 =
2 56 < c1 > 59
35 ; A = 2 75
2
a 3 = F 4 B C + q1 8$
56 < c1 > 59
and
%
g = arg ( -q1 ) 0'g'
2
Page A22
It is seen that expression C.5.1 and C.5.2 have terms of the form:
3 sin 2A t
F( x) 4 (C.5.3)
6cos2 A t
in addition to functions of x ( or H ) alone. In accordance with the idea that the first order
transverse motion is a forcing action on the second order longitudinal motion, we take as
solutions of C.2.4(c) and C.2.5(c) functions of the form:
3 sin 2A t
G( x ) 4
6cos2 A t
to correspond to terms of the type given by C.5.3 and the functions of x ( or H ) alone to
correspond to forcing terms which are independent of time. This again gives linear
differential equations which can be readily solved. For examples corresponding to the first
term in C.5.1 multiplying by cos2 A t we have the assumed solution:
G( x ) cos2 A t
35 ; c = 2 75; A = 3 3
d 2 G 4 A2 1 2Ax 2 A x7
2 + 2 G = 4 B 1 C "1 8B C 4 r1 sin + r2 cos 8
dx c1 2 65 < c 2 > 95< c 2 > 6 c2 c2 9
3 Ax Ax A ; 2 Ax 2 A x =7
G = 4 A1 cos + A2 sin + B r1 sin + r2 cos C8
6 c1 c1 8c 2 < c2 c 2 >9
In this manner, the solution for the longitudinal motion can be obtained in terms of a set of
constants. These in turn can be evaluated by means of the boundary and transition conditions
on p2 . This evaluation although straightforward, is very tedious. We shall omit the details of
Page A23
Air:
e 2 A 2 EA 3- 2A x ; c 2A L
e T2 =
2
4/ r2 sin + B r3 + 1 r4 sin
4 c1 c 2 6. c1 < c2 c1
c1 2A L = 2 A x c1 0
" C + r cos 2 A t
c 2 6 21
r6 cos cos
c2 c1 > c1
- 2A L ; c 2A L c1 2A L = 2A x
+ / r3 sin " B r2 + 1 r4 cos + r6 sin C cos
. c1 < c2 c1 c2 c1 > c1
c 0
+ 1 r4 2 sin2A t
c2 1
c1 - ; 2A x 2A L = ; 2A x 2A L =
/r5 B cos " cos C " r2 B sin " sin
c 2 C>
+
c2 . < c2 c2 > < c2
F 0 75
2
" 28
4 21 5
9
Water :
e 2 A 2 EA 3- 2A L 2A L
e T2 = 4/ " r2 sin + r3 sin
2
4 c1 c 2 6. c1 c1
c1 2A L ; 2A L 2A L = 0 ; H=
+ sin B r4 sin " r6 cos C 2 sin2A B t - C
c2 c1 < c1 c1 > 1 < c1 >
- 2A L 2A L c1 2A L ; 2A L
+/ r2 sin + r3 cos + sin B r6 sin
. c1 c1 c2 c1 < c1
2A L = 0 ; H=
+ r4 cos C 2 cos2A B t - C
c1 > 1 < c1 >
2 c1 7
" F e -2 $ H 8
c2 9
Page A24
Since the r 's are each proportional to the square of the amplitude A, the above results
indicate that the transverse motion tension varies as A squared also. It is additionally a
function of the frequency of ship motion A, the forward mean ship velocity V, and the
stationary tension T0 . The computation of the transverse ship motion tension for the laying
situation was carried out for SB type D cable. The results are shown in figure C.6(a). Here we
have denoted the transverse motion tension by Tq and have plotted Tq A 2 against the period
of ship motion O. Rather than the stationary tension Tq , we have used the depth h, which
For representative laying, for example at 6 knots with a ship period of 6 seconds into a depth
of one n. mile, figure C.6(a) gives
2.0
Ship speed = 6 knots Ocean depth = 1000 fathoms
Tq A 2 ( i) ( ii)
1.2 9
( lbs ft )
3000 3
2
500
1000 h in fathoms 6 V in knots
0.8
3000 9
0.4
0
0 4 8 12 16 0 4 8 12 16
Period of transverse ship motion in seconds.
For an extreme value of A =20 ft , we get that Tq is between 200 and 370 pounds.
Additionally, by means of the above analysis, one can compute the rate of damping of a
transverse disturbance after it enters the water, The results of this computation are shown in
figure 3.8.1(b) and are discussed in section 3.8.
Page A26
Let O be the lowest point of the cable at time after the suspension has begun ( figure D.l(a) ).
we make the following definitions:
Vt B
&
h
A S2
N
S1 T0
O
X1 X2
If the cable is being paid out with slack P, then conservation of the total length of the cable
gives the equation:
h
S1 + S2 = + ( 1 +P ) V t + cable stretching (D.1.1)
sin &
Page A27
It is assumed that there is no cable pulled from the bottom. The cable stretching we evaluate
as in the example of section 3.5, viz.:
T0
cablestretching = ( S1 + S2 )
EA
h T
S1 + S2 = + ( 1 +P ) V t + ( S1 + S 2 ) 0 (D.1.2)
sin & EA
To obtain further relations for the unknowns appearing in D.1.2, we assume that from the ship
to point O the cable configuration is a stationary one governed by the equations developed in
section 3.5, while from points O to A we assume that the cable configuration is a static
catenary. These assumptions yield the following relations:
T0
S1 = sinh N (a)
w
h +M T
S2 = +E 0 (b)
sin& w
h +M T
X2 = +F 0 (c)
tan& w
T0
M= ( cosh N -1 ) (d) (D.1.3)
w
h
X1 + X 2 = +V t (e)
tan&
w X1
N= (f)
T0
Ts = T0 + w ( h+ M ) (g)
Page A28
Here E and F are constants, defined and plotted in Section 3.5, which depend only on & , the
critical angle corresponding to V . Equations D.1.2 and D.1.3 form a complete set of equations
in the unknowns X 1 , X 2 , S1 , S2 , T0 , Ts , M and N . They can be reduced to a set which contain
only the unknowns N and Ts :
; K (N ) =
K1 (N ) sin& -P K2 (N ) sin& -h B 1 + 3 t sin & C = 0 (a)
< K 2 (N ) >
(D.1 4)
t coshN
Ts = 1+ (b)
K2 (N )
where:
h = w h EA
t = Vt h
Ts = Ts w h
and
&
K1 =sinh N - N +( cosh N -1 ) tan " ( F "E )
2
coshN "1
K2 = + F +N
tan &
coshN "1
K3 = + sinh N
sin &
First we solve:
cosh N K 3 (N )
, sin &
K2 (N ) K 2 (N )
are plotted as functions of N for various &. These plots can then be used as follows to solve
D.1.4 for a given t . Solve D.1.5 to obtain N 0 . From the plot of K 3 (N ) K 2 (N ) * sin & , compute:
; K (N ) =
t sin & C
*
h1 = h B 1+ 3
< K 2 (N ) >
h , compute N 1 N1
* *
using the value h1 for from D.1.5. With this value of compute h2 f rom:
; K (N ) =
t sin& C ,
*
h2 = h B 1+ 3
< K2 (N ) >
etc. In this way a convergent sequence N0 , N1 , , ..... Nn is generated. Finally, from the plot of
cosh N K2 (N ) obtain Ts .
The above iteration procedure sounds tedious. Actually in most cases the iteration is not
necessary because N remains essentially independent of time. Thus, the solution of D.1.5 by
means of the accompanying nomograph will usually give the complete solution of the problem.
The relations
10 K 2 (N ) dsin &
x1 = 0 , x2 = d , x3 =
1+10K2 (N ) sin&
P K1 (N ) sin&
y1 = h , y2 = , y3 = (D.2.1)
10 1+10 K2 (N ) sin&
Page A30
yi = y i( x i ), i = 1,2,3
which we imagine plotted on a cartesian (x,y) coordinate system. A set of values h , P. and N
determine three points ( x i , y i ) ( i= 1,2,3 ) which lie on these curves. If these points lie on a
straight line, it can be shown that they satisfy D.1.5.
On the left hand sides of figure D.2(a) we have plotted the curves given by D.2.1 for various
values of the critical angle &. These values of the parameters h = w h EA and P, which
scales. Rather than indicate the values of N along the curve y 3 = y 3( x 3 ) we have for
convenience made an auxiliary plot on the right hand sides of figure D.2(a) of y 3 (N ) versus N
, but with the numerical values of the ordinate omitted.
In addition, we have plotted in figures D.2(b) and D.2(c) the functions 1 K 2 (cos h N ) and
0.008 0.08
(I)
0.007 0.07
0.006 0.06
0.005 0.05
h = w h EA & =12
0
0
P
10
0.004 0.04
0
& =12 5
0
0.003 10
0
0
0.03
A 5 B
0.002 0.02
y3 (N ) v sN
0.001 0.01
C
0 0
0.008 0 0 0 0 0.08
& =25 20 16 14
( II )
0.007 0.07
0.006 0.06
0.005 0.05
h = w h EA P
0.004 0.04
0.003 0.03
0.002 0.02
y3 (N ) v sN
0.001 0
0.01
& =14 0 0 0
16 20 25
0 0
0 0.4 0.8 1.2 1.6 2.0 2.4 2.8
N
1.5
1.4
1.3
1.2
1.1
1.0
0.9
cosh N 0.8
K 2 (N ) 0.7
0.6
0.5 & =25
0
0.4 20
0
0
16
0.3 14
0
0
12
0.2 10
0
0.1 5
0
0
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 2.2 2.4 2.6
N
cosh N
Fig. D.2(b) Variation of with N
K (N )
Page A33
0.6
0.5 & = 25
0
0.4
0
20
K 3 (N ) 0
sin& 0.3 16
K 2 (N ) 14
0
0
12
0.2 10
0
0
0.1 5
0
0 0.5 1.0 1.5 2.0 2.5
N
K 3 (N )
Fig. D.2(c) Variation of sin& with N
K 2 (N )
Page A34
To illustrate the method of obtaining the tension rise with time described above, we consider a
numerical example for SB type D cable. The values we assume for the parameters which enter
the calculation are the following:
P = 0.02
V =6 knots ( a = 12 0 )
h = 6000 ft
EA = 1.2*10 6 lbs.
h = 3.1*10 -3
To solve D.1.5, we connect on figure D.2(a) the points P = 0.02 and h = w h EA = 0.0031 with a
straight edge and note the intersection with the intermediate y 3 = y 3( x 3 ) curve for a=120 (
point A ). We then locate the point on the y3 versus N curve having the same ordinate ( point
B ). Finally, we obtain the root of D.1.5, N = 0.555 by reading off the corresponding abscissa (
point C ). This value of N now serves as the starting point in the iteration procedure by
which we find the tension corresponding to a given t.
For example, for t = 1.0 ( t = 600 seconds) we have the following sequence of values:
with N converging to the value 0.580 . For N = 0.580 , figure D.2(b) gives:
cos hN K 2 = 0.800
Ts = 1.80
E.1 General.
The standard two-dimensional model assumes that the cable lies entirely in the plane formed
by the ship's velocity vector and the gravity vector. Because of the symmetry of the cable cross
section, this assumption seems reasonable. However in certain cases, as for example in the
presence of ocean cross currents, the assumption of a planar configuration is clearly
untenable. We consider therefore the case where the cable configuration is not necessarily
planar but is still time independent with respect to a reference frame translating with the
constant velocity of the ship. In analogy with the previous terminology, we call this the three-
dimensional stationary model.
Assume there is a constant velocity ocean current in each of a finite number of layers. Let the
!
vector Vw denote the ocean-current velocity in a reference layer. In the stationary situation
the velocity of the cable configuration is everywhere the velocity of the ship which we denote
! !
by the vector V . Hence the velocity V' of the water with respect to the cable configuration in
! ! ! ! !
( )
V ' = Vw + " V = Vw " V
!
Further, in this layer we choose a set of coordinate axes ),+,H translating at the velocity V
as follows:
!
The ) axis has the direction of "V ' , while + is measured vertically upwards and H is
perpendicular to + and ) so that the axes ),+,H form a right-handed system. A plan view of
! !
this configuration is shown in figure E.l(a). We have denoted the angle between V and Vw by
!
Q. While the angle between the ) axis and V is denoted by K. To describe the cable
configuration with respect to the ),+,H axes, we use the spherical polar coordinates ! and I
!! !
shown in figure E.l(b). ( The t , u, v vectors are discussed later ).
Page A36
V' Vw
e Q
V
"V K
d
)
H
u
t Direction of
cable
!
I
)
I
v
H
As in the two dimensional case, we resolve the velocity of the water with respect to a cable
element in the reference layer into a component VN normal to the cable and a component Vt
tangential to the cable, and associate with VN and Vt the drag forces DN and Dt . The
resulting differential equations, which are derived in detail later, are the following:
Page A37
( T " $ V ) dds!
c c
2
(a)
+ w #' cos I sin ! + sin I cosI sin ! -w cos! = 0
2 2 2
(b) (E.1.1)
+ w #' cos I sin ! + sin I sinI = 0
2 2 2
dT
+ DT " w sin! = 0 (c)
ds
!
where #' = C D $ dV ' 2 2 and V' is the magnitude of V' .
In addition, connecting the coordinates )( s), +( s), H (s) of a point s along the cable with the
d)( s)
= cos! cosI (a)
ds
d+(s)
= sin ! (b) (E.1.2)
ds
dH (s)
= " cos! cosI (c)
ds
Two important general results follow from E.1.1 and E.1.2. For one, if the tangential drag force
Dt is negligibly small, E.1.2(b) substituted into equation E.1.1(c) yields upon integration:
T0 = T + w + (E.1.3)
where T0 is the tension at += 0 . Hence if + is measured from the ocean surface, and if at the
bottom ( += " h ) the tension is zero, the tension at the ship is essentially w h, regardless of
the nature of the normal drag forces. Since in most laying situations for present cables the
tangential drag force can be reasonably neglected, this fact provides a convenient over-all
Page A38
check on the laying process. That is, if the cable is being laid with excess, the tension at the
ship for any stationary cable configuration, planar or non-planar, should be essentially w h.
Any marked increase of tension over wh value necessarily means the bottom tension is
The second important result is derived from the differential equations, to be described later.
This result is that if the bottom ocean layer in our model is devoid of cross currents and if the
bottom tension is zero, then for the boundary conditions which are normally observed, the
cable configuration in the bottom layer is a straight line. Further, this straight line is in the
!
plane formed by the ship's velocity vector V and the gravity vector. Hence, for example, in
laying with excess in a sea which contains surface currents, the cable configuration in the
lower, current free, portion will be a straight line in a vertical plane parallel to the resultant
velocity of the ship. The laid cable will be parallel to the ship's path, but displaced a certain
distance from it. Thus, because the lower portion is a straight line, our previous results about
the kinematics of straight-line laying still apply. Only they now are pertinent to the
displaced bottom contour rather than to the contour which lies directly beneath the ship,
!! ! !
Let to i, j, k be unit vectors along the ),+,H axes (figure E.l(a)) and t unit vector along the
! ! ! !
! "i +
n= !
( i .t ) t
! ! ! (E.2.1)
"i + ( i .t ) t
In analogy to the two-dimensional model we assume the normal and tangential drag forces
depend only on the corresponding water velocity components. Thus, we take:
CD $ d ! !
( i . nV )
2
DN = (E.2.2)
2
Page A39
!
dt ! dT ! ! ! !
T +t + t Dt + n DN " j w = $ c a (E.2.3)
ds ds
!
The vector a denotes the acceleration of an element of the cable as it moves at the constant
pay-out velocity Vc along the cable configuration, It is easily shown that:
!
! 2 dt
a = Vc (E.2.4)
ds
!! !
For convenience we introduce a second reference triad of orthogonal unit vectors t , u, v as
! ! !
follows. The vector v is taken in the ( ) ,H ) plane normal to t ; the u vector is chosen equal to
! !
the vector product v * t . The angles I and ! shown in figure E.l(b) describe the orientation of
!
the ( t , u!, v! ) triad. In terms of these angles, we read from figure E.l(b) the following table of
direction cosines:
! ! !
i j k
!
t cos! cosI sin ! -cos! sin I
!
u -sin ! cosI cos! sin ! sin I
!
v sin I 0 cosI
!
In the ( t , u!, v! ) system the vector n! becomes for example:
! !
! u sin ! cosI - v sinI
n=
sin 2 ! cos2 I + sin 2 I
!
Imagine the origin of the ( t , u!, v! ) triad to traverse the cable at unit velocity. The triad during
this traverse rotates like a rigid body with respect to the fixed ( ) ,+,H ) frame. The rotation,
!
which we denote by R , is seen from figure E.l(b) to be:
! ! ! ! ! !
R = j I + v ! = u cos !I +v ! +t sin !I
Page A40
Here the dot denotes differentiation with respect to time, or since ds dt =1 it may be
!
interpreted as differentiation with respect to distance along the cable. The vector t is a fixed
! ! !
vector of constant magnitude in the ( t , u, v ) rotating triad, hence:
!
dt ! ! ! !
= R * t = u ! " v cos! I (E.2.5)
ds
!; =
( T " $ V ) ( u! ! " v! cos! I ) + t B< dT
c c
2
ds
+D C
> t
CD $ dV 2 ! !
+ sin 2 ! cos 2 I + sin 2 I ( u sin ! cosI - v sin I ) (E.2.6)
2
! !
" w ( u cos ! +t sin ! ) = 0
!
Further, let r( s) be the cable configuration, i.e.
! ! ! !
r( s) = i ) (s) + j + (s) + k H ( s)
where )( s) , +(s) , and H (s) are the ),+,H coordinates of a point s of the cable. Then:
! ! d ) (s) ! d +( s) ! d H ( s)
t =i +j +k
ds ds ds
! !! !
Forming the scalar product of t with i, j, k respectively, we get equations E.1.2.
In a !,I,T space the solution trajectories of E.1.1 are given by the solutions of:
We see that the trajectories are periodic in both ! and I with a period of 2% , and only a
0 ' ! ' 2%
0 ' I ' 2%
are the solution trajectories which contain all values of T . Along other solution trajectories in
this region one easily verifies that:
$c V c 2
T= *
w
; ; DT = =
! " sin! d!
B < w > C
B 1-exp , C
! 0 # cos I (! ) sin ! + sin I (! ) cosI (! ) sin ! -cos! C
2 2 2
B
< >
dI
=
{
cos ! - # cos2 I sin 2 ! + sin 2 I cos I sin ! cos! }
d! # cos 2 I sin 2 ! + sin 2 I sin I
Page A42
From the definitions of I and !, it follows that the lines (3) and (4) are physically identical
with lines (1) and (2), and represent straight-line laying and recovery respectively. Likewise,
the expression for T shows that any non-straight-line trajectory with zero bottom tension is
$ c Vc w . Hence,
2
bounded by as in the case of the two-dimensional model, we conclude that if
$ c Vc w
2
the tension is somewhere greater than and the bottom tension is zero, the only
possible stationary configuration is the straight line lying in the plane of the resultant ship
velocity and gravity vectors, and making the critical angle & with the horizontal.
At the outset we assume that tangential drag force is zero. This gives by E.1.3:
T = w ( h ++ ) (E.3.1)
If the angle K ( figure E.l(a) ) is small compared to unity, we assume that ! and I will vary
only slightly from the values they would have if the upper, cross-current stratum extended all
the way to the ocean bottom. That is we take ! and I to be of the form:
! = &'+ !
(E. 3. 2)
I =I
where &' is the stationary incidence angle corresponding to the velocity V' , and ! and I are
Substituting E.1.2(b), E.3.1, and E.3.2 into E.1.1(a), (b) and retaining only linear terms in !,I
and their derivatives, we get the linear first order equations:
d!
( h ++ ) + ( 2ctn 2 &' + 1) ! = 0 (a)
d+
(E.3.3)
dI
( h ++ ) + csc 2 &' I = 0 (b)
d+
Page A43
Because in the lower stratum the cable is a straight line parallel to the path of the ship, we
have as boundary conditions:
where h' is the depth of the upper, crosscurrent stratum and & is the stationary incidence
angle corresponding to the velocity V.
; h " h' =
! =B C ?&
< h+ + >
(E.3.5)
; h" h' =S
I =B C K
< h ++ >
where:
= ( 2ctn 2 &' + 1)
Equation E.1.2 for the space-coordinates ), + and H of the cable in turn can be written to
d)
= ctn&' -! csc 2 &'
d+
(E.3.7)
dH
= "I ctn &'
d+
Page A44
Substituting E.3.5 into E.3.7 and integrating under the condition that at + = 0 , ) =0 and H = 0,
we find:
) = + ctn& '+
( h-h' ) ?& 35
csc 2 &' 4
1
"
1 75
8
-1 56 ( h+ + )
-1
h -1 59
(E.3.8)
h -h' 35 1 1 75
H = ctn&' K4 " S "1 8
S -1 56 ( h ++ )S " 1 h 59
These equations describe the space curve formed by the cable in the crosscurrent stratum.
To determine the distances d and e ( figure E.l(a) ) we transform E.3.8 for the cable
configuration to coordinates )' and H ' orientated along the ship's path and normal to it
( h- h' ) ? & 35 1 1 75
)' = + ctn &'+ csc 2 &' 4 " 8
-1 56 ( h+ + ) - 1 h - 1 59
; h -h' 35 1 1 75=C
H' = K BB+ ctn &'+ctn &' 4 " 8
65 ( h ++ ) hS " 1 95C>
S"1
< S -1
Letting + = " h' and denoting the corresponding values of )' and H' by "d and "e
respectively, we obtain 3.7.3.
Page A45
In cable working if the cable ship is stationary or virtually so, then the cable will take up the
form of a catenary, given there are no significant currents.
Using the basic equations for a catenary and using ordinates shown in figure F.l(a), we have
T0 ;wX=
S= sinhB C (F.1.1)
w < T0 >
T0 ;B ; wX = =
h= B coshB C "1 C (F.1.2)
w< < T0 > C>
T0
=
w 2h
1
S2 " h2 ( ) (F.1.3)
Distance from the touchdown point to the point where the cable reaches the surface X:
T0 ;Sw=
X= sinh-1 B C (F.1.4)
w < T0 >
Tv = w S (F.1.5)
2 2
Ts = T0 + Tv
Page A46
Ts
y
&s
s S
T0
x
T0 = Ts cos& s
(F.1.6)
Tv = Ts sin & s
and hence:
Tv
S=
w (F.1.7)
T
= s sin & s
w
Using the catenary equations above we get the non-dimensional length of suspended cable S h
in terms of the non-dimensional tension at the ship Ts w h .
Page A47
Firstly:
Ts ; T =2 ; T =2
= B v C +B 0 C (F.2.1)
wh < wh> <wh>
with
Tv S
= (F.2.2)
wh h
and
1 ;B ; S =
2 =
T0
= B B C "1 CC (F.2.3)
w h 2 << h > >
; ; ; =2 ==2
; = 2
Ts S 1 S
= B C + B BB B C "1 CC C
wh < h > B< 2 < < h > > C>
; S = 2 1 ;; S = 4 ; S = 2 =
= B C + BB C " 2 B C + 1 CC
B
< h > 4 << h > <h> >
; S =2 1 ; S =4 1 ; S =2 1
= B C + B C " B C +
< h> 4<h > 2< h> 4 (F.2.4)
1 ;S = 1 ;S= 1
4 2
= B C + B C +
4 <h > 2 <h> 4
1 ; S =4 ; S =2
= B C + 2B C + 1
2 <h> <h>
; =
1 B; S =
2
= B B C + 1 CC
2 << h > >
giving:
S 2Ts
= "1 (F.2.5)
h wh
Page A48
X T0 ; Sw=
= sinh-1 B C
h wh < T0 >
=
(S 2
" h2 ) sinh
; 2hS =
B 2 2C -1
(F.2.6)
2h 2 < S "h >
; = ; 2 S h =
1 ; S=
2
= B B C " 1 C sinh-1 B
( ) C
2 B< < h > C
>
B ( S h) 2 "1 C
< >
and
Tv
tan & s =
T0
2 (S h ) (F.2.7)
=
(S h)
2
"1
Where only the shipboard tension Ts , the water depth h , and the weight per unit length of the
cable in water are known, which is the most likely situation, then then the angle of the cable
at the surface & s is given by:
; =
B 2 (S h) C
& s = tan -1
B (S h) 2 " 1 C
< >
; 2Ts = (F.2.8)
B2 "1 C
-1 B C
wh
= tan B
2Ts C
BB w h " 2 CC
< >
If the cable is laid with slack P then this will have an effect on the catenary and the length of
cable that can be recovered.
In the first case where cable is lifted off the bottom, and where the slack has not previously
been pulled out ( implies bottom is rough ), then if the cable is laid with slack P, then in a
distance l along the bottom there will be ( 1+P ) l length of cable. The means that if the
touchdown point moves from a distance XA to a distance XB further away from the ship the
M = ( X B " XA ) P (F.3.1)
The second case is where cable can slide along the bottom. If is the coefficient of friction of
the cable on the bottom, then the force to pull unit length of cable along the bottom Tu is:
Tu = w (F.3.2)
Thus the tension at the touchdown point T0 , can pull a length of cable l across the bottom
equal to:
T0
l=
Tu
(F.3.3)
T
= 0
w
The amount of cable that can be pulled out of this length, L' is the slack, that is:
L'=P l
PT (F.3.4)
= 0
w
If the touchdown point moves from a distance XA to a distance XB further away from the ship,
then because slack will already have been pulled from the bottom then L' will be reduced,
given by:
P ( T0 B " T0A )
L'= (F.3.5)
w
From figure 4.5.3(a) we see that for the distances along the cable CA and CB to be equal, we get
for CA:
S= e+ h (F.4.1)
T0 ;wX=
S= sinhB C (F.4.2)
w < T0 >
TsA = w h (a)
(F.4.3)
2 2
TsB = Tv + T0 (b)
T0 being the tension at C for CB ( Zero tension on the bottom for CA ) given by:
T0 =
w
2h
(
S2 " h2 )
w ;B =
( )
2
= e + h " h 2 C> (F.4.4)
2h <
=
w 2
2h
(
e + 2eh )
Tv = w S
(F.4.5)
= w (e + h )
The distance along the bottom from the cable ship to the touchdown point X is given by:
T0 ;Sw=
X= sinh-1 B C (F.4.6)
w < T0 >
; 1 =2 ; 1 w =2
Ts
wh
= B
< wh
w SC + B
> < w h 2h
S "h C
2 2
>
( )
; 1 =2 ; 1 w ; =2
2=
w ( e + h )C + B B ( e+ h ) " h CC
2
= B (F.4.7)
< w h > < w h 2 h < >>
; =2
; e =2 B 1 ; ; e =2 ; e = =C
= B + 1C + B B C + 2 B C C
< h > B 2 B< < h > < h > C>C
< >
and
Page A51
X T0 ; w=
= sinh-1 B S C
h wh < T0 >
; =
B ;e = C
2B + 1 C C (F.4.8)
1 ;B ; e = ; e == B
2
C <h > C
= B B C + 2 B C C sinh B
-1
B
BB B B C + 2 B C CC CC
< h > < h >>>
<<
d X e
= " (F.4.9)
h h h
Tv
tan & =
T0
giving:
; =
B ;e = C
B 2B + 1 C C
<h >
& = tan -1 B C (F.4.10)
B ; ; e =2 ; e = = C
BB BB B C + 2 B C CC CC
<h> < h >>
<< >
This is the solution for zero slack or where the slack has been pulled out.
From F.3, if the cable is laid with slack P , then in a distance l along the bottom there will be
( 1+P ) l length of cable.
Using this to modify F.3.1 for slack:
S= ( 1+P ) e + h (F.4.11)
We can then modify the equations F.2.7, F.2.8, and F.2.10 by replacing eh with e' h , where
e' h is given by:
e' e
= ( 1+P )
h h
to get the result for slack laid on a bottom where sliding does not occur.
If we allow the cable to slide across the bottom with being the coefficient of friction of the
cable on the bottom, then from F.3 we get the amount of cable that can be pulled out of this
Page A52
length, L' :
L' P T0
= (F.4.12)
h wh
Using eh we can get a value for T0 w h to calculate the amount of cable slack pulled out, and
e' e P T0
= + (F.4.13)
h h wh
Page A53
G.1 General.
The normal drag coefficient, CD and its related hydrodynamic constant, H, are critical in
determining the behavior of an ocean cable during laying. In Section 5, the reported trials for
SD List 1 ocean cable gave a value for CD which was at variance with those used before, based
on towed cables. The reason for the variation is not understood. For the SD List 1 trials, the
value for CD D 3.0 ( 3.05 ) , However more recent data from the manufacturers of optical fiber
ocean cables have values for the hydrodynamic constants that give lower values of CD . As no
methods were given on how the hydrodynamic constants were determined, this leaves the
difficulty in determining which value for CD should be used without other corroborating
data. As the value of CD D 3.0 was determined from two trials using different methods, it
would appear that without other data, this is the value that should be used.
One other value for CD is given, from the installation of the SOAR II range, which was
G.2 Calculations
2w
H = const
CD $ d
where:
57.3 2* 0.32
H=
1.689 3.05 *1.994 * 0.104
= 34
1.689 2w
H =
57.3 CD $ d
2
2w ; 1.689 H =
=B C
CD $ d < 57.3 >
2
CD $ d ; 57.3 =
=B
2w < 1.689h C>
so:
2
2 w ; 57.3 =
CD =
$ d B< 1.689 H C>
2
2* 0.32 ; 57.3 =
CD =
1.994 * 0.104 B< 1.689 * 34 C>
= 3.07 ( 3.05)
Page A55
G.3 Normal Drag Coefficients and Hydrodynamic Constants for Various Ocean
Cables.
The values for normal drag coefficient and hydrodynamic constant are given in table G.3(a).
Table G.3(a)
* - Calculated values.
The values for the SD List 1 ocean cable were from the trials described in Section 5.2, for the
SL21 ocean cable were from Simplex Undersea Cable SL COMMUNICATION CABLE (1999), the
OALC-7 ocean cable were from Alcatel, OALC-7 Type 50 and Type 51 Submarine Cables, April
2001, and the SOAR II ocean cable from Makai Ocean Engineering.