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anchor leg mooring articulated Ashtart ballast barge berth buoy body buoyancy CALM cargo transfer catenary components configuration connection costs crude oil diameter drift force drilled ELSBM equipment facility Field FIGURE floating hoses floating production floating storage fluid swivel FPSO system frequency hawser hinges hose string IMODCO installation manifold maximum meters model tests moored vessel mooring force mooring hawser mooring lines mooring load mooring system motion North Sea OCIMF offshore operation OTC Paper Pemex Pertamina Petrobras piles pipe pipeline PLEM pressure QA/QC QA/QC program riser roller bearing rope rotating SALM seabed seastates Ship Model Basin shore shown in Fig significant wave height single point mooring slurry SPAR SPM system Statfjord steel storage vessel structure submarine hose subsea Taharoa tanker beam tanker moored terminal transport tanker turntable typical unijoint universal joint velocity vertical water depth wind yoke