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VENUS PROJECT
PIANOSA SEA TRIAL
CRUISE PLAN
VERSION 1.0 – SEPTEMBER 22 2006
Prepared by Andrea Càiti, ISME – caiti@dsea.unipi.it
Approved by:
G.Conte, ISME
P.Gambogi, SBAT
P.Drap, CNRS
Distribution: VENUS partners
Pianosa Sea Trial Cruise Plan -
Executive Summary
This document summarizes scopes, activities, procedures and schedule for the Pianosa Sea
Trail, to take place in the waters of Pianosa Island in the period Sept 29 – Oct 13 2006. The
Pianosa Sea Trial is the first experimental activity in the field to take place in the framework
of the Venus Project. Taking place at three months from the project start, the Sea Trial has the
main purpose of initialising all the project activities, and to make a preliminary assessment of
the technological capabilities of the available robotic systems.
Contents
Pianosa Sea Trial: general view of scopes and activities p. 3
Participants and roles p. 4
Decision making structure, responsibilities, safety procedures p. 5
Accommodation, subsistence and costs p. 6
Embarking and disembarking equipment p. 7
Schedule of events p. 8
Appendixes
A. Pianosa Island Map p. 15
B. Tuscany and Tuscany Archipelago Map p. 16
C. Elba Island Map p. 17
D. Livorno (Leghorn) Map p. 18
E. List of participants p. 19
F. Web links, phone numbers, addresses p. 21
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Pianosa Sea Trial Cruise Plan -
PIANOSA SEA TRIAL: GENERAL VIEW OF SCOPES AND ACTIVITIES
The Pianosa Sea Trial takes place within the framework of the Venus project with the follow-
ing primary objectives:
• To provide field data for initialization of the various project activities;
• To test in the field the capabilities of the available robotic instrumentation with co-
located acoustical and optical instrumentation.
To meet the objectives, the Pianosa site, relatively sheltered at a depth of approximately 35m
of waters has been chosen. The site is extended over approx. a 30x30 m area, with a consis-
tent number of amphora resting on the sea-bed. Previous archaeological explorations have
shown that the amphora belong to different periods, suggesting that at the site are present
remnants of different wrecks, or leftovers of different cargos. While very interesting from an
archaeological and a technical point of view, the Pianosa site present several difficulties from
the logistic side: Pianosa Island is rather isolated from the other islands of the Tuscany archi-
pelago, it is a Marine Protected Area (with restrictions on permitted activities) and it is not in-
habited for the whole year. Once the site of a penitentiary, the former jailhouse and police sta-
tion infrastructure will serve as a basis for the experimental activities.
Within the sea trial activities, diving archaeologist will map the site with standard procedures;
a sub-area will be identified for the specific technical activities, in order to maximize the ar-
chaeological interest of the technical work, and also to offer to the technical activities a varie-
ties of challenges and situations. On the identified sub-area, diving archaeologist will also
perform a cleaning operation over the amphora, if needed, to uncover them from dead posid-
noia leaves. Traditional photogrammetry, with diving operators, will be performed on the se-
lected sub-area; subsequently, photogrammetry with the available robotic system (a Remotely
Operated Vehicle – ROV – with an USBL acoustic positioning system) will be performed.
The ROV will mount also an acoustic sensor for simultaneous acquisition of acoustic and op-
tical images. The ROV operations will be repeated with different guidance modalities, with
increasing autonomy of the vehicle guidance and control steering (i.e., the operation will start
with standard pilot guidance, and will be repeated with automatic control modalities). A video
survey over the whole area, will also be performed with the ROV. Depending on the above
operation success, on the remaining ship time, and on the emerging characteristics of the site,
the sea trial may include also a seabed sampling attempt, though in full respect of the regula-
tions of the marine protected area, to provide preliminary data for 3-D rendering of an ar-
chaeological excavation.
A scientific coordination assembly and a general assembly will take place on each day, to re-
view the daily work and to prepare the detailed plan for the next day.
From a logistic point of view, after some preliminary testing in Leghorn on the day Sept 29,
loading of the instrumentation on the ship will take place on Sep 30. The team will move on
Oct 2 to Pianosa, and operations will start on day 3. On day 7 it will be possible to exchange
personnel on Elba Island. Operations will terminate on Oct 12, and the ship will return to
Leghorn on Oct 13.
The Pianosa Island map is reported in Appendix A; the Tuscany Region map is reported in
Appendix B.
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Pianosa Sea Trial Cruise Plan -
PARTICIPANTS AND ROLES
The Pianosa Sea Trial will witness the participation of several VENUS partners, plus partici-
pation of the Leghorn Fire Brigade (Vigili del Fuoco – VV.FF. in the following of the docu-
ment), that makes available one of its operational ship and its diving team for support to the
scientific diving, and the University of Girona, that will participate as an observer to the field
activities, along the lines agreed in the VENUS kick-off meeting.
The VV.FF. makes available to the project the following means:
- Ship VF 1174 – personnel/equipment transportation, operation support
- Rubber boat Sierra Livorno 3 0 – diving support
- Rubber boat Sierra Firenze 1 0 – diving support
Overall, the participants organizations, with respective roles, are as follows:
VV.FF.: ship transport, ship operation, assistance to diving; all safety issues involving
participating personnel
SBAT: activities coordination; archaeological diving; archaeological supervision; all
safety issues concerning the archaeological site
ISME: ROV operation; technical coordination of all operations;
CNRS: technical diving; photogrammetry, quality control;
DRASSM: archaeological diving;
COMEX: operation of photogrammetric camera, for both divers and ROV operation
IST: observer, ROV operations, positioning;
Univ. Girona: observer, photogrammetric and video mosaicking data.
The list of participating personnel is reported in Appendix E.
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Pianosa Sea Trial Cruise Plan -
DECISION MAKING STRUCTURE, RESPONSIBILITIES, SAFETY PROCEDURE
The Pianosa Site is located in a marine protected area; this means that, in addition to standard
Italian laws and regulation for cultural heritage site, it is subject to additional and more re-
stricitve laws and regulations on the possible operations at the site. The responsibility for re-
specting all the present laws and regulations is, according to the Italian laws and procedures,
on SBAT. Moreover, SBAT is the only authorized agency for operation at the site. Pamela
Gambogi, SBAT, will act as scientist in charge of the whole cruise activities.
SBAT will be responsible for authorization of any operation at sea involving, even indirectly,
the archaeological site and the marine protected area. Failure to obtain explicit authorization
from SBAT is a violation of Italian laws. The designated officer from SBAT for supervision
and monitoring of activities is Pamela Gambogi. In addition to the responsibilities called for
by the Italian regulations, SBAT is the ultimate responsible for the decision on activities to be
performed by the archaeological team: area selection, cleaning, sampling (if appropriate).
VV.FF. are responsible for the safety of all the personnel involved in the operation. In particu-
lar, all operations at sea (diving, instrumentation deployement and operations, etc.) have to be
explicitly approved by VV.FF. – VV.FF. can suspend and/or cancel at any time any operation
on the basis of personnel and/or ship safety consideration. Diving safety procedure must ad-
here to Italian regulations; VV.FF. will also explain the regulations to the team and monitor
their implementation. Diving activities responsible designated officer for VV.FF. is Massimo
Giudicelli. The designated officer of VV.FF. for the other operations is the ship Master.
Each team is responsible for the safety of its own instrumentation. Procedures for de-
ployement, operation, preservation of instrumentation have to be clearly described to the
VV.FF. operational team during the daily general meetings.
Modifications to the daily or to the overall schedule will be decide in the daily general meet-
ings. Any modification has to be approved by all of the following, in inverse order of priority:
1. ISME (designated person: Andrea Càiti), as for coordination of the technical activities;
2. CNRS (designated person: Pierre Drap), as for adherence to the scientific objectives of
the Venus project of the operation;
3. SBAT (designated person: Pamela Gambogi), as for compliance with Italian regula-
tions and safety and preservation of the archaeological site
4. VV.FF. as for safety of the operations (designated person: Massimo Giudicelli, VF
1174 Master)
The hierarchical decision structure is that any operation approved by level 1 (technical feasi-
bility and overall operational constraints) has to be subsequently approved by level 2 (scien-
tific approval). Further to that, level 3 approval must be obtained (environmental safety), and
the final approval must be received by level 4 (personnel safety).
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Pianosa Sea Trial Cruise Plan -
ACCOMODATION, SUBSISTENCE AND COSTS
Accommodation is provided in the Pianosa Island infrastructures by the Porto Azzurro coop-
erative. Each participant will reside in a two-bed room. Room assignement will take place on
the island, with the general rule that people from the same organization will be assigned to
same rooms whenever possible. The participants have to bring their own linen (bed sheets,
bathing towels). Alternatively to bed sheets, the participants can bring a sleeping bag to be
placed on top of the available mattress.
Food is also provided on the island infrastructures by the Porto Azzurro cooperative. Break-
fast and dinner will be served in the common rooms in the island; a packed lunch will be dis-
tributed each day, avoiding strict timing constraints during daily operations. Please, commu-
nicate urgently any particular dietary need or allergy. The Porto Azzurro cooperative is not
a restaurant of a catering company; this means that there will be no choice of different dishes
at each meal. Wine (especially white wine) is reported to be of not exceptional quality. There
is no objection or no restriction in bringing in your own preferred drinks.
Please, consider carefully: Pianosa is an inhabitated island, reached by the ferry once per
week. You will not find any facility on the island – this means that each participant has to
carry each item he/she may think might needed. In addition to the working instrumentation,
spare parts, mechanical/electronical/diving gear, back-up electronic support, etc., please be
careful in considering and carry with you any medical supply you may need.
Electricity is provided in each room in the island infrastructure, in the form of 220V Alternate
Current. Standard European plugs are available – please be aware that converter from Schuko
plugs or other kind of plugs to the plug type in the island may not be available, so come with
your own plug converters. On board the ship, 220V AC is available.
Cellular phones do work on the island. UMTS coverage is not available on the island, while
GPRS coverage may be available for some phone companies (e.g., TIM), however it is not
guaranteed at this stage (information received is contradictory or, at its best, ambiguous). This
means that Internet connection from Pianosa may NOT be available.
The daily cost per person on the island (meals and accommodation) is € 30. The costs will be
payed by each group for the overall group participation. For the groups consistent of 1 person
(IST, COMEX, Girona), please be prepared to pay cash at the end of the stay. The Porto
Azzurro cooperative will give you a valid receipt for your expenses.
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Pianosa Sea Trial Cruise Plan -
EMBARKING AND DISEMBARKING EQUIPMENT
Embarking equipment on the VV.FF. ship will take place on the days Sept 29 (ISME) and 30
(others) at the Porto Mediceo in Leghorn (see detailed map in Appendix D). The address in-
formation is as follows:
PORTO MEDICEO LIVORNO
DISTACCAMENTO PORTUALE VIGILI DEL FUOCO
Darsena Vecchia 14
tel 0586 884570
fax 0586 897002
The VV.FF. will help loading and storing equipment on board. Each partner is responsible for
bringing the equipment at the ship pier. If you foresee any specific need, or if your equipment
has dimensions different from those of standard luggage, please inform in advance, otherwise
your equipment may not be loaded or stored. Please consider that you are responsible for the
safety of your equipment: fragile or otherwise delicate instrumentation must be properly
packed, considering that it will be subject to a sea journey in unpredictable sea state condi-
tion.
Equipment not needed for on board operations (data-processing and back-up computers, etc.)
will be disembarked in Pianosa on Oct 2. It will be re-embarked on Oct 12 in Pianosa.
Final disembarking will take place at the Porto Mediceo in Leghorn, at the same embarking
pier. Participants are responsible for transportation and movement of the equipment once
downloaded from the ship.
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Pianosa Sea Trial Cruise Plan -
SCHEDULE OF EVENTS
Sept 29 2006
Livorno, Porto Mediceo, Distaccamento portuale Vigili del Fuoco
9.00 – Loading ISME equipment on VF 1174
9.30 – Loading RESON equipment; welding of VV.FF. support to ISME mechanical pieces
for RESON equipment testing. Embarking of ISME personnel (5 people) and RESON (1 per-
son)
11.00 – leaving the harbour for operational test RESON equipment rented by ISME.
16.30 – End of test, back in Leghorn harbour – ISME and RESON personnel disembark (en-
trance in the harbour may be anticipated in case the time required for a satisfactory test of the
equipment is less than anticipated).
Sept 30 2006
Livorno, Porto Mediceo, Distaccamento portuale Vigili del Fuoco
9.30 – loading equipment of cruise participants (SBAT, CNRS, DRASSM, COMEX, etc.)
12.30 – end loading equipment
Oct 2 2006
Livorno, Porto Mediceo, Distaccamento portuale Vigili del Fuoco
8.00 – VENUS project personnel embarking on VF 1174 (VV.FF. ship). If you come by car,
please note: after bringing in personnel and personal luggage, the cars will be brought to the
Fire Brigade Station south from Leghorn, and the drivers brought back to the ship with
VV.FF. coach.
9.00 – leave Leghorn to Pianosa
14.00 – arrival in Pianosa
14.30 – unloading logistic and round station equipment, transportation to lodging with cars
from Porto Azzurro coop. Setting of round station. Setting of instrumentation and tecnical e-
quipment operated from ship on board, following VV.FF. indications.
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Please note: on the basis of the established work plan, every day exchange of personnel from
Pianosa to the working site and back can take place through the VV.FF. rubber boats; for in-
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Pianosa Sea Trial Cruise Plan -
stance, divers that have completed their allowed daily immersion time within the morning can
go back to land without having to wait for the afternoon conclusion of operations.
Oct 3 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; area cleaning (divers); area exploration (divers); techni-
cal test (ROV)
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 4
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; area cleaning (divers); area exploration (divers); techni-
cal test (ROV)
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 5 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
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Pianosa Sea Trial Cruise Plan -
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; deployment of “corpi morti” and other markers (divers)
13.30 – wide area ROV video survey
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 6 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; photogrammetry calibration – human operator photo-
grammetry on designated area
13.00 – Acoustic and photogrammetry with ROV on designated area
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Please Note: Photogrammetry (both with human operator and ROV) will be initially tested on
a designated area with indicative dimensions of 5x10m, selected on the basis of the area rec-
ognition and video survey activities of the previous days as a valid area for the demonstration
and technological testing objectives of the cruise. The days 6-7-8-9 are devoted to photo-
grammetric data gathering. If the operation should lead to a succesfull operation in a shorter
span of time, the designated area will be enlarged.
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Pianosa Sea Trial Cruise Plan -
Oct 7 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; Acoustic and photogrammetry with ROV on designated
area
14.00 – end of work.
15.00 – back in Pianosa harbour
15.30 – personnel leaving for personnel exchange embarking on VF 1174
16.00 – ship leaves harbour to Marina di Campo, Elba Island
Marina di Campo, Elba Island
16.30 – exchange personnel ready on Marina di Campo harbour
16.45 – ship arrives in Marina di Campo, exchange personnel
17.15 – ship leaves Marina di Campo to Pianosa
Please note: disembarking personnel will reach Portoferraio (Elba Island) with public trans-
portation (coach), and will reach Piombino from Portoferraio with ferry. The last ferry leaves
Portoferraio at 20.00, with arrival in Piombino at approx 20.45. From Piombino, Leghorn can
be reached by train (train schedules can be consulted at the site www.trenitalia.com). Each
participant is responsible for his/her own travel arrangements from Marina di Campo on.
Spending the night in Piombino merits consideration. A map of Elba Island is in Appendix C.
Pianosa
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 8 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; human operator photogrammetry on designated area
13.30 – Acoustic and photogrammetry with ROV on designated area
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Pianosa Sea Trial Cruise Plan -
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
9 0ttobre 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; human operator photogrammetry on designated area
13.30 – Acoustic and photogrammetry with ROV on designated area
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Please Note: days Oct 10 – 11 – 12 are to be considered as “spare days” in case unpredictable
events or “force majeur” events (as for instance weather conditions) have prevented success-
ful completion of the programme of work of the previous days. In case of successful comple-
tion of the scheduled operations, in the meeting of Oct 9 it will be jointly decided whether it is
the case to extend the designated area and proceed with the photogrammetric work as per-
formed in the previous day, or to proceed with a sample and essay program, accordingly to
the schedule reported in the following.
Oct 10 0ttobre 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
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Pianosa Sea Trial Cruise Plan -
10.00 – at anchor on working site; sampling and test essay on sampled area (divers); photo-
grammetry on samples (land station).
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 11 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; human operator photogrammetry on sampled area (di-
vers)
13.30 – Acoustic and photogrammetry with ROV on sampled area
17.00 – end of work
18.00 – back in Pianosa harbour
18.30 – Scientific meeting to plan in detail following day operation (scientific staff and
VV.FF.)
19.00 – General meeting – logistic indications, planning indications, working schedule and
personnel requirements for following day operations.
20.00 – dinner
Oct 12 2006
Pianosa
8.00 – Breakfast for personnel scheduled for site operation.
8.45 – embarking on VF 1174
9.00 – ship leaves for working site
10.00 – at anchor on working site; samples re-placing (divers)
15.30 – end of work
16.30 – back in Pianosa harbour
18.30 – Final meeting (scientific staff and VV.FF.)
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Pianosa Sea Trial Cruise Plan -
19.00 – Final general meeting – logistic indications and insturctions on following day depar-
ture.
20.00 – dinner
23.30 – free time
Oct 13 2006
Pianosa
8.00 – Breakfast
8.30 – loading equipment
9.45 – embarking personnel
10.00 – leave Pianosa to Livorno
Livorno, Porto Mediceo, Distaccamento portuale Vigili del Fuoco
15.00 – arrival in Livorno harbour. Start equipment unloading operations, includine recovery
of cars.
16.30 – End unloading
16.45 – disembark personnel – end of operations
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Pianosa Sea Trial Cruise Plan -
APPENDIX A: PIANOSA ISLAND
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APPENDIX B: TUSCANY AND TUSCANY ARCHIPELAGO
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APPENDIX C: ELBA ISLAND
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APPENDIX D: LIVORNO (LEGHORN), PORTO MEDICEO
Town centre
N
↑
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Pianosa Sea Trial Cruise Plan -
APPENDIX E: PERSONNEL LIST
Please note : the following list includes all the personnel participating in the cruise activities.
Some of the personnel will alternate, so not all the people will stay in Pianosa all the time.
SBAT - SOPRINTENDENZA BENI ARCHEOLOGICI TOSCANA
Nucleo Operativo Subacqueo
Pamela Gambogi – scientist in charge
Roberto Bonaiuti
Alessandro Pareti
Paolo Volpe Rinonapoli
Roberto Carnesciali
Archeologi a contratto Soprintendenza BAT
Sergio Bargagliotti
Sara Vasile
CNRS-Marseille
Pierre Drap – VENUS project coordinator
Odile Papini
Malia Nedir
Valery Leonard
Roland Graille
Jean-Luc Verdier
DRASSM
Luc Long
Pierre Giustiniani
David Djaoui
COMEX
Frederic Alcala
IST
Alex Alcocer, Portugal
ISME
Andrea Caiti
Luca Gambella
David Scaradozzi
Giuseppe Conte
Silvia Maria Zanoli
Vincenzo Calabrò
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Pianosa Sea Trial Cruise Plan -
University of Girona, Spain
Olivier Delaunoy
Vigili del Fuoco Sommozzatori Comandi Provinciali Livorno e Firenze (VV.FF. diving
team)
Four units - Livorno
Four units - Firenze
Vigili del Fuoco – VF 1174 Crew
Six units
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Pianosa Sea Trial Cruise Plan -
APPENDIX F: WEB LINKS, PHONE NUMBERS, ADDRESSES
Useful info on traveling in Tuscany and Livorno: http://www.tuscany.net/maps/li.htm
Ship station in Livorno:
PORTO MEDICEO LIVORNO
DISTACCAMENTO PORTUALE VIGILI DEL FUOCO
Darsena Vecchia 14
tel 0586 884570
fax 0586 897002
Italian railway timetable and tickets: www.trenitalia.com
General info on Elba Island, including public transportation: www.elba-online.com
VENUS project web page: http://www.venus-project.eu/
In case of extreme difficulties, you may use the following phone numbers:
Andrea Caiti: +39 340 9173278
Pamela Gambogi: +39 340 3311871
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