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Sorry, I don't know who gave you the downvote - it wasn't me.

It does seem to me that the rocket scientists would have had their hands full with all the other issues around the launch and recovery. My guess is that the live feed isn't a priority for them, knowing that they can get what they need after the fact.

Probably the naval architects who designed the barge are well-aware of underway replenishment procedures and know perfectly well how to connect two vessels underway. And probably asked the rocket scientists about some of these issues before drawing up the barge. Because, selling an unrep solution is going to cover a really nice year end bonus. The raw steel would cost more than half your lifetime earnings.

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