readily as steel, and may become brittle after many dive cycles. Despite its benefits, the high cost of titanium construction led to the abandonment of titanium submarine construction as the Cold War ended. Deep-diving civilian submarines have used thick acrylic pressure hulls. Although the specific strength and specific modulus of acrylic are not very high, the density is only 1.18g/cm3, so it is only very slightly denser than water, and the buoyancy penalty of increased thickness is correspondingly low. The deepest deep-submergence vehicle (DSV) to date is Trieste. On 5 October 1959, Trieste departed San Diego for Guam aboard the freighter Santa Maria to participate in Project Nekton, a series of very deep dives in the Mariana Trench. On 23 January 1960, Trieste reached the ocean floor in the Challenger Deep (the deepest southern part of the Mariana Trench), carrying Jacques Piccard (son of Auguste) and Lieutenant Don Walsh, USN. This was the first time a vessel, crewed or uncrewed, had reached the deepest point in the Earth's oceans. The onboard systems indicated a depth of , although this was later revised to and more accurate measurements made in 1995 have found the Challenger Deep slightly shallower, at . Building a pressure hull is difficult, as it must withstand pressures at its required diving depth. When the hull is perfectly round in cross-section, the pressure is evenly distributed, and causes only hull compression. If the shape is not perfect, the hull deflects more in some places and buckling instabity is the usual failure mode. Inevitable minor deviations are resisted by stiffener rings, but even a one-inch (25 mm) deviation from roundness results in over 30 percent decrease of maximal hydrostatic load and consequently dive depth. The hull must therefore be constructed with high precision. All hull parts must be welded without defects, and all joints are checked multiple times with different methods, contributing to the high cost of modern submarines. (For example, each attack submarine costs US$2.6 billion, over US$200,000 per ton of displacement.) Propulsion The first submarines were propelled by humans. The first mechanically driven submarine was the 1863 French , which used compressed air for propulsion. Anaerobic propulsion was first employed by the Spanish Ictineo II in 1864, which used a solution of zinc, manganese dioxide, and potassium chlorate to generate sufficient heat to power a steam engine, while also providing oxygen for the crew. A similar system