This document discusses several types of modular penetrometers used for in situ soil reconnaissance at sea, including the Seacalf, Hyson, NGI, Shell, Preussag, and Stingray/Seajack penetrometers. It describes the key components and operating principles of each penetrometer, which are lowered to the sea floor using cables and measure soil properties like tip resistance and lateral friction. The modular penetrometer causes the least disturbance to soils while providing valuable data for soil studies conducted at sea.