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1st: Basic [underground]
Research
{Social} Ice processing technologies for the Ice Extractor, [Use on ice deposits found underground]
{Social} Ice Melter {place on walls of room}
{Social} Water Storage [place in room}
2nd: Later in game [Surface]
Research
{Fundamental} Heavy Machinery for the Ice Harvester
{Fundamental} Cargo Dock {for the drop of point of cargo/ice]
{Fundamental} Rover Prospector {easier to find good deposits of ice for harvesting}
Check out screenshot for underground ice mining, https://steamcommunity.com/sharedfiles/filedetails/?id=3327857884
As to how many you need, I find 2 to be minimum needed, more if is a larger room. Plus a couple water tanks and oxygen tanks per room. Make sure you use vents into rooms connected to main room.