Cable Lay V2 Teledyne PDS
Contents
1. Tensioner SB Tensioner PS Tensioner SB Carousel direct to port side tensioner Tensioner PS Tensioner SB Quadrant winch The quadrant is connected to a winch of which the Serra payout cable length is measured With this cable Length correction o length the quadrant deck position is determined Reset length 0 Set Length correction of the winch cable payout cable length Select the Reset length 0 button to reset the winch cable payout length to 0 The quadrant is set to its 0 reference point Quadrant 0 reference 26 e Acquisition Teledyne PDS Cable Lay V2 Cable length measurement Cable length measurement TELEDYNE PDS Select the used cable machine or carousel for the cable length measurement Used sensor Skarboare Pork Carousel Used sensor Starboar Port Carousel Correction 12952 5 m Factors Set for each machine or carousel 12953 19 m Starboard machine 0 Port machine 0 Factor Compensation of cable length count error Carousel 0 12958 1939 m Bess payout in 0 Correction offset Select Reset payout to 0 to reset the cable payout to 0 The correction values of the machines and carousel will change accordingly for a payout length of 0 3 2 3 3 Loading These parameters are related to the operate mode Loading Catenary calcul2. 34 91 Cable Lay Used Cable ee 34 35 33 80 Hle Layt Van Oord U 32 70 Se 15 31 50 31 05 30 48 Figure 3 24 Cable Catenary Profile View 3D in 2D mode and without vessel shape The 3D View Realtime Design Profile includes the following tool bar maa Ealvo zD re A e e Figure 3 25 Toolbar The following table summarizes the functions of the tool bar Select this button to switch between 2D and 3D mode 2D EN Pipe Cable Profile a Profile View 3D V2 Q ala cD e ee O 3 Er 39 32 38 53 37 94 37 25 36 56 35 87 35 18 34 49 gi xus Cable ay 1 Van Oord NEXUS53 Nei 33 11 Cable Lay Used Cable tension 32 42 44 e Acquisition Teledyne PDS Cable Lay V2 le TELEDYNE PDS Y Pipe Cable Profile Cable Catenary Profile View 3D V2 oli an pe ee 0 SZ Ziel reo dt 39 32 38 63 37 94 37 25 36 56 35 87 35 18 s Cable Lay 1 Van Oord N S G 33 80 33 11 Cable Lay Used Cable tension 32 42 us Cable Lay 1 Van Oor 31 73 Hold the mousse button to change the point of view Zoom in zoom out zoom window and zoom extents Alternatively use the mouse wheel to zoom in or out Horizontal Vertical Zoom Select these buttons to zoom in out vertical or es horizontal l This button toggles the pan option on off When pan is active the pointer changes into the pan symbol Hold the left mouse bu
3. A n oe D ag handler cilinder length mila lengths Relative Forward ph Y offset p L leses seor Lend Figure 2 8 Dimensions quadrant handler Teledyne PDS Cable Lay V2 Getting Started e 15 TELEDYNE PDS S sssssmpn LA WI L II Fa gt Ba Figure 2 9 Quadrant handler reference point top view Z QUADRANT 0 POSITION Z QUADRANT HANDLER Z WINCH Z VESSEL REFERENCE er Figure 2 10 Vessel reference Z side view 16 e Getting Started Teledyne PDS Cable Lay V2 A ING TELEDYNE PDS The following table summarizes the properties of the cable process device Quadrant null offset D JQuadranthdull a 0 00 v 30 00 z 220 Quadrant radius Quadrant radius to eye dist Position Source USBL Remote Reference Position source USBL1 Applicable Pasition 1 Sim USBL Ge when quadrant is equipped with USBL Transponder Offset for underwater positioning Transponder offset X 0 In lign with X ref quadrant Y Y2 Z Z1 enone Postion Sm USBL Position source USBL2 Applicable Geodimeterjusb tpdr when quadrant is equipped with 2 T der Offset tioni ransponder Offse d USBL for underwater positioning Transponder offset X 0 In lign with X ref quadrant Y Y2 Z Z1
4. Heading Source E Heading and VRU source of quadrant WRU Source Attitude computation sensors Quadrant handler offset 1 JQuadrantH andler amp UU v 1 00 2 0 90 LU bandler forward pin rel offset LU bander forward pin rel offset LU handler after lever Length handler forward Lever Length U handler pine speration Quadrant to handler dist Teledyne PDS Cable Lay V2 Getting Started e 17 le TELEDYNE PDS LU Handler Extender Attachment ffzet handler cilinder attachment LU bhandler cilinder length O handler extender sheave offset 2 2 UU II LU handler extender cilinder attachment Sheave Diameter Quadrant winch offset Quadrant inch 0 00 Y 40 00 7 27 2 3 10 Quadrant Underwater Positioning For underwater positioning the quadrant may be equipped with e VRU e USBL e Altimeter In case these devices are used they must be added to the equipment list 2 3 10 1 Underwater Positioning Properties The device offsets of the quadrant underwater positioning devices must be set with reference to the reference point of the quadrant See Figure 2 11 Figure 2 11 Reference point quadrant 18 e Getting Started Teledyne PDS Cable Lay V2 TELEDYNE PDS 3 Acquisition 3 1 Introduction This chapter describes the specific views as used for the cable lay application Cable Lay Control view Pipe Cable Profile Cable Catenary Numerics view V2 Cable Catenary Profile v
5. Teledyne PDS Cable Lay V2 Hoisting Wire Drum Diameter X 0 Y Y1 Z 0 Select shape boom Il NO UU Hol Dm CA 1 o N lt x lt o N lt o O lt O NX NX NX NX N Oo Diameter top sheave Select shape stick Select shape hook Na Ang1 Dist1 Dia1 Getting Started e 11 le TELEDYNE PDS 2 3 8 2 Crane with Auxiliary Hook Add an additional dredge positioning device to the sub system when the crane is equipped with an auxiliary hook Sub System 1 E Va knuckle boom crane ce Relative Ge EE crane aux hook S dei Relative Figure 2 6 Additional device 2 3 8 2 1 Properties For this dredge positioning device the stick attribute is different compared to the knuckle boom crane The following table summarizes the dimensions for the stick of the crane with an auxiliary hook All other parameters are the same as defined for the knuckle boom crane See section 2 3 8 1 on page 9 a X Xoffset top sheave with respect to second Properties sheave Name Name Offset Segment First Sheave pin Offset Second Sheave pin Offset H Top Hoisting Sheave pin Offset c 5 Diameter b X Xoffset top sheave with respect to second sheave c Diameter top sheave 12 e Getting Started Teledyne PDS Cable Lay V2 le TELEDYNE PDS 2 3 9 Cable Proces Quadrant Handler Data A vessel is possibly equipped with a quadrant The quadrant is used as a moving buffer to maintain a s
6. Cable Lay V2 Teledyne PDS TELEDYNE PDS Teledyne RESON B V Stuttgartstraat 42 44 3047 AS Rotterdam The Netherlands Tel 31 0 10 245 15 00 www teledyne reson com Version 1 0 4 May 2015 Amendment Record Sheet Rev Date Reason for Modifications 12 05 2015 Acquisition Cable slack and cable loss text added 09 04 2015 Version after review NVW 02 04 2015 Version after review HST 02 04 2015 Version after review PDV 02 04 2015 First version of the Cable Lay V2 Manual le TELEDYNE PDS Contents 1 Introduction 1 1 1 GJE EE EE 1 2 Getting Started 3 2 1 Jee UG UI ON EE EEE EE NT 3 2 2 POC NC ACM RE 3 2 3 ell eu EE 3 E is Wee EE 4 2 3 1 1 Cable lay device Properties rrrrrrrrrnnnnnrnrrrrrrrrnnnnnnnnvrrnnrnnnnnnnnnrrnnnn 4 2 3 2 Cable Departure Angles ccccccccccccccessesseeceeeeeesseeeeseeeeesesssaeeeeeeeeeeeseaas 7 2 3 2 1 Cable Departure Angles Hropertes 7 293 LASE e E 7 2 3 3 1 Laser SCAN Properties rrrrrrrrrnnnrnvvrrrnnnnrennrnnnnnrrnrrnnnnnrrnnrnnnenrennnnnn 7 2 E ee ie e 7 2 3 4 1 Echosounder Properties n000nnnenneannnenennnnnonnnnnnenrnnernnsnnrnrrnnnnerenne 7 2 3 5 External EE 8 2 3 6 Acoustic Current Measurement ACHEN 8 2 3 6 1 ADCP Dau 8 AE AN A O O DE 8 2 3 8 Dredge Positioning System Ibhackhoel 8 2 3 8 1 Dredge Positioning System Propertes 9 2 3 8 2 Crane with Auxiliary HOOK rrnennrnnnnnnonrrnnnnnnennnnnnnnrvnnnnnnnnnennnnnnnnnnnn 12 2 3 8
7. Port Tensioner offset Port tensioner offset 1 PartTensioner a 5 20 v 7 00 Z 200 Port Chute offset Port chute offset D Pot Chute center SC 520 K 250 2 2 00 Starboard Tensioner offset 6 e Getting Started Starboard tensioner offset 1 StarboardTensioner YT dUU Z 2 00 Starboard Chute offset Starboard chute offset Starboard Chute center Y 250 7 200 Shape selection Shape selection Custom shape 3D Nexus Quadrant 2D NEAUS Quadrant Surven y ire Quadrant radius Quadrant radius to eye dist Quadrant radius Specify the cable cut deck length and the cable distance from the tensioner to the cable drum carousel In case the vessel is equipped with three cable deck routes than each deck route is specified Radius of the chute Shape selection of the concerned item Teledyne PDS Cable Lay V2 le TELEDYNE PDS 2 3 2 Cable Departure Angles The cable angle departure device is a data string which provides Teledyne PDS with the cable position in the chute Cable Departure Angles Van Oord trolley Van Oord NEXUS VOPLAS 2 3 2 1 Cable Departure Angles Properties Define in the properties the device offset The device offset is the laser reference point to the vessel reference point 2 3 3 Laser Scan Alternatively to the Cable angle departure device laser scan device s may be used to detect the cable position in the chute Laser Scan
8. Sick LMS1 Sick LMS5 2 3 3 1 Laser Scan Properties Define in the properties gt Device offset The offset of the laser scan to the vessel reference point gt Laser orientation base The mounting orientation of the laser scan With the orientation correctly defined the laser scan calibration of roll and pitch is as in the vessel grid gt Heading correction roll correction and Pitch correction These are the mounting angles of the laser scan based on the vessel grid When the laser scan is pointed forward the heading correction is 0 Other attributes are defined in the laser scan control view and laser cable detection view 2 3 4 Echosounder Optionally for the bottom source See page 22 an echosounder may be selected In this case an echosounder must be added to the equipment list Several brands and data strings as used by CDL Deso Elac Navisound Odom Simrad etcetera 2 3 4 1 Echosounder Properties Define in the properties gt Device offset The offset of the transducer acoustic center to the vessel reference point Teledyne PDS Cable Lay V2 Getting Started e 7 le TELEDYNE PDS 2 3 5 External Marker It is possible to acquire Coda echoscope line or circle data by Teledyne PDS This information is logged and visualized in the realtime acquisition plan view survey coverage and in the cable catenary profile view There are no properties to set for this device External Marker Coda Echoscope 2
9. 0 Overboarding 32 60 Teledyne PDS Cable Lay V2 lu TELEDYNE PDS pi Parameters 22 Pull out 28 Pull Out 56 D o quadrant 13 Quadrant 18 61 R Routes 39 T Tension Point 46 Touchdown Point 41 46 track guidance routes 63 True KP 34 W Winch Information 8 Index e 65
10. 2 1 Properties 12 2 3 9 Cable Proces Quadrant Handler Data 13 2 3 9 1 Cable Process Properties 13 2 3 10 Quadrant Underwater Postionimg 18 2 3 10 1 Underwater Positioning Properties sssseennsennnennneennnnreeerenenee 18 3 Acquisition 19 3 1 PO CNG WOM ME 19 3 2 Cable Lay Control View 20 321 ONC Ate ele 21 S22 LOOG EE E E E ERE R 22 32 3 Parameters EE 22 3 2 9 1 Parameters LAD EE 22 3 2 3 2 Sensors and Deck Route Tab 24 SE NN en 27 ae ee PA Me 28 gt AG EE ET e KE E T O A 31 3230 NNN NN 32 3 3 Pipe Cable Profile Cable Catenary Numerics View NV 34 3 4 Plan view Dredge Construction Operation 36 Teledyne PDS Cable Lay V2 Contents e i li e Contents ew le TELEDYNE PDS 3 4 1 1 et 39 3012 MAKES esnia a a Ea aaa 40 SAO Other VS coossaceeeepeese ed ccpanechentss0sbaieisecteebssi lt e arndsoce nhasnceeeetone sno ssises 41 3 5 Pipe Cable Profile Cable Catenary Profile View 3D V2 rrrrnnnnnnnnnnnnnnnvenn 42 3 6 Pipe Cable Profile Cable Catenary Profile View NV 46 3 8 3D View Online Dredge Construction rrrrvnnrnnnnnnrrnvvvnnvrnnnnnrrrrrennrnnnnnnnnne 49 3 9 Pipe Cable Profile Laser Cable Detection View 51 3 10 Laser Scan Control View 52 Operate 55 4 1 Ia 117010 010 og g RE EE 55 4 2 Step 1 Define cable parameters rrrrrrnnnnnerrrnnnnnnvvnrnnnnnrrnvnnnnnnsennnnnsnnennnnnnsnee 55 4 3 Step 2 LOAN eege eeneg 55 4 4 SEPS gd IG OE 56 4 5 Se EE EEE 58 2
11. 20 Define bottom manually Survey model Survey model Echosounder The active grid model as selected in the logging settings page Echosounder Data provided by an interfaced echosounder Teledyne PDS Cable Lay V2 Acquisition e 23 TELEDYNE PDS Horizontal current offset Select the offset correction source correction None Horizontal current offset correction No horizontal current correction apply O None Manual ADCP Current m sec Direction during the cable lay process 4 D Manual Define manually the water current and direction ADCP Data provided by an interfaced ADCP sensor 3 2 3 2 Sensors and Deck Route Tab These parameters are related to e CDA selection e CDA sensor averaging and filter e Laser position point selection e Cable deck route e Quadrant winch e Cable length measurement CDA selection Manual CDA relative vertical 60 CDA from Lasers CDA Sensor avaging and filter E Enable filter Averaging period 60 SEL Minimum Tension Threshold A kgf Laser position point selection Laser 1 Laser 2 Laser 3 Cable deck route Carousel via buffer to Starboard tensioner 3 Carousel direct to Starboard tensioner 3 Carousel direct to Port tensioner Quadrant winch Length correction 0 m Reset length 0 Cable length measurement Used sensor en Gade Factor Din Correction Starboard machine 0 14752 264 m Port machine 14751 91
12. 3 6 Acoustic Current Measurement ADCP ADCP workhorse The touchdown position during the cable lay is possibly corrected for the water current See page 22 The water current can be measured by an Acoustic Doppler Current Profiler ADCP In this case the ADCP must be added to the equipment list 2 3 6 1 ADCP Properties The following properties must be defined gt Device offset The offset between the ADCP reference point and the vessel reference point gt Heading correction Heading correction of the ADCP 2 3 Winch Information Data received from a DROMEC pull winch is optionally available The pull winch may be used on top of a monopole to pull the cable in the pole during the start or the end of the cable lay operation In this case the winch info device is added to the equipment list Winch Info Van Oord dromec SF2SUR There are no properties to set 2 3 8 Dredge Positioning System backhoe A crane is possibly used for the cable lay operations When the crane is equipped with a positioning device to determine the hook position the Teledyne PDS crane dimension parameters must be defined Dredge positioning system backhoe Custom specified OPC devices Custom Can specified devices Other custom specified devices 8 e Getting Started Teledyne PDS Cable Lay V2 le TELEDYNE PDS The crane is added as a sub system As a sub system the position is using the main system vessel position refer
13. are added by adding a position marker layer Select in the position marker layer the correct cable lay device as position source and attach it to the required position 42 e Acquisition Teledyne PDS Cable Lay V2 le TELEDYNE PDS Position Marker Layer Properties mn S mbo ode Varker Trace Color Red 255 Green 0 Blue 0 Line Width 2 Font Mame Aral Font Size 10 Attach To Laser detection Point Touchdown Point Crane Hook Design 1 Touchdown Point Design 2 Touchdown Point Figure 3 23 Position marker layer properties e Markers as vertical line See Figure 3 24 s End of route Cut off c Lay down point d The properties of these markers are defined in the catenary layer e Layers See Figure 3 24 Layers may add to the view such as A marker layer with markers generated from an external device as a coda echoscope The echoscope marker layer will have a historical length control to avoid a clustering of markers in the View Active grid model layer shows the grid model e 3D construction layer shows the vessel e Up down indicator g See Figure 3 24 The user can add an up down indicator to indicate a value or a difference between two computations or data Teledyne PDS Cable Lay V2 Acquisition e 43 TELEDYNE PDS EN Pipe Cable Profile Cable Profile View 3D V2 Hed PTR 329 97 39 52 100 38 77 38 21 of D I 37 11 36 56 36 01 50 35 98
14. as specified to the pull position specified extra length A negative value indicates there is more cable pulled as defined Cable touch down radius The radius of the cable at the touch down point Cable loss This is the difference between the as planned true route distance and the payout cable as measured with the cable length meter The loss value will have a false offset when the route is not sailed from the start of the route An extra offset value and a reset button is added to make the loss zero at the start of the lay The Distances are with respect to True KP ellipsoidal distance Easting coordinate touchdown point Cable length catenary distance touchdown point laydown point Layback rel cable depart point Cable departure point Departure point depends of CDA selection Current offset Offset due to water current Cable departure angle Departure angle of cable Cable slack Ratio between cable speed and vessel speed in percentage 34 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS Cable slack Cable speed Chute Topspeed 1 100 Distance to cable crossing Distance to cable crossing Cable crossing is defined as KP in laying parameters tab Cable payout Cable pay out from start of cable laying process Cable marker Cable marker cable marker start value Tension source Tension source as selected in sensors and deck route tab Laser detection offtrack Offtrack distance between
15. e Getting Started Teledyne PDS Cable Lay V2 TELEDYNE PDS Figure 2 5 Knuckle boom crane dimensions The following table summarizes these dimensions as defined in the dredge positioning system properties Device offset Device offset of the crane Device Offset reference point boom pin with reference to the sub system reference point Boom E Name Offset Segment a Sensor Type Sensor Source Sensor Data Source Sensor Offset Sensor Multiplication Fact or Shape selection Stick H Name Ofset Segment First Sheave pin Offset Q Second Sheave pin Offset C L a Top Hoisting Sheave pin Offset el Sheave Diameter Sensor Type Sensor Source Sensor Data Source Sensor Offset Sensor Multiplication Factor DN Ze selection Hook Name Offset Segment a Sensor Type Sensor Source Sensor Data Source Sensor Offset D s Sensor Multiplication Factor E Shape selection e gt lt In e Wi 2 SA 0 00 Y 2350 7 0 00 Angle Intemal Cylinder Length 0 1 Custom shape nexus kraan boom 00 New 7 130 LI mp wen an Angle Intemal Cylinder Length 0 1 Custom shape nexus kraan top extended Hook 2 x 0 00 Y 0 00 7 0 50 Knuckle boom wire Length Intemal Cylinder Length 0 1 Custom shape nexus kraan haak 00 New Hoisting drum mounted on boom Disabled a Krees Wire Drum Angle e Hosting Wire Drum Distance gt
16. is used as a buffer for the cable control on deck furthermore it is possible to use the quadrant to lower the cable to the seabed The Cable Lay application do the necessary computations and visualizes the cable lay process in different views The cable lay control view has been improved and additional features were added This manual consists of three chapters e Getting started describes the application type and necessary devices to add for a cable lay project e Acquisition describes the views used in the acquisition module e Operate summarizes briefly operational notes for the cable lay operation This manual will only explain parts related to the Cable Lay application For other information about Teledyne PDS see the Teledyne PDS User Manual the file Teledyne PDS User Manual pdf in the folder manuals Teledyne PDS All Teledyne PDS related manuals are available from the Teledyne PDS Control Center Help menu Help gt Open Manuals folder This manual is also available as a HTML Help file and can be opened with F1 or with Help gt Help Topics from the menu bar Teledyne PDS Instruction movies are available on the Teledyne PDS YouTube channel Watch Teledyne PDS instruction movies Teledyne PDS Cable Lay V2 Introduction e 1 TELEDYNE PDS 2 Getting Started 2 1 Introduction A Teledyne PDS project must defined with besides the standard project configuration and vessel configuration settings the correct appl
17. laser detection and cable route Cable Hdo Heading of cable determined by lasers Cable left Cable left at cable drum loaded cable cable pay out Route left Left route distance Cable cutoff Distance to cable cutoff point Cable cutoff marker Cable cutoff marker O cutoff point Sel Chute top speed Chute top speed calculated Sel chute X Easting position chute Sel chute Y Northing position chute Sel Tension point Kp Tension point KP Sel Tension point offtrack Offtrack Tension point cable route Sel Chute top CMG Chute bearing Teledyne PDS Cable Lay V2 Acquisition e 35 TELEDYNE PDS 3 4 Plan view Dredge Construction Operation This view is a top view of the cable lay process saasgberkl oe oe gt Fe 6 eee Figure 3 17 Plan view dredge construction Operation The view includes the following tool bar Figure 3 18 Tool bar plan view dredge construction operation The following table summarizes the functions of the tool bar Zoom in zoom out and zoom window Alternatively use the mouse wheel to zoom This button toggles the pan option on off When pan is active the pointer changes into the pan symbol Hold the left mouse button to move through the data Measure a distance by clicking on one location and move the cursor to another location A display appears with Distance and m Bearing information Measure Bearing 60 26 Click to change t
18. selection button 21 Beie OMAN HE 22 FAEN vr 22 Yellow DACKOFOUNG COOL nerdene 22 Parameters EEE EO ntsc 23 Sensors and deck route rrrrrrrnnnnnrrvrrnnnnnrrvnrnnnnnrennrnnnnnrnnnnnnnnrsnnnnnnnnsrnnnnnnsnssnnnnnnsnsennnnnnsnee 24 Loading Parameter uqrnormumnimsesuidgnuneeelas iskidvireveisirnlensneneniknnskaadyie ska ens 27 Bleif 60 0 EE aa an 28 PURE 29 PENN DN 30 N mencs karve 30 EV ao fe gie 31 Overboarding parameters cccccccccsssseeecceeeeceeeeseeeceeeeeseueeeeeeeeeeeseeeeaeeeceeeeessuaesseeeeeeeeseaas 32 Cable Profile Cable Catenary Numerics View 34 Plan view dredge construction Operation rrrrnrrnrrnnnrnvrrrnnnnnrevvrnnnnnnrnnnnnnnsennnnnnsnennnnnnn 36 Tool bar plan view dredge construction operation ccceececeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeas 36 Rief 39 VE d 40 Position Te 41 3D view Realtime Design Profile rrrrrnnnrrnrnnnnrvvnnnnrenrnnnnennnnnnrnnnnnnnennnnnnennnnnnrennnnsrennnnsne 42 Position marker layer poropertes 43 Cable Catenary Profile View 3D in 2D mode and without vessel shape rrrrernnnnnnr 44 siele EE 44 Markers in catenary view 47 siehe 47 3D view online Dredge Construction sn000nnnnnenoneannnennensrrnnrnnnnossnnnnrnreronennnrnreensennnrereee 49 TT 49 Pipe Cable Profile Laser Cable Detection View 51 Context menu Draw Pohvgon 52 Example of a laser cable detection view with a defined polygon ccccceeseseee
19. 0 52 7 1 19 581331 5808380 19 6 4 581306 8 5808394 ESI 24 9 80 6 1 19 581328 4 5808382 19 6 3 5 581304 7 5808395 7 97 27 3 82 9 0 96 19 581326 4 5808383 19 7 5 3 6 581302 6 5808396 7 97 29 8 85 3 0 96 19 581324 4 5808384 19 8 Li 7 581300 6 5808398 7 97 32 2 87 6 0 96 19 581322 4 5808385 19 9 10 8 581298 5 5808399 7 97 34 6 89 9 0 96 19 581320 3 5808386 20 12 3 9 581296 4 5808400 7 97 37 92 3 0 96 19 581318 3 5808387 20 2 14 7 10 581294 3 5808401 7 97 39 5 94 6 0 96 19 581316 3 5808389 20 3 17 11 581292 2 5808403 7 97 41 9 96 9 0 96 19 581314 3 5808390 20 4 19 3 12 581290 1 5808404 7 97 44 3 99 2 0 96 19 581312 3 5808391 20 5 21 6 13 581288 5808405 7 97 46 7 101 6 0 96 19 581310 3 5808392 20 6 24 14 581285 8 5808406 7 97 49 2 104 1 1 19 581308 1 5808393 20 6 26 5 15 581283 6 5808407 7 97 51 7 106 6 1 19 581305 9 5808395 20 6 29 16 581281 3 5808408 7 97 54 2 109 1 19 581303 8 5808396 20 6 31 4 17 581279 1 5808410 7 97 56 7 111 5 1 19 581301 6 5808397 20 6 33 9 18 581276 9 5808411 7 97 59 2 114 1 19 581299 4 5808398 20 6 36 4 19 581274 7 5808412 7 97 61 7 116 5 1 19 581297 2 5808399 20 6 38 9 20 581272 4 5808413 7 97 64 2 119 1 19 581295 1 5808401 20 6 41 4 Figure 4 8 Example of chute table The design data is available by the raw data view Teledyne PDS Cable Lay V2 Operate e 59 TELEDYNE PDS olli p Reverse route No ae ME Distance to cable crossing 2000 00 m vw Cable Departure Angle Laser
20. 1 OUT Ne 59 4 6 SENO N T rer 60 Tol 2 eee ee ee eee ee eee eer 60 4 6 1 1 CGranelabie cc cccccccccccccceseeeeseeseeeseeeeceeseeeceeseeeeeesseeeeeeseneeeeas 61 202 UAC ANI EE 61 4 7 OS Eege 63 Teledyne PDS Cable Lay V2 le TELEDYNE PDS Figures Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 3 16 Figure 3 17 Figure 3 18 Figure 3 19 Figure 3 20 Figure 3 21 Figure 3 22 Figure 3 23 Figure 3 24 Figure 3 25 Figure 3 26 Figure 3 27 Figure 3 28 Figure 3 29 Figure 3 30 Figure 3 31 Figure 3 32 Teledyne PDS Cable Lay V2 Offset Dimensions chute tensioner and quadrant errannnrnrnnnnonrnnnnrornnnnnennnnnnennnnnnrnnnnnnnen 5 Z Offset shute and Iensioner 5 SIV EE EN i 9 KNUCHE BOOM crane EE 9 Knuckle boom crane dimensions rrrrrnnnrrnnannnonrnnnnrvnnnnnrnnnnnnsennnnnnennnnnnsnnnnnnsennnnssennnnsssennnn 11 PAINE 12 MEM SIONS e e e E 14 Dimensions quadrant handler snennsesennesnnrnesrnnenrnrrnsrrrrrnnrrnsrrrrrsnrrentnrrennnrennnrennnnnennnnen 15 Quadrant handler reference point top view 16 Vessel reference Z Side view 16 Reference point e 0010 EE 18 Cable Lay Control View 20 Functions cable Lay Control 21 Operate mode
21. 4 60 m Catenary 92 76 m Cable payout 362 22 m Cable left 14637 78 m Length to pull Layback rel chute top 67 38 m Cable marker 362 22 Route left 823 97 m Current offset 7 63 m Tension source Manual CDA Used Cable tension 4083 60 kgf Cable cutoff 716 56 m Cable Touchdown Radius 47 83 m Cable Departure Angle 30 00 Cable bottom tension 1913 25 kgf Cable cutoff marker 1193 43 Cable loss 11 98 m Cable slack 100 00 Cable speed 0 00 cm m Sel Chute top Speed calculated 0 00 cm m Touchdown X 689615 86 m Distance to cable crossing 1818 55 m Laser detection X 0 689677 48 m Sel Chute X 689681 49 m Touchdown Y 5991208 92 m Laser detection Y 0 5991222 30 m Sel Chute Y 5991224 14 m Touchdown KP 0 181 Laser detection KP 3 0 24 0 24 0 24 Sel tension point KP 0 252 Touchdown Offtrack 3 56 m Laser detection Offtrack 3 14 84 14 85 14 86 m Sel tension point Offtrack 14 91 m Touchdown CMG 0 00 Cable Hdg 70 44 Sel Chute top CMG 0 00 Figure 3 16 Cable Profile Cable Catenary Numerics View The Pipe Cable Profile Cable Catenary Numerics View V2 shows all relevant cable lay data numerically The following table gives a description of the data fields Cable laid Cable as laid from of touch down point Length to pull This is the cable length to the defined position monopole start point or HDD pipe beach floating route start point on which to pull the cable defined extra pull in length 0 indicates the cable length is
22. 4 m Carousel 4 14745 914 m Reset payout to 0 Figure 3 8 Sensors and deck route 24 e Acquisition Teledyne PDS Cable Lay V2 wm TELEDYNE PDS The following table summarizes the sensors and deck route parameters CDA selection Select CDA selection Manual CDA relative vertical p 2 p 1 1 x p 1 D r 7 e D a 7 7 7 0 Vertical Manual CDA relative vertical 30 i CDA from Lasers 90 CDA from lasers CDA retrieved from lasers or cable departure angle device s CDA Sensor averaging and filter Select the enable filter checkbox to filter stabilize CDA Sensor avaging and filter the CDA from laser measurement Enable filter Averaging period Minimum Tension Threshold 7 Averaging period Define Minimum Tension threshold Laser position point selection Select or deselect laser detection position Laser position point selection D D Laser 1 Laser 2 Laser 3 A Laser 1 disabled All laser position point disabled Cable does not run through the laser positions Teledyne PDS Cable Lay V2 Acquisition e 25 ew le TELEDYNE PDS Cable deck route Select the used cable route from the carousel to Cable deck route the tensioner EE EE Carousel via buffer to starboard tensioner 1 Carousel direct to Starboard tensioner p eo Carousel direct to starboard tensioner Tensioner PS 1 Carousel direct to Port tensioner
23. 42 43 j vw Chute top X aj D 2 68931 66 68935174 m vw Chute top Y aj D 2 59917 56 5991050 11 m vw Chute top 7 a 0 2 16 25 16 25 m vw Chute top Speed aj 0 WV 1505 82 1505 82 cmm y Chute jpp Etrtr a US 3 167 23 Design Vessel Heading 0 00 cmim vw Design Cable payout 56 73 m p Design Cable payout Comected 6 3 m y Design Cable payout speed 1003348 15 r cm m Bezign Cable Departure Angle 0 00 cmim jaf Design CableFeansian G il cmm E Design Hook X 0 00 m E Design Hook Y 0 00 m WE Design Hook Z 0 00 m f Design Wire payout 0 00 cmim x Design Wire Tension 0 00 cmm WE Design AfreAnmgie cm mm d VW Design 1 Touchdown X m 6 vw Design 1 Touchdown Y m vw Desigot Touchdown Z m vw Design 1 Touchdown KP 0 43 vw Design 1 Cable Hdg 0 00 Figure 4 9 Design parameters retrieved from chute table 4 6 Step 5 Overboarding 60 e Operate Refer to Overboarding on page 32 e The vessel maneuvers in a cable cut position The cut off marker is at the cable 0 reference point normally the chute position This is visualized in the views The cable is cut off at the cut off device Cable cut deck length is defined in the cable lay device properties e Select from the overboarding tab the e Crane if the crane is used for overboarding the cable See 4 6 1 e Quadrant if the quadrant is used for overboarding the cable See 4 6 2 e Select the operate mode Overboarding 4 6 1 Crane In this case the design parameter
24. Add an additional position marker layer to indicate Chute top Touch down point Laser detection point Touchdown point Crane hook Design touch down point s Select in the position source the cable lay position device and attached it to the required position Position Marker Layer Properties a 2 Arial 10 Attach To puchadovwn Font Chute top Laser detection Point Crane Hook Design 1 Touchdown Point Design 2 Touchdown Point Attach to Button Figure 3 21 Position marker layer 3 4 1 3 Other layers The vessel and quadrant when available shape is added to the view from the Dredge construction layer The shapes are selected in the cable lay device properties See page 4 The quadrant position is updated in the view Like any other plan view in Teledyne PDS additional layers such as DXF grid model S 57 Chart layers etc may be added to the view Teledyne PDS Cable Lay V2 Acquisition e 41 TELEDYNE PDS 3 5 Pipe Cable Profile Cable Catenary Profile View 3D V2 ID B vm KL 2 D ra LA D D un S i 2 ra O Simaa Figure 3 22 3D view Realtime Design Profile The Pipe Cable Profile Cable Catenary Profile View 3D V2 is a view which can switch into 2D or 3D mode and can show the catenary with See Figure 3 24 e Markers on the Chute top a Touch down point b Laser detection point Crane hook Design touch down point Markers
25. able lay computation rer IT vw Design Hook wi Design Hook Y vw Design Hook p Design Wire payout p Design Wire Tension vw Design Wire Angle Figure 4 11 4 6 2 Quadrant In this case the design parameters are no longer dependent of the top of the chute Instead the position of the quadrant will be used for the cable route calculation Teledyne PDS Cable Lay V2 All relevant data is available in the catenary numerics view 0 00 0 00 0 00 0 00 0 00 0 00 Raw data view crane hook design parameters The catenary is displayed in the 3D view online dredge construction the 3D view Realtime Design Profile and the pipe cable profile cable catenary profile view Operate e 61 TELEDYNE PDS e The pull out of the teklink to the monopole is visualized The teklink is pulled out by the port side tensioner The cable may retrieved by the starboard tensioner The catenary is based on the port chute position The two catenary touchdown points are calculated and visualized ixed Point Figure 4 12 Teklink and cable two catenaries e From the sensors and deck route tab the CDA selection is changed to manual with the correct angle specified e The quadrant is positioned in the handler This is visualized in the views The tensions points changes from the chute to the quadrant e The handler position the quadrant in a vertical position The quadrant moves vertically This proce
26. ation parameters Shore top location Easting Northing Height 699200 5991900 15 Shore shute sheave radius 5 W Use quadrant support Loaded cable Total cable length 15000 m Set length from sensor AOC Y ie Figure 3 9 Loading parameters The following table summarizes the functions of the loading parameter tab Catenary calculation Catenary calculation parameters For the catenary calculation during cable loading define Shore top location The top location coordinates of the shore Easting Northing Height cable storage drum 659174 5391053 16 Radius of the shore shute when used or sheave Shore shute sheave radius 5 Fi Use quadrant support Select the checkbox Use quadrant support when the quadrant Suspended by the crane is used Reset the payout length when the cable is in the tensioner in order to measure the loaded cable length The catenary calculation is based on the tension and height difference between the shore point The catenary is indicated in the views Teledyne PDS Cable Lay V2 Acquisition e 27 ew le TELEDYNE PDS Catenary with quadrant Catenary without quadrant Loaded cable Select the Set length from sensor when the cable is Loaded cable loaded into the cable tank The cable length as Total cable length 15000 m measured will be applied The cable length is Set length from sensor indicated in the cable length box Set the cable length manually
27. by changing this value Total cable length 196 73600 m 3 2 3 4 Pull Out These parameters are relevant for the operate mode Pull out Monopole j Easting Northing Cable Start Point 689174 5991053 wp HDD pipe Beach floating Route pullout Reverse pull out route Pull out until Kp 0 01 Extra pull in length 100 m Figure 3 10 Pull out parameters The cable can pulled out to Monopole HDD pipe Horizontal directional Drilled Or Beach floating The following table summarizes the functions of the pull out parameters Monopole Select Monopole when the pull out is to a monopole Easting and Northing of the monopole Monopole Easting Northing Alternatively select the WP button and select a way point from the drop down list Cable Start Point 689174 5991053 wp 28 e Acquisition Teledyne PDS Cable Lay V2 le TELEDYNE PDS HDD pipe Beach floating Select HDD pipe or Beach floating when a pull out is to a HDD or beach floating route HDD pipe Beach Floating The catenary is calculated based on the height Route difference between the selected HDD pipe route or the beach floating route and the vessel shute I Reverse pull out route Pull out until Kp 2 Route Select from the drop down list the HDD pipe route or beach floating route Select Reverse the pull out route to reverse pull out from height kp to low kp or opposite Select Pull out until KP to
28. cable Cable diameter Filter settings Filter settings Minimum range 0 2 Maximum range 50 Previous pos margin 0 3 Mask shape Polygon Filter level d 1 0 Minimum range The minimum range on which the cable must be detected Maximum range the maximum range on which the cable must be detected Previous pos margin The maximum allowed margin in cable position between two updates This value must be fine tuned when the laser scan is mounted and detects the cable Mask shape Select from the drop down list a polygon Only detections within the polygon are used polygon can be drawn in the Pipe Cable Profile Laser Cable Detection View See page 51 Filter Level The amount of filtering done on the cable detection lower value makes the detection more sensitive for changes Select Apply to validate changes Teledyne PDS Cable Lay V2 Acquisition e 53 le TELEDYNE PDS 4 Operate 4 1 Introduction This chapter briefly describes some considerations and procedures when using the Teledyne PDS cable lay application Four operate modes are distinguished for the cable lay process and need to follow ina sequential base 1 Loading loading the cable in the cable tank 2 Pull out cable pull out to a monopole HDD pipe or beach with floaters 3 Laying cable laying 4 Overboarding Placing the cable overboard These operate modes are selected in the cable lay control view A cable lay
29. chute Possible deck routes are e Starboard via buffer quadrant e Starboard direct e Port direct This is specified in the associated vessel cable lay device driver It depends of the number of deck routes if more or less dimensions or offsets must be specified In Figure 2 1 and Figure 2 2 the dimensions and offsets of a cable lay vessel with more cable deck routes is illustrated In this case the vessel is equipped with a quadrant Teledyne PDS Cable Lay V2 le TELEDYNE PDS Port chute center Y offset alt GE 1 a Quadrant null offset Quadrant winch offset ON bao v131039 anu Lod TX 185JJ0 YJaua ANYI PEOGJEJS j Figure 2 1 Offset Dimensions chute tensioner and quadrant Z SHUTE Z TENSIONER Z VESSEL REFERENCE Figure 2 2 Z Offset shute and tensioner These offsets are set in the cable lay device properties The following table summarizes the properties of the cable lay device The same procedure applies for a vessel with a different number of cable deck routes Teledyne PDS Cable Lay V2 Getting Started e 5 TELEDYNE PDS Deck route Name info Cable cut deck length Cable distance to carousel Cable cut deck length Cable distance to carousel eck route For Distance to pork tensioner Cable cut deck length Cable distance to carousel Chute radius Vessel chute radius
30. color modes could be displayed This is not Color Mode applicable for the cable lay application Coverage Settings of the grid model This is not applicable for the cable lay settings operation g Layer Control Select this button to open the Layer control dialog box i Properties Select this button to open the layer properties dialog box 50 e Acquisition Teledyne PDS Cable Lay V2 le TELEDYNE PDS The view shows e Markers e Vertical Markers e Routes e Vessel quadrant and quadrant handler in 3D These components positions are visualized This means when for example the quadrant is lowered it will be displayed To add one of above items or change the properties the same layers are used as in the 3D view Realtime design profile 3 9 Pipe Cable Profile Laser Cable Detection View e This view is only applicable when for the cable angle departure angle measurement a Laser scan device is used Pipe Cable Profile Laser cable detection view Figure 3 30 Pipe Cable Profile Laser Cable Detection View The Pipe Cable Profile Laser Cable Detection View is a QC view for the laser scan cable detection The view displays how good the laser scan detects the cable in the cable chute The black bar on top of the view shows the valid cable detection beams as a green area The red box is a polygon mask shape as selected in the laser scan control view Laser scan data outside the polygon mask shape will be
31. e Catenary profile view and the 3D view Realtime design See page 42 and page 46 Figure 4 1 Catenary during loading The relevant loading parameters are showed in the cable catenary numerics view Cable lett 778 00 m Route left 1160 28 m Cable cutoff 1098 17 m Cable cutoff marker 434 82 Set Chute top Speed calculated 0 00 cm m 9333 Sel tension point X 689341 70 m 5991099 81 m Sel tension point Y 5991102 04 m 3 0 03 0 04 0 04 Sel tension point KP 0 026 3 6 10 6 09 6 09 m Sel tension point Offtrack 6 04 m 78 85 Sel Chute top CMG 0 00 Figure 4 2 Numerics during loading 4 4 Step 3 Pull Out Refer to Pull Out on page 28 56 e Operate Set from the sensors and deck route tab the payout to zero See page 24 Open the sensor and deck route tab Change the quadrant winch length correction to set or correct the quadrant position on deck Open the pull out tab Select Monopole HDD pipe or beach floating Select for a monopole the coordinates and for the HDD pipe and Beach floating the route This route can possibly reverse A KP may select to pull out the cable set the extra pull in length Select the operate mode Pull out Teledyne PDS Cable Lay V2 TELEDYNE PDS e Inthe views the catenary and centerline to the monopole or HDD pipe beach floating route is black colored Figure 4 3 Route and centerline black colored e When the pull out star
32. e Heading 2 m m mLAT m m m mLAT m N deg m m mLAT m deg 3 580769 8 5808691 7 97 785 2 580787 6 5808672 20 6 685 7 4 580769 4 5808691 7 97 785 7 580787 3 5808672 20 6 686 1 5 580769 5808691 7 97 736 2 580786 9 5808673 20 6 686 6 6 580768 5 5808692 7 97 786 7 580786 6 5808673 20 6 687 1 7 580768 1 5808692 ro Fy 787 2 580786 3 5808673 20 6 687 6 8 580767 7 5808692 7 97 787 7 580785 9 5808674 20 6 688 9 580767 3 5808692 7 97 788 2 580785 6 5808674 20 6 688 5 10 580766 8 5808692 FA F 788 7 580785 3 5808674 20 6 689 11 580766 4 5808693 7 97 789 2 580784 9 5808675 20 6 689 5 12 580766 5808693 7 97 789 7 580784 6 5808675 20 6 689 9 13 580765 5 5808693 7 97 790 2 580784 2 5808675 20 6 690 4 14 580765 1 5808693 7 97 790 7 580783 9 5808676 20 6 690 9 15 580764 7 5808694 7 97 791 2 580783 5 5808676 20 6 691 4 16 580764 2 5808694 7 97 791 7 580783 1 5808676 20 6 691 9 17 580763 8 5808694 7 97 792 2 580782 8 5808677 20 6 692 4 18 580763 4 5808694 7 97 792 7 580782 4 5808677 20 6 692 9 19 580762 9 5808695 7 97 793 2 580782 1 5808677 20 6 693 4 20 580762 5 5808695 7 97 793 7 580781 7 5808678 20 6 693 8 Figure 4 10 Example of crane table In the profile view the Hook Z design line and actual track is shown The top of crane route will be read from the table and made available in the crane route layer in the plan and a catenary profile view The crane design data can also retrieved from the raw data view of the c
33. e cable profile cable catenary profile view includes the following toolbar Figure 3 27 Tool bar The following table summarizes the functions of the tool bar Zoom in zoom out zoom window and zoom extents Alternatively use the mouse wheel to zoom in or out Horizontal Vertical Zoom Select these buttons to zoom in out vertical or horizontal Teledyne PDS Cable Lay V2 Acquisition e 47 48 e Acquisition ew le TELEDYNE PDS Number of markers OCT e Layer Control dr Properties These functions are only available if the scale mode property of the profile view is set on Fixed Vertically or on Scale Freely This button toggles the pan option on off When pan is active the pointer changes into the pan symbol Hold the left mouse button to move through the data A vertical zoom extent is active When selected the vessel will be always in the center of the Plan view If not clicked the vessel Select this button to set the number of markers Select this button to open the Layer control dialog box Select this button to open the layer properties dialog box Teledyne PDS Cable Lay V2 le TELEDYNE PDS 3 8 3D View Online Dredge Construction This view shows the cable lay process in 3D The view is helpful during the cable overboarding operation a aaler m m o sos Figure 3 28 3D view online Dredge Construction The 3D view online Dredge Construction includes the following
34. eeeeeeeeees 52 Figures e iii Figure 3 33 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Figure 4 8 Figure 4 9 Figure 4 10 Figure 4 11 Figure 4 12 Figure 4 13 Figure 4 14 Figure 4 15 iv e Figures TELEDYNE PDS Laser scan Control View 53 Catenary during loading rrnrrrenrnnnnnnrvvrnnnnnnrrnrnnnnnnennnnnnnnsennnnnnnnsennnnnnsssennnnnnsssennnnnnsseennnnnn 56 NESEN 56 Route and centerline black colored 57 Bio else te SEE EE NE TE NE EE EE 57 Catenary numerics view pull out data 57 ier SL eg ea E 58 BUN GY ERE REE ENE EE RE EE 58 Example of chute table EE 59 Design parameters retrieved from Chute table 60 Example of Crane table cccccccseescceceeseeeeeeeeeeeeseseeeseeeeeeseaeeeeeeaeeeeseeeeeseaseeesseeeeessaeeees 61 Raw data view crane hook design parameters cccccseeeeceeceeeeeeeeeeeaeeeeceeeeaeaeeeeeessaneeeees 61 Teklink and cable two caienares ccccccceeccccccsseeeceeeceeeseceeeseeeeeeeeesaaeeeeesseaeeeeessageeeess 62 See AE es E 62 Track GUIDANCE TOUTES ee 63 Guidance editor with cable as layed route rrrrrrrrrrrnnnnrrrrrrnnnnnrrnrrnnnnnrennrnnnnrrrnnnnnnnsennnnnn 64 Teledyne PDS Cable Lay V2 TELEDYNE PDS 1 Introduction 1 1 Cable Lay V2 Improvements and additional features were added to the existing Teledyne PDS Cable Lay application Now also cable lay vessels equipped with a quadrant are supported A quadrant
35. elect Cable paid out cor O diff 0 mi Figure 3 14 Laying parameters The following table summarizes the functions of the laying parameters tab As planned cable route Route file select from the drop down list the planned Ae Planned Cable Route 1 cable route Route File Cable ale Select Reverse route lay direction when C Reverse route lay direction the cable lay is done from the end of the OfFrouke extra length sailing pattern 7 Fix and Use last valid KP planned cable route Ke ee ees EE Off route extra length sailing pattern select well before the end of the cable lay The last valid KP and payout will be set on current touch down KP This action is necessary before changing to operate mode overboarding as the vessel will maneuver away from the route with its KP numbers KP cable crossing The KP were a cable is crossed KP cable crossing z Set the interval on which the cable as laid route will be logged As laid Cable Route As Laid Cable Route Route log interval Teledyne PDS Cable Lay V2 Acquisition e 31 le TELEDYNE PDS Vessel Chute Route Vessel Chute Route Route File Cable alz Sent route to DP Design parameters Design parameters Chute Table File DA PDS2000 project Uu Select 0 diff 17822 254 m Cable paid out cor 3 2 3 6 Overboarding Select from the drop down list the cable as planned route The created chute r
36. en ES related to the chute but instead the hook will be used for the cable route calculation Select O diff for a differential reset to zero The cable payout as defined in the table will be corrected Alternatively the user can correct the payout manually in the adjacent box See also Crane table on page xx Hook position o Crane vertical wire uses hook position information from the crane o USBL hook position information from USBL Quadrant Use tension from DROMEC winch Pull tension of the DROMEC winch on the monopile when pulling in the cable Quadrant E Use tension from DROMEC DE Position source Vertical wire USBL o Vertical wire Pam The wire from the winch connected ae to the quadrant C 7 Heading of transponders E Drop Cable and stop route logging U S B L USBL mounted on quadrant Heading source o Compass Heading from compass sensor at quadrant Heading of Transponders Heading as measured by quadrant USBL system Select Drop Cable and stop route logging when the cable is layed at position The logging of the data stops and a cable as laid route is created and saved Extra pull in length Define the extra length of a cable to pull in Extra pull in length Teledyne PDS Cable Lay V2 Acquisition e 33 le TELEDYNE PDS 3 3 Pipe Cable Profile Cable Catenary Numerics View V2 EN Pipe Cable Profile Cable Catenary Numerics View V2 0 Cable laid 20
37. ence point heading and attitude B Sub System 1 Mast knuckle boom crane Tir Drag head Relative Position 3 Drag head Absolute Position l spe knuckle boom crane aux hook Tir Drag head Relative Position T Drag head Absolute Position Figure 2 3 Sub System Define the sub system offset with respect to the vessel reference point As sub system offset the crane offset point is used 2 3 8 1 Dredge Positioning System Properties P Crane configuration parameters for the cable lay application are only accessible by the attributes of the device driver not by the vessel configuration tools page e Different types of cranes are in use The below section describes a knuckle boom crane Contact Teledyne RESON for other crane configurations In the below example a knuckle boom crane is configured A knuckle boom crane has the following shape mon s o o o OO 000x E LI LE H ti at ef hE HI mi BEN ce A a LY Figure 2 4 knuckle boom crane See Figure 2 5 The relevant dimensions are indicated The crane must correctly positioned in order to measure all relevant dimensions Teledyne PDS Cable Lay V2 Getting Started e 9 TELEDYNE PDS Dial Drum el L Angi wh SE x T S i Q Vi p mi 3 vi Ge _ First skove I O se mrd sheave I E aa I SAVSUS DO mg 034s dol et H Top sheave Z zai Top sheave 10
38. he distance unit Select the button again or right click in the View to deactivate the measure mode Measure a distance between the mouse pointer and the selected 36 e Acquisition Teledyne PDS Cable Lay V2 Select symbol set waypoint on symbol ta GA DP mode and auto ranging Create Sonar Target O Follow vessel A Orientation mode ee Set fixed skew from heading Til Interactive selection I Edit mode ES Undo Redo Teledyne PDS Cable Lay V2 TELEDYNE PDS tracking point Click Dees to change the distance units A right click in the View deactivates the measure mode These functions are applicable when a C map chart layer is added Refer to the Teledyne PDS User manual for more details Used for the DP Dynamic Positioning View Not applicable for this application Sonar target creation Not applicable for this application When selected the vessel will be always in the center of the Plan view The vessel moves out of the view when not selected The orientation mode of the Plan view North up Plan view orientation always north up Heading up Heading of the vessel always up top of view Fixed skew Plan view has a fixed orientation as set in the layer fixed skew properties When this button is selected and also as orientation mode Fixed skew is selected the actual heading of the vessel will become the orientation mode of the Plan View Se
39. ication type and used devices 2 2 Application type For a cable lay project in Teledyne PDS the application type is Multi purpose survey 2 3 Equipment Besides the standard equipment such as the vessel position compass and VRU additional devices are added to the vessel configuration equipment list For a cable lay application these are e Cable Lay device e Cable Departure Angles device Alternatively to the cable departure angle device laser scan device s may be used instead Additional optional devices are e Echosounder device e Dredge Positioning System Backhoe e External marker device e Acoustic Current Measurement ADCP device e Winch information device e Output device In case the vessel is equipped with a quadrant e Quadrant underwater position devices e Cable Proces Quadrant handler data device Teledyne PDS Cable Lay V2 Getting Started e 3 4 e Getting Started TELEDYNE PDS 2 3 1 Cable Lay The cable lay device provides the data from the cable machine The data may consist of payout cable length cable speed and optionally the cable tension The driver is a vessel unique driver Cable La Jan de Nul Willem de Vlaming Van Oord Van Oord NEXUS VOPTEN 2 3 1 1 Cable lay device Properties In the cable lay device properties the dimensions tensioner and chute offsets and shapes are set vessel is possibly equipped with more cable deck routes from the cable tank to the
40. iew 3D View Online Dredge Construction Dredge Construction Operation 3D View Realtime Design Profile Teledyne PDS Cable Lay V2 Acquisition e 19 le TELEDYNE PDS 3 2 Cable Lay Control View Cable Lay 1 Van Oord VOPTEN Cable Lay Nexu Cable route logging End Lay and Sensors and deck route Loading Overboarding Catenary calculation parameters Shore top location Easting Northing Height 699200 5991900 15 Shore shute sheave radius 5 Use quadrant support Loaded cable Total cable length 15000 Set length from sensor Figure 3 1 Cable Lay Control View This control view is added to the acquisition under the menu option Too s gt Equipment Control in acquisition Select in the dialog the cable lay device and close the dialog The view is now added to the acquisition and from now on will be act like all other views in the Acquisition The cable lay control view is used to e Switch between operate mode e Start pause and stop logging e Enter the relevant parameters 20 e Acquisition Teledyne PDS Cable Lay V2 le TELEDYNE PDS Cable Lay 1 Van Oord VOPTEN Cable Lay Neu El Operate mode Cable route logging LP and Pause Logging l se Logging route logging oute otart Pause stop Kee a Catenary calculation parameters Shore top location Easting Northing Height 699200 5991900 15 Shore shute sheave radius 5 Use quadrant support Paramete
41. iew e The relevant cable lay data is shown in the catenary numerics view e The catenary is shown in the 3D view real time design cable catenary profile and 3D view online Dredge Construction 58 e Operate Teledyne PDS Cable Lay V2 TELEDYNE PDS e Select the Fix and use last valid KP checkbox when the vessel must maneuver from the route for the extra length sailing pattern 4 5 1 Chute Table A chute table is used to optimize the touchdown accuracy The cable computation will make the theoretical and differentia cable payout data available in the data block for further use The KP range of the vessel route and the chute table need to overlap The KP values don t need to coincide with each other With the cable payout as defined in the chute table is corrected The payout correction can also adjust manually by the user in the adjacent box xx id x i chute csv Micros c Home Insert Page Layout Formulas Data Review View Add Ins ien Calibri ril v A A Yor Ep Wrap Text General v BE Hi wen II Jar le nt JE Blom g F Format Painter Biur t A 7 A 22 JER bad Merge amp Center R All P ba Sara B Keser Clipboard P Font 4 Alignment P Number Styl Al fe Chute Easting B E D E F G H J K L M N O Chute EadChute_NoChute_Z Chute Kp Vessel HePay out Pay Out DepartureTension TDP_Easti TDP NortiTDP Zz TDP_Kp Cable Heading 2 m m mLAT m deg m deg N m m mLAT m deg 3 581331 5808380 7 97
42. int a Laser detection point b Touchdown point c These markers are defined in the same layers as in the markers of the plan view dredge construction operation See page 40 e Vertical markers Lay down Cut off e End of route f 46 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS These markers are defined in the same layers as in the markers of the plan view dredge construction operation See page 40 e Layers A marker layer with markers generated from an external device as a coda echoscope The echoscope marker layer will have a historical length control to avoid a clustering of markers in the View _Echosounder track layer for tracking of echosounder data Position Marker layer to show any available position as a mark E g the design touchdown point These are defined on the same way as in the 3D view Realtime design See page 42 Active grid model layer shows the grid model g AEA SOE Zlg d a sv De E Laydown E Cut off E End of route mb emm mm mm mmm ee mmm mm mmm ee mm mmm mmm mm mmm mmm mm eee mm rm mem mmm beem remm eme ebe eem sde eeesl Fw Fee ee ess beem ee gle ememr mmer bere eemmseeske ee e mmm mmm ph wm vm mm mm mm mm wm mm mm ben mm wm mm mm mm mm wm mm Gier wieren orginal gag aga aa pe aa ea a I mm pm mmm dem mm eee mm Figure 3 26 Markers in catenary view Other layers may be added to the view by the layer control The pip
43. lect this button to select items in the plan view with the mouse Like the color table when available Select this button to enable the edit mode Not applicable for this application Undo or redo the last action in the edit mode Not applicable for this application Acquisition e 37 le TELEDYNE PDS Show color table Show the color table of the grid model in the right side of the view Grid Model Different grid model color modes could be displayed Not Color Mode applicable for this application Coverage Settings of the grid model Refer to the Teledyne PDS User settings manual for more details g Edit Alarm In the Plan View a numerical layer could be added In this a numerical layer an alarm could be defined Refer to the Teledyne PDS User manual for more details Layer control Select this button for the layer control dialog box de Properties Select this button for the Layers properties dialog box By adding layers to the view it is possible to show different features as used during the cable lay process such as the different routes vessel grid model and markers The user can change the properties of the layers 38 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS 3 4 1 1 Routes Figure 3 19 and the following table summarizes some important routes as indicating in the plan view Figure 3 19 Routes 1 As planned cable route Active route layer See Figure 3 19 The r
44. llow background color The following sections describe the different tabs 3231 Parameters Tab The parameters tab includes e Catenary calculation parameters e Horizontal current offset correction 22 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS Parameters Catenary calculation parameters Cable weigth per m 70 kg Submerged cable weigth per m 40 kg Cable diameter 0 25 Cable normal drag coefficient 1 2 Cable protection radius 5 Cable marker start value o m Cable Lay Bottom Source Use default bottom 7 20 m Survey model Echosounder Horizontal current offset correction None Current misec Direction Manual 4 0 ADCP Apply Figure 3 7 Parameters tab The following table summarizes the parameters tab Catenary calculation parameters Cable weight Catenary calculation parameters Cable weight kg m Cable weigth per m Submerged cable weight per m Submerged cable weigth per m Submerged cable weight kg m Cable diameter This parameter is used together with the Cable normal drag coefficient cable tension to compute the catenary and touch down point Cable protection radius Cable marker start value Cable diameter Drag coefficient Drag resistance of the cable in the water Protection radius of the cable The radius of the cable is limited to a certain value Cable Lay Bottom Source Select the bottom source Cable Lav Bottom Source Use default bottom Z Use default bottom Z
45. oute as planned for the cable This route is selected on the cable control view gt Laying tab See page 31 2 Lay Barge route Active lay barge route See Figure layer 3 19 This is the route the chute must follow in order to lay the cable at the defined cable route 3 Cable as layed route Active cable route layer See This is the route as the cable is laid The route name is selected in the cable control view gt Laying gt vessel chute route See page 31 Additional routes Pull out Catenary layer This is the route used at the pull out HDD pipe or beach floating mode This route is selected from the cable lay control view gt pull out tab Teledyne PDS Cable Lay V2 Acquisition e 39 TELEDYNE PDS 40 e Acquisition Vessel chute route Runline layer This route is selected in the cable lay control view Laying tab gt vessel chute route This is an as planned vessel route or designed top of chute route 3 4 1 2 Markers Figure 3 20 and the following table summarizes the markers of the plan view Figure 3 20 Markers we haven End of route Catenary layer o taydown Lena layer Tensioner offset This is an offset defined in the properties of the cable lay device Laser reference offset This is an offset defined the cable departure or laser scan device Position marker layer Open the layer properties to edit the marker properties Teledyne PDS Cable Lay V2 le TELEDYNE PDS
46. oute is the route the chute vessel should follow to lay the cable at the route as planned Select Send route to DP to transfer the route to the DP Chute table file Click Select to open the ASCII import wizard to import a chute table file Cable paid out cor Press 0 diff for a differential reset to zero The cable payout as defined in the chute table is corrected Alternatively the user can also adjust the payout correction manually in the adjacent box See also Chute table on page 59 These parameters are relevant for the operate mode Overboarding I Crane Crane Table File Cable paid out cor odp 0 Hook position Crane vertical wire J USBL Quadrant F Use tension from DROMEC Position source Vertical wire USBL Heading source Compass Heading of transponders Extra pull in length 0 E Drop Cable and stop route logging Select mi ADT Y ki Figure 3 15 Overboarding parameters 32 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS The following table summarizes the overboarding parameter functions Crane Crane table file ees Click Select to start the ASCII import ee wizard to import a defined crane table file Kerk The crane table is used when the crane has Cable paid outcor 0 diff 0 taken over the cable from the chute In this Hook position case the design parameters are no longer e Selt
47. pull until the defined KP Extra pull in length Defined the additional cable length to pull in at for SE example a monopole This length is indicated vertically in the views Pull in length m m mm mn n pen oa rn pen pen pen rm pe be pm In the views the progress of the pull out is monitored A black line is drawn as the defined center line between the shute and the target KP A red line indicates the current pay out For a HDD or beach floater the payout is shown over the selected route During the pull out process the red line moves over the black colored define line indicating the current cable position See Figure 3 11 Figure 3 11 Pull out status Teledyne PDS Cable Lay V2 Acquisition e 29 TELEDYNE PDS Figure 3 12 Pull out displayed in 3D In the cable catenary numerics view the length to pull is indicated See page 34 Figure 3 13 Numerics length to pull 30 e Acquisition Teledyne PDS Cable Lay V2 TELEDYNE PDS 3 2 3 5 Laying These parameters are relevant for the operate mode Laying As Planned Cable Route Route File Reverse route lay direction Offroute extra length sailing pattern VW Fix and Use last valid Last valid KP 9 832549 Cable payout at last valid KP 10041 896 m KP cable crossing 2 As Laid Cable Route Route log interval 5 mi Vessel Chute Route Route File E53 Version A Sentroute toDP Design parameters Chute Table File S
48. removed for a better detection of the cable Right click in the view for a context menu and select Draw Polygon to draw a new polygon Teledyne PDS Cable Lay V2 Acquisition e 51 le TELEDYNE PDS v Show Toolbar Zoom In Zoom Out Zoom Window Zoom Extents Redraw Draw Polygon Properties Foreground Layers Figure 3 31 Context menu Draw Polygon Figure 3 32 Example of a laser cable detection view with a defined polygon The lavender blue dots are the rejected detection points 3 10Laser Scan Control View e This view is only applicable when for the cable angle departure angle measurement a Laser scan device is used This control view is added to the Acquisition with the menu option Tools gt Equipment Control Select in the dialog the Laser Scan device and close the dialog The view is now added to the Acquisition and from now on will be act like all other views in the Acquisition 52 e Acquisition Teledyne PDS Cable Lay V2 Laser Scan 1 Sick LMSlx Cable Lay laser scan cable lay Cable diameter 0 2 Filter settings Minimum range 0 2 Maximum range 5 mi Previous pos margin UD m Mask shape obstacle e Filter level 4 LU Figure 3 33 Laser scan Control View le TELEDYNE PDS In this view the properties of the Cable Detection Beamfilter Computation are set The following table summarizes the functions of the laser scan control view Cable diameter Specify the diameter of the
49. roject Files Restricted Areas Screen Layouts Sound Velocity Profiles Stations Text TXT Files Tide Stations ie Tide Values 09 TIN Models Track Guidance Routes ar ion GED JE ANT cable Version Aslayed CABLE 58 KE 3 12 2015 7 User arer am Profiles Date Modified 3 12 2015 7 17 50 PM Size 58KB User Maps User Presentation Defaults Vessels Volume Computations J Waypoints DS Worle Areas Figure 4 14 Track guidance routes lt is possible to open a route in the guidance editor Teledyne PDS Cable Lay V2 Operate e 63 Mi a TELEDYNE PDS IH Guidance Editor E53 Versi IH File View Help ue MESSEN E fifo oe sl om m P E eV 006 F e es m sm e rennt mme mae er enn mmm mae ee engen emma ms me 3 een ae X 680850 Y 5991050 Sat Lat 054 02 08 84 N Sat Lon 005 45 43 33 E Figure 4 15 Guidance editor with cable as layed route 64 e Operate Teledyne PDS Cable Lay V2 Index A ADCP 8 B Beach floating 28 C Cable Departure Angles 7 Cable loss 34 Cable slack 34 Catenary 22 42 chute table 59 Chute table 32 Crane 60 crane table 33 61 H HDD pipe 28 Horizontal current 22 WE Laser Cable Detection View 51 Laser Detection Point 41 42 46 Laser Scan 7 52 Layers 43 Laying 31 58 Loading 27 55 Logging 22 Markers 43 Monopole 28
50. rs settings f Loaded cable Total cable length 15000 Set length from sensor Apply d mt Figure 3 2 Functions cable Lay Control 3 2 1 Operate Modes The cable operation is divided into four stages operate modes e Loading Cable loading e Pull out Start of operation by pulling the cable to the monopile HDD pipe or beach e Cable laying Laying of the cable e Overboarding Placing the cable overboard using the crane or quadrant The surveyor must select the relevant button to activate the correct mode that will do the correct calculations Figure 3 3 Operate mode selection button Teledyne PDS Cable Lay V2 Acquisition e 21 TELEDYNE PDS 3 2 2 Logging In operate mode Laying and Overboarding the cable lay process is logged The logging starts pauses or stops when the surveyor select the relevant button Cable route logging Start Lay and End Lay and route logging Figure 3 4 Logging The selected mode button is highlighted In Figure 3 4 End Lay and route logging When logging is enabled a Teledyne PDS log data file and a track guidance as layed route is created and saved 3 2 4 Parameters Parameters are subdivided by tabs sensors and deck route Figure 3 5 parameter tabs When a parameter value is changed the related box background color will turn yellow Press Enter or select Apply to validate the setting Figure 3 6 Ye
51. s are no longer dependent of the top of the chute Instead the position of the hook will be used for the cable route calculation e The catenary touchdown calculation is based on the crane hook Z and the cable protection radius as specified in the parameters tab e All relevant data is available in the catenary numerics view e The catenary is displayed in the 3D view online dredge construction the 3D view Realtime Design Profile and the pipe cable profile cable catenary profile view e Select from the overboarding tab the checkbox Drop cable and stop route logging Teledyne PDS Cable Lay V2 4 6 1 1 TELEDYNE PDS The cable lay process is finished Crane Table A crane table is used to make the overboarding process more accurate if the crane Is used It provides designed crane hook position touch down parameters along with other parameters The crane table is a customer provided table x e LLL ek e Microsoft Excel Home Insert Page Layout Formulas Data Review View Add Ins D a Calibri ril A A 7 Yor S Wrap Text General v Ki ay Bad D a Copy GER ai l deg F Format Painter BiuU H 2 a WE iF OF lege Center ad 53 Soke M e ide SS Clipboard Font Alignment Number Styles Al v fe Crane Easting B C D E E G H I J K L M N O P Q Crane EadCrane_NoCrane_Z Crane Kp Hook EastHook NorHook Z Wire Pay Wire Ten Wire Ang Wire Pay TDP Easti TDP NortiTDP Z TDP Kp Cabl
52. ss is visualized in the views e The position of the quadrant is obtained by mounted underwater sensors Figure 4 13 Quadrant vertical e The cable is pulled into the monopile This is visualized The current cable position is red colored The centerline is black colored Over length is drawn as a vertical line 62 e Operate Teledyne PDS Cable Lay V2 TELEDYNE PDS e Select from the overboarding tab the checkbox Drop cable and stop route logging The cable lay process is finished 4 7 Step 6 Result When the cable lay process is finished when the Drop cable and stop route logging was selected the logging stops e PDS logdata files are created in the PDS logData folder e The cable as layed route is available in the project track guidance routes SS Projects Common PD52000 Project Log Data Multimedia Geoid Models Sonar Targets Can Name a Size Date C H Cable simulation gg 3D Models E i l E Color Tables 2 Configurations E Contour Definitions E Design Profile Templates OCI Drawing Exchange Format DXF Export Files Dredge Instructions Generic ASCII ASC Files GPS Exchange Format GPX Grid Model Filters Grid Model Metadata Grid Model Update Package ZIP Grid Models Log Data File Sets Module Configurations Multibeam Calibrations OpenGlS KML Encoding Standard KML files OpenGIS Aipped KML Encoding Standard KM files Placement Points Profile Design Models P
53. table cable tension The quadrant is connected to a winch The cable payout of this winch is measured With this information the position of the quadrant is determined In addition it is possible to use the quadrant to lower the cable to the seabed cable overboarding For this purpose the quadrant is attached to a quadrant handler which is able to go in a vertical position On this way the quadrant is lowered vertically to the seabed For visualizing and perform correct cable lay calculations the cable process device must added to the equipment list This device provides the quadrant position on deck and the quadrant handler angle Cable Process Info Van oord NEXUS VOPQAD 2 3 9 1 Cable Process Properties In the following figures the relevant offset and dimensions of the quadrant quadrant handler and winch are indicated These dimensions are entered in the cable process properties Teledyne PDS Cable Lay V2 Getting Started e 13 TELEDYNE PDS Port chute center Y offset es Ge 4 mrooemmnot an 2 Ir HE pe itl 4 p OI TI EITI EIET ETTE Quadrant null offset Quadrant winch offset pajo JSL anys Dod 1350 X 131039 any DIEOOUEI USBL OMS LL 71 Quadrant raduis to eye dist Distr Figure 2 7 Dimensions quadrant 14 o Getting Started Teledyne PDS Cable Lay V2 le TELEDYNE PDS Felatlye forward p offset ug
54. toolbar a a Aley e o e adr Figure 3 29 Toolbar The following table summarizes the tool bar functions Description Zoom in zoom out and zoom extents Alternatively use the mouse wheel to zoom in or out Follow vessel When selected the vessel will always be in the center of the Plan 2 view If not clicked the vessel Teledyne PDS Cable Lay V2 Acquisition e 49 TELEDYNE PDS Show spotlight Select this button to open a source illumination window at the upper 4 left corner Move the yellow dot to change the light source illumination angle Measure Measure a distance by clicking on one location and move the cursor to another location in the view display appears with m Distance Bearing and Elevation From To Ny 55154 04 2 Er a e l Distance 2 20 m vbt es 2041831 65 2041832 91 Bearing 3256 604 Altitude 699 95 m 701 57 m Elevation 47 34 Click Distance to change the distance units Right click in the view to deactivate the measurement function Grid Axis layer Select this button to show the coordinate axis ch Save Select this button to take a snapshot of the View A file selection Snapshot dialog opens to define the file name and location Create Sonar Select this button to create a sonar target This is not applicable for Target the cable lay application E Show Color Show the color table of the grid model in the right side of the view table Grid Model Different grid model
55. ts the cable position is updated in the views The black line will become red colored on the cable position Figure 4 4 Line color changes e The relevant pull out data is displayed in the cable catenary numerics view ml ET NN Se 152066 mo Cableslak i100 Coble speed 0 00cm m Touchdown X 689393 43 m Distance to cable crossing 1980 20 m Laser detection X 0 689445 54 m Touchdown Y 5991084 53 m Laser detection Y 0 5991120 44 m Touchdown KP 0 020 Laser detection KP 3 0 08 0 08 0 08 Touchdown Offtrack 24 21 m Laser detection Offtrack 3 2 94 2 96 2 97 m Touchdown CMG el Cable Hdg 56 52 Figure 4 5 Catenary numerics view pull out data e The extra pull in length is drawn in the views as a vertical line Teledyne PDS Cable Lay V2 Operate e 57 TELEDYNE PDS Figure 4 6 Extra pull in length 4 5 Step 4 Laying Refer to Laying on page 31 e Open the Laying tab Select the cable route file The route may reverse designed chute route can select in the vessel chute route drop down list e Select the Laying operate mode e Start Route logging e Use the Plan view Dredge construction Operation for navigation The cable route and the lay barge route are showed The chute must follow the lay barge route in order to lay the cable at the cable route Different points such as the touch down point are shown by markers when defined in the associated layers Figure 4 7 Plan v
56. tton to move through the data Select this button to open an illumination angle box in upper left corner Move the yellow dot to change the light source illumination angle EI Teledyne PDS Cable Lay V2 Acquisition e 45 le TELEDYNE PDS Measure Measure a distance by clicking on one location and move the cursor to another location in the view A WW display appears with Distance Bearing and Elevation From To vir 551546 04 551545 21 Distance 2 20 m 204183165 2041832 91 Bearing 326 641 Altitude 699 95 m 701 57 m Elevation 47 34 Click IPistane to change the distance units Right click in the view to deactivate the measurement function Save Snapshot Select this button to take a snapshot of the View A file selection dialog opens to define the file name and oi i location Grid Axis layer Select this button to show the coordinate axis Create Sonar Target Select this button to create a sonar target This is not applicable for the cable lay application Show Color table Show the color table of the grid model in the right side 1 of the view Layer Control Select this button to open the layer control dialog box dr Properties Select this button to open the layer properties dialog box 3 6 Pipe Cable Profile Cable Catenary Profile View V2 See Figure 3 26 The Pipe Cable Profile Cable Catenary Profile view V2 is a 2D view and show the catenary with e Markers indicating Tension po
57. vessel is possibly equipped with a quadrant The quadrant is used as a cable buffer and for the cable loading and or cable overboarding Before a cable lay is done the cable and other parameters must be defined 4 2 Step 1 Define cable parameters Refer to Parameters on page 22 Define e Cable parameters e Bottom source e Horizontal current source 4 3 Step 2 Loading Refer to Loading on page 27 e Select the Loading tab from the cable lay control view e Define the on shore cable storage top coordinates and the storage shute or sheave diameter e Set the cable length to zero in the cable length box e Set from the sensors and deck route tab the payout to zero See page 24 e Select the Use quadrant checkbox when a quadrant is used for the cable loading The catenary is displayed accordingly The height of the catenary is measured by the crane hook Quadrant is hoisted by the crane Teledyne PDS Cable Lay V2 Operate e 55 Laser detection Y 0 Laser detection KP Laser detection Offtrack Cable Hdg TELEDYNE PDS Select the operate mode Loading Select Set length of sensor when the cable is loaded in the cable tank The cable length as measured by the cable machine is loaded and indicated in the cable length box Alternatively the cable length can be entered manually in the cable length box The catenary during the loading process is displayed in the Pipe Cable profile Cabl
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