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USBL-BOX User Manual

1. MU USBL BOX AN 001 Ed B September 2011 28 x BLUE coh oP AN Q XS E A USBL BOX User Guide Step Action 2 In Misalignments optional enter 0 0 0 for a perfectly well installed antenna H1 towards the bow H4 on port side it Misalignments optional EPE E EEEE D oe ee Roll Pitch Heading 55 24 RE gt gi 3 n CRP to Sea enter the value of Distance Gr URP Ts 509 essessnnocansanmuiipncnannnidgcan uana nidaz tibi ea usant rd Distance Im 4 n Antenna Position enter the LV1 LV2 and LV3 values w Antenna Posion scanner scatto ttes L CRP Lwi LV LYS nm n n 5 Click on OK to validate and send this data to the USBL BOX 6 End of Procedure MU USBL BOX AN 001 Ed B September 2011 29 Q X S EA USBL BOX User Guide LUE C oO m P A nN o IV 4 Configuring the Inputs and Outputs This chapter describes the communication between the USBL BOX and the external sensors These parameters are divided into input parameters see paragraph IV 4 1 and output see paragraph IV 4 2 These parameters are accessible in the INPUT and OUTPUT elements of the INSTALLATION menu IV 4 1 CONFIGURING THE INPUTS Liaisons Four serial links and an Ethernet link limited to four ports are available to transmit this data to the USBL BOX Position Time oe M P Figure 26 Example of external sensors connected to the USBL BOX USBL BOX USBL BOX Each serial link
2. Protocol type of protocol sent by the chosen sensor The protocol may be accompanied by a synchronized PPS used to record incoming data There is a choice of four options for the PPS operated on a rising or falling edge before or after the data has been given The Min Duration of the PPS below which it does not operate can also be recorded See the protocols in Appendix A and B Serial if the chosen link is serial the link parameters are as follows Q Parity None Odd Even Q Stop bites 1 0 or 2 0 Q Standard RS232 or RS422 Q Baud output selected from a predefined list ranging from 600 to 115 200 bauds output from port A is permanently fixed at 115 200 bauds Ethernet if the chosen link is Ethernet the link parameters are as follows Q Transport layer may be TCP Server TCP Client or UDP Broadcast IP the IP address of the target only for a transport layer TCP Client Q Port the number of the port Lever arms the lever arms represent the distance along the vessel s three reference axes between the position of the sensor and the position of the CRP See the CRP agreements in paragraph Il 1 1 and paragraph II 1 2 for the vessel s reference axes Let the values to 0 0 meters if the positioning sensor corrects itself the output positions by referencing them to the CRP Misalignments The correction given by the misalignments values allow to adapt the system to a sensor producing data in different reference axis In the
3. RTS wt Interrogation v C QE Mode Responder Sec v Code RAMSES 01 w Reply sm E QM ee Blanking Time 12 w s Additional formatjon btt tetti nn nn Source Hone wt Filtering rrr ETT RO IR 3 In Interrogation select Mode and Code from the drop down lists 4 n Reply select Code Turn Around Time and Blanking Time from the drop down lists 9 dn Additional Information select Source from the drop down list e lf you select External Pressure you must input a Pressure value e If you select Fixed Immersion you have to enter the value of Immersion together with the associated Pressure 6 In Filtering select the Type of filter from the drop down list 7 Click on OK to validate your choices and to send the data to the USBL BOX 8 End of Procedure MU USBL BOX AN 001 Ed B September 2011 42 Q X S E USBL BOX User Guide Aw ix BLUE C oO m OP A n V 1 2 3 Activating a Transponder A transponder which is present in the database must be activated before being able to be positioned Procedure Step Action 1 Click on the menu SETUP and select TRANSPONDERS The transponders management window opens Click on F depending on which transponder you would like to activate The button becomes oN The transponder is activated 3 End of Procedure V 1 2 4 Deleting a Transponder A transponder can be removed from the transponder
4. September 2011 O qu o prar O O O t Measured antenna 80 Q X S A USBL BOX User Guide Aw Ix E L VU E C m oP AWN Y Cee deem d S System Installation This protocol gathers all the elements describing the system geometry RE eem qu mm 000000 mew MI EE LINE NNNM NN LOT CN NN RN Beweis e 8 mmi dem d p Sound Velocity Profile Pair Misalignments The sound velocity profile comprises depth velocity pairs CE me LN RN NN NN MU USBL BOX AN 001 Ed B September 2011 81 Q IXS EA DSL BOX User Guide Detection and detection context This datagram gathers all elements describing detections and their contexts ES CS PS CS RE CS PS ES mmm CS RS ES CS CS ES Doqmemen 7700000 m LLL Micro seconds Detection Seconds Base 01 01 1970 time t Position Latitude ong 2 2 1 180 180 Longitude ong 0 2 251 180 180 Position accuracy Latitude Attitude Heading Attitude accuracy Heading Speed North m s Vertical m s Position Latitude Hong 00 2 2 1 180 180 Longitude ong 00 23 251 180 180 Position accuracy Latitude Attitude Heading Attitude accuracy Heading MU USBL BOX AN 001 Ed B September 2011 82 Header c Q o O Q res G O9 O O um i O Detection raw position 1 X S EA USBL BOX User Guide A mRMS x E L L E
5. The USBL BOX is assembled in a standard way using the four screws at either end of the front of the box and loading it onto a 19 rack Installing the External Sensors The USBL BOX functions with external sensors with supply data enabling positioning of the immerged transponders The external sensors are e AGPS oran inertial system providing absolute positioning e An attitude sensor providing information on the vessel s attitude the moment the acoustic signals are received e Aclock enabling the user record when the data is received The installation of these sensors depends on each sensor Please refer to the specific user manuals Installing the POSIDONIA Antenna Please refer to the specific POSIDONIA antenna manual The parameters for installation are to be input in the Web based user interface see section IV 3 Installing the Transponders Please refer to the specific transponder manual The parameters for installation are to be input in the Web based user interface see section V 1 2 2 MU USBL BOX AN 001 Ed B September 2011 13 Q X S EA USBL BOX User Guide Lue C oO m P A MN Y IV CONFIGURING THE USBL BOX The configuration of the USBL BOX is carried out by means of the Web Based User Interface see section IV 1 Two parameters are configured in this section e Input and output parameters which are defined after system installation e Survey parameters set at the beginning of each survey In this section
6. The command windows allow you to display or modify the configuration parameters At first delivery these parameters are set to default values You have to modify them to fit your needs By selecting it directly in the drop down list ee SPD anses Paty Stopbits 1 0 bitstop iv None Eaudrate 1 0 bitstop 2 0 bitstop You can also use the up arrow 1 and down arrow keys to to increase or decrease the numerical values By typing it in the dedicated area NETWORK SETTINGS IP Address a a netmask 255 255 0 0 You can also use the up arrow 1 and down arrow keys to increase or decrease the numerical values Incorrect value is immediately indicated by red color ETHERNET BOOT SETTINGS DHCP F IP Address 192 168 r 0 Het Mask 255 255 0 0 In order to keep each web based page as small as possible only the main parameters are default visible You can expand the hidden area by clicking on its text label title Click on the text label to expand or hide op nct vo Protocol v Sejal a eee Rate Parity sy Gerjal emm Stopbits Parity Baudrate stopbits Baudr ate MU USBL BOX AN 001 Ed B September 2011 18 AM IX BLUE C oO m OP A n Q X S E A USBL BOX User Guide OK Cancel Each command page contains the same buttons The buttons appear as soon as a buttons modification or a selection has been made in the command page To validate the
7. The following page appears DATA LOGGING Please chose a filename and select a directory Output Ethernet E Lf Start Logging File Name USBL BOX E 20110503 173037 log Segmentation None v Selected Directory Select New Directory T Select an Output port in the scrolling list You can change the File Name which is automatically generated by typing the new name directly in the dedicated field This name must consist of alphanumeric characters inverted commas is accepted with no space between the characters You can choose to have the following kind of files Fixed size choose Size ko from Segmentation and enter the chosen size in the text box Temporal fixed length choose Time mins from the D coupage field and enter the chosen temporal length in minutes in the text box to the right of the D coupage field Segmentation Size ko m MU USBL BOX AN 001 Ed B September 2011 47 e XS EA USBL BOX User Guide H ik BLUE C oO m P A nM Step d d Action Click on Select New Directory to explore and select the directory where you would like to record the selected data at any time you can go back to the original directory then click on the button Choose to validate the chosen directory The chosen directory appears below the Selected Directory field Please chose afilename and select a directory p File Nam
8. USBL BOX POSITIONING SYSTEM SE CUIDE Q IX S EE USBL BOX User Guide E m E A M Y Copyright iXSea France All rights reserved No part of this guide may be reproduced or transmitted in any form or by any means whether electronic printed guide or otherwise including but not limited to photocopying recording or information storage and retrieval systems for any purpose without prior written permission of iXSea Disclaimer iXSea specifically disclaims all warranties either express or implied included but not limited to implied warranties of merchantability and fitness for a particular purpose with respect to this product and documentation iXSea reserves the right to revise or make changes or improvements to this product or documentation at any time without notify any person of such revision or improvements In no event shall iXSea be liable for any consequential or incidental damages including but not limited to loss of business profits or any commercial damages arising out of the use of this product Trademarks Microsoft MS DOS and Windows are registered trademarks of Microsoft Corporation Intel and Pentium are registered trademarks and Celeron is a trademark of Intel Corporation MU USBL BOX AN 001 Ed B September 2011 i S EA USBL BOX User Guide M PA NY Warranty iXSea provides a standard warranty of one 1 year covering this product against any defect in materials or manufacture The warran
9. ddmm mmmmm is the latitude in degrees and in minutes and 1 100000 a is the hemisphere N North S South dddmm mmmmm is the longitude in degrees and in minutes and 1 100000 b is longitude sign E East W West q is the GPS quality indicator e 0 Fix not valid 1 GPS SPS Mode fix valid 2 Differential Mode SPS Mode fix valid 3 GPS PPS Mode fix valid 4 RTK 5 Float RTK is the number of satellites IS optional Data sent Course Over Ground and Ground Speed GPVTG x x T x x M x x N x x K a hh CR LF Course over ground degrees True Course over ground degrees Magnetic Speed over ground knots Speed over ground km h Mode Indicator A autonomous mode D differential mode E estimated mode M manual input mode S simulator mode N Data not valid never null A 2 DATA LIGHT The DATA LIGHT protocol contains only the strings PTSAG PTSAX et PTSAY that are already present in the DATA STANDARD protocol MU USBL BOX AN 001 Ed B September 2011 67 QIX S EA USBL BOX User Guide LUE C m P A NM Y A 3 HIPAP HPR 400 Field Name Kongsberg Explanation Ld NEN LC ES mee me jemormesremtn C Coordinate system C for Cartesian P for Polar U for UTM coordinates Orientation H for Vessel head up N for North E N for East SW filter M means Measured F Filtered P Predicted See separate explanation below Depth Depth in meters depth Expected accuracy The expected accuracy of the position
10. Show all connections e Select Start menu gt Settings gt Control Panel then double click on the icon Network Connections 2 Right click on Local Area Connection icon and select Properties Disable Status Repair Bridge Connections Create SharkcuE Rename Properties The Local Area Connection Properties window opens Local Area Connection Properties CTSA a Genera ae e Connect using BS Broadcom Net treme Gigabit Ethene This connection uses the following items dal aos Packet Scheduler 4 Broadcom Advanced Server Program Driver instal To Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks C Show icon in notification area when connected Notify me when this connection has limited ar no connectivity MU USBL BOX AN 001 Ed B September 2011 23 e X S E A USBL BOX User Guide LUE C m P A NY Step Action 3 Double click on Internet Protocol TCP IP label text The Internet Protocol TCP IP Properties window displays Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 1 20
11. icisss0022s ses se3s63sc edeaunbraecsederenedbenssinesainebapeasedaaenadaeaapeadinesssense 69 A 5 Koed US SBEIN E M 71 A 6 p orer USBLINS 2 ee ee ee ee ee ae 73 A 7 SAVOUR SO 4 og 75 A 8 POSIDONIA 6000 a me ds 76 A 9 USBLBOX POSEPISO ueir ne net eee ene ne Re ee eee ee ee 77 A 10 RECENSE 85 B 131 6 101 M d 10 0 01 0 ERE TT 86 B 1 DOCS OO 86 B 2 9 729 86 B 3 PZONTE RE ON 86 B 4 SIMRAD E 87 B 5 GAPS BIN ore E E eee 88 B 6 msi aa ete cg 89 B 7 VY WI ER seosensleeeceaaaenes ieee sanceenadcens 89 C Choosing an IP Address and a Subnet Mask ss 90 D Wiring of the POSIDONIA Antenna cece cecceceeeeeeeeeeeeeeeeeeaeeeseaeeeseaescaaeessaeeeeaneeseanensaaaes 91 E Mechanical OR 171 eor M 92 MU USBL BOX AN 001 Ed B September 2011 ix QIxSEA USBL BOX User Guide AA x BLU E COMPA WN INTRODUCTION 1 1 Principle System The USBL BOX system is used in order to supply information concerning one or several underwater objects or vehicles at a depth of up to 6 000 meters The system is based on a bidirectional exchange of acoustic signals between one or several acoustic transponders and an acoustic an
12. spare Bit 55 52 x 10 days 0 a 3 Bit 47 44 x 10 hour 0 a 2 Bit 39 35 x 10 minutes 0 a 5 Bit 31 28 x 10 seconds 0 a 5 Bit 23 20 x 1 10 seconds 0 a 9 Bit 15 12 x 1000 useconds 0 9 Bit 7 4 x 10 useconds 0 a 9 Bit 51 48 days 0 a 9 Bit 43 40 hours 0 a 9 Bit 34 31 minutes 0 9 Bit 27 24 seconds 0 a 9 Bit 19 16 x 1 100 seconds 0 9 Bit 11 8 x 100 useconds 0 9 Bit 3 0 useconds 0 9 MU USBL BOX AN 001 Ed B September 2011 88 Q X S E A USBL BOX User Guide LUE C oO m OP A n B 6 PMEVL Data received Pressure value PMEVL XP MEA C VVVVV cc lt CR gt lt LF gt is the transponder ID from 001 up o 128 IS a mnemonic is the analog channel C 8 is the Pressure value VVVVV 0 to 65535 dBars integer or VVVV V 0 0 to 9999 9 dbars float is the checksum B 7 SWIMTW This protocol is used to know the water temperature at the face of the antenna WIMTW x y C xx Temperature en Celsius degrees The C is mandatory and means Celsius MU USBL BOX AN 001 Ed B September 2011 89 Q IXSEA USB BOX User Guide LUE C O m PA RNY C CHOOSING AN IP ADDRESS AND A SUBNET MASK You need to change the configuration you need to provide two IP Internet Protocol addresses for both the USBL BOX and the PC Keep track of the addresses entered on both systems as they are different You need to setup a private network between the
13. 2 From 1 to 999 Byte 6 OxTT Byte 7 OxTT Number of TP 3 From 1 to 999 Byte 8 OxTT Byte 9 OxTT Number of TP 4 From 1 to 999 Byte 10 OxTT Byte 11 OxTT Number of TP 5 From 1 to 999 Byte 12 OxTT Byte 13 OxTT Number of TP 6 From 1 to 999 Byte 14 OxTT Byte 15 OxTT Number of TP 7 From 1 to 999 Byte 16 OxTT Byte 17 OxTT Number of TP 8 From 1 to 999 Byte 18 OxTT Byte 19 OxTT Number of TP 9 From 1 to 999 Byte 20 OxTT Byte 21 OxTT Number of TP 10 From 1 to 999 Byte 22 OxTT Byte 23 OxTT Number of TP 11 From 1 to 999 Byte 24 OxTT Byte 25 OxTT Number of TP 12 From 1 to 999 Byte 26 OxTT Byte 27 OxTT Number of TP 13 From 1 to 999 Byte 28 OxTT Byte 29 Dummy byte Filled with 0 Byte 30 OxXX Checksum Bytes OR exclusive except Checksum and End of frame Bit 7 of the Checksum is always 0 Byte 31 End of frame MU USBL BOX AN 001 Ed B September 2011 70 QIxSEA USBL BOX User Guide BLUE C oO m OP A n iXSea USBL INS 1 ro c S Bits 7 to 3 Transponder ID NM 8 Latitude deg 3 4 5 6 LLLLLLLLne Two complement 180 27 90x 1 27 coded Longitude deg 360 77 0 360 1 2 10485 75 Z m immersion 0 01m 000 m FFFFFhex Reserved 7 8 9 10 NNNNNNNNne ZZZZZhex 8 8 4 bits byte11 11 to 12 byte12 bits 3 to O dof byte 13 Bits 7 to 5 Bits 3 to 1 Bits 7 to 4 Major axe XY long axe in m of the error ellipse r
14. A USBL BOX User Guide Value 3 599 999 It is the truncation of the dhe rrrrrrrrrrrrrrrrrrrrrrbin absolute time provided fine 8 8 6 bits of by the GPS to the l USBL BOX keeping uo get byte 17 22 values of only the minutes MON byte 18 seconds and this field do bits 5 to 0 of byte 19 milliseconds It is coded not have BLUE C oO m P A NY any meaning Status byte Bits Oto 8 Reserved Checksum exclusive OR by byte for the whole 20 first bytes thus header included in milliseconds number Bits 7 and 6 of byte19 Immersion definition The immersion corresponds to the mobile depth with respect to the mean sea level thus heave corrected This data is coherent with the one that would be given by a depth sensor on the underwater mobile But it does not allow to deduce the absolute position as there is no compensation for tide MU USBL BOX AN 001 Ed B September 2011 l2 IXSEA Aw ik BLUE coMmMPAWN Q A 6 iXSea USB Message Field 1 Field 2 Field 3 Field 4 Field 5 Field 6 Field 7 Field 8 Field 9 L INS 2 USBL BOX User Guide PXUI2 id lat lon imm maij min ang dev tim CK Transponder ID Latitude deg longitude deg Immersion m Major axe XY m Long axe of the error ellipse representing the standard deviation on the position in the XY plane Minor axe XY m Small axe of the error ellipse representing the standard deviation of the positi
15. CONFIGURATION OF OUTPUT window opens OUTPUT SETTINGS OutputA CITI ETI J OutputD Serial Serial Serial Serial Output E 807077058 f OutputG oT Ethernet Ethernet Ethernet Ethernet Protocol O O O ana te 5 FIBBEBIE eee Click on the port of your choice OUTPUT A B C D E F Gor H The selected port is highlighted in blue According to the type of link the Serial or Ethernet component appears below In Protocol Select the Protocol and the Rate of your choice from the pull down list If you have selected a Serial link enter the parameters of this link EEE pariy Stopbits Standard Baudrate 115200 ha If you have selected an Ethernet link enter the parameters of the link According to the transport layer chosen there may be an IP address for more information se Ethernet sement Transport Layer 8 4 8 C3 Pannen Click on OK to validate your output configuration positioning data TCP Client M FIHETO S S C eee End of Procedure MU USBL BOX AN 001 Ed B September 2011 35 Q X S E A USBL BOX User Guide Lue C oO m P A NY V SETTING THE USBL BOX TO WORK This chapter concerns the actions and procedures to be carried out just before starting positioning operations These actions are as follows e Definition of positioning parameters e Configuration of transponders to be positioned e Measurement and input of profile celerity
16. Contact support E mail By clicking on the Contact Support button in the CONTACT SUPPORT area you send an email to iXSea technical support with all related information of your system Product name and serial number and other information that you can fill in the corresponding fields Configuration If you click on click here link you save a file configuration that you can add to the email File that you send to iXSea technical support This tool gives to the iXSea technical support as much information as possible to help you to answer a question or to overcome an eventual problem MU USBL BOX AN 001 Ed B September 2011 60 Q X SE A USBL BOX User Guide L LU E C oO m OP A n Vil 1 4 GAIN STOP MODE You can adapt the gain to make analog measurements on the antenna This tool can only be used when the tracking is stopped Enter a Gain value going from 0 to 80 dB and click on Apply GAIN STOP MODE Gain stop mode allows analogical measurements on the antenna Figure 33 Gain adjustment in Gain Stop mode MU USBL BOX AN 001 Ed B September 2011 61 e XS EA USBL BOX User Guide LUE C MPA NM Y Customer Support Customer s technical support on this product is available e by e mail support ixsea com e by phone through iXSea 24 7 hot line Q 33 0 1 30 08 98 98 for EMEA QO 1 888 660 8836 toll free for US a 65 6747 7027 for Asia iXSea customer s support commits to provide a quick response to you
17. PC and the USBL BOX you need to select an address for the PC and the USBL BOX For example in private network addresses it is usually recommended to use addresses of e Either Class B 169 254 0 0 to 169 254 255 255 Subnet Mask 255 255 0 0 e Or Class C 192 168 0 0 to 192 168 0 255 Subnet Mask 255 255 255 0 al For Class C the first e g 192 168 0 0 and last e g 192 168 0 255 addresses are reserved and therefore they cannot be used It is recommended to select two addresses from the same range set For example e Either 169 254 0 1 for USBL BOX and 169 254 0 2 for the PC Subnet 255 255 0 0 e Or 192 168 1 10 for USBL BOX and 192 168 1 11 for the PC Subnet 255 255 255 0 MU USBL BOX AN 001 Ed B September 2011 90 e X S E USBL BOX User Guide A ik BLUE C oO m OP A n D WIRING OF THE POSIDONIA ANTENNA First column Definition of the connection point on the connector Second column Description of the function of the transmitted signal Third column Definition of the connection point on the board REAR FACE of the rack except for the two wires dedicated to transmission that are directly connected to the HT board Pin Function Connected to D Contact hydro J39 pins 2 3 4 5 MU USBL BOX AN 001 Ed B September 2011 91 ol st vl l DAOJd D USHA jn OU iA pejruiuusupba JOU peonpo4del ea JOU ISLUNDOP SYL L V eiu2e uou DSUOJ
18. Sqrt Tx2 ty2 Additional info N for None C Compass inclimeter D Depth T Time mdi M Secon ae Emporto ymar LaL NN Example PSIMSSB B01 A P H M 111 80 63 43 48 50 0 00 N 5E MU USBL BOX AN 001 Ed B September 2011 68 QIxSEA USBL BOX User Guide BLUE C oO m OP A NY A 4 HIPAP HPR 418 fix and mobile Please refer to the Kongberg document HPRA18BCD revC doc Transponder position message the frame contains 32 bytes in binary format Example data X 1234 56m Y 987 65m Depth 1234 5m Heading 59 9 Pos to ROV 15 Training mode UU The difference between the mobile and fixed protocols is made in the Byte 3 Bit 5 The bit is equal to 1 in the mobile case and O in the fixed case p em ooo Head byte 1 SSBL position Byte 2 OxSS Status Byte 1 Bit 0 Position Measurement OK Bit 1 Position measurement filtered Bit 2 Position measurement predicted always 0 for USBL BOX Bit 3 Optional data SSBL OK pressure sensor only for USBL BOX TP Bit 4 6 Always 0 Bit 7 Transceiver error opposite of Bit 0 Byte 3 0x20 Status Byte 2 Bit 0 1 Transducer number MSB s n USBL BOX Bit 2 3 Transceiver number LSB s n USBL BOX Bit 4 Training mode always 0 for USBL BOX Bit 5 Mobil TP SSBL Rov TP LBL 0 fixed 1 mobile Bit 6 LBL co ordinates in UTM always 0 for USBL BOX Bit 7 Master 0 Slave 1 always 0 for USBL BOX Byte 4 0x01 TP Inf 0 TP Transponder 1 Depth TP Optional Data 1
19. USA Japan New Zealand Norway and Switzerland e iXSea can also export this product to other countries but only through the issuance of an individual export license by the French authorities Once in its country of first destination e From a country member of European Union this product is free of movement travel as long as it remains within the European Union e From a country member of European Union this product can only be re exported to a non European Union member country under the dual use goods export control procedures set forth by the national authorities e From another country this product can only be re exported under both the conditions of the original export license from France depending on its type and content and the dual use goods export control procedures set forth by the national authorities If an individual export license has to be issued by the French authorities iXSea requires you to provide as needed a description of your usual activity and the one of the end user if different and the end user to fill out an end user certificate which includes e he description of the intended application of the product e A commitment not to re export the product without applying for an export license to the competent national authorities as set above This product cannot be exported or re exported to Cuba Syria North Korea Libya Sudan and Iran MU USBL BOX AN 001 Ed B September 2011 iii A IXSEA USBL BOX
20. and each Ethernet link can be used simultaneously with input and output Only the serial link configuration must absolutely be the same for input and output This is not the case for Ethernet links The input data for the USBL BOX is as follows e Position the geographical position of the vessel is typically supplied by GPS or by an inertial system likewise connected to a GPS e HRP the vessel s heading roll and pitch data is typically given via an appliance supplying information on attitude and orientation e Pressure pressure can be supplied by serial link through a transponder equipped with a pressure sensor operating in answer mode e Temperature variations in temperature are given by the temperature sensor situated close the antenna allowing you to estimate the rapidity of sound via the hydrophones and the transducer e UTC time and date information is supplied in order to record what the system is doing An external clock or a GPS can supply this data MU USBL BOX AN 001 Ed B September 2011 30 Q IXS E A USBL BOX User Guide A N Y IV 4 1 1 Input Stream Parameters Below you will find the various parameters that you have to configure for each incoming link Some data does not need a specific sensor nor from time to time lever arms Sensor type of sensor supplying position data Input type of port containing information on position a choice of four serial ports A B C D and four Ethernet links E F G H
21. and for output This is not the case for Ethernet links IV 4 2 1 Output Stream Parameters For each outgoing link the parameters to be configured are as follows Port number and type of link a chart shows the eight available ports and the associated link This enables you to choose the port and the type of link Protocol a list of protocols is available which allows compatibility between the USBL BOX and other appliances See the protocols in Appendix A Frequency the frequency of outgoing data is configurable Values are presented in ms and Hz and range from 20 ms 50 Hz to 10 000 ms 0 1 Hz Serial if chosen link is Serial the link parameters are as follows Q Parity None Odd Even Q Stop bites 1 0 or 2 0 Q Standard RS232 or RS422 Q Baud output selected from a predefined list ranging from 600 to 115 200 bauds output from port A is permanently fixed at 115 200 bauds Ethernet if the chosen link is Ethernet the link parameters are as follows Q Transport layer may be TCP Server TCP Client or UDP Broadcast Q IP the IP address of the target only for a transport layer TCP Client Q Port the number of the port MU USBL BOX AN 001 Ed B September 2011 34 Q XS E A USBL BOX User Guide H 1x BLUE COMPANY IV 4 2 2 Configuration Procedure Procedure Step 1 The configuration procedure of output data is detailed in this section Action Click on the INSTALLATION menu and select OUTPUT The
22. box is in use 0 to 50 C A mechanical drawing is provided in Appendix E 11 2 2 ELECTRICAL SPECIFICATIONS e Force 100 240V 50 60Hz e Power below 15 W with impulses reaching up to 80 W 1 2 2 1 Plugs on the Front Face The front of the USBL BOX consists of four LEDs the ON OFF switch and a compartment containing the connections Figure 10 Front face of the USBL Box door closed e The ON OFF switch with its LED e Three synchronizing LEDs a 1LED SYNC IN lasting up to 100 minutes Q 2LEDs SYNC OUT lasting up to 100 minutes The following connections are installed in the compartment They are dedicated to technical support operations Figure 11 Opened compartment door MU USBL BOX AN 001 Ed B September 2011 9 Q XSE A USBL BOX User Guide e CONSOLE DB9 male for the test serial port RS232 e BNC female Q SYNCHRO OUT MAIN and SYNCHRO OUT SECONDARY isolated and duplicated on the front and the back a SYNCHRO IN isolated and duplicated on the front and the back Q HYDRO 1 HYDRO 2 HYDRO 3 and HYDRO 4 hydrophones designed to emit a signal in order to validate installation without an antenna and for the measurement of signals emitted by the antenna 1 2 2 2 Plugs on the Rear Face 125 240VaAc SYNC in SYNC OUT X nica BIAIN SECONDARY i ACOUSTIC REMOTE SERIAL A SERIAL B SERIAL C SERIAL D ETHERNET Figure 12 Rear face of the USBL BOX e 125 240 VAC Po
23. gs nthe Front Fata Tm 9 Lade FUS ONNE KOA FIC cainin E S E AET ma 10 M223 VWinngorlthe Sernal LINKS a EA EE E AATETTA 11 I 2 2 4 Synchronization Signal Definition 11 Ill INSTALLING THE USBL BOX eeleieeeseeeeeieeeeeeeeeeee enne n enhn nnne n ennn nnnm nnn nnn nennt 12 IIT Checking the Delivery sin canne nd scene Ed X va calx VEGA titane sement med DV Vau beg wb Rao 13 H2 dnst lling th RAC annee anna zu EN sans MP NUR ae ess nent 13 Il 3 Installing the External Sensors eoner eee rien eina xau ees tus o EXRE a ES Enna ui xou nao YR uus xxu m Er REV EM nnna 13 Ill 4 Installing the POSIDONIA Antenna 1 eeeoseee er nee nennen nnne nnn nennen nnn nnn nnn 13 111 5 Installing the Transponders eeesseeeeseeeeeeeee eene nennen nennen 13 IV CONFIGURING THE USBE BOX sxsdaistivsengesuousdp RxuKEDUsSnFFRY EE UE IT dUS seeds sk UEM immense 14 IV 1 Web Based User Interface General Overview eeeeee eere nnne nnne 14 IV 1 1 zie T um 14 PN oM Iro Zo Newer 15 IV 1 3 X Handling the Windows and Tabs nennen nennen nnns 16 IV 1 4 A Handling the iXSea Logo nennen nennen nennen nnne nn nnns nnn nain nana nnns 16 MENFE 0462 REOR mmm 17 IV 1 6 General Rules for Using Command Windows 18 WOON WINDS eset 19 N1 6 Language and Di
24. list Procedure Step Action 1 Click on the SETUP menu and select TRANSPONDERS The transponders management window opens 2 Click on Erase depending on which transponder you wish to delete The transponder disappears The transponder has been deleted 3 End of Procedure It is not possible to delete the last transponder MU USBL BOX AN 001 Ed B September 2011 43 OIXSE USBL BOX User Guide C oO m P A nM Y V 1 3 ENTERING THE SOUND VELOCITY PROFILE V 1 3 1 Loading a Profile from a File It is also possible to load a file containing the sound velocity profile in the Web based user interface The format of this file must respect the following rules e The file is in ASCII format e The name of the file must start by CEL e The two first numbers of each line of the file are read like the depth and velocity The other numbers after these first two are ignored e Any separator can be used to separate the two values of depth and velocity e he depth must be in meters and the velocity in meters per second e The depth must be increasing from one line to the other If it is not the case the file is sorted out to have a strictly increasing series of depth e he data over limits are ignored Procedure Step Action 1 Click on Browse and select the file containing the sound velocity profile LOAD FROM FILE Please be sure that the filename begins with CEL en aa File oxidoc CEL_svp caraibe tet YY 2
25. lists In 24 bits select the Beacon Instruction and Parameter in the corresponding drop down lists Under Acknowledgment Timeout select the Timeout Click on OK to validate your choice and to send the parameters to the USBL BOX End of Procedure MU USBL BOX AN 001 Ed B September 2011 57 Q XS EA USBL BOX User Guide H PX BLUE COMPANY Vil MAINTENANCE VII 1 Maintenance from the Web Based User Interface You have access to a series of four maintenance tasks from the Web Based User Interface These four tasks are e Update the System e Reset to factory settings e Contact iXSea technical Support e Gain Stop mode to perform analogical tests on the antenna Vil 1 1 UPDATING THE SYSTEM You update your system with an update file that iXSea provides to you when a new version is available The update file names have e rec or sre extension e TQ_ prefix for the mother board e G4W_ for the signal processing board You upload this file from your computer directly inside USBL BOX via the present procedure MU USBL BOX AN 001 Ed B September 2011 08 e X S E A USBL BOX User Guide Procedure Step Action i Click on maintenance in the upper right corner of the window UPDATE SYSTEM Product Serial Number 5434 435 GUI Version 2 40 1 20 Col Interface Version 3 16 Main Board Firmware Version 0 13 DSP Board Firmware Version 6 89 FPGA Main Board Version 4 90 FPGA DSP Board Vers
26. new configuration and store it in the electronic f k To return to the previous entered values Other Button On mouse over action orange color may surround a button to indicate that the action performed by clicking on the button has important consequences Example of such an action the system restarts IV 1 7 TOOL TIPS By moving your pointer above some parameters and iXSea logo you access its tool tip see Figure 21 Start Tracking Click to opensclose detailed status Figure 21 Tool tip example MU USBL BOX AN 001 Ed B September 2011 19 Q LX SEA USB BOX ser Guide LUE C O m PA RNY IV 1 8 LANGUAGE AND DISPLAY OPTIONS The menu option in the top right hand corner of the main window gives you access to Language French or English and also the Display Day mode and Night mode The night mode is designed to reduce the screen s glare which could affect the driving of the boat A IXS EA navigation data maintenance QIXSEA CONTROL TELECOMMAND INSTALLATION SETUP DATA LOGGING Start Tradang USSL 80X Figure 22 Day and night modes Procedure Step Action 1 Click on options in the upper right corner of the main window The OPTIONS page opens OPTIONS wt Lanquage wt Display Wuvede dU RUM DID MM MEE EIU IUE IM RUEERIE DENEN EMI ace Night Mode Cy 2 Select the Language
27. of data and the sending of signals for the remote control See use of Web based user interface in section IV A ixs EA navigation data maintenance options TELECOMMAND INSTALLATION SETUP DATA LOGGING Heading 167 999557 Time 08 55 17 585 Foll 1 54921 Latitude 81 8960601 8 Longitude 155 97189290 Pith 1 66040 EUR Start Tracking Tracking ie Speed 0 04 kt System ready USsL_L sox Figure 3 Main window of the Web based user interface MU USBL BOX AN 001 Ed B September 2011 4 Q XS E A USBL BOX User Guide 1 2 3 POSIDONIA ACOUSTIC ANTENNA OPTION The acoustic antenna POSIDONIA see Figure 4 is connected to the USBL BOX via a specific cable The antenna consists of four hydrophones and a transducer The transducer emits the signal generated by the USBL BOX The four hydrophones receive responses from the transponders with different phases The differences phases enable the box to calculate the distance and the angle of emission of the response For further details see the POSIDONIA antenna user manual ren A AV gt CT Sener PES iana ATTE Diss ALLE Mr tj a ee R me SIXSEA ata e H4 Figure 5 Numbering of the antenna hydrophones and locating pin of hydrophone H1 MU USBL BOX AN 001 Ed B September 2011 5 Q X S E A USBL BOX User Guide NIK BLUE Co m P AM 1 2 4 TRANSPONDERS OPTIONS The following iXSea transponders are designed to be used w
28. the configuration of input and output parameters is detailed Survey parameters are defined in section V 1 First a quick overview of the Web Based User Interface is necessary IV 1 Web Based User Interface General Overview IV 1 1 ENVIRONMENT Web Based User Interface Required Environments Browsers The PC must be equipped with one of the following WEB browser e Mozilla Firefox 4 and later versions e Internet Explorer 9 and later versions Furthermore the following applications must be installed on the PC e Flash Player 10 2 and later versions e Java Runtime Environment version 6 edition 24 1 6 0 24 and later versions Starting the Web Based User Interface On a PC The communication with the PC can be performed either directly through an Ethernet link or through a local network The communication is made in an https domain so it includes encryption and secure identification of the server The Web based User Interface is launched from the WEB browser hosted on the PC The URL to enter in the address box is for example https 192 168 64 17 and is redirected to https 192 168 64 17 control The login is user and the password is userXI E IXSEA USBL BOX Mozilla Firefox Ele Edit View History Bookmarks Tools Help IM CN MES htEps 192 158 64 17 controlj OT cx a IXSEA USBL BOX Figure 16 USBL BOX IP address MU USBL BOX AN 001 Ed B September 2011 14 Q IXS EA USBL BOX User Guide IV 1 2 MAIN WIN
29. 0 Subnet mask 255 255 255 0 Default gateway Jbtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server aa o E 4 Select the option Use the following IP address and enter 192 168 64 135 forthe IP address field and 255 255 255 0 for the Subnet mask 5 Leave the Default gateway and DNS server addresses blank 6 Click on OK button to validate the modifications You have set up the PC configuration to enable the Ethernet communication between the PC and the USBL BOX 7 End of Procedure The PC IP address used here takes into account that the USBL BOX is using its default configuration with its default IP address terminated by 1 You may change the IP address and subnet mask of the USBL BOX In either case the subnet masks of both PC and the USBL BOX must be the same MU USBL BOX AN 001 Ed B September 2011 24 Q IXS EA USBL BOX User Guide IV 2 2 CONNECTING THE USBL BOX To A LOCAL NETWORK In this section you connect the USBL BOX to the local network via an Ethernet switch see section IV 2 2 1 Then you set up a PC from the network to have access to the USBL BOX network parameters You edit these parameters to make the USBL BOX compatible with the network see section IV 2 2 2 The global procedure is explained in section IV 2 2 3 IV 2 2 1 Overview of the Connections USBL Box Operator Workstation 3 F
30. 0x90 gt OK Sensor status Ox9A gt alignment octet2 octet2 OxRRRR Roll RollSB RolLSB Rol 180 octet 3 Roll MSB LSB 0 01 Signe when port goes up ocet4 ocet4 OxPPPP Pitch Pitch LSB PithLSB Pitch 180 octet 5 Pitch MSB LSB 0 01 Signe when stern goes up ocet ocet Oxhhhh Heave HeaveLSB HeaveLSB Heave 10m octet 7 Heave MSB LSB 0 01 m Signe when OCTANS goes up E d CapLSB Cap 0 to 360 octet octetQ Cap MSB LSB 0 07 MU USBL BOX AN 001 Ed B September 2011 87 Q B 5 IXSEA H x BLUE C oO m P A NY GAPSBIN Time Tag Header Time tag of data INS interface status 1 INS algorithm status 2 Heading Pitch Latitude Longitude Altitude positive up North speed West speed Vertical speed positive up Heave on selected lever arm Latitude standard deviation Longitude standard deviation Altitude standard deviation Heading standard deviation Roll standard deviation Pitch standard deviation CRC Fin de trame THIS PROTOCOL MUST HAVE A RATE OF 20 Hz 8 bit unsigned integer Forms 32 bit IEEE Float 32 bit signed integer 2 Pi 2 32 bit signed integer 2 Pi ones 32 bit IEEE Float 16 bit unsigned integer 8 bit unsigned integer USBL BOX User Guide CES ee ee ee L ee CS ee as The 64 bits time tag is described hereafter Bit 63 56
31. 2 Inclinometer TP Optional Data 1 amp 2 not used here 3 Diff in TP Optional Data 1 amp 2 not used here 4 Compass TP Optional Data 1 not used here 5 Acoustic control transponder not used here 6 Beacon not used here 7 Depth Beacon not used here 10 Responder driver 1 not used here 13 Responder driver 4 Byte 5 0x00 TP ID Byte 6 OXTT From 0 to 99 Byte 7 OxsY Y position s 0 if Y positive Y HIPAP Byte 8 OxYY s Dif Y negative Byte 9 OxYY BCD coded LSB 1 10 of unit OxsX X position s 0 if X positive X HIPAP OxXX s D if X negative 0xXX BCD coded LSB 1 10 of unit OxsZ Z position s 0 if Z positive OxZZ s D if Z negative OxZZ BCD coded LSB 1 10 of unit Byte 16 OxHH Heading LSB 0 to 359 9 LSB 0 1 Byte 17 OxHH Heading MSB BCD coded Byte 18 XsD Sensor Depth Meters Byte 19 OxDD Optional Data 1 S 0 MU USBL BOX AN 001 Ed B September 2011 69 Q XS E A USBL BOX User Guide E COMPANY Sez wb 500 ce Optional Data 2 Always 0 Byte 24 0x00 Horizontal error Always 0 Byte 25 0x00 Ellipse direction ez om enr ES Byte 27 0x00 Ellipse major em om o Eme mm Byte 29 0x00 Ellipse minor Byte 30 OXXX XX Checksum Byte 31 End of frame Transponder position message the frame contains 32 bytes in binary format Message e d 2 OxSS Number of From 1 to 13 transponder in use n 3 OXTT Number of TP 1 From 1 to 999 Byte 4 OXTT Byte 5 OXTT Number of TP
32. C oO m oP A n E WIzr ewe vee m pe p PS East float CS em s mme i e po eet 7 e p Rm s HA fet E ca Bl Origin of known depth byte 0 Invalid known position CS C 000000000 Origin of the known CAC velocity byte 0 Unknown CAC Velocity O c T2 O O O TD 2 o E Q o lt meme 0 qum MU USBL BOX AN 001 Ed B September 2011 83 OL S EA USBL BOX User Guide AM ix BLUE C oO m P A nM Y Raw Transponder Position This datagram contains the result of position computation made in real time sony RR LLL LINE NNNM NN Buwen me RE pme e o E M o e ER NUN NN e Ce mmm PS su MU USBL BOX AN 001 Ed B September 2011 84 Q X S E USBL BOX User Guide A NM ix B LL E C oO m OP A NY A 10 PIFM POPSN SPIFM POPSN JJ MM AAAA HH MM SS DDD ddd dd vv vv tvv vv CCCC nn JJ MM AAAA HH MM SS DDD s dd mm mmmm s ddd rmm mmmm mmmm c c mmmm CR LF s Speed Speed X knots Speed Y knots Transponder or Transponder or mobile device ID other Mobile Transponder number ES ID transponder ID in 4 characters example for transponder 1 0001 for transponder 26 0026 MU USBL BOX AN 001 Ed B September 2011 85 e X S E A USBL BOX User Guide AM d BLUE C oO m P A NY B INPUT PROTOCOLS B 1 xxGGA xxVTG Data sent Latitude Longitude
33. Click on Send File The file is read and the depth and velocity data are displayed in the table 3 End of Procedure MU USBL BOX AN 001 Ed B September 2011 44 L LE C oO m oP A n C IX SE ZA USBL BOX User Guide V 1 3 2 Entering a Profile Manually Speed profile The USBL BOX measures the angle and the signal time between the acoustic antenna and the immerged transponder In order to convert the data into distance time you have to know the speed of the sound in the entire water column An operator equipped with a sounding line takes this measurement at the beginning of the mission The corresponding values are then entered into the system via the Web based user interface so that the necessary calculations can be carried out as accurately as possible These values comprise data concerning both depth and speed Input Therefore you have to input data concerning e Depth m e Velocity m s Procedure Step Action 1 Click on SETUP and select SPEED PROFILE An editable speed profile will be shown SOUND VELOCITY PROFILE Depth m Velocity m s 10 1475 20 1488 30 1500 40 1475 90 1488 60 1500 T0 1475 80 1488 90 1500 100 1475 200 1488 300 1500 400 1475 900 1488 1000 1500 MU USBL BOX AN 001 Ed B September 2011 45 Q X S E USBL BOX User Guide AM ix BLUE C oO m P A NY Step Action 2 Click on the first line of the Depth m column 3 Enter the valid depth value between 0 and 10 000m 4 Click on T
34. DOW The main window of the USBL BOX Web based User Interface is made up of various elements see Figure 17 e Access to all navigation data navigation data menu e Access to maintenance tasks maintenance menu e Achoice of languages English or French e Achoice of operating mode day mode or night mode e Menu bar e System status display e Main data display e Two command buttons You can resize the page By doing so certain elements disappear or become smaller depending on the size of the window maintenance Restart System Update System Reset to Factory Settings Contact Support navigation data options displays all operation data Language and Day Night Modes Menu bar the menu is blue when activated A xs EA navigation data maintenance options TELECOMMAND INSTALLATION SETUP DATALOGGING Time and Position Attitude and Speed Heading 167 99955 Time 08 55 17 485 549 i i P t Latitude 81 895 0601 g Longitude 155 97189280 Rall Start Tracking Pitch 1 66040 Speed 004 ki System Status Color and message USSsL BOxX Command Buttons Start Stop Tracking Figure 17 Main window of the USBL BOX Web based user interface iXSea Logo The iXSea logo appears on every page and tab of the Web based user interface It supplies you with visual information on the status of the system using an associated color coding system see section IV 1 5 By
35. E Recovering The telecommand transmits a signal to the transponders Once the signal received by the transponder the transponder answers by an acknowledgment signal CAF The hook engine rotates freeing the release ring and the weight Another acknowledgement signal is transmitted by the transponder after the complete rotation of the engine The transponder starts to go up towards the surface carried by the buoys The upward speed is typically 1 to 2 m s The transponders can now be recovered at the sea surface UU Before any recovery operation click on the Stop tracking button The POSIDONIA antenna must not be pinging while the telecommand is operating The USBL BOX can send commands to the transponders Two types of commands exist and are coded respectively in 8 and 24 bits The 24 bits coded commands are exclusivemy dedicated to the RTT400 In order to configure these commands you need to input the following parameters see sections V1 4 2 1 and VI 4 2 2 VI 4 2 1 8 bits Commands e Bit0 and Bit1 two frequencies defining the 0 and 1 values of the coded signals e CAF acknowledgment signal send by the transponder e ARM hexadecimal value of the arming command that wakes the transponder up e CMD hexadecimal value of the command e Acknowledgment Timeout from 1 to 60 s in which the device waits for an acknowledgement signal of the command from the transponder Transponder The codes of the commands can be found on the manufacture
36. HE WEB USER INTERFACE Blue Message information Orange Message warning Red Message Message error Meaning Action USBL BOX Sensor The system is not receiving Check the channel configuration the Input A B C D E F G H not Input Corrupted data any data on channel A H physical connection and the data source Data received but Check the quality of serial links consistency and integrity tests fail DSP communication DSP configuration Signal processing Internal problem coming from Switch off the rack and turn it on again If the signal processing module the problem remains contact iXSea Internal problem coming from Switch off the rack and turn it on again If the signal processing module the problem remains contact iXSea Internal problem coming from Switch off the rack and turn it on again If the signal processing module the problem remains contact iXSea USBL BOX Antenna Transponder interrogation Sampling Channel 1 2 3 4 detection The system is not triggered Check that the synchro is sent to the rack Internal problem coming from Switch off the rack and turn it on again If the signal processing module the problem remains contact iXSea One or several detections are Increase the interrogation rate close to the end of the acquisition period The system does not detect If the message appears for a short time th
37. NO UOS SUDS sIusuoi no JN poda ejje pned leuunoop 89 109 OE Leer xD ee HE ag NS 8 WOCQO V3SXI M XOg T4 N 12H09 WASXI LOF BUY lol v NA o Y N INIMNALIV AL LL u93 SOF U89 lol V N 32BlL VA OS alvou3 Siva ANIL NISSI SIA NOldaos3a 3OIONI o1 60 47 did pat eas USBL BOX User Guide MECHANICAL DRAWING IXSEA Aw ix BLUE C oO m P A nM 01 88 Y 92DJ 9 ep 9nA JUDAY 9204 D 9p 8NA Q E V2 MU USBL BOX AN 001 Ed B September 2011
38. Select the value of the Min Duration from the associated pull down list Click on OK to validate your choices and to send this data to the USBL BOX End of Procedure MU USBL BOX AN 001 Ed B September 2011 38 USBL BOX User Guide OIXSEA AN IX BLUE COMPANY V 1 2 SETTING UP THE TRANSPONDERS The USBL BOX positions the immersed transponders Before starting positioning you have to list configure and activate the transponders via the web user interface You can access the management of transponders in the TRANSPONDER component from the SETUP menu Transponders which are already present in the data base are listed in this window and you can see at a glance how these transponders were configured and whether they are still active or not See the transponder window in Figure 2T OIXSEA navigation data maintenance options CONTROL TELECOMMAND INSTALLATION DATA LOGGING LA M Stat Tracking jJ UtSmDL so x Add transponder PPT err ON Terr ON Transpandar 1 IXSEA RTT4 Interragation Mode Transponder TONAL 11 5kHz POSIDONIA 1 7 Interrogation Reply Code Change Settings Erase Transponder 3 IMSEA RTS Transponder 4 IMSEA RT Interrogation Mode Responder Prim TOMAL 1 GkKHz POSIDONMIA 18 Interrogation Mode Responder Sec RAMSES 01 POSIDONIA 18 Interrogation Interrogation Code Reply Code Reply Code Change Settings Erase Change Settings Eras
39. USBL BOX User Guide A MN Ix BLUE c MPA MY V 1 2 2 Configuring a Transponder Interrogation Reply D Information Filtering The USBL BOX can position four different types of transponder e iXSea RT9 e iXSea RT8 e iXSea RTT4 e iXSea RAMSES 6000 The configuration parameters are classified under the following headings Interrogation comprises the Mode of acoustic positioning and the Code of interrogation that has been assigned to the transponder e Mode can be Responder or Transponder In Answering Machine mode the transponder is set off by an electrical signal and the transponder responds via acoustics In Transponder mode two outputs are possible MAIN and SECONDARY and the interrogation and response are transmitted via acoustics e Code defines a monochromatic signal from 8 kHz to 16 kHz by steps of 0 5 kHz or for RT9 and RAMSES 6000 a 10 ms MFSK low frequency signal from O to 23 The heading Response comprises acoustic parameters characterizing the response of the transponder e Code defines a low frequency MFSK signal lasting 25 ms numbered from 16 to 23 e Turn Around Time there is a period of inactivity between the interrogation signal first being received and the beginning of sending out the response emission This time period is between 20 ms and 200 ms e Blanking Time this is the length of time of transponder deafness after the response emission This length of time helps avoid the transpo
40. User Guide Overview of the USBL BOX User Guide This document is the User Guide for USBL BOX It must be read and understood prior to using the USBL BOX acoustic navigation system The manufacturer shall in no case be held liable for any application or use that does not comply with the stipulations in this guide USBL BOX User Guide is divided into seven parts e Part 1 Introduction This section gives a general overview of USBL BOX and describes the architecture of the system e Part 2 Conventions and Specifications This section lists all the useful information about the USBL BOX e Part 3 Installing USBL BOX This section helps you to install USBL BOX and to connect it to the different devices of the ship e Part 4 Configuring the USBL BOX This section gathers the configuration procedures of the USBL BOX e Part 5 Setting the USBL BOX to Work This section lists the tasks to go through before the beginning of the survey e Part 6 Operating the USBL BOX This section describes the system operating mode and the data monitoring e Part 7 Maintenance This part lists all the maintenance operations that you can apply on USBL BOX The abbreviations and acronyms used in this guide are listed hereafter A Table of Contents is available in the following pages to allow a quick access to dedicated information MU USBL BOX AN 001 Ed B September 2011 IV OIXSEA x BLUE C m OP A n USBL BOX Us
41. XXXX X YYYYY Y A PPPP P A CCCC C CK ZNNNNN Recurrence frame Number hhmmss ss is the time in hours minutes seconds milliseconds ji is the day jj 0 to 31 mm is the month mm 1 to 12 IS the year is the Transponder No 1 to 128 Transponder 128 to 1 Unknown Transponder XXXXX X is the X coordinates positive northwards in meters YYYYY Y is the Y coordinates positive eastwards in meters is the position validity X Y Z 0 to F binary coding of acoustic channel validity is the calculated depth in meters is the depth validity 0 None 1 Calculated 2 Sensor is the sensor depth in meters e Position validity The value represents the acoustic Channel validity on 4 bits from 0000 to 1111 O means that the channel is not valid and 1 that the channel operates properly e Calculated depth Sensor depth The sensor know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field e Sensor depth if the Acoustic Transponder has no sensor the value transmitted is 9999 lt gt THE X AND Y POSITIONS ARE RELATIVE TO THE ACOUSTIC ARRAY MU USBL BOX AN 001 Ed B September 2011 66 e x S E USBL BOX User Guide A NM S x B L LE C m P A n Data sent Latitude Longitude of the ship or sensor GPS quality GPGGA hhmmss ss ddmm mmmmm a dddmm mmmnmnm b q ss hh lt CR gt lt LF gt hhmmss ss is the UTC of position
42. a UTC An external clock can be used to standardize the time between several different acoustic appliances working together MU USBL BOX AN 001 Ed B September 2011 7 Q X S E A USBL BOX User Guide Wik BLUE Co m EAM Il CONVENTIONS AND SPECIFICATIONS 11 1 Conventions 11 1 1 REFERENCE CENTER The lever arm measurement point of reference is called the central reference point or CRP This point is chosen arbitrarily In general it is the centre of gravity or centre of rotation of the vessel but can in effect be any other point of the vessel The centre of gravity or the centre of rotation of the vessel is the point which moves least All the various sensors installed on the vessel are positioned according to this point In this way it is easy to establish the distances between the appliances and to calculate the lever arm An example of CRP is show in figure 9 11 1 2 REFERENCE AXLES Having defined the central reference point in the previous paragraph now we define the axes of reference These axes are illustrated in Figure 9 They define the signs of the lever arms of the external sensors Figure 9 Example of CRP and Reference Axes MU USBL BOX AN 001 Ed B September 2011 8 Q XS E A USBL BOX User Guide I 2 Specifications 11 2 1 MECHANICAL SPECIFICATIONS e Dimensions 483 mm 89 mm e Weight 5 8kg e Temperature limits when stocking the box 20 to 70 C e Temperature limits when the
43. ab The velocity corresponding to the depth value entered is highlighted 9 Enter the new velocity value between 1 400 and 1 600m corresponding to the entered depth 6 Click on Tab The depth value of the following line is highlighted 7 Go back to step 3 until you have entered all the couples depth and velocity from your profile 8 Click on OK to validate your choices and to send this data to the USBL BOX 9 End of Procedure bh One value which is outside validity will appear in red It will be impossible for you to validate the speed profile before replacing these values with valid data MU USBL BOX AN 001 Ed B September 2011 46 OIXSE USBL BOX User Guide Aa Qx BLUE MPA Hh V 1 4 LOGGING DATA Procedure Step 1 In this section the recording of data coming from an Output set up in section IV 4 2 port is configured Choose the Name of the File You can choose to create a new file after a certain time of after the previous file has reached a certain size Segmentation Choose the selected directory on your hard disk where the data is stored The name of the file is automatically generated with the date and time USBL BOX aaaammjj hhmmss log aaaa year mm month jj day hh hour mm minute ss second Action Click on DATA LOGGING A security window may open the first time you click on this button after having installed the Java platform e Select Always trust this editor e Click Go
44. ain 6 Reconnect your browser to the new URL https xxx xxx xxx Xxx 7 End of Procedure MU USBL BOX AN 001 Ed B September 2011 26 QIxXSEA USBL BOX User Guide Aw ix BLUE MPA Hh OY IV 2 2 3 Connection Procedure Procedure Step 1 Action Connect physically the USBL BOX to the local network as shown on Figure 25 The USBL BOX being in default network configuration that is not compatible with your local network the USBL BOX is not visible from any PC present in the network Select one PC from which you are going to access and configure the USBL BOX Note the IP address of this PC Do not lose this IP address because you need it in step 7 Follow the procedure of section IV 2 1 to set up the PC to be able to see the USBL BOX from this PC See Appendix C for the choice of an IP address compatible with the USBL BOX IP address The USBL BOX is now visible from this PC Choose an IP address compatible to the local network You are going to assign this address to the USBL BOX to include it into the local network Add this address to the list of IP addresses of the elements present in the local network Launch the Web based User Interface See section IV 1 See section IV 2 to edit the USBL BOX network parameters Once the PC is configured and that you can see the USBL BOX from the PC assign the new IP address to the USBL BOX For the Net Mask enter the local network mask Configure the PC in its
45. c gt lt F1 gt lt F2 gt lt F8 gt lt Ch1Ch2 gt Byte 0 Synchronization byte Data Field 1 Transponder number Warning The first received number is used as a Byte 1 synchronization byte for all the other inputs Data Field 2 Transponder latitude 2 Pi signed 32 bits Bytes 2 to 5 Data Field 3 Transponder longitude 2 Pi signed 32 bits Bytes 6 to 9 Data Field 4 Transponder depth IEEE floating point format meters Bytes 10 to 11 Warning Not used by the INS Data Field 5 Latitude standard deviation IEEE floating point format meters Bytes 12 to 17 Data Field 6 Longitude standard IEEE floating point format meters Bytes 18 to 21 deviation Data Field 7 Depth standard deviation IEEE floating point format meters Bytes 22 to 25 Data Field 8 Delay IEEE floating point format seconds Bytes 26 to 29 Bytes 30 to 31 Checksum Addition of all the bytes from O to 29 Warning 2 characters MU USBL BOX AN 001 Ed B September 2011 76 QIxSEA USBL BOX User Guide Fa L LE C oO m OP A NY A 9 USBLBOX POSTPRO Terminology Overview Protocol Structure CRP Common Reference Point BRD Acoustic Antenna Mounting Flange CAC Acoustic center of the acoustic antenna RIXI iXSea Reference Frame X towards the bow axis of the ship Y towards starboard Z upward Roll port goes down Pitch bow goes down DL D D D D DO Heading Bow goes to port RANT Acoustic antenna referenc
46. ch line X Distance Y Distance Z Distance input the three distances between H1 H2 H2 H3 and H3 H4 Let the Phase to zero This parameter is dedicated to an future use Click on OK to validate your choice and to send this data to the USBL BOX End of Procedure MU USBL BOX AN 001 Ed B September 2011 49 Q XS EA USBL BOX User Guide LUE C m P A NY VI OPERATING THE USBL BOX VI 1 Deploying the Transponders The transponder to be positioned is either mobile on an underwater vehicle or attached to a mooring The deployment of an underwater vehicle is specific to that particular vehicle The deployment of a transponder attached to a mooring VI 2 Launching the Survey Procedure Step 1 Action If this is the first mission calibrate the POSIDONIA antenna after having installed it or after the vessel has passed through dry dock See the antenna calibration procedure in section V 2 Enter the non alignments immersion and lever arms from section IV 3 Configure or check if it has already been done the USBL BOX network interface See the section IV 2 Configure the USBL BOX input and output if there are new sensors during this mission See section IV 4 Configure the synchronization mode and its associated parameters See section V 1 1 Configure the transponders which are going to be positioned during the mission See section V 1 2 Enter the speed profile See chapter V 1 3 Configure the data acquisit
47. clicking on this you obtain a quick access to detailed status displays of the system s different elements see section IV 1 4 MU USBL BOX AN 001 Ed B September 2011 15 Q XS EA USBL BOX User Guide IV 1 3 HANDLING THE WINDOWS AND TABS Use the menu to navigate in the interface windows as shown in Figure 18 AT p 1 7 RUES re TELECOMMAND INSTALLATION SETUP DATA LOGGING Heading 167 99355 Time 08 55 17 585 Latitude 81 89606018 Longitude 155 97169290 e Roi 1 54921 L Pitch 1 66040 Start 1 Tracking j Speed 004 b j IXSEA STATUS TELECOMMAND INSTALLATION SETUP DATA LOGGING MECHANICAL PARAMETERS ANTENNA CALIBRATION gt Time 12 55 50 931 x Latitude 22 33042562 INPUTS Longitude 155 97344003 Pitch 2 80746 OUTPUTS Heading 109 66020 Roe 1 27972 aching J sais y System ready Click on Installation SETUP MENU A to open the menu OIXSEA navigation dats CONTROL TELECOMMAND STATUS SETUP DATA LOGGING Tuding usaL_ 380x 7 7 y WETWORK SETTINGS Select an item in the list paduess 192 168 36 the corresponding page opens MetMask 255 255 0 0 Figure 18 Navigation through the interface pages IV 1 4 HANDLING THE IXSEA LOGO A click on the iXSea logo opens the detailed status pop up The Figure 19 sums u
48. d sheet example of a RT961B2S Mk2 VI 4 2 2 24 bits Commands The specific characteristics of the 24 bits commands are the following Synchronization impulse frequency Synchro adding itself to the BitO Bit and CA emitted before the actual transmission of the 24 bits The command message itself comprises three bytes Q An address to assign the transponder to be ordered Beacon Q An information defining the task to be achieved Instruction Q A parameter Parameter MU USBL BOX AN 001 Ed B September 2011 26 OIXSE A USBL BOX User Guide M ix BLUE C oO m OP A NY TELECOMMAND EITTIE TELECOMMAND Te Ce REC 0 LS bo TONAL 8 5kH2_ y TENERE Rm Bitt TONAL 10kHz x Bit TOMAL 8 5kHz iv Synchro TONAL 12 5kHz CAF POSIDONIA 17 iv CAU Ro ET te cs Beacon FD v ARM FD v Instruction CMD FE iv Parameter Acknowledge Timgoli ss v Acknowledge TMe oUt M H Timeout s Timeout 31 Iv S Figure 30 8 bits and 24 bits TELECOMMAND window Procedure Step Action 1 Click on TELECOMMAND The TELECOMMAND window opens See Figure 30 Choose the type of command to be sent the 24 bits coded commands are exclusively dedicated to the RTT400 transponders Under Frequencies In 8 bits select the Bit0 Bit1 and CAF in the corresponding drop down lists In 24 bits after the Bit0 Bit and CAF parameters select the Synchro frequency Under Codes In 8 bits select the codes ARM and CMD in the corresponding drop down
49. e Transponder 4 IMSEA RAMSES 6000 Interrogation Mode Responder Prim TONAL 1 7 5kHz POSIDONMIA 22 Interrogation Reply Code Change Settings Erase Figure 27 Transponder window From this window you can carry out the following e Add a transponder to the list e Configure a transponder e Activate a transponder e Remove a transponder from the list MU USBL BOX AN 001 Ed B September 2011 39 Q X S E A USBL BOX User Guide L L E C oO m P A nM Y V 1 2 1 Adding a Transponder Procedure Step 1 Each transponder is identified by an Identifier a Type of transponder and a Manufacturer Four types of transponder can be added e iXSea RT8 e iXSea RT9 e iXSea RTT4 e iXSea RAMSES 6000 e Generic transponder not dedicated to any manufacturer Action Click on the menu SETUP and select TRANSPONDERS The management of transponders opens Click on Add a transponder The window shows Go back to transponders list NEW TRANSPONDER ID Number 2 Create i Type optional IXSEA RT8 Iw Choose an ID Number from the pull down list Only available identifiers are present Select one of the transponders listed under Type optional and click on Create The configuration window opens Configure the transponder See section V 1 2 2 Once the transponder is configured click on Go back to transponders list End of Procedure MU USBL BOX AN 001 Ed B September 2011 40 Q IXSEA
50. e USBL BOx 20101008 0983321 log i h l Start ENT Segmentation Time min Logging Selected Directory CJ w Select New Directory mul tL LL LU Ji pr Selected i D Click on the Start Logging button to begin recording Recording starts and a separate DATA LOGGER window open This shows the file name together with the directory where the file is recorded and the chosen Segmentation At any time you can stop the recording by clicking the Stop button USBL JmBO x DATA LOGGER How connecting File Name LISBL_BOx 20101008 093321 log Path Ci Segmentation Size kay 300Ka Do not close the DATA LOGGER window otherwise you stop the data recording End of Procedure MU USBL BOX AN 001 Ed B September 2011 48 Q XS EA USBL BOX User Guide H ix BLUE C oO m OP A NY V 2 Calibrating the USBL BOX Procedure Step i The calibration procedures of the POSIDONIA acoustic antenna can be found in the specific user manual of the POSIDONIA acoustic antenna Once the angular offsets have been computed you need to input these offsets in the USBL BOX Web based user interface Action Click on the INSTALLATION menu and select ANTENNA CALIBRATION CALIBRATION Fa For expert users only if b Unlock Click to unlock parameters Ey H1 H2 H2 H3 H3 H4 X Distance o mm Y Distance o 500 mm Z Distance o o o mm Click on Unlock to make the input possible For ea
51. e frame a X towards H1 Q Y towards H4 Q Z downwards RIXI o CRP iXSea reference frame centered on common reference point RANT o BRD Acoustic antenna reference frame centered on the center of the mounting flange RANT o Hx Acoustic antenna reference frame centered on hydrophone x USBL REJEU protocol comprises all necessary data for payback Configuration data supposed invariant Q System characteristics Q Beacon characteristics Operational environment data Q Antenna calibration Q System Installation Q Sound speed profile Input data Q Time Q Raw navigation data Q Detection characteristics a Ancillary data The protocol comprises binary datagrams produced by the equipment It contains the sufficient and necessary data for playback of the applied real time processing The datagrams comprise Header for identification and characterization Main body of data described in the header Checksum bytes sum MU USBL BOX AN 001 Ed B September 2011 77 1 E A USBL BOX User Guide LI E C oO m P A nM Y Data Type The following conventions are applied Type Description byte Unsigned 8 bits integer short Signed 16 bits Integer ushort Unsigned 16 bits Integer long Signed 32 bits Integer ulong Unsigned 32 bits Integer float Float IEEE 754 32 bits e 16 and 32 bytes encoded data are described with the Big endian convention strong weight byte sent first e NaN have a value of O
52. e of the ship Azimuth Transponder angle seen from the antenna with respect to Vertical Angle Transponder angle seen from the antenna with respect to vette the vertical Signal to noise ratio Travel time of the acoustic wave to reach the transponder MU USBL BOX AN 001 Ed B September 2011 51 e Exhier dition Affichage Historique Marque pages Qutils 2 XS EA USBL BOX User Guide AN IX BLUE C O m PA NY e Onthe recorded data window Q The name of the current data file which changes according to the chosen segmentation Q The recording status of the tracked transponders cud During the tracking repetitive clicks on the main iXSea logo or on the STATUS label on the left of the main logo display alternatively the SYSTEM DETAILED STATUS and the list of the active transponders and their associated parameters A click on the frame of a transponder of the list allows the display of another set of parameters of the transponder hitp 127 0 0 1 USBL_BOX_Web control_expertview Q X a Q htp 127 0 0 1 U58L BOX Webjcontrol t ME o Termin IXSEA USBL BOX A ixs EA navigation data nal TELECOMMAND INSTALLATION SETUP DATA LOGGING USSL 80X NAVIGATION DATA 09 34 58 972 Latitude 7353652049 Longitude 103 81468277 Time Heading 93 88369 p Rol 027171 b Pitch 2 85605 xem J EN Atti
53. e signal coming from the it may be due to the external transponder on the channel environment If the problem remains 1 2 3 4 continuously there might be a problem with the antenna or with the antenna cable Contact iXSea MU USBL BOX AN 001 Ed B September 2011 53 QIXSEA L L E C oO m P A NY TRANSPONDERS No detection No position Filter not updated RAZ Filtre Antenna not calibrated USBL BOX User Guide The system does not track If the message appears for a short time the transponder it may be due to the external environment If the problem remains continuously check the consistency of the transponder configuration input in the Web based user interface The signal detections do not If the message appears for a short time allow the computation of a it may be due to the external position environment The computed position has been rejected The filter has been re initialized because of consecutive rejections The antenna is not calibrated Report to the calibration section of this manual See section 49V 2 MU USBL BOX AN 001 Ed B September 2011 04 QIxXSEA USBL BOX User Guide VI 4 Recovering the Equipment VI 4 1 PRINCIPLE Telecommand This section describes the recovering of the transponders The moored transponders are recovered with the use of the telecommand function of the USBL BOX The iXSea TT801 telecommand can also perform this duty VI 4 2 OPERATING MOD
54. ed Vehicle Release Transponder Real Time Kinematic Simultaneous Localization And Mapping Ultra Short Base Line Universal Time Coordinated MU USBL BOX AN 001 Ed B September 2011 yi QIxSEA USBL BOX User Guide Table of Contents INTRODUCTION ea and ae na de ane eee 0 een 1 1 1 ml H 1 SE elsi nd DO SCE onto eC ccn 3 1 2 1 liu 3 eigenes 3 1 2 2 Web Based User Interface ii 4 1 2 3 POSIDONIA Acoustic Antenna Option iii 5 1 2 4 Transponders ODMOMS he anecdote DECR RE TUR TER 6 1 2 5 External Sensors ODHOEH ierant rot niet danser en disent 7 R23 MEME FOSON Exema OA 7 AO AEE NN ORA ERE eaa EE E ERE ER 7 1 2 5 3 Time External Data UTC aeuesuakettedivs nsweresavsnecivachosesiisanasnsanetnenseivawardxahngouanaviesaeisaentataeds 7 ll CONVENTIONS AND SPECIFICATIONS nnnnnsnnrnmmarermanannnnennnnennnmanennnnanennennnnenenmanennnmanennennnnennnnenennanennennne 8 ET CGONVENONS sorires meme 8 11 1 1 Reference Center RR 8 1 1 2 Reference AXIS neo aaa aN ces itene ensure etc tennis 8 I2 SOS CHIC AU ONS En de at a etais De ones ei De 9 1 2 1 Mechanical Specifications cccccceecccceeccceececeeececeeececeaeeecaeceeseeeesesessaeeesaeeesseeessaeeeseneeees 9 1 2 2 Electrical Specifications cece ceccceeccceneeteeeeeseecencecseeeaeeeeaneeteneensueesseeeaueetseeteneeteneeneeeneeeens 9 ll221 Fl
55. einvrscisandiisciintootsiniibesniureaiinegtantitusolscienieruimaaiedenueuieidnduanutalatinesabin 51 VI 3 1 Data Control WINdGOWS ad en li pond 51 VI 3 2 List of the Status in the Web User Interface ccccccecccccseeeeeeseeeeeaeeeeeeeeeeeesaaseeesnaeees 53 VI 4 Recovering the Equipment cccccescseeeeeeeeeeeeeeeneeseneeceeeseeeeeneseeseecaasseaeseenesenesenesoenenens 55 VI 4 1 Di 1 10TS SE PR ee Cee ne ee eee eee eee 55 VI 4 2 Operating Mode sssssssssssssssese nennen nennen nennen nn nna nn nnne nnns n nnns narra nnns 55 VI 4 2 1 8 bits COMMANOS ERMOC 55 VA 22 PONS GC OAS NER 56 VI MAINTENANCE dune senny ENa a EE EEEE EAA A A EA E AEA E a EEA 58 VII 1 Maintenance from the Web Based User Interface 58 VIL1 1 Updating the SYSICML oma ast ect uei erc RUN aiaa iaia aae ii 58 MU USBL BOX AN 001 Ed B September 2011 viii QIXSEA USBL BOX User Guide A M Ix BLUE c VII 1 2 Resetting to the Factory Settings sise 60 VII 1 3 Contacting iXSea Technical Support sise 60 VELA SAU STOO MORE E 61 ei ciPel zecie Fee r 62 APPENDIGES EEE ZE 64 A DUMU POLO COS MN D ET ra ec pee ce ete TTE 64 A 1 DR STAND ID 64 A 2 DATA BC keene eee ee ree eee eee ee 67 A 3 RO ee ee SN 68 A 4 HIPAP HPR 418 fix and MODI
56. epresenting the standard deviation on the position in the XY plane 000 Om lt standard deviation lt 0 5 m 001 0 5 m lt standard deviation lt 1 5 m 010 1 5 m lt standard deviation lt 3m 011 3m lt standard deviation lt 6m 100 6m lt standard deviation lt 12m 101 12m lt standard deviation lt 25m 110 25m lt standard deviation lt 50m 111 standard deviation gt 50 m Reserved Minor axe XY small axe in m of the error ellipse representing the standard deviation of the position in the XY plane 000 Om lt standard deviation lt 0 5 m 001 0 5 m lt standard deviation lt 1 5 m 010 1 5 m lt standard deviation lt 3m 011 3m lt standard deviation lt 6m 100 6m lt standard deviation lt 12m 101 12m lt standard deviation lt 25m 110 25m lt standard deviation lt 50m 111 standard deviation gt 50 m Angle between the North and the major axe 180 2 15 16 x180 of the XY error ellipse Reserved Standard deviation of the Z m position 000 Om lt standard deviation lt 0 5m 001 0 5 m lt standard deviation lt 1 5 m 010 1 5 m lt standard deviation lt 3m Bits 3 to 1 011 3m lt standard deviation lt 6m 100 6m lt standard deviation lt 12m 101 12m lt standard deviation lt 25m 110 25m lt standard deviation lt 50 m 111 standard deviation gt 50 m Reserved Bits 7 to 4 MU USBL BOX AN 001 Ed B September 2011 71 e XS E
57. er Guide Text Usage Bold Bold text is used for items you must select or click in the software It is also used for the field names used into the dialog box Courier Text in this font denotes text or characters that you should enter from the keyboard the proper names of disk Drives paths directories programs functions filenames and extensions Italic Italic text is the result of an action in the procedures Icons UU The Note icon indicates that the following information is of interest to the operator and a should be read f THE CAUTION ICON INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TO FORBID e OR PREVENT PRODUCT DAMAGE THE WARNING ICON INDICATES THAT POSSIBLE PERSONAL INJURY OR DEATH COULD RESULT FROM FAILURE TO FOLLOW THE PROVIDED RECOMMENDATION MU USBL BOX AN 001 Ed B September 2011 v AUV CAF CIF CRF DVL IIF INS IRF GPS HRP LBL LED MFSK MMI PHINS ROV RT RTK SLAM USBL UTC USBL BOX User Guide Abbreviations and Acronyms Automated Unmanned Vehicle Common Acknowledgment Frequency Common Interrogation Frequency Common Reply Frequency Doppler Velocity Log Individual Interrogation Frequency Inertial Navigation System Individual Response Frequency Global Positioning System Heading Roll Pitch Long Base Line Light Emitting Diode Multiple Frequency Shift Keying Man Machine Interface PHotonic Inertial Navigation System Remote Operat
58. ernal sensors see paragraph III 3 e Installation of POSIDONIA antenna see paragraph III 4 e Installation of transponders see paragraph III 5 The architecture of the complete system is shown in Figure 15 External Sensors Synchro IN and OUT Serial or Ethernet SYNC IN SYNC OUT e Main SEG o LS REMOTE SERIAL A SER B SERIAL C SERIAL D ETHERNET 100 240 V 50 60 Hz Workstation with the Web based User Interface Transponder Figure 15 Architecture of the USBL BOX positioning system MU USBL BOX AN 001 Ed B September 2011 12 Q IXSEA USBL BOX User Guide 11 1 LUE C O hm PAN Y Checking the Delivery You have just received your equipment in protective boxes Before starting the installation procedure we recommend you to check the contents of the boxes immediately on reception In particular you should check that all the parts have been delivered and that none of them have been damaged To check this you will find a detailed list of contents in the packaging This list will have been completed and checked by iXSea shortly before sending out the equipment D ON RECEPTION YOU MUST CHECK THE STATE OF THE EQUIPMENT IXSEA MUST BE INFORMED OF e 1 2 H 3 1 4 LAS ANY DAMAGE WHICH HAVE BEEN CAUSED CHECK THAT THE LABEL ON EACH PART IS STILL WHITE It is strongly recommended to contact the insurance company if any damage has been detected Installing the Rack
59. field do not have any meaning MU USBL BOX AN 001 Ed B September 2011 73 Q X S E A USBL BOX User Guide Immersion definition The immersion corresponds to the mobile depth with respect to the mean sea level thus heave corrected This data is coherent with the one that would be given by a depth sensor on the underwater mobile But it does not allow to deduce the absolute position as there is no compensation for tide GPS Antenna Measured depth UO 19 WW E739 Immersion Measured depth by the USBL acoustic array Heave USBL immersion MU USBL BOX AN 001 Ed B September 2011 74 Q XS EA USBL BOX User Guide A MO xX BLUE mPa TN A 7 NAUTRONIX ATS II Message Date Time B Transp E Status X PosX Y PosY D psoZ H Heading P pitch R roll lt CR gt lt LF gt Field 5 In meters when directed to starboard Field 7 In meters when directed to the bottom Field 8 In degrees clockwise Field 9 In degrees when bow up Field 6 In meters when directed to the bow Field 10 Rol In degrees when starboard up MU USBL BOX AN 001 Ed B September 2011 75 Q IXSEA USBL BOX User Guide L L E C oO m P A NY A 8 POSIDONIA 6000 e Data received Transponder number Transponder latitude Transponder longitude Transponder depth Latitude standard deviation Longitude standard deviation Depth standard deviation Delay e Data frame Binary format 32 bytes lt Syn
60. g of the equipment under warranty shall cause the warranty to be automatically cancelled c to maintain any product that has been modified or integrated into a larger configuration if such modification or integration increases the duration or difficulty of the maintenance of said product This warranty covers the product hereunder and is provided by iXSea in place of all and any other warranty whether expressed or implied iXSea does not guarantee the suitability of the product under warranty for sale or any specific use iXSea s liability is limited to the repair or replacement of defective products this being the sole remedy open to Customer in the event the warranty becomes applicable iXSea cannot be held liable for indirect special subsequent or consequential damage irrespective of whether iXSea has or has not received prior notification of the risk of occurrence of such damage MU USBL BOX AN 001 Ed B September 2011 ii IXSEA USBL BOX User Guide MPA Hh OY Export Regulation This product is classified as a dual use good it has been developed for non military use but could be used for military applications As a consequence this product is subject to dual use goods export control procedures e iXSea can deliver this product freely to France or any other country of the European Union e iXSea can export this product under its own Community General Export Authorization EU 001 to the following countries Australia Canada
61. igure 25 USBL BOX connected to the local network Equipment Needed e One Cat 5 Straight Ethernet Cable to set between the USBL BOX and the switch e A free slot in the local network switch You configure the USBL BOX to make it compatible to your local network The choice of the different parameters IP address and subnet mask is explained in Appendix C MU USBL BOX AN 001 Ed B September 2011 25 e XS E A USBL BOX User Guide LUE C m P A nM Y IV 2 2 2 Configuring the Network Interface of the USBL BOX After connecting the USBL BOX to a PC with the USBL BOX powered on you can launch the Web based User Interface on the PC and you can edit the USBL BOX network parameters You can then make the USBL BOX compatible to your local Ethernet network Every USBL BOX is assigned with its own IP address and a net mask In order to insert the USBL BOX in your local network you must edit the network parameters Procedure Step Action 1 Click on INSTALLATION in the menu and select NETWORK The NETWORK SETTINGS window opens The IP address and the mask fields are filled by the default values NETWORK SETTINGS IP Address 192 168 11 NetMask 255 255 255 0 2 Edit the IP Address by clicking in the fields and entering new values 3 Edit the Net Mask by clicking in the fields and entering new values 4 Click on OK to validate the input of the values 9 Switch the USBL BOX off and then switch it on ag
62. ion 7 24 2 In front of File click on the Browse button A browser opens 2 Select the update file srec that iXSea sent to you Hle C SEAupdete fle srec ey 4 Click on Update The iXSea logo flashes alternatively gray and blue A Sending file label appears in the UPDATE SYSTEM area After a while the file is uploaded and the updating is complete 9 Check that all the versions numbers listed above the Update button are actually updated 6 End of Procedure MU USBL BOX AN 001 Ed B September 2011 59 Q IX SEA DSL BOX User Guide LUE 3C O m PA N VII 1 2 RESETTING TO THE FACTORY SETTINGS Sometimes it can be useful to reset the system to the factory settings These settings are set as default settings when the USBL BOX unit is shipped to you by iXSea You just have to press the Reset button in the RESET TO FACTORY SETTINGS area RESET TO FACTORY SETTINGS Click to reset all settings to factory default values q LY Figure 31 Reset to factory settings VII 1 3 CONTACTING IXSEA TECHNICAL SUPPORT You can always contact iXSea by your own ways with the coordinated listed at the end of this document However the Web Based User Interface offers to you a more convenient way to contact iXSea technical support CONTACT SUPPORT Click to create a support ticket l X Contact To join the system configuration click here and attach the support file ta the suppart ticket email Figure 32
63. ion See section V 1 4 Click on Start Tracking The data acquisition window opens and acquisition starts Open the navigation window in order to check the acquired data See section VI 3 otart the mission End of Procedure MU USBL BOX AN 001 Ed B September 2011 50 QIXSEA USBL BOX User Guide VI 3 Controlling the Data VI 3 1 DATA CONTROL WINDOWS Controlling data from the USBL BOX is carried out via the navigation window the main window with detailed information shown together and with the data recording window e On the main window Q Detailed information Q Messages shown under the heading STATUS e On the navigation window Q Navigation data attitude sensor position temperature data both from the system and the acoustics a Positioned transponder data see Table 3 Table 3 Displayed data for each active transponder CO CE Latitude Geographic coordinates of the transponder Longitude Depth Depth computed with acoustic data and data from optional external sensors Sensor depth Depth provided by optional external sensors X Rel Antenna Transponder coordinates with respect to the frame centered Y Rel Antenna on the antenna and to the antenna axes X Rel North Transponder coordinates with respect to the frame centered Y Rel North on the antenna and to the geographical axes Slant Range Traveled distance Horizontal distance Bearing Transponder angle seen from the antenna with respect to ai the along track ax
64. ith the USBL BOX e RT961B2S Mk2 et ET961S Mk2 Figure 6 RT961B2S Mk2 The USBL BOX is compatible with the following existing transponders e RTT471 e ET861 RT861 Figure 7 RT861B2S e RAMSES 6000 Figure 8 RAMSES 6000 The transponders respond to positioning signals and to commands generated by the USBL BOX and transmitted by the POSIDONIA antenna The transponders are made up of two interrogation channels individual and common together with two types of response individual and common See the respective transponder installation and configuration in sections III 5 and V 1 2 MU USBL BOX AN 001 Ed B September 2011 6 QIxSEA USBL BOX User Guide 1 2 5 EXTERNAL SENSORS OPTION 1 2 5 1 Position External Data In order to obtain the absolute geographical position of the immerged transponders USBL BOX must know the exact position of the POSIDONIA antenna This position is given by the GPS and corrected by lever arms between the GPS and POSIDONIA antennae 1 2 5 2 Attitude External Data HRP In order to correct the GPS antenna position with POSIDONIA lever arms the USBL BOX must know the three axis attitude of the vessel the moment the transponder response is received An attitude control system provides this information for the USBL BOX The PPS port of the USBL BOX is used to the actual time of data measurement from the control system before actually receiving the data itself 1 2 5 3 Time External Dat
65. l coordinates and depth PTSAG NNNNN hhmmss sss jj mm aaaa BBB DDMM MMMMM H DDDMM MMMMM D A MMMM M A MMMM M CK ZNNNNN Recurrence frame Number hhmmss ss is the time in hours minutes seconds milliseconds ji is the day jj 0 to 31 mm is the month mm 1 to 12 is the year is the Transponder No or ship s No 0 Ship 1 to 128 Transponder 128 to 1 Unknown Transponder DDMM MMMMM is the latitude degrees minutes and 1 100000 H is the hemisphere N North S South DDDMM MMMMM is the longitude degrees minutes and 1 100000 is the longitude direction E East W West is the validity of the four reception channels 0 to F binary coding of acoustic hydrophone validity is the calculated depth in meters is the depth validity 0 None 1 Calculated 2 Sensor is the sensor depth in meters e X Position validity The value represents the acoustic hydrophone validity on 4 bits from 0000 to 1111 0 means that the channel is not valid and 1 that the hydrophone operates properly e Calculated depth Sensor depth The antenna know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field e Sensor depth if the Acoustic Transponder has no sensor the value is 9999 e Incase of ship the three last fields are set to zero MU USBL BOX AN 001 Ed B September 2011 64 Q IXS E A USBL BOX User Guide Transponder relative Positioning Message rela
66. nal synchronization the acoustic emission of POSIDONIA s antenna is set off by an external appliance This mode is generally chosen when the USBL BOX is simultaneously operating with another acoustic appliance A signal is sent to the USBL BOX by one of the two specially designed BNC links situated at the front and at the back The parameters associated with external synchronization are as follows e Inhibition this is the time after setting off during which the USBL BOX cannot receive other signals which could activate it at an untimely moment e Activation this is the part of the signal where on reception the setting off takes place Two options are possible a rising edge or a falling edge of the signal e Min Duration this is the minimum length of time necessary for the setting off after activation by a rising or falling edge during which the signal must remain stable high after a rising edge or low after a falling edge Its values range from 50 us to 1000 us Action Click on the menu SETUP and select TRACKING The TRACKING window opens Select External from the Synchro mode pull down list The TRACKING window shows the following parameters TRACKING Synchro Mode Inhibition 2 023 5 Activation Falling Edge m Min Duration us 2 i 2m in il s b ull Enter the Inhibition value From the Activation pull down list choose the type of edge on which the acoustic emission is to be set off
67. nder being set off at the wrong moment It lasts between 1 and 31 s INHIBITION TIME MUST BE LESS THAN THE USBL BOX RECURRENCE Additional information can be an external pressure a permanently immersed object or an acoustic pressure e External Pressure this is pressure transmitted by a serial link through a pressure sensor This sensor might be the one that equips the transponder or is already installed on the vehicle on which the transponder is to be loaded e Fixed Depth is a depth of the transponder known in advance e Acoustic Pressure is transmitted acoustically the time factor between two response signals allows you to calculate the immersion measurements using a multiplying factor The filtering heading enables you to apply a filter on positional data Two options are available Fixed and Mobile The filtering heading enables you to apply a filter for positional data Two options Fixed and Mobile are available depending on whether the transponder s position is static anchored or moving on an underwater vehicle MU USBL BOX AN 001 Ed B September 2011 41 e XS EA USBL BOX User Guide H ik BLUE C oO m P A NY Procedure Step Action 1 Click on the SETUP menu and select TRANSPONDERS The transponders management window opens 2 Click on Change Settings for the appropriate transponder to be configured The configuration window opens The image shown corresponds to an RT9 transponder TRANSPONDER 4 IX SEA
68. ng parameters According to the layer chosen there may be an IP address for more information s EHE GE entia aut tradita tu te btt deae F m TCP Client yy Ethernet eee IP o o n eee TCP Selvel wl Port i 8 Only for Position data in Lever arms enter distances LV1 LV2 LV3 separating the position sensor from the vessel s CRP Let these values to 0 0 m if the position sensor corrects itself the output positions by referencing them to the CRP s Lewer LIE RES S Lo CRP Lwi LV LYS Mi mi Mi 9 Only for HRP data in Misalignments enter the values for Pitch Roll and Heading Let 0 0 if the attitude sensor corrects itself the output data by referencing them to the CRP w Misalignments E A E E ee a Heading 10 Click on OK to validate your input data configuration and send it to the USBL BOX 11 End of Procedure MU USBL BOX AN 001 Ed B September 2011 33 e IX S E A USB BOX Weer Guide x BLUE cooO me JA N Y IV 4 2 CONFIGURING THE OUTPUTS The USBL BOX calculates the various positions of the immersed transponders Four serial links and a four port Ethernet link are available to transmit these positions to other appliances A certain number of formats are also available to enable USBL BOX compatibility with other appliances cocia Each serial link and Ethernet link can be used simultaneously for input and output Only the serial link configuration must be the same for input
69. nnn nnns 36 V 1 Defining the USBL BOX Survey Parameters eese cesses eene nennen nnns 36 V 1 1 Defining the Tracking Parameters ice upsecee nd du Cds mo du ud wore cons 36 Ve AT Internal SOC ON 2i T ge eo en de et ERREEN 37 VE LA External S n hroni ation ME 38 V 1 2 Setting up the Transponders sn 39 V 1 2 1 Adding a Transponder rss 40 V 1 2 2 Configuring a Transponder eiiissssseiiisiss essen nnne nnn nn ann snas snas iain nsns assa aaa aan 41 Vko AcUvaling a TraNSpONGel gm de ee ed tes 43 A SA MER IU eP ENCiec deu E sine 43 V 1 3 Entering the Sound Velocity Profile cccccccccccseeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeaeeeeeesaaeeeessneeeas 44 VIO Loading d Profile from FIC isseesuzUcdskkaetinih kd v REM ERE IRR rin AN NENI NEA R ar UF R du tenir 44 V 1 3 2 Entering a Profile MANDAT esuvanskkhos nest sve uEka aa pERdRpRL HUME caeisaaneensasnenoansiebnaumanesegeronavawesds 45 V 1 4 HUN ric C 47 Viz Calibrating the USBL BOX anses pers stone same ee dano ne sne ne nenene SN Vw UD DERI SuU ESTEE e Cu EORR 49 VI OPERATING THE USBLBOX annee dia annee tee aan mn EUN CENE 50 VI 1 Deploying the Transponders cccccseeeeeeeeeeeeeeeseseeeeeneeeenneeeeneneesseeeeseeseeseeeeeseeseenessennensogs 50 VIZ Launching the SUEVOV cricecccsnnseicicatinnsicrcenasdenicsninduetnecstinsanteicahuseseainaeuisatconsiednamsenniadeeutanaes 50 VI 3 Controlling the Data v
70. normal case you should enter 0 O 0 MU USBL BOX AN 001 Ed B September 2011 31 Q XS EA USBL BOX User Guide LUE C oO m P A nM Y IV 4 1 2 Configuration Procedure The configuration procedure of input data is detailed in this paragraph Procedure Step Action 1 Click on the INSTALLATION menu and select INPUT The CONFIGURATION OF INPUT window opens INPUT SETTINGS EN NN Tu Te mM e SRE cr eee eee To ee s ever dy Re 2 Click on Position HRP Pressure Temperature or UTC The different parameters to be configured are shown 3 Only for Position and HRP data in the Sensor component select the type of sensor from the drop down list ak i LT MELIUS DL Lt Sensor PHINS HYDRINS 4 Inthe Input component select the type of Port The type of link parameters are shown in the Serial or Ethernet component Ww Input ee ee ee Port F Ethernet iv 5 Only for Position HRP and UTC in the Protocol component select the Protocol and the type of PPS and its Length of time mins from 50 us to 1 000 us y PBFAIBEAO rob ete eee eee ee Protocol GAPS v PPS Min i Duration us MU USBL BOX AN 001 Ed B September 2011 32 e XS EA USBL BOX User Guide H Ix BLUE C oO m oP A NY Step Action 6 If you have selected a Serial Port in step 4 enter the Parity Stopbits Standard and Baudrate 7 f you have selected an Ethernet Port in step 4 enter the followi
71. of sound e Configuration and recording of data e Calibration of the USBL BOX V 1 Defining the USBL BOX Survey Parameters V 1 1 DEFINING THE TRACKING PARAMETERS The parameters described in this paragraph enable the acoustic cycle of the USBL BOX to be defined The main parameter is the synchronization mode where the USBL BOX is Two synchronization modes are possible e Internal synchronization e External synchronization The configuration of positioning parameters is carried out in the TRACKING component from the menu SETUP MU USBL BOX AN 001 Ed B September 2011 36 Q X S E USBL BOX User Guide A M S ox BLUE C m OP A NY V 1 1 1 Internal Synchronization During internal synchronization the USBL BOX activates POSIDONIA s antenna emissions according to the defined value of recurrence In this mode the USBL BOX can activate another acoustic appliance if the need arises Procedure Step Action 1 Click on the menu SETUP and select TRACKING The TRACKING window opens 2 Select Internal from the Synchro Mode pull down list The TRACKING window shows the following parameters TRACKING Synchro Mode Recurrence 3 Enter the value of Recurrence 4 Click on OK to validate the configuration of the internal synchronization mode 5 End of Procedure MU USBL BOX AN 001 Ed B September 2011 37 OIXSE USBL BOX User Guide M PAH V 1 1 2 External Synchronization Procedure Step la During exter
72. of the ship or GAPS GPS quality GPGGA hhmmss ss ddmm mmmmm a dddmm mmmnmnm b q ss hh lt CR gt lt LF gt hhmmss ss is the UTC of position ddmm mmmmm is the latitude in degrees and in minutes and 1 100000 a is the hemisphere N North S South dddmm mmmmm is the longitude in degrees and in minutes and 1 100000 b is longitude sign E East W West q is the GPS quality indicator 0 Fix not valid 1 GPS SPS Mode fix valid 2 Differential Mode SPS Mode fix valid 3 GPS PPS Mode fix valid 4RTK 5 Float RTK is the number of satellites IS optional B 2 xxZDA Data received the Universal Time information GPZDA hhmmss ss dd mm yyyy xx yy cc CR LF hhmmss ss is the UTC time in hours minutes seconds of the GPS position is the day dd 0 to 31 is the month mm 1 to 12 is the year is the local zone description in hours xx 13 to 13 is the local zone description in minutes yy 0 to 59 is the checksum B 3 ZQMTE GPZDA jj mm aa hh mm ss s Function Hour Field1 Date Day Month Year Field 2 Hour Minute Seconds and tenths of seconds MU USBL BOX AN 001 Ed B September 2011 86 Q X S A USBL BOX User Guide AM ik BLUE mPa TN B 4 SIMRAD EM QD THIS PROTOCOL MUST HAVE A RATE OF 20 Hz e Standard SIMRAD owned format E Data sent Heading Roll Pitch Heave and status 10 ene binary data protocol Message SS 90 RRRR PPPP hhhh HHHH octet 0 OxSS octet Sync
73. on in the XY plane Angle between the North and the major axe of the XY error ellipse Standard deviation of the Z m position Truncation of the absolute time provided by the GPS to the USBL BOX keeping only the minutes seconds and milliseconds It is coded in milliseconds number Resolution 180 232 Domain 90 90 x 1 232 Resolution 360 232 Domain 90 360 x 1 232 Resolution 0 01 m Domain 0 10485 75 0m lt standard deviation 0 5 m 0 5 m standard deviation 1 5 m 1 5 m standard deviation 3 m m standard deviation 6 m 6m lt standard deviation 12 m 12 m lt standard deviation lt 25 m 25 m standard deviation 50 m standard deviation 50 m 0 m lt standard deviation lt 0 5 m 0 5 m standard deviation 1 5 m 1 5 m standard deviation 3 m m standard deviation 6 m 6m lt standard deviation 12 m 12 m lt standard deviation lt 25 m 25 m standard deviation 50 m standard deviation 50 m Resolution 180 24 Domain 0 15 16 x 180 0m lt standard deviation 0 5 m 0 5 m standard deviation 1 5 m 1 5 m standard deviation 3 m m standard deviation 6 m 6m standard deviation 12 m 12 m lt standard deviation lt 25 m 25 m standard deviation 50 m standard deviation 50 m Resolution 1ms Domain O 3 599 999 The largest values of this
74. original IP network configuration before step 3 Now all PCs in the network can see the USBL BOX End of Procedure MU USBL BOX AN 001 Ed B September 2011 27 Q X S E A USBL BOX User Guide H ik BLUE C oO m P A WN IV 3 Configuring the Acoustic Antenna Procedure Step 1 The position of the POSIDONIA acoustic antenna either in built in or cage version must be very accurately known This is calculated just after installation and must be checked every time the vessel goes into dry dock These parameters are the following e Misalignment three angular offsets of the antenna s axes compared with the boat s axes They are roughly measured during the installation procedure A not so precise installation can be here corrected A ideally perfectly installed antenna H1 towards the bow and H4 towards the port has offsets equal to 0 0 0 e CRP to Sea is the position of the sea surface on the vertical axis of the ship For example if the CRP is 2 meters above sea surface then the position of the sea surface on the vertical axis is 2 meters e Lever arms the three distances between the CRP and the antenna s mounting flange along the three axes of the boat See the definition of the axes and the CRP in section 11 1 Action Click on the menu INSTALLATION and select MECHANICAL PARAMETERS ACOUSTIC ANTENNA MECHANICAL INSTALLATION Misalignments optional ECCE S CRP IO ee ee ee E eer 5 Utah uy ee POs Pee OR
75. p the status of the e Antenna e External Sensors e Electronic The color code applies for the indicators and text labels displayed in these pop up windows When a problem occurs the color of the iXSea logo changes and these pop up automatically appear showing immediately which equipment has raised the problem Close the pop up windows by clicking on the iXSea logo MU USBL BOX AN 001 Ed B September 2011 16 Q IXS EA USBL BOX User Guide A ixs EMA navigation data maintenance options TELECOMMAND INSTALLATION SETUP DATA LOGGING Time 14 51 08 299 Latitude 87 00753300 Heading 248 41045 Roll 294312 _ Longitude 14 30305661 Pith 1 45488 gion AL Tracking Tracking STATUS Speed 0 63 kt Mow tracking Moise lvl 78 8 dB USSL S0X SYSTEM DETAILED STATUS Antenna External Sensors Electronic Figure 19 Control page with detailed status tracking switched on IV 1 5 COLOR CODE Valid for text labels status indicators and logo the color code is defined in the Table 2 Table 2 Color code definition SYSTEM DETAILED STATUS Antenna External Sensors Electronic Input E Not Talking Clock Updating Input G Not Talking Figure 20 Warning and alarm status examples MU USBL BOX AN 001 Ed B September 2011 17 Q X S E A USBL BOX User Guide H ik BLUE C oO m P A NY IV 1 6 GENERAL RULES FOR USING COMMAND WINDOWS Drop down lists Expanding hidden area
76. r label stuck on the Label transponder See an example of such a label on Figure 29 These codes are expressed in hexadecimal format The Table 4 links the hexadecimal values to the code numbers Table 4 Correspondence between frequencies and hexadecimal codes MU USBL BOX AN 001 Ed B September 2011 55 OIXSEA AA IX BLUE C O m PA NY OIXSEA MODEL RT9861B2S Mk2 SIN 066 DEFTH 6000 m SWL RL FUNCTION CODE TRANSP CIF gt IRF RAMBF 00 gt TRANSP I F CRF 10 5 kHz gt Turn Around Time 20ms Transmit Level 197 dB Blanking Time 4s Pinger Rate 5s 08 0 kHz 08 5 kHz 08 5 kHz CAF CAF CAF CAF CAF CAF gt CAF CAF 2 CAF CAF CAF FRO FR1 ARM 0255 CAF ARM 0256 I ARM 0241 ARM 0242 ARM 0243 ARM 0244 ARM 0247 ARM 0248 ARM 0249 ARM 024A RELEASE RELEASE WITH PINGER zu 2 P m zc z cy ol gt IE e m 2 5 5 e m j tn TU z ti H 0 Tl MHIBITION IIF amp CIF to TT F z m o Ti i e m A o TRANSP CIF INHIB IF PFR el m E oO i F DIAGNOSTIC gt CAF Po e un z T a m MADE IN FRANCE September 2010 IXSEA S A 5 Rue Rivoalon Ste Anne du Portzic 22200 BREST France Helpline 24 7 33 1 30 08 88 88 E Mail supportirixsea com 2 07 2 5T s CAF gt PFR USBL BOX User Guide Figure 29 Transponder buil
77. r query MU USBL BOX AN 001 Ed B September 2011 62 e X S E USBL BOX User Guide A M ik BLUE C oO m oP A NY Contact To obtain information on any iXSea product you can contact iXSea headquarters in France or one of its offices around the world DO IM iXSea SAS 33 1 30 08 98 88 33 1 30 08 88 01 FRANCE iXBlue BV 31 23 750 5110 31 23 750 51 11 THE NETHERLANDS iXBlue GmbH 49 511 123 59575 49 511 123 59576 GERMANY iXBlue 47 55 91 33 60 NORWAY iXBlue Ltd UNITED KINGDOM e Portsmouth e 44 2392 658 252 e 44 2392 658 253 e Aberdeen Office e 44 1224 355 160 e 44 1224 826 622 iXBlue LLC 971 43117135 971 4 3328860 UNITED ARAB EMIRATES iXBlue Inc U S A e Boston e 1 781 937 8800 e 1 781 937 8806 e Houston e 1 281 681 9301 e 1 281 362 2704 iXBlue Pte Ltd 65 6747 4912 65 6747 4913 SINGAPORE iXBlue Pte Ltd 86 10 6211 4716 86 10 6211 4718 CHINA iXBlue Pty Ltd 61 7 3390 4660 61 7 3390 7242 AUSTRALIA A detailed description of our products and a list of our representatives are available on our website www ixsea com MU USBL BOX AN 001 Ed B September 2011 63 OIXSE USBL BOX User Guide C oO m P A nM Y Appendices A OUTPUT PROTOCOLS A 1 DATA STANDARD The DATA Standard protocol is composed of the three iXSea Posidonia positioning messages PTSAG PTSAX and PTSAY plus all the messages of the PHINS Standard protocol Transponder Absolute Positioning Message qeographica
78. ront face of the USBL BOX See Figure 24 e IP address 192 168 64 17 e Network mask address 255 255 255 0 MU USBL BOX AN 001 Ed B September 2011 21 QIxSEA USBL BOX User Guide x BLUE C oO m P A nM MODEL USBL BOX S N P N 453 9000 IP 192 168 64 17 MADE IN FRANCE June 2010 IXSEA S A S Rue Rivoalon Ste Anne du Portzic 29200 BREST France Helpline 24 7 33 1 30 08 98 98 E Mail support ixsea com Figure 24 Etiquette pr sente sur le revers de la porte du compartiment de la face avant UU 192 xxx xxx xxx is an address of class C the corresponding mask is by default 255 255 255 0 MU USBL BOX AN 001 Ed B September 2011 22 e IXS E A USBL BOX User Guide LUE C oO m OP A n IV 2 1 2 Configuring the Workstation IP Address Assuming that the USBL BOX IP address is 192 168 64 1 and the subnet mask is 255 255 255 0 Before configuring the PC choose the PC IP address This address must be taken from the same subset as the address configured in the USBL BOX In this example 192 168 64 2 is used for the PC IP address Subnet Mask The subnet mask must be the same between the USBL BOX and the PC Procedure Step Action 1 Access on the PC to the Network Connections Window e Locate the icon My Network Places on the desktop screen of the PC right click on the icon then select Properties e f you cannot locate this icon you can still proceed by selecting Start menu gt Connect To
79. splay ODIONS 2 5 ne aan encoder 20 IV 2 Configuring the NeEWOLFIK 8 5 5 ne cena etes nneenmeemc es 21 MU USBL BOX AN 001 Ed B September 2011 vil Q IXS EA DSL BOX User Guide LUE C O m PA N v IV 2 1 Connecting the USBL BOX Directly to a Workstation ccccceeccceeeeeeeseeeeeeaeeeeesaaeeees 21 IV 2 1 1 Overview of the Connections sr 21 IV 2 1 2 Configuring the Workstation eene eene nhanh nnns nna aan nnn nsns nasa ann 23 IV 2 2 Connecting the USBL BOX to a Local Network seeeeseeesesseeeeeneenennee 25 IV 2 2 1 Overview of the Connections siennes 25 IV 2 2 2 Configuring the Network Interface of the USBL BOX Rs 26 AE TCMESTo sae oeiiseo o m 27 IV 3 Configuring the Acoustic Antenna 111leeeeeeeseeee sense nennen nnn n nnn nnn nnn nnn nnn nn 28 IV 4 Configuring the Inputs and Outputs leeeeeeeeeeeeei esee esee enne nennen nnn nnn 30 IV 4 1 Configuring the Inputs sise 30 IV 4 1 1 Input Stream Parameters eiiis eese n nares ss 31 IV 4 1 2 Configuration Procedure siennes 32 WA2 GOMMOURIMO tbe Obs aR annee a nee tree 34 IV 4 2 1 Output Stream Parameters is 34 IV 4 2 2 Configuration Procedure se ses nennen nnn aaa aa nnns ss saa aa ains nass saa a aan 35 V SETTING THE USBL BOX TO WORK eeeeecieeeeeeeieeeeeee nennen nnne nn nnn nnn nnn nnn nnn
80. tenna installed underneath the vessel The transponders can be placed on moorings or mounted on vehicles Electronic The USBL BOX is an electronic box piloted by a web user interface enabling precise box information concerning the position of the immerged acoustic transponders The USBL BOX is completed by POSIDONIA an acoustic antenna Together the two products make up a USBL positioning system The box is installed on board the vessel on a rack and is connected to the network by one or several work stations where the operator manages the positioning via the web user interface POSIDONIA The POSIDONIA antenna is installed underneath the hull of the vessel It sends out antenna acoustic signals via electric impulses generated by the box The immerged acoustic transponders either static anchored or dynamic onboard underwater vehicles receive and respond to these signals The antenna receives all the responses through its four hydrophones The box then decodes the received responses and estimates the relative transponder positions compared with the antenna The antenna position is very precisely ascertained thanks to a GPS connected to the box In this way the box is able to calculate the exact position of the transponders Real time information is forwarded to the USBL BOX concerning the vessel s situation This data enables the user to correct the position of the transponders and the antenna s movement Telecommand The rack is also eq
81. tive to the acoustic array Relative coordinates and depth PTSAX ANNNNN hhmmss sss jj mm aaaa BBB XXXXX X YYYYY Y A PPPP P A CCCC C CK ZNNNNN Recurrence frame Number hhmmss ss is the time in hours minutes seconds milliseconds is the day jj 0 to 31 is the month mm 71 to 12 is the year is the Transponder No 1 to 128 Transponder 128 to 1 Unknown Transponder XXXXX X is the X coordinate forward in meters YYYYY Y is the Y coordinate starboard in meters is the position validity X Y Z 0 to F binary coding of acoustic channel validity is the calculated depth in meters is the depth validity O None 1 Calculated 2 Sensor is the sensor depth in meters e Position validity The value represents the acoustic Channel validity on 4 bits from 0000 to 1111 O means that the channel is not valid and 1 that the channel operates properly e Calculated depth Sensor depth The sensor know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field e Sensor depth if the Acoustic Transponder has no sensor the value transmitted is 9999 D THE X AND Y POSITIONS ARE RELATIVE TO THE ACOUSTIC ARRAY e MU USBL BOX AN 001 Ed B September 2011 65 Q IXS EA USBL BOX User Guide Transponder Relative Positioning Message relative to the sensor NORTH orientation Relative coordinates and depth PTSAY NNNNN hhmmss sss jj mm aaaa BBB X
82. tude Sensor System 2 36 Heading Std Dev 1 63 Latitude 57 94043269 Heading Roll 0 00 Roll Std Dev 151 Longitude 44 85679636 2 98 7 268 m STATUS Speed 032k Altitude Pitch Std Dev Pitch 2 22 Heave 247130m Validity Time 09 36 06 145 Heading 22 85712 Now tracking Noise M 35 6 dB USBL BOX SYSTEM DETAILE STATUS External Sensors Position Sensor Roll 241270 Latitude 70 33495894 Latitude Std Dev 2735m Pitch 0 20484 1039283353 Longitude Std Dev 2381m Heave 4 76841m Longitude 43 131 m X Altitude Std Dev 0 385m Speed 0 02 m s Altitude Electronic Validity Time 09 36 06 717 Validity Time 09 36 06 776 Antenna Acoustics Temperature Sensor Tracking ON Temperature 11 00 3 4dB Noise lvl itp l 127 0 0 1 0S8 BOX Web datalogger modemautciogliname USBL BOX 201C 7 Transponders lt Latitude Lonaitude Depth Sensor Depth Transponder 3 16 22 46 006 45 9870054 98 752991 15 9 127 USaBL amp adox DATA LOGGER Transponder 16 22 47 778 4598676654 98752991 15 9 127 Now connecting File Name USBL BOX 20101008 113519 log Path Cj Segmentation None Figure 28 Data control windows MU USBL BOX AN 001 Ed B September 2011 de AA IX BLU E COMP AWN USBL BOX User Guide VI 3 2 LIST OF THE STATUS IN T
83. ty starts from the date of shipment of the product from iXSea s manufacturing premises to customer s location and its duration is indicated in the certificate of warranty delivered with the product In the event that a defect in materials or manufacture becomes obvious during the stipulated warranty period iXSea will undertake at its sole discretion either to repair the defective product bearing the cost of all parts and labor or to replace it with an identical product In order to avail itself of this warranty Customer must notify iXSea of the defect before expiry of the warranty period and take all steps necessary to enable iXSea to proceed Customer shall be responsible for the packaging and the shipment of the defective product to the repair center notified by iXSea the cost of such shipment being borne by Customer iXSea agrees to bear the cost of return freight based on CPT Cost Paid To Customer s airport location import tax free This warranty shall not be construed as covering defects malfunctions or damages caused by improper use or inadequate maintenance of the product Under no circumstances shall iXSea be due to provide repair or replacement under this warranty in order a to repair damage caused by work done by any person not representing iXSea for the installation repair or maintenance of the product b to repair damage caused by improper use or connection to incompatible equipment and specifically the opening of the housin
84. type in the scrolling list 3 Select the Display mode in the scrolling list 4 Click on OK to validate your choice and to apply it to the Web User Interface 5 End of Procedure MU USBL BOX AN 001 Ed B September 2011 20 Q XS E A USBL BOX User Guide IV 2 Configuring the Network The USBL BOX can only be configured via a Web Based User Interface from any PC The purpose of this section is to explain how to connect the USBL BOX to a PC that is part of a local network or not You can be in one of the two situations e Connect USBL BOX to a single PC section IV 2 1 e Connect USBL BOX to the local network section IV 2 2 IV 2 1 CONNECTING THE USBL BOX DIRECTLY TO A WORKSTATION In this section you connect the USBL BOX to a single PC via an Ethernet cable Then you configure the PC network parameters in order that the PC sees the USBL BOX IV 2 1 1 Overview of the Connections OIXSEA Weer LL MN I MEL ILL al USBL Box ur eg hey nl y Operator Workstation Figure 23 L USBL BOX connect e directement une station de travail Equipment Needed e 1xPC or Laptop with an Ethernet port e 1x Cat 5 Crossover Ethernet Cable By default the USBL BOX is already assigned with a default IP address When connecting one PC to the USBL BOX it is only necessary to adapt the PC to the USBL BOX configuration The default IP address is printed on the label stuck on the rear of the small door of the f
85. uipped with a remote control or telecommand function allowing functional orders to be sent to the transponders and to interpret responses and acknowledgement of receipt MU USBL BOX AN 001 Ed B September 2011 1 Q XS E A USBL BOX User Guide A M OP X BLUE C O m PA NE External Sensors example Position and Attitude Web User Interface Workstation Transponder Figure 1 USBL BOX operating principle MU USBL BOX AN 001 Ed B September 2011 2 OIXSEA USBL BOX User Guide AN IX BLUE COMFAN 1 2 Equipment Description 1 2 1 THE ELECTRONIC BOX The USBL BOX comes in a 19 2U rack format It consists of various connections at the front and also at the back which enables the various different elements of the system to be linked Power supply POSIDONIA antenna Receiving and sending synchronization signals Serial receiving and sending Ethernet port for external sensors and command control PPS entry for dating external sensor data Figure 2 USBL BOX For more information go to section II 2 2 MU USBL BOX AN 001 Ed B September 2011 3 Q XS EA USBL BOX User Guide 1 2 2 WEB BASED USER INTERFACE The web user interface is a web application enabling configuration of the system lever arms management of connections celerity profile configuration and management of transponders before each mission and checking of data during the mission This application also enables recording
86. wer supply e 4 BNC female Q SYNC OUT MAIN SYNC OUT SECONDARY synchronized OUT isolated Q SYNC IN TRIGGER synchronized IN isolated Q SYNC IN PPS PPS input e REMOTE ON OFF e SERIAL A SERIAL B SERIAL C SERIAL D 4 DB9 male for serial port input output configurable 422 232 and isolated e ETHERNET 1 Port Ethernet 10 100 Mbit s RJ45 e ACOUSTIC ARRAY Antenna Connecter Souriau 41 points MU USBL BOX AN 001 Ed B September 2011 10 e XS EA USBL BOX User Guide LUE C oO m oP A NY 1 2 2 3 Wiring of the Serial Links Serial linking cords RS232 and RS422 feature in Figure 13 and Table 1 Table 1 Wiring of RS232 and RS422 1 5 00000 0000 B 3 Figure 13 DB9 Male 1 2 2 4 Synchronization Signal Definition Synchro IN Synchro IN could be a high or low active signal lasting for minimum amount of time as defined in the web user interface tension is between 3 V and 24 V Synchro OUT Synchro OUT is a high active signal lasting for 10 ms tension is 5 V See Figure 14 5V 10 ms Figure 14 Synchro OUT MU USBL BOX AN 001 Ed B September 2011 11 AN IX BLUE C O m PA NY Q X S E A USBL BOX User Guide III INSTALLING THE USBL BOX Before installing your USBL BOX for the first time we recommend you check all the parts in the delivery box see section 0 Once this has been done installation takes place in four steps e Installation of the box on the 19 rack see section III 2 e Installation of ext
87. x FC00000 System Identification This datagram gathers the configuration elements of the system EL RN o NNNM U BOX FLUSH U BOX CAGE Identification Serial Number Number mem 7000000 CS SE LLL implementation major release minor release correction _ EE Equipment Type ushort o ema Fee ge D NEN LE m MU USBL BOX AN 001 Ed B September 2011 78 Q X S E A USBL BOX User Guide System Characteristics This datagram gathers the identification elements of the system CC CE CS LN NN RN Transponders Characteristics s e This datagram gathers the transponder configuration elements CS PS EE fone ES ES EE ES EE Tasen SE Taam CS um Transponder ID Positif Base O Positif max 50 M Transponder type short o F MF s meet 70000 rw x 5 82 01 1 RT8 Operational behavior 0 Noes 0 Interrogation mode 0 Transponder Primary responder Spontaneous pinger Transponder MU USBL BOX AN 001 Ed B September 2011 79 1 X S EA USBL BOX User Guide AM ix BLUE C oO mb oE A RH OY Www CS Rum 0 eme Depth management byte No known depth CSC ES CN RN CRTC Ed mer ELEM e RN Antenna Calibration This protocol gathers the acoustic antenna characteristics theoretical and measured EL RNC NN mew M EE LIN RN NN RN CS AS CS ES CS prere p p ES peres p NCC ES paare p NCC ES paare p NCC ES paare p pe RN MU USBL BOX AN 001 Ed B

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