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Carbon V.1 Carbon V.1 User Guide

1. oaae DRO __ 07 02 07 E MATIERE N A Tol 40 5 lch 1 2 TRAITEMENT N A Ra VN A Tol Ang 10 2 QIXSEA GAPS COMPOSITE 4309000 AO 1 2 Figure 17 GAPS Mechanical Plan 23 MU GAPS AN 003 Ed K January 2012 GAPS User Guide DEEP INSIGHT SHARPER SENSES PAGE INTENTIONALLY LEFT BLANK 24 MU GAPS AN 003 Ed K January 2012 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 2 3 DEPLOYMENT EXAMPLES Figure 18 GAPS fixed on the hull and a transponder on a ROV Figure 19 GAPS fixed on the hull and a transponder on a tow fish MU GAPS AN 003 Ed K January 2012 25 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Figure 20 GAPS mounted under a tripod Figure 21 Transponder fixed on a scuba cylinder Figure 22 GAPS inside a hoisting pool MU GAPS AN 003 Ed K January 2012 26 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Figure 23 Different installations on a pole underneath the keel or in a moon pool MU GAPS AN 003 Ed K January 2012 27 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Installing the Easy Connect Box The connections between the different devices can be set up through the iXB
2. The 10 m GPS cable links the Y cable to the GPS antenna It is equipped with 6 pin SUBCONN connectors MU GAPS AN 003 Ed K January 2012 4 GAPS User Guide DEEP INSIGHT SHARPER SENSES GPS If the expected accuracy of an external GPS is greater than the GAPS integrated DGPS it is possible to connect it to the ECB through the External GPS RS 232 serial link and to use its positioning data In that case the Y cable is not used Easy Connect Box FCR DGPS Acoustic Transponders Figure 4 GAPS System Components 1 3 2 GAPS UNIT 16 pin SUBCONN Connector Fa Upper Disc Hydrophone with its protective Cap Se IXSEA label Transmission Transducer Hydrophones Figure 5 GAPS Unit MU GAPS AN 003 Ed K January 2012 5 GAPS User Guide XSLUE Mechanical GAPS has a carbon housing to deal with weight and mechanical characteristics It is Description composed of see Figure 5 e An upper disk for handling e A transmission transducer e Four reception hydrophones of different lengths to take 3D measurements e The four hydrophones are protected by plastic caps protect them e A16 pin SUBCONN connection plug Contents The GAPS unit contains e acoustic electronics for reception based on the MSFK Chirp modulation technique e An Inertial Navigation System INS e The acoustic transmitter electronics Power GAPS must be powered by a 28 to 36 V 50W DC p
3. hh CR LF hhmmss ss is the UTC of position is the latitude in degrees two first and in minutes four last 1 a is the hemisphere N North S South yyyyy yy is the longitude in degrees 3 first y and in minutes 4 last y b is longitude sign E East W West 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 4 RTK 5 Float RTK is the number of satellites is optional MU GAPS AN 003 Ed K January 2012 108 1 EP INSIGHT SHARPER SENSES VI 1 2 GPZDA GAPS User Guide e Data received the Universal Time information e Data frame GPZDA hhmmss ss dd mm yyyy xx yy cc lt CR gt lt LF gt hhmmss ss VI 1 3 PMEVL 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 e Data received Pressure value e Data frame 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 MU GAPS AN 003 Ed K January 2012 109 _ GAPS User Guide DEEP INSIGHT SHARPER SENSES VI 2 Output Protocols VI 2 1 The pr
4. l xX L LUJ E GAPS User Guide DEEP INSIGHT SHARPER SENSES V 1 3 6 Testing GPS Input Procedure Step Action 5 Connect a GPS onto the GAPS with Y cable or onto the GPS input on ECB 6 Startthe GAPS 7 n GAPS MMI software configure the communication port parameters 8 Configure the lever arm between GAPS and GPS in vessel menu 9 Check that GPS is received by clicking on External Sensors Status 10 Wait for 5 minutes initial alignment 11 After the 5 first minutes check during 5 minutes that the GAPS is not rejected by clicking on External Sensors Status in the Diagnostic toolbox This test is successful if GPS is not rejected after the 5 first minutes 12 End of procedure MU GAPS AN 003 Ed K January 2012 96 GAPS User Guide xXSLUE DEEP INSIGHT SHARPER SENSES V 1 3 7 Testing GAPS Standard Output Procedure Step 1 5 Action In GAPS MMI software select the GAPS standard protocol on output in Supervision panel with a 1 s rate Connect the ECB output onto a computer serial communication port Open a HyperTerminal and configure it with parameters corresponding to the settings already present in the GAPS MMI Check that the messages arrive every second on the HyperTerminal ed HyperTerminal Fichier Edition Affichage Appeler Transfert D m amp 5 B e PIXSE SPEED 0 024 1 715 0 279 69 PIXSE HEAVE_ 0 039 0 155 0 037 5B PIXOG
5. Check the velocity profile Perform again the acquisition of a velocity profile Rejection Filter This alarm occurs when we know that the computed position is not valid In this case we do not feed the filter with this position Inconsistent value compared to the previous positions has been rightfully rejected If this stays an isolated event there is nothing to do In the opposite case consider the presence of reflections and multiple travels of the acoustic wave Increase the recurrence value Reduce the general ambient noise as in the convergence error and mirror ambiguity Delta T Filter Error The date of emission of the beacon is older than the date of the position output by the filter The internal data flow is late due to CPU overload Lower the Output rate of the user protocol Contact iXBlue support Inertial Sensor Error Messages Meaning Possible Cause s not exhaustive Checks possible solutions ADC1 Saturation Overload on the ADC1 of the INS Contact iXBlue customer support ADC2 Saturation Overload on the ADC2 of the INS Contact iXBlue customer support ADC3 Saturation Overload on the ADC3 of the INS Contact iXBlue customer support Accelerometer X1 Error Error on the accelerometer X1 of the INS Contact iXBlue customer support Accelerometer X2 Error Error on the accelerometer X2 of the INS Co
6. The draft D of the ship relative to GAPS Width W 3 0 Height H 5 0 Um Stem and port side coord relative to GAPS Stempel Bort p Vessel Name Figure 36 Vessel Window MU GAPS AN 003 Ed K January 2012 42 GAPS User Guide Xp 2m Yp im Xgps 9m 1 Zgps 4 5 D 1 gt 0 Om k 0 illi 10 Yp 3m Xgps 0 7 m 1 29 4 D 0 8 m gt 0 Ship Size Shi Length 15 m 9 GAPS Width 3 m 9 Stern and port point Height 5 m Figure 37 Examples of Numerical values for the ship dimensions and the GPS offsets with respect to GAPS Mes All offsets and distances are in meters and signed with respect to the axis drawn in the window MU GAPS AN 003 Ed K January 2012 43 GAPS User Guide XSLUE Procedure Step Action 1 Inthe Vessel Dimensions display area fill in the vessel dimensions by clicking on the corresponding fields When you click on a distance field that you want to fill the style of the associated line in the ship representation below is highlighted in order to be easily identified and to avoid confusion between distances The drawing of the vessel window does not change The Vessel tab label turns red In the Stern and Port side coord Relative to GAPS display area fill
7. 90 GAPS User Guide DEEP INSIGHT SHARPER SENSES V 1 3 TESTING GAPS BEFORE DEPLOYMENT This section describes the procedure to test the GAPS in the air before operation This procedure can be carried out in a lab or on the deck of the vessel Tests are divided in four different parts that concern the four main functionalities of GAPS STEP 1 Communication STEP 2 Transmission STEP 3 Reception STEP 4 Attitude Monitoring STEP 5 GPS Input STEP 6 GAPS Output Integration tests transponder on the vehicle GPS navigation software are not covered in this section as these tests depend on each specific installation If the all six tests are successful the GAPS is ready to be integrated in its operating environment and to be deployed at sea If one test fails please contact the iXBlue technical support V 1 3 4 Required Equipment The required equipment to conduct the procedure is described below GAPS acoustic head Cable between GAPS acoustic head and ECB Easy Connect Box with its 220 V power supply cable Serial link cable DB9 A computer with GAPS MMI software and one serial communication port A GPS with cable GAP9 i Ned a Figure 62 Required equipment for the pre deployment tests MU GAPS AN 003 Ed K January 2012 91 GAPS User Guide C DEEP INSIGHT SHARPER SENSES V 1 3 2 Testing Communication Procedure Step Action 1 Start GAPS MMI Sof
8. EP INSIGHT SHARPER SENSES GAPS User Guide PIXSE HSATIT h hhh r rrr p ppp h h a aaa b bbb c ccc d ddd e eee f fff g ggg h hhh i ii j jj k kk 1 1 m mm n nn lt CR gt lt LF gt is the heading in deg is the roll in deg is the pitch in deg is the heave in meters is the heading rate in deg s is the roll rate in deg s is the pitch rate in deg s is the course made good in deg is the speed over ground is the longitudinal velocity in m s is the transverse velocity in m s is the vertical velocity in m s is the heading Std in deg is the roll Std in deg is the pitch Std in deg is the north speed Std in m s is the east speed Std in m s is the vertical speed Std in m s The precision of all rotation rate data is limited to 37h in order to be compliant to exportation regulation PIXSE HSSTAT FFAAVVQQ lt CR gt lt LF gt is system failure word Bito FOG error Bit1 Accelerometer error Bit2 Serial In A error Bit3 Serial In B error Bit4 Serial In C error is INS aiding word BitO GPS aiding Bit1 DVL aiding Bit2 USBL aiding is valid word Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 GPS valid DVL valid USBL valid Bathy valid Serial in A activity Bit5 Serial in B activity Bit6 Serial in C activity is overall QC 0 F BitO Alignment mode Bit1 1 gt Fine alignment mode 0 gt ready to dive Bit2 Kalman On MU GAPS AN 003 Ed K January 2012 127 GAPS User Guide XSLUE DEE
9. GAPS Carbon V 1 User Guide DEEP INSIGHT SHARPER SENSES x L U E GAPS User Guide DEEP INSIGHT SHARPER SENSES Copyright All rights reserved No part of this guide may be reproduced or transmitted in any form or by any means whether electronic printed manual or otherwise including but not limited to photocopying recording or information storage and retrieval systems for any purpose without prior written permission of iXBlue Disclaimer iXBlue 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 iXBlue reserves the right to revise or make changes or improvements to this product or documentation at any time without notifying any person of such revision or improvements In no event shall iXBlue be liable for any consequential or incidental damages including but not limited to the loss of business profits or any commercial damages arising from 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 GAPS AN 003 Ed K January 2012 1 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Warranty iXBlue provides a standard warranty of one 1 year covering this product against a
10. GAPS has to be determined The definition of these lever arms Xgps Ygps and Zgps is given in Figure 30 Figure 30 GPS antenna Lever Arms antenna not above GAPS MU GAPS AN 003 Ed K January 2012 33 l X L Ul E GAPS User Guide DEEP INSIGHT SHARPER SENSES In this case the heading of the acoustic array must be fixed and known No matter if this heading is not the same as that of the ship yet it will have to be taken into account if GAPS is also used as an onboard gyrocompass but its value must be known in order to calculate the position of the GPS in the GAPS reference frame see Figure 31 GAPS H1 H3 Figure 31 Same headings on the left and different headings on the right for GAPS and ship e fthe GAPS H1 H2 axis is not parallel to the ship aft forward axis two options are possible to enter the GPS offsets with respect to the GAPS reference system e Enter the offset distances of the GPS with respect to the ship reference system shifted above the GAPS antenna Then enter the angular offsets of the GAPS reference system with respect to the ship reference system using the antenna offsets tool box window QD ENTER THE OBSERVED OFFSETS VALUES AND NOT THE CORRECTION TO BRING TO THE OFFSETS e Enter the distances offsets of the GPS antenna directly in the tilted GAPS reference system The closer GAPS is to the GPS the better is the accuracy of the measurement of the he
11. 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 GAPS AN 003 Ed K January 2012 119 DEEP INSIGHT SHARPER SENSES GAPS User Guide VI 2 6 IXSEAUSBLINS 1 Value Bye Field definition Min Max Nb bits LSB Value Value 1 GGhex 8 header 55 hex Bits 2 to 0 3 Message number 001 bin 2 Bits 7 to 3 5 Transponder ID NA 0 31 Latitude deg 32 RE us 6 hex Two complement 180 2 90 90x 1 2 coded d 9 NNNNNNNNis 32 Longitude deg 360 222 0 360 1 2 99 11 to ZZZZZnex 12 8 8 4 bits 0m 410485 75 byte11 20 Z m immersion 0 01 0000044 m byte12 FFFFF tex bits 3 to 0 of byte 13 Bit 4 1 Reserved Major axe XY long axe in m of the error ellipse representing the standard deviation on the position in the XY plane 13 000 0 m l
12. 30 Stem and port side coord relative to GAPS Stem Xp 25m Ponp 35m Display area Toolboxes area Control buttons Figure 34 Main MMI Window This main MMI window is divided into four areas e Menu bar it enables to access the main menus and Help file Q Mission menu it enables to configure the system and the interface parameters see section 111 3 2 and to enter the sound velocity profiles see section III 3 9 Q Views menu to display the real time data either in a geographic reference frame see section Figure 44 or in a ship dependent frame see Figure 45 or in a time depth frame see Figure 46 Q Transponder menu to add define modify and suppress the devices you are tracking with GAPS see section III 3 10 e The Tool Boxes area these boxes enable you to monitor your mission System box see section III 4 5 for more details Sensors box see section 11 4 5 for more details MU GAPS AN 003 Ed K January 2012 39 exsLug GAPS User Guide DEEP INSIGHT SHARPER SENSES Q Recorder box it enables to select the folder where the real time data will be stored see section III 5 Q Box the content of this box depends on the selected menu and or on the selections made in the above boxes e Control buttons Valid button to validate the modifications entered and to save them in the GAPS Q Cancel button to cancel the modification you have entere
13. exsLug DEEP INSIGHT SHARPER SENSES e External Sensor Status Tool Box it allows a quick check on the status of GPS and optional pressure sensor see Figure 50 It also contains a diagnostic zone displaying alarm or warning messages S Toot Box Figure 50 Tool box of the External Sensors Status Ambient The sea ambient noise is measured at the hydrophones faces and displayed in the tool Noise in the Supervision menu after clicking on the acoustic antenna Tool Box Figure 51 Tool box displaying the noise level for all the hydrophones MU GAPS AN 003 Ed K January 2012 70 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 11 5 Recording the Data A recorder box allows data recording in a file in real time This recording is automatic when the check box Automatic Recording is checked see Figure 52 This check button can be found in the Supervision menu in the toolbox of the MMI parameters button The automatic file name format of the file is YearMonthHourMinuteSecond dat Each time the data file size reaches 1 Mo a new data file is created The whole software configuration is always saved in the first data file PRrecorder ocuments SC GAPS GAPS_data Figure 52 Recorder box Automatic recording check box MU GAPS AN 003 Ed January 2012 71 XSLUE DEEP INSIGHT SHARPER SENSES OPERATING GAPS GAPS User Guide Before starting any ope
14. ssssssssseeseneerenneneen enne 50 Il 3 7 Configuring the Acoustic Array Parameters sse 52 11 3 8 Configuring the Output Parameters ssssssssssesssseeneee enne nennen nnne 53 11 3 9 Defining Sound Velocity Profile nnns 55 1 3 10 Configuring the Transponder Parameters sssssssseeeeeeneennen nn 57 4 Monitoring the GAPS in Operation eseeeseeeeeeeeeneeenne enne nennen nnn nnn nnn nnne nnn nnn 63 1 4 4 Controlling The Real Time Data sssssssssseeeeeeeennnenen nennen nennen 63 11 4 2 Visualizing with the Absolute View eeseeerneennnm nen 64 11 4 3 Visualizing with the Relative View eesseeeeennnnn mmn 66 11 4 4 Visualizing with the Depth View eese nnnm 67 11 4 5 Controlling the GAPS Status sssssssssssssseeee enne 68 Ill 5 Recording the 71 IV OPERATING aaa aa aa EAEE aE 72 1 72 IV 1 1 X Position accuracy for 8 MT9 8 72 1 2 Un 73 IV 1 3 Range versus Noise Level essere ennemi nnne nennen 74 IV 1 4 A
15. the variable pitch of the propellers Filter Attenuation Position smoothed by the Very noisy raw data that trigger a If it happens too often check the filter so it is accepted smoothing and predicting filter if acoustic noise of the ship see you have activated this option convergence error below Inertial System Warning Messages Meaning Alignment Initialization of the inertial sensor coarse alignment it takes 5 minutes after powering of GAPS and before being operational It is better to let the ship drift during these 5 minutes Fine Alignment End of the initialization of the inertial sensor It can take 30 minutes before being fully operational Caution on a ship that is alongside the wharf this final initialization can last permanently MU GAPS AN 003 Ed K January 2012 84 XSLUE DEEP INSIGHT SHARPER SENSES Acoustic Array There are no warning messages available External Sensors GAPS User Guide Warning Messages Meaning Pressure Not Used rejected Pressure sensor data inconsistent with valid position computation The pressure sensor data is GPS Data Invalid GPS data is not valid GPS Data Noisy GPS data is noisy GPS Data Rejected GPS data is rejected IV 3 4 ERROR MESSAGES These messages appear in the tool boxes relative to the processor the inertial sensor the acoustic array and the external sensor Proce
16. 003 Ed K January 2012 30 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 4 q Installing the GPS Antenna The integrated DGPS antenna has to be fixed see Figure 27 You can use a mast not provided to do it Y Figure 27 DGPS antenna installation Two configurations are possible e With the ship GPS see config 1 on Figure 24 e With the DGPS provided by iXBlue see config 2 on Figure 24 11 4 1 INSTALLING AN EXTERNAL GPS In this case you must not use the Y cable to be plugged to the GAPS Plug your GPS directly on the ECB via the GPS DB9 plug or on your Souriau socket of your acoustic array cable if you do not use an ECB 1 4 2 INSTALLING THE IXBLUE DGPS The DGPS 9 plug of the ECB is not used in this case Plug the 10 GPS cable on the Y cable then the DGPS MU GAPS AN 003 Ed K January 2012 31 l X L LJ E GAPS User Guide DEEP INSIGHT SHARPER SENSES 11 4 3 MEASURING THE GPS LEVER ARMS GPS Even though it is designed to work in the vertical position GAPS acoustic array can be Antenna tilted if necessary and also be placed in the horizontal position Lever Arms To calculate the absolute position of a transponder GAPS needs to know its own position This information is provided by the GPS either the integrated or an external one In both cases the offsets between the GPS antenna and the GAPS acoustic array must be known When GAPS is tilted the three offsets be
17. 20 to 90 ms When the switch located inside the transponder see the MT832 User Guide for further information is in position e 1 the delay is 20 ms e N 2to9Q the delay is N x 10 ms The default turn around time is 90 ms See Figure 6 Blanking Time After having transmitted no other transmission is possible for a certain time See Figure 6 This period is called the blanking time and is adjustable from 0 5 to 9 9 s The default blanking time is 0 8 s The Chirp Code Turn Around Time and Blanking Time can be selected using the switches located inside the transponder see the MT832 User Guide for further information MU GAPS AN 003 Ed K January 2012 T GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Reception Signal X Optional Features Turn Around Time Recurrence 2 s Answer MFSK Blanking Time Listening 90 ms 1 8s gt Figure 6 Sketch of a 2 s Acoustic Transponder Recurrence Responder Mode Every iXBlue acoustic transponder with the letter R at the end of its designation e g MT 832 E R is equipped with a waterproof plug that is used for e The Electrical Triggering of the transponder in Responder mode e The External Power Supply of the transponder Electrical Triggering The transponder can be triggered by a 5 V differential active high signal rising edge trigger 10 ms pulse sent to this input minimum value On the MT 832 series there
18. 25m lt standard deviation lt 50 111 standard deviation gt 50 m Bits 7 to 4 4 Reserved 16 PPhex 8 Reserved 17 18 3 599 999 ms 1h It is the truncation of the ims TITTTTTTTTTTTTTTTITETpiR absolute time provided 8 8 6 bits of by the GPS to the S largest 22 1ms 0 ms values of byte 17 GAPS keeping only the ps 19 this field do byte 18 minutes seconds and notihave hi milliseconds It is coded pits 5 10 00 byte 19 in milliseconds number LM meaning Bits 7 and 6 of byte19 2 Reserved Status byte 20 KKhex 8 Bits Oto 8 Reserved Checksum 21 SShex 8 exclusive OR by byte for the whole 20 first bytes thus header included 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 VI 2 7 IXSEAUSBL INS2 Message PXUI2 id lat lon imm maj min ang dev tim CK LII C NN NE Field 2 Latitude deg Resolution 180 27 Domain 90 90 x 1 2 Resolution 360 232 Field 3 longitude deg Domain 90 360 x 1 232 Field 4 Immersion m Resolution 0 01 m Domain 0 10485 75 MU GAPS AN 003 Ed K January 2012 121 IX3L LUE DEEP INSIGHT SHARPER SENSES Field 5 Field 6 Field 7 Field 8 Field 9 Major axe XY
19. DEEP INSIGHT SHARPER SENSES Importing a Sound Velocity Profile File Step Looking for Shadows Areas Zooming 1 Action Select the S Velocity tab under Mission menu in the toolbox see Figure 40 click on button to import a file The Open window appears Select your sound velocity profile file and click OK The sound velocity profile appears in the Display area You can modify some sound velocity values see the previous procedure and then save the modified file under the same name by clicking EH or under another one by clicking on nu Your sound velocity profile is modified Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button End of procedure Once the velocity profile is input you can compute by double clicking on the right graph the path that a sound ray would take with this velocity profile The graph is computed for angles between O and 90 at a 1 step The path is computed from the GAPS to the transponder This allows you to see if there are areas where you could not see your mobile shadow areas see Figure 39 Note that the horizontal and vertical scales are not the same when looking at angles on the graph You can zoom on the data by drawing a rectangle with the left mouse button down over the area of your choice You can zoom on the area of your choice on the graph Left click on one of the graphs and draw a rectan
20. MT 8625 HD R 7 K Kalman Filter 3 M Menu Mission 39 MU GAPS AN 003 Ed K January 2012 134 xSLUE DEEP INSIGHT SHARPER SENSES Transponder 39 Views 39 MMI Control Buttons 40 Definition 4 Installation 36 Mission Menu 39 PC configuration 36 Recorder Box 40 Sensors Box 39 System Box 39 Transponder Menu 39 Views Menu 39 Mode Responder transponder 8 77 Transponder Responder 58 Parameters Ship 41 Vessel 41 Parameters Serial Link 45 Parameters MMI 45 Parameters GPS 45 Parameters Processor 45 Parameters Acoustic Array 45 Processor Parameters Defining 51 Ray bending 55 Reception Channel 7 Recurrence Acoustic 76 Reference Axes GAPS 12 GAPS User Guide Reflective Surfaces 20 Relative View 63 Responder Mode 8 77 Sensors Box 68 Serial Link Parameters 45 Shadow areas 57 Ship Draft 42 Parameters 41 Port Side 41 Stern Side 41 Sound Velocity Profile SVP 55 Storage Temperatures 89 SVP Sound Velocity Profile 55 System Box 68 Temperatures Storage 89 Tool Box Absolute View 65 Acoustic ArrayStatus 69 External Sensor Status 70 Inertial Sensor Status 69 Processor Status 69 Transmission Channel MFSK chirp signal 7 Transponder Creating 58 Transponder External Power Supply 8 Mode 8 Transponder Mode 77 Transponders MU GAPS AN 003 Ed K January 2012 135 DEEP INSIGHT SHARPER SENSES
21. None None Action Set up the GAPS antenna upside down Remove the circlip at the interface between the arm and the hydrophone Use the Allen key to unscrew the three socket head cap screws CHC M5 12 that fasten the arm to the antenna body Before After M ff Circlip E MU GAPS AN 003 Ed K January 2012 100 GAPS User Guide XSLUE System GAPS Corrective Maintenance Sub system Hydrophone Reference 1 Page 2 2 Subject Exchanging faulty hydrophone Maintenance level 1 Duration 20 minutes Step 7 8 10 11 12 13 14 Action Remove the arm by translating it gently along its own axis Unscrew the hydrophone from its connector Screw the new hydrophone to the connector Put some grease on the two rings pink on the figure in order to ease the entering of the hydro in the arm Replace gently the arm back to its original position Fasten the arm to the body with the three screws CHC M5 12 Insert the circlip at the interface between the hydrophone and the arm End of procedure MU GAPS AN 003 Ed K January 2012 101 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES V 3 System Upgrade V 3 1 PURPOSE iXBlue provides upgrades of GAPS system firmware The purpose of this section is to describe the procedures to download the firmware to GAPS by serial link V 3 2 RECOMMENDATION If the upgra
22. SYS STS 4 1 1 1 1 1 0 S0 s 0 0 0 0 41 13 0 00 0 1 1 1 31 PIXSE STDHRP 0 062 0 003 0 003 PIXSE STDPOS 0 75 0 75 3 7745 PIXSE STDSPD 0 033 0 033 2 710 79 __ 133514 238 54 PIXSE GPSIN_ 43 08489143 5 47424264 2 900 133513 859 2 78 PIXSE ALGSTS 00003011 00000000 66 PIXSE STATUS 01000002 00000000 6C PTSAG 4 00005 133515 238 18 05 2011 0 4305 09433 N 00528 45425 E F 0000 0 0 0000 0 21 GPGGA 133514 86 4305 09268 N 00528 45451 E 2 09 0 9 2 8 M 30 GPVTG 175 666550 T 2 981466 5 521673 K E 76 HEHDT 190 700 T 20 PIXSE ATITUD 1 840 1 506 64 PIXSE POSITI 43 08490550 5 47423753 3 217 7B PIXSE SPEED 0 116 1 529 0 067 44 PIXSE HEAVE_ 0 162 0 060 0 098 56 PIXOG SYS STS A 1 13 i 0 is 0 51e 0 0 0 0 41 00 0 00 0 1 1 1 32 PIXSE STDHRP 0 062 0 003 PIXSE STDPOS 0 75 75 3 27 43 PIXSE STDSPD 0 033 0 033 2 710 79 PIXSE TIME__ 133525 238 55 PIXSE GPSIN 43 08487792 5 47424182 2 800 133514 863 2 78 PIXSE ALGSTS 00003011 00000000 66 PIXSE STATUS 01000002 00000000 6c 00 00 04 connect D tec auto D tection auto This test is successful if you can read GAPS Standard messages on HyperTerminal End of procedure MU GAPS AN 003 Ed K January 2012 97 GAPS User Guide DEEP INSIGHT SHARPER SENSES V 2 Corrective Maintenance IMPORTANT Warranty will be void if GAPS is
23. THE A NEVER OPEN THE GAPS UNIT MU GAPS AN 003 Ed K January 2012 19 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 2 Installing the Acoustic Antenna 1 2 1 RECOMMENDATIONS PRIOR TO INSTALLATION Containing its own attitude sensor GAPS can be installed at the location and in the position that best suit the operational constraints Nevertheless some factors concerning the installation can decrease the final global performances of the system if they are not taken into account 1 2 1 1 Noise Level As with every acoustic system the noise generated by the environment can decrease the performance of the system Range and accuracy of the positioning greatly depend on the signal to noise ratio On a ship it is recommended to install the GAPS unit in the front third of the ship in order to decrease the noise level from the propeller and as far as possible from any water discharge system 1 2 1 2 Reflective Surfaces Even though the MFSK signal treatment strongly increases the multi path immunity there are still situations where the direct signal detection is disturbed by reflective signals To avoid such cases it is recommended that GAPS is kept at least 1 m away from reflective surfaces The sea surface may be considered as a reflective surface depending on the depth of the transponder if both the transponder and the acoustic array are close to the surface there will be multi path phenomenon at specifi
24. The expected accuracy of the position Sqrt Tx2 ty2 a Additional_info N for None C Compass inclimeter D Depth T Time X First add value Empty Tp compass or Tp x inclination XX Second add value Empty or Tp y inclination hh Checksum Empty or Checksum ck CRLF Termination CRLF Example SPSIMSSB B01 A P H M 111 80 63 43 48 50 0 00 N 5E MU GAPS AN 003 Ed K January 2012 117 GAPS User Guide DEEP INSIGHT SHARPER SENSES VI 2 4 NAUTRONIX ATS Message Date Time B Transp E Status X PosX Y PosY D PosZ H Heading P pitch R roll lt CR gt lt LF gt Field 1 Date dd month AAAA Field 2 HH MM SS mmm Field 3 Transponder From 1 to 127 number MU GAPS AN 003 Ed January 2012 118 DEEP INSIGHT SHARPER SENSES ane GAPS User Guide e XSLUE VI 2 5 POSIDONIA 6000 e Data sent 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 Message lt Sync gt lt F1 gt lt F2 gt lt F8 gt lt Ch1Ch2 gt Byte 0 0x24 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 Field2 Transponder latitude 2 signed 32 bits Bytes 2 to 5 Data Field 3 Transponder longitude 2
25. clicking on Details button System configuration receiving Reading transponders 01 config gt contig differs Reading sound velocity profile gt OK Reading pressure profile gt OK Reading system config amp test gt OK End of configuration receiving GPS config request Otherwise if GAPS is connected and if the configurations of the GAPS and the MMI are the same the following window appears System start COMM ESTABLISHED System Configuration Receiving Reading Transponders 01 Config gt Reading Sound Velocity Profile OK Reading Pressure Profile 2 f needed choose between the MMI or GAPS configuration 3 End of procedure If GAPS is not active the system button located in the upper right side of the main window is labeled START Tracking and the associated light is blue If GAPS is active the system button located in the upper right side of the main window is labeled STOP Tracking and the associated light is green MU GAPS AN 003 Ed K January 2012 38 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 11 2 2 MAIN WINDOW MMI software always opens with Vessel tab selected under the Mission menu see Figure 34 Menus area 1 Mission Vessel S Velocty Supervision Absolute Relatve Depth Y 2 L m en eee LEE e E O e ee ae Vessel s dimensions for Relative View Length L 15 0 Width
26. clicking the check boxes on top of both views With the Auto Scale option checked the full extent is made on the data the ship disappears the origin or GAPS remains on the display MU GAPS AN 003 Ed K January 2012 66 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 4 4 VISUALIZING WITH THE DEPTH VIEW Access The depth window displays the mobile depth To display the real time data in a depth view select Depth tab under Views menu Window The corresponding window see Figure 46 appears sion Vessel SiVelocity Supervision fiews Absolute PPLORER Pss ea ee Essais La Ciotat Enregistrements Figure 46 Depth view The graphical settings are the same than in the absolute view e Auto Scale on the immersion maximum extent of all points e Auto Frame on the immersion maximum extent of the points of the selected mobile s e Nb Points as long as the entered number of displayed points is not reached the display is compressed When this maximum number is reached the display shifts along the left of the time scale MU GAPS AN 003 Ed K January 2012 67 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 4 5 CONTROLLING THE GAPS STATUS System Box Sensors box The System and Sensors boxes are designed to help you to monitor the GAPS status The System box is composed of see Figure 47 A communication butt
27. could damage the transmitter Perform only a few pings for testing purposes MU GAPS AN 003 Ed K January 2012 93 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES V 1 3 4 Testing Reception Procedure Step 1 2 Action In GAPS MMI software create a MT8 beacon in the Transponder menu Configure the beacon independently in responder or transponder mode Make sure that the transponder is in use In the Supervision menu processor button configure the acoustic recurrence internal fixed at 1 s On the main page click on START Tracking In the Supervision menu Acoustic Array button check the four noise level measurements This test is successful if the four noise levels are the same 3 dB On the above example hydrophone is damaged 6 to 7 dB diff erence compare to the 3 other hydrophones End of procedure MU GAPS AN 003 Ed K January 2012 94 XSLUE GAPS User Guide V 1 3 5 Testing Monitoring of Heading Roll Pitch Procedure Step Action 1 In GAPS MMI software select the absolute or relative view in main menu 2 Change respectively the heading roll and pitch of the GAPS head itself 3 Check in the GAPS MMI software that the attitudes are changing according to the motion of the system This test is successful if you can monitor the heading roll and pitch in the GAPS MMI software 4 End of procedure MU GAPS AN 003 Ed K January 2012 95
28. junction box named Easy Connect Box ECB simplifying the connections between the GAPS unit and other devices is also available see section 11 3 of this manual GAPS does not need any external sensor to provide the position of the transponders but depending on the conditions external sensors in particular a pressure sensor can be used in order to e Increase the accuracy in noisy environments e Simplify the installation of GAPS The Control System is any PC on which the MMI Software is installed it can be e Either directly connected to GAPS through the MMI DIALOG RS 422 serial link e Orto the MMI DIALOG RS232 serial link available on the junction box The purpose of the Control System is e configure GAPS input output configuration sound velocity profile etc if necessary e To visualize the position s of the transponder s The use of the Control System is not mandatory once GAPS is configured GAPS stores all its settings when turned off and resumes its last behavior when started up Three cables are used in the GAPS system The 50m main cable between GAPS and the ECB An optional length of 100 m is also available upon request This cable is fitted with a 16 pin SUBCONN at one end GAPS side and a 19 pin SOURIAU at the other end ECB side e The Y cable can be used to connect the GPS directly to the GAPS A 6 pins SUBCONN end is connected to the GPS The two other ends link the GAPS to the ECB using the 50 m main cable
29. lever arm e f GAPS is mounted on a pole GAPS should be placed in a way that the hydrophone H1 is oriented towards the bow of the ship e If a rigid rope holds GAPS you always have a slight error induced by the motion of the rope even if the GPS antenna is put vertically above GAPS 3 End of procedure Configuring the GPS lever arms when the GPS is NOT vertically above GAPS Step Action 1 Under the Mission menu with the Vessel tab selected set the position offsets X Y Z of the GPS antenna with respect to GAPS 2 End of procedure GPS lever arms must be entered in the GAPS reference frame MU GAPS AN 003 Ed K January 2012 81 XxSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES IV 2 4 INSTALLING THE TRANSPONDERS Procedure Step 1 Action In the MMI software under the Transponders menu add the transponder to your system and set up its configuration see Part III 3 10 of this manual In the associated toolbox check In Use box to make it operational and set the associated parameters up at least IIF MFSK code transponder responder mode turn around time filter In case of a transponder with a remote transducer connect the remote transducer to the transponder bogy Plug the transponder for power supply to the vehicle carrying it This connection is used in both transponder only power supply and responder mode power supply and triggering coming from GAPS In responder mode con
30. 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 position 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 GAPS keeping only the minutes seconds and milliseconds It is coded in milliseconds number MU GAPS AN 003 Ed K January 2012 GAPS User Guide 0 m lt standard deviation lt 0 5 m 0 5 m lt standard deviation lt 1 5 m 1 5 m standard deviation 3 m 3 m lt standard deviation lt 6 m 6 m lt standard deviation lt 12 12 m standard deviation 25 m 25 m lt standard deviation lt 50 m standard deviation gt 50 m 0 m lt standard deviation lt 0 5 m 0 5 m standard deviation 1 5 m 1 5 m lt standard deviation lt 3 m 3 lt standard deviation lt 6 m 6 lt standard deviation lt 12 m 12 m standard deviation 25 m 25 m standard deviation 50 m standard deviation gt 50 m Resolution 180 2 Domain 0 15 16 x 180 0 m standard deviation 0 5 m 0 5 m lt standard deviation lt 1 5 m 1 5 m lt standard deviation lt 3 m 8 m lt standard deviation lt 6 m 6 lt standard deviation lt 12 12 lt standard
31. recurrence inhibits the short external recurrence after one received trigger GAPS is triggered on the rising edge of the signal This mode is described on the Figure 56 SYNC IN o Ld EE Inhibition not taken into account gt SYNC_OUT 100 us 10 ms gt Figure 56 Inhibition window during an external synchronization MU GAPS AN 003 Ed January 2012 76 IX L LJ GAPS User Guide DEEP INSIGHT SHARPER SENSES IV 2 1 2 Two Modes The GAPS interrogates acoustically transponder mode or electrically responder mode e Transponder mode GAPS acoustically interrogates the transponder that replies with a MFSK signal The time between signal interrogation and reception is approximately 1 second every 750 m transponder range with a velocity of 1500 m s e Responder mode the transponder is electrically triggered through the SYNCHRO OUT RESPONDER MODE output and GAPS does not send acoustic signal anymore This mode has many advantages position update is twice faster in responder mode than in transponder mode because there is only one acoustic travel in this mode The first travel is electric There are two acoustic travels in transponder mode The transponder cannot be accidentally triggered by any parasitic sound The transponder is always triggered despite noise e g ROV propellers Depending on the environmental conditions the maximum range of t
32. responder mode with a TTL signal SYNC IN GAPS acoustic recurrence triggered by an external device side scan sonar for example e 4 DB9 plugs for RS232 Serial Links use of straight cables Input connection to the PRESSURE sensor the input configuration of which being Baud rate 19200 bps Data Bits 8 Parity none Stop Bit 1 Note 10 dBar correspond to 0 m and 20 dBar correspond to 10 m depth Q OUTPUT of position and attitude available in various formats Input output MMI connection to the user PC for configuration and real time control MU GAPS AN 003 Ed K January 2012 29 GAPS User Guide DEEP INSIGHT SHARPER SENSES Input GPS connection to an external GPS receiver e The GAPS 19 pin plug for the Acoustic Array cable e 28 to 36 V 50W DC 2A ECB power supply plug e 100 to 240 V 50 60Hz ECB power supply plug automatically detected no adaptation needed e ON OFF switch for ECB Both 100 240 V and 28 36 VDC ECB power supply inputs can be connected simultaneously The 100 240 V is converted into 28 VDC The ECB automatically switches on the highest voltage input between the 100 240 V converted and the 28 36 V The ECB is supplied with a female connector on which can be welded a 28 36 VDC power supply cable of your own See the connector in Figure 26 Figure 26 Female Connector for ECB 28 36 VDC Power Supply MU GAPS AN
33. the cable termination Figure 60 GAPS cable dummy plug MU GAPS AN 003 Ed K January 2012 88 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES e Handling The best way to carry GAPS is to hold it by the upper disc in one hand and one of the longer arms in the other hand Figure 61 Handling GAPS Do NOT HOLD GAPS BY ITS HYDROPHONES WHEN GAPS IS NOT USED THE FOUR HYDROPHONES MUST KEEP THEIR PROTECTION CAPS REMOVE THEM JUST BEFORE PUTTING GAPS INTO WATER e The equipment must be placed back in its transport box and stored in a dry area until it is installed The equipment must always be stored in its packaging The limits of storage temperature are the following Item Min T Max T Acoustic Array 200 470 Acoustic Transponders 20C 470 IMPORTANT Bad storage conditions may void certain clauses of the guarantee MU GAPS AN 003 Ed K January 2012 89 DEEP INSIGHT SHARPER SENSES V 1 2 CLEANING HYDROPHONES Procedure Step 1 2 Action Clean the hydrophone surface with isopropylic alcohol Abrase lightly with 80 100 sand paper Clean with isopropylic alcohol Wet the surface with aliphatic hydrocarbon solvent Essence F in French Wait 2 minutes for drying Apply anti fouling according to the supplier recommendations thin coat Wait 24h End of procedure MU GAPS AN 003 Ed K January 2012 GAPS User Guide
34. the transponder in the in use state i e to display it in the different views to choose its display color for the absolute relative and depth view and to know and possibly modify its serial number ID one and name The display area contains Q The Transmit parameters are used to define the MFSK code the Blanking Time i e the time during which no transmission is possible just after having transmitted and the Turn around Time i e the delay between the reception of the triggering signal and the transmission of the reply Receive parameters are used to define the Individual Interrogation Frequency and if the transponder is used in Responder or Transponder mode see Part 1 of this manual Filtering for is used to define the filter to use None Towed Fish specific filter adapted to mobiles predictable motion ROV AUV specific filter adapted to mobiles unpredictable motion Fixed Transponder specific filter adapted to fixed transponders no motion Pressure sensor None Serial link Acoustic or External with the accuracy in decimeter for example for a pressure sensor given for 0 196 of the depth that would be used at a 3 000 m depth you would enter 30 dm in the accuracy field You can define up to 127 transponders i THE TRANSPONDER CAN BE TRACKED ONLY WHEN IT IS IN USE lt gt YOU CANNOT USE TWO OR MORE TRANSPONDERS WITH THE SAME IIF AND MFSK CODE SIMULTANEOUSLY MU GAPS
35. 32 11 4 4 Setting the GPS Tine 35 I 5 Installing a Transponder ccccceeeceeeseeeeeeeneeeeeeenneeeeeenseaeeeenseeeeenseeeeeedseeeeeseseeneeseseeneneeseenenes 35 Ill CONFIGURING GAPS eec na 36 1 Installing the Man Machine nnne 36 2 Overview of the Man Machine Interface eeeeeeeeeeeees esee eene 37 11 2 1 Starting the Man Machine Interface sssssssssssssssee ener nennen nene 37 11 2 2 Main WOW 39 MU GAPS AN 003 Ed January 2012 vii GAPS User Guide IX3SLUE DEEP INSIGHT SHARPER SENSES Code 40 Configuring onere cce daca cnc eee danse ci adi Sce s cati sae eren 41 11 3 1 Configuring the Survey 1 enne nennen nnne 41 1 3 2 Configuring the System Parameters ssssssssssseseeeeneerenneenen nennen 45 11 3 3 Configuring the Serial enne snnt enne 47 11 3 4 Configuring the Interface Parameters ssssssseeeeneeeenneen nennen 48 11 3 5 Configuring the GPS Parameters ssssssssssssesesseeeeee ener nnne 49 11 3 6 Configuring the Processor Parameters
36. AN 003 Ed K January 2012 58 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES ALTE E ORM LA L S s Undefined r I n Figure 41 Transponder MTS view Undefined BT8 F ee ao Tt Gau Ca zb Figure 42 Transponder view MU GAPS AN 003 Ed K January 2012 59 xX L LJ E GAPS User Guide DEEP INSIGHT SHARPER SENSES Procedure Step Action 1 Under Transponders menu select New option to define the new transponder The New Transponder window opens 2 In the New transponder window you can e Either select the Manufacturer and Type after having selected New check box e Or define the new settings by selecting existing ones select Copy from check box and choose the transponder ID to copy in the scrolling list 3 Click Create button to create the new transponder The transponder settings are displayed in the Display area of the main MMI window It contains default settings for a new transponder and the settings of an existing one in case of a copy The transponder ID appears in the transponder list near the Transponders menu 4 You can e Modify the settings e Change the transponder display color by clicking on a 5 Select In Use check box to track the transponder and to see this transponder in the different views The transponder ID in the transponders list near the Tran
37. Always 0 Bit 7 Transceiver error opposite of Bit O NN Bit 0 1 Transducer number MSB s n GAPS Bit 2 3 Transceiver number LSB s n GAPS Bit 4 Training mode always 0 for GAPS Bit 5 Mobil TP SSBL Rov TP LBL 0 fixed 1 mobile Bit 6 LBL co ordinates in UTM always 0 for GAPS Bit 7 Master 0 Slave 1 always 0 for GAPS Byte 4 0x01 TP Inf 0 TP Transponder 1 Depth TP Optional Data 1 Inclinometer TP Optional Data 1 amp 2 not used for GAPS 3 Diff in TP Optional Data 1 amp 2 not used for GAPS 4 Compass TP Optional Data 1 not used for GAPS 5 Acoustic control transponder not used for GAPS 6 Beacon not used for GAPS 7 Depth Beacon not used for GAPS 10 Responder driver 1 not used for GAPS 13 Responder driver 4 Byte 5 0x00 TP ID OxsY Y position s 0 if Y positive Y HIPAP OxYY s Dif Y negative OxYY BCD coded LSB 1 10 of unit OxsX X position s 0 if X positive X HIPAP OxXX s Dif X negative OxXX 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 MU GAPS AN 003 Ed K January 2012 114 me GAPS User Guide XSLUE Byte 16 OxHH Heading LSB 0 to 359 9 LSB 0 1 Byte 17 OxHH Heading MSB BCD coded XsD Sensor Depth Meters OxDD Optional Data 1 S20 OxDD BCD coded 0x00 Optional Data 2 0x00 0x00 own o Byte 25 0x00 Ellipse direction ex es mm 00 B
38. ES North America NORAM 781 937 8800 iXBlue Inc Boston US 179 Sidney Street Cambridge 02139 United States Office Houston US Europe Middle East Africa Latin America EMEA LATAM 33 130 08 88 88 iXBlue SAS Marly France 52 avenue de l Europe Marly le Roi 78160 France Offices Dubai Germany Netherlands Norway UK Asia Pacific APAC 65 6747 7027 iXBlue Pte Limited Singapore Paya Ubi Industrial Park 53 Ubi Avenue 1 Singapore 408934 Singapore Offices Australia China MU GAPS AN 003 Ed K January 2012 133 XSLUE DEEP INSIGHT SHARPER SENSES Absolute View 63 Blanking Time 7 58 Box Recorder 40 Sensors 39 68 System 39 68 Tool 40 Buttons Cancel 40 Valid 40 Check Box In Use 58 Chirp Code 7 Signal 7 Code MFSK 58 Creating Transponder 58 Defining GPS Lever Arms 42 Processor Parameters 51 Definitions Environmental Noise 20 Reflective Surfaces 20 Depth View 63 E Environmental Noise 20 GAPS User Guide General Index GAPS Connector 15 Definition 1 Hydrophones 12 Operation Principles 1 Power Supply 6 16 Reference Frame 12 GAPSConnector Interface Side 15 GPS 1 GPS Lever Arms Defining 42 GPS above GAPS 32 GPS not above GAPS 33 H H1 H2 H3 H4 GAPS Hydrophones 12 Reception Channel 7 In Use Check Box 58 Individual Interrogation frequency IIF 7 IXSEA Transponder MT 832 HD 7 MT 832 E 7 MT 832 S R 10
39. GAPS AN 003 Ed K January 2012 129 GAPS User Guide DEEP INSIGHT SHARPER SENSES VI 2 13 SOC AUTOSUB Standard Output SOC custom protocol Data sent Status Heading Attitude Rotation rates Depth Speeds Position Log misalignment Data frame The frame contains 18 fields 61 bytes MSB are sent first Message lt F0 gt lt F1 gt lt F2 gt lt F17 gt Field 0 Byte 0 IS Synchronization byte Field 1 Byte 1 1 if Alignment Field 2 Bytes 2 to 5 Radians IEEE floating point format Field 3 Bytes 6 to 9 Radians IEEE floating point format Sign when port up Field 4 Bytes 10 to 13 Pitch Radians IEEE floating point format Sign when bow down Field 5 Bytes 14 to 17 XV3 rotation rate Rad s IEEE floating point format Field 6 Bytes 18 to 21 XV1 rotation rate Rad s IEEE floating point format Field 7 Bytes 22 25 XV2 rotation rate Rad s IEEE floating point format Warning Opposite sign of PHINS 6000 usual convention 2 Signed 32 bits 23 Signed 32 bits The resolution of rotation rate data is limited to 3 6 deg h to comply with export regulation MU GAPS AN 003 Ed K January 2012 130 GAPS User Guide XSLUE VI 2 14 GPGGA SHIP e Data sent Latitude Longitude of the ship or GAPS GPS quality e Data frame GPGGA hhmmss ss ddmm mmmmm a dddmm mmmmm b q ss hh CR LF hhmmss ss is the UTC of position
40. P INSIGHT SHARPER SENSES VI 2 11 NAVIGATION e Data sent Heading Attitude Position Status e Data frame HEHDT x xxx T hh lt CR gt lt LF gt Where is the true heading in degrees is the checksum PIXSE ATITUD x xxx y yyy hh CR LF Where X XXX is the roll in degrees y yyy is the pitch in degrees hh is the checksum PIXSE POSITI x xxxxxxx y yyyyyyy Z zzz hh CR LF X XXXXXXX is the latitude in degrees y yyyyyyy is the longitude in degrees 2 777 is the altitude in meters hh is the checksum PIXSE STATUS hhhhhhhh llllllll hh lt CR gt lt LF gt is the hexadecimal value of PHINS status LSB is the hexadecimal value of PHINS status MSB is the checksum MU GAPS AN 003 Ed K January 2012 128 GAPS User Guide exutus DEEP INSIGHT SHARPER SENSES VI 2 12 SIMRAD EM e Data sent Heading Roll Pitch Heave Status e Data frame Message SS 90 RRRR PPPP hhhh HHHH Byte 0 0xSS Sensor status 0x90 OK 0x9A alignment Byte 1 Sync byte Byte 2 OxRRRR Roll LSB Roll 180 Byte 3 Roll MSB LSB 0 01 Sign when port up Byte 4 Pitch 180 5 Pitch MSB LSB 0 01 Warning Opposite sign of Octans usual convention Sign when bow up Oxhhhh Heave LSB Heave 10m Heave MSB LSB 0 01m Sign when Octans goes up OxHHHH Heading LSB Heading 0 to 360 Heading MSB LSB 0 01 Each data is two complemented coded except Heading MU
41. Performances in Range versus Noise Level MU GAPS AN 003 Ed K January 2012 74 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES IV 1 4 ACCURACY VERSUS SNR The GAPS performances are described on the Figure 55 with e Slant Distance 2 1 000 m e Vertical Angle lt 30 deg e Roll amp Pitch Error 0 01 deg e Heading Error 0 1 deg e GPSerrors 1 5 m 2 00 1 00 Slant Range 0 00 10 15 20 25 30 35 40 45 5C SNR in dB ref uPa Figure 55 GAPS Performances in Accuracy versus SNR SNR at GAPS processing output MU GAPS AN 003 Ed January 2012 75 l x L LJ GAPS User Guide DEEP INSIGHT SHARPER SENSES IV 2 Initializing and Configuring a Survey You need to choose the mode in which GAPS is going to operate section IV 2 1 before initializing the system section IV 2 2 The choice of the operating mode constrains the configuration section IV 2 3 IV 2 1 OPERATING MODES IV 2 1 1 Synchronization Mode Recurrence The system can be synchronized by and with another system or can generate itself its acoustic recurrences e Internal recurrence the interrogation time for the transponder is automatically determined by GAPS The Internal recurrence is fixed it is configured to a fixed value with the MMI e External Synchronization an external system generates a synchronization to operate GAPS e External Synchronization with inhibition the GAPS minimum
42. Switches 82 Turn Around Time 7 58 U USBL 1 Vessel GAPS User Guide Draft 42 Parameters 41 Port Side 41 Stern Side 41 View Absolute 63 Depth 63 Relative 63 MU GAPS AN 003 Ed K January 2012 136
43. The GAPS has an operating field over 200 degrees coverage below the ship see Figure 2 During the positioning operations it can be used at 3 or 4 knots or more depending on the expected performances and at 12 knots during the transit operations MU GAPS AN 003 Ed K January 2012 1 GAPS User Guide DEEP INSIGHT SHARPER SENSES 200 Operating Field Figure 2 GAPS Operating Field MU GAPS AN 003 Ed K January 2012 2 GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 2 Acoustic Positioning Principles P t J o The positioning of the acoustic transponder s is performed as follows see Figure 3 The transmitting transducer sends an interrogation signal to the transponder The four receiver hydrophones of the GAPS unit receive the MFSK reply from the transponder The GAPS processing unit detects the signal measures the phases of the signals arriving at the four hydrophones and the elapsed time between the interrogation and the reply GAPS takes into account the attitude of the acoustic array provided by the internal fiber optic gyros at the exact moment of the reception of the signal The processing unit deduces the relative position of the transponder The INS sensor also processes also the data coming from the DGPS antenna with its own gyros and acceleration sensors in order to accurately determine the absolute position of the acoustic ar
44. able Noise Isotropic Spectrum National Marine Electronics Association Real Time Kinematics Signal to Noise Ratio Ultra Short Base Line MU GAPS AN 003 Ed January 2012 vi GAPS User Guide IX3SLUE DEEP INSIGHT SHARPER SENSES Table of Contents INTRODUCTION AND TECHNICAL DESCRIPTION ssccssseeeeseceeeeeeesnaeeeseeeeeeeeessaeseneeeenseeessaeeeseaeseseeeesseaeas 1 1 1 System OVerviewW 1 1 2 Acoustic Positioning 3 13 Technical 4 1 3 1 OVEIVIOW 4 1 3 2 edm 5 1 3 3 ACOUSTIC TransSponders RR e ane 6 13 3 1 Acoustic Transponder MT8x2 and ET8X2 Series sse 7 13 3 2 Acoustic Transponder BT812 Series sss 10 1 3 4 ize ase ua ee ies ete oe ee 10 1 4 Conventions and Specifications 11 1 4 1 General Characteristics 0 ccccececeeecceceee cesses scence ceaeeecaaeeeeaeeseaeeecaaeseeaaesseneeesaeeeeaaeeeaeeeeaes 11 1 4 2 Geometrical Conventions sse nennen nennen tentent nnn ens 11 1 4 3 Mechanical Specifications esses ener enne 14 1 4 4 Electrical Specifica
45. ading of the acoustic array duode It is the same for the roll and pitch if the GAPS is intentionally not in the vertical position Measure the position of the GPS reference point with respect to the reference frame linked to the GAPS unit Measurement is performed along the three axis Xgps Ygps Zgps see section 1 4 2 for the definition of the GAPS reference frame The required precision on the lever arm is below 10 cm See Figure 32 MU GAPS AN 003 Ed K January 2012 34 GAPS User Guide DEEP INSIGHT SHARPER SENSES Figure 32 Measure of GPS lever arms with respect to GAPS 11 4 4 SETTING THE GPS TIME GAPS automatically updates its internal time No menu in the MMI software enables you to do it Two cases can occur e Either the GPS is used as a reference In this case the GPS must be configured in order to send ZDA frame with a minimum rate of 1 s As no PPS signal is used the precision reached is equal to 15 ms after the PPS signal Orif no ZDA frame is received by GAPS the last time recorded by GAPS is used If the GPS do not deliver ZDA strings then the time is taken from the GGA strings and the precision of the positioning is still less than 1 second 1 5 X Installing a Transponder The transponder is installed on the fixed or the mobile device that you are going to track The installation depends mainly on your equipment Keep in mind that the transponder head must be as much as possible e F
46. amp H2 longitudinal axis X H1 in front positive H3 amp H4 transverse axis Y H4 on starboard positive e Z axis positive towards the sea bottom MU GAPS AN 003 Ed K January 2012 12 XSLUE DEEP INSIGHT SHARPER SENSES GAPS User Guide vz Rear view Figure 12 GAPS reference axes Roll offset is positive when H4 is down HEADING Ar L Heading offset 2 always positive 0 to 360 Figure 13 GAPS angular offsets R gt 3 p 90 to 90 gt Pitch offset is positive when the H1 down Side view Y Vessel Axes Y GAPS Axes 2 T FOR THE X AND Y AXES SEE FIGURE 12 AND FIGURE 13 MAY BE DIFFERENT FROM THE TO INSURE COMPATIBILITY WITH OUR EXISTING SYSTEMS AND SOFTWARE THE CONVENTION USED CONVENTION USUALLY USED X TO THE BOW Y TO PORT Z UPWARD MU GAPS AN 003 Ed K January 2012 13 IX3SLUE DEEP INSIGHT SHARPER SENSES MECHANICAL SPECIFICATIONS Table 5 Acoustic Antenna Characteristics Values Housing Carbon Weight in air water 16 kg 7 kg Housing diameter x H mm 296 x 638 fits in 12 gate valves Array depth rating 25m Table 6 Acoustic Array Cable 50 m x 1 5m Connector SUBCONN on GAPS side 16 pins diameter connector 26 mm diameter locking sleeve 35 5 mm Connector Souriau on ECB diameter 26 mm side 19
47. and identify the firmware version Ouvrir x Regarder dans J Carbon Pack vB0 26 04 2007 E eir Ed E 010128 sre Si 123 P42 TP11 STD srec Mes documents r cents 2 Bureau Mes documents Poste de travail Favoris r seau du fichier ra 123 P42 P1 STD Fichiers de type GAPS Firmware Files Annuler 6 Press the Download button GAPS Loader xi Port comi X OQIXSEA File D Upgrade TQ_123_P42_1P11_5TD srec Browse Progress rx Info Please switch Off the GAPS prior to start Downloading rz 28 7 Switch GAPS on 8 Exitthe program once the download is finished and switch off GAPS MU GAPS AN 003 Ed K January 2012 106 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Step Action GAPS Loader Reboot GAPS for changes to take effect 9 Switch GAPS on and wait for 20 s then launch the MMI 10 Choose to download the configuration from MMI to GAPS and check the 4Ways and or the CPU version number in the Supervision Panel Boite a Outils A 11 End of procedure MU GAPS AN 003 Ed K January 2012 107 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES VI LIBRARY INTERFACE VI 1 Input Protocols VI 1 1 GPGGA e Data received Latitude Longitude GPS quality e Data frame GPGGA hhmmss ss llll Il a yyyyy yy b q ss
48. anuary 2012 47 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 3 4 CONFIGURING THE INTERFACE PARAMETERS Step Action 1 Inthe Supervision display area see Figure 38 click on MMI label The associated tool box appears 2 Inthe tool box if needed e Choose to be informed by a sound when any status light of the sensor tool box becomes red select the Alarm Sound check box e Choose to record automatically the real time data select Automatic Recording check box In the Display area the MMI label turns red to remind you that you have to validate your choices 3 Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button 4 of procedure MU GAPS AN 003 Ed K January 2012 48 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 3 5 CONFIGURING THE GPS PARAMETERS Step Action 1 In the Supervision display area see Figure 38 click on GPS label The associated tool box appears 2 Inthe Tool Box choose e The baud rate by selecting it in the scrolling list maximum 57 600 bauds e The Parity and Stop Bit by selecting them in the corresponding scrolling lists wToot Box In the Display area the GPS label turns red to remind you that you have to validate your choices 3 Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button 4 o
49. arts after a few seconds 8 Switch off GAPS once the End of download message is displayed then exit the program 9 Switch on the GAPS 10 Wait 20 s then start the MMI MU GAPS AN 003 Ed K January 2012 103 XSLUE DEEP INSIGHT SHARPER SENSES 11 Download the configuration from MMI to GAPS Check the correct INS version number in the Supervision Panel Bore a Outils 12 End of procedure MU GAPS AN 003 Ed K January 2012 GAPS User Guide 104 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES V 3 4 UPGRADING THE CPU AND OR 4WAYS FIRMWARE Step Action 1 Connect a direct serial link between the serial port of the computer and the MMI communication port on the ECB Easy Connect Box and if necessary disconnect all the other serial connections GPS Pressure and Output 3 Run the GAPS Loader program provided with GAPS MMI GAPSLoader exe The following window opens GAPS Loader X z TM _ 20771620 4 Select the GAPS Com Port MU GAPS AN 003 Ed January 2012 105 GAPS User Guide DEEP INSIGHT SHARPER SENSES Step Action 5 Press the Browse button to select the file to download depending of the upgrade that you have to achieve e Select the GAW XXXXXX sre to update the 4Ways firmware or e Select the TQ LXX PXX IPXX STD srec to update the CPU e The XX in the file names are numbers
50. atible equipment and specifically the opening of the housing 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 iXBlue in place of all and any other warranty whether expressed or implied iXBlue does not guarantee the suitability of the product under warranty for sale or any specific use iXBlue 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 iXBlue cannot be held liable for indirect special subsequent or consequential damage irrespective of whether iXBlue has or has not received prior notification of the risk of occurrence of such damage MU GAPS AN 003 Ed K January 2012 ii GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 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 iXBlue can deliver this product freely to France or any other country of the European Union e iXBlue can export this product under its own Communit
51. ation MU GAPS AN 003 Ed K January 2012 87 XSLUE DEEP INSIGHT SHARPER SENSES GAPS User Guide V MAINTENANCE V 1 Preventive Maintenance GAPS has been designed to avoid as much as possible any preventive maintenance operation Nevertheless GAPS has to be used with the usual precautions as for any other underwater equipment V 1 1 PRECAUTIONS e Rinsing Each time GAPS has been used in salted water it must be thoroughly rinsed with fresh water e Hydrophones caps GAPS must be handled with great care especially concerning the hydrophones As soon as it is no more in water the hydrophone protective caps must be put in place e Hydrophones Q D oO oO Do not paint hydrophones with traditional painting Do not use metallic instruments to clean hydrophones Do not use water with pressure to clean hydrophones Do not use solvent To limit growth on hydrophones we recommend to use International TRILUX 33 or SigmaCoatings blue Sigma glide we didn t characterized yet the impact on reception but it should be limited DOES NOT HARM THE TRANSDUCER lt gt AVOID TRANSMITTING ACOUSTICALLY WITH GAPS IN THE AIR BUT A QUICK TRANSMITTING TEST Connector Spray silicone grease LOCTITE 8021 must be regularly applied on the male and female part of the SUBCONN connector Dummy Plug When the cable is not connected to GAPS make sure to use the dummy plug to protect
52. be set as it is the rate of these raw LU EE 24 positions that applies In this case the field Period has meaning MU GAPS AN 003 Ed K January 2012 54 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 9 DEFINING A SOUND VELOCITY PROFILE Entering a Velocity Profile Window Access Window Description To compute the transponder position the ray bending has to be taken into account A sound velocity profile SVP must be defined You can either manually enter point by point the velocity values between 1400 and 1600 m s with respect to immersions or import a sound velocity profile file In this case the file must be a list of Immersion depth integer in meter Celerity integer in m s comma separated CR LF e g 2000 1500 At 2 000 meters depth the sound velocity is 1500 m s in a text format Imperatively this file must contain a maximum of 55 couples depth celerity classified in increasing depths If there are more than 55 data the last ones are lost The immersion depths can be modified manually in the file The immersion depths are transformed into pressure values by the MMI before transmitting them to the GAPS The first depth value must be 0 The last depth value cannot be greater than 7 000 This input file or the manually input points can be saved in another file To enter a sound velocity profile select the S Velocity tab under the Mission menu The correspondin
53. c distances The transponder depth is usually an operational constraint and therefore difficult to change In that case it is recommended to increase the depth of GAPS For deep water applications more than 250 m a depth of 1 m is usually enough for the acoustic array For more details about GAPS performances versus depth see section IV 1 1 2 1 3 Corrosion QD As every underwater electrical equipment GAPS may be submitted to differences of potential that can lead to the corrosion of the mechanical structure of the antenna IS YOUR RESPONSIBILITY TO MINIMIZE THE DIFFERENCES OF POTENTIAL BETWEEN THE GAPS ANTENNA AND THE SURROUNDING STRUCTURES THE GAPS ANTENNA MUST BENEFIT FROM THE ELECTROLYTIC PROTECTION OF THE VESSEL MU GAPS AN 003 Ed K January 2012 20 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES A Depending on the electrical installation of the different vessels for example pole connected to the ground or not it is possible to change the ground configuration of the GAPS in the ECB This operation must be done by an iXBlue engineer during the installation of the equipment IF YOU NOTICE CORROSION DAMAGES ON THE EIGHT TITANIUM SCREWS HOLDING THE GAPS OR DIRECTLY ON THE ANTENNA HOUSING BLISTERS OF THE PAINT FOR EXAMPLE CONTACT IXBLUE TECHNICAL SUPPORT 1 2 2 INSTALLATION PRINCIPLES Orientation Insulation Location Mechanical Plans When you set up GAPS on the sh
54. calculated depth in meters is the depth validity 0 None 1 Calculated 2 Sensor is the sensor depth in meters Position validity The value represents the acoustic Channel validity on 4 bits from 0000 to 1111 0 means that the channel is not valid and 1 that the channel operates properly Calculated depth Sensor depth The GAPS know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field Sensor depth if the Acoustic Transponder has no sensor the value transmitted is 9999 lt THE X AND Y POSITIONS ARE RELATIVE TO THE GAPS ACOUSTIC ARRAY MU GAPS AN 003 Ed K January 2012 112 me GAPS User Guide XSLUE SHARPER SENSES e Data sent Latitude Longitude of the ship or GAPS GPS quality e Data frame GPGGA hhmmss ss ddmm mmmmm a dddmm mmmmm b q ss hh CR LF 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 4 RTK 5 Float RTK is the number of satellites is optional e Data sent Course Over Ground and Ground Speed e Data frame Cours
55. ccuracy versus SNR cc ccceecceceeeeeeeeeeeeeeeceeeeecaaeeeeaaeeeeeeeseaeeeseaeeseaeeseeeeeseaaeeseaaeeeeeeeseaeee 75 IV 2 Initializing and Configuring a Survey eese essen teen nnne nnne nnns 76 IV 2 T1 Operating MOES eee eer ds EE 76 IV 2 1 1 Synchronization Mode Recurrence sisse sienne nnne nnne nnn 76 IV 2 1 2 TWO ODS de Lua nk due a 77 IV 2 1 8 Multi Transponders Mode iet nis i UR Eau En DER au Eo e DOR 77 IV 2 2 Initializing cioe bee ee ede ee de Pere SEC per 78 IV 2 3 Configuring the Mission Parameters sssssssssessseseeee enne nnne 81 IV 2 4 Installing the transponders snose EA SRE 82 IV 3 Monitoring the eae Ld doo aane raa Ete 83 IV 3 1 Visualizing the Trajectory ssssssseeeeenennnneenen nennen enne nnne nennen 83 IV 3 2 List of the System 83 IV 3 3 List of the Warning Messages and Troubleshooting 84 IV 3 4 uie 85 MU GAPS AN 003 Ed January 2012 GAPS User Guide V MAINTENANCE tL 88 V 1 Preventive 88 V 1 1 PHO CAUUIOMS ates cys stat
56. chirp modulation technique Heading Roll Pitch accuracy needed 0 01 Operating Environment Characteristic Value Power supply consumption 28 to 36 V DC 35 W 45 W at starting up Operating temperature 5 t035 Storage temperature 20 to 70 C 1 4 2 GEOMETRICAL CONVENTIONS Vessel The Figure 10 shows how the Roll Pitch and Heading are measured on the ship and the Attitude sions of these angles Stern Up X H1 4 Heading 0 to 360 4 X H1 gt Pitch 90 to 90 a Roll 90 to 90 i Starboard Down i 2 Figure 10 Vessel Attitude Definition and Signs MU GAPS AN 003 Ed K January 2012 11 GAPS User Guide DEEP INSIGHT SHARPER SENSES Hydrophones Reference Axes The GAPS reference frame is based on the H1 H2 H3 and H4 hydrophones The hydrophones are numbered as follows see Figure 11 e is a short arm hydrophone it is written H1 on it e H2isthe short arm hydrophone located to the opposite of H1 short arm hydrophone e is the long arm hydrophone located on the right when H1 hydrophone faces you e H4is long arm hydrophone located to the opposite of long arm hydrophone Hydrophones Figure 11 H1 H2 H3 and H4 hydrophones The axes in the GAPS reference frame are as follows see Figure 12 and Figure 13 GAPS being in vertical position e
57. currence in second if Internal Fixed is selected e Otherwise choose External In the Display area the Processor label turns red 3 Click on Valid if GAPS is not operating otherwise stop GAPS before clicking on Valid 4 End of procedure MU GAPS AN 003 Ed January 2012 51 GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 7 CONFIGURING THE ACOUSTIC ARRAY PARAMETERS Step There is no configuration to perform for the antenna however there is the opportunity to check the NIS Noise Isotropic Spectrum on each hydrophone of the antenna It gives an idea of the current acoustic noise in the sea and allows to quickly find out if a hydrophone is damaged Action In the display area click on Acoustic Array label The associated tool box appears The Interrogation frequency used is displayed according to the transponder configurations Check the NIS on each hydrophone Verify that the given values are homogeneous In the opposite the hydrophone giving a strongly different value than the others is probably faulty End of procedure MU GAPS AN 003 Ed January 2012 32 IX L LJ GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 8 CONFIGURING THE OUTPUT PARAMETERS In this toolbox can be set up the parameters of the additional output data which kind of data and the associated port configuration The list of protocols available is none means no Output For the string c
58. d e Display area The display area is menu dependent It can display vessel parameters see section 11 3 2 real time data display see section 11 4 1 sound velocity profile see section 1II 3 9 etc 1 2 3 COLOR CODE QD When you modify some parameters in the different windows or toolboxes the corresponding menu titles are set to red This color code means that modifications have been made but not applied yet in the MMI and or GAPS itself Use the Valid button to apply them FUNCTIONAL PARAMETERS CANNOT BE VALIDATED WHEN GAPS IS OPERATING WHEN YOU MODIFY FUNCTIONAL PARAMETERS WHILE GAPS IS OPERATING THE COMMUNICATION BUTTON E G STOP TRACKING LABEL DISPLAYS A RED CONTOUR AND IT IS FLASHING YOU HAVE TO STOP TRACKING BEFORE APPLYING THE MODIFICATIONS MU GAPS AN 003 Ed K January 2012 40 GAPS User Guide DEEP INSIGHT SHARPER SENSES Ill 3 Configuring GAPS 1 3 1 CONFIGURING THE SURVEY PARAMETERS Window Access Parameters v Before running the survey you have to define the mission parameters To configure and or modify the mission parameters select the Vessel tab under the Mission menu In the displayed window see Figure 35 and Figure 36 you have to define e Inthe associated tool box Vessel Name and color for the real time data is displayed This setting is optional The Mission Name This setting is optional The angular offsets of the GAPS call
59. dan and lran MU GAPS AN 003 Ed K January 2012 iii GAPS User Guide DEEP INSIGHT SHARPER SENSES Overview of GAPS User Guide This document is the User Guide for iXBlue s GAPS It must be read and understood prior to using the GAPS system The manufacturer shall in no case be held liable for any application or use that does not comply with the stipulations in this manual This issue is updated for use with GAPS MMI software 2 09 01 and higher The GAPS User Guide is divided into six parts e Part 1 Introduction and Technical Description This section contains a general and technical description of GAPS as well as the technical conventions that apply e Part 2 Installing GAPS In this section you will find the procedure for installation the GAPS system to assess its geometrical configuration parameters and to plan all connections to external systems e Part 3 Configuring GAPS In this section you will find the procedure for GAPS configuration with the MMI Software It describes how to configure the GAPS unit and the transponders with all required parameters before operating the system e Part4 Operating GAPS This section provides the full description of GAPS performance and operation e Part 5 Maintenance This section provides the preventative and corrective maintenance for GAPS e Part 6 Library Interface This section is the protocol library documentation for GAPS It contains the description of a
60. ddmm mmmmm is the latitude in degrees 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 4 RTK 5 Float RTK is the number of satellites is optional VI 2 15 GYROCOMPASS e Standard Output NMEA 0183 compatible e Data sent Heading Attitude Status e Data frame HEHDT x xxx T hh lt CR gt lt LF gt where is the true heading in degrees is the checksum PIXSE ATITUD x xxx y yyy hh lt CR gt lt LF gt is the roll in degrees is the pitch in degrees is the checksum PIXSE STATUS hhhhhhhh llllilll hh lt CR gt lt LF gt is the hexadecimal value of PHINS status LSB is the hexadecimal value of PHINS status MSB is the checksum MU GAPS AN 003 Ed K January 2012 131 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES iXBlue CONTACT SUPPORT 24 7 CUSTOMER SUPPORT HELPLINE FOR NON EMERGENCY SUPPORT support ixblue com FOR GENUINE EMERGENCIES ONLY North America NORAM 1 781 937 8800 Europe Middle East Africa Latin America EMEA LATAM 33 130 08 98 98 Asia Pacific APAC 65 6747 7027 MU GAPS AN 003 Ed K January 2012 132 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES iXBlue CONTACT SAL
61. des include a firmware package with 4WAYS INS CPU and MMI software iXBlue recommend loading all of them before to use the GAPS Some functionality should be depending of the different software versions compatibilities V 3 3 UPGRADING THE INS FiRMWARE Procedure Step Action 1 Connect a direct serial link between the serial port of the computer the MMI communication port on the ECB Easy Connect Box and if necessary disconnect all the other serial connections GPS Pressure and Output 2 Openthe comport ini filethat is in the INS AutoLoader directory Change the ComPort that corresponds to the communication port of the computer if necessary Communication ComPort 1 Save the modifications and close the file 3 Switch off GAPS TEE MU GAPS AN 003 Ed K January 2012 102 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 4 Open the INS_gx_xx folder and run the InsFirmUpdater exe software The following window opens INS 94 37 e ek Ee Modifi le Type _JINS_g4_37 a 02 04 2010 17 41 Fichier A Nomdufcher INS g4 37a Types de fichiers Firmware file hd Annuler 5 Select the INS_gx xx a file and open it The following window opens TYCEA TREC Errare t3 AER INS firmy Vy n FC SYSTEME DIALOG 6 Switch on GAPS Wait about 10 s 7 Press on the START button The download st
62. deviation lt 25 m 25 m lt standard deviation lt 50 m standard deviation gt 50 m Resolution 1ms Domain 0 3 599 999 The largest values of this field do not have any meaning 122 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Immersion 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 Mean sea level USBL immersion t Heave Measured depth uols p Immersion Measured depth by the USBL acoustic array Heave USBL immersion MU GAPS AN 003 Ed K January 2012 123 GAPS User Guide DEEP INSIGHT SHARPER SENSES VI 2 8 PHINS STANDARD MESSAGE e Data sent Heading Attitude Position Speed Standard deviations Sensors input Status e Data frame TIME__ hhmmss sss hh lt CR gt lt LF gt Where is the UTC of the data is the checksum HEHDT x xxx T hh lt CR gt lt LF gt Where is the true heading in degrees is the checksum PIXSE ATITUD x xxx y yyy hh CR LF Where X XXX is the roll in degrees y yyy is the pitch in degrees hh is the checksum PIXSE ALGSTS hhhhhhhh lllilill hh lt CR gt lt LF gt Where is the hexadecimal value of INS algo status LSB is the hexadeci
63. dity 0 None 1 Calculated 2 Sensor is the sensor depth in meters e 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 GAPS can still output valid positions even if the validity is not 1111 three channels are enough All output positions are valid e Calculated depth Sensor depth The GAPS know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field MU GAPS AN 003 Ed K January 2012 110 e DEEP INSIGHT SHARPER SENSES GAPS User Guide Sensor depth if the Acoustic Transponder has no sensor the value is 9999 In case of ship the three last fields are set to zero Transponder relative Positioning Message relative to the GAPS array GAPS orientation Relative coordinates and depth PTSAX ZNNNNN hhmmss sss jj mm aaaa BBB XXXXX X YYYYY Y A PPPP P A CCCC C CK NNNNN hhmmss sss Ji XXXXX X YYYYY Y Recurrence frame Number is the time in hours minutes seconds milliseconds is the day jj 1 to 31 is the month mm 1 to 12 is the year is the Transponder No 1 to 128 Transponder 128 to 1 Unknown Transponder is the X coordinate forward in meters is the Y coordinate starboard in meters is the position validity X Y Z 0 to F binary coding of aco
64. e mobiles relative to the ship e depth view it shows the mobile depths relative to time All these three views have a common area the Parameter Display area located top of the Display area see Figure 43 Fixed Fields Editable fields Figure 43 Parameter Display Area Absolute view case In this Parameter Display area you can select e From the upper left part a mobile vessel or transponder the displayed fields are fixed and depend on your mobile choice e From the upper middle part Q The mobiles of which you want to visualize the parameters The parameters to visualize for each mobile MU GAPS AN 003 Ed K January 2012 63 GAPS User Guide exsuuE Once selected you can visualize them by clicking on Display Selection button below The parameters of four mobiles including the vessel can be visualized at the same time You can select and display the following parameters For the vessel latitude longitude speed heading roll pitch noise Forthe transponders latitude longitude X Y Z pressure sensor Vertical Angle Bearing Horizontal Distance Slant Range Signal To Noise Ratio For all views you can visualize the parameters of up to four transponders simultaneously including the vessel 1 4 2 VISUALIZING WITH THE ABSOLUTE VIEW Window To display the real time data in a geographic display select Absolute tab under the Access Views menu Window The correspond
65. e 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 Checksum All the strings of the GAPS Standard format sent on the Output serial link are also present in the GAPS Regular sent on the MMI serial link The GAPS Regular strings are transmitted at a rate of 1 Hz GAPS Regular contains other strings dedicated to an iXBlue internal use and are thus not described in this manual MU GAPS AN 003 Ed K January 2012 113 GAPS User Guide DEEP INSIGHT SHARPER SENSES VI 2 2 HIPAP HPR 418 BCD Rev C MOBILE OR FIXED Please refer to the Kongberg document HPR418BCD_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 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 0 in the fixed case Wews Eme Byte 0 OxDF Start of message Byte 1 0x01 Head byte 1 SSBL position Byte 2 Status Byte 1 Bit 0 Position Measurement OK Bit 1 Position measurement filtered Bit 2 Position measurement predicted always 0 for GAPS Bit 3 Optional data SSBL OK pressure sensor only for GAPS TP Bit 4 6
66. eccurence Electric ping Reccurence Figure 57 Two Transponders in Transponder and Responder modes MU GAPS AN 003 Ed K January 2012 ur xSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES When a transponder is configured in transponder mode no signal is generated on the SYNC OUT output of the ECB responder mode WHEN THE TWO INTERROGATION FREQUENCIES ARE DIFFERENT THE BLANKING TIME IS HIGHER THAN THE ACOUSTIC RECURRENCE IN A SINGLE TRANSPONDER MODE YOU CANNOT HAVE A BLANKING TIME HIGHER THAN THE ACOUSTIC RECURRENCE IN THE MMI YOU CANNOT SET UP A BLANKING TIME HIGHER THAN THE RECURRENCE SO WHEN YOU USE TWO TRANSPONDERS WITH TWO DIFFERENT FREQUENCIES MAKE SURE TO HAVE THE CORRECT SETTINGS IN THE TRANSPONDER HARDWARE AND LET A BLANKING TIME LOWER THAN THE RECURRENCE IN THE MMI ONLY THE BLANKING TIME SET IN THE HARDWARE IS TAKEN INTO ACCOUNT IV 2 2 INITIALIZING GAPS A Procedure Step 1 2 IF YOU TURN OFF GAPS BY PRESSING THE GAPS POWER SWITCH ON THE ECB MAKE SURE WAIT AT LEAST 20 S BEFORE TURNING IT ON AGAIN Do NOT TRANSMIT ACOUSTICALLY WITH GAPS IN THE AIR Action Turn the ECB switch to ON On the ECB turn GAPS switch to ON GAPS is running its initialization tests Wait for about 30 s Launch the MMI software on your PC MMI scans all the ports of the PC After completing this communication test successfully
67. ed antenna offsets Heading Roll and Pitch Normally GAPS must be in vertical position and oriented so that the hydrophone H1 is towards the bow see Part 2 of this manual In such a configuration the angular offsets are set to zero If GAPS is tilted so that the angles are greater than a few degrees then you have to enter these angular offset TRICK TO DETERMINE THE ANGULAR OFFSETS WHEN THE SHIP IS AT A 0 HEADING 0 ROLL AND 0 PITCH THE VALUES AND SIGNS OF THE ANGULAR OFFSETS CAN BE FOUND IN THE VIEWS WINDOWS IN THE ATTITUDE FIELDS e Inthe Display area the following values are only used in the relative views They do not affect positioning Q The vessel dimensions the Length Height and Width values only used in the relative views location of the ship stern and port side with respect to GAPS Stern Xp Port Yp Example For a GAPS located at the stern level at 2 m of the port side inside the ship these values are the following Xp 0m Yp 2m Figure 35 Position of the stern port point with respect to GAPS MU GAPS AN 003 Ed K January 2012 41 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES The lever arms of the GPS antenna with respect to GAPS Longitudinal X Transverse Y Vertical Z values These parameters affect directly the positioning The further the GPS is from GAPS the bigger the error in the lever arms will be See Figure 37 for numerical examples
68. ehicle It is also easier not to mask the acoustic transmission reception head Figure 7 Acoustic transponder MT 832 E R HD MU GAPS AN 003 Ed K January 2012 GAPS User Guide XSLUE 1 3 3 2 Acoustic Transponder BT812 Series BT812 The technical features of the BT812 beacon are set in the factory and they are only Special modifiable in the factory Features e The interrogation frequency is fixed to F2 20 kHz e The Chirp Code can be 22 or 23 e Turn Around Time is 25 ms e The Blanking Time is 260 ms e The iXBlue BT 812 S is designed for a depth up to 700 m The BT812 beacon can neither have a remote hydrophone nor operate in responder mode For more details please refer to the BT812 User Guide 1 3 4 INTEGRATED DGPS The integrated DGPS has aWAAS EGNOS MSAS compatible active antenna See the coverage of the three Satellite Based Augmentation Systems on Figure 9 aO 129 5 mm 5 1 pauu 54 7 mm 2 2 Figure 8 Integrated DGPS Figure 9 WAAS EGNOS and MSAS coverage MU GAPS AN 003 Ed K January 2012 10 GAPS User Guide xXSLUE DEEP INSIGHT SHARPER SENSES 1 4 Conventions and Specifications 1 4 1 GENERAL CHARACTERISTICS Positioning Characteristics Values Range depending on ambient noise and velocity 4 000 m Coverage 200 below the acoustic array Acoustic Level 192 3 dB ref 1 uPa V Operating frequency 22 to 30 kHz MFSK
69. exchange the characteristics of two transponders their IDs remain unchanged but all their characteristics are exchanged Step Action 1 Select Swap option of the Transponders menu The Configuration Swap window appears 2 2 Select the two ID transponders you want to exchange and click OK The transponder IDs turn red in the transponder list 3 Edit one of the swapped transponders 4 Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button The transponder ID in the transponders list near the Transponders menu turns black 5 Edit the other swapped transponder 6 Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button The transponder ID in the transponders list near the Transponders menu turns black 7 of procedure Only the not In Use transponders can be swapped Do not forget to check In Use check box if necessary after swapping MU GAPS AN 003 Ed K January 2012 62 GAPS User Guide xXSLUE DEEP INSIGHT SHARPER SENSES Ill 4 Monitoring the GAPS in Operation 11 4 1 CONTROLLING THE REAL TIME DATA To control the real time data the MMI software offers three kinds of view The absolute view it is a geographic mode in which you can see all the mobiles evolving together e The relative view it is fixed on the ship You can visualize the motion of th
70. f procedure MU GAPS AN 003 Ed K January 2012 49 l X L LJ E GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 6 CONFIGURING THE PROCESSOR PARAMETERS You can choose the rate of the acoustic ping and the types of acoustic mode e Internal Fixed it needs to set up the recurrence in the edit box at the bottom of the dialog box The minimum value is 1 s The recurrence obey the following inequalities D R TAT inresponder mode D R gt 2 TAT in transponder mode R is the recurrence Dmax is the distance between the antenna and the transponder and TAT is the turn around time See Table 10 Table 10 Maximum working distance versus recurrence with a 90 ms Maximum working distance m Responder mode Transponder mode 1 1 365 682 O 2 2 865 1 432 3 4 365 2 182 4 5 865 2 932 2 5 7 365 3 682 6 8 865 4 432 MU GAPS AN 003 Ed K January 2012 50 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES e External coming from the synchro IN The recurrence used may be slow It must always be greater than 1 s When the position cycle is lower than the acoustic recurrence the INS helped with the GPS predicts the points between two pulses Procedure Step Action 1 Inthe Supervision display area see Figure 38 click on Processor label WToot Box 2 Inthe Tool if needed e Enter the delivery rate in Re
71. from the MMI Software The message expected by GAPS is the standard NUEA GPGGA message see section VI 1 1 and GPZDA see section VI 1 2 is automatically taken into account for the update of the GAPS internal time if available MU GAPS AN 003 Ed K January 2012 18 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES lI INSTALLING GAPS Before installing GAPS for the first time it is recommended to check the contents of the boxes delivered see section 11 1 The installation is achieved in four steps e Installing the GAPS antenna see section 11 2 e Installing the Easy Connect Box see section 11 3 e Installing the DGPS Antenna see section 11 4 e Installing a Transponder see section 11 5 1 1 Checking of the Pack Contents You have just received your equipment in protective boxes Before starting the installation we recommend that you check the contents of the pack and the equipment immediately on receipt of your GAPS System Check that all items are present on delivery and that none has been damaged during shipping Use the packing list detailing all the shipped items This packing list was compiled by iXBlue shortly before shipment ON RECEIPT OF THE EQUIPMENT ITS OVERALL CONDITION SHOULD BE CHECKED AND IXBLUE INSURANCE COMPANY INFORMED OF ANY DAMAGE SUFFERED DURING SHIPPING CHECK THAT EVERY PARCEL SHOCK LABEL IS STILL WHITE IN THE OPPOSITE CASE IT IS HIGHLY RECOMMENDED TO CONTACT
72. g window see Figure 39 appears The Sound Velocity Profile and Ray Bending areas may be empty if you have not defined a sound velocity profile yet D T i PAL sa H3 3 57 53 52 Figure 39 Sound Velocity View Window MU GAPS AN 003 Ed K January 2012 35 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES Manually Entering a Sound Velocity Profile Step 1 Action Select the S Velocity tab under Mission menu in the toolbox see Figure 40 type in the S Velocity value for each immersion depth appearing in the Depth field Validate each sound velocity input by pressing the enter key The sound velocity profile updates at each input The depth value increments and you are ready to enter the sound velocity corresponding to the next depth value You can save the profile you have defined in step 1 by clicking on button The Save as window appears Choose the folder where you want to save the sound velocity profile type in the filename and click OK Your sound velocity profile is saved in a text file with the format described above Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button of procedure x oo C Documents and Settings EKA Em Figure 40 Sound Velocity Toolbox MU GAPS AN 003 Ed K January 2012 56 xSLUE GAPS User Guide
73. gle Double click to come back to the full visualization 1 3 10 CONFIGURING THE TRANSPONDER PARAMETERS Defining a Transponder lt You can add a new transponder from list copy the settings of a transponder already defined to the new one being entered The available transponders iXBlue MT8 or ET8 iXBlue MT9 iXBlue BT8 ORE 435xB THE IXBLUE MT9 IS CONFIGURED VIA THE CONFIGURATION WINDOW OF THE IXBLUE MT8 SELECT AN IXBLUE MT8 TRANSPONDER IN ORDER TO ADD A IXBLUE MT9 THE CONFIGURATION PARAMETERS AVAILABLE FOR THE MT8 ARE APPLIED TO YOUR MT9 TRANSPONDER MU GAPS AN 003 Ed K January 2012 57 GAPS User Guide DEEP INSIGHT SHARPER SENSES Access The creation process of a new transponder displays successively two different windows The New transponder window see Figure 41 access it by selecting New option under Transponders menu The transponder view in the Display area of the Main MMI window See Figure 41 for a multi frequency transponder access it once you have clicked Create button in the New Transponder window These windows contain New Transponder window It contains the transponder ID its Manufacturer and Type to define You can copy the settings of an existing transponder to create a new one by selecting Copy from check box and selecting its ID The transponder ID is the main transponder identifier in the MMI Transponder view The tool box enables you to set
74. h ne anes o cantet icu aiaia iE 110 VIZ GAPS STANDARD cnet d RU nsi ERE EE sete 110 VI 2 2 HPR 418 BCD rev C Mobile or Fixed 114 VZS HIPAP HPR 400 ient ret tibi ee dete eto p aire heed HERR e de FER dee 117 VEZA INAUTRONIX ATS Ili iier tree id ieee dd Eod ac la Ur dad no Ln 118 2 57 POSIDONIA 6000 Litter eee eer a eR EVE QU acl ur e 119 VE2 6 IXSEAUSBLE INS Treerne E E eed pte 120 V2 7 IJXSEA USBL INS 2 ient hte ERR RR Rete SCR Ra eR tH Exe A NER EN ENTERA REN SEE aba EAR anb qe Rund edd 121 VI 2 8 PHINS STANDARD MESSAGE sssssssssseeeeee entere enne 124 MERE LIV p 126 2 10 HALLIBURTON CR H 126 VIL241 NAVIGATION E R 128 VL2 12 SIMRAD EM ici et Fre Ree d ertet recta dile bd s db Fade Faden d ebat 129 VL2 13 SOG AUTOSUB ii ice terres reden e bad Rock Hb bad d de ede nee dod 130 VL2 14 GPGQGA Ship nr eerte een 131 VL2 15 GYROCOMPASS tcrra idi teda de net esed ua grade det red rhe reti aa 131 IXBLUE CONTACT SUPPORT 24 7 CUSTOMER SUPPORT HELPLINE 132 MU GAPS AN 003 Ed K January 2012 ix GAPS User Guide D laUJdeo Ium uac 133 GENERAL INDEX m E 134 MU GAPS AN 003 Ed K January 2012 XSLUE GAPS User G
75. he inertial sensor status light turns green at the end of the coarse alignment You can then start to operate with GAPS The accuracy of the INS is optimal at the end of the fine alignment At the end of the fine alignment the message fine alignment disappears from the inertial sensor tool box MU GAPS AN 003 Ed K January 2012 80 GAPS User Guide DEEP INSIGHT SHARPER SENSES IV 2 3 CONFIGURING THE MISSION PARAMETERS For more details on these procedures please refer to section 111 3 Configuring MMI general parameters on a User PC Step Action 1 Under the Mission menu select the Vessel tab enter the ship dimensions 2 Under the Mission menu select the S Velocity tab enter the velocity profile 3 Under the Mission menu select the Supervision tab enter the interface parameters e In the Serial Link tool box choose GAPS Regular for the Position protocol and set up the serial parameters e Inthe Output toolbox choose the output position protocol if needed 4 End of procedure GPS Lever In the MMI software the GPS lever arms if they exist have to be entered Arms About the GPS antenna two main configuration cases exist e The GPS antenna is vertically above GAPS e The GPS antenna is NOT above GAPS Configuring the GPS lever arms when the GPS is vertically above GAPS Step Action 1 Under the Mission menu select the Vessel tab set the GPS X Y lever arms to zero 2 Enter the Z
76. he system is sometimes limited by the reception of the acoustic triggering signal by the transponder This is no more limitation in responder mode and the maximum range is only limited by the reception of the reply by the GAPS acoustic array The drawback is that the electrical signal has to be transmitted up to the transponder usually through an electrical or a fiber optic wire or by using synchronous clocks GAPS in external synchronization mode IV 2 1 3 Multi Transponders Mode Several Acoustic Transponders can be interrogated simultaneously The transponders are separated thanks to the two MFSK codes 22 23 and the four Individual Interrogation Frequencies IIF Thus up to 8 4 x 2 transponders can be positioned You can also use seven beacons in transponder mode by using the four different Individual Frequencies available and the two codes 22 and 23 and one beacon in responder mode in the same configuration If you want to use two transponders the first one in transponder mode the second one in responder mode and if you want to interrogate them simultaneously i e in the same recurrence both transponders must be configured with the same IIF When they are configured with two different IIF they will be interrogated alternatively every second recurrence See Figure 57 IIF2 IF1 ransponder Mode Responder Mode Transponder Mode Responder Mode Acoustic Ping Acoustic Ping Electric ping R
77. hese four DB9 RS232 ECB input output Pressure IN MMI IN and OUT GPS IN Output OUT are used with straight cables Baud rate parity and bit stop are adjustable in the MMI Software see Part IV of this manual Control A RS422 or a RS232 ECB serial link is necessary to connect the MMI DIALOG link System baud rate 57 600 parity odd and stop bit 2 are fixed MU GAPS AN 003 Ed K January 2012 16 GAPS User Guide DEEP INSIGHT SHARPER SENSES Responder The SYNCHRO OUT Responder mode signal is sent to the transponder if the responder Mode mode is activated Two types of signal are available e Adifferential triggering signal is sent from the BNC of the front face of the ECB Table 8 TTL and differential synchro out signals TTL Differential Synchro OUT Synchro OUT OV Synchro OUT Synchro OUT 0 5V A TTL signal can independently trigger a TTL and differential input A differential signal cannot trigger a TTL input The simultaneous output of two different signals allows the independent triggering of both MT8 and MT9 transponders from all possible configurations Most of the time these signals have to be re amplified between GAPS and the transponder There can be a delay between the transmission of this signal by GAPS and its reception by the transponder MU GAPS AN 003 Ed K January 2012 17 xSLUE DEEP INSIGHT SHARPER SENSES External S
78. hh lt CR gt lt LF gt is the north speed in m s is the east speed in m s is the vertical speed in m s is the checksum Some data frames as GPSIN are sent only if new data arrived from an external sensor since last output DDRECK if dead reckoning mode is turned on MU GAPS AN 003 Ed K January 2012 125 XSLUE DEEP INSIGHT SHARPER SENSES VI 2 9 HEHDT e Data sent Heading e Data frame HEHDT x xxx T hh lt CR gt lt LF gt Where is the true heading in degrees is the checksum VI 2 10 HALLIBURTON e Data sent Position Atitude Standard deviations Status e Data frame PIXSE HSPOS hhmmss ss llmm mmmmm H LLLmm mmmmm D d dd a aa x xx y yy z zz d dd nn c e e n n m mmmmy s ssss vvvv v CR LF hhmmss ss is the UTC absolute time IImm mmmmm is the latitude in deg decimal in min H N north S south LLLmm mmmmm is the longitude in deg decimal in min D E east W west is the depth in meters is the altitude in meters from DVL is the latitude Std meters is the longitude Std meters is the latitude longitude covariance meters is the depth Std meters is the UTM zone integer is the UTM zone character is the easting projection is the northing projection is the log misalignment estimation in degrees is the log scale factor error estimation in 96 is the compensation sound velocity in m s MU GAPS AN 003 Ed K January 2012 GAPS User Guide 126 1
79. igned to depths up to 3 000 m iXBlue MT 862 S HD R Designed to depths up to 6 000 m remote transducer e iXBlue MT 862 S R Designed to depths up to 6 000 m e iXBlue ET 862 S HD R Designed to depths up to 6 000 m remote transducer e iXBlue ET 862 S R Designed to depths up to 6 000 m Acoustic Level 188 4 dB ref 1uPa at 1m other levels 191 dB or 185 dB available Reception Channel IIF The reception channel frequency or IIF Individual Interrogation Frequency is selectable with a switch 19 5 20 0 20 5 or 21 kHz located on the lower end plate of the transponder This switch is also used to turn off the transponder or to check the batteries Test position Only one reception channel is available on this series of transponder Transmission Channel When the transponder is triggered by an IIF signal or electrically triggered it replies with a MFSK chirp signal This signal is composed of fourteen various pulses at frequencies ranging from 22 to 30 kHz Chirp Code The order of transmission of these frequencies is determined by the code of the chirp 22 or 23 The default code is 22 Turn Around Time There is a delay between the reception of the triggering signal and the transmission of the reply See Figure 6 In responder mode this delay is fixed at 2 ms when the switch position is 0 or 1 otherwise the settings are the same as in transponder mode In transponder mode this delay is adjustable from
80. in the ship port side and stern with respect to GAPS by clicking on the corresponding fields When you click on Xp or Yp field that you want to fill the style of the associated line in the ship representation below is highlighted in order to be identified and avoid confusion In the relative view the reference frame corresponds exactly to the position of GAPS with respect to the ship In the GPS Antenna relative to GAPS lever arms display area fill in the GPS lever arms by clicking on the corresponding fields When you click on a lever arm field that you want to fill the style of the associated line in the ship representation below is highlighted in order to be easily identified and to avoid confusion between lever arms In the Depth display area fill in the depth of the antenna by clicking on the D field In the associated tool box enter the following optional parameters e The Vessel Name The entered vessel name will appear in the different available views e In the associated toolbox click on the color button _ to choose the color of the symbol representing the vessel in the real time data displays A color palette is displayed e The Mission Name The mission name appears in the window title Enter the GAPS angular offsets Heading Roll and Pitch All values are expressed in degrees Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid butto
81. ing window see Figure 44 appears 48 N 21 8116 wsensore WhRecorder parson m W Toot Box Figure 44 Absolute view MU GAPS AN 003 Ed K January 2012 64 IX L LJ GAPS User Guide DEEP INSIGHT SHARPER SENSES The Tool Box contains the following parameters e Auto Scale full extent grid limits are set in order to view all data in graph applied to selected mobile in the bow below e Auto Frame when the selected mobile crosses the grid limits these limits are updated applied to the selected mobile in the bow below Check this box a cross mark appears in the Vessel box Then click on the box of the selected mobile for example in the B of the fish mobile in the Figure 44 the cross mark is now displayed in the box of the selected mobile e The mobile you want to set the focus on All the graphical settings will be applied relatively to this selected mobile By default the vessel is selected e Number of displayed points e Link draw a line between all the points of the mobile e Label add the name of the mobile in the map close to the last position received The grid can be either in geographical coordinates latitude longitude or in metric ones To switch between the units press the shortcut keys Alt mouse Left Click The metric display has its origin in the upper left corner of the graph You can zoom in the graph with a left click and zoom out with a right clic
82. ip the hydrophone H1 see Figure 16 must be oriented towards the bow Positioning H1 towards the bow generates more drag but in this position the acoustic noise is reduced Figure 16 GAPS H1 hydrophone location In case GAPS is fixed on metallic plates of different materials electro chemical potential aluminum for example it is necessary to electrically insulate it in order to avoid any electro galvanic reaction that will result in structure corrosion and GAPS acoustic array fouling The location requirements for the GAPS antenna are listed below e There must be enough place for the wire way on the connector side of GAPS GAPS can be fixed using the eight M8 screws however as there are several possible deployments see section 11 2 for how to install your GAPS unit The mechanical plan of the antenna is displayed on Figure 17 MU GAPS AN 003 Ed K January 2012 21 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES PAGE INTENTIONALLY LEFT BLANK MU GAPS AN 003 Ed K January 2012 22 IXSLUE DEEP INSIGHT SHARPER SENSES GAPS User Guide 2957 92147 5728 Vue de Dessus AVANT FRONT
83. is 88 V 1 2 Cleaning phones 90 V 1 3 Testing GAPS before Deployment sss entente 91 Via Required Equipment ee i t in terea Rn ue Ue E uu Yea exe ae Me bbe 91 V4 3 2 Testing Communication rere e ues ena Deoa ga vn ono d Poet unu nua e 92 V 1 3 8 Testing Transmission e i e re E 93 V 1 3 4 Testing Heceplion eR Rete LR ee ER e RR ee o ee ER e 94 V 1 3 5 Testing Monitoring of Heading Roll Pitch sese 95 V 1 3 6 Testing GPS Inputs isi e RE UL el el ee 96 V 1 3 7 Testing GAPS Standard 97 V 2 Corrective Maintenance 98 V 3 System Upgrade 102 V 3 1 giis 102 V 3 2 Recommendation 102 V 3 3 Upgrading the INS Firmware 2 222 102 V 3 4 Upgrading the CPU and or 4Ways Firmware sse 105 LIBRARY dad eden M 108 VLI Input Protocols e 108 VEL 108 MEN ee 109 MERE J 109 VL2 QuitputiProtocols enter ca acs einem c
84. is no need to set the transponder either to transponder or responder mode if an electrical triggering signal is received through the responder input the transponder automatically switches to responder mode and the acoustic IIF channel is inhibited After 20 seconds without receiving any electrical trigger the transponder switches back to the Transponder mode and starts to listen to its reception channel Power Supply The transponder is usually externally powered The batteries will be used only and automatically if the external supply is lost With full batteries and transmission at 188 dB factory settings approximately 50 000 chirps can be sent by the transponder The power can be raised to 191 dB to improve the range but in this case the maximum chirp number decreases The power voltage can be any value from 15 to 40 V Table 1 Power Supply Specifications for MT8x2 Series External power Range 15 40 VDC 20 W peak Consumption 900 pA under 9 VDC and 550 pA under 25 VDC Internal back up batteries 3 packs of 3 Lithium batteries Type DL123A size 2 3 A 3 9 Ah from DURACELL Type CR123A from VARTA MU GAPS AN 003 Ed January 2012 8 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Table 2 Power Supply Specifications for ET8x2 Series External power Range 15 40 VDC 20 W peak Consumption 900 under 9 VDC and 550 pA under 25 VDC Internal back up batteries 3 pac
85. k You can move the center of the graph by holding down shift key left click You can erase all points of the selected mobile with the Trace Erase button A bigger spot than all the others symbolizes the last position of the displayed point It represents the last known position of the mobile The arrow which represents the ship is oriented following the current ship heading see Figure 44 MU GAPS AN 003 Ed K January 2012 65 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 4 3 VISUALIZING WITH THE RELATIVE VIEW Window In the relative view you can see the trajectory of the mobile relative to the ship The view Access ic centered on the vessel To display the real time data in a relative display select Relative tab under Views menu Window The corresponding window appears The Figure 45 displays the relative view with a GAPS Description located at 6 m from the stern and at 2 m from the port side inside the ship Xp 6 m and 2 in this case PRONER om Teen sj p rs Figure 45 Relative view All the graphical settings are the same than in the absolute view except that you have e Atransparent mode that allows you to see data taken under or behind the ship case of a diver swimming under the ship e A vector that be drawn it draws a line between the last point and the vessel You can also choose to see only the Side View or the Top View by
86. ks of 6 Alkaline batteries type R20 size D 45 Ah On option Lithium LSH20 from SAFT In standby mode the backup battery packs offer 4 months for MT8x2 series and 30 months for ET8x2 series with Alkaline batteries 50 months with Lithium batteries In operation the backup battery packs offer the following typical number of pulses transmitted depending on Sound Power Level SPL and temperature which applies from hardware version 4 7 and two types of battery pack see Table 3 and Table 4 Table 3 Number of Chirps vs Battery Types for MT8x2 Series SPL in dB ref 1 at 1m 185 dB 188 dB default configuration 191 dB 5 sec transmit rate Temperature Celsius 20 0c 20 DL123A DURACELL 115 000 33 000 47 000 21 000 CR123A VARTA 40 000 53 000 Table 4 Number of Chirps vs Battery Types for ET8x2 Series SPL in dB re 1yPa at 1m 185 dB 188 dB default configuration 191 dB 5 sec transmit rate Temperature Celsius 20 0c 20 Alkaline Default configuration 1 300 000 350 000 550 000 250 000 Lithium LSH20 2 300 000 700 000 900 000 410 000 Remote Transducer Every iXBlue Acoustic Transponder with the letters HD at the end of its designation e g MT 832 E R HD see Figure 7 has a transducer separate from its body with this separated transducer the transponder can be more easily installed on a underwater v
87. larm Green light for a normal status Orange light in case of a warning Menu Text When you modify some parameters in the different windows or tool boxes the Label corresponding menu titles are set to red This color code means that modifications have been made but not applied yet in the MMI and or GAPS itself MU GAPS AN 003 Ed K January 2012 83 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES IV 3 3 LIST OF THE WARNING MESSAGES AND TROUBLESHOOTING These messages appear in the tool boxes relative to the processor the inertial sensor the acoustic array and the external sensor For example Tp 1 Mirror Solution Figure 59 Diagnostic dialog box in the acoustic array toolbox Processor Warning Messages Meaning Possible Cause s Checks possible solutions Negative Stack Time Timing error in the attitude CPU overload Reduce the recurrence or Stack Error data array Mirror Solution Solved ambiguity of two A hydrophone has not delivered Check the SNR in the MMI symmetrical positioning useful information too much Check that it is not permanent and that solutions noise out of service the it does not concern always the same three others worked properly hydrophone in the Acoustic Array Two positioning solutions are Status found with three hydrophones duin Reduce the general ambient noise You The system has been able to can for example reduce the speed or solve the ambiguity
88. ll available GAPS protocols The abbreviations and acronyms used in this manual are listed hereafter MU GAPS AN 003 Ed January 2012 iv GAPS User Guide XSLUE 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 UM The Note icon indicates that the following information is of interest to the operator and d should be read THE CAUTION ICON INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TO FORBID OR PREVENT PRODUCT DAMAGE A THE WARNING ICON INDICATES THAT POSSIBLE PERSONAL INJURY OR DEATH COULD RESULT FROM FAILURE TO FOLLOW THE PROVIDED RECOMMENDATION MU GAPS AN 003 Ed K January 2012 xSLUE DEEP INSIGHT SHARPER SENSES DGPS FOG GAPS GPS IMU INS MMI MFSK NA NIS NMEA RTK SNR USBL GAPS User Guide Abbreviations and Acronyms Differential Global Positioning System Fiber Optical Gyroscope Global Acoustic Positioning System Global Positioning System Individual Interrogation Frequency Inertial Measurement Unit Inertial Navigation System Man Machine Interface Multi Frequency Shift Keying Not Applic
89. lue junction box called Easy Connect Box ECB See Figure 24 Through the Easy Connect Box you can set up all connections between the different devices of the system waa DGPS iXBlue Y cable 10 m GPS acble ee config 2 config 2 r J GAPS Acoustic A Transponder a Array cable 28 36VDC 50 W SYNCHRO IN external triggering 110 240V ECE rear face GPS USER config 1 Additional Output PC user arg Positioning Outputs External connections SYNCHRO OUT Internal connections responder mode ECEB front side differential trigger signal SUPPA SINE 98 Figure 24 GAPS System Architecture MU GAPS AN 003 Ed K January 2012 28 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES BNC sync out plug status light ECB Power Status Light ON OFF GAPS switch BNC plug sync IN OUT DB9 Plugs GAPS 28 36 VDC 100 240V ECB ON OFF 19 pins plug Power Supply Power Supply ECB switch Figure 25 ECB Box Front Face and Back Face 11 3 1 CONNECTIONS ON THE FRONT FACE From left to right See Figure 25 e BNC SYNC OUT plug with its status light triggers the transponder in responder mode with a differential signal e Power status light for ECB ON OFF switch on the back e ON OFF switch for GAPS with its status light 1 3 2 CONNECTIONS ON THE BACK FACE From left to right see Figure 25 e 2 plugs for Q SYNC OUT to trigger the transponder in
90. mal value of INS algo status MSB is the checksum PIXSE STATUS hhhhhhhh llllilll hh lt CR gt lt LF gt Where is the hexadecimal value of INS status LSB is the hexadecimal value of INS status MSB is the checksum PIXSE POSITI x xxxxxxx y yyyyyyy z zzz hh CR LF X XXXXXXX is the latitude in degrees y yyyyyyy is the longitude in degrees 2 277 is the altitude in meters hh is the checksum MU GAPS AN 003 Ed K January 2012 124 y GAPS User Guide DEEP INSIGHT SHARPER SENSES PIXSE HEAVE x xxx y yyy Z zzz hh CR LF Where is the surge in meters is the sway in meters is the heave in meters is the checksum PIXSE GPSIN x xxxxxxx y yyyyyyy z zzz hhmmss sss hh CR LF Last data received from the GPS 1 sensor Where X XXXXXXX Is the latitude in degrees y Yyyyyyy is the longitude in degrees 2 777 is the altitude meters hhmmss sss is the time of the data last update hh is the checksum PIXSE STDPOS x xx y yy z zz hh lt CR gt lt LF gt Where is the latitude std dev is the longitude std dev is the altitude std dev is the checksum PIXSE STDSPD x xxx y yyy z zzz hh lt CR gt lt LF gt Where is the north speed std dev is the east speed std dev is the vertical speed std dev is the checksum PIXSE STDHRP x xxx y yyy Z 2Zz hh lt CR gt lt LF gt Where is the heading std dev is the roll std dev is the pitch std dev is the checksum PIXSE SPEED_ x xxx y yyy z zzz
91. n End of procedure MU GAPS AN 003 Ed K January 2012 44 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES 1 3 2 CONFIGURING THE SYSTEM PARAMETERS Window Access Version Choice Parameters Before running the survey you have to define all the parameters of the different interfaces of GAPS MMI software serial link GPS Inertial sensor processor acoustic array and output To configure and or modify the GAPS System parameters select the Supervision tab under the Mission menu When the MMI is not connected to a GAPS unit two radio buttons appear on the right of the antenna display These two radio buttons allow the user to select the GAPS version e Titanium Version Vo and not described in this document Carbon Version this system is described in the present manual When the MMI is connected to a GAPS unit the MMI software switches automatically between the two versions In the displayed window see Figure 38 you can configure or display e The MMI serial link parameters port number baud rate maximum 57 600 bauds parity stop bit e The MMI parameters alarm sound and automatic recording of data files e GPS parameters baud rate maximum 57 600 bauds protocol parity and stop bit e The processor parameters position rate delivery and acoustic recurrence e The acoustic array parameters Interrogation Frequency Signal Noise Ratio parameters e The output parameters pro
92. nect the vehicle to the Synchro Out BNC plug on the ECB or to your SOURIAU socket if you do use the ECB For transponders triggered by a TTL signal plug the responder cable on the rear face of the ECB For the transponders triggered by a differential signal plug the responder cable on the front face of the ECB End of procedure IMPORTANT FOR MT8 AND ET8 TRANSPONDERS DO NOT FORGET TO SELECT THE RECEPTION CHANNEL FREQUENCY YOU WANT TO USE BY SELECTING IT WITH THE SWITCH LOCATED ON THE BOTTOM END PLATE OF THE TRANSPONDER THE CODE TURN AROUND TIME AND BLANKING TIME BY THE MEAN OF SWITCHES LOCATED INSIDE THE TRANSPONDER ACTUAL TRANSPONDER SETTINGS HAVE TO MATCH THOSE INTRODUCED INTO THE GAPS MMI MU GAPS AN 003 Ed K January 2012 82 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES IV 3 Monitoring the Survey IV 3 1 VISUALIZING THE TRAJECTORY Refer to section III 4 for a complete description of the control windows the MMI software IV 3 2 LIST OF THE SYSTEM STATUS System Box Button status light Meaning GAPS is not connected GAPS is connected and active GAPS is pinging GAPS is connected not acoustically active but it I gives the ship position Position and Acoustic lights Meaning Flashing in blue mauve each time a position is computed and an acoustic ping is sent Sensor Box Status light Meaning Red light in case of an a
93. ntact iXBlue customer support Accelerometer X3 Error Error on the accelerometer X3 of the INS Contact iXBlue customer support Heading Not Valid Heading data of the INS is not valid Message appears often after an ADC Overload or accelerometer error Wait a few minutes and all should come back in order If not contact iXBlue customer support Attitude Not Valid Attitude data of the INS is not valid Message appears often after a ADC Overload or accelerometer error Wait a few minutes and all should come back in order If not contact iXBlue support MU GAPS AN 003 Ed January 2012 86 DEEP INSIGHT SHARPER SENSES Acoustic Array There are no error messages available External Sensor GAPS User Guide Error Messages Meaning Possible Cause s not exhaustive Checks possible solutions GPS Not Received GPS data expected was not received in input GPS not properly connected defectuous cables the Y cable or the 10 m GPS cable Unavailable satellites Check the cables and connections Check that the satellites are available Pressure Not Received Pressure data expected was not received in input Pressure sensor defectuous not properly connected not at the right format or serial port not properly configurated Check the input data of the ECB PMEVL NMEA format serial port configur
94. ny defect in materials or manufacture The warranty starts from the date of shipment of the product from iXBlue 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 iXBlue 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 iXBlue of the defect before expiry of the warranty period and take all steps necessary to enable iXBlue to proceed Customer shall be responsible for the packaging and the shipment of the defective product to the repair center notified by iXBlue the cost of such shipment being borne by Customer iXBlue 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 iXBlue 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 iXBlue for the installation repair or maintenance of the product b to repair damage caused by improper use or connection to incomp
95. on Changing a functional parameter anywhere in the software while a GAPS is tracking and validating it will make this button flash with a red frame This means that the changed parameter is not applied to the GAPS and that if you want to apply it you will need to stop the system This button is labeled as follows Q Communication Test if GAPS is not connected Q STOP Tracking if GAPS is connected and active Clicking this button stops the acoustic part of GAPS no emission and reception is performed anymore Inertial and GPS activities attitude and GAPS vessel position are still ON Q START tracking when GAPS is connected but not active A system status light Red when GAPS not connected to the PC or when it is stopping or starting the tracking Blue if GAPS is not active Q Green when GAPS connected and active Two status and command buttons for Position and Acoustic ping outputs These status buttons flash in blue mauve each time an acoustic ping is transmitted or position signal is received This effect gives an idea of the actual recurrences of the position and acoustic ping transmitted Clicking on the associated buttons brings you to the Supervision window with a specific tool box allowing the set up of acoustic and position parameters Figure 47 System box Four status and buttons are available see Figure 48 Each of these buttons opens specific tool box The color button follows a code gi
96. on Kalman filter is activated to compute and estimate position and speed with an optimal accuracy The INS switches to the fine alignment phase to improve the accuracy of roll pitch and heading estimations Q During the fine alignment phase movements of the vessel are required 90 degrees rotations are even recommended so that the Kalman filter assesses the sensors bias on different axes Error estimations from the INS Kalman filter are improved when optimal trajectories are performed The optimal trajectory to achieve fast fine alignment is staircase shaped as illustrated in Figure 58 with a typical duration of 3 to 5 minutes for each step Such a trajectory allows the Kalman filter to assess all sources of errors of the system to correct them and to achieve optimal performances at the end of the fine alignment process When a staircase shaped trajectory is performed the fine alignment phase would typically last for less than 20 min The fine alignment requires the GPS to provide valid data to the system the INS uses both inertial sensors and external sensors to compute optimal estimates of position speed attitude and heading The fine alignment is ended automatically when the heading covariance is below 0 1 degree MU GAPS AN 003 Ed January 2012 79 GAPS User Guide DEEP INSIGHT SHARPER SENSES Starting point Figure 58 Illustration of optimal trajectory for fine alignment T
97. ontaining the transponder position e GAPS Standard GAPS Light e HPR 418 BCD Rev C Mobile e HPR 418 BCD Rev C Fixed e 400 e Nautronix ATS II e POSIDONIA 6000 e IXSEA USBL INS 1 e USBL INS 2 e GPGGA GAPS antenna VTG For the strings containing information relative to the GAPS antenna but NO position of the transponder e GyroCompass e Halliburton e Navigation e e Phins Standard e Simrad EM e Autosub e Post processing for factory use only MU GAPS AN 003 Ed K January 2012 33 GAPS User Guide XBLUE Procedure Step Action 1 Inthe Supervision display area see Figure 38 click on Output label The associated tool box appears 2 e Choose the Protocol by selecting it in the scrolling list e Enter the real time data Period in ms see Note below e Choose the Baud rate by selecting it in the scrolling list maximum 57600 bauds e Choose the Parity and Stop bit by A them in the scrolling lists Tool Box ete GAPS Standard GAPS Standard hd the Display area the Output label turns red to remind to validate your choices 3 Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button 4 End of procedure If you select a protocol that uses raw positions such POSIDONIA 6000 IXSEA USBL INS 1 IXSEA USBL INS 2 the position rate cannot
98. opened In case of a faulty hydrophone it is possible to change this hydrophone without sending back the equipment to the factory Follow the procedure CM01 below to remove an arm of GAPS in order to exchange the faulty hydrophone by a new one MU GAPS AN 003 Ed K January 2012 98 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES System GAPS Corrective Maintenance Sub system Hydrophone Reference 1 Page 1 1 Subject Clean hydrophone for growth Maintenance level 1 Duration 5 minutes Equipment Soap fresh water thin sandpaper Precaution None Preliminary None Steps Procedure Step Action 1 Use soap and fresh water to clean the hydrophone surface 2 Apply low pressure with thin sand paper on the hydrophone surface until all growth has been removed 3 End of Procedure MU GAPS AN 003 Ed K January 2012 99 DEEP INSIGHT SHARPER SENSES GAPS User Guide System GAPS Corrective Maintenance Sub system Hydrophone Reference 1 Page 1 2 Subject Exchanging faulty hydrophone Maintenance level 1 Duration 20 minutes Equipment Precaution Preliminary Steps Procedure Step 4 AFTER PERFORMING THIS MAINTENANCE TASK THE ACCURACY OF YOUR GAPS SYSTEM WILL NOT BE OPTIMAL FOR THE LONG RANGE POSITIONING gt 1 000 M UNTIL A CALIBRATION OPERATION HAS BEEN PERFORMED Allen key 4 a new hydrophone
99. otocols listed in this section are sorted between the protocols that contain the position of the transponder and those that do not The protocols listed in sections VI 2 1 VI 2 2 VI 2 3 VI 2 4 VI 2 5 VI 2 6 and VI 2 7 contain the position of the transponder s The protocols listed in VI 2 8 VI 2 9 VI 2 10 VI 2 11 VI 2 12 VI 2 13 VI 2 14 and VI 2 15 contain information about the GAPS antenna They DO NOT contain the position of the transponder GAPS STANDARD The GAPS Standard protocol is composed of the three iXBlue POSIDONIA positioning messages PTSAG PTSAX and PTSAY plus all the messages of the PHINS Standard protocol Transponder Absolute Positioning Message geographical coordinates and depth PTSAG NNNNN hhmmss sss jj mm aaaa BBB DDMM MMMMM H DDDMM MMMMM D A MMMM M A MMMM M CK NNNNN Recurrence frame Number hhmmss sss is the time in hours minutes seconds milliseconds ji is the day jj 1 to 31 mm is the month mm 1 to 12 is the year is the Transponder No or ship s No 0 GAPS antenna 1to 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 vali
100. ower supply Supply GAPS Unit The GAPS unit ensures e the transmission of The acoustic or electrical triggering signals to the Transponders e The reception of the replies e processing taking into account the attitude provided by the fiber optic sensor e The transmission of the results 1 3 3 ACOUSTIC TRANSPONDERS Five different acoustic transponders are compatible with the GAPS system e 8 the standard GAPS transponder see a description in section 1 3 3 1 and in the specific User Guide e 8 equivalent the MT8 transponder with 10 times longer autonomy with larger dimensions please refer to the ET8 User Guide e 8 directive transponder configured only in factory IIF code robust design batteries inside single recurrence value at 6 7 s no responder mode please refer to the BT8 User Guide e MT9 the new generation transponder compatible with MT8 and is configured using control software use additional codes and batteries please refer to the MT9 User Guide e ORE 435xB monochromatic acoustic transponder please refer to the manufacturer User Guide MU GAPS AN 003 Ed January 2012 6 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 3 1 Acoustic Transponder MT8x2 and ET8x2 Series Specification S The Acoustic Transponder series designed to be used with GAPS are e iXBlue MT 832 E HD R Designed to depths up to 3 000 m remote transducer e iXBlue MT 832 E R Des
101. pins Cable Diameter 15 Dynamic Bend Radius 150 mm Static Bend Radius 75 mm Breaking Strain 150 DaN GAPS User Guide A THE GAPS CABLE IS NOT A TOW CABLE MU GAPS AN 003 Ed K January 2012 14 XaL LE GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 4 4 ELECTRICAL SPECIFICATIONS Connection You can find below a table describing the connections of all the 19 pins SOURIAU connector see Figure 14 connecting the main cable to the ECB see Table 7 OM OA OB OL ON OP OC OK OU OV OR OD OJ OT OS OE OH OG OF Figure 14 19 PINS Souriau socket Ref 851 06EC1419850 Table 7 Association of the SOURIAU 19 pin SUBCONN 16 pin and signals MINI SUBCONN SOURIAU 851 Signal 1 M 2 B 3 C 4 P 5 N 6 L 7 D 8 R A 9 E 10 S 11 T 12 J 13 U 14 K V 15 G 16 H MU GAPS AN 003 Ed K January 2012 15 IxXsSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES External GAPS must be electrically powered by a 28 to 36 V 50W DC source See Figure 15 Power Supply A Power B Ground C Earth Figure 15 28 to 36 V power supply 3 pin SOURIAU plug The whole system GAPS ECB PC must be powered by a 110 220 V 50Hz source consumption less than 50 W End User The positioning messages are available on the Standard Output RS 422 serial link cable System output or on the RS232 serial link ECB output T
102. ransponder Not corrected sector jump Position found in a wrong angular sector below GAPS NOT corrected Acoustic noise conditions specially rough Same as Convergence Error if the problem occurs in a repetitive way Corrected sector jump Position found in a wrong angular sector below GAPS position is now corrected Acoustic noise conditions specially rough Same as Convergence Error if the problem occurs in a repetitive way MU GAPS AN 003 Ed K January 2012 85 IX3SLUE DEEP INSIGHT SHARPER SENSES GAPS User Guide Error Messages Meaning Possible Cause s not exhaustive Checks possible solutions Mirror Ambiguity The system has entered ina process to solve the ambiguity between two possible solutions The process has not succeeded A hydrophone has not delivered useful information too much noise out of service the three others worked properly Two positioning solutions are found with three hydrophones The system has NOT been able to solve the ambiguity Check the SNR value in the MMI Reduce the general ambient noise You can for example reduce the speed or the variable pitch of the propellers Same as in Mirror Solution Above Surface The computed position is above the water surface The position is rejected Most probably the velocity profile is erroneous because the computed position is inconsistent in the air
103. ration you should know what to expect in terms of performances range and accuracy see section IV 1 Every operation starts by the configuration of the system and its initialization see section IV 2 During the survey you can control the operation see section IV 3 IV 1 Performances In complex marine environments GAPS offers different levels of performances See below the global GAPS performances depending on the GPS operating modes section IV 2 1 and the variation graphs of the range and the accuracy versus depth noise level and SNR IV 1 1 POSITION ACCURACY FOR MT8 MT9 AND ET8 TRANSPONDERS Characteristics Typical Values Positioning accuracy for MT8 MT9 ET8 transponder Deep water Shallow water e Accuracy from 0 2 to 0 7 depending on noise level e Range 4 000 m e Rejected Erroneous Positions from 0 to 0 396 e Accuracy around 1 e Range gt 1 000 m 2 to 4 times more depending on the weather e Rejected Erroneous Positions from 0 to 0 3 5 to 15 m GPS receiver Positioning accuracy Deep water Shallow water for ORE transponder e Accuracy around 3 e Accuracy around 2 to 5 96 depending on noise level depending on angle e Range 1 000 m e Range a few hundred meters Rejected Erroneous Positions Rejected Erroneous Positions from around 50 vertically and 30 to 90 depending of the angle propellers stopped from 0 to 60 from vertical GPS Po
104. ray at the exact moment when the transponder signal has been received The absolute position of GAPS is given by the GPS The position of the transponder relative to GAPS position is computed GAPS can then provide the accurate absolute position of the transponder This absolute position feeds a Kalman filter which is able to provide an estimation of the current position of the transponder in real time Additionally the position heading roll and pitch of the acoustic array or the ship are available as output wv Predicted and Filtered T Transponder Positions Signal processing gt p Raw Positions gt I Latitude Heading Longitude Roll Pitch Ship gt Position and Attitude Kalman gt Filter Figure 3 GAPS Operation Synoptic MU GAPS AN 003 Ed K January 2012 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 Technical Description 1 3 1 OVERVIEW ECB Control Cables The GAPS system consists of four main parts see Figure 4 e acoustic array i e the GAPS unit see section 1 3 2 One or several acoustic transponders that can be mounted on objects vehicles divers etc see section 1 3 3 e DGPS integrated antenna see section 1 3 4 e Machine Interface MMI software used to configure mandatory and to monitor optional the real time data see section III of this manual Other elements of the system are listed below A
105. ree from obstacles e Directed towards the hydrophones of the GAPS antenna See installation examples in section 11 2 3 See section IV 2 4 to bring the transponder in operation MU GAPS AN 003 Ed K January 2012 35 GAPS User Guide DEEP INSIGHT SHARPER SENSES 111 CONFIGURING GAPS GAPS System is controlled by a user PC on which the Man Machine Interface software is installed All its functionalities are described in this section 11 1 Installing the Man Machine Interface Required environment Procedure Step 1 To set GAPS the Man Machine Interface software provided with the system must be installed on a PC The minimum PC configuration must be e Pentium Ill or Celeron 800 MHz e 512 RAM e 20 Mb Hard Disk e 1024x 768 screen the screen must be configured with a character size of 96 ppp e Microsoft Windows XP VISTA and SEVEN The installation of the Man Machine Interface cannot be achieved elsewhere than in the C Program Files IXSEA folder In foreign versions of the operating system the C Program Files folder may not exist Please make sure to create it before running the installation procedure Action Insert the MMI software CD ROM in the CD ROM drive The installation should start automatically otherwise double click on Setup in the CD ROM directory Follow the instructions displayed on screen Once the installation is completed an IXSEA GAPS MMI directo
106. ry is created in the default file C program files on your computer E 23 Program Files ixsea O GAPS MMI End of procedure On Windows SEVEN and VISTA make sure to edit the security properties of the iXSea folder and all sub folders so writing in these folders is allowed MU GAPS AN 003 Ed K January 2012 36 IXSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES 11 2 Overview of the Man Machine Interface 1 2 1 STARTING THE MAN MACHINE INTERFACE Once the MMI installation is completed and when you have achieved all connections between the devices you can start the MMI Software GAPS QIXSEA 2004 2008 IXSEA all rights reserved Figure 33 Starting GAPS MMI launching window Procedure Step Action 1 From Start menu select Programs GAPS MMI Man Machine Interface Software The MMI is started The Communication ports of the PC are scanned by MMI to recognize which devices are connected e If GAPS is not connected the following window appears Wilson GAPS Ctrl cog Program Files IXSEA GAPS VESSEL E MU GAPS AN 003 Ed K January 2012 37 DEEP INSIGHT SHARPER SENSES Step Action GAPS User Guide Otherwise if GAPS is connected and if both configurations between GAPS and the MMI are different the following dialog box appears In this case you can know for which parameters the configurations differ by
107. sition 2 to 5 cm external RTK receiver accuracy 0 5 to 3 m integrated DGPS or internal or external Position drift during GPS drop out 2m 2 minutes MU GAPS AN 003 Ed K January 2012 12 GAPS User Guide xSLUE DEEP INSIGHT SHARPER SENSES 1V 1 2 PATH The multi path phenomenon is usually a major issue for standard USBL systems GAPS uses wide band spectrum signals and is fitted with a powerful signal processing that reduces a lot the result of the multi path signals Nevertheless this phenomenon may happen from time to time and lead to noisy positions under specific conditions specific distances between the transponder and or the GAPS antenna and a reflective surface e Multi path Figure 53 Multi path Phenomenon The transponder transmits one signal The GAPS antenna receives this signal plus additional echoes mixed together e Analogy with images Transmitter Receiver GAPS signal processing QIXSEA2 IXSE A MU GAPS AN 003 Ed January 2012 73 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES IV 1 3 RANGE VERSUS NOISE LEVEL The GAPS performances are on the Figure 54 with e GAPS Signal Level of 191 dB e Transponder Signal Level 188 dB 8000 7000 6000 5000 Range en meters 3 2 e 2000 1000 Noise Level in dB yPa Hz GAPStoMT8 GAPStoMTO9 8 MT9to GAPS Figure 54 GAPS
108. sponders menu turns red d and a appears after the transponder ID number in the transponder menu 6 Click on Valid if GAPS is not operating otherwise stop GAPS before clicking on Valid The transponder ID in the list besides the Transponders menu turns black 7 of procedure MU GAPS AN 003 Ed K January 2012 60 XSLUE GAPS User Guide DEEP INSIGHT SHARPER SENSES Checking Editing Step Action 1 If its ID is displayed in the Transponder list near the Transponders menu click on it e Otherwise scroll in the ID number using the gt or button to find it and then select it by clicking On its ID number e Or use the Go to box 5 _ to enter directly its ID 2 End of procedure Suppressing Step Action 1 Select Suppress option in the Transponders menu The Transponder deletion window appears Transponder deletion 15 Towed Fish M 2 Select the transponder you want to delete in the Delete Transponder scrolling list and click Delete The transponder ID disappears from the transponder list near the Transponders menu 3 End of procedure The transponder cannot be deleted when in use and or when GAPS is tracking Sorting You can sort the transponders list by chronological or numerical order by selecting Chronological list or Numerical list on the ID in the Transponders menu MU GAPS AN 003 Ed K January 2012 61 GAPS User Guide Swapping To
109. ssor Error Messages Meaning Possible Cause s not exhaustive Checks possible solutions No Detection None of the four hydrophones is receiving any signal If the message appears alone the transponder could not transmit The transponder might be too close to the GAPS antenna in responder mode Anomaly in the detection process of GAPS Check if the transponder transmits for example try to hear the ping Move the transponder away from GAPS Turn off GAPS and after at least 20 seconds turn it on again Negative Travel Time Negative time found in travel time computation Turn around time of the transponder different from the value in the GAPS MMI and transponder too close to the GAPS antenna Check if the values of the turn around time in the MMI and in the transponder are identical Check the external synchro Check for unexpected triggering of the transponder due to heavy acoustic noise for example Convergence Error No convergence found in position computation Noisy raw data Check the noise recorded by the antenna and try to reduce it for example slowing down the propeller line shaft Velocity profile Error Error during application of sound velocity profile The depth of the last layer of the velocity profile is higher than the computed depth of the transponder Introduce an additional layer with a greater depth than the actual depth of the t
110. t standard deviation lt 0 5 001 0 5 m standard deviation lt 1 5m Bits 7105 3 010 1 5 m lt standard deviation 3m Lil 011 3m standard deviation 6m 100 6m standard deviation 12m 101 12m standard deviation 25m 110 25m lt standard deviation lt 50m 111 standard deviation 50 m Bit 0 1 Reserved Minor axe XY small axe in m of the error ellipse representing the standard deviation of the position in the XY plane 000 0 m lt standard deviation lt 0 5 m 001 0 5 standard deviation lt 1 5m Bits 3 to 1 3 010 1 5 m lt standard deviation lt 3m 14 011 3m standard deviation 6m 100 6m standard deviation 12m 101 12m standard deviation 25m 110 25m lt standard deviation lt 50m 111 standard deviation 50 m Angle between the Bits 7 to 4 4 North and the major axe 180 24 0 13 16x180 of the XY error ellipse 15 Bit 0 1 Reserved MU GAPS AN 003 Ed K January 2012 120 DEEP INSIGHT SHARPER SENSES GAPS User Guide Value Byte Nb of i Field definition Min Max Nb bits LSB Value Value Standard deviation of the Z m position 000 lt standard deviation lt 0 5 m 001 0 5 m lt standard deviation 1 5 m 010 1 5m lt standard deviation 3m Bits 3 to 1 3 011 3m standard deviation 100 6m standard deviation 12m 101 12m standard deviation lt 25 110
111. the command button on the upper right corner of the MMI window becomes a Start tracking button Press START tracking button in the MMI This action starts the acoustic cycle of GAPS The INS needs 5 minutes before being operational Check for end of the alignment inertial sensor alarm message on the MMI software in the sensor box check the Inertial Sensor status light orange during the coarse alignment green during the fine alignment typically 30 minutes but could be longer Check for available Data control views in MMI absolute relative depth End of procedure MU GAPS AN 003 Ed K January 2012 78 GAPS User Guide XSLUE INS e During the first five minutes after powering on the inertial system performs its coarse Initialization alignment Inertial sensor data accelerometers and gyrometers are computed to estimate heading roll and pitch angles At sea it is recommended that the system is kept as steady as possible during coarse alignment oscillations around a mean position or smooth drift are permitted but accelerations should be avoided Leaving the vessel adrift for 5 minutes would lead to satisfactory conditions for coarse alignment No estimation of position or speed nor errors are done by the INS during the coarse alignment the data provided by external sensors lever arm compensated are used directly e After the coarse alignment phase the GAPS is ready for navigati
112. tions 15 IL INSTALLING GAPS 19 1 Checking of the Pack 19 2 Installing the Acoustic Antenna serene enne nnne nnnm nnne nennen nnns 20 Il 2 1 Recommendations Prior to Installation seen 20 LV Ol nir a a aay false techs sad 20 1 2 1 2 Hefleclive Surfaces ei d ret 20 PET ECT N 20 11 2 2 Installation Principles 21 11 2 3 Deployment Exariples are Se aes diesel elena ddan EARE 25 I 3 Installing the Easy Connect 28 1 3 1 Connections on the Front Face c ccccccceeesceceeeeeceeeeeaaeeeeneeceaeeeeaaeseeeeeseaeeesaeeeeaaeeseneesaas 29 11 3 2 Connections on the Back 29 11 4 Installing the GPS 31 1 4 1 Installing an External nnne nnne tenens 31 11 4 2 Installing the iXBlue DGPS sisirin eniin aana aeaaaee aaa 31 11 4 3 Measuring the GPS Lever Arms sse enne nnns nnne nennen
113. tocol which kind of data are delivered period Baud rate maximum 57 600 bauds Parity Stop bit MU GAPS AN 003 Ed K January 2012 45 GAPS User Guide C DEEP INSIGHT SHARPER SENSES Figure 38 Supervision Window In the Supervision window the Tool Box displays some versions about the system components MMI software version CPU version 4Ways version and INS version MU GAPS AN 003 Ed K January 2012 46 GAPS User Guide DEEP INSIGHT SHARPER SENSES 1 3 3 CONFIGURING THE SERIAL LINK Step 1 Action Inthe Supervision display area see Figure 38 click on Serial Link label The associated tool box appears n the associated toolbox you can reload in GAPS the configuration displayed in MMI by clicking on GAPS Configuration The serial link parameters already saved are then displayed In the Tool Box if necessary e Choose the Port number by selecting it in the scrolling list e Only on iXBlue customer support request choose the Position Protocol GAPS Extended only for factory usage By default it is the protocol GAPS Regular that it is used 57600 EN GAPS regular Y In the Display area the Serial Link label turns red to remind you that you have to validate your choices Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button End of procedure MU GAPS AN 003 Ed K J
114. tware During launching GAPS MMI software scans the different communication ports available on the computer for GAPS reply datagrams System start research connected COMS waiting for reply waiting for reply COM waiting for reply COM1 waiting for reply COM3 waiting for reply Cancel Once the GAPS communication port is found the software compares both configurations from the software and from the GAPS itself and informs you if there are differences System start gt OK GPS Config Request Receiving GPS Config gt GPS Config OK Output Config Request Receiving Output Config gt Output Config OK This test is successful once GAPS has replied a message on its communication port 2 of procedure MU GAPS AN 003 Ed K January 2012 92 GAPS User Guide DEEP INSIGHT SHARPER SENSES V 1 3 3 Testing Transmission Procedure Step 1 2 Action In GAPS MMI software in the Transponders menu create a MT8 beacon Configure the beacon in transponder mode Make sure that the transponder is in use In the Supervision menu processor button configure the acoustic recurrence internal fixed at 1 s On the main page click on START Tracking This test is successful if you hear the GAPS pinging at the configured recurrence End of procedure Long transmission is the air
115. tween the GPS antenna and the acoustic array have to be entered accurately When GAPS is in horizontal position the axes are inverted the attitude outputs are then irrelevant There are 2 different solutions to install the GPS antenna with different implications on the mounting of the acoustic array e GPS antenna right above GAPS e GPS antenna not exactly above GAPS GPS Connected with a Rigid Link Antenna This is typically when GAPS is mounted a mast or held by a rigid pole Above GAPS When GAPS is vertical all the offsets between the GPS antenna and the acoustic array are set to 0 except the height h which must be entered accurately in order to calculate the position offset when the system attitude changes A GPS antenna h Y i m t I No offset Offset f h roll pitch Automatically calculated Figure 28 Vertical GPS Antenna Lever Arm Connected with a flexible link MU GAPS AN 003 Ed K January 2012 32 GAPS User Guide XBLUE This is typically when GAPS is held by a rope In that case the height value h must also be set to 0 to avoid the calculation of the offset The accuracy of the positioning will decrease if the position of GAPS relative to the GPS antenna changes GPS antenna No offset Position error Figure 29 Vertical GPS Antenna Lever Arm GPS antenna When the GPS antenna is not located right above GAPS its position in the GAPS frame not above
116. uide DEEP INSIGHT SHARPER SENSES INTRODUCTION AND TECHNICAL DESCRIPTION 1 1 System Overview Plug and Play Accuracy GAPS Operation Principles The Global Acoustic Positioning System GAPS is a portable Ultra Short Base Line USBL with integrated Inertial Navigation System INS and Global Positioning System GPS The GAPS system is recommended for mobile or fixed installations It can be combined with an additional hoisting system It is a plug amp play installation and calibration is required neither before using it nor after reinstalling it The GAPS system is used to deliver e position of one or more underwater objects or vehicles which can maneuver at depth up to 3 000 meters Greater depths are possible depending on the beacon type used e The accuracy is up to 0 2 accuracy of the Distance to Go or DTG at 16 depending on environmental and operational conditions e The heading attitude motion and position of the support vessel or buoy The underwater objects or vehicles are located using acoustic transponders GAPS acoustic array is deployed underwater and is typically mounted below the ship hull or ona buoy see Figure 1 ge o0 Figure 1 GAPS typical mounting The operation principle is based on a bi directional exchange of underwater acoustic signals between the acoustic transponders and the GAPS unit that comprises one transducer for transmitting and four reception hydrophones
117. ustic channel validity is the calculated depth in meters is the depth validity 0 None 1 Calculated 2 Sensor is the sensor depth in meters Position validity The value represents the acoustic Channel validity on 4 bits from 0000 to 1111 0 means that the channel is not valid and 1 that the channel operates properly Calculated depth Sensor depth The GAPS know only one depth that is the fusion of both depths Calculated and sensor This optimized depth is in the Calculated depth field Sensor depth if the Acoustic Transponder has no sensor the value transmitted is 9999 THE X AND Y POSITIONS ARE RELATIVE TO THE GAPS ACOUSTIC ARRAY MU GAPS AN 003 Ed K January 2012 T IX3L UX E DEEP INSIGHT SHARPER SENSES GAPS User Guide Transponder Relative Positioning Message relative to GAPS NORTH orientation Relative coordinates and depth PTSAY NNNNN hhmmss sss jj mm aaaa BBB XXXXX X YYYYY Y A PPPP P A CCCC C CK NNNNN hhmmss sss XXXXX X YYYYY Y Recurrence frame Number is the time in hours minutes seconds milliseconds is the day jj 11031 is the month mm 1 to 12 is the year is the Transponder No 1 to 128 Transponder 128 to 1 Unknown Transponder is the X coordinates positive northwards in meters 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
118. ving the status of the sensor The color code for the four status lights is the following Red for Alarm Orange for Warning Green for Normal MU GAPS AN 003 Ed K January 2012 68 GAPS User Guide XSLUE DEEP INSIGHT SHARPER SENSES Figure 48 Sensors Box In the associated tool box you can see the operating state of the device Inertial Sensor Status Tool Box it contains status lights and a diagnostic zone displaying alarm or warning messages see Part V Processor Status Tool Box it contains a diagnostic zone displaying alarm or warning messages see Part V Acoustic Array Status Tool Box it shows the status of the four hydrophones see Figure 49 Ared status means that the hydrophone did not receive an expected signal If one of the hydro status stays red during several interrogations the hydrophone might be damaged contact iXBlue for support and assistance The CPU temperature is the temperature of the electronics contained in GAPS It is the temperature of the warmer electronic component CPU If the rectangle light is orange the temperature is high gt 70 This situation must be kept under very close control For example check if the GAPS antenna is not out of water If the rectangle is red the temperature is very high gt 75 C You must s witch off the GAPS and contact iXBlue support Figure 49 Acoustic Array Tool Box MU GAPS AN 003 Ed K January 2012 69 GAPS User Guide
119. y General Export Authorization EU 001 to the following countries Australia Canada USA Japan New Zealand Norway and Switzerland e iXBlue 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 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 iXBlue 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 The 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 Su
120. ynchro External GPS GAPS User Guide The Table 9 below describes the compatibility between the different types and versions of iXBlue transponders with the different versions of the ECB Table 9 Compatibility between ECB and transponders MT8 MT9 before 02 2012 MT9 after 02 2012 ECB before 09 2010 OK OK OK ECB between 09 2010 and 01 2012 OK NOK OK ECB after 01 2012 OK OK rear of ECB OK NOK front of ECB IF YOU ARE IN ONE OF THE SITUATIONS OF INCOMPATIBILITY DESCRIBED IN THE TABLE 9 CONTACT IXBLUE TECHNICAL SUPPORT The SYNCHRO IN external triggering signal is an active high pulse longer than 100 us 0 5 V The GAPS is triggered on the rising edge The duration between two consecutive SYNC IN pulses must be greater than 1 s Electrical level Active High 4d Length 0 5V 2 100 us If GAPS is triggered from the outside and in responder mode with a transponder in responder mode triggered on the sync IN input the triggering pulse length must be higher than 5 ms the synchro shift between the recurrence and the transponder will last 1 s maximum For this reason it is strongly recommended to trigger the transponder on the Sync OUT If used an external GPS has to be connected to the external optional GPS message input RS 422 serial link or RS232 when using the ECB Baud rate maximum 57 600 bauds parity and bit stop are adjustable
121. yte 27 0x00 Ellipse major geze mmo 00 Byte 29 0x00 Ellipse minor MU GAPS AN 003 Ed K January 2012 LTS GAPS User Guide XSLUE Transponder position message the frame contains 32 bytes in binary format Message Byte 0 Start of message 1 Head byte TP sequence Telegram transponder in use Byte 4 OxTT Byte 6 OxTT Byte 8 OxTT Byte 10 OxTT Byte 12 OxTT Byte 14 OxTT Byte 16 OxTT Byte 18 OxTT Byte 20 OxTT Byte 22 OxTT Byte 24 OxTT Byte 26 OxTT Byte 28 OxTT 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 GAPS AN 003 Ed K January 2012 116 GAPS User Guide VI 2 3 HPR 400 Field Name Kongsberg Explanation Start Character PSIMSSB Address Prop Simrad address for SSBL PSMSSB hhhmmss ss Time Empty or Time of reception Tp code Example B01 B33 B47 03d Status A for OK and V for not OK AN Error_code Empty a three character error code EXD ExM a Coordinate system C for Cartesian P for Polar U for UTM C coordinates a Orientation H for Vessel head up N for North E N for East a SW_filter M means Measured F Filtered P M Predicted XX X coordinate See separate explanation below Northing XX Y coordinate See separate explanation below Easting XX Depth Depth in meters depth XX Expected accuracy

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