HiPAP Technical Course

Guidebook

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COPYRIGHT

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Kongsberg Maritime AS. No part of this document may be copied or reproduced
in any form or by any means, and the information contained within it is not to be
communicated to a third party, without the prior written consent of Kongsberg
Maritime AS.

DISCLAIMER

This training material together with the related training course provided by
KONGSBERG (hereinafter collectively referred to as the “Training”) is intended
for the Training course participants only and is not intended to replace,
substitute or supply user manuals or other documentation supplied with any
equipment or system addressed in the course. The Training is intended only for
limited training purposes, and is not intended to portray the complete, accurate
and appropriate handling of all situations, scenarios and features in relation to
the operating and handling of any equipment or system in real operation. Each
operator of any equipment or system is solely responsible for the operation
thereof and to make his/her own decisions and to take such acts as he/she
deems appropriate under any real operation. Each operator is responsible for
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skills of any equipment or system in real operation. KONGSBERG has made
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Table of Contents
SYSTEM INFORMATION 5

Abbreviations & general terms 5

Introduction 5
Abbreviations 5
General terms 6
Acoustics 11
Positioning principles 17

HiPAP hardware 19
Transponders 19
HiPAP 500/501 system overview 27
Transducers 28
Hull unit 29
Transceiver cabinet 30
Operator station 31

System software 32
Introduction 32
APOS software overview 32
HiPAP software overview 42

Optional products and functions 44

Hull unit remote control 44
Vessel speed alarm 45
Responder Drive Unit 45
HAIN overview 46

Maintenance 48
Safety 48
Maintenance chart 48
Shaft and chain grease 49

HIPAP EXERCISES 50
Simulator exercises 50
Hardware exercises 50

Exercise 1 - APOS preparation 51

Exercise 2 – Transponder setup 52

Exercise 3 – Transponder check 53

Exercise 4 – LBL 55

Exercise 5 – Transponder setup with TTC 57

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 TTC 30 Exercises 57
TTC 400 Exercises: 58

Exercise 6 – HiPAP system test 59

Exercise 7 – HiPAP laboratory 60

Exercise 8 – HiPAP external interfaces 62

Exercise 9 – HiPAP network 64

INDEX 66

INFORMATION LETTERS 68
Introduction 68

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System information
Abbreviations & general terms
Introduction
This section includes abbreviations used in this document,
general terms used within the APOS software, and basic
Windows terminology.

Abbreviations
APC Acoustic Positioning Computer
APOS Acoustic Positioning Operator Station
AUV Autonomous Underwater Vehicle
DGPS Differential GPS
DP Dynamic Positioning
DVL Doppler Velocity Logger
GPS Geographical Positioning System
HAIN Hydroacoustic Aided Inertial Navigation
HiPAP High Precision Acoustic Positioning
HPR Hydroacoustic Position Reference
IMU Inertial Motion Unit
INS Inertial Navigation System
LBL Long Base Line
MRU Motion Reference Unit
MuLBL Multi-user Long Base Line
OS Operator Station
RDU Responder Drive Unit
ROV Remotely Operated Vehicle
SDP Simrad Dynamic Positioning
SSBL Super-Short Base Line
TD Transducer
TP Transponder
UTB Universal Transponder Board
UTB_HV Universal Transponder Board High Voltage
UTM Universal Transverse Mercator
VRS Vertical Reference System
TMS Tether Management System

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General terms
The general terms are described in alphabetically order.

AUV
An Autonomous Underwater Vehicle is a robot which travels
underwater without requiring input from an operator. The oil
and gas industry uses AUV to make detailed maps of the
seafloor before they start building subsea infrastructure;
pipelines and subsea completions can be installed in the most
cost effective manner with minimum disruption to the
environment. The AUV allows survey companies to conduct
precise surveys of areas where traditional bathymetric
surveys would be less effective or too costly.

Base lines
Ranges between the elements in a transducer, and ranges
between transponders in an LBL array. Based on the base
lines and initial positions of the transponders, the calibrated
transponder positions can be computed.

BCD telegram
In computing and electronic systems, binary-coded decimal
(BCD) is a class of binary encodings of decimal numbers. This
is used as standard output telegram from HiPAP to DP.

Bearing
The horizontal direction of one terrestrial point from another,
expressed as the angular distance from a reference direction,
clockwise through 360°.

CAD file
Computer-aided design (CAD) is the use of computer systems
to assist in the creation, modification, analysis, or
optimization of a design. CAD software is used to increase the
productivity of the designer, improve the quality of design,
improve communications through documentation, and to
create a database for manufacturing. CAD files can be used
as markers in the APOS software to visually place the vessel
over a seabed installation.

Cartesian coordinate system

A coordinate system (local system) where the axes are
mutually-perpendicular straight lines.

Course
The horizontal direction in which a vessel is steered or is
intended to be steered, expressed as angular distance from
north, usually from 000° at north, clockwise through 360°.
Strictly, this term applies to direction through the water, not

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the direction intended to be made good over the ground. This
differs from heading.

CTD
A CTD — an acronym for Conductivity, Temperature, and
Depth — is the primary tool for determining essential physical
properties of sea water. It gives scientists a precise and
comprehensive charting of the distribution and variation of
water temperature, salinity, and density that helps to
understand how the oceans affect life.

Datum
Mathematical description of the shape of the earth
(represented by flattening and semi-major axis).

DGPS
Differential Global Positioning System is an enhancement to
Global Positioning System that provides improved location
accuracy, from the 15-meter nominal GPS accuracy to about
10 cm in case of the best implementations. DGPS uses a
network of fixed, ground-based reference stations to
broadcast the difference between the positions indicated by
the satellite systems and the known fixed positions. These
stations broadcast the difference between the measured
satellite pseudo ranges and actual (internally computed)
pseudo ranges, and receiver stations may correct their
pseudo ranges by the same amount. The digital correction
signal is typically broadcast locally over ground-based
transmitters of shorter range.

DP
Dynamic Positioning is a computer-controlled system to
automatically maintain a vessel's position and heading by
using its own propellers and thrusters using position
reference systems combined with wind sensors, motion
sensors and gyro compasses.

Dual HiPAP
The combination of two transducers and synchronised
transceivers increases the electrical and acoustic redundancy.
This means one transducer interrogates the positioning object
and two transducers receive the reply.

DVL
Doppler Velocity Logger is used for HAIN subsea for
precision navigation applications. The DVL provides precise
velocity and altitude updates for the HAIN subsea.

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Geodetic coordinate system
A mathematical way of dealing with the shape, size and area
of the earth or large portions of it. Normally UTM coordinates
with reference to a datum.

Gyro
A gyrocompass is similar to a gyroscope. It is a compass that
can find true north by using an electrically powered, fast-
spinning gyroscope wheel and frictional or other forces in
order to exploit basic physical laws and the rotation of the
earth.

HAIN
The Hydro-acoustic Aided Inertial Navigation system uses the
HiPAP to update an inertial navigation system to compute a
very accurate position. The position measurements from an
INS are very accurate over a short time frame, but the
position data will drift more and more over time. The HiPAP
system does not drift, and is used as an aid for the INS to
give a robust and reliable position with dramatically improved
quality

Heading
The horizontal direction in which a vessel actually points or
heads at any instant, expressed in angular units from a
reference direction, usually from 000° at the reference
direction clockwise through 360°. This differs from course.

INS
Inertial Navigation System combines an inertial sensor (IMU)
and process software to produce an inertial position based on
the movements of the vessel.

LBL
Positions the vessel by simultaneously use of
combined directional and range measurements to 4-8
transponders in an LBL array on the seabed.

MRU
Motion Reference Unit includes three axes high quality MEMS
(Micro Electro Mechanical Systems) rate gyros and linear
accelerometers. In order to undertake tasks such as wave
height monitoring, using cranes during rough weather, or
determining where vessels are using dynamic positioning,
roll, pitch, yaw and heave motion needs to be measured.

MuLBL
The Multi-user LBL function enables several individual vessels
and ROV units to position themselves using the same array.
The array is interrogated by a master transponder with
regular intervals controlled by an assigned vessel.

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NMEA
NMEA is a combined electrical and data specification for
communication between marine electronics such as echo
sounder, sonars, anemometer, gyrocompass, autopilot, GPS
receivers and many other types of instruments. It has been
defined by, and is controlled by, the National Marine
Electronics Association.

ROV
A Remotely Operated underwater Vehicle is a tethered
underwater vehicle. ROVs are unmanned, highly
manoeuvrable and operated by a crew aboard a vessel. They
are linked to the ship by either a neutrally buoyant tether or
a load carrying umbilical cable along with a tether
management system (TMS).

Sound velocity probe

A sound velocity probe is a device that is used for measuring
the speed of sound, specifically in the water column, for
oceanographic, hydrographic and hydro acoustic positioning
purposes.

SSBL
Positions the vessel by using one transponder to determine
range and bearing. Can be used as a single reference system
for DP if the transponder is fixed to the seabed.

Template
A subsea template is a large steel structure which is used as
a base for various subsea structures such as wells and subsea
trees and manifolds.

TMS
The TMS is either a garage like device which contains the
ROV during lowering through the splash zone, or on larger
work class ROV's a separate assembly which sits on top of
the ROV. The purpose of the TMS is to lengthen and shorten
the tether so the effect of cable drag where there are
underwater currents is minimized.

UTC
Coordinated Universal Time is the primary time standard by
which the world regulates clocks and time. It is one of several
closely related successors to Greenwich Mean Time (GMT).
For most purposes, UTC is synonymous with GMT, but GMT is
no longer precisely defined by the scientific community.

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VRS
This Vertical Reference Sensor is designed to accurately
measure pitch, roll and heave in surface and underwater
applications under static and dynamic conditions. This unit
can be mounted on marine vessels, remotely operated
vehicles, and autonomous underwater vehicles to help
support your mission objectives such as sonar surveys,
imaging sonar compensation, altitude measurement and
orientation.

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Acoustics
Introduction
Some acoustic principles are
described in this chapter to improve
the understanding of the HiPAP
system and how it works. Acoustic
effects will influence the position
quality and can also cause
multipath and reflection of the
HiPAP signal. The signal can be
blocked or obstructed by acoustic
effects, such as cavitation around
the transducer.

Sound velocity and ray bending

The sound in seawater is dependent on:

 Temperature
 Salinity
 Pressure

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A sound velocity probe is used to
collect a log of the different
seawater temperature and
salinity layers.

The probe will measure the

depth (pressure) and its
corresponding sound velocity
value while it is lowered from
the water surface to the seabed.

The measurements used in APOS

must be correct according to the
location of the vessel to ensure a
correct calculation of the
transponder position. An incorrect
sound profile will influence the
transponders range and bearing.
The sound profile may change
significantly within a short period of
time. In these extreme situations
where an accurate position is
critical, the profile should be
updated accordingly.

When sound moves through water the sound will not move in a straight line but
will bend according to the sound profile.

If the change in sound Smaller changes in sound

velocity is large, you will get velocity will give ray bending
reflection. An example of this without reflections
is sound moving from air to
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The ray bending effect can only be compensated for by knowing the correct
sound velocity. Some sound velocity profiles can indicate shadow areas. Note
that transponders located in the shadow areas can be very hard to detect.

Frequency, range and accuracy

The frequency of an acoustic system is chosen based on the working range and
the accuracy required. Low frequency provides long range but will reduce the
accuracy. High frequency provides good signal quality but reduces the range.
Therefore the frequency used will be a compromize between range and
accuracy.

Example 1: Seismic

Here is an example of a low

frequency system (1Hz -1000 Hz).
The range is long and the system
has no problem to penetrate the
water column and continue into the
seabed passing rock structures. Due
to the long wave length the
resolution is low.

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 Example 2: Ultra sound

In this case the frequency is high

(1000 kHz) and the wave length is
short resulting in a good resolution
and accuracy, but the system range
is short (2-3 meters).

There are two frequencies used for HiPAP systems. The HiPAP 100, using low
frequency (10-15 kHz), has a maximum range of about 10 km (Full ocean
depth). Standard HiPAP systems, using medium frequency (21-31 kHz), have a
range up to 4000 meters.

Transmission loss

Introduction

An acoustic pulse sent through seawater will reduced its signal strength with
distance. This is due to two different effects; geometrical spreading and
absorption.

Geometrical spreading

As the distance from the signal

source increases, the signal will be
spread on a larger surface. This
effect is called geometrical
spreading and is a significant
reduction in signal strength.
Example: At a range of 1000
meters the signal is only one
millionth of the output level. The
transmission loss is about 60 dB.

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Absorption

The signal strength will be reduced due

to that the seawater will absorb some
of the signal energy. This energy will
increase the seawater temperature.
This absorption is described with an
absorption coefficient indicating how
many dB is lost for each km the sound
Seawater
is propagating in water. The absorption
is influenced by several parameters but
the most important parameters are salinity and signal frequency. High
frequencies have larger absorption, and this explains the limited range for high
frequency systems. The absorption for a HiPAP 500 signal (21 - 31 kHz) is
approximately 7 dB/km. This indicates that you lose about 84% of the signal
strength for each km.

Signal/Noise
When the HiPAP system transmits an acoustic pulse, the transponder will receive
a signal that is influenced by background noise. This noise can be generated by:

 Thrusters
 Ships
 Drilling activity
 Wind and waves
 Interference from other acoustic equipment

Here is a graphical presentation of the

different noise sources and their typical
spectrum level. Note that the noise
level is changing with the frequency.

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When the signal to noise, (S/N), factor gets reduced, the positioning accuracy
will be influenced and in worst case the signal will be hidden completely due to
the noise. The S/N factor can be monitored in the APOS software by using the
trend view. It is also possible to monitor the noise directly in different directions
relative to the transducer head by using the spectrum analysis function in the
APOS software. Specific noise frequencies can also be monitored. Note that the
noise changes with wind and waves, RPM on the engines, heading of the vessel,
cavitation from propulsions etc.

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Positioning principles
Introduction
The HiPAP system uses two different principles for positioning; SSBL and LBL.
These principles have different properties that make the system flexible for
different applications. The SSBL principle, due to its simple operation, is the
obvious choice if the accuracy is good enough for the application performed. The
LBL principle is the obvious choice if the SSBL accuracy is not good enough for
the application performed.

Cymbal is a signal processing technique used for all positioning modes. Cymbal
utilizes Direct Sequence Spread Spectrum (DSSS) signals for positioning and
data communication. DSSS is a wide band signal. The Cymbal protocol provides
new characteristics for both positioning and data communication.

SSBL
The SSBL position calculation is based on range and
direction measurements to one transponder. The on
board transducer transmits interrogation pulses to a
subsea transponder, which then answers with a reply
pulse. The on board system will measure the time from
the interrogation to the reply pulse is detected and use
the sound velocity to compute the range. The
transponder position is presented both numerical and
graphically on the operator station. Using a pressure
sensor in the subsea transponder can increase position
and depth accuracy. Simultaneous use of many
transponders is made possible by using individual
interrogation and reply frequencies.

Responder
A responder positioning is based on SSBL positioning,
but uses an electrical/optical trigger signal through the
ROV umbilical to interrogate the transponder. The reply
is sent as an acoustic signal back to the transducer. The
responder interrogation is sent through the umbilical,
and thereby reduces the time it takes to interrogate the
transponder. It is possible to power the acoustic output
of the responder through the umbilical to reduce the
battery consumption.

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LBL

Calibration
The LBL principle is based on one vessel-mounted
transducer, and normally 4 - 6 transponders on the
seabed. This seabed transponder array must be
calibrated before LBL positioning operations can begin.
The calibration shall determine the transponder’s
positions in a local co-ordinate frame with one common
LBL Interrogation Channel (LIC) and individual turn
around delays (TAD).

Baseline measurements
This technique uses automatic calibration functions in
the HiPAP system. This allows all the ranges to be
measured and made available by acoustic telemetry
communication between the transponders and the
vessel’s system. Based on the baseline measurements
and initial positions of the transponders, the calibrated
transponder positions are computed.

Runtime calibration
To use this technique, the system is run in LBL positioning. The runtime
calibration function logs the measurements. Based on this, new optimised
seabed transponder positions will be computed. This makes the baseline
measurements redundant. If the baselines measurements are done, they are
also used in the calculations. The calibration is performed when the LBL array is
started and whenever the array becomes unstable due to various reasons;
sound velocity changes etc.

Positioning
The seabed transponders will be interrogated simultaneously by using the LIC,
and each will respond with its specific reply signal with individual TAD. The LBL
system will then calculate the ranges from the individual transponders. By using
the calibration data together with the calculated ranges in software algorithms,
the vessel or an ROV can be positioned. ROV positioning requires a transceiver
to be mounted on the ROV. The system can take the depth from an ROV-
mounted pressure sensor via a serial line. By using this depth in the
computation, it will increase the position accuracy of the ROV. LBL positioning
will give better position accuracy at greater water depths, but can also be used
on more shallow water depths to provide better positioning stability.

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 HiPAP hardware
Transponders
HPR400 transponder models

Model Specification Options

DT Depth and Temperature sensors
Frequency (digit 1)

MPT 1 15 kHz H Heading magnetic compass

3 30 kHz E External power

Multi Functional I Inclinometer
Positional Transponder Depth rating (digit 2) II Internal and external Inclinometers
1 1000m
N Rechargeable battery pack
SPT 2
3
2000m
3000m
R Release mechanism

6 6000m S Split (separate transducer & housing)

SSBL Positioning
L Long tube
Transponder
Beam width (digit 3) Sx Short tube
1 ± 15°
Rsp Responder
MST 3
4
± 30°
± 45°
DuB Dual Beam
Mini SSBL Positioning 6 ± 60° Ail Analogue interface logger
Transponder 9 ± 90°
St Stainless steel housing

cNODE transponder models

Model Specification Options

Frequency (digit 1) R Release
1 15 kHz
Mini 3 30 kHz Si Sensor interface

SSBL/LBL Positioning St Stainless steel housing

Transponder Depth rating (digit 2)
4 4000m S Split (seperate TD & housing)

Midi 6 6000m
SvPI Multi Sensor Module (Depth,
inlinometer, Sound velocity)
SSBL/LBL Positioning Beam width (digit 3)
I Inclinometer
Transponder
30V ± 15° beam width vertical II Internal & external

Maxi
Inclinometer
40V ± 20° beam width vertical
DT Depth and Temperature
180V ± 90° beam width vertical
SSBL/LBL Positioning 30V30H ± 15° beam width vertical External sensors & options
Transponder & horizontal Current meter, Responder, Gyrocompass

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HPR400 transponder identification

Each HPR400 transponder is supplied with an identification clamp ring,

indicating:

 Transponder type
 Serial number
 Channel
 Battery type

I II
(Cd5976)

On the central processor board, rotary switches S2 and S3 is for setting the
hardware channel.

The channel number on the identification ring must always match the hardware
channel.
S2 S3

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cNODE transponder identification

All cNODE transponders are identified by transponder stickers:

 Transponder type
 Model
 Depth rating
 Serial number
 Factory set channels

The transducer head can be changed, and will therefore have its own
identification sticker:

 Transducer type
 Reg. number
 Transponder serial number

The transponder identification is stored in the UTB. Factory stored settings such
as hardware channels and used acoustic communication protocol settings can be
permanently modified by using a TTC30 with serial line connection. Other
parameters changed by using acoustics will be reset when disconnecting the
battery or when the transponder is reset, i.e. power settings, channels.

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FSK frequency chart
Only 16 reply frequencies

Even group Reply freq Odd group Reply freq

B21, B41, B61, B81 28,500 B31, B51, B71 28,750

B42, B62, B82 29,000 B12, B32, B52, B72 29,250

B23, B43, B63, B83 29,500 B13, B53, B73 29,750

B24, B64, B84 30,000 B14, B34, B54, B74 30,250

B25, B45, B65, B85 30,500 B15, B35, B75 30,750

B26, B46, B86 27,000 B16, B36, B56, B76 27,250

B27, B47, B67, B87 27,500 B17, B37, B57 27,750

B28, B48, B68 28,000 B18, B38, B58, B78 28,250

FSK reply pulses

The number of pulses transmitted at each reply is either 2 or 3 pulses when
sensors are enabled.

Delay between pulses is a scale relative to sensor value

 No sensor or disabled sensor (Single pulse coding)

 Heading or Depth - Sensor (Two pulse coding)

 Inclinometers – Sensor (Three pulse coding)

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Sensor scale factor - reply pulses

Inclinometer

Range Time between pulses Scale

180ms 240ms 300ms

12ms = 1 o
±5 o
-5o 0o +5o
1ms = 0.08 o

180ms 240ms 300ms

4ms = 1o
±15o -15o 0o +15o
1ms = 0.25 o Inclinometer

150ms 240ms 330ms

±90o 1ms = 1o
-90o 0o +90o

Depth

Range Scale Depth sensor value

1000m 1ms = 1m
2000m 1ms = 2m
5000m 1ms = 5m
10000m 1ms = 10m

Depth or Heading
Heading

As the maximum sensor value is 359o there is no variation to the scaling:

1 ms = 1o

ms – milliseconds

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 HPR400 transponder battery

Estimate of HPR400 transponder battery lifetime:

SPT/MPT 319 xx SPT/MPT 331

Lithium Alkaline Rechargeable Lithium

Battery type L10/36 A10/36

N10/36 (18/30) L10/36 (18/36)
(18/30) (24/24)

Maximum continuous 185

71 Days 16 Days 180 Days
On-time (rx battery life) Days

Quiescent time
1045
301 Days 90 Days 930 Days
(rx battery life) Days

Reply pulses
19.6
5.4 million 1.4 million 6.4 million
million
Low source level

Reply pulses 9.8

2.2 million 0.7 million 3.2 million
High source level (Default) million

Reply pulses
4.9
1.1 million 0.36 million 1.6 million
million
Max source level

Approximate life for HPR400 transponder in continuous use from new battery:

High Tx Power @ 1sec interrogation:

MPT/SPT 319 113 days

MPT/SPT 331 37 days

Battery replacement
The L10/36 (18/30) lithium battery may be replaced by:

The Alkaline battery A10/36 (24/24) or the rechargeable NiCad battery N10/36
(18/30)

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HPR400 battery life calculations

Tx battery lifetime1

Battery capacity given as reply pulses, referred to high source level.

 Ping count reading from APOS, show consumed battery

 Source Level Factor | Max:0,5 | High:1 | Low:2 | Min:4 |
 Update rate as read in position overview in APOS
 Total reply pulses sent at each position update

Source level Update rate

(Battery capacity - ping count) x x
factor
Reply pulses

24 hours x 60 minute x 60 seconds

Example.

x x 2.6
(9,800,000- 1,700,000) 1
3 = 81.25 Days
86,400

Rx battery lifetime

Rx capacity (days) as in transponder manual and APOS help

(100% - % used) x RX capacity (days)

100
Example.

(100% - 35%) x 185

= 120.25 Days
100

In these examples the Transponder battery lifetime is:

 Tx: 81.25 days

 Rx: 120.25 days
 Therefore the transponder battery will last for 81.25 days

1
APOS software 4.16 or later can present battery life estimate as given number of days.

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 cNODE transponder battery

Estimated battery lifetime

Maxi 34-30V 30H Maxi 34-180V Mini-30V Mini-180V

Cymbal FSK Cymbal FSK Cymbal FSK Cymbal FSK

Battery type Lithium Lithium NiMH NiMH

Quiescent time 2.5 yrs 2.5 yrs 60 days 60 days

Power setting Millions of reply pulses

Min source level 10.5 11.5 10.5 11.5 0.7 0.75 0.7 0.75

Low source level 6 9 7.5 10 0.4 0.6 0.5 0.65

High source level 2.5 5.5 3.5 7 0.15 0.35 0.2 0.45

Max source level 0.7 2 1.1 3 0.04 0.1 0.07 0.15

Default transmit power: Cymbal: Low FSK: High

Approximate life for Maxi 34 30V30H in continuous use from new battery @ 1sec
interrogation:

 Cymbal mode, low power: 59 days

 FSK mode, high power: 61 days

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HiPAP 500/501 system overview

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Transducers
There is a clear relation between system performance and the number of
elements in a transducer. Acoustical redundancy, mathematical redundancy and
improvement of the Signal to Noise level are all factors in the high quality
system performance of the HiPAP family. Except for the HiPAP 351P Portable
transducer, all the transducers are purely mechanical devices with internal
ceramic elements, which maximize the reliability when compared to systems
that also have electronics inside.

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Hull unit
The HiPAP system operates with the transducer mounted on a hull unit, allowing
it to be lowered several meters under the vessel’s hull. The transducer’s hull unit
is mounted on a gate valve and takes the transducer down to a depth free from
the aerated water created by the hull, propellers and thrusters, and also below
the most critical surface water layers. Kongsberg hull units are guaranteed to
withstand the water forces when the vessel runs up to 10 knots. The hull unit is
the same for all HiPAP transducers and come with different lengths.

Hull unit Max speed - knots

(Length in mm) (Transducer lowered)
HL2180 10
HL3370 10
HL4570 8
HL6120 6

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 Transceiver cabinet
The transceiver unit is mounted close to the hull unit and contains advanced
digital transmitters, preamplifiers and beam-forming electronics. The TRX32
boards are interchangeable when the system is switched off. The transceiver
cabinet can operate with less than installed TRX32 boards if disabled in the
HiPAP software and disconnected in the transceiver cabinet. This means that one
of the existing boards can be used as an emergency spare board.

The transceiver communicates with the operating system (OS) via fiber optic
cable(s). The main purpose of the transceiver is to perform interrogation to
transponders, receive their replies and communicate with the OS with the
measured result.

Fibre splice box

Moxa 518A Patch cable for

remote power
control
Patch cables
Power supply PSU
main
Connector for sync
responder trigger Power indicators

Power supply PSU-

TRX 32 boards 48 V DC

Switch
(ON/OFF/REMOTE)
Switching relay
dual power
Fuses

Service connector
Fan unit

Moxa power
supply

Main switch (ON/OFF) with fuse Power for rack, cooling unit and sync
responder trig

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Operator station
Introduction
The HiPAP system is operated from one or several operator stations, depending
on the system configuration. The operator stations can be assigned with 3
different access levels. External sensors are interfaced through serial lines or
network.

 Full control: The operator station can be in control and change all
parameters and settings on the network.
 Survey OS: The operator station can be in control but only change
parameters and setting on mobile transponders.
 No control: The operator station can’t take control or change any
parameters or settings regarding transponder setup.
NOTE: Only one operator station can be in control at a time.

Blue Storm Serial line adapter card

The serial line adapter card contains eight serial lines. The first four are
configured as RS-232 and the last four as RS-422. The COM ports numbering
depends on the type of operator station and its already existing serial lines. The
serial line setup can be checked in the device manager.

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 System software
Introduction
The operator station runs Microsoft Windows and contains two main software
applications; HiPAP and APOS.

The HiPAP software includes the following main functions:

 Transceiver status and fault-finding
 Gyro and VRS interface
 Transponder position calculations

The APOS software includes the following main functions:

 Human machine interface
 HiPAP system configurations and settings
 Sound velocity and ray bending compensation
 SSBL and LBL positioning
 Interfaces various sensor inputs
 Interfaces outputs; DP and external computers

APOS software overview

The APOS software is used for configurations of transponders and HiPAP system
settings. The APOS software can include various functions and options used in
operations; LBL, HAIN, ACS etc. APOS is also used to interface inputs and
outputs.

Note: The listed topics are a limited extract of the APOS software.

1
2
1 3
Menu bar
2 Toolbar B
3 Alarm bar A

4 Positioning toolbar
5 Status bar
4
A
Positioning window
B Numeric view
C Inclination view

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Load/convert sound profiles

1. Click VIEW – Sound Profile in

APOS

2. Open a raw sound velocity data

file

a. Recognise the different

columns representing depth
and sound velocity. Also
recognise the columns for
temperature and salinity if
available.

b. Ensure there are no major

errors or gaps in the data

3. Convert to profile.

c. Heading text is free format text field.

d. First line to convert is first data value after heading text.

e. Min sound velocity change is how often APOS will plot the data on
the graph.

4. File – Set Active Profile to make new profile active.

5. Close the profile viewer. Save the file if you want to make a copy of the
profile.

6. Go to System – Sound Velocity. Ensure that the profile is in use and that
the correct sound profile name is displayed.

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SSBL configuration guideline for transponders
 Check the transponder identifications and that it is working by for example
using a TTC. Change the channel and any other settings to be used
 When available, import a relevant sound profile
 Use the SSBL “wizard” to set up the transponder details
 Select the correct type of transponder (MPT, SPT, MST, cNODE)
 Enter the serial number, channel(s) and the specification (if applicable).
When selecting cNODE as the transponder type, choose to use FSK or
Cymbal signal.
 If the transponder has a built-in sensor, the sensor type can be selected
to prepare the APOS software with corresponding settings. Remember to
also set the range for the depth and inclinometer sensor.
 Additional optional functions must be selected accordingly, such as release,
DUB and tilt sensor (available for cNODE).
 If the default transceiver and transducer is not to be used for the
transponder, uncheck the default and select the wanted transceiver and
transducer.
 If the default max range is not suitable for the transponder, uncheck the
default and set the appropriate range.
 Set the wanted interrogation interval and select if the transponder is to be
activated at the end of the setup.
 Transponder to be used for DP positioning must be set to fixed. All other
use of the transponder must be set to mobile.
 When the setup is finished and the transponder is configured with a built-
in sensor, choose to activate the sensor or choose to activate it later.

Responder setup:

 The transponder must be connected to the Responder Drive Unit (RDU),

for example via the ROV umbilical.
 When the transponder has been configured in the APOS software, it is
ready to by setup with the responder function.
 Right click the transponder button in the APOS software and select
properties.
 Make sure to tick on the responder function and select the connected
drive. The trigger signal will now be sent through the RDU, and the
transponder will reply with acoustics.

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General LBL rules
There are certain requirements and limitations to LBL positioning.

 Minimum transponders needed in one array: 3.

 Recommended transponders in one array: 5.

 Maximum transponders to be used in one array: 8.

 There can only be 1 array on each transducer.

 SSBL can be used on the same transducer as an array.

 Arrays can be created with or without base line measurements.

 There can only be used 2 arrays for vessel positioning at the same time.

 FSK channels:

The LBL Interrogation Channel (LIC) must be of an even or odd group

channel according to the selected arrays.

 Cymbal channels:

The transponder in an array including the LBL Interrogation Channel (LIC)

must be of the same hundred channel series. Don`t use the same LIC

channels on two arrays.

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LBL guidelines for MPT transponders
 When available, import a relevant sound profile. Recommended when
measuring base lines
 Select the correct MPT transponders for the array
 Check that the channels apply to the rules for LBL (First digit even or odd
for all transponders in one array. Last digit different for all)
 Check that the transponder is working previous to deployment. Select
correct anchor weight (60 kg – 100 kg) and rope length (4 meter – 12
meter)
 Determine the radius of the array (Maximum ±10° for MPT331
transponders and maximum 0.5 times water-depth for MPT 319)
 Create markers on the APOS screen locating all the LBL transponders.
Circle with x-tags
 Deploy and activate the transponders in SSBL mode. Let the transponders
stabilise for approximate 5 minutes
 Insert the active transponders and set the geographic origin for the array
Alternative 1 with base line measurements:

 Set all the transponders in calibration mode. Telemetry to all

transponders is required
 Measure the base lines between all transponders and accept
standard deviation less than 0.1 meter. Re-measure the base lines
and increase the range if needed.
 Calculate calibrated positions and check the residuals to be less
than 0.2 meter
Alternative 2 without base line measurements:

 Copy initial positions to calibrated positions

 Let APOS calculate the TAD for all locations
 Select LIC-channel as even or odd according to the array setup
 Set all transponders in LBL positioning mode
 Initiate LBL positioning and select positioning object, corresponding array
and transducer in the LBL positioning menu
 Perform runtime calibration and check the RMS residual. Less than 1 is
better than expected. The range residual should be close to 0

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LBL guidelines for cNODES
 When available, import a relevant sound profile. Recommended when
measuring base lines
 Select the correct cNODE transponders for the array
 Select channels within the same hundred series, i.e. M01, M23, M47 etc or
M212, M225, M239 etc.
 Check that the transponder is working previous to deployment. Select
correct anchor weight (60 kg – 100 kg) and rope length (4 meter – 12
meter)
 Determine the radius of the array. Maximum ±10° for cNODE 34-30V30H
transponders and maximum 0.5 times water-depth (maximum 450 meter)
depth for cNODE 34-180 transponders
 Create markers on the APOS screen locating all the LBL transponders.
Circle with x-tags
 Deploy and activate the transponders in SSBL mode. Let the transponders
stabilise for approximate 5 minutes
 Insert the active transponders and set the geographic origin for the array
Alternative 1 with base line measurements:

 Measure the base lines between all transponders and accept

standard deviation less than 0.1 meter. Re-measure the base lines
and increase the range if needed.
 Calculate calibrated positions and check the residuals to be less
than 0.2 meter

Alternative 2 without base line measurements:

 Copy initial positions to calibrated positions

 Let APOS calculate the TAD for all locations

 Select LIC-channel
 Set all transponders in LBL positioning mode
 Initiate LBL positioning and select positioning object, corresponding array
and transducer in the LBL positioning menu
 Perform runtime calibration and check the RMS residual. Less than 1 is
better than expected. The range residual should be close to 0

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APOS output configuration
The APOS software can send position data, these outputs can be configured via
serial lines or network. The output telegram can be selected with different
parameters according to the required data. Some of the required data could be
SSBL or LBL positions (local or geographic positions), HAIN positions and the
formats of these.

Output to Kongsberg DP
The standard output to Kongsberg DP is a BCD telegram sent on network.

The default IP addresses:

HiPAP1 on DP - 230.21.1.22 with port number 32080

HiPAP2 on DP - 230.21.1.23 with port number 32081

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HiPAP and HAIN IP addresses

HiPAP 2’nd generation

Operation Stations
APOS Net A Receive Port Transmit Port Net B
OS1 172.21.2.81 = TrcInf Send = TrcInf Listen 172.22.2.81
OS2 172.21.2.82 172.22.2.82
OS3 172.21.2.83 172.22.2.83
OS4 172.21.2.84 172.22.2.84

APOS
Master / Slave APOS Master/Master

OSK Message Bus Multicast Local

Alive address 230.21.11.238 127.0.0.1
UDP - Emergency 38100 38100
UDP - High 38101 38101
UDP - Normal 38102 38102

HiPAP 501, 351, 101:

HiPAP x21 / x81 Transceiver Adapter Receive Port Transmit
Port
Transceiver 192.168.200.1 = APOS TX = APOS RX
Power Supply 192.168.1.24
Responder Drive 192.168.200.222
MOXA 510A (OS side) 192.168.127.253
MOXA 518A (TRC side) 192.168.127.252
HiPAP 350P Transceiver Adapter RX Port TX Port
Transceiver 192.168.200.1 = APOS TX = APOS RX
Power Supply 192.168.200.254
Seatex MRU 5/6 192.168.127.1 4001
(VRS1)
HAIN Net A TX Port RX Port
HAIN 1 172.21.2.178 47778 47777
HAIN 2 172.21.2.179 47788 47787
Hull Unit
Hoist Control 192.168.127.125
Gate Valve 192.168.127.126 Not enabled, unless connected
Hull Unit Depth 192.168.127.127

Multicast to DP TX Port RX Port

HiPAP 1 on DP 230.21.1.22 32080
HiPAP 2 on DP 230.21.1.23 32081
IP addresses specified above are default. Some IP addresses may be configured
differently on your system.

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HiPAP 1st generation IP addresses (pre 2007)

APOS Net A Net B

OS1 157.237.11.191 157.236.11.191
OS2 157.237.11.192 157.236.11.192
OS3 157.237.11.193 157.236.11.193
OS4 157.237.11.194 157.236.11.194

HAIN Net A TX Port RX Port

HAIN 1 157.237.11.178 47778 47777
HAIN 2 157.237.11.179 47788 47787

SBC400 / 400H Net A RX Port TX Port

Transceiver 1 157.237.11.200 42000 42010
Transceiver 2 157.237.11.201 42001 42011

OSK Message Bus Multicast

Alive address 230.237.11.238
UDP - Emergency 38100
UDP - High 38101
UDP - Normal 38102

IP addresses specified above are default. Some IP addresses may be configured

differently on your system.

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Serial line description

© Kongsberg Maritime Training Page 41 of 82

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HiPAP software overview
The HiPAP software performs the calculations of all transponder positions
presented in APOS. The HiPAP software always runs in the background of APOS.
The HiPAP software can be accessed from the taskbar, or press Alt while toggle
with the Tab button to find the HiPAP software as a running program.

The HiPAP software can be used for checking various performance values:

Window menu
- New attitude window:

Check the sample rate of attitude

sensors

Configure menu
- Transceiver ON/OFF:

This allows switching on/off the

transceiver cabinet locally from the
operator station.

Tools menu:
- Check transducer:

Show status on all

transducer elements.

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 - Network test:
Test the communication
between operator station and
the transceiver cabinet.

- System report:
Create a report containing a detailed description of the HiPAP software status.

TRX board status

- Check the TRX board status from

the transceiver. Measure the internal
voltage and temperature on each
TRX board.

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Optional products and functions
Hull unit remote control
The APOS supports a software remote control function of the hull unit hoist and
the gate valve. New control unit for the hoist control and/or the gate valve is
required. In addition this must be enabled in the HiPAP software.

APOS will automatically display an icon in the

toolbar for each hull unit that is available for
remote control.

The gate valve can only be opened or closed when the transducer is fully
hoisted. The end switches indicates when the transducer shaft is fully hoisted or
lowered.

The transducer shaft can only be lowered when the gate valve is fully opened.
The end switches indicates when the gate valve is fully opened or closed.

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Vessel speed alarm
If a hull unit remote control is
installed and a GPS is configured
to APOS, APOS may give an alarm
if the vessel starts moving with
the hull unit lowered.

Set a speed limit for the alarm

(not recommend higher than 4
knots). A standard alarm will be
given in the alarm view together
with an alarm sound (requires
external speakers connected).

If one wants a more visually alarm, select the Full screen warning dialog
check box. When selected and the alarm triggers, there will be an alarm window
all over the screen.

The last section shows the estimate of vessel speed based on GPS position.

Responder Drive Unit

The Responder Drive Unit
(RDU) is used to
administrate several
transponders configured
as responders. Up to 8
different responder drives
can be used (4 electrical
and 4 optical).

A responder is a
transponder that receives
electric trigger pulse from
the transceiver and
responds acoustically. The
ethernet is used to decide
the correct output to the
correct trigger output.

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HAIN overview
General description
HAIN is a combination of acoustics and inertial navigation.

HAIN is delivered in two versions. HAIN Reference improves the vessel

positioning, and HAIN subsea improves the positioning of the ROV.

HAIN is an inertial navigation system. The

IMU is the main sensor. It consists of 3
gyros and 3 accelerometers. The gyros
measure the rotations around 3
perpendicular axes, and the
accelerometers measure the acceleration
in the same 3 axes.

The HAIN Reference is for vessel

positioning. It does not have the aiding
sensors (depth, DVL and compass). It
gets both the depth and the heading from
the APOS software. The depth is constant
and close to zero, telling that the vessel is floating. The heading is the vessel
heading as read from APOS. DVL is only used for HAIN subsea.

SSBL and LBL can be used as aid for the inertial navigation to calculate a HAIN
position, as long as they have a geographic stamp. A geographic stamp can be
manually set in the SSBL positioning aid object properties, or logged via a
position average function on the transponder. The geographic stamp can be set
in the LBL array menu for the LBL positioning aid. A position average function
can only provide geographic positions if APOS has DGPS interfaced.

The HAIN computer communicates with the APOS software on network. The
APOS transmits the DGPS/HiPAP position of the ROV to the HAIN computer. This
aiding position is transmitted when available. The HAIN computer transmits the
calculated HAIN position, heading and attitude to the APOS at 1 Hz.

The HAIN system is connected via the APOS software and configured as position
output. The DP can use the HAIN positions as a position reference system with
improved quality and faster update rate.

Other benefits with HAIN are:

 Position aid update can be set to lower interval to save battery

 Position accuracy quality
 Allow 300 seconds timeout limit for the reference system. The HAIN sends
positions to the DP for 300 seconds if no aid is available.

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The IMU is located
maximum 10 meter
to the HAIN
computer with a
standardised cable.

The HAIN computer

is connected to the
HiPAP system via
NetA and NetB.

All HAIN parameters

and settings are
configured and
controlled from the
APOS software.
There is no user
interface on the
HAIN computer.

The graph shows typical

HiPAP SSBL and LBL
standard deviations as a
function of depths with and
without HAIN Reference

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Maintenance
Maintenance routines must be performed regularly and effectively to ensure that
the equipment is kept in top condition. The chart below states the maximum
recommended intervals at which the various routines should be performed - the
intervals should be decreased if the system is used excessively.

Safety
Refer to standard company/vessel safety procedures before commencing
maintenance work.

Note - After any maintenance work, the system must be checked to ensure it works correctly
Refer to the procedure in the Test and alignment procedures.

Maintenance chart

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Shaft and chain grease

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HiPAP Exercises
Simulator exercises
The purpose of the simulator exercises is to allow the participants to practice
using the APOS software. Giving them the opportunity to carry out the
procedures demonstrated in the classroom on the APOS simulator to reinforce
learning objectives.

Hardware exercises
The purpose of the hardware exercises is to allow the participants to practice
using the HiPAP equipment.

 Transponders types and their configuration

 Responder drive unit (RDU) and responder mode
 Transponder test and configuration units (TTC30 or TTC400)
 Transceiver cabinet
 Operator station

The participants learn to recognize the different components in a HiPAP system,

and how they work together.

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Exercise 1 - APOS preparation
Objective:

This exercise is meant to highlight a few basic settings

necessary to consider before you start a mission. There
is no transponder configuration necessary at this stage
(Some pretending is required to see this exercise as a
real life operation)

Project description:
You are involved in a template installation at 500 m depth outside the north-
west part of Norway.

 Correct timestamp on all transponder positions is required

Your task:

1. Click File - New.

2. Check that you do not have any active alarms or events before you
continue.
3. Use the starboard transducer as the primary selection for this project.

4. Make sure the transducer is using high power when communicating with
the transponders.
5. What is the suitable max range setting for this project?
______________________________________________________
6. What makes the sound speed values vary?
______________________________________________________
7. Make sure that the operator station is using the correct time and date.
8. Open the sound velocity profile C:\APOS\DATA\profile_500.usr, and
convert this to a ray diagram. Activate the profile in APOS.
9. Make a simple drawing showing the corrections the sound velocity profile
will do to a transponder position.
10. Describe with a few words what info is given in the status bar.
______________________________________________________
11. Prepare positioning window to view cartesian coordinates.

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Exercise 2 – Transponder setup
Objective:

This exercise is meant to highlight a few basic settings

needed in SSBL positioning. Some pretending is required to
see this exercise as a real life operation.

Project description:

 You are involved in a template installation at 500 m depth.

 Transponders will be deployed and you need to configure them.
 Use starboard transducer for the DP transponders.
 Use the port transducer for the ROV- and template transponders.
Your task:

1. Start interrogating M01 (1 second update interval) and M02 (3 second

update interval). Both are used as a DP reference.

2. Start interrogating B16 (ROV) with 2 second interval. Make sure it is not
used by DP for positioning (note: different symbol). Activate history track
to check the stability of the transponder.

3. Start interrogating B83 (on the template) with 2 second interval and make
sure the position and sensor values are shown in the numeric view. This
transponder is a moving target.

4. Start interrogating B31 (on the template) with 3 seconds interval. This
transponder is not to be used by DP for auto positioning. Start monitoring
the angles measured by the inclinometer.

5. Change display scale to 10 m.

6. Measure the distance from M01 to M02 and make a screen dump of the
measured distance.

7. Save what you have done so far as.

Transponders on board:

s.n 3031 B31 SPT 331/I

s.n 1016 B16 MST 324
s.n 10001 M01/B78 cNODE Maxi 34 180-R
s.n 10002 M02/B73 cNODE Maxi 34 180-R
s.n 3083 B83 SPT 319/DT

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Exercise 3 – Transponder check
Objective:

This exercise is meant to show a few more settings necessary

to continue operation in SSBL mode. Some pretending is required to see this
exercise as a real life operation.

Project description:

 Change a few settings on the template transponders according to the

operation specification
 The template is installed on the seabed
 ROV transponder presents unstable positions.
 Read battery lifetime.

Your task:

Remember to use help functionality as additional assistance. This exercise is a

continuation of the last exercise

1. Make sure to continue from the last exercise.

2. Check the signal noise ratio for B16 in the trend view. Compare the values
with other transponders to determine if the noise is the factor causing
unstable positions.

3. Calculate the angle accuracy for B16 based on average signal noise ratio
and the given accuracy specifications for HIPAP 500.

tan(α) = accuracy / depth

Angle accuracy HIPAP 500:

- S/N ~ 0 dB = 0.30°
- S/N ~ 10 dB = 0.18°
- S/N ~ 20 dB = 0.12°

Accuracy: _________________

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 4. Compare the calculated accuracy with the history track shown in polar
view for B16.

5. Create a NMEA log file of B16 documenting approximately 1 minute of the

unstable positions.

6. You need to replace the transponder. Delete the old transponder in APOS
and configure the new MST.

7. Read battery lifetime on the SPT transponders with current settings active

B31, TX Lifetime_________ RX Lifetime__________

B83, TX Lifetime_________ RX Lifetime__________

8. The depth sensor values are no longer needed, change necessary settings.

9. This project is dependent on the position and angle update for the
template. The client knows that to save battery it is possible to reduce the
source level. Change the output power on B31 transponder to low.

10.Read new lifetime with new settings activated:

B31, TX Lifetime ________ RX Lifetime_________

11.Save your progress so far.

12.Create a system report and take a system backup.

Transponders on board:

s.n 3031, B31, SPT 331/I

s.n 1074, B74, MST 324 (new)
s.n 10001, M01 / B78 cNODE Maxi 34 180/R
s.n 10002, M02 / B73 cNODE Maxi 34 180/R
s.n 3083, B83, SPT319/DT

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Exercise 4 – LBL
Objective:

This exercise is meant to guide you through a complete LBL array setup of
transponders using baseline measurements as a foundation for the surface
position of the vessel. When the setup is complete you will see the vessel
positioned relative to the transponders on the seabed.

Project description:

 1500 meter water depth.

 The LBL position should show 0 m north and 0 m east when you are on
the top of the base point.
 You are requested to use the starboard transducer for the LBL array.
 Wanted update rate is 3 seconds for the LBL positioning

Your task:

1. Configure the transponders you need for the LBL array in SSBL. Use a 3
second update rate. After activation, let the SSBL positions stabilize for
approximately 2 minutes before you continue the LBL setup.

2. Insert active transponders in the LBL array. The vessel position at this
moment will be used as the array origin.

3. Select array 1 and perform baseline measurements between all 5

Transponders. All the baselines are to be measured both ways 4 times.
Set this in the LBL array measured baselines menu.

4. Check the standard deviation on each measurement. Accept range

measurements with standard deviation below 0.1 m. Typical values for
cNODE transponders running cymbal protocol are better than 0.01 m.

5. Calculate the calibrated transponder positions based on the measured

baselines.

6. The new calculated transponder positions are derived from both SSBL
positions and range measurements. Check the residual value for the
status sum. The residual value is the difference between the measured
ranges and the final calculated calibrated transponder positions. The
standard deviation and the residual should be less than 0.1.

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 7. To check if your calibrated positions make sense, check the calibrated
positions in LBL array location. Move between initial coordinates and
calibrated coordinates. Roughly the same coordinates are expected.

8. Save your new calibrated positions.

INFO:
To avoid pulse collisions at your transducer depth, individual turn around delays
must be determined for each transponder.
If the transducer is vessel mounted, the depth offset is automatically suggested
by APOS. If your transducer is mounted on a ROV, you need to insert the
operating depth manually.

9. Let APOS suggest turnaround delays for you.

10. The show button will present a dotted area on the display indicating where
the pulse collisions will affect your LBL positioning results.

11. Use M57 as LIC and change the mode on all the transponders to LBL
positioning mode.

12. Create a LBL positioning object for the array.

13. If everything works properly, save your transponder set up, make a
system report and create a system backup.

INFO:
When positioning is started, notice the following info in the Numeric View:
- RMS Residual values around 1, position result as expected
Less than 1, better than expected
Higher than 1, worse than expected
- Range residual around 0: Measured range match expected range
- Dpt residual around 0: Calculated depth as expected (water surface is the
reference)
- Dpt Range: Distance from water surface to Reference point

Transponders on board:

M21/B61 sernr: 10021 cNODE Maxi 34 30V30H - R

M22/B62 sernr: 10022 cNODE Maxi 34 30V30H - R
M25/B65 sernr: 10025 cNODE Maxi 34 30V30H - R
M27/B67 sernr: 10027 cNODE Maxi 34 30V30H - R
M28/B68 sernr: 10028 cNODE Maxi 34 30V30H - R

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Exercise 5 – Transponder setup with TTC
Objective

This exercise consolidates much of the course activity,

using the TTC400, TTC 30 test sets and live
transponders.

TTC 30 Exercises

1. Upload the parameters from the cNODE transponder to the TTC30.

Read the battery status

_____________%

2. Prepare for a battery change. What safety precautions are recommended

before you open a transponder?

________________________________________________

3. What could help if the transducer module is difficult to get off?

________________________________________________

4. Open the transponder and “replace” the battery.

5. Locate the alignment pins on the transducer head and the alignment
marking on the outside of the transponder housing. Assemble the
transducer head. Make sure the manual vent screw is closed!

6. Use the acoustics to test that the transponder is working.

7. The current transponder channel is already in use on a vessel close by.

Change channels to M22/B28. Make sure it is set to the cymbal protocol.
Check that the transponder replies on the new channel number.

8. Check that the release mechanism is working.

9. The transponders have been used for 3 months. They have just arrived on
deck. What is important to check?

_________________________________________________

10. Set the transponder channel back to original settings.

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TTC 400 Exercises:

1. Configure the transponder in the TTC 400 and read the battery status.

TX: __________ RX:___________

2. Prepare for battery change. What safety precautions are recommended

before you open this transponder type?

3. Open the transponder and “replace” the battery.

4. When you are connecting a new battery, how is the transponder indicating
that it’s connected?
_____________________________________________

5. What must be checked before the transponder is assembled?

6. Read the battery status on the “new” battery with the TTC400.

Result: ________________________

7. Change the channel to B48 and test that the transponder replies on the
new channel.

8. Verify that the release mechanism is working with acoustics.

Watch your fingers!

9. Read the depth/temp sensor values.

Depth: __________ Temperature: __________

10. Reset the transponder back to a factory setup. Test the original channel.

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Exercise 6 – HiPAP system test
Objective:

This exercise consolidates much of the course activity, using a live transceiver
and transponders.

Project description:

Start up the HiPAP system and make sure it works properly. Check that the
transponders work with acoustics.

Your task:

1. Configure the necessary settings in the HiPAP system and make the
seabed transponder ready to use.

2. The seabed transponder will be used later by others, so make sure it is

working properly, both as position reference and that the depth sensor is
working.

3. Use the trend view to show 2 minutes of sensor values.

4. Read depth and temperature using telemetry command.

Results: ______________________

5. Read battery life time.

Result: _______________________

6. Test the release function. Watch your fingers!

7. Prepare the ROV transponder and make sure it works. Test this one in
both transponder mode and responder mode. Use drive 1 as output.

8. Create a system report

Transponders on board:

Use available transponders (cNODE, MPT, SPT, MST etc.)

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Exercise 7 – HiPAP laboratory
Objective:

This exercise is meant to let you get familiar with the system
components through some typical fault finding. The hand-out given during the
theoretical part of the course will be used as a manual and should be enough to
solve the given problems.

Project description:

 Water depth 250 m. Previous location was 2500 m.

 The DPO reports that heading information is not working.
 The DPO is also complaining about losing transponder positions.
 The client requires one more MRU input for redundancy.
 Responder setup for the ROV is required.

Your task:

1. Take a system backup before you change any settings.

2. Figure out the gyro problem and specify what you checked.

______________________________________________________

3. When the transponders were released at the last location they

disappeared right after they were released. The same thing happened on
the new location when the vessel moved away from the transponders.
Find out the reason for this and suggest a suitable value?

_____________________________________________________

4. Prepare a new additional MRU 5 input. Terminate a new RS422 serial line
from junction box 1 to a 9-pin connector.

5. Use the PosLog program to verify the actual MRU telegram.

6. Use the scope to view the new MRU signal. Draw the signal with voltage
levels.

___________________________________________________________

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 7. Connect the new MRU and configure it to a suitable COM port and check
incoming signal in the APOS.

8. Prepare two separate 9-pin connectors for the responder drive unit.

9. Use the MST on drive 1 and the cNODE mini on drive 3, and make sure
they are working as responders.

Available equipment:

HIPAP350 with X81 transceiver cabinet

MRU 5 (connected via splitter)
Gyro (from simulator PC)
GPS (from simulator PC)
External depth sensor (from simulator PC)
Transponders
Laptop (connected to internet for sw download and fault-finding)
Fluke scope meter, various D-sub connectors, cables, etc….

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Exercise 8 – HiPAP external
interfaces
Objective:

This exercise is meant to let you get familiar with the system components
through some typical fault finding. The hand-out given during the theoretical
part of the course will be used as a manual and should be enough to solve the
given problems.

Project description:

 A survey crew is on board for the rig move. They need geographic
positions of the transponders. The GPS antenna is placed 13 m forward
and 7 m port of the vessel center. The GPS is located 23 meter above the
vessel centre.
 The survey crew reports that they`re not reading outputs from the APOS
to the survey computer.
 The client wants a separate output from APOS computer to his own
computer. This is done so that the client can log all the transducer
positions in parallel to the survey.
Your task:

1. Take a system backup before you change any settings.

2. Configure and start a transponder using the cPAP transducer.

3. Configure a GPS input and an external depth sensor input. Use RS422
serial line for the depth interface, and use RS232 serial line for the GPS
interface. The GPS antenna offset has to be set. The external depth
sensor provides ASCII format. Select user defined and set the header
to:*. Choose fixed position and set the depth position to 6 with a
converting factor to 1.

4. Configure BCD output on network to both HiPAP 1 and HiPAP 2 interface

on the DP. Check the output signal using the PosLog program.

5. Find out why the survey computer is not receiving any positions from
APOS. The survey desk requires NMEA telegram on a RS232 serial line.

6. Use the scope to verify the output. The instructor needs to approve the
results. Describe what you did:

___________________________________________________________

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 7. The client needs a separate HPR400 telegram on RS232 format to his
desk. Prepare this output and verify that you are sending out the correct
telegram using the PosLog program. Describe what you did:

___________________________________________________________

Available equipment:

cPAP transducer
Transponders
GPS input
External depth input
Laptop for fault-finding
Fluke scope meter, 9-pin connectors, cables, etc.

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Exercise 9 – HiPAP network
Objective:

This exercise is situated around network problems.

Project description:

 The DPO reports that the operator stations are not communicating with
each other, and that both are in control.
 When they use operator station 1, the transponders are lost on the DP.

Your task:

1. What card is essential for the communication between APOS and HiPAP?

____________________________________________________

2. Take a system backup before you start to do settings changes.

3. Repair the network connection between the HiPAP operator stations.

Describe what you did.

____________________________________________________

4. Find out why the DP does not receive any transponder positions from
operator station 1, and fix it.

5. What is the standby mode, and how does it work?

____________________________________________________

6. Run a ping command to verify that the net B is working on both operator
stations.

____________________________________________________

7. Run a ping command to the MOXA 518. Which operator station, and what
IP address do you need to use?

____________________________________________________

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 8. Check the temperature on the TRX boards.

____________________________________________________

Available equipment:

HIPAP500 with an extra operator station on A/B network

cPAP transducer
MRU 5 (connected via splitter)
Gyro input (from Simulator PC)
GPS inputs (from Simulator PC)
Transponders
A laptop, connected to internet for sw download and fault-finding
Fluke Scope meter, various D-sub connectors, cables, etc….

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Index
HAIN Reference, 46
A
Heading, 8
Absorption, 15 HiPAP
Acoustics, 11 Maintenance, 48
Array radius, 36 Maintenance chart, 48
AUV, 6 Shaft and chain grease, 49
HiPAP 500/501 cable plan, 27
B HiPAP and HAIN IP addresses, 39
HPR400 Transponder, 20
Base line measurements, 36 HPR400 Transponder Identification, 19
Base lines, 6, 36 Hull Unit, 29
Baseline measurements, 18 Hull Unit Remote Control, 44
Battery lifetime cNODE, 26
Battery lifetime HPR400 Transponders, 25 I
BCD, 38
BCD telegram, 6 IMU, 46
Bearing, 6 INS, 8
Blue Storm Serial line adapter card, 31
L
C
LBL, 8, 18, 55
CAD file, 6 LBL Guidelines for cNODES, 37
Cartesian coordinate system, 6 LBL Guidelines MPT transponders, 36
Check transducer, 42 LBL Rules, 35
cNODE Transponder Identification, 19
cNODE Transponders, 21 M
Course, 6
CPU, 20 Markers, 36
CTD, 7 MPT, 36
MRU, 8
MuLBL, 8
D
Datum, 7 N
DGPS, 7
DP, 7 Network test, 43
Dual HiPAP, 7 NMEA, 9
DVL, 7
O
F Operator station, 31
FSK frequency chart, 22 Output to Kongsberg DP, 38
FSK reply pulses, 22
P
G Positioning principles, 17
Geographic origin, 36
Geometrical spreading, 14 R
Gyro, 8
ray bending, 11
Responder, 17
H Responder Drive Unit, 45
HAIN, 8, 46 Responder setup, 34
HAIN Overview, 46 ROV, 9

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Runtime calibration, 18 TMS, 9
Transceiver Cabinet, 30
S Transceiver ON/OFF, 42
Transducer Details, 28
Sensor scale factor, 23 Transmission loss, 14
Serial line description, 41 Transponder Quick Reference Guide, 80
Serial number, 20 TRX board status, 43
Signal/Noise, 15 TTC 400, 58
Sound Profile, 33 TTC30, 57
Sound velocity, 11
Sound velocity probe, 9
U
SSBL, 17
SSBL configuration guideline for UTC, 9
transponders, 34 UTM coordinates, 8
System report, 43
V
T
Vessel speed alarm, 45
Template, 9 VRS, 10

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Information letters
Introduction
The purpose of this section is to display the most relevant Information letters for
this particular course. For the most up to date versions of the Information
letters, or to look for new Information letters it is best to visit the Kongsberg
Maritime website.

http://www.km.kongsberg.com

The following Information letters are shown in this section:

 Support Stop.
 HiPAP 501 Redundancy.
 Improvements on cNODE Release Mechanism.
 HiPAP Frequency Plan.
 cNODE® Maxi battery lifetime estimation.
 cNODE® Critical software update - battery lifetime estimation

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 Transponder Quick Reference Guide
Refer to the respective transponder Instruction manual for more detailed information about the individual transponder.
Safety information Transponders in general
Due to safety rules, the "Safety information Handling a heated or self-heated General
for transponder and transponder battery" The SPT / MPT transponders are compatible with the
transponder / transponder battery
must be read before handling transponders Cool down the battery with copious amounts of Kongsberg Maritime HiPAP / HPR systems. The
or separate transponder batteries. cold SPT / MPT transponders includes units deep water
. water rated to 1000 / 3000 / 6000 meters.
Refer to the respective transponder instruction manual The transponders are supplied with different
/ the Transponder Safety Data Sheet (859-164733 / • Immerse the transponder / separate transponder transducer heads, according to the transponder
Internet) battery in the sea for 12 hours or permanent. specifications. The transponder name indicates the
- If this method is impossible, the transponder / transponder specification. All transponders are
Battery separate battery can be cooled down by use of a designed for operation in water only!
As a standard, a SPT / MPT transponder contains a fire horse.
lithium battery. Use necessary protection equipment.
Transponder name
Hazards identification The transponder name consists of:
Wash out chemical reaction products with water.
Short-circuits, overheating, mechanical damage and Opening a transponder • Model name (three letters)
exposure to water can start chemical reactions and
• Open the transponder in a safe place out on deck, • Model number (three digits)
high currents inside the transponder lithium battery.
This can generate noxious gases and / or danger of shielded from people and vital equipment. • Any options included (letters after digits)
explosions. • Use necessary protection equipment. Model name
• Noxious gases - thionyl chloride, sulphur dioxide, • Do not stand in front of transducer or bottom end
SPT: SSBL Positioning Transponder
MPT: Multifunction Positioning Transponder
hydrogen chloride and chlorine. cap, when opening a transponder.
All personnel that have been exposed to the Model number
noxious gases should immediately be seen by a Storage The three digits describe:
doctor. • A transponder that is failing, must be stored in a Digit 1: frequency band
Digit 2: depth rating and
• Explosion - if the transponder explodes, either the safe place out on deck, shielded from people and
Digit 3: beam width
transducer or the bottom end cap will blow out, vital equipment.
or the transponder becomes fragmented. This • A transponder that is functioning, and separate Options Identification
can cause serious damages on personnel / Available options are described in the respective The identification clamp ring is tightened around the
batteries can be stored indoors. A fire station, with
equipment. Instruction manual. transponder body. This ring is engraved with:
fire hose (water), must be placed outside the
Handling storeroom. • Transponder name
All personnel that handle transponders must know the Disposal • Registration number (unique serial number)
transponder’s status:
• For safe disposal, contact a company that has been • Frequency channel.
‘Functioning’ – ‘Failing’ – ‘Unknown’
A transponder with unknown status, must
approved to collect and dispose lithium batteries.
• Type of battery
be handled as a transponder that is failing. If the transponder configuration and battery is
A ‘failing’ transponder must be handled as changed, the channel numbers (A) and the type of
possible water ingression. battery (B) can be altered by setting pegs into different
• All transponders recovered from the sea, holes in the clamp
.
should be placed in a safe place out on The figure below shows an identification clamp ring for
deck and controlled for a transponder using channel B57 and includes a
minimum 2 hours: lithium battery. Name and serial number is engraved
- Look for outer damages that could on the other side.
involve a water leakage.
- The transponder housing temperature
must be checked to verify a possible
temperature increase in the battery.

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 Transponder Quick Reference Guide
Refer to the respective transponder Instruction manual for detailed information about the individual transponder. Connecting the battery
At delivery, the transponder battery is disconnected, All transponders are preset by the manufacturer. Recovery checks • All transponders and separate transponder batteries
and must therefore be connected before transponder The channel setting may be changed if required. This After recovery, wash the unit thoroughly in fresh water must be shipped in accordance with prevailing
deployment. can be done as follows: to dissolve any salt deposits and clean off any sand or regulations.
To connect the battery, the unit must be opened. • Use of internal switches, or silt. If available, a high pressure hose may be used. • During transport the battery must always be
This is described in detail in the respective manual.
NB! It is important to follow these procedures. • With use of acoustic telemetry from a HiPAP / If the unit is not to be re-deployed in the near future, disconnected from the electronics.
disconnect the battery.
1 Grab the connector firmly using both hands. HPR 400 system. The HPR 300 systems can not • Original transponder / battery cages must be used.
send telemetry for this purpose. Refer to safety information on the opposite page.
2 Press the connector onto the battery plug.
3 When you connect the battery, listen for the transponder References Mounting
initialization: For information about set-up of a transponder, refer to A transponder may be:
- Three bursts should be transmitted at a rate of APOS Instruction manual / On-line help. • Secured to a subsea structure, using mounting
one per second. brackets.
Pre- deployment checks
- If you do not hear any bursts, disconnect the • Located on the open seabed. This requires an
battery immediately, and wait minimum 20 sec. 1 Perform a visual inspection of the transponder. anchor-weight and a buoyancy collar to hold the
before you connect it again. transponder securely in position on the seabed.
4 When the battery correctly connected, assemble 2 Perform a functional check before deployment, to
ensure it will operate correctly once it has been
the transponder. positioned on the seabed. Changing the Battery
- NB! remember to inspect the O-rings and backup 3 The transponder tester, the TTC 400 can be used To change the battery, the transponder unit must be
rings (if used). Refer to the respective instruction for functional check. opened.
manual. If the transponder is fitted with a release unit,
Deployment disconnect the release plug at the bottom of the
At deployment, the unit must be positioned with the
battery before removing the battery.
transducer upright. Ensure a clear line of sight
Unplug the connector from the battery by:
between the transponder's head and the ship's
transducer. The release mechanism (if fitted) must be
attached to the shackle. 1 Support the connector with your left hand and
The shackle will ensure the transponder is released use a screw driver to press the release knob, as
smoothly when requested by the operator. you pull out the connector.
When you deploy the transponder, the anchor-weight 2 Remove the four nuts and locking washer holding
must be lifted separately from the transponder. the battery to the chassis.
DO NOT attempt to lift both the transponder and the
anchor-weight via the transponder, the transducer 3 Replace the battery pack in the reverse order.
cage is only certified for lifting the transponder and the
buoyancy collar. For the SPT 339- /331- / 139 RspSx transponders
During deployment, prevent the transponder from read the details for battery connection in the
slamming against other solid objects. instruction manual.
Ready for operation
Once deployed, the transponder is ready for Maintenance
operation. The sensors in your application will respond No maintenance is normally required, apart from
to requests from the HiPAP / HPR system, when they washing the unit. To change the battery pack, the unit
are enabled using telemetry. must be dismantled.
Operation Transport
The operation of the transponder performed at the At transportation and storage, the transducer face and
Set-up of the system HiPAP / HPR topside Operator Station. For the O-ring grooves must be protected (if the
information regarding operation, refer to APOS transponder is open).
Instruction manual / On-line help system.

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Kongsberg Maritime Training Centre

Strandpromenaden 52
3181 Horten
Norway