338421aa APOS Training Manual

Training Manual
APOS
Acoustic Positioning Operator Station
Basic Operator Course
Training Manual
APOS
Acoustic Positioning Operator System
Training Manual
338421/A I
APOS
About this document
Rev Date Written by Checked by Approved by

A 26.01.2010 IJG TEC FL
Original issue.
Copyright
© 2010 Kongsberg Maritime AS.
All rights reserved. The information contained in this document remains the sole
property of Kongsberg Maritime. 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.
Disclaimer
Kongsberg Maritime endeavors to ensure that all information in this document is
correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for
which it was designed. Improper use or maintenance may cause damage to the
equipment and/or injury to personnel. The user must be familiar with the contents of
the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by
improper installation, use or maintenance of the equipment.
Support
All Kongsberg Maritime products:
Phone 24 hour: +47 815 35 355
E-mail: km.support@kongsberg.com
HiPAP, HPR, Transponder and ACS:
Phone 24 hour: +47 992 03 808
E-mail: km.support@kongsberg.com
Kongsberg Maritime AS
Strandpromenaden 50 Telephone: +47 33 02 38 00
P.O.Box 111 Telefax: + 47 33 04 44 24
N-3191 Horten, www.ko ngsberg.com
Norway E-mail: subsea@kongsberg.com
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Table of Contents
1 ABOUT THIS MANUAL ........................................................................................9

Manual content...........................................................................................................9
Abbreviations .............................................................................................................9
2 HIPAP INTRODUCTION ....................................................................................10

What is HiPAP? .......................................................................................................11
What is APOS? ........................................................................................................13
Operating modes ......................................................................................................13
Sensors .....................................................................................................................13
HiPAP system overview ..........................................................................................14
Surface system overview ...............................................................................15
Subsea system overview................................................................................16
Slant range measurement .........................................................................................17
Echo sounder concept....................................................................................17
Slant range measurement...............................................................................18
Positioning principles...............................................................................................22
Long Baseline positioning .............................................................................24
Short Baseline positioning.............................................................................25
Super Short Baseline positioning ..................................................................25
Applications .............................................................................................................25
3 HYDROACOUSTICS ...........................................................................................27
What is sound? .........................................................................................................27
Fundamental parameters ..........................................................................................27
Definitions .....................................................................................................28
Advanced subject...........................................................................................28
What is dB? ..............................................................................................................29
History ...........................................................................................................29
The easy way .................................................................................................29
Additional subject – history of chess.............................................................32
Factors influencing in hydroacoustics......................................................................34
Geometrical spreading...................................................................................35
Absorption .....................................................................................................36
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Noise..............................................................................................................37
Air bubbles ....................................................................................................39
Azimuth thruster ............................................................................................39
Reflections .....................................................................................................39
Ray bending effect.........................................................................................41
Sound velocity..........................................................................................................43
Additional subject..........................................................................................44
Sound velocity profile ..............................................................................................44
4 SURFACE HARDWARE......................................................................................46
Transducer................................................................................................................46
Transducer elements ......................................................................................47
Beam width....................................................................................................48
Maintenance ..................................................................................................49
HiPAP SSBL positioning.........................................................................................50
Search mode ..................................................................................................50
Track mode ....................................................................................................50
Transducer Maintenance................................................................................51
Operator station........................................................................................................51
Optional operator stations..............................................................................52
File handling with two or more operator stations ....................................................53
Transceiver units ......................................................................................................54
Hull unit ...................................................................................................................55
5 TRANSPONDER HARDWARE ..........................................................................57

What does a transponder look like? .........................................................................58
What is a transponder? .............................................................................................58
What is a responder? ................................................................................................59
Main parts of transponders.......................................................................................60
Transponder model identification principle .............................................................61
Transponder identification.............................................................................62
Transponder with floating collar..............................................................................63
Pulse positioning with sensor information...............................................................64
Inclination transponders ................................................................................64
Depth transponders ........................................................................................65
Compass transponders ...................................................................................65
Special remarks for some transponder models.........................................................65
Depth and temperature sensor .......................................................................65
Inclinometer sensor .......................................................................................65
Heading sensor ..............................................................................................66
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Batteries ...................................................................................................................66
SPT and MPT battery ....................................................................................66
Battery lifetime presentation .........................................................................67
Matrix battery ................................................................................................70
Responder.................................................................................................................71
Responder type, MST ....................................................................................71
MST maintenance..........................................................................................72
Responder type, SPT or MPT ..................................................................................73
Medium frequency channel overview......................................................................74
6 APOS INTRODUCTION ......................................................................................76

APOS .......................................................................................................................76
APOS Help...............................................................................................................77
Open predefined file.................................................................................................77
Screen.......................................................................................................................79
Zoom and scroll........................................................................................................79
Positioning toolbar ...................................................................................................80
Screen menus ...........................................................................................................80
UTM view ................................................................................................................82
Inclination view........................................................................................................83
Cartesian and polar view..........................................................................................85
Numeric view ...........................................................................................................85
Position values...............................................................................................87
Toolbar .....................................................................................................................87
Status bar..................................................................................................................89
Alarms ......................................................................................................................90
Sound alarms............................................................................................................91
Alarm types ..............................................................................................................92
Events.......................................................................................................................93
Trend view ...............................................................................................................96
Zoom and scroll .............................................................................................98
File save and load ..........................................................................................98
New SSBL positioning transponder.........................................................................99
Start positioning.............................................................................................99
Save your work............................................................................................102
How to setup a responder ............................................................................103
How to change a TP to a Responder............................................................103
ROV heading..........................................................................................................104
Delete Transponder in APOS ......................................................................105
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Two vessels, two transponders...............................................................................106
7 VESSEL SPECIFIC CONFIGURATION.........................................................107

Objective ................................................................................................................107
HiPAP transceiver..................................................................................................108
Operation Mode...........................................................................................109
Data Acquisition ..........................................................................................109
HiPAP attitude .......................................................................................................110
Transducer settings dialog......................................................................................112
DRP Data Acquisition settings dialog....................................................................112
Search Sector ...............................................................................................113
Output menu...........................................................................................................114
External Interfaces dialog ......................................................................................115
Depth sensor number ...................................................................................116
8 DEFAULT PARAMETERS AND SSBL PROPERTIES.................................118

SSBL Positioning Properties dialog.......................................................................118
Installed Transponders.................................................................................119
Channel - Serial No.: ...................................................................................119
Activate........................................................................................................119
Interrogation Interval...................................................................................120
Transponder type....................................................................................................120
Beacon .........................................................................................................120
Responder ....................................................................................................120
Drive 1 to Drive...........................................................................................121
None, Depth, Inclinometer, Diff. Incl. and Compass ..................................121
Transmit Transducer ..............................................................................................121
Transmit Power ......................................................................................................122
Default parameters .................................................................................................122
Checking your interrogation rate.................................................................123
Max range, HiPAP.......................................................................................124
Position offset ........................................................................................................125
Heading input .........................................................................................................126
Deskew...................................................................................................................126
Depth ......................................................................................................................127
Geographic position ...............................................................................................128
9 TRANSPONDER CONFIGURATION .............................................................129

How to access Transponder configure ...................................................................129
Transponder Setup dialog ......................................................................................130
Transponder Parameters.........................................................................................131
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Nav Tx Power..............................................................................................131
Tel Tx Power ...............................................................................................131
RX Gain.......................................................................................................131
Pulse Length ................................................................................................132
Mode & Turn Around delay ........................................................................132
Get Type Info ..............................................................................................132
Program version...........................................................................................132
Last Update..................................................................................................132
Battery .........................................................................................................132
Transponder configure ...........................................................................................134
How to remove transponders in APOS ..................................................................135
Transponder Configure dialog box ........................................................................135
Transponder setup ..................................................................................................136
Modes, TAD & LIC ....................................................................................137
Transponder functions............................................................................................138
Transponder sensors ....................................................................................140
Transponder with a depth sensor ...........................................................................141
Enable function............................................................................................142
Disable function...........................................................................................143
Range selection............................................................................................143
Last values ...................................................................................................143
Depth computation values ...........................................................................144
Transponder with an inclinometer sensor ..............................................................144
Enable function............................................................................................144
Range Selection ...........................................................................................146
Last values ...................................................................................................146
Inclinometer offset.......................................................................................146
Calibrate ......................................................................................................146
Transponder with a differential inclinometer sensor .............................................147
External Inclo. is Ref. ..................................................................................148
Read selection..............................................................................................148
Transponder with a compass sensor.......................................................................148
Enable function............................................................................................149
Compass calibration ....................................................................................150
Last values ...................................................................................................150
Compass init ................................................................................................150
Transponder telemetry transducer dialog...............................................................151
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Use default...................................................................................................152
Telemetry transducer ...................................................................................152
Tel. Tx power ..............................................................................................152
Max range ....................................................................................................152
Telemetry protocol ......................................................................................152
10 SSBL TROUBLESHOOTING............................................................................153
Error/problem types ...............................................................................................153
Hardware errors ...........................................................................................153
Software errors ............................................................................................153
Operational error .........................................................................................153
Acoustical problems ....................................................................................154
11 SYSTEM ADMINISTRATION..........................................................................155
APOS backup file (image of the hard disk) ...........................................................155
Windows XP................................................................................................155
System report .........................................................................................................156
System backup and restore.....................................................................................157
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1 ABOUT THIS MANUAL

This is the Training Manual for APOS (Acoustic Positioning
Operator Station).
Manual content
The manual contains system descriptions, procedures and
illustrations required to operate APOS.
Abbreviations
ACU Acoustic control unit OS Operator Station
ACS Acoustic control system RDU Responder Drive Unit
AMS Acoustic Monitoring System ROV Remotely operated vehicle
APC 1x Acoustic Position Computer RSP Responder
APOS Acoustic positioning operator station SBL Short base line
BOP Blow out preventer S/N Signal to Noise Ratio (SNR)
CH Channel SR Slant range
dB Decibel SSBL Super short base line
DGPS Differential global position system TAD Turn around delay
DP Dynamic positioning TD Transducer
GPS Global positioning system TP Transponder
HPR Hydroacoustic position reference TRC Transceiver
HiPAP High precision acoustic positioning TTC Transponder Test and Configuration
400 unit
LBL Long base line VoS Velocity of Sound or Speed of Sound
LF Low frequency VRS Vertical reference system
MF Medium frequency UTM Universal Transversal Mercator
MRU Motion reference unit
MULBL Multi user long base line
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2 HIPAP INTRODUCTION
Topics
→ What is HiPAP? - on page 11
→ What is APOS? - on page 13
→ Operating modes - on page 13
→ Sensors - on page 13
→ HiPAP system overview - on page 14
→ Slant range measurement - on page 17
→ Positioning principles - on page 22
→ Applications - on page 25
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What is HiPAP?
HiPAP is short for High precision acoustic positioning and is
based on the principles of sound in water.
It is delivered in five versions;
HiPAP 501
HiPAP 501 has a full spherical transducer body including 241
transducer elements. This gives the transducer a true 360°
(Cd31026)
coverage from vertical to horizontal without any moving parts.

Electronic beam forming can steer narrow beams in all
directions.
HiPAP 451
HiPAP 451 system has the same operational and technical
performance as the HiPAP 351 system. The HiPAP 451 system
uses the same transducer unit as the HiPAP 500 transducer.
HiPAP 351
HiPAP 351 system has a spherical 350 transducer with a
(Cd31015)
cylindrical body including 46 transducer elements. This model
has good accuracy in the ± 60° coverage sector.
HiPAP 350P
HiPAP 350P system has a transducer with a spherical
transducer body including 46 transducer elements. This model
has good accuracy in the ± 60º coverage sector. The system is a
portable version and is equipped with an internal MRU5.
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HiPAP 101
HiPAP 101 system has a transducer with a planar transducer

array / a cylindrical body including 31 transducer elements.
This model has good accuracy in the ± 60º coverage sector.
The HiPAP systems are designed to provide accurate positions

of subsea objects such as Remotely Operated Vehicles (ROVs),
autonomous underwater vehicles (AUVs), towed bodies or fixed
seabed transponders used as reference for a DP system onboard.
The HiPAP system can also be used for monitoring sensor
values, such as temperature, pressure (depth), inclination and
heading.
The HiPAP system may also be used to control subsea system,
such as Acoustic Control System (ACS) and Acoustic
Monitoring System (AMS), using
telemetry.
(Cd371008)
Figure 1 Wessel with various reference systems
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What is APOS?
The HiPAP system is operated from the APOS, which is a
Windows based software used to operate the HiPAP system.
The system can be operated from one single APOS station or
from a wide number of APOS operator stations connected on a
network. The APOS software can also be integrated with the
Kongsberg Maritime DP system.
Operating modes
• SSBL - Positions various targets by directional and range
measurements, using a unique processing technique that
provides very high accuracy.
• LBL - Positions the surface vessel by simultaneously use of
combined directional and range measurements to
transponders in an LBL array.
• MULBL - Positions the surface vessel in an MULBL
transponder array.
• Telemetry – acoustic communication to:
− transponders for LBL calibration, metrology
− measurements and set-up
− Instrument units and BOP systems.
Sensors
The HiPAP system has a wide range of interfaces to sensors
from different manufacturers. A gyro heading and a motion
sensor will normally be interfaced to a HiPAP system. The
HiPAP system needs high accuracy heading, roll and pitch
sensors to be interfaced. The accuracy of the sensors has direct
impact on the position. Examples of search sensors are Seapath
and MRU.
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HiPAP system overview

When we describe a HiPAP system, we divide it into two main
systems.
1 The system on board the vessel/rig we call the surface
system.
2 The system on the seabed we call the subsea system.
Operator
Station
Motion sensor
Heading sensor
Data output
Ethernet
Ethernet
switch/ Hull
Converter
Unit
Ethernet
Fibre B
Fibre A
Fibre Splice
Responder Box Hoist
Driver Unit (option) Control Unit
Responder
Fibre B (optional)
Responder sync.
Fibre A
Remote
Transceiver unit Control
Model x81 Unit
Limit
(Cd31053b) switches
HiPAP 500 HiPAP 450
HiPAP 350 HiPAP 100
Figure 2 HiPAP Transceiver Unit Model x81
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Surface system overview

The surface system is on board your vessel/rig. Figure 2 shows a
typical HiPAP 501 system.
The surface system consists of 6 main units:
1 Operator Station (OS)
2 Transceiver (TRC)
3 Hull unit with transducer
4 Hoist control unit
5 Remote control unit
6 Responder drive unit
Each of these units can be configured or supplied in different
ways or with various options:
• Operator Station
− Number of OSs
− Types of OS; console or stand alone
− Software type on the OS(s) and APOS
− Options in OS software
− Number of COM ports
• Transceiver
− Number of transceivers
− Air condition
− Synchronization (optional)
• Hull unit with transducer
− Hull unit length
− Electrical actuator (optional)
• Remote control unit
− Separate unit or in console
• Responder drive unit
− Supplemental equipment
On a HiPAP system, each transducer requires a separate
transceiver.
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Subsea system overview

The subsea system consists of the units you find in the water,
except the vessel mounted transducer. Depending on model
types, these components may be used by both HiPAP MKI and
MKII.
Figure 3 Multi-User LBL positioning
• Transponder - Acoustic receiver and transmitter

− Placed on the seabed, on board an ROV or any other
structure to be positioned
− Triggered by acoustic pulses from the vessel/rig using
acoustic signals
− In normal operation answers with one, two or three reply
pulses
• Responder - Acoustic transmitter
− Placed on board an ROV
− Triggered by electric pulses through an umbilical
• Array - A group of transponders on the seabed used in the
positioning principle called long base line
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Slant range measurement

When the HiPAP system is positioning a transponder, it
measures both range and direction from the vessel towards the
transponder. The introduction to range measurement is easiest
described by introducing the Echo sounder concept.
Figure 4 Acoustic pulse
Echo sounder concept

The Echo sounder measures the water depths below the vessel
by sending out an acoustic pulse into the water and at the same
time start a stop watch. The acoustic pulse propagates (travel)
throughout the water with the Velocity of Sound (VoS), hits the
seabed, and is reflected (echo) and starts its return travel back up
towards the vessel again. When the echo hits the vessel
(transducer) the stop watch stops. Based on the elapsed time we
read on the stop watch and our knowledge of the VoS, we are
able to calculate the water depth.
t
D = VoS
2
Here we have: D = water depth
338421/A 17
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t = elapsed time on the stop watch

VoS = Velocity of Sound
To be able to do an accurate depth measurement, we need a
good stop watch and know the VoS accurately. The stop watch
is an integral part of the transceiver, and its accuracy is
determined by how good the system is able to detect the
returning pulse. The VoS in water varies with water
temperature, salinity and depth (pressure). VoS in seawater will
vary between 1450 m/s up to 1550 m/s. For classroom
discussions, we will use 1500 m/s.
Let us assume you send an acoustic pulse into the water. The
pulse will use 1 second down to the seabed, and 1 second back ,
totally 2 seconds. VoS is 1500 m/s. Calculate the depth.
t 2s
D = VoS = 1500 m / s = 1500 m
2 2
Exercise
VoS is 1500 m/s and the water depth is 750 meters. How many
seconds will the acoustic pulse use from the vessel to the seabed
and back up to the vessel again?
2∗ D
t= = =s
VoS
Slant range measurement

To use the HiPAP system for positioning, we need a transponder
in the water. The range between the HiPAP transducer and the
transponder is called the slant range (SR).
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Tranducer
Slant range
Transponder
Figure 5 Slant range measurement
When the HiPAP system measures the SR, it sends an acoustic

pulse (interrogation) into the water and starts the stop watch, just
as the echo sounder did. The acoustic pulse will also be reflected
from the seabed, once again similar to an echo sounder. The
HiPAP transducer will not listen for the reflected signal.
338421/A 19
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Figure 6 Acoustic pulse
Part of the signal will also hit the transponder. The transponder
sits on the seabed waiting for the interrogation. The
interrogation is an acoustic pulse with a specific frequency.
When the transponder receives that specific frequency, (actually
it is 2 pulses with different frequencies) he will answer with his
reply frequency. The answer is not coming instantly, like an
echo, but there is a small turnaround delay (TAD). This small
TAD is necessary for the transponder to verify that the
frequency he hears is the one he is supposed to answer. There
are a lot of sounds (noise) in the water, and the transponder has
to verify that is not answering any noise, but on a real
interrogation.
20 338421/A
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Figure 7 Reply frequency
When the transponder reply arrives at the vessels transducer, the

HiPAP system will stop the stop watch. Based on the time
readings from the stop watch, and the VoS he is able to calculate
the slant range.
t − TAD
SR = VoS [m]
2
Here we have: SR = Slant range
t = Time from the stop watch
TAD = Turn around delay
VoS = Velocity of Sound
We will therefore use a simpler version of the equation for the
SR.
t
SR ~ VoS [m]
2
We see that this equation is quite similar to the one used by the
Echo sounder.
For DP positioning, time is a critical factor, and that is why we
will pay a lot of attention to signal travelling time in this course.
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The HiPAP 350 system has a reduced beam width compared to

what is shown in Figure 6.
Positioning principles
The previous section described how we measured the slant range
towards a transponder. This means we know the distance to the
transponder, but not the direction. To say it differently; the
transponder is somewhere on a sphere around the vessel. We
know the radius of the sphere, which is equal to the slant range.
Tranducer
Slant range
Transponder
Figure 8
We can also say it differently; if we know the transponders

position, the vessel will be somewhere on a sphere around the
transponder.
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Tranducer
Slant range
Transponder
Figure 9
To pin-point your vessels position in a 3 dimensional coordinate

system, you need more information than slant range. For that
purpose we can utilize several positioning principles.
A hydro-acoustic transducer may be available in many different

versions. For positioning it will have either one, three (3) or
more elements. When we discuss three-dimensional positioning,
we will refer to the number 3 in several instances. You will
either need 3 transponders or minimum 3 transducer elements,
to be able to find the three-dimensional position. GPS
positioning needs at least 4 satellites to get a three-dimensional
position. The reason why you need 4 satellites, instead of 3 is
due to timing. In the HiPAP system we control the timing, and
therefore need only 3 transponders or transducers. In a GPS
system you do not control the timing.
338421/A 23
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(Cd5576)
Figure 10 Baseline systems
As you can see in Figure 10, we have 3 different positioning

principles:
1 Long Baseline (LBL) positioning
2 Short Baseline (SBL) positioning
3 Super Short Baseline (SSBL) positioning
LBL positioning is the most accurately positioning system,
particularly on deeper water. It has a slower update rate than
SBL and SSBL, particularly in shallow water.
Long Baseline positioning

To do LBL positioning, we need only one transducer with one
single transducer element in its simplest version. We need
however a minimum of 3 transponders, but can use up to 8. By
increasing the number of transponders, you will introduce
redundancy in the system, which will increase both position
accuracy as well as operational stability.
When we interrogate the LBL array, we use a common
frequency for all the transponders. Each transponder has an
individual and different Turn around delay (TAD), which means
the reply from the transponders, will not appear at the transducer
at the same time. The system is working in a parallel manner.
24 338421/A
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The baselines in a LBL system is the distance between the

transponders on the seabed, and will typical vary between 50 to
1500 meters.
Before you can start using a LBL array, you need to calibrate the
baselines.
Short Baseline positioning

The picture in the middle of Figure 10 shows the system is now
turned upside down. You need only 1 transponder, but at least 3
transducers (single element). The baseline is the distance
between the transducers on board the vessel. This is a system we
rarely see but for some fixed installations.
Super Short Baseline positioning

SSBL provide a full 3 dimensional position with one transducer
and one transponder. This transducer will however need at least
3 transducer elements. The HiPAP 500 transducer has 241
elements and the HiPAP 350 transducer has 46 elements. The
baseline is between the centre of one element to the centre of the
other element. Typical baseline is 4 cm, but can be up to 10 cm.
If you have more than one active SSBL transponder, you will
interrogate one at the time. All the transponders will have the
same TAD, but individual interrogation frequencies. ?
Applications
The HiPAP systems have several applications, and some are
listed below:
• DP reference
• Offshore loading
• Drilling
• Diving
• Survey
• Data logging
• Construction
• Cable laying
• ROV operations
• Rock dumping
• Trenching
• Pipe laying
338421/A 25
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• Acoustic control
It has been developed special applications for some of these
operations. Some of the special operations will be covered in
separate courses.
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3 HYDROACOUSTICS
Topics
→ What is sound? - on page 27
→ Fundamental parameters - on page 27
→ What is dB? - on page 29
→ Factors influencing in hydroacoustics – on page 34
→ Sound velocity – on page 43
→ Sound velocity profile – on page 44
What is sound?
Sound are pressure waves (alternating high pressure and low
pressure waves) travelling (transmitted) through the medium
(air, water, steel etc).
The signal strength of an acoustic signal is measured in Pascal
(Pa) or watt per. square meter (W/m2), and is usually given in
decibel (dB).
Fundamental parameters
In the MKS system (metre, kg, second) the pressure unit is:
1 1 Pa = 1 N/m2
For reference values of sound in the sea we use:
2 1 micro Pa (µPa) = 10-6 Pa
3 1 µPa ~ 6.76 x 10-19 W/m2
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Definitions
t
(Cd31191)
λ = wave length (m) distance between two maxima on the wave

f = frequency (Hz) the number of maxima which pass per second
c = sound velocity (m/s) the distance one maxima travels in one second
T = period (s) the time between two maxima
c
4 λ=
f
1
5 f =
T
Advanced subject
The sound intensity is defined as the energy passing through a
unit area per second. For plane waves the intensity is related to
pressure by:
p2
6 I =
ρc
I = intensity (W/m2)
P = pressure (Pa)
ρ = water density (kg/m3)
c = speed of sound in water (m/s)
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What is dB?
History
The decibel measurement originated in the telephone industry
and was named after telephone inventor Alexander Graham
Bell. The original unit was the bel. The prefix deci means 1/10,
so the decibel is one-tenth of a bel. The bel is too large for most
common applications, so it is rarely, if ever, used. Thus, we will
concentrate only on the more familiar decibel (dB).
The easy way

If you double a number (value), the value is increased with 3
dB. If you reduce a number with 50 %, the value is reduced with
-3 dB.
If a value is increased to 400%, you have a 6 dB increase, and if
a value is reduced to 25%, you have a -6 dB decrease.
Example 3.1
In Hydro acoustics, one of our fundamental parameters is
intensity (W/m2). If you have an intensity, let’s say 1 W/m2, and
you increase the intensity to 200% of the initial value of 1
W/m2, you will get 2 W/m2, which is equal to 3 dB increase.
Example 3.2
If you continue to increase the intensity to 400% of the initial
setting of 1 W/m2 you will get 4 W/m2, which is equal to a 6 dB
increase from 1 W/m2.
Advanced subject
To calculate a ratio and express the result in dB, we use the
following equation:
I1
dB =10 log
I2
Example 3.3
Reworking
I 2W / m2 2
dB= 10log 1 =10log =10log =10× 0.30103= 3.0103≈ 3 dB
I2 1W / m 2
1
338421/A 29
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Example 3.4
If you have an intensity of 2 W/m2 and you reduce the intensity
with 50%, you will get 1 W/m2 which is equal to -3 dB decrease.
Example 3.5
If you have an intensity of 4 W/m2 and you reduce the intensity
with 75%, you will get 1 W/m2 which is equal to -6 dB decrease.
Advanced subject
When the telephone company decided that it might be
convenient to handle gains and losses using dB, they invented a
unit of gain measurement called a "Bel," named after Alexander
Graham Bell.
They defined the Bel as: Gain in Bels = log A
where A = Power amplification factor
It quickly occurred to the telephone company engineers that
using Bels meant they would be working to at least two decimal
places. They could not just round things off to one decimal,
since 4.179 bels is a power gain of 15,101 while 4.2 bels is a
power gain of 15,849, yielding an error of about 5%. At that
point it was decided to express power gain in units which were
equal to one-tenth of a Bel, or in deci-Bels. This simply meant
that the gain in Bels would be multiplied by 10, since there
would be ten times more decibels than Bels.
Advanced subject
The equation for intensity, when using the standard reference

(from equation 3 on page 27), we get:
I
dB =10 log
[W / m ]
1
−19
6.76 x10 2
From the relationship between pressure and intensity (equation 6

on page 28), we notice that there is a square relationship
between intensity and pressure, and we need to modify our
equation when we work with pressure values.
p12
2
I ρc p2 ⎛ p ⎞ p
dB = 10 log 1 = = 10 log 12 = 10 log ⎜⎜ 1 ⎟⎟ = 20 log 1
I2 p22 P2 ⎝ p2 ⎠ p2
ρc
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The equation for intensity, when using the standard reference

(from equation 3 on page 27), we get:
p1
dB = 20 log
10 − 6
If we double the sound pressure we increase the ratio with
6dB.
If you knew the dB value, and would like to convert it back to a
pressure or intensity value, the following equations will apply:
dB
−19
I1 = 6.76 ×10 × 10 10
dB
p1 =10− 6 × 10 20
Example 3.6
Calculate both the intensity, as well as the pressure for a
transponder with 188 dB output.
From the equation above:
188
I1 = 6.76 × 10−19 × 10 10 =
= 6.76 x 10-19 x 6 309 573 444 801 932 494
= 6.76 x 0.63
= 4,3 W/m2
From the equation above:
188
−6
p1 =10 × 10 20
= 2512 Pa
Advanced subject
The beauty of working with dB rather than in W/m2 or Pa:
• Reduce the problem of calculating the S/N (signal to noise
ratio) to add/subtract values instead of multiply/division.
• Since our reference values are so small, the ratios would be
enormous.
From example 4.5, the transponder output is set to 188 dB,
which is similar to 2511 Pa, or 4.3 W/m2 when we talk about
intensity and our reference is 1 µPa.
It means our output pressure is
338421/A 31
APOS
2511 Pa
−6
= 2511000000 = 2.511 x 109 stronger than our
10 Pa
4.3 W / m 2
reference or our intensity is −19
= 6.3 ×1018
6.76 ×10 W / m 2
times stronger than the reference.
Additional subject – history of chess
An old story said: An Arabian sultan was bored, and told his
wise man to arrange some amusements for him. The wise man
went into his private closet, inventing a new toy for the sheik.
After a few days, he went back to sheik, bringing along a chess
game. The sheik and the wise man played several games, and
the sheik was so pleased with the invention, he told the wise
man to express what he wanted as an award. As a reply the wise
man said he would like 1 rice grain for the first square on the
chess board, 2 rice grains for the second square, 4 rice grains for
the third square, 8 rice grains for the fourth, and so on.
The sheik thought this was a humble wish, and told him to select
some more valuable items. But the wise man was a clever man,
and insisted on the rice grains. The sheik went to his vizir, and
told him to give the wise man rice according to the agreement.
When they started to collect the rice, they soon discovered that
the sheik did not have that much rice in his barn, not even in the
whole country. If you had that many rice grains, you would be
able to cover the surface of the earth with rice.
As you know there are 8 x 8 squares on chess board, totally 64
squares. When you go from square one to 2, you double the
number of rice grains, from 1 to 2, which is equal to a 3 dB
increase. When you go from square 2 to 3, you once again
double the number of rice grain, from 2 to 4, which again is a 3
dB increase, or a total increase of 6 dB from square 1. When you
go from square 3 to 4, you once again double the number of rice
grain, from 4 to 8, which again is a 3 dB increase, or a total
increase of 9 dB from square 1. When you come to square 64,
you will have an increase of 189 dB. This is 263 which is equal
to 63 x 3 dB = 189 dB.
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263 = 9,223,372,036,854,775,808 ~ 9 x 1018
This was for the last square only, and then you will have to add
all the other squares as well. What the wise man asked for,
expressed mathematically:
63
rice = ∑2
n=0
n
= 2 0 + 21 + 2 2 + ....... + 2 63
= 1 + 2 + 4 + …….. + 9 x 1018
= 18.4 x 1018 rice grains
= 18.4 quintillion rice grains
This story simply tells us that when we start expressing values in
dB, they quite easily approach ratios the human being is not able
to grasp. In this case our reference was 1 grain of rice.
Regardless of the reference value, a 189 dB increase will always
be 9 x 1018 times more than the reference. In hydro acoustic our
reference is such a small value, so a 189 dB increase means a
intensity of 4.3 W/m2. (Or related to pressure: 189 dB is equal to
2818 Pa, which is not a high pressure (1 bar = 105 Pa), but still it
is 9 x 1018 times stronger than the reference).
338421/A 33
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Factors influencing in hydroacoustics

Water is a complex medium for propagation of sound and many
physical factors influence the sound signals in several ways.
Wave
HiPAP reflections
transducer
Noise
Real response
path
Ideal response
path
Reflections
from seabed
Transmitter
signal (pulse)
Transponder
Figure 11 Influencing factors
Figure 11 gives an overview of the most important factors

influencing in hydro acoustics as listed below:
• Transmission loss caused by geometrical spreading
• Transmission loss caused by absorption
• Noise
• Reflection
• Ray bending caused by variation in water properties
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Geometrical spreading
The sound energy is radiated spherically by the signal source. The
wave front covers a larger and larger area and the sound energy will
therefore decrease as the wave front moves away from the transducer.
In a distance r away from the signal source the radiated sound energy
will then be reduce by the factor 1/r2. Double the distance of sound
and the intensity is reduced four times. Notice that geometrical
spreading is independent of frequency.
Figure 12 Geometrical spreading
The transmission loss caused by spreading:

2
I r2 ⎛r ⎞ ⎛r ⎞
TLS = 10 log = 10 log 2 = 10 log ⎜⎜ ⎟⎟ = 20 log ⎜⎜ ⎟⎟
I0 r0 ⎝ r0 ⎠ ⎝ r0 ⎠
Where I0 and I are sound intensities at distance r0 and r. r0 is the
reference distance and r is the distance to the object. When we set r0 to
reference distance of 1 metre we have:
TLs=20 * log r
338421/A 35
APOS
r (m) TLs (dB)

2 6
10 20
50 34
100 40
500 54
1000 60
3000 70
6000 76
Absorption
The sound is also in some extent exposed to absorption when

passing through the water. This absorption is caused by loss due
to heating of the water and salt molecules by friction as the
sound pulses cause them to move against each other.
The absorption loss is expressed by:
TLa = 10 *log(I/I0) = a * (r-r0) = a *r (if r>>r0)
a is named the absorption coefficient
r0 is the reference distance and r is the distance to the
object
The value increases strongly with frequency. Low frequencies
have less loss than higher frequencies and should work at longer
range. There is a trade-off between range and accuracy. Lower
frequencies give longer wave lengths and less resolution.
A typical value in the North Sea is 7 dB/km for medium
frequency signals.
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Figure 13 Sound absorption
Noise
One of the factors which cause problems in hydro acoustics is
acoustic noise. Noise can be generated from the vessel or rig
itself (equipment, motors, thrusters etc.), from neighbouring
installations or vessels, ROVs, other HiPAP users, seismic
activity or from the waves.
The diagram below shows the contribution from different
sources with respect to frequency.
338421/A 37
APOS
Spectrum level (dB rel 1 Pa)
140
Thruster noise
120
Drilling noise
100
80
7
Wind force (Beaufort scale)
4
60
Ship noise 2
0
40
20
(Cd3942)
1 10 100 1000 10.000 100.000
Frequency (Hz)
Figure 14 Acoustic noise
The curves from the thruster noise is far stronger than other
types of noise in connection with HiPAP frequencies; 9500-
30000 Hz. Azimuth thrusters generally generate more noise than
tunnel thrusters.
Thrusters generate noise but they might also make air bubbles in
the water. The signal can be blocked if there are bubbles
between the transducer and the transponder.
Also going astern with the vessel using the main propellers
normally pulls a lot of air under the hull and might cause signal
blockage similar to that caused by the thrusters.
Going astern or having the weather or waves from astern might
give difficult acoustic conditions. Having the thrusters wash
between the transducer and transponder might also cause signal
blockage.
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Air bubbles
The purpose of the hull unit is to enable the transducer to be
lowered out through the vessel’s hull to a depth below aerated
water and other sources of acoustic noise.
The vessel movement in the water creates aerated water around
the hull, and the transducer is not able to transmit/receive
acoustic signals through air.
Azimuth thruster
The azimuth thruster may cause problems for the HiPAP
system, especially if the thruster is facing directly towards the
transducer, burying the transducer in the aerated water and noise
flowing out of the thruster.
Reflections
Reflections of the sound waves by the surface, the seabed and
underwater structures might also create distortions. The system
has therefore been designed with regard to influence from such
distortion sources, both through hardware and software signal
detection and by use of signal filtering techniques.
Figure 15 below shows how the signal is reflected on the
seabed. This is a shallow water example.
a) b)
c) d)
338421/A 39
APOS
e) f)
g) h)
i)
Figure 15 Reflections
In Figure 15, we interrogate the transponder and sound wave

propagates through the water in b) and hits the transponder in c).
This will trigger the transponder to reply, as we see in d). After
the transponder has replied, the transponder is blocked for 0.8
seconds. We also notice in d), that part of the signal continues to
propagate throughout in the water, and as we see in e), we have
a reflected signal from the sea bottom. In f), the transponder
reply arrives at the transducer, and the HiPAP system is able to
calculate a position. In g) we notice that part of the reply passes
the transducer, and hits the vessel hull, and being reflected as
shown in h). In g) we also note that part of the interrogation
signal has been reflected from the seawall, and travelling back
towards the transponder, also shown in h), and arriving at the
transponder as shown in i). Since this is a shallow water
example, the reflected signal from the seawall appears at the
transponder while he is still blocked, causing no false reply.
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The HiPAP system will now start over again, interrogating

again.
If the interrogation signals leaving the vessel and transponder
reply is too strong, we may generate a yo-yo action, causing
problems at a later stage.
Ray bending effect

Ray bending effect is dependent on the acoustic transmission
direction. The sound waves will follow a path from the surface
to the seabed depending on salinity and temperature layers.
There might be several different layers with different
characteristics from the surface down to the seabed. When the
sound waves pass through layers of different temperature and/or
salinity, the rays will be bent, and the changes reflected in the
sound velocity. It is the different temperature layers that causes
ray bending, not the temperature itself.
When the velocity increases from the surface to the bottom
(higher salinity and/or temperature) the signal path will be bent
up. When the velocity decreases from the surface to the bottom
(lower salinity and/or temperature) the signal path will be bent
down.
338421/A 41
APOS
Vertical rays have no bending, see Figure 16. As soon as the

signal has a non-vertical direction, ray bending will take place.
When the angle exceeds 15°, it will have an influential effect.
Generally we say that the signal will bend towards lower
velocity of sound.
Figure 16 Ray bending effect
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Sound velocity
The speed of sound in water is depending on salinity,
temperature and pressure. The speed increases with warmer
water temperature and decrease with cooler water. We use the
speed of sound in water when calculating ranges and angles in
the water. Read more about this in the chapter of positioning
principles.
Mackenzie (1981) JASA 70,807-12
(CD1372) Del Grosso (1972) JASA 52,1442-6
1550
%
Y 40
IT
LIN
1500 SA
%
I TY0
L IN
1450
SA
1400
0 5 10 15 20 25 30
Water temperature (deg. C)
Figure 17 Sound velocity vs. temperature
The Del Grosso formula for sound velocity is:

V = 1448.6 + 4.618 ⋅ temp − 0.0523 ⋅ temp 2 + 1.25(salinity − 35) + 0.017 ⋅ depth
Note The sound velocity is increasing with increasing depth by 0.017

m/s per meter. At e.g. 1000m depth the velocity will be 17 m/s
higher than the figures from the table.
Typical value for salinity in the North Sea is 25 o/oo. With a

temperature of 12° C the sound velocity is about 1485m/s and it
is the value typically used by the Offshore Loaders.
338421/A 43
APOS
Additional subject
The speed of other signals:
Speed of Sound in air: 330 m/s
Speed of Sound in water: 1 500 m/s
Speed of Sound in steel: 5 000 m/s
Speed of light in vacuum: 299 792 458 m/s (approx.
300 000 km/s)
For all of these signals, the speed will vary depending on the
temperature, density etc. of the material.
Sound velocity profile

A sound velocity probe can be lowered to calculate the speed of
sound through these water layers. If it is required, this
information can be applied to the HiPAP system and used to
compensate for this error.
This means sound velocity is used to calculate the range, while
the transducer sound velocity is used to calculate the direction
angles to the transponders. Using the transponder depth function
might give a more accurate position calculation of the
transponder if the ray bending effect is significant.
The figure below shows an example of a profile. The velocity at
the surface is lower than at the seabed and you can see a sudden
increase in the velocity down to 50m depth followed by a
smaller decrease from 50m depth. The changes are most likely
caused by different temperature and/or salinity layers.
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(Cd5580)
Figure 18 Sound velocity profile
The sudden change in the sound profile is also found on the ray
trace diagram.
The ray trace tells us it is difficult to have any direct contact
with a transponder at the horizontal ranges above 600-700m
range and 30-40m depth since all the rays are bent down to the
seabed or up to the surface. This area is called the shadow zone.
In the APOS the sound profile and ray diagram will be displayed
in the same window. The ray trace in the figure tells us it is
difficult to have any direct contact with a transponder at
horizontal ranges above 300m range and 20-30m depth.
338421/A 45
APOS
4 SURFACE HARDWARE
Topics
→ Transducer - on page 46
→ HiPAP SSBL positioning - on page 50
→ Operator station – on page 51
→ File handling with two or more operator stations – on page
53
→ Transceiver units – on page 54

→ Hull unit – on page 55
Transducer
One of the main parts in a HiPAP system is the transducer and is
located on board the vessel.
HiPAP 500 HiPAP 450 HiPAP 350
Figure 19 Transducers available in the HiPAP system
Figure 19 shows the transducers for the fixed HiPAP systems.

The HiPAP transducer is spherical shaped except for the HiPAP
100 which has a flat acoustical face.
During the rest of this chapter our focus will be on the
transducer mounted on the vessel as transponders have
transducers as well. The theory applies equally to the HiPAP
transducer and the transponder transducer.
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Transducer elements
A transducer may consist of one or several transducer elements.
The transducers shown in Figure 18 all consist of many
transducer elements, while transponders often contain a single
element. Some transducer elements are designed to both
transmit and receive signal, while other have separate elements
for each task.
(Cd31192)
Figure 20 Transducer element
In the HiPAP and transponder transducers, we use the same

transducer element(s) for transmitting and receiving the acoustic
signals, as shown in Figure 21.
Figure 21 Transducer elements transmitting and receiving
338421/A 47
APOS
A typical design of a transducer element has a circular or square

aluminum head, a piezoelectric ring in the middle, a circular
bronze or steel tail and a centre bolt to keep the parts together.
The dimensions and the materials are chosen to give the element
the required resonance frequency. The lower frequency the
larger the element must be. Soldering ears are included for
electrical connections.
Figure 22 Transducer element components
The aluminum head is the part that creates the low and high
pressure waves in the water via a rubber coating. The head is
very light and transmits the vibrations very easily.
There are a number of materials having the ability to convert
electric energy to acoustic energy and vice versa. Today
piezoelectric ceramics is the most widely used material. It is
often referred to as piezoceramics. An alternating voltage,
applied to the electrodes on opposite sides of a piezoelectric
disc, causes the disk to vibrate and thus radiate sound waves.
Vice versa if the piezoelectric disk is placed in a sound field, the
pressure waves set the piezoelectric disk into vibrations and it
generates an electric voltage across the disk. Piezoelectric
ceramics is manufactured in a variety of sizes and shapes (discs,
rings, tubes, spheres) for application in various transducer types.
We try to find a ceramic with a resonance frequency similar, or
very close to, the frequency we want to transmit in the water. In
that way it takes smaller energy to maintain the vibration.
Beam width
The transducer transmits and receives acoustic signals in a beam
similar to a torch.
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By transducer design we are able to construct transducers with

different beam width, customizing the transducer to
applications, surrounding noise and range.
Figure 23 HiPAP with 500 transducer
The transducer beam depends on the transducer size. The bigger

the transducer is the narrower the beam will be. The narrower
the beam, the higher accuracy and less sensitive to surrounding
noise.
A transducer using the same elements for transmit and receive,
will have the same beam width regardless if it is transmitting or
receiving signals. The HiPAP system use software to improve
the beam width. In that case you may have different transmit
and receive beam widths.
The beam pattern of a transducer in the transmit mode describes
how the sound energy is radiated into different directions. The
beam pattern is most drawn as a polar plot, representing the
radiation 360 degrees around in one plane through the beam
axis, as seen in Figure 22.
Maintenance
A maintenance program for the HiPAP is described in the
HiPAP Instruction Manual. For optimum performance and a
long and trouble free use of the system, it is recommended to
strongly to follow maintenance program. The details of this
program are usually discussed in the technical courses. As an
operator it is important to also keep in mind that any problems
with the system may be due to lack or improper maintenance.
338421/A 49
APOS
HiPAP SSBL positioning

The HiPAP system is working in two modes, Search and Track.
Search mode
When the HiPAP system starts to interrogate a transponder,
using the SSBL principle, it does not know the location of the
transponder. After the interrogation pulse is created, the
transducer will turn into listening mode, and will listen for as
long as the time set in the Max range. While listening, the
information received on all the transducer elements are sampled
and stored in the HiPAP transceiver computer, as well as Gyro
and VRS readings.
The APC 1x will then start to calculate a position using the
stored data, to create a few wide beams.
After locating an approximate position and using the stored data,
the transducer will create a narrow beam using all the elements
facing the transponder.
The HiPAP system will stay in Search mode during the first 3 -
4 interrogations to perform a quality control of the position and
then switch in Track mode.
Track mode
When the HiPAP system has established the transponders
position, it will switch to Track mode.
In Track mode it will sample and store the signals for a short
time (window) around the expected time for the received
transponder signal.
Based on the Gyro and VRS readings, it will then use the stored
readings from those elements facing the transponder and
calculate the position.
The Track mode is a much more time efficient positioning mode
compared to Search mode.
If the HiPAP system does not receive a transponder position for
several successive interrogations, the system will switch back to
Search mode.
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Transducer Maintenance
According to the maintenance program the transducer should be
cleaned at a quarterly interval. The interval may be more often if
your vessel is operating in waters with high marine growth
levels.
Operator station
(Cd31194a)
Figure 24 Operator station (APC 1x)
The operator station consists of the APC 1x computer, monitor,

keyboard and mouse. The computer runs on the Microsoft
Windows XP operating system. For ease of use, the user
interface is a fully graphical user interface, designed as a
standard Windows XP application. The Operator Station is
common for the HiPAP system.
338421/A 51
APOS
The APC 1x is the computer in the HiPAP Operator station. It

holds all the operational software, and interfaces to display,
keyboard, printers, network and other peripheral devices as
required. The unit is fitted with a DVD recorder and USB ports
for USB memory stick.
These are placed at the front of the APC 1x, behind the cover, as
illustrated in the figure below.
USB ports
DVD recorder
(Cd31198)
The APC 1x may be mounted attached to the color monitor, in a

19” rack or on a desk top.
Optional operator stations

The operator station may also be delivered in a console or
integrated in the DP console.
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Figure 25 APOS integrated in a DP console
File handling with two or more operator stations
Figure 26 Operator stations (OS)
If all of these OSs are running connected to a network, one will

be the master, and the others will be the slaves. Any
configuration changes done on the master will be transmitted to
the other OSs. This means that if one of the other OSs at a later
stage will take command, the settings on the new master will be
identical to the settings on the old master. To be able to achieve
this, there is a synchronization of the settings between the OSs.
This doesn’t apply to i.e. display settings.
If you want full redundancy on all the OSs, you need to make
sure that the same hpr file is available on all OSs. This is
particularly important for LBL positioning when you
select/deselect transponders in and out of the array, setting some
transponders into SSBL mode etc.
The file with extension HiPAP contains data related to what you
have on the seabed, like transponder settings, LBL parameters,
markers etc. We could probably call it the seabed setting or
Subsea settings.
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APOS
Transceiver units
Two types of transceiver units are available:
• HiPAP (501/451) Transceiver unit Model x81
• HiPAP (351/101) Transceiver unit Model x21
(Cd31025c)
Figure 27 Transceiver unit model x81
Air condition is standard for the MKII cabinet but is also

available for MKI.
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Hull unit
Hull unit
Junction box Hoist Control Remote Control

Unit (HCU) Unit (RCU)
N P
HiPAP 350 HiPAP 450
HiPAP 100 HiPAP 500

(Cd31144a)
Figure 28 Hull unit with Hoist unit control and Remote control unit
The hull unit may be delivered with one of the following

lengths:
338421/A 55
APOS
Type of transceiver Max vessel speed Depth below Type of transducer

when the
unit keel (available types)
transducer is in
(available types)
lowered position
HL 2180 10 knots 1130 HiPAP 500 / 450
HL 3770 10 knots 2720 (same transducer)
HL 4570 8 knots 3420 HiPAP 350
HL 6120 6 knots 5070 HiPAP 100
(The numbers
indicates the hoist
length in mm)
Note Depth below keel is an indication only and will typically be the
maximum depth.
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5 TRANSPONDER HARDWARE
Topics
→ What does a transponder look like? - on page 58
→ What is a transponder? - on page 58
→ What is a responder? – on page 59
→ Main parts of a transponder – on page 60
→ Transponder model identification principle – on page 61
→ Transponder with floating collar – on page 63
→ Pulse positioning with sensor information – on page 64
→ Special remarks for some transponder models – on page 65
→ Batteries – on page 66
→ Responder – on page 71
→ Responder type, SPT or MPT – on page 73
→ Medium frequency channel overview – on page 74
→ Reply frequencies – on page 75
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APOS
What does a transponder look like?
Figure 29 Transponders
What is a transponder?
A transponder is an acoustic receiver/transmitter placed on the
seabed, on board an ROV or any other structure to be
positioned. The transponder is triggered from the vessel/rig
using acoustic signals and will in normal operation answer with
one, two or three reply pulses. The transponder is able to receive
and transmit inside the transducer beam. There are various
transducer heads to choose between, which decide your
transducer beam. A transponder can have only one transducer,
which mean only one transducer beam. Occasionally you may
see transponders were you can select among various beams, and
we also have dual beam transponders, for vertical and horizontal
beams.
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Maxi
Figure 30 Matrix transponders
The power source in an ROV transponder will normally be

rechargeable batteries or external power. Other fixed
transponder locations will normally use Lithium batteries to
increase the lifetime and save recovery costs.
What is a responder?
A responder is an acoustic transmitter, but it is triggered by an
electric pulse through the ROV umbilical. By using responders
we can better avoid interference from disturbing environment
such as rock dumping, drilling, seismic activity etc.
The responders are often used on ROVs or at towed fishes on
seismic vessels. The responders are usually powered by the
ROV, but can also run on batteries.
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APOS
Main parts of transponders

• Transducer
• Housing
• Battery pack
• Circuit boards:
− Transmitter board (Tx)
− Receiver board (Rx)
− Receiver amplifier board
− Microcontroller board
− Mother board
• Sensors (optional)
• Bottom end cap/Release
Figure 31 SPT and MPT transponders
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Transponder model identification principle

The transponder name consists of:
• Model name (three letters)
• Model number (three digits)
• Any options included (letters after the digits)
→ See example below
Model name
MATRIX and MPT Multifunction Positioning Transponder
(LBL, Metrology, Telemetry and SSBL)
SPT SSBL Positioning Transponder
(SSBL, Telemetry)
SMT Subsea Monitoring Transponder
MST Mini SSBL Positioning Transponder
(Typically ROV)
Model number
The three digits:
Digit 1: frequency band
Digit 2: depth rating
Digit 3: beam width
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APOS
The following are available:
1st digit 2nd digit 3rd digit

Frequency band Depth rating Transducer beam width
1 = 15 kHz 1 = 1000 m 1 = ± 15° beam width
3 = 30 kHz 2 = 2000 m 2 = ± 20° beam width
3 = 3000 m 3 = ± 30° beam width
4 = 4000 m 4 = ± 45° beam width
6 = 6000 m 6 = ± 60° beam width
9 = ± 90° beam width
Any options included

The combination of letters after the number describes the
options contained in the unit.
Dt = Depth and temperature sensor
H = Heading magnetic compass
I = Inclinometer
II = Internal and external inclinometers
R = Release mechanism
N = Rechargeable battery pack
Rsp = Responder
DuB = Dual beam
Sx = Short tube
St = Stainless Steel tube
L = Long tube
Eex = Explosion proof housing
Transponder identification
Each transponder is supplied with an identification clamp ring,
as seen in figure 30, displaying:
I = Transponder name, Serial No., Channel and II = Battery type.
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I II
(Cd5976)
Figure 32 Transponder identification
On the CPU (Central Processor Unit) board in the transponder,

Rotary switch S2 and S3 is setting the Channel.
Rotary switch S2
4-way Dip switch S1 Rotary switch S3
Software
name
and
version
(CD3791)
Figure 33 Central Processor Unit (CPU)
Transponder with floating collar
Note The transponder cage is only meant to protect the transducer

head.
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The length of the rope between the transponder base and the
weight can be several meters. The recommended weight of the
sinker is different for 1000m and 3000m transponders. Check
the transponder instruction manual for details.
Keep in mind the current when transponders are deployed or
released. The weight might be increased if the current is strong.
When a transponder is released remember to have the
interrogation on while it floats to the surface. Also notice that
there might be current drifting the transponder some distance
away from your position.
(Cd310161a)
Figure 34 Matrix Maxi transponder with floating collar
Pulse positioning with sensor information

When positioning the transponders they reply with one pulse.
When pulse positioning is used the transponders reply with two
or three pulses. The time delay between the first and second
pulse, and between the second and third rely pulse contains
coded information such as depth, inclination or compass
heading.
Inclination transponders
Transponders with inclination sensors measure absolute
inclination and transmit the inclination measurements
information to the HiPAP system. It is used to measure and
monitoring the angles of structures such as:
• Rise angle measurement on oil platforms
• Monitor underwater pipelines
• Template levelling
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Depth transponders
Depth transponders are equipped with a depth pressure sensor
and will transmit the depth information to the HiPAP system
when pulse positioning is used. The depth information is used to
increase the accuracy of the vertical angle measurement.
Compass transponders
Compass transponders are equipped with an internal compass
and will transmit the true heading of the transponder to the
HiPAP system when pulse positioning is used.
Special remarks for some transponder models
Depth and temperature sensor
Transducer Transducer
(Cd30170)
Hole for contact
Hole for contact sensors/sea water
sensors/sea water
Figure 35 Depth and temperature sensor
Note Water pressure inlet hole must be kept clean and open at all
times.
Inclinometer sensor
The inclinometer has a direction indicator. Make sure this is

positioned forward.
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Heading sensor
Heading
(Cd6166) Flat on end cap
Figure 36 Compass transponder top – indication heading

orientation
• The heading of the transponder is referenced to a flat area

milled onto the top end cap. This is illustrated in the figure
above.
• The heading orientation is perpendicular to the longitudinal
axis.
Batteries
SPT and MPT battery

The transponders are normally self-operated with its own power
supply. A lithium battery is used to ensure long life.
The transponder battery consists of two sections, one for the
receiver and one for the transmitter.
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Lifetime dependant factors

A transponder uses power every time it receives and transmits a
pulse/ping. If the transponder has not received a ping for 65
seconds it automatically changes to a battery saving sleep mode.
The lifetime of the battery depends on the following factors:
• Activity
− How often you interrogate the transponder.
− Sensor dependant
− Positioning 1 pulse/ping
− Depth/Compass 2 pulses/ping
− Inclinometer 3 pulses/ping
− Telemetry
• Source level
− The higher source level the more power is used (Max,
High, Low or Min)
• Pulse length
− The longer pulse the more power is used.
Battery lifetime presentation

Battery lifetime can be presented as the number of reply pulses
available based on 10ms pulse length.
Using high source levels will approximately double the number of
replies from max. source level.
Max continues on time is the maximum time the transponder
can be continuously in operation, receiving and transmitting.
Quiescent lifetime is the total time the transponder can listen for
interrogation pulses. After this time the transponder will not be
able to reply.
Battery capacity
Battery data Lithium Alkaline Rechargeable

Battery Type no. L10/36 (15/40) A10/36 (24/24) N10/36 (18/30)
Maximum continuous on-time 180 days 71 days 16 days
Quiescent time 930 days 301 days 90 days
No. of replies, low source level 6.4 million 1.44 million 0.64 million
No. of replies, max source level 1.6 million 0.36 million 0.16 million
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• The Alkaline battery capacity is approx. 20% of the Lithium

battery.
• The rechargeable battery capacity is approx. 10% of the
Lithium battery.
Figure 37 Battery lifetime at operation (SPT and MPT 3000 m)
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Battery
lifetime
(days)
950
Quiesent
900
850
800
750
700
650
600
Quiesent
550
500
450
400
350
300
250
200
Max count
150 Quiesent
Max count
100
50
Max count
0 Battery
(Cd5963)
L10/36 L10/40 L10/50
Figure 38 Battery lifetime at quiescent state (SPT and MPT 3000 m)
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Matrix battery
Internal
Type Non-rechargeable Lithium metal, (Li/SOCl2)
Battery outputs 10 to 18 Vdc, single voltage
Total battery energy content 156 Ah
(14 V)
Lifetime
Lithium battery
Model Quiescent 1 ping per sec/
Max source level
Matrix Maxi 34-180-R 2.5 years Cymbal: 1.5 millions
no. of replies
HiPAP/HPR 400:
4 millions no. of
replies
Matrix Maxi 34-30V30H- 2.5 years Cymbal: 0.75
R millions millions no.
of replies
HiPAP/HPR 400:
2 millions no. of
replies
____________________________________________________________
Note Always allow a safety margin of error in any operation

calculations.
____________________________________________________________
Storage
The batteries may be stored for up to 10 years with little loss of
capacity, the losses being approximately according to the figures
below:
• 1st year: - 3%
• Next 9 years: - 1.5% per year
The total capacity lost over 10 years will therefore be
approximately 15%.
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Responder
The purpose of this chapter is to tell you how to configure a
responder in APOS, and a basic introduction to the hardware. A
complete introduction is available in the Instruction manuals.
Kongsberg Maritime delivers responders as SPT and MPT types
or MST types. The MST is a mini transponder, and has no
telemetry functions.
The RPT types of transponders are obsolete, and replaced by
MST.
ROVs and ‘TOW Fishes’ can with great advantages be
positioned with responders.
Advantages:
• Less sensitive to noise
• Reduced battery cost
• Higher position update rate
• Smaller size and less weight
• Increased operational time
Disadvantage:
• Wiring from transceiver through umbilical
Responder type, MST
MST transponders are commonly used on ROVs, as transponder

or responder.
At the base of the transponder, 24 VDC and the trigger signal
are connected. The MST will switch automatically from external
power to internal battery:
• If the responder looses the power below 22V.
• If no trigger signal is received within 65 seconds.
The MST will function as a responder again, as soon as the
power and trigger pulse is received again.
It is also possible to have the MST on i.e. an ROV, feed it with
24 VDC, and use it as a transponder.
Battery packs
The MST is usually fitted with a rechargeable battery, but can
also be fitted with a lithium battery pack.
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MST maintenance
The main subjects related to MST maintenance are listed in the
‘MST instruction manual’, but a few additional items will be
listed here.
Charging the MST

The MST charger has a LED showing the charging status.
Observe that this LED is also green after the 180 minutes
timeout
Greasing the connector

The MST transponders are equipped with Subconn®
male/female connectors used as on/off switch. The female plug
contains 3 o-rings for each pin.
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On/off plug
(Cd6416a)
Transponder base
Figure 39 MST base
Responder type, SPT or MPT

The SPT and MPT RspSx types of transponders are mostly used
on the plough and tow fish tracking.
These transponders also have a 110 VAC option, meaning it
should be powered from 110 VAC power supply.
The default mode of the SPT or MPT RspSx types of
transponders is responder modes, i.e. the transponder function is
disabled.
Note Default is the transponder/responder setting after a battery

change, or a telemetry command telling the transponder to go
back to default mode.
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Medium frequency channel overview
Channel Int.1 Int.2 Reply Channel Int.1 Int.2 Reply

B01* 20.492 29.762 B43 22.500 22.000 29.500
B02* 21.552 30.488 B44* 25.126 31.250
B03* 22.124 31.250 B45 22.500 23.000 30.500
B04* 22.727 31.847 B46 22.500 23.500 27.000
B05* 23.364 32.468 B47 22.500 24.000 27.500
B06* 24.038 27.173 B48 22.500 24.500 28.000
B07* 24.510 27.777 B51 23.000 21.000 28.750
B08* 25.000 28.409 B52 23.000 21.500 29.250
B09* 26.042 29.070 B53 23.000 22.000 29.750
B11* 21.552 27.173 B54 23.000 22.500 30.250
B12 21.000 21.500 29.250 B55* 26.455 32.468
B13 21.000 22.000 29.750 B56 23.000 23.500 27.250
B14 21.000 22.500 30.250 B57 23.000 24.000 27.750
B15 21.000 23.000 30.750 B58 23.000 24.500 28.250
B16 21.000 23.500 27.250 B61 23.500 21.000 28.500
B17 21.000 24.000 27.750 B62 23.500 21.500 29.000
B18 21.000 24.500 28.250 B63 23.500 22.000 29.500
B21 21.500 21.000 28.500 B64 23.500 22.500 30.000
B22* 22.727 28.409 B65 23.500 23.000 30.500
B23 21.500 22.000 29.500 B67 23.500 24.000 27.500
B24 21.500 22.500 30.000 B68 23.500 24.500 28.000
B25 21.500 23.000 30.500 B71 24.000 21.000 28.750
B26 21.500 23.500 27.000 B72 24.000 21.500 29.250
B27 21.500 24.000 27.500 B73 24.000 22.000 29.750
B28 21.500 24.500 28.000 B74 24.000 22.500 30.250
B31 22.000 21.000 28.750 B75 24.000 23.000 30.750
B32 22.000 21.500 29.250 B76 24.000 23.500 27.250
B33* 23.923 29.762 B78 24.000 24.500 28.250
B34 22.000 22.500 30.250 B81 24.500 21.000 28.500
B35 22.000 23.000 30.750 B82 24.500 21.500 29.000
B36 22.000 23.500 27.250 B83 24.500 22.000 29.500
B37 22.000 24.000 27.750 B84 24.500 22.500 30.000
B38 22.000 24.500 28.250 B85 24.500 23.000 30.500
B41 22.500 21.000 28.500 B86 24.500 23.500 27.000
B42 22.500 21.500 29.000 B87 24.500 24.000 27.500
*=HPR300 channels
Note HiPAP system is not compatible with HPR300 channels:

B01 - B09, B11, B22, B33, B44, B55
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Reply frequencies
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6 APOS INTRODUCTION
Topics
→ APOS – on page 76
→ APOS Help - on page 77
→ Open predefined help - on page 77
→ Screen – on page 79
→ Zoom and scroll - on page 79
→ Positioning toolbar – on page 80
→ Screen menus – on page 80
→ Various screen views – from page 82
→ Toolbar – on page 87
→ Status bar – on page 89
→ Alarms – on page 90
→ Sound alarms - on page 91
→ Alarm types - on page 92
→ Events - on page 93
→ New SSBL positioning transponder - on page 99
→ ROV heading - on page 104
→ Two vessels, two transponders - on page 106
APOS
The HiPAP and HPR 400 Series of systems are both controlled
and operated by use of the APOS software. The APOS runs on
the APC 1x as a stand alone system, or on the Common
Operator Station (COS) unit in an integrated Dynamic
Positioning (DP) and HiPAP / HPR 400 system.
The APOS software includes the following main functions:
• Integrates several HiPAP / HPR 400 transceivers
• Integrates DP and HiPAP / HPR 400 system
• User interface
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• Interfacing HiPAP / HPR 400 transceivers

• Ray bending compensation
• LBL calculations
• SSBL calculations are done in the transceiver
• Interfaces DP and survey computer
• On-line help
The APOS software runs on a Windows XP platform. It uses

standard Windows graphical user interface.
APOS Help
Help in the new Menu bar presents the new APOS software
version and can be used for fault finding. Type in keywords and
a list of topics will be linked to the keyword. It is an easy way to
find what you are looking for directly.
Open predefined file

1 Select File→Open.
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Folder predefined files can be opened and used directly.
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Screen
The screen is divided into three view areas. You can choose
between different views (numeric, Cartesian, polar or inclination
view, UTM, Trend etc.) in each view areas.
Zoom and scroll

The Cartesian and Polar view may be zoomed and scrolled by
using the mouse. Use the scroll bar to the right and bottom to
scroll the view. You may either drag the scrollbar by clicking on
the bar with the left mouse button and with the left button still
pressed, drag the scroll bar up/down for vertical scroll or
left/right for horizontal scroll. If you click on the scroll
arrows, the screen will scroll by a small amount, if you click
outside the bar, the screen will scroll by one page. A quick way
to get the centre of the grid into the centre of the view is to use
the right mouse button in the view and select Scroll to origin.
Another way to scroll is use the same on screen menu and select
Set View Centre. The cursor will now change shape. Move the
cursor to the spot on the screen which shall be the new centre in
the view and press the left mouse button. The screen will now
scroll so that this point is in the centre of the view.
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Zooming in is done by pressing the left mouse button at the

upper left corner of the zoom area, and while keeping the left
mouse button pressed, drag to the right and downwards until the
complete zoom area is covered. Release the mouse button and
the selected area will fill the view. Zoom out is done in a similar
way. Press the left button in lower right corner and, and while
keeping the left mouse button pressed, drag to the left and
upwards until the complete zoom area is covered. Release the
mouse button and the previous view will fill the selected area.
One may also press the right mouse button and select zoom full.
The view will now cover +/- 5000 meters in all directions which
is the maximum range.
Positioning toolbar
Each positioning toolbar object will be presented with
an individual push button in positioning toolbar. These
buttons can be used to activate/deactivate, and to
change the configuration for each object.
Screen menus
Each view has its own menu. Press the right mouse button in a
view and the view menu will pop up. In addition, objects
displayed in a view may have its own menu. E.g. move the
cursor to a transponder symbol or the vessel symbol and press
the right mouse button. A menu specific for this item will pop
up. The same menu can be accessed by right clicking on the
belonging button in positioning tool bar.
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The view menu is used to select properties of the view, the

vessel menu is used to select properties of the vessel and the
positioning menu is used to select properties of the positioning
item. (In this case the SSBL transponder.)
Zoom full will display the maximum area which currently is +/-
5000 meters. Undo Zoom will undo up to a maximum of five
zoom operations. The menu will be disabled if there is no zoom
to undo.
Zoom scale will bring up a menu: This menu can be used to
select a fixed distance between the grid lines with 10 gridlines in
each direction in the view.
Set centre and Scroll to Origin is described above. Orientation
is used to select the orientation of the view, relative north
(normal) or vessel oriented.
The current selection is indicated with a check mark. The view

orientation is also indicated by the symbol (shown in this
paragraph on the right hand side) in the upper right corner of the
screen. This arrow will always point in the north direction
(provided that heading information is received from the HiPAP
transceiver).
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APOS
The measure menu entry is used to set the view in

measurement mode.
Show Error Ellipsis is a toggle function that will turn display
of error ellipsis around the positioning items on (shown by
check mark) or off.
For a Standard Normal Distribution Function, one standard
deviation represents 68.27% of the readings.
An error ellipse represents a Bivariate Normal Distribution and
one standard deviation represents 39.40%.
Show Locations will toggle display of LBL transponder
locations in the view.
The Marker menu is available in UTM view and the
Cartesian/polar view when orientation is set to North up.
UTM view
The UTM view shows the vessel, transponders and other items
positioned in an UTM grid. Note that if the user has selected
lat/lon as presentation, the grid lines will be drawn in lat/lon.
Remember that the units on the screen are still UTM-meters
(and not meters). This gives the effect that the grid lines will not
be straight if the centre is far from the UTM central meridian.
The UTM view is in many ways similar to the Cartesian view,
except for the following differences:
• The view has always UTM North up orientation.
• The centre reference can be set freely.
Selecting Set Reference near Vessel, will use the current
position of the vessel as centre reference for the screen. (This
requires that the APOS has valid GPS input or is positioning the
vessel by LBL and the LBL array has a correct reference.)
True Motion will try to keep the vessel inside the view and
perform automatic scroll whenever needed.
To set the correct UTM zone, select the "System" menu and
select "Geographic position set-up".
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Inclination view
The inclination view is normally used to display the vessels
Roll/Pitch and Heading (gyro) numerically and graphically.
However this view may also be used to present inclination in
two directions from a transponder equipped with an
inclinometer. Click with the right button inside the view to get
the following menu;
As seen, the Sensor menu item will display a submenu with all
available sources for the inclination view. If no inclination
transponders are installed, only the Vessel will be a valid item.
In order to show inclination from a transponder, the transponder
must be properly configured in the configure/transponder menu
and the transponder must be interrogated as an inclination
transponder.
A typical inclination view with the Vessel Roll/Pitch and

Heading as source. The current heading value is displayed in the
upper left corner as a numeric value, and as the "brownish
triangle" that moves around the outer circle (Mimics a gyro
compass). The outer circle has a scale from 0..360° as a gyro
compass. The Roll and Pitch values are shown numerically in
the lower left and lower right section respectively. The graphic
presentation of the Roll/Pitch is the green "ball" in the view.
This mimics a "Bulls eye". The ball will move (roll) according
to the current roll/pitch values.
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The scale of the roll/pitch is marked on the left horizontal axis.

(0.. 10°). Change the scale by clicking on the up or down arrow
marked buttons in the upper right corner. The scale may be set
to any value by clicking the right button in the view and
selecting Settings from the menu. A dialog will pop up; you
may set the maximum scale to any preferred value.
The view may be rotated by right
clicking inside the view and selecting
Rotation from the context menu. 0,
90, 180 and 270 degrees are available.
Rotation will not influence the
numeric values, only the graphic
presentation.
When using a transponder as source for the inclination view, the
view will not show heading values.
The menu is also extended by a Polar selection and an Alarm
entry when a Transponder is used as source. Polar is a toggle
function, when in Polar mode, the inclination is shown
numerically as Tilt and Azimuth as shown in Figure 45. If not in
polar mode, the inclination is shown numerically as X and Y
values (Cartesian) as shown below in Figure 44.
The alarm menu entry will show this dialog when selected; use
the alarm to enable inclination alarms and set alarm limits. The
graphic presentation will show these two limits as a red circle
for the alarm limit and yellow circle for the warning limit. These
circles will only be shown when the alarm is active. Also the
"ball" colour will change to yellow when exceeding the warning
limit and to red when exceeding the alarm limit as shown in the
sample. The system will also activate an alarm function when
the inclination exceeds the alarm limit. This alarm will be
displayed in the alarm view and an audible alarm will sound if
the system is equipped with an alarm horn.
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Figure 40 Inclination view 1 Figure 41 Inclination view 2

without alarm with alarm
Cartesian and polar view

The Cartesian and polar view presents the positioning items
graphically with a "bird’s-eye" view. The vessel is presented
together with any active positioning objects. In the sample
Transponder B27 is shown relative to the vessel which is in the
centre. Normally the vessel is selected to be the centre object in
SSBL positioning mode, but any object may be set in centre by
right clicking in the view on the wanted object and selecting
Centre from the menu. This will show the selected object in the
centre of the screen. To get the vessel back into centre, right
click on the vessel symbol and select Centre.
Numeric view
The numeric view is as the name indicates numeric presentation
of the position data. Each positioned item is presented with a
name and North, East and Depth value (may be Forward,
Starboard and Depth if relative presentation - selected by
Orientation). A sample of the numeric view is shown below.
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The second item is shown with all black numeric values which
indicate normal measured values. The first transponder has an O
attached at the end. This indicates that the position values are
adjusted with an offset. The offset is set up in the Position
properties dialog. Also the Depth value has a purple colour. This
indicates that the position uses a fixed depth or an external
source (not an acoustic measurement).
If a transponder does NOT reply, the numeric values will first
become orange in colour, then red after some time, indicating an
alarm situation.
By a click with the right mouse button inside the view a menu
with selections appear. With this selections you decide what to
be presented and in what form.
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Position values
Position values are normally shown; by Position setup the form
is decided. Geographic positions will change from local
coordinates to geographic coordinates. Geographic LBL/GPS
will in addition for the vessel show both GPS position and LBL
geographic position. The numeric view may also be set to
present data as Range/Bearing. Select Polar as shown above.
The bearing values may be either Bearing to (indicate by
checkmark in the menu) or Bearing from. (Double clicking
inside the view will toggle between polar and Cartesian.) Use
the Orientation menu to set orientation to either Vessel
orientated or North orientated. Note that the numeric data
presentation is independent from the graphical. It is therefore
important to set the numeric orientation to the same selection as
the graphic view orientation if the numeric values are to be
compared to the graphic. Show Tp relative vessel is a special
selection if the vessel are positioning in LBL and a transponder
is positioning in SSBL, this selection then decide if the
transponder is presented relative vessel or relative LBL origin.
LBL range values will display all measured ranges (if LBL is
available) and Gyro/VRS values are values from the
Gyros/VRSs connected to the transceivers. See below. Show
Sensor Values will display the transponder's sensor values on a
separate line. Numeric Resolution may be set in the same menu
by selecting resolution and selecting 0, 1 or 2 decimals.
The numeric view will also show gyro heading and roll/pitch
values from the vertical reference system as shown below. There
is one line from each transceiver that has either gyro or VRS
enabled. The numeric value is in green colour for the transceiver
that currently is in use (select which to use by right clicking on
the Vessel Symbol / icon and select Vessel Properties). If the
gyro/VRS selection is set to automatic, all values will be in
green.
Toolbar
The toolbar is a set of shortcut buttons to menu items. The most
used and most important commands are available in the toolbar.
The toolbar also displays the current state of the system, such as
the "in control" state.
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Printer icon
Select this to get a printout. The F7 key performs the same
action and makes it possible to print with any dialog/ window
visible (the icon will be disabled if no printer is installed).
Screen dump
Select this icon will save the current screen to a jpg file in the
data directory. The file will be named APOS_xxx.jpg where xxx
is an increasing number. Pressing the F3 key performs the same
action and makes it possible to print with any dialog/ window
visible.
Positioning overview
This icon displays an overview dialog showing current
positioning items with channel, Transceiver etc.
SSBL positioning wizard

This wizard makes it fairly simple to begin SSBL positioning on
a transponder.
Transponders
Same function as the Configure/Transponders menu item.
Sound profile
This button to activate the Sound Profile viewer and has the
same function as the View/Sound Profile.
Day/night setting
Same function as the View/Colours menu (will only be available
when APOS is a stand alone system. When integrated with the
SDP, use the SDP menu to select between nigh and day
colours).
Take control icon

This button is enabled when the operator station is in control
like this. Press it to deactivate the icon. The operator station
must be in control if any of the positioning parameters shall be
changed. Only one operator station can be in control at a given
time.
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Alarm view
Press this button to display the alarm view. Press it again to
remove it.
Event view
Press this button to display the event view. Press it again to
remove it.
Scroll
First, click in one of the graphical views to select it and then
click on the Scroll button. Click and keep the left button pressed
inside the view and drag the view to a new position. The view
may be somewhat distorted during drag, but will redraw when
the left button is released. Each scroll requires a new press on
the button.
Status bar
The status bar is the band shown at the bottom at the APOS
application window as seen on the bottom of this excerpt.
The status bar can be divided into four sections:

1 The left pane is used for information and help messages.
When moving around in the menus, a help string will for
the menu under the mouse cursor will be displayed here.
Status panes for each of the transceivers.
2 Status panes for each of the I/O servers. There are three in
this example. Normally there will be from zero to three of
these. The colours that are used on the I/O server status
panes are as follows: - Gray: status OK, Red: no data
received within the last 60 seconds, Cyan: missing 1 PPS
when server used for time synchronization, Yellow:
Missing time synch sentence when server used for time
synchronization.
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3 Positioning the cursor over one of these panes will bring

up some additional status info. HiPAP transceiver goes in
a power off mode when not being used for 15 minutes.
Purple indicates communication is OK but transceiver
needs approximately 15 seconds to operate again.
4 The last pane will display the cursor position in the view.
If the view is Cartesian, the figures will be North and East
relative the origin on the screen. If the view is Polar, the
figures will be range and bearing relative the origin on the
screen. In the UTM view, the figures are in UTM
northings and eastings.
Alarms
The view below shows an error status. Even if the OS is
common for DP and APOS, the Alarm view shows only APOS-
alarm. The alarms may be presented in two different places. The
one-line alarm view, permanently shown in the upper part of
screen, shows the last occurred alarm which needs
acknowledgement from the operator. The alarm view, selected
by the operator, shows all current alarm of any priority.
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Press this button to acknowledge all alarms. The "Ack."

button will also shut off any sound alarm.
The Alarm view shows information in the following columns:
The first column describe acknowledge status, if the alarm must
be acknowledged by the user, and a * is shown in the first
column.
Orig. - describes the originator of the alarm, for APOS it will
always be "HPR".
Time - tells us the last update time of the alarm.
Prior - is the priority of the alarm. There are three different
priorities; it is only "Alarm" which needs to be acknowledged by
the operator.
Info - with whole column written in black.
Warning - with whole column written in orange.
Alarm - with whole column written in red.
Text - describes the alarm.
Additional info - is used by APOS to tell who has given the
alarm.
Note An alarm is shown until the error status disappears and the
operator has acknowledged it.
Sound alarms
The APOS supports sound alarms and warnings via the standard
Windows sound/speaker system. The computer has to be
configured with a sound card and some suitable speakers (with
amplifiers) must be connected to the sound speaker connector.
When an alarm fires, a so called .wav file will be played in
continuous mode until the alarm is acknowledged or keyboard
button F8 is pressed. The default .wav file is
\APOS\Bin\APOSalarm.wav. It is possible to change this file
with another provided that the file name and location is the same
and the file is a Windows compatible .wav file.
When a warning occurs, a similar .wav file is played
(\APOS\Bin\APOSwarning.wav). This file is played only once,
so no acknowledge is needed.
If one or both these files are missing, no sound will be played
for that specific alarm/warning.
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Alarm types
Position timeout
No position is calculated for this source (described in Additional
info) lately. Starts with priority "Warning" and will turn to
“Alarm” after additional time.
Possible reasons for this alarm include:
− The selected channel number is not correct.
− The transducer has not been lowered.
− The transponder battery may be flat.
− The system is too far away from the transponder.
− The transponder is shadowed by a subsea structure.
Outside wanted position

The inner or outer position alarm circle is violated, the priority
describes if its info, warning or alarm circle.
Transceiver not connected

There is no communication to the transceiver, either caused by
connection problem or the transceiver may be turned off.
Sensor values outside limits

The alarms limit for the transponder sensor is violated
(Inclinometer).
Transponder sensor missing data

The transponder with sensor data alarm limits has not received
any data for a certain time. Possible reasons is the same as for
Position timeout, in addition is the possibility that the
transponder has no sensor.
Geographic position time difference

The received geographic position (normally GPS) has a
timestamp which are different from the current time on the
operator station. To get best possible geographic position the
operator station needs to be time synchronised against the GPS.
When this message occurs the time received from GPS is
ignored and the current operator station time is used instead.
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Network error Net A/B

The system reports an error in the network between operator
stations. This error may also be reported even if you have only
one HiPAP operator station, if the operator station is connected
to the DP network.
Events
The event view shows one-time events, and this view is only for
APOS. The event view, selected by the operator, shows the
latest events.
The Event view shows information in 4 different columns:

1 At the beginning of the row are symbols which describe
the importance of the event. If it is blue with an "i" inside
it is just information. If it is yellow with "!" inside it
should be given some attention.
2 The column Time tells us the time when the event
occurred.
3 The column Description describes the event types.
4 The column Source describes who has given the event.
If the operator wants to clear the view after observation of
received events, it's possible by a right click in the upper part of
the view and from the menu select Clear window.
The most common Event types:
• Filter deviation
− The measured position has been outside the limits of the
expected position for some measurements.
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• No reply
- An acoustic message which mean that the system
was unable to detect an answer from the selected
positioning.
• Missing pulse 2/3
− This acoustic message may appear when interrogating
depth or inclination transponders, or other types, which
reply with several information pulses. The message is
issued when the system has not received the expected
count of pulses.
• Noisy pulse
− The transponder reply was uncertain caused by noise.
• Noisy spectrum
− The transponder reply was uncertain caused by noise.
• HW reset
− The transceiver has been reset.
• VRU error
− The measurement has not any accepted Roll and Pitch
values. Check the VRU input
• GYRO error / Heading error
− The measurement has not any accepted heading value.
Check the gyro input.
• ATTITUDE ERROR
− Some trouble with the attitude sensors (either gyro or
VRU). Often followed by another message. Check the
attitude sensors.
• ATT. NO DATA
− No data received from either gyro or VRU for the last
positioning.
• ATT. LOW ACCURA
− The attitude sensor reports low accuracy on its data. Check
the attitude sensor.
• ATT. UPDAT.RATE
− The attitude sensor's update rate does not correspond to
the HiPAP transceiver's expected update rate. Either
adjusts the vru sensor's update rate or the HiPAP's
transceiver interfaces Attitude rate.
• No horizontal convergence
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− The LBL calculation did not find any solution for the
measurements in the horizontal plane. If it repeats check
the measurements and the LBL array data. A new LBL
runtime calibration can maybe solve your problem.
• No vertical convergence
measurements depending on a mismatch between the
ranges measured and the given depth info. If it repeats
check the sound velocity used, the range measurements
and the LBL array data. A new LBL runtime calibration
can maybe solve your problem.
• Bad convergence
measurements. If it repeats check the measurements and
the LBL array data. A new LBL runtime calibration can
maybe solve your problem.
• Few replies
− The LBL calculation did not have enough measurements
to perform a position. Check which transponders which
don't answer, try to "read status" on telemetry to verify
correct setup for the transponder.
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Trend view
The following is a typical trend view with 3 different graphs:
To select trend view, right click in the view and select Trend
View.
The trend view must be configured by right clicking in the view
and selecting Trend Setup from the menu.
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Up to six different graphs can be showed in the view. Each

graph that has a tick mark in the Visible column will be
displayed. Each graph can contain one type of source. The
source type is selected by using the list box named Graph. After
the graph type is selected, the sources must be selected by
pressing the Sources.. button.
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The sources shown here will differ with what types of

positioning transponders are available and what type of graph is
selected. Click on each source that shall be displayed and press
OK. If the graph type is changed from one fundamentally
different type to another (e.g. from North to Roll), the sources
have to be selected again.
The time span may be selected from 30 seconds to 1 hour in the
Time Span list box. The scale is normally (by default)
automatic, but may be set to manual by clicking on the Scale..
button.
Delta check box ticked on will display the difference between
previous and latest measurements.
Zoom and scroll

The trend view may be zoomed and scrolled just like most of the
other graphic views. Click and hold the left mouse button inside
the trend view and move the mouse from upper left towards
lower right to zoom in. Release the mouse button to activate the
zoom.
Click and hold the left mouse button inside the trend view and
move the mouse from lower right towards upper left to zoom
out.
The view may now be scrolled by moving the scroll bars at the
left and at the bottom. To restore to un-zoomed state, right click
and select Zoom Full in the menu.
File save and load

It is possible to save data in a trend view to a comma separated
file. (csv file) This file is compatible with Microsoft Excel and
other programs. Saved files may also be loaded and displayed in
the trend view at a later stage.
To save a file, right click in the trend view and select Save from
file ... in the context menu.
The file dialog will be displayed. Enter a suitable file name (the
file extension will default to .csv).
Loading a save file is similar, right click in the trend view and
select Load from file ... in the context menu.
The file dialog will be displayed, select the file by clicking on
the name and press the Open button.
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Any trend view may be selected to display any trend type. The
current trend type will be temporarily halted while the file is
displayed. The title of the trend is marked [from file] when a
file is displayed. To resume normal operation in the trend view,
right click inside the view and select ♥Stop scroll. Normal
trend display will resume.
New SSBL positioning transponder
Start positioning
1 File→New.
2 You will be prompted to answer Yes or No, to start a new

file.
Note In real life this is a serious question and has to be considered

carefully.
3 Select the New SSBL Positioning Transponder.
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4 In the dialog box below, information for the transponder

needs to be configured.
5 Serial No. is required for telemetry communication.

6 Select the transponder type to determine position
principle.
7 Determine extra functionality i.e. release, responder, DUB
etc.
8 Select sensor type.
9 Click next to continue the setup.
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Select transceiver/transponder
− This option applies only if there are more than one

Transceiver / Transducer available.
− In this dialog box you can change the
transceiver/transducer to other than the default.
SSBL positioning
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(Max range, interrogation interval, fixed/mobile)
Max range
The HiPAP system will expect the Transponder reply to be
within the preset maximum range.
Note The interrogation interval indicates the wanted position interval

for the specific transponder. Long range and/or several
transponders in use might reduce the measured interval.
10 Select Fixed or mobile transponder

11 Selecting Finish will complete the configuration for this
specific transponder
In this dialog box the operator can choose to enable the sensor
automatically or manually at a later time.
Save your work
1 File→Save as.
2 Give the location a suitable name.
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3 Press Save.
Note These files store the transponder configuration only.
How to setup a responder

To make the responder operate as a transponder, the function
will need to be enabled.
This function can be enabled also when the transponder is
functioning as a responder, but after a possible reset of the
transponder, the transponder function will be disabled
How to configure a responder for the first time:
1 Click the T.P. wizard button to start the configuration.
2 Type in channel no., serial no., type of TP and sensor info
(if available), and mark the TP as responder.
3 Select the Transceiver to be used (if more than one
available).
4 Set Max Range, the interrogation internal and if it is to be
used as Fixed or Mobile.
Then proceed as follows:
How to change a TP to a Responder

• Go to TP properties, mark the TP as Responder, and then
select the Drive.
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− The TP is now working as a Responder (if all connections

are made accordingly).
ROV heading
APOS gives you the opportunity to read the ROV’s gyro and
present the heading in the positioning view.
Step by step
1 The APOS operator station needs to be configured with
the ROVs gyro as an external input, i.e. I:2.
2 Right click on the responder symbol and select

Properties. In the Heading input group, select the
applicable gyro.
3 If you are using a Standard Symbol for the ROV, your

view would look like the figure below, were an arrow is
added, indicating the ROVs heading.
4 If you are using a Custom symbol for the ROV as seen in

figure below.
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Delete Transponder in APOS
How to deactivate transponder:

1 Deactivate transponder.
2 Right click on the transponder symbol.
3 Select Delete.
This will remove the button.
For removing the Transponder completely:

1 Select Configure→Transponder.
2 Left click on the appropriate transponder to high light it.
3 Right click on the high lighted transponder→Delete.
When you save the file, the file is saved on the actual Operator
Station (OS) were you select Save or Save As…. Nothing will
be saved on any of the other OS’s and can only be opened from
saved OS.
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Two vessels, two transponders

This exercise will show you how to avoid problems, when
selecting transponder channels.
Operating situation
Your vessel is using HiPAP for positioning with transponder
channel B24.
Another vessel is arriving close to your and will also use HiPAP
for positioning, with transponder channel B64.
Tranducer Tranducer
Transponder Transponder
Figure 42 Two vessels, two transponders
Vessel 1 uses B24 Tx 21500 - 22500 Reply 30000

Vessel 2 uses B64 Tx 23500 - 22500 Relpy 30000
Notice conflict in Reply frequency !
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7 VESSEL SPECIFIC CONFIGURATION

Topics
→ Objective - on page 107
→ HiPAP transceiver - on page 108
→ HiPAP attitude – on page 110
→ Transducer settings dialog – on page 112
→ DRP Data Acquisition settings dialog – on page 112
→ Output menu – on page 114
→ External interfaces dialog – on page 115
Objective
In the Configure part you will learn how to:
1 Change gyro and VRS on the HiPAP system.
2 Adjust HiPAP transceiver amplifications and transducer
beam width.
3 Introduction to the Spectrum Analyzer on the HiPAP
system.
4 Reset the transceiver.
- In the Configure part, you will learn Configure
Light, as well as the items shown below
5 Connect gyro and VRS to the HiPAP transceiver.
6 Connect the Operator Station (i.e. APC 1x) to other
computer systems (Surveyor, Blom, ROV etc.).
7 Connect a dGPS to the APC 1x.
- In the Configure for the Service Engineer part you
will learn the above items, as well as the items
shown below
8 Connect APC 1x to the DP (intended for internal training).
9 When you press Configure on the menu line, you will get
the following menu.
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HiPAP transceiver
This dialog is accessed by the menu Configure-Transceiver
and there select the specific transceiver, it may also be accessed
directly by a right click on the transceiver name in the status bar
(lower right part of the screen).
The purpose of this dialog
Select operation mode

• To configure HiPAP installation parameters (only available
if logged on as service)
• Setup of data acquisition parameters
Except for Operation Mode only service personnel can change
these settings (the OS must be in control.) Otherwise the OK
and Apply button will be greyed.
HiPAP may be interfaced to up to three Gyros and VRS’.
Transceiver Interfaces only to be used by service personnel.
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Operation Mode
Operation mode should normally be in Navigation. For test
purpose it's possible to select Training, any SSBL positioning
will then be simulated in the transceiver. The simulation is done
without use of the transducer, i.e. it means that it's not necessary
to lower the transducer. Note that most of the output telegrams
have a training bit set. All operators may change the operation
mode from Navigation to Training and vice versa. Clicking on
either of these two will change the mode immediately. (Watch
the Transceiver status field in the lower right part of the screen.)
Data Acquisition
For Data Acquisition see
HiPAP DRP Data Acquisition on page 112
The Reset button will reset the transceiver.
Note This will stop all ongoing positioning tasks for this transceiver
and it will take some time before the system is back to normal
operation. Should be used with extreme care!
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HiPAP attitude
To access the attitude settings:
1 Select Configure→Transceiver,
- select the correct transceiver
2 Press the Attitude button.
This dialog is used to configure Attitude input to the HiPAP

transceiver. The HiPAP must have Gyro (heading) input and
VRS (Vertical Reference System, i.e. roll and pitch) input in
order to work properly.
You may pre-configure up to three Gyro inputs and three
VRU's. However only the selected one is used.
If one Gyro and VRS input are configured with the same
parameters, the system assumes that this is a common input.
This is normally the case with e.g. Seapath witch transmits
heading, roll, pitch and heave. In this case a common port is
used.
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The input may be either a serial port or an Ethernet UDP port.

The HiPAP transceiver will report all serial ports on the
computer to APOS at start-up and these will be displayed in the
selection box for serial port. (NOTE! both used and unused port
are reported, selecting a port that is used for some other purpose
will lead to the setting is ignored and an error message is sent to
the event view.)
Note For a HiPAP 350 Portable unit: VRS1 MUST be configured for
Ethernet IP address 192.168.127.1 and Port 4001 in order to
use the built in MRU in the transducer head.
The Heave compensation check box enables heave correction

of depth values. The mean value of the heave at the transmit
time and receive time is used for depth compensation. NOTE!
The VRS input MUST be a device that measures and outputs
heave, typically a MRU or Seapath.
The Attitude output section is used to configure an output port
for attitude data in EM 3000 format. This is primarily intended
for the built in MRU in the HiPAP 350P, but will work for other
configurations as well. Again, the port may either be a serial
port or a UDP port on the network. The Decimation settings
may be used to reduce the output rate from the VRS. The MRU
in the 350P outputs data at 100 Hz. This is far too high rate to
operate on a serial line at 9600 baud. The EM 3000 message is
10 bytes long.
With 8 bit data 1 stop bit and no parity, 10 bits will transmitted
for each byte of data. E.g. 10 x 10 x 100 Hz = 10000 bits /s as
minimum. This means that one must as least use a decimation
value of 2 for 9600 baud or 4 at 4800 baud. Decimation means
that every n message is sent, the others are just discarded. To get
a 10 Hz output rate, set the decimation factor to 10. To get a 1
Hz output rate, set the decimation factor to 100. The decimation
factor does not influence the input rate to the HiPAP system.
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Transducer settings dialog

Set the Transducer offset relative to the vessel CG. Forward /
Starboard / Below is positive figures relative CG. Inclination
offsets may be set if present. If the Transducer is rotated, set
rotation relative to the vessel zero line. The Transducer Depth is
the depth below the sea surface.
DRP Data Acquisition settings dialog
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Search Sector
The HiPAP systems will by default search for transponders in a
sector within +/- 95°. This sector can be controlled by the setting
in this parameter. The system will be able to detect signals some
10 - 15 degrees outside this sector, dependent on the signal
strength. This Search Sector is used both in telemetry and in
navigation modes. To reduce influence from noise it may help to
reduce the search sector.
If the search sector is set to +/-15 degrees the system uses a
narrow band software filter to improve the detection capabilities.
The filter is active for SSBL and LBL positioning modes.
Default +/- 95°
Transmitter Beam
The transmitter beam source level is increased when using beam
widths less than omni-directional.
The increase in source level is shown in the table below:
Search HiPAP
Sector 501
max SL
+/-60 198dB
+/-35 198dB
+/-15 207dB
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Output menu
The Outputs dialog is used to configure outputs to other

systems. The APOS may output data on several different
formats to a disk file, the printer, the network or a serial port.
The first page is an overview that shows which outputs that are
defined. The other pages are used to enable the output and select
what should be sent on each individual output. A green check
mark in front of the output name indicates that the output is
active. Click on the tab with the output format of interest to
define and configure an output.
Right click the type of output to configure the output settings
such as Serial and network details.
Tick the Position information you want to send out i.e.
SSBL Local /Geographic or LBL Local /Geographic positions.
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External Interfaces dialog
The dialog is initially empty except for the External Interfaces

Item. To define a new interface, right click on the external
interfaces and the shown menu will pop up.
Select Add NMEA for:
• GPS input (GGA, GLL position sentence and/or timesync)
• External HPR measurements on NMEA format (PSIMSNS,
PSIMSSB)
• Remote Control input (PSIMSVT/PSIMRCP sentences).
Up to 32 external interfaces can be active at a time. The external
interface is actually a separate program called IOServer.exe.
This program should only be active on the operator station that
has the physical serial line to the external sensor.
The IOServer will send all received serial data messages on the
net to all networked APOS systems. To configure the interface,
select it in the dialog. Right click on the interface in the dialog
to configure the setup.
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<
Remove - will remove the interface from the system.
Caution Use with care!
Configure - will bring up a network configuration dialog.

The IP address and port numbers must match the settings in the
IOserver program, except that the Receive and Transmit port
numbers shall be interchanged.
The menu selection Show Monitor Window will bring up a
Window that displays the running input data from the external
interface. Normally used only for test/installation purpose.
Activate IOserver - is only allowed if the program IOserver is
running on the same PC. The IOserver program normally
receives data on a serial line and distributes the data to all
operator stations (WinHPR program).
Depth sensor number

This is the reference number for use further in APOS. NOTE!
The numbers here must start at 1 and be consecutive numbered
for all depth interfaces. The depth value may be used by
different positioning objects, for example SSBL or LBL ROV
positioning. This number must be the same as wanted in the
setting for the actual positioning object.
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The depth format may be one of our predefined sentences.

Another possibility is a User defined format, where you describe
your own ascii-sentence by use of a header and column number.
The Depth conv. factor is to convert the input value to meters
(i.e. 1 for meters input).
NMEA format will bring up following dialog:
This dialog decides which telegrams to be decoded on this

interface. It means that you can receive telegrams but decide not
to use them. Standard NMEA follows the standard NMEA0183
description, while Simrad specific is our own defined telegrams
described in our help NMEA description.
Note When and external gyro is connected to this interface and the
HDT is ticked, this interface becomes available a selection in
the HPR 400 Transceiver -> Gyro. It also becomes available as
a selection for SSBL properties Heading input. In both cases,
this is intended for ROV usage where the gyro compass from
the ROV is interfaced to the APOS via this external interface.
The gyro values will be drawn as heading arrows on the
positioning symbol and will also be displayed numerically
below the position values.
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8 DEFAULT PARAMETERS AND SSBL

PROPERTIES
Topics
→ SSBL Positioning Properties dialog - on page 118
→ Transponder type - on page 120
→ Transmit transducer – on page 121
→ Transmit power – on page 122
→ Default parameters – on page 122
→ Position offset – on page 125
→ Heading input – on page 126
→ Deskew – on page 126
→ Depth – on page 127
→ Geographic position – on page 128
SSBL Positioning Properties dialog

To start a SSBL positioning select a transponder and set Active,
then positioning will start by clicking OK or Apply. The same
dialog will appear with Properties selected in the menu after a
right click on an existing SSBL positioning (either in the toolbar
or in the graphic part.)
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Following is a description of each parameter:
Installed Transponders
When the box is checked, only those transponders that are
configured in the system are listed.
Channel - Serial No.:

Describe which transponder is used for positioning. It shows the
Channel and if the installed transponders box is checked, it also
possible to view the serial number for the actual transponder
channels.
Activate
When this box is checked, and the Apply or OK button is
selected, you will start to interrogate on the transponder
displayed in the Channel – Serial No. display.
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Interrogation Interval
This text box will set the wanted time between each
interrogation of the selected transponder. The options are 0.8 to
60 seconds, in step of 0.1 second. The HiPAP system will try to
interrogate the transponder as often as specified in the
parameter. This rate may not be possible due to other
transponders being active and/or the rages(s) to the
transponder(s) being too long.
Transponder type
This section describes what functionality, and which sensor the
transponder is using.
Selecting the above options will prepare the APOS software. To

be able to understand the communication received from the
positioning object before selecting the option one needs to make
sure the object has this function available.
Beacon
When this box is checked, the transponder must be configured
as a Beacon. It means the transponder is sending a pulse with a
given interval; the system will only be able to measure the angle
towards the transponder. To get a range it must be combined
depth information, normally a fixed depth.
Selecting this option will change the positioning principle. The
positioning object will now act as an acoustic light house,
transmitting pulses regularly (with a given pulse repetition
interval) without being interrogated. The HiPAP system will
only be listening, and the direction will be calculated. To
estimate a position is only possible if the depth is known.
Responder
When this box is checked, the transponder must be wired as a
Responder. If it is selected you will get access to the pull down
menu for selecting the trigger signal source.
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Selecting this option will exclusively send the interrogation

pulses through an umbilical to the positioning object. This
means that the object must be hardwired all the way from the
APC to the physical object. The positioning object will reply by
sending acoustic pulses to determine position. When this option
is selected one also need to select wanted drive, due to multiple
responders possible on the site transceiver.
Drive 1 to Drive
This is a normal responder. The HiPAP system transmits a
signal on the specific drive, causing the responder to transmit
the reply pulse of the channel to which the responder is set.
None, Depth, Inclinometer, Diff. Incl. and

Compass
These radio buttons activate/deactivate the use of the above
functions.
In this section one can change the setup i.e. if forgotten during
original configuration or simply just want to add this function at
a later state. Remember to make sure the transponder has this
function available. If it is not a physical function for this
transponder, no information will be presented and missing pulse
will be reported in the Event View. This setting is preparing the
APOS to receive the additional information and changing the
transponder button icon.
Note When deactivating any function here, the transponder will still
continue sending information, but APOS will not process the
data. For saving battery capacity in the transponder, we will
recommend to switch off the function in the transponder. That is
done in the Transponder Configure dialog.
Transmit Transducer
This section describes which transducer (if several are fitted in
the vessel) and transducer (if several are fitted on the
transceiver, applies only to HPR 400 transceivers) that is to be
used for the selected transponder during the pulse positioning.
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Default
When Default is selected, the parameters for the selected
transducer in the Default parameters will be used when
interrogating this transponder. The selected transducer is marked
with a green background. To make it possible to select another
transducer, it is necessary to uncheck Default first. Any change
of default transducer will affect all type of positioning which has
selected use of default.
Transmit Power
This section enables the operator to set the transmitting power
for the system.
Default
When Default is selected the values for Transmit Power in the
Default Parameters will be used when interrogating this
transponder. The transmission power can be set to suit local
water and operational conditions. A higher power level will be
required to position arrays at longer ranges, but water
conditions, subsea structure etc. can cause interfering echoes
and thus require a lower power level. High power is normally
suitable for most operations.
Default parameters
1 Go to System→Default parameters.
2 Changes in this dialog box will propagate to the different

dialog boxes, were the settings are applicable (see list
below).
Dialog boxes updated by Default parameters

• Transponder configure
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Telemetry Transducer tab

− Telemetry transducer
− Tel Tx Power
− Max Range
• SSBL Positioning (Properties)
− Transmit transducer
− Transmit Power
− Max Range
• LBL Positioning (Properties)
− Transducer
- Transmit
- Receive
− Transmit Power
− Max Range
• Dual HiPAP
• New SSBL Positioning Transponder
• Turret for STL
• MLBE for STL
Checking your interrogation rate

Preferred interrogation rate: The interrogation rate as selected in
properties menu.
Measured interrogation rate: This is the actual interrogation rate,
measured in the middle.
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Note This is a frozen window. Most likely the Meas. Int. rate is a
continuously changing value. You need to close this dialog box
and reopen it to be able to notice any changes.
Max range, HiPAP

This section enables the operator to set the maximum search
range of the system when waiting for a reply pulse on the
selected channel.
When Default is selected the values for Max Range in the
Default Parameters will be used when interrogating this
transponder. By setting the maximum search range for the
selected transponder channel, you can reduce the time that the
system waits for replies. This increases the update rate of the
position readings. The update rate may be set individually for
each transponder channel because the transponder will usually
be at different ranges form the vessel. Do not set the value too
low, as this will prevent the HiPAP system from detecting the
direct replies from the transponder. The system may detect a
reflection of the previous reply signal, giving a wrong and
unstable position.
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When you start interrogating a transponder the HiPAP will first

search for the Transponder. The search period will take 3-4
interrogations. During the search period the direction and rage to
the Transponder will be determined. Each of these 3-4
interrogations will have used the full max range value as a
quality check. After the search period the HiPAP will now
switch mode and start tracking the Transponder. This means the
transducer will communicate in the direction of the transponder
and only communicate when received reply and does not have to
wait the full max range. If the HiPAP does not receive any
replies within the expected max range the message “no reply”
will be shown in the alarm bar and in the event view. The
HiPAP will then start the next the next task i.e. next
transponder. If the HiPAP is not able to calculate any positions
on the same transponder for two consecutive interrogations, the
third interrogation will start in search mode and start over.
Position offset
Typical use of Position Offset will be an anchored drilling rig.
They use a positioning transponder some distance away from the
drilling hole. The operator would however like to see the
transponders on the display, as the transponder was located in
the center of the drilling hole.
By entering the appropriate North and East values, the
transponder will appear to be placed in the center of the drilling
hole.
This will make it much easier for the operator to control the rigs
offset from the center of the drilling hole.
This section enables the operator to set the type of operation the
transponder is to be used in.
The information is not use directly by the HiPAP system itself;
it is included in the position telegram sent to an external
computer. Dynamic Positioning systems receiving these
telegrams use the information to decide whether or not the
transponder position should be used as a DP reference.
Fixed - Normally DP use, the transponder has a fixed seabed
location.
Mobile - Normally not used by DP as the transponder is often
installed on a ROV.
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Heading input
A heading input will draw a heading arrow on the transponder
symbol reflecting the current heading. Used mainly on POV
operations where heading values can be obtained via a serial line
connected to the APOS. One must define an external NMEA
input and enable the HDT message type. When this is done, the
NMEA ExtInterface should be available as a selection here.
The operation should be selected as Mobile for this usage. One
may also enter the actual offset of the transponder on the ROV.
When external heading input is selected and operation is set to
mobile, the offset section changes meaning.
The position offset is now used to enter the actual transponder
offset on the ROV. The offset is the distance form the center of
the vehicle to the transponder. This offset vector will be rotated
with the measured heading, negated and added to the actual
measurement. This means that the symbol on the screen should
represent the center point selected for the ROV.
Deskew
This section enables the operator to set this parameter in order to
calculate the SSBL position more accurately.
The SSBL transponder replies on the HiPAP interrogation at
time “A”. The reply is received at the HiPAP transducer at time
“B”. The time span from “A” to “B” depends on the distance to
the transponder. When the transponder or vessel moves during
this time span, a position error is introduced unless compensated
for. The compensation is turned off or on by the Deskew
parameter.
Off: No compensation is done.
Vessel: When this option is selected, the transponder is
assumed not to move. The SSBL angles are measured correctly
but the ranges may be measured either too long or too short.
This is compensated for by using the speed and course
established by the Kalman filter of the relative movement
between the transponder and the vessel.
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Transponder: When this option is selected, the transponder

is assumed to move. In this mode, no compensation of the
position is done. But the clock associated with the position is
changed from time of the arrival of the transponder reply at the
transducer to the time when the transponder replied. I.e. the age
is made older. This is seen in the NMEA sentences with the
transponder position. The time span is at time “A”. (“A” and
“B” are defined above.) When the NMEA sentence contains
local co-ordinates, the local position is the transponder position
at a time “A” relative to the vessel at time “B”. When the
sentence contains UTM co-ordinates, the geographical position
of the vessel at time “B” is combined with the local position of
the transponder at time “A”. The result is time stamped “A”.
This combination is valid when both transponder and the vessel
are moving, e.g. when the vessel follows the Hugin AUV.
Depth
This section enables the operator to make corrections to the
HiPAP measured values. The depth of the transponder may be
input to the calculation of the position. The depth input may be
either frozen at a fixed value or it may be input from a depth
sensor. The depth compensation improves the accuracy of the
transponder position when the horizontal distance to the
transponder is greater than the vertical distance to it, as seen
from the transducer. When the transponder is within a cone of
15 degrees below the transducer, no depth compensation is
done. When it is outside a cone of 45 degrees below the
transducer, the compensation is done fully. When the position is
between these limits, the compensation is done only partly and
the closer it is to the 45 degrees limit the more completely it is
done.
Z locked: When this box is checked, the transponder depth is
locked on the value entered in the Depth/Offset text box.
Depth/Offset: This text box enables the operator to enter a Z
locked depth or an offset to the depth sensor. If the External
sensor pull down menu is selected as Manual, the value entered
in this text box will be depth, i.e. Z locked = Depth/Offset. If the
External sensor pull down menu is selected as any of the
sensors, the value entered in this text box will be the offset value
to the depth, i.e. Z locked = External sensor + Depth/Offset.
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External Sensor: By choosing one of the sensors, you

specify that the depth input is received from a depth sensor. The
depth sensor input is received on a serial port and must be
defined in External Interfaces. Depth sensors usually transmit a
new depth value many times each second. APOS uses the last
one received in the compensation. If no depth telegram is
received in the last 10 seconds, no depth compensation is done.
Geographic position
It is possible to lock to the transponder on a given geographic
position. Then the transponder (SSBL symbol) in the UTM view
will be drawn on the given position with the different colour
than normal. The vessel will then be drawn as the fixed
geographic position is added to the SSBL measurement; the
same calculated position will be displayed in the numeric view.
Any output of geographical positions is not affected by his
opportunity.
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9 TRANSPONDER CONFIGURATION
Topics
→ How to access Transponder configure - on page 129
→ Transponder setup dialog - on page 130
→ Transponder parameters - on page 131
→ Transponder configure - on page 134
→ How to remove transponders in APOS - on page 135
→ Transponder configure dialog box - on page 135
→ Transponder setup - on page 136
→ Transponder functions - on page 138
→ Transponder with a depth sensor - on page 141
→ Transponder with an inclinometer sensor - on page 144
→ Transponder with a differential inclinometer sensor – on
page 147
→ Transponder with a compass sensor – on page 148

→ Transponder telemetry transducer dialog – on page 151
How to access Transponder configure

Access to the Transponder Configure dialog box is available in
three ways:
1 Right-click on the transponder in Positioning
toolbar→Transponder.
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2 Right-click on the transponder in the Positioning

window→Transponder.
3 Select Configure on the menu bar →Transponder.
All of this gives us access to the same dialog box, Transponder

Configure.
Transponder Setup dialog
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This section will normally be updated when pressing the Read

button. When you press the Read button, the HiPAP system will
send a message (telemetry) to the transponder, asking for the
transponder setup. If for some reason it is not possible to use the
Read command, and the parameters are known, it is possible to
change the data and press “Change (NoTel)” to store the data.
Note that using “Change (No Tel)” is not changing the
transponder setup, but only telling APOS the setup of the
transponder. To change the transponder parameters, select the
new values and then press “Set”. To set default values to the
transponder, press “Defaults” before “Set”.
Transponder Parameters
Nav Tx Power
These radio buttons sets the power used by the transponder
when transmitting navigational information. Default value is
High.
High or Maximum power levels may be necessary to archive
long ranges but a level as low as possible should be used to
minimize problems caused by reflections and to keep battery
consumptions to a minimum.
The “Set” button will start the transmission of the new values to
the transponder.
Rule of thumb:
• Maximum power for water depths greater than 1000 m
• High or Low for water depths between 100 to 1000 m
• Minimum power for water depths less than 100m
Tel Tx Power
These radio buttons sets the gain of the receiver within the
transponder. Refer to the description for Nav. Tx Power.
RX Gain
The low gain level gives better noise immunity, and it may be
used in noisy environments. Default is High and should
normally be used as Minimum is only for special use and should
only be used with care!
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Pulse Length
The radio buttons should normally be 10 ms. Any changes here
should only be done by expert users.
Mode & Turn Around delay

These parameters are mostly used by LBL positioning, and any
changes to the transponder are done from the LBL dialogs. The
data is updated by the command Read. If the parameters are
known and and it is not possible to use the Read command, it is
possible to change the data and press “Change (No Tel)” to store
the data. Note that it is not possible to command the transponder
in a new mode from this part.
Get Type Info
Pressing the button will send a series of messages to the

transponder to retrieve the full type designation. This will be
displayed in the field below the button.
Program version
When a Read command is performed, the firmware program
number will be displayed here.
Last Update
Last update will give you data and time when the last telemetry
operation against the transponder was carried out.
Battery
By the command Read you will get information about battery
used. The number of transmitted pings from the transponder is
an indication of battery used. The value presented is calculated
from the use of “High” Tx power level and a pulse length of 10
ms.
After a Read command you may press “Check Capacity” and
following dialog will appear:
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If you select the correct transponder type it is displayed and

estimate of the used battery capacity in percent of both Transmit
and Receive battery.
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Transponder configure
When you enter the Transponder Configure dialog box by right
clicking on the transponder symbol, that particular transponder
will then be on display. That is shown below, were transponder
B61 is greyed.
You may however select any of the other transponders from the
list. If you instead access the dialog by selecting Configure on
the menu bar, the first transponder on the list would be
displayed.
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Right click on one of the transponders and you get access to

Delete, Change… and add a New.. transponder.
How to remove transponders in APOS

Assuming the transponder is configured and ready or in use.
• De-activate the Transponder button
• Right click the button→Delete (this will delete the button
only)
• Go to Configure Menu→transponder
• Right click transponder→Delete (this will completely
remove the configured transponder from APOS).
Transponder Configure dialog box

The information displayed in the Transponder Configure
dialog box will not always display the setting in the transponder.
Some of the reasons for this are described below.
• The transponder has been reset, due to a battery change.
• Some other vessel has changed the setting in the
transponder.
• You have sent a telemetry message to the transponder, due
to a telemetry error; the operator station will not reflect the
new setting.
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Transponder setup
The Transponder Setup tab in the Transponder Configure
dialog box, consist of the functions, as shown in the picture
below.
A more detailed description of this dialog box is available in

Help. Press the Help button.
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Modes, TAD & LIC
The transponder may be able to operate in different modes. The

main difference between MPT and SPT transponders is the
mode they are able to operate in. The SPT transponder will
typically be in SSBL Tp mode, meaning only for SSBL, not
LBL positioning.
The MPT transponder may typically be in LBL Calib. or LBL
Pos. during LBL calibration or positioning. The MPT
transponder is also able to operate in SSBL Tp mode.
TAD and LIC will show status in the Transponder last time a
Telemetry was executed from this OS.
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Transponder functions
The layout of this page depends on the transponder type defined
and on any sensor defined (like depth, inclinometer etc).
Figure 43 Transponder functions
This page enables you to run some of the following transponder

functions:
• Enable SSBL Tp - enables a disabled transponder.
• Disable Tp - disables a transponder. A disabled transponder
will not respond to any interrogation request.
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• Reset - sends a reset telemetry message to the transponder.

A software reset will be done inside the transponder, and the
transponder settings will be the default values. Remember
that the transponder will go back to the original channel.
• Release (Optional, requires the transponder to be configured
with Release function) - sends a telemetry command to the
transponder to start the release procedure to allow it to float
to the surface for recovery.
• Channel - this group box contains the channel setting
selected by the rotary switches in the transponder. The value
is updated when the Reset button is activated.
• Switch Channel - this group box enables you to reprogram
the transponder to a different channel.
• New channel - select the new channel and press Set with
telemetry.
(Only for HPR 300 Transponders) HPR 300 Cmnd. Addr.

This text box allows you to enter the command telemetry
address for the transponder selected. The options are 5, 6, 7 and
8. The command address is used during telemetry towards the
transponder. The command address must match the setting in
the transponder. For further details on how to set the command
telemetry address in the transponder, we refer to the transponder
manual.
Set with telemetry - downloads the new setting to the
transponder.
Set without telemetry - If you know that the transponder has a
different channel setting than the current displayed, select this
channel and press Set without Telemetry. This will force the
APOS to use the new channel, without sending a telemetry
message to the transponder.
Send Reset in Scan - his check box allows you to reset the
transponder (see the Reset button) when scanning for a
transponder.
Scan for channel - when you press this button the HiPAP
system will start to search for a transponder given by its serial
number.
• This button is to be used if serial number is known but not
the channel or mode.
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− First it sends all known channels (on actual frequency

band) to give a wakeup to the transponder, then it send a
telemetry message.
− If the transponder is found, the transponder will reply with
an answer on the telemetry message and the message Scan
for channel successful, parameters will be updated will
appear on the screen.
− The parameters updated are the channel, the power
settings and the mode.
If the checkbox Send Reset in Scan is checked, the transponder
will receive a reset command. The transponder will then respond
with its default values including the original channel. The reset
command may be useful after testing with power settings,
because it will reset the transmit power for the transponder to
High.
Transponder sensors
The transponder function dialog tab may have one of the
following additional options depending on the functionality
selected in the New Transponder dialog.
1 Depth sensor
2 Inclinometer
3 Differential inclinometer
4 Compass
Each option is described underneath. Common to all sensors are
following:
• Data from the sensor may be read by telemetry from this
page.
• To get data in navigation mode, the sensor must be enabled
from this page by the command "Enable function". In
addition the SSBL Positioning must be setup with the same
sensor (transponder type). This is done automatically when
Enable Function is executed.
• If only the positions are used in positioning, we recommend
turning off the sensor function by use of the command
Disable function. This will avoid the transponder from
sending two/three pulses every time it's interrogated. In
addition to reduce battery consumption it will also make it
possible with faster interrogation rate.
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Transponder with a depth sensor

Transponder with a depth sensor also includes a temperature
sensor. Only the depth is available as a continuous measurement
value in navigation mode.
The newest depth sensor is an absolute sensor and do not need
any calibration. For further details about the depth sensor we
refer to the transponder manual.
The pressure inside the transponder varies with temperature, and
the temperature sensor measures this value, and the CPU reads
both these values. When the transponder is requested by
telemetry to return the pressure and temperature, the sensor
values are sent. When the transponder is in Navigation mode, a
temperature compensated pressure is returned.
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Enable function
This button switches on the depth measurement sensor in the
transponder. When interrogated, the transponder will add an
additional pulse to the navigation reply. Observe that this
additional pulse will increase the power consumption on the
battery.
If the transponder shall be used for continuous depth
measurements, you will also have to instruct the transceiver to
expect an additional pulse. This is done automatically when
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Disable function
This button switches off the depth measurement sensor in the
transponder. You will also have to instruct the transceiver that
he will not receive the additional depth pulse. This is done
automatically when Enable Function is executed.
Range selection
For transponders used on great depth (below 1000m) the
transponder may be programmed to send the second pulse in
navigation mode with a reduced resolution. This keeps the
interrogation rate low. The time delay between the first pulse
and the second pulse decides the depth; normally the resolution
is 1 meter pr millisecond. With the reduced resolution it is 10
meter pr millisecond for 10000 m range. The selections are 1000
m (standard) 2000 m, 5000 m, 10000 m. Note, this range
selection must only to be used when you know the transponder
send with the reduced resolution.
Last values
The "Read Data" button sends a telemetry message to the
transponder, instructing the transponder to return the
"Temperature" and "Pressure" values with telemetry: The
"Depth" and "Comp. Press" are calculated in APOS.
Depth [m] This value is the "Comp. Press." value, multiplied
with the "Depth computation values". (This value is identical
with the depth value measured in Navigation Mode)
Temperature [°C] - value is the reading from the
temperature sensor (raw value) in the transponder.
Pressure [bar] - value is the reading from the pressure
sensor (raw value) in the transponder.
Comp. Press. [bar] (Compensated pressure) - value is the
"Pressure reading from the transponder multiplied with the
"Temperature" reading from the transponder and a correction
factor [bar/K] ("Comp. Press." = "Pressure" + ("Temperature" -
10)*0.00361775)
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Depth computation values

These are the values used to convert the pressure reading from
the transponder into depth (in Telemetry mode we use "Comp.
Press.") For increased accuracy it is important to update
atmospheric pressure, the local gravity and the water density
when these changes. For normal use, the default values will be
adequate.
• Atmo. Press [mbar] Default value: 1013 mbar
• Gravity [m/s²] Default value: 9.80665 m/s²
• Water density [kg/m³] Default value: 1028 kg/m³
The water density is varying with depth, salinity and
temperature, and the average value is entered here.
Equation for calculating the depth:
Depth = [{1013 - Measured Atmospheric Pressure) / 1000 +
"Comp. Press" * 1E5] / ("Water density" * "Gravity").
Notes on accuracy: A change in the atmospheric pressure of ±50
mbar will give an error in the water depth with ±0.5 m. A
change in water density of 0.5%, will give an error in the water
depth with 0.5%, which for 1000m depth equals to an error of 5
m.
Transponder with an inclinometer sensor
Enable function
This button switches on the inclinometer measurement sensor in
the transponder. When interrogated, the transponder will add
two additional pulses to the navigation reply. Observe that the
additional pulses will increase the power consumption on the
battery.
If the transponder shall be used for continuous inclination
expect two additional pulses. This is done automatically when
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Disable function
This button switches off the depth measurement sensor in the
he will not receive the two additional inclination pulses. This is
done automatically when Disable Function is executed.
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Range Selection
Standard inclination transponders transfer the inclination in
navigation mode with a ±15° range. However, newer
transponder may be programmed to use a range of either ±90° or
±5°.
Note When a change in range is performed, is MUST be followed

with Enable function.
Last values
The values in this group box is updated by pressing Read Data
button, which sends a telemetry message to the transponder,
instructing the transponder to return the values with telemetry.
• Inclin. X/Y - these values as sent from the transponder.
• Tilt /Azimuth - same values but presented with polar co-
ordinates.
• X Error/Y Error - if there is an error reading the X
inclinometer or the Y inclinometer, these check boxes will
be set.
Inclinometer offset
Any offset in the montage of the transponder can be

compensated by this offset values. Note that for use in SSBL
positioning; the SSBL positioning must be defined and listed as
In Use.
Calibrate
This button can be used to calibrate the inclination readings
when the transponder is in a fixed angle; see dialog below.
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This dialog will display the raw readings from the inclinometers
in the transponder. In addition to the X and Y inclination values,
the mean value and standard deviation of the readings are
displayed. Normally on should let this dialog run until a suitable
number of measurements have been logged. If the std. deviation
is small 10-20 measurements should suffice, but if the std.
deviation is large, more measurements will be needed.
While the calibration is running, all inclination values from this
transponder will be shown un-calibrated.
Pressing the OK button will terminate the calibration. The
calibration values will automatically be taken into use.
(Pressing Cancel will just ignore the collected values.)
The Angle Offset will automatically be checked as seen above.
Transponder with a differential inclinometer

sensor
A transponder with an option, including a differential
inclinometer sensor, consist of a local (internal) inclinometer
sensor placed inside the transponder, and an external
inclinometer sensor, placed outside the transponder and
connected electrically to the transponder with a 9 m cable.
The differential inclinometer transponder can also be used as an
inclinometer transponder in navigation mode, which means the
values from the local sensor are sent to the topside. To achieve
this, the differential inclinometer transponder has to be
configured as an inclinometer transponder.
Enable function, Disable function, Range Selection, Last
values, Inclinometer offset and Calibrate are described in
Transponder with an inclinometer sensor above.
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External Inclo. is Ref.

This checkbox indicates that the external inclinometer is used as
reference on a differential inclinometer transponder. (This is the
normal setting.)
• The inclination values are computed as Internal inclination
- External inclination. If, for some reason one wants to use
the internal inclinometer as reference, uncheck this
checkbox.
• The calculation for all diff inclo. values will the become:
External inclination - Internal inclination.
Read selection
This radio button decide which values shall be presented in the
"Last values" group box (does not affect the navigation mode).
• Local - presents the values from the inclinometer inside the
transponder.
• External - presents the values from the inclinometer outside
the transponder.
• Diff - presents the difference between the values from the
inclinometer outside the transponder and the inclinometer
inside the transponder.
Transponder with a compass sensor

Transponders with a compass sensor also include an inclination
sensor. Only the compass values (heading) is available as a
continuous measurement value in navigation mode. The
inclination values are only available in telemetry mode.
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This group box applies only to the compass sensor in the

transponder.
Enable function
This button switches on the compass measurement sensor in the
transponder. When interrogated, the transponder will add an
additional pulse to the navigation reply. Observe that this
additional pulse will increase the power consumption on the
battery. If the transponder shall be used for continuous compass
expect an additional pulse. This is done automatically when
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Disable function
This button switches off the compass measurement sensor in the
he will not receive the additional compass pulse. This is done
automatically when Disable Function is executed.
Compass calibration
This group is only available in Service Mode. Kongsberg
Maritime recommend that the calibration of Compass
Transponder is done in cooperation with our service
department. See Compass transponder calibration for details in
Help Menu.
Last values
The Read Data button sends a telemetry message to the

transponder, instructing the transponder to return the values with
telemetry.
Compass init
This button is only available in Service Mode. It should be
activated before first calibration.
Some systems may also have the Gyro compass (Octans)
option. The sensor section looks slightly different.
The Gyro compass (Octans) sensor does not need calibration, so
these functions are removed. The bottom left Read Data button
is used to retrieve Heading, Roll, Pitch and status from the Gyro
compass (Octans) sensor by telemetry. The bottom right Read
Data button is used to retrieve Heading and Battery status from
the Gyro compass (Octans) sensor by telemetry. The normal
battery bank (2 off Subsea Battery Units each with Type L24
(98) Battery Pack, each with 168 Ah capacity) has normally a
capacity of 672 hours continuous use with the Octans Fiber
Optic Gyrocompass since the current consumption for the
compass is approximately 0,5 A. The value in the dialog is the
usage in percent of the battery capacity. (100 % is fully used
battery, 0 % is a fresh battery.)
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Transponder telemetry transducer dialog

This tab in the Transponder Configure dialog is present for all
transponder types that can be used with telemetry of any kind,
and it decides which transducer and other settings to be used on
telemetry for this specific transponder (both from the other
pages inside this dialog and from LBL dialogs).
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Use default
When Use default is selected, the parameters for the selected
transducer will be collected from the Default parameters when
sending telemetry message to this transponder. The selected
transducer is marked with a green background.
Telemetry transducer
As described for Transmit transducer in The SSBL Positioning
properties dialog, but for telemetry communication.
Tel. Tx power
As described for Transmit Power in The SSBL Positioning
properties dialog, but for telemetry.
Max range
As described for Max Range in The SSBL Positioning

properties dialog.
Telemetry protocol
This drop down list box requires APOS to be in Service Mode

for doing any changes, and is recommended only by expert uses.
It shows the telemetry protocol in use.
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10 SSBL TROUBLESHOOTING
Topics
→ Error/problem types - on page 153
Error/problem types
There may be several reasons why your HiPAP system is not
working, and we will divide these reasons into four groups:
1 Hardware errors
2 Software errors
3 Operational errors
4 Acoustical problems
Hardware errors
The hardware errors are typically problems with the equipment,
like empty transponder battery, transducer damaged or hard disk
damaged. This type of problem arises as part of equipment
ageing, abuse or equipment malfunctions for various reasons.
The risk for equipment breakdown will typically be reduced by
performing the preventive maintenance.
Software errors
Software errors are more subtle, like the configuration of the
communication between gyro and transceiver. This type of
problems is usually solved by reinstalling backup.
Operational error
You as an operator have a great selection of configuration
options available. Some of these configurations may create
problems at your location. Many of these problems can be
avoided and/or solved by regularly performing a Software
backup and saving Transponder configurations.
338421/A 153
APOS
Acoustical problems
Noise, distance, ray bending or other acoustic disturbance may
cause problems and in some cases, this may prevent the system
completely from being able to function. These problems may
also be of a temporary type, which disappear when i.e. the
weather improves. These problems may also be solved by i.e.
adjusting the power to a higher level, if thruster noise increases
due to worse weather conditions.
154 338421/A
APOS
11 SYSTEM ADMINISTRATION
Topics
→ APOS backup file - on page 155
→ System report - on page 156
→ System backup and restore – on page 157
APOS backup file (image of the hard disk)

Your APOS computer (OS) is supplied with a DVD writer, and an
APOS Backup file (systems delivered after November 2001). The
backup program is Ghost from Symantec, and will make a copy
(image) of your hard disk, writing it to a DVD.
This backup DVD will serve as an emergency repair disk, if any
software error should appear on your hard disk.
If your vessel has more than one OS, you need to make a backup of
each, because they are configured differently.
Windows XP
Microsoft is supplying different version of the Windows XP. Each CD
with Windows XP has an individual serial number. The installation
need to be registered with Microsoft, and a code is needed. This simply
means that this CD can’t be used on any other computer, because part
of the registration is to read the serial numbers of different components
in the computer, like hard disk, motherboard, CPU etc. You can
change one or a few of the components for upgrade or repair, but not
all.
If you make an image of this computer, you will have to install the
image on the same computer again, or if you i.e. have a hard disk
failure, you can change that.
We can not configure a hard disk in Horten and ship it to you. In that
case we will have to ship a complete computer.
155 322135/D
APOS
System report
The system report is a detailed description of the current settings in

APOS. This report contains information about the settings and
configurations set in APOS, as well as all transponder configurations.
The report is an Html file which is easy to send attached to an email
for further troubleshooting on shore.
This report has a fixed name: aposrep.html, meaning if you create a
new report this will overwrite the old report. If you want to save your
previous report you need to rename it
To create a system report: go to Utility→System report→choose the
wanted location.
To open the report you need to go to the same location in Windows
Explorer. This will be accessible in Utility Menu, if you are logged on
as a service user.
156 338421/A
Training Manual
System backup and restore

1 Utility→System backup and restore.
338421/A 157
APOS
2 Restore System from Selected File or Take System

Backup Now.
This dialog box will allow you to do a software backup of the

APOS with all the current settings. It is also possible to select a
previous stored file and restart the APOS with all the settings for
that specific file. These files are time and date stamped
according to the local time/date. It is recommended to make a
system backup when the APOS is working with all the current
settings.
158 338421/A

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1 ABOUT THIS MANUAL ........................................................................................9

2 HIPAP INTRODUCTION ....................................................................................10

5 TRANSPONDER HARDWARE ..........................................................................57

6 APOS INTRODUCTION ......................................................................................76

Two vessels, two transponders...............................................................................106

7 VESSEL SPECIFIC CONFIGURATION.........................................................107

8 DEFAULT PARAMETERS AND SSBL PROPERTIES.................................118

9 TRANSPONDER CONFIGURATION .............................................................129

1 ABOUT THIS MANUAL

coverage from vertical to horizontal without any moving parts.

HiPAP 101 system has a transducer with a planar transducer

The HiPAP systems are designed to provide accurate positions

Figure 1 Wessel with various reference systems

HiPAP system overview

HiPAP 350 HiPAP 100

Figure 2 HiPAP Transceiver Unit Model x81

Surface system overview

Subsea system overview

Figure 3 Multi-User LBL positioning

• Transponder - Acoustic receiver and transmitter

Slant range measurement

Figure 4 Acoustic pulse

Echo sounder concept

t = elapsed time on the stop watch

Slant range measurement

Figure 5 Slant range measurement

When the HiPAP system measures the SR, it sends an acoustic

Figure 6 Acoustic pulse

Figure 7 Reply frequency

When the transponder reply arrives at the vessels transducer, the

The HiPAP 350 system has a reduced beam width compared to

We can also say it differently; if we know the transponders

To pin-point your vessels position in a 3 dimensional coordinate

A hydro-acoustic transducer may be available in many different

Figure 10 Baseline systems

As you can see in Figure 10, we have 3 different positioning

Long Baseline positioning

The baselines in a LBL system is the distance between the

Short Baseline positioning

Super Short Baseline positioning

λ = wave length (m) distance between two maxima on the wave

The easy way

The equation for intensity, when using the standard reference

From the relationship between pressure and intensity (equation 6

The equation for intensity, when using the standard reference

times stronger than the reference.

Additional subject – history of chess

263 = 9,223,372,036,854,775,808 ~ 9 x 1018

Factors influencing in hydroacoustics

Figure 11 Influencing factors

Figure 11 gives an overview of the most important factors

Figure 12 Geometrical spreading

The transmission loss caused by spreading:

r (m) TLs (dB)

The sound is also in some extent exposed to absorption when

Figure 13 Sound absorption

Spectrum level (dB rel 1 Pa)

Figure 14 Acoustic noise

In Figure 15, we interrogate the transponder and sound wave

The HiPAP system will now start over again, interrogating