Triton® XLX 35 Computer Control

Operations & Maintenance Manual
Triton® XLX 35 Computer Control
REV. DASH
NO. REVISIONS BY CHKD APPD
DASH NUMBER & QUANTITY

ITEM PART NO DESCRIPTION
006 005 004 003 002 001
PERRY SLINGSBY SYSTEMS, INC TITLE:

TRITON GROUP TXLX35 COMPUTER
821 Jupiter Park Drive CONTROL MANUAL
Jupiter, FL 33458
Drawn Date Appd Date Code ID No. Document No. Rev.
SYOU 11/21/2008 OPR-A75179-001 0
Chkd Date Appd Date File Name
75179100.doc
Confidentiality Category : C2 Confidential PSSI, disclosure to third parties only with signed
In accordance with Perry Slingsby Systems, Inc. Procedure PRO-A61277-001 confidential agreement.
PERRY SLINGSBY SYSTEMS, INC. This document contains confidential information.
Property of PERRY SLINGSBY SYSTEMS, INC. – Copyright Perry Slingsby Systems, Inc. All rights reserved.
OPR-A75179-001 Page: i of ix Rev. 0
Table of Contents
1.0 SCOPE ...................................................................................................................1

1.1 PURPOSE .................................................................................................................................................. 1
1.2 AUDIENCE ................................................................................................................................................. 1
1.3 REFERENCE DOCUMENTS ..................................................................................................................... 1
1.4 ABBREVIATIONS...................................................................................................................................... 2
2.0 CONTROL SYSTEM OVERVIEW .........................................................................3

2.1 SYSTEM ARCHITECTURE ....................................................................................................................... 3
2.2 COMMUNICATIONS .................................................................................................................................. 5
2.3 SURFACE COMPUTER CONTROL SYSTEM.......................................................................................... 5
2.3.1 HMI Blades .......................................................................................................................................... 6
2.3.2 Surface Controller Blade...................................................................................................................... 6
2.3.3 Blade Chassis ...................................................................................................................................... 6
2.3.4 Ethernet Switch .................................................................................................................................... 7
2.3.5 Ethernet I/O Devices ............................................................................................................................ 7
2.4 SUBSEA COMPUTER SYSTEM ............................................................................................................... 8
2.4.1 Subsea Controller Computer ............................................................................................................... 8
2.4.2 Serial to Ethernet Converters .............................................................................................................. 9
2.4.3 LSI – Local Serial Isolator Boards ....................................................................................................... 9
2.4.4 LAM – Local Alarms Monitor Boards ................................................................................................... 9
2.4.5 LCI – Local Camera Interface Boards ................................................................................................. 9
2.4.6 LPD – Local Power Controller DC Boards ........................................................................................... 9
2.4.7 LPA – Local Power Controller AC Board ............................................................................................. 9
2.4.8 LVC – Local Valve Controller Boards ................................................................................................ 10
2.5 TMS COMPUTER SYSTEM .................................................................................................................... 10
3.0 SYSTEM SOFTWARE ........................................................................................ 11

3.1 HMI SOFTWARE ..................................................................................................................................... 11
3.2 SURFACE AND SUBSEA CONTROLLER SOFTWARE ....................................................................... 12
3.3 DATABASE AND XML FILES ................................................................................................................. 12
3.4 SOFTWARE VERSIONS ......................................................................................................................... 13
3.5 INSTALLING NEW SOFTWARE ............................................................................................................. 13
3.6 IP ADDRESSES ....................................................................................................................................... 14
4.0 GRAPHICAL USER INTERFACE (GUI)............................................................. 15

4.1 USER ACCOUNTS AND ACCESS LEVELS .......................................................................................... 15
4.2 HMI BOOT UP ......................................................................................................................................... 16
4.3 HMI SHUTDOWN ..................................................................................................................................... 16
4.4 GUI SCREEN LAYOUT ........................................................................................................................... 17
4.5 NAVIGATING THROUGH THE GUI SCREENS ..................................................................................... 17
4.6 PANEL ORGANIZATION ........................................................................................................................ 19
4.7 INTERPRETING DISPLAYED DATA ...................................................................................................... 21
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4.8 CHANGING SYSTEM SETTINGS VIA THE DATA INFORMATION POP-UP ....................................... 23
4.8.1 GENERAL TAB .................................................................................................................................. 24
4.8.2 CONVERSION TAB ........................................................................................................................... 25
4.8.2.1 CONVERSION BASICS AND COUNTS ........................................................................................ 26
4.8.3 ALARM LIMITS TAB .......................................................................................................................... 29
4.8.4 DISPLAY TAB .................................................................................................................................... 30
4.8.5 CONFIG I/O TAB ............................................................................................................................... 31
4.8.6 DETAILS TAB .................................................................................................................................... 32
4.8.7 VALVE NULLS TAB (FOR NULLING THE THRUSTERS)................................................................ 33
4.8.8 SETTINGS TAB ................................................................................................................................. 34
4.8.9 APPLYING CHANGES ...................................................................................................................... 34
4.8.10 SHOW DIFFERENCES ..................................................................................................................... 35
4.8.11 SHOW DEFAULTS ............................................................................................................................ 36
4.8.12 RESTORE DEFAULTS ...................................................................................................................... 37
4.9 STATIC PANELS ..................................................................................................................................... 38
4.9.1 TITLE AND CUSTOMER PANELS.................................................................................................... 38
4.9.2 ALARM LOG PANEL AND SYSTEM ALARMS................................................................................. 38
4.9.3 ALARM SUMMARY PANEL .............................................................................................................. 46
4.9.4 NODE COMMS PANEL ..................................................................................................................... 46
4.9.5 DIVE LOG INFORMATION ................................................................................................................ 47
4.10 USER PAGES .......................................................................................................................................... 47
4.10.1 CUSTOMIZING THE USER PAGES ................................................................................................. 47
4.10.2 DEFAULT USER PAGE 1 ................................................................................................................. 49
4.10.6 SAVE LAYOUT .................................................................................................................................. 53
4.11 SYSTEM DIAGNOSTICS......................................................................................................................... 53
4.11.1 SYSTEM STATUS (GREEN SCREEN) ............................................................................................ 54
4.11.2 PICTORIAL ........................................................................................................................................ 55
4.11.3 F/O CORE.......................................................................................................................................... 56
4.11.4 F/O SURVEY ..................................................................................................................................... 58
4.11.5 SURFACE I/O .................................................................................................................................... 59
4.11.6 SUBSEA SENSORS .......................................................................................................................... 60
4.11.7 SUBSEA POWER ..............................................................................................................................61
4.11.8 SUBSEA MANIFOLDS ...................................................................................................................... 62
4.11.9 F/O DIAG ........................................................................................................................................... 63
4.12 SYSTEM CONFIGURATION ................................................................................................................... 64
4.12.1 SET DIVE NUMBER .......................................................................................................................... 64
4.12.2 IMPERIAL/METRIC ........................................................................................................................... 64
4.12.3 SAVE SETTINGS ..............................................................................................................................65
4.12.4 SET DATE/TIME ................................................................................................................................ 65
4.12.5 CHANGE USER................................................................................................................................. 66
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4.12.6 MANAGE USERS ..............................................................................................................................67

4.12.7 SOFTWARE UPDATE ....................................................................................................................... 68
4.13 OVERRIDE SUMMARY ........................................................................................................................... 68
4.14 CONFIGURE PANEL............................................................................................................................... 69
4.15 REMOVE PANEL ..................................................................................................................................... 69
4.16 HELP ........................................................................................................................................................ 70
4.16.1 ABOUT............................................................................................................................................... 70
4.16.2 HOW TO ............................................................................................................................................ 71
5.0 GUI PANEL DESCRIPTIONS ............................................................................. 72

5.1 AUTO FUNCTION CONTROLS MENU ................................................................................................... 72
5.1.1 AP DEBUG DISPLAY ........................................................................................................................ 72
5.1.2 AUTO POSITION ............................................................................................................................... 73
5.1.3 DEPTH CONTROL ............................................................................................................................ 74
5.1.4 HEADING CONTROL ........................................................................................................................ 75
5.2 DIAGNOSTIC ROV COMPONENTS MENU ........................................................................................... 76
5.2.1 ROV AUX MANIFOLD IMAGE .......................................................................................................... 76
5.2.2 ROV CCAN IMAGE ........................................................................................................................... 77
5.2.3 ROV CORE JBOX IMAGE ................................................................................................................. 77
5.2.4 ROV MAIN MANIFOLD IMAGE ......................................................................................................... 78
5.2.5 ROV SURVEY JBOX IMAGE ............................................................................................................ 78
5.2.6 ROV THRUST MANIFOLD IMAGE ................................................................................................... 79
5.3 DIAGNOSTIC SUBSEA MENU ............................................................................................................... 80
5.3.1 GYRO ................................................................................................................................................ 80
5.3.2 LAM STATUS .................................................................................................................................... 81
5.3.3 LCI STATUS ...................................................................................................................................... 82
5.3.4 LPC-AC STATUS...............................................................................................................................84
5.3.5 LPC-DC STATUS ..............................................................................................................................86
5.3.6 LSI STATUS ...................................................................................................................................... 88
5.3.7 LVC STATUS ..................................................................................................................................... 89
5.4 DIAGNOSTIC SUBSEA POWER MENU ................................................................................................ 91
U
5.4.1 CORE JB POWER .............................................................................................................................92

5.4.2 SURVEY JB POWER ........................................................................................................................ 93
5.5 DIAGNOSTIC SURFACE MENU ............................................................................................................. 94
5.5.1 ETHERNET I/O .................................................................................................................................. 95
5.5.2 JOYSTICK ......................................................................................................................................... 96
5.5.3 PILOT PANEL 1 ................................................................................................................................. 97
5.5.4 PILOT PANEL 2 ................................................................................................................................. 98
5.5.5 TOOL PANEL .................................................................................................................................... 99
5.6 DIAGNOSTIC SURFACE POWER MENU ............................................................................................ 101
5.6.1 HIGH VOLTAGE JBOX ................................................................................................................... 101
5.6.2 REMOTE GFD DIAGNOSTICS ....................................................................................................... 102
5.7 DIAGNOSTICS SYSTEMS MENU ........................................................................................................ 103
5.7.1 COMM MANAGER STATISTICS .................................................................................................... 103
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5.7.2 EVENT MANAGER STATS ............................................................................................................. 104

5.8 GFD MENU ............................................................................................................................................ 104
5.8.1 GFD AND POWER SURFACE ........................................................................................................ 105
5.8.2 GFD ROV......................................................................................................................................... 106
5.9 ROV OPERATIONS MENU ................................................................................................................... 106
5.9.1 Blank Panel ...................................................................................................................................... 107
5.9.2 Blank Panel (Small) ......................................................................................................................... 107
5.9.3 DVL .................................................................................................................................................. 108
5.9.4 LIGHTS ............................................................................................................................................ 109
5.9.5 PITCH AND ROLL ........................................................................................................................... 109
5.9.6 POWER ........................................................................................................................................... 110
5.9.7 POWER 2 ........................................................................................................................................ 110
5.9.8 PRIMARY FLIGHT DISPLAY .......................................................................................................... 111
5.9.9 PUMP CONTROL ............................................................................................................................ 112
5.9.10 RESETS........................................................................................................................................... 112
5.9.11 ROV CAMERA POWER (1-8) ......................................................................................................... 112
5.9.12 ROV CAMERA POWER (9-12) ....................................................................................................... 113
5.9.13 ROV CAMERA 1-8........................................................................................................................... 113
5.9.14 ROV CAMERA 1-12......................................................................................................................... 114
5.9.15 ROV COMPS/MAIN PRESSURE .................................................................................................... 114
5.9.16 ROV POWER SENSORS ................................................................................................................ 115
5.9.17 ROV PWR – LPA1/LPD4/LPD5 ....................................................................................................... 115
5.9.18 ROV PWR – LPD1/LPD2 ................................................................................................................. 116
5.9.19 ROV TEMPS/AUX PRESSURE ...................................................................................................... 116
5.9.20 WATER DETECT............................................................................................................................. 117
5.10 THRUSTERS ......................................................................................................................................... 118
5.10.1 THRUSTERS ALL............................................................................................................................ 118
5.10.2 THRUSTER HORIZONTAL ............................................................................................................. 119
5.10.3 THRUSTERS VERTICAL ................................................................................................................ 119
5.11 TOOLING MENU ................................................................................................................................... 120
5.11.1 TOOLING FLOW/PRESSURE ........................................................................................................ 120
5.11.2 FLOW METERS (OPTIONAL) ......................................................................................................... 121
6.0 GUI APPLICATIONS ........................................................................................ 122

6.1 OVERLAY INTERFACE ........................................................................................................................ 122
6.1.1 OVERLAY SETUP ........................................................................................................................... 123
6.1.1.1 Type .............................................................................................................................................. 123
6.1.1.2 Frequency ..................................................................................................................................... 123
6.1.1.3 IP Address .................................................................................................................................... 123
6.1.1.4 Port ............................................................................................................................................... 123
6.1.1.5 Field List ....................................................................................................................................... 124
6.1.1.6 Generate Overlay File .................................................................................................................. 124
6.1.2 ADD/DEL FROM OVERLAY............................................................................................................ 125
6.1.2.1 Add Data Item ............................................................................................................................... 125
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6.1.2.2 Delete Data Item ........................................................................................................................... 125

6.2 DATALOGGER INTERFACE ................................................................................................................ 126
6.2.1 CONFIGURATION TAB ................................................................................................................... 127
6.2.2 DISPLAY DATA TAB ....................................................................................................................... 128
6.2.3 EXPORT DATA................................................................................................................................ 129
6.2.4 DATABASE MANAGEMENT ........................................................................................................... 131
6.2.5 GRAPH DISPLAY ............................................................................................................................ 132
6.2.6 ADD/DEL FROM DATA LOGGER................................................................................................... 133
6.2.6.1 Add Data Item ............................................................................................................................... 133
6.2.6.2 Delete Data Item ........................................................................................................................... 133
6.3 SURVEY INTERFACE ........................................................................................................................... 134
6.3.1 TO SURVEY SETTINGS TAB ......................................................................................................... 135
6.3.1.1 Message Properties ...................................................................................................................... 135
6.3.1.2 Members ....................................................................................................................................... 136
6.3.1.3 Sample Message .......................................................................................................................... 136
6.3.2 FROM SURVEY SETTINGS TAB ................................................................................................... 137
6.3.2.1 Message Properties ...................................................................................................................... 137
6.3.2.2 Members ....................................................................................................................................... 137
6.3.2.3 Received Message ....................................................................................................................... 137
6.3.3 ADD/DEL FROM SURVEY INTERFACE ........................................................................................ 138
6.3.3.1 Add Data Item ............................................................................................................................... 138
6.3.3.2 Delete Data Item ........................................................................................................................... 138
7.0 VEHICLE THRUSTER CONTROLS ................................................................. 139

7.1 VEHICLE THRUSTER CONTROLS OVERVIEW ................................................................................. 139
7.2 MANUAL CONTROL MODES ............................................................................................................... 140
7.2.1 SURGE CONTROL.......................................................................................................................... 140
7.2.2 HEADING CONTROL ...................................................................................................................... 140
7.2.3 LATERAL CONTROL ...................................................................................................................... 140
7.2.4 VERTICAL CONTROL ..................................................................................................................... 140
7.2.5 ROLL CONTROL .............................................................................................................................140
7.2.6 PITCH CONTROL............................................................................................................................ 140
7.3 AUTOMATIC CONTROL MODES ......................................................................................................... 141
7.3.1 AUTO HEADING CONTROL ........................................................................................................... 142
7.3.2 AUTO HEADING PARK CONTROL ................................................................................................ 143
7.3.3 AUTO DEPTH CONTROL ............................................................................................................... 144
7.3.4 AUTO ALTITUDE CONTROL .......................................................................................................... 145
7.3.5 AUTO POSITION CONTROL .......................................................................................................... 146
7.3.5.1 Adjusting Setpoint ......................................................................................................................... 146
7.3.5.2 Setpoint and Error ........................................................................................................................ 149
7.3.5.3 Losing Bottom Lock ...................................................................................................................... 149
7.4 ADJUSTING CONTROL GAINS ........................................................................................................... 149
7.5 THRUSTER CORRECTION................................................................................................................... 151
7.6 ENCODER POTS ................................................................................................................................... 153
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7.7 FAILSAFE MODE .................................................................................................................................. 153
8.0 SPECIAL CONTROLS AND INTERLOCKS .................................................... 154

8.1 ROV HPU AUTOMATIC SHUTOFF ...................................................................................................... 154
8.2 TMS HPU AUTOMATIC SHUTOFF ...................................................................................................... 154
8.3 EXTENDED TMS CLUTCH INTERLOCK ............................................................................................. 154
8.4 WATER DENSITY FACTOR FOR DIGIQUARTZ DEPTH CALCULATION ......................................... 154
8.5 PUMP PRESSURE CONTROL ............................................................................................................. 155
8.6 MAIN MANIFOLD PRESSURE CONTROL .......................................................................................... 155
8.7 AUXILIARY HPU PRESSURE and CLUTCH CONTROL (OPTIONAL) .............................................. 156
8.7.1 AUXILIARY HPU PRESSURE WITHOUT CLUTCH CONTROL (OPTIONAL)............................... 156
8.8 AUXILLARY MANIFOLD FLOW and PRESSURE CONTROL ............................................................ 158
8.8.1 Flow Control ..................................................................................................................................... 158
8.8.2 Pressure Control ..............................................................................................................................158
8.9 POWER LIMITING ................................................................................................................................. 160
8.10 INTERLOCKS SUMMARY TABLE ....................................................................................................... 161
9.0 ADDITIONAL FEATURES ................................................................................ 162

9.1 INSTALLING AN OCTANS DEVICE ..................................................................................................... 162
APPENDIX A HOW TO QUICK REFERENCE GUIDE ........................................... 163

A.1. HOW TO EXIT THE SURFACE COMPUTER SYSTEM ....................................................................... 163
A.2. HOW TO UPDATE NEW PSS SOFTWARE ......................................................................................... 164
A.3. HOW TO SAVE SYSTEM SETTINGS ................................................................................................... 169
A.4. HOW TO ADD AN ITEM TO DATALOGGER ....................................................................................... 170
A.5. HOW TO ADD AN ITEM TO OVERLAY ............................................................................................... 171
A.6. HOW TO ADD AN ITEM TO THE SURVEY OUTPUT STRING ........................................................... 174
A.7. HOW TO SWITCH BETWEEN TRITECH AND OCTANS GYROS ...................................................... 175
A.8. HOW TO INSTALL A SPARE HMI BLADE .......................................................................................... 176
A.9. HOW TO INSTALL A SURFACE CONTROLLER ................................................................................ 184
A.10. HOW TO INSTALL A SUBSEA CONTROLLER................................................................................... 186
APPENDIX B EXTERNAL DEVICE INTERFACES ................................................ 192

B.1. TRITECH GYRO .................................................................................................................................... 192
B.2. PAROSCIENTIFIC DIGIQUARTZ ......................................................................................................... 193
B.3. RDI WORKHORSE DVL (OPTIONAL) .................................................................................................. 194
B.4. IXSEA OCTANS GYRO (OPTIONAL) ................................................................................................... 199
APPENDIX C SYSTEM DEFAULT SETTINGS ...................................................... 200

C.1. INTERPRETING THE SETTINGS TABLES .......................................................................................... 200
C.2. APPLICATIONS SEND FREQUENCIES .............................................................................................. 201
C.3. AUTO HEADING / HEADING PARK CONTROL SETTINGS............................................................... 201
C.4. AUTO DEPTH / ALTITUDE CONTROL SETTINGS ............................................................................. 202
C.5. AUTO POSITION ................................................................................................................................... 203
C.6. DVL SETTINGS ..................................................................................................................................... 204
C.7. JOYSTICK.............................................................................................................................................. 205
OPR-A75179-001 Page: vii of ix Rev. 0
C.8. PILOT PANEL 1 ..................................................................................................................................... 206

C.9. PILOT PANEL 2 ..................................................................................................................................... 208
C.10. TOOL PANEL ........................................................................................................................................ 209
C.11. SURFACE GFD SETTINGS .................................................................................................................. 211
C.12. SUBSEA ROV GFD SETTINGS ............................................................................................................ 212
C.13. TMS ROV GFD SETTINGS ................................................................................................................... 213
C.14. HIGH VOLTAGE JBOX PANEL ............................................................................................................ 214
C.15. GYRO AND DEPTH SENSOR SETTINGS ........................................................................................... 215
C.16. ROV POWER SENSORS ...................................................................................................................... 216
C.17. ROV COMP AND SYSTEM PRESS SETTINGS ................................................................................... 217
C.18. ROV TEMPERATURE AND AUX PRESS SETTINGS ......................................................................... 218
C.19. T4 TMS CONTROL 2 SETTINGS .......................................................................................................... 219
C.20. TMS COMP / TEMP / PRESS SETTINGS............................................................................................. 220
C.21. PUMP CONTROL SETTINGS ............................................................................................................... 221
C.22. TOOLING FLOW SETTINGS ................................................................................................................ 222
C.23. THRUSTERS ......................................................................................................................................... 224
C.24. LVC 1 BOARD (ROV) VALVE SCALING ............................................................................................. 225
C.27. LVC 10 BOARD (TMS) VALVE SCALING............................................................................................ 233
C.28. LCI 1 BOARD (ROV) CONFIGURATION SETTINGS........................................................................... 236
C.31. LCI 10 BOARD (TMS) CONFIGURATION SETTINGS ......................................................................... 237
C.32. LPC-AC 1 BOARD (ROV) CONFIGURATION SETTINGS ................................................................... 238
C.33. LPC-DC 1 BOARD (ROV) CONFIGURATION SETTINGS ................................................................... 240
C.37. LPC-DC 10 BOARD (TMS) CONFIGURATION SETTINGS ................................................................. 245
C.38. LSI 1 BOARD (ROV) CONFIGURATION SETTINGS ........................................................................... 246
C.41. LSI 10 BOARD (TMS) CONFIGURATION SETTINGS ......................................................................... 247
APPENDIX D I/O SHEETS...................................................................................... 248
OPR-A75179-001 Page: viii of ix Rev. 0
FIGURES
Figure 1 – Computer Control System Block Diagram ............................................................................... 4

Figure 2 – Analog Input Conversion ....................................................................................................... 26
Figure 3 – Analog Output Conversion..................................................................................................... 26
Figure 4 – Scaling Factors ...................................................................................................................... 28
Figure 5 – GUI Builder for User Pages ................................................................................................... 48
Figure 6 – Default User Page 1 .............................................................................................................. 49
Figure 10 – System Status (Green Screen) ............................................................................................ 54
Figure 11 – Pictorial Diagnostics Screen ................................................................................................ 56
Figure 12 – F/O Core Diagnostic Screen ................................................................................................ 57
Figure 13 – F/O Survey Diagnostic Screen ............................................................................................ 58
Figure 14 – Surface I/O Diagnostic Screen ............................................................................................ 59
Figure 15 – Subsea Sensors Diagnostic Screen .................................................................................... 60
Figure 16 – Subsea Power Diagnostic Screen ....................................................................................... 61
Figure 17 – Subsea Manifolds Diagnostic Screen .................................................................................. 62
TABLES
Table 1 – Surface IP Addresses ............................................................................................................. 14

Table 2 – Subsea IP Addresses ............................................................................................................. 14
Table 3 – GUI Panels .............................................................................................................................19
Table 4 – System Alarms ........................................................................................................................ 39
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1.0 SCOPE
The following paragraphs describe the scope of this Computer Control System Operations and
Maintenance Manual in terms of its purpose, audience, organization, and applicable documents.
1.1 PURPOSE
This manual provides operational and maintenance information for the Computer Control System
installed in the ROV System.
Included in this manual is sufficient information to understand and maintain the Surface, Subsea, and
TMS Computer Systems and interpret operational information displayed by the system. It is assumed the
system will be operated and maintained by trained and qualified technicians, exercising proper judgment
concerning operating conditions and providing proper inspection and maintenance.
This manual was completed following the successful installation and operational testing of the Computer
Control System in the ROV System. This document is accurate for the state of the Control System and
corresponding Software Versions existing as of system delivery.
1.2 AUDIENCE
The intended users of this manual are personnel responsible for operating and maintaining the Computer
Control System. Some knowledge of personal computers is helpful but not necessary.
1.3 REFERENCE DOCUMENTS
• Triton XLX Operations and Maintenance Manuals

• I/O Sheets included in the Appendix
Property of PERRY SLINGSBY SYSTEMS, INC. – 3Copyright Perry Slingsby Systems, Inc. All rights reserved.
OPR-A75179-001 Page: 1 of 264 Rev. 0
1.4 ABBREVIATIONS
The following abbreviations are provided to aid the reader to a clearer understanding of some of the
terminology used in this manual.
EOI Ethernet Optical Interface

EPIC Embedded Platform for Industrial Computing™
FAT Factory Acceptance Test
HMI Human Machine Interface
ICE™ Integrated Controls Engine™
I/O Input/Output
LAM Local Alarms Monitor Board
LCI Local Camera Interface Board
LPA Local Power Controller Board – AC
LPD Local Power Controller Board – DC
LSI Local Serial Isolator Board
LVC Local Valve Controller Board
NIC Network Interface Card
PSS Perry Slingsby Systems
PTC Pilot to Close
RAID Redundant Array of Independent Disks
ROV Remotely Operated Vehicle
RTOS Real-time Operating System
VOI Video Optical Interface
XML Extensible Markup Language
OPR-A75179-001 Page: 2 of 264 Rev. 0
2.0 CONTROL SYSTEM OVERVIEW
This section provides an overview of the control system architecture and hardware. For details of each
hardware component see the appropriate sections in the ROV Operations Manual.
2.1 SYSTEM ARCHITECTURE
The ROV is controlled using Perry Slingsby System’s (PSS) new Integrated Controls Engine™ (ICE™).
The ICE™ system is a blend of proprietary hardware and software designs, which together, form a
general purpose control systems engine that can easily accommodate varying control applications.
The ICE™ system architecture consists of four (4) primary computer nodes:
• (2) Surface Windows® based Human Machine Interface (HMI) PC nodes

• (1) Surface real-time Controller node
• (1) Subsea real-time Controller node
The two redundant HMI nodes provide the Graphical User Interface (GUI) and the two Controller nodes
perform the mission critical real-time control functions for ROV operation. The four nodes communicate
with one another via an Ethernet network integrated with a fiber optic telemetry system.
The I/O in the ICE™ system is “distributed” from the computer nodes, so there are no I/O boards in the
four (4) primary computer nodes. For I/O control on both the ROV and TMS, the ICE™ system consists
of a complement of custom made “local micro” boards. The local micro boards connect to the system via
a RS-485 serial bus scheme called ICENet™. Each serial connection is plugged into a Serial to Ethernet
converter.
On the ROV, the Serial to Ethernet converters and Subsea Controller are connected to an Ethernet
Optical Interface (EOI) board in the control tray. The Subsea Controller polls all the local micro boards
on the ROV.
For the TMS, the local micro board serial connections are brought to the surface via the fiber optic
system and then connected to a Serial to Ethernet converter in the TMS fiber optic box. The Serial to
Ethernet converter and Surface Controller are connected to the surface Ethernet switch in the consoles.
The Surface Controller polls all the local micro boards on the TMS.
The local micro board types are:
• LVC – Local Valve Controller Board for valve control in the manifolds
• LAM – Local Alarms Monitor Board for GFD and water detects
• LCI – Local Camera Interface Board for camera and light control
• LPD – Local Power Controller Board – DC for DC power control
• LPA – Local Power Controller Board – AC for AC power control
• LSI – Local Serial Isolator Board for RS-232 to RS-485 conversion and optical isolation
The I/O on the surface is accomplished with off-the-shelf Ethernet I/O devices contained in each
hardware control panel. Each Ethernet I/O device plugs into the surface Ethernet switch and each device
is polled by the Surface Controller.
OPR-A75179-001 Page: 3 of 264 Rev. 0
Figure 1 – Computer Control System Block Diagram shows a block diagram of the ICE™ control
system.
Figure 1 – Computer Control System Block Diagram
OPR-A75179-001 Page: 4 of 264 Rev. 0
2.2 COMMUNICATIONS
Ethernet forms the backbone of the communications network for the ICE™ control system. All four
primary computer nodes, the two HMIs and the two real-time Controllers, are connected to the same
Ethernet network called the Control or Blue Network. The three surface computers connect to the
Control network through a 48-port Ethernet switch in the consoles. The Subsea Controller connects to
the Control network through a 4-port Ethernet Optical Interface (EOI) located in the control can. The
surface and subsea systems are then connected by the fiber optic multiplexer system.
The surface multi-media equipment such as, the video overlay system, video wall controller and video
switcher connect to the control system through the 48-port Ethernet switch on the Media or Gray
network.
2.3 SURFACE COMPUTER CONTROL SYSTEM
The primary components of the surface computer control system are:
• (2) redundant Windows® based HMI computers (HMI #1 and HMI #2)
• Real time Surface Controller computer
• 8-slot Blade Chassis
• (13) Ethernet I/O Devices
• 48 port Ethernet Switch
The three computers communicate with each other through a 48-port Ethernet switch located in the
consoles. The surface computers are Blade type computers housed in an 8-slot Blade chassis in the
consoles.
A combination of touch screens and hard controls are used for controlling the ROV. The HMI computers
drive the touch screens and the Surface Controller handles the I/O for the hard controls, i.e. joysticks,
switches, etc.
The hard switches, joysticks, potentiometers, etc. are wired to Ethernet I/O devices located underneath
each console I/O panel. Each Ethernet I/O device connects to the 48-port Ethernet switch in the console.
The Surface Controller reads and writes the I/O on each console panel via the Ethernet connection.
Since the real-time Surface Controller handles the surface I/O, if both the HMI nodes fail the ROV
can still be controlled from the hard controls on the console panels.
The two HMI computers provide displays for both the Pilot and Co-Pilot. Each HMI computer produces
two (2) graphical outputs, one connected to a dedicated touch screen and the other connected to a multi-
image system, producing a total of four (4) graphic displays; 2 for the pilot and 2 for the co-pilot.
The HMI computers are completely independent of each other; if one fails the second is not
affected and the system can continue with normal operations with a single HMI.
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2.3.1 HMI Blades
The HMI Blade Computers are industrial off-the-shelf Blade-type computers. Each HMI blade computer
contains the following:
• Intel® Core 2 Duo Processors

• 2GB RAM
• (2) SATA Hard Drives (NON-RAID Configured)
• (2) Gigabit Ethernet interface (NIC)
• PCIe Dual Head Video Graphics Adapter
• Sound Card
• (6) USB 2.0 ports (may vary)
• (1) Serial port (may vary)
• Windows XP OS
2.3.2 Surface Controller Blade
The Surface Controller Blade Computer is an industrial off-the-shelf Blade-type computer. The Surface
Controller blade computer contains the following:
• Intel® Core 2 Duo Processors

• 2GB RAM
• SATA Hard Drive
• (2) Gigabit Ethernet interface (NIC)
• Onboard Video Graphics Interface
• Sound Card
• (4) USB external port (may vary)
• (1) Serial port (may vary)
• RTOS
2.3.3 Blade Chassis
The 8-slot blade chassis houses the three (3) surface computers. The slot assignments for the surface
computers are as follows working from the left of the chassis to the right:
Slot 1 – HMI #1
Slot 2 – Surface Controller
Slot 5 – HMI #2
The blade chassis contains two power supplies, one for the left 4 slots and one for the right 4 slots. The
HMI blades have been placed in the chassis so that if one power supply unexpectedly dies during
operation the other one will remain powered to allow control of the ROV.
If a power supply dies, the blades should be moved to the other side of the chassis until the power supply
is replaced. The chassis is hot-swappable so it is not necessary to power off the chassis to insert or
remove a blade.
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2.3.4 Ethernet Switch
The 48-port Ethernet Switch serves as the main Ethernet connection point for all the control system
Ethernet devices.
2.3.5 Ethernet I/O Devices
Each Ethernet I/O Device contains the following I/O channels:
• (14) analog input channels

• (23) digital I/O channels
The hard switches, joysticks, potentiometers, etc. are wired to Ethernet I/O devices located underneath
each console I/O panel. Each Ethernet I/O device connects to the 48-port Ethernet switch in the console.
The Surface Controller reads and writes the I/O on each console panel via the Ethernet connection.
An Ethernet I/O device is also located in the HVJB for collecting I/O signals such as GFDs. The Surface
Controller polls that Ethernet I/O device as well.
If an Ethernet I/O device needs to be replaced, the spare Ethernet I/O device MUST be
programmed with the correct IP address. You can access the setup procedure in two ways:
1). See the Labjack UE9 (Ethernet I/O) setup procedure in the ROV Operations manual OR
2). From the GUI by pressing the “Help” button, then the “How To” button then select the desired
procedure.
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2.4 SUBSEA COMPUTER SYSTEM
The primary components of the subsea computer control system are:
• Real-time Subsea Controller computer

• (3) Serial to Ethernet converters
• Local Micro Boards
– (3) LSI Boards
– (3) LAM Boards
– (3) LCI Boards
– (4) LPD Boards
– (1) LPA Board
– (3) LVC Boards
• (1) 4-port EOI Board
The subsea control system is a distributed system which disburses I/O functionality from the control can
to individual nodes, via a serial bus wiring scheme called ICENet™. The subsea control system consists
of one small control can containing the Subsea Controller computer and an instrumentation junction box
(Core JBox) containing local micro boards. There is also an optional survey junction box that can be
included which also contains local micro boards. All the necessary boards for processing I/O, controls,
and telemetry are distributed within the system in the junction boxes and the control can.
The functions of the Subsea Computer System include interfacing with I/O devices and sensors on the
vehicle, communicating with the Surface Computer System and processing the control commands from
the Surface Computer System to calculate the thruster control outputs for maneuvering the vehicle.
2.4.1 Subsea Controller Computer
The Subsea Controller Computer is an industrial off-the-shelf single board computer fitted into an EPIC
form factor. EPIC or Embedded Platform for Industrial Computing™ is an open standard for small form
factor embedded computer boards. The Subsea Controller computer contains the following features:
• (4.50" x 6.50") EPIC 1.0 form factor

• 1.8 GHz Pentium® M Processor
• 1GB RAM
• 2GB Compact Flash Drive
• Gigabit Ethernet interface (NIC)
• 10/100BaseT Ethernet interface
• (4) USB 2.0 ports (may vary)
• (4) Serial ports (may vary)
• RTOS
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2.4.2 Serial to Ethernet Converters
The Serial to Ethernet converters are used to convert the serial channels from the local micro boards and
other serial devices on the ROV to Ethernet. Each of the Serial to Ethernet converters are connected via
Ethernet to the EOI board in the control tray. The Serial to Ethernet Converters are also housed in the
control tray.
Each Serial to Ethernet converter is configured differently, so the units are NOT interchangeable
UNLESS you reprogram the device. You can access the setup procedure for reprogramming the
device in two ways:
1). See the Digi Serial to Ethernet converter setup procedure in the ROV Operations Manual
procedure.
If a Serial to Ethernet converter needs to be replaced, the spare Serial to Ethernet converter MUST
be programmed. You can access the setup procedure in two ways:
1). See the Digi Serial to Ethernet converter setup procedure in the ROV Operations Manual
procedure.
2.4.3 LSI – Local Serial Isolator Boards
The LSI boards are used to convert RS-232 to RS-485 for the local micro boards. The LSI also provides
optical isolation for each of the 8 serial ports. Additional details on the LSI board can be found in the
ROV Operations Manual.
2.4.4 LAM – Local Alarms Monitor Boards
The LAM board contains (2) ground fault monitor channels and (16) water detect / digital input channels.
Additional details on the LAM board can be found in the ROV Operations Manual.
2.4.5 LCI – Local Camera Interface Boards
The role of the LCI board is to provide subsea video camera control for (4) cameras. (4) Light dimmer
circuits are also provided through the LCI board. Additional details on the LCI board can be found in the
ROV Operations Manual.
2.4.6 LPD – Local Power Controller DC Boards
The LPD board contains (8) switched DC power channels and (4) analog input channels. Additional
details on the LSI board can be found in the ROV Operations Manual.
2.4.7 LPA – Local Power Controller AC Board
The LPA board contains (8) switched AC power channels and (4) analog input channels. Additional
details on the LSI board can be found in the ROV Operations Manual.
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2.4.8 LVC – Local Valve Controller Boards
An LVC board is housed in each of the manifolds on the ROV. The role of the LVC is to provide
intelligent proportional and solenoid hydraulic valve control within each hydraulic manifold. The LVC
controls 32 valve coils controlled individually (30 proportional, 2 on/off). The LVC also contains (8)
analog input channels for sensor inputs. Additional details on the LVC board can be found in the ROV
Operations Manual.
2.5 TMS COMPUTER SYSTEM
Please refer to the “Operating and Maintenance Manual TMS Type 4A/5A” and the “Type 4A/5A
TMS Operations Manual” for operation of the Type 4A /5ATMS.
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3.0 SYSTEM SOFTWARE
The software design for the ICE™ system employs a synchronous, event-driven design. In an event-
driven system all the I/O is still polled, however action is only taken when a data value "changes" from its
previous value. Each analog data item contains its own change-of-state delta parameter stored in the
database. This increases the system performance and provides for a synchronous system.
A database is used for configuring the system as well as specifying event traffic in the system. The goal
of the database design is to provide an efficient method of reconfiguring the system with limited code
modifications. The operator is able to reconfigure and adjust the system easily and reliably.
The ICE™ control system software consists of PSS custom written applications installed on all four
primary computer nodes.
3.1 HMI SOFTWARE
The ICE™ custom application for the HMIs is stored on the HMI’s hard-drive and runs under the
® ®
Microsoft Windows XP Operating System. When the HMI computers are powered on, they will
automatically boot Windows and then run the PSS HMI application software. There is no need for the
user to exit the PSS HMI application and return to Windows. Only a user logged on as an Administrator
may exit the HMI application back into Windows if necessary.
It is not intended for the user to install any other application software on the HMI computers. The
HMI computers are dedicated to running the PSS HMI software for controlling the ROV. Installing
other application programs on the HMI computers may affect the normal operations of the ROV
and the user is at their own risk if they install unapproved software.
Since the HMI computers run Microsoft® Windows®, each must be shutdown properly prior to
powering off. If the HMIs are NOT shutdown properly, there is the potential risk for the Windows
OS to become corrupt. So it is imperative the HMIs be shutdown properly. A shutdown button is
provided on each HMI touch screen to allow the user to easily shutdown the HMI.
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3.2 SURFACE AND SUBSEA CONTROLLER SOFTWARE
The ICE™ application software for the Surface and Subsea Controllers run under a real-time operating
system (RTOS). The Surface Controller software is stored on the Surface Controller’s hard drive. The
Subsea Controller software is stored on the Compact FLASH drive installed in the Subsea Controller
computer board.
Since both the Surface and Subsea Controller run a RTOS, it is safe to power off each without having to
shut down the RTOS first.
3.3 DATABASE AND XML FILES
All the configuration settings for the control system are stored in a database which is stored on both the
HMI computers. When the user changes a setting on one HMI, the setting is automatically stored in that
HMI’s database as well as the other HMI’s database.
Examples of some of the configuration settings stored in the database that an operator may change
include:
• Sensor Scaling Parameters

• Event Enable/Disable Parameters
• Alarm Limits
• Control Gains
• Thruster Gains
The database is translated into to Extensible Markup Language (XML) format so that the same
information in the database can be read and interpreted by the Surface and Subsea Controllers. When
the user changes a setting on the HMI, they must “save settings” in order for a permanent change to be
made to the XML. A button on the GUI is provided to allow the user to easily save any changed setting
values to the XML files. See the How To… Save Settings procedure in 9.0.
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3.4 SOFTWARE VERSIONS
The PSS application software versions for each of the four primary computer nodes can be viewed on the
GUI by pressing the Help button on the main navigation menu then pressing the About button on the sub
menu. A pop-up will appear showing all the current software versions.
3.5 INSTALLING NEW SOFTWARE
Installing new PSS software is accomplished by following the “How To” Install New Software procedure in
9.0 of this manual.
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3.6 IP ADDRESSES
The following list is provided as a reference for the System Ethernet Devices. The Subnet Mask is
255.255.255.0 and the Default Gateway Address is 172.27.12.253.
The IP addresses are fixed for each device. Do NOT change the IP addresses.
Table 1 – Surface IP Addresses
Computer / Device Location / Designator IP Address

48 Port Ethernet Switch Equipment Rack 1 172.27.12.253
HMI 1 Blade NIC #1 Blade Chassis 172.27.12.1
HMI 2 Blade NIC #1 Blade Chassis 172.27.12.2
Surface Controller Blade Nic #1 Blade Chassis 172.27.12.3
Serial to Ethernet Converter #4 Video/TMS Mux 172.27.12.60
Ethernet I/O Device #1 Main Joystick 172.27.12.71
Ethernet I/O Device #2 Pilot Panel 1 (Pilot Chair) 172.27.12.72
Ethernet I/O Device #3 Pilot Panel 2 (Co-Pilot Chair) 172.27.12.73
Ethernet I/O Device #8 Tool Control Panel (Co-Pilot Chair) 172.27.12.78
Ethernet I/O Device #11 Located Inside HVJB – Module 1 172.27.12.81
Ethernet I/O Device #12 Pilot Panel 2 (Co-Pilot Chair) 172.27.12.82
Ethernet I/O Device #13 Remote GFD Panel 172.27.12.83
HMI 1 Blade Nic #2 Equipment Rack 1 172.27.11.1
HMI 2 Blade Nic #2 Equipment Rack 1 172.27.11.2
RGB Spectrum Equipment Rack 1 172.27.11.3
Video Switcher Equipment Rack 1 172.27.11.5
DVR 1 Equipment Rack 1, 172.27.11.6
DVR 2 Equipment Rack 1 172.27.11.7
Table 2 – Subsea IP Addresses
Computer / Device Location / Designator IP Address

Subsea Controller Located Inside the Control Tray 172.27.12.103
Serial to Ethernet Converter #1 Located Inside the Control Tray 172.27.12.150
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4.0 GRAPHICAL USER INTERFACE (GUI)
A Graphical User Interface (GUI) with a modern, ergonomic “look and feel” is implemented in the ICE™
control system. Microsoft® Windows® XP serves as the base operating system for the GUI. Windows®
offers a platform that is suitable for graphical displays, familiar user interface functions, data logging and
diagnostics.
The GUI display screens provide the operator with a real-time visual aid to operate and maintain the ROV
System. The two HMI computers provide displays for both the Pilot and Co-Pilot. Each HMI computer
produces two (2) graphical outputs, one connected to a dedicated touch screen and the other connected
to the multi-image video wall system, producing a total of four (4) graphic screens; 2 for the pilot and 2 for
the co-pilot. Each of the 4 displays can show unique GUI screens.
The GUI screens are organized using a paneling concept, where functional panels are placed on each
page to build the screen. The system ships with default screen configurations however, the four (4) User
Pages can be custom configured allowing the user to build and save their own screen layouts. User
accounts may be setup for each operator to allow custom screen layouts to be saved per user.
4.1 USER ACCOUNTS AND ACCESS LEVELS
The system ships setup with three default user accounts; monitor, operator and admin. The GUI
automatically boots to the default operator account. The monitor and operator accounts have no
passwords. The admin account password is provided to the customer representative present at PSS
during FAT. Only qualified operators should be provided with the admin password.
Individual user accounts, with passwords, may also be created for each operator if desired. The primary
benefit for individual user accounts is that each user may customize the four User Pages on the GUI to
their preference and then save the layout under their user name.
The GUI automatically boots to a default Operator account with default screen configurations.
Adding individual user accounts is optional and not required for normal ROV operations.
Configuration settings such as control gains, alarm limits, scaling parameters, etc. are NOT saved
per user login, these values are saved at the system level. Only User screen layouts are saved
per user login.
There are three (3) different access levels for user accounts:
• Monitor - view only mode, cannot change system settings

- restricts access to certain panels
• Operator - allows all functionality for typical ROV operations
- restricts access to certain panels and certain settings
• Administrator - Allows full access to all panels and all settings
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Error! Reference source not found. in Section ”Panel Organization” indicates which panels are
accessible under each account type.
4.2 HMI BOOT UP
During start up of the HMI software, a splash screen is displayed while the HMI connects to other
computer nodes in the control system and the software is initialized. Once start up is complete the HMI
automatically logs in using the default Operator account and GUI screen configuration. The splash
screen is shown below.
4.3 HMI SHUTDOWN
Since the HMI computers run Microsoft® Windows®, each must be shutdown properly prior to
powering off. If the HMIs are NOT shutdown properly, there is the potential risk for the Windows
OS to become corrupt. So it is imperative the HMIs be shutdown properly. A shutdown button is
provided on each HMI touch screen to allow the user to easily shutdown the HMI.
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4.4 GUI SCREEN LAYOUT
Following boot up, the first page displayed is User Page 1 as shown below. The screen is laid out into
static and dynamic areas.
• Static Areas – Remain the same for every display page

• Dynamic Area – Changes from page to page.
Static Area
- System Title
- Alarm Banner
- Customer Logo
Dynamic Area
- 9 Regular Panels &
- 3 Small Panels OR
- Single Full Screen
Panel
Static Area
- Node Comms
- Alarm Summary
- Navigation Menu
4.5 NAVIGATING THROUGH THE GUI SCREENS
The user may navigate to the other GUI pages by using the Navigation Menu at the bottom right of the
screen. The Main Navigation Menu buttons are the top row and the Sub Menu buttons are the bottom
row. Each Main Navigation Button will provide user access to additional Sub Menu buttons.
Main Menu
Sub Menu
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The GUI system is setup to provide the user with four (4) “User Pages” which are the primary piloting
pages and a series of other screens for diagnostics, configuration, help etc.
The GUI screens and operations are organized as follows, all of which are accessed through the
Navigation Menu:
• User Pages
– User Page 1
– User Page 2
– User Page 3
– User Page 4
– Save Layout
• Apps
– Overlay On/Off
– Overlay Settings
– Logger On/Off
– Logger Settings
– FrmSurvey On/Off
– ToSurvey On/Off
– Survey Settings
– Shutdown
• System Diags
– Pictorial
– F/O Core
– F/O Survey
– Surface I/O
– Subsea Sensors
– Subsea Power
– Subsea Manifolds
– TMS I/O
– F/O Diag
• System Config
– Set Dive Number
– To Imperial or Metric Units
– Save Settings
– Set Data and Time
– Change User
– Manage Users
– Software Update
• Override Summary
• Configure Panel
• Remove Panel
• Help
– About
– How To…
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4.6 PANEL ORGANIZATION
There are a large number of panels available to the user on the GUI. To help the user find the panel they
want, the individual panels have been grouped by functionality as shown below.
Each of these groups contains one or more panels and highlighting a group will display all the panels
available in the group. The table below lists all the GUI panels in each panel category. The table also
indicates which panels are accessible under each of the 3 account types; Monitor, Operator or Admin.
Table 3 – GUI Panels
Panel Title Group MinAccessLevel

Heading Control Auto Fn Controls Monitor
Depth Control Auto Fn Controls Monitor
AP Debug Display Auto Fn Controls Admin
Auto Pos Auto Fn Controls Monitor
Heading Park Control Auto Fn Controls Monitor
ROV Survey Jbox Image Diagnostic ROV Components Monitor
ROV Core Jbox Image Diagnostic ROV Components Monitor
ROV Thrust Manifold Image Diagnostic ROV Components Monitor
ROV CCAN Image Diagnostic ROV Components Monitor
ROV Aux Manifold Image Diagnostic ROV Components Monitor
ROV Main Manifold Image Diagnostic ROV Components Monitor
LPC-AC Status Diagnostic Subsea Monitor
LPC-DC Status Diagnostic Subsea Monitor
Gyro Diagnostic Subsea Monitor
LAM Status Diagnostic Subsea Monitor
LVC Status Diagnostic Subsea Monitor
LSI Diagnostic Subsea Admin
LCI Status Diagnostic Subsea Monitor
Survey JB Power Diagnostic Subsea Power Monitor
Core JB Power Diagnostic Subsea Power Monitor
Ethernet I/O Diagnostic Surface Monitor
Tool Panel Diagnostic Surface Monitor
Joystick Diagnostic Surface Monitor
Pilot Panel 2 Diagnostic Surface Monitor
Pilot Panel 1 Diagnostic Surface Monitor
Ethernet I/O Diagnostic Surface Monitor
High Voltage JBox Diagnostic Surface Power Monitor
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Table 3 – GUI Panels
Panel Title Group MinAccessLevel

Remote GFD Diagnostics Diagnostic Surface Power Monitor
Event Manager Stats Diagnostic System Monitor
Comm Manager Statistics Diagnostic System Monitor
Alarm Summary Diagnostic System Monitor
Pictorial System Status Diagnostic System Monitor
System Status Diagnostic System Monitor
TMS I/O Diagnostic System Monitor
GFD and Power TMS GFD Monitor
GFD ROV GFD Monitor
GFD and Power Surface GFD Monitor
Data Log Viewer Logging Monitor
Pitch and Roll ROV Operations Monitor
Pump Control ROV Operations Monitor
ROV Cameras 1 - 12 ROV Operations Monitor
ROV Cameras 1 - 8 ROV Operations Monitor
ROV Comps / Main Press ROV Operations Monitor
DVL ROV Operations Monitor
ROV Power Sensors ROV Operations Monitor
ROV Pwr – LPD1 / LPD2 ROV Operations Monitor
Lights ROV Operations Monitor
Power 2 ROV Operations Monitor
ROV Pwr - LPA1 / LPD4 / LPD5 ROV Operations Monitor
Power ROV Operations Monitor
Resets ROV Operations Monitor
ROV Camera Power 1-8 (Small) ROV Operations Monitor
ROV Camera Power 9-12 (Small) ROV Operations Monitor
ROV Temps / Aux Press ROV Operations Monitor
Primary Flight Display ROV Operations Monitor
Water Detect ROV Operations Monitor
Subsea Inputs Subsea Inputs Monitor
Event Generator System Test Admin
Thrusters Horizontal Thrusters Monitor
Thrusters All Thrusters Monitor
Thrusters Vertical Thrusters Monitor
TMS Type 4 Controls / Sensors TMS Operations Monitor
TMS Type 4 Controls / Sensors 2 TMS Operations Monitor
TMS Pwr TMS Operations Monitor
TMS Comps / Temp / Press TMS Operations Monitor
Tooling Flow/Pressure Tooling Monitor
Flow Meters Tooling Monitor
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4.7 INTERPRETING DISPLAYED DATA
The panels on the HMI are designed to allow the user to easily spot hardware problems in the system.
This has been accomplished by changing the color of the data values displayed on the panels and it is
very important to understand what the colors mean.
For non-diagnostic panels, the colors of data values are white and grey. When a data value is displayed
in white it means the hardware that supplies the value is working correctly and turned on. When a data
value is displayed in grey it means the hardware that supplies the value is not working or is turned off.
In the panel below the Depth value is white and the Altitude value is grey. This means the hardware that
supplies the depth (Digiquartz) is working correctly and turned on while the hardware that supplies the
altitude (DVL) is not working or is turned off.
For diagnostic panels, the colors of data values are black, white and red. When a data value is displayed
in black or white it means the hardware that supplies the value is working correctly and turned on. When
a data value is displayed in red it means the hardware that supplies the value is not working or is turned
off.
In the panels below the Pressure value is black and the Pitch value is red. This means the hardware that
supplies pressure (Ethernet I/O 3) is working correctly and turned on while the hardware that supplies
the pitch (Ethernet I/O 5) is not working or is turned off. On the diagnostic panels there are additional
comms lights on the panels that will be green or red depending on the state of the hardware.
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Be aware that panels always display the last known value even if the hardware that supplies that
value is not working/is turned off. In the case of the Pitch value shown above, the last known
value supplied by the hardware was -0.10 V. In the case of the Altitude the last known value was
0.0 M.
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4.8 CHANGING SYSTEM SETTINGS VIA THE DATA INFORMATION POP-UP
Settings such as sensor scaling, alarm limits, control gains, etc. may be accessed through the GUI and
changed by the user. The settings are accessed from the Data Information pop-up. The Data
Information pop-up can be accessed by two different methods depending on the type of data item. The
two different methods are described below. All the default setting values are listed in Appendix C.
The data items displayed on the panels are grouped into two types, input controls (buttons, sliders, text
boxes) and output data items (gauges, bar graphs, displays, numerical values). Certain items have
associated settings that can be changed by the user. There are two ways to access the settings for a
data item:
1. For most output data items, just double click/tap on the data item to bring up the Data
Information pop-up as shown in the figure below (left pop-up). A few output items can only be
accessed by the method used for input items.
2. For input controls the Configure Panel button must be used to access the Data Information
pop-up. When you click/tap on the Configure Panel button on the Main Navigation Menu, small
Config buttons appear on each panel. Click on the Config button on the desired panel to bring up
the Data Information pop-up.
Depending on the method used to bring up the Data Information pop-up, you will see one of the two
pop-ups shown below. The only difference in the two pop-ups is that the left pop-up, brought up by
double clicking the data item, shows just the data item selected under the Function Name. The other
pop-up on the right, brought up by the Config button, shows a pull down selection for the Function Name
allowing the user to select any data item associated with the selected panel.
The History value shown under the Function Name displays the last raw value for the data item.
1. Data Info via Double-Click 2. Data Info via Config Button
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Tabs on the Data Information pop-up are used to organize the setting data into different categories for
quick access by the user. Each tab is described in the sections that follow.
4.8.1 GENERAL TAB
The Data Information General tab allows the user to enable/disable the selected function in the control
system and to send the selected function data to the video overlay, survey interfaces or the data logger.
The General tab also provides the user with the Event Name, Function Name, Event ID, IO Type, Data
Type, Priority, and Event Count.
After making the desired changes, remember to click the Apply button.
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4.8.2 CONVERSION TAB
The Data Information Conversion tab allows the user to convert or scale raw data to engineering units.
Some data items also have an offset that may be changed. Both the raw data value and scaled data
value are shown on the Conversion tab.
The Set button is a quick way to adjust the low or high counts value to the current count value coming
from the hardware.
The Destination drop down box shows each location in the control system that the data item is sent to,
such as Display, Alarm, Special, and Aout.
To scale a data item enter the correct Lo Counts, Hi Counts and Lo Eng and Hi Eng values. Details on
how to scale data items is presented in Section “Conversion Basics and Counts”.
4.8.2.1
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CONVERSION BASICS AND COUNTS

In order to enter the correct settings for scaling sensors you need to understand the concept of
converting analog to digital signals and digital to analog signals.
The analog I/O boards in the control system share some basic concepts.
In order to convert analog signals into a digital form for use in our computer, we need to use an Analog to
Digital Converter (A/D) on the Analog Input boards.
Analog In Devices Engineering Values

A/D Pressure = 2504psi
Conversion Scaling Temperature = 175.7° F
Comps = 98%
Joystick = 75%
Etc.
Figure 2 – Analog Input Conversion
In order to convert digital signals into analog outputs a Digital to Analog Converter (D/A) is used on the
Analog I/O board.
D/A Digital Counts Engineering Values

Conversion Scaling
Valve = 1.5A Valve Cmd = 1023 counts Valve Cmd = 100%
Dimmer = 2.5V Dimmer Cmd = 128 counts Dimmer Cmd = 50%
Etc. Etc. Etc.
Figure 3 – Analog Output Conversion
A/D and D/A Converters are specified in terms of their resolution, which is how finely they can read/write
an analog signal. The resolution is expressed in units of BITS. This refers to how many pieces the full-
scale range is broken up into in base 2 units. The term Counts defines the digital range of values as
described below.
The Analog I/O boards in the control system use 8, 10 and 12 bit A/D’s and D/A’s:
• 8 bit resolution = 2 8 = 256 bits of resolution or 0-255 Counts
The typical voltage ranges of analog I/Os used in the control system are:
• Surface Ethernet I/O Device: +/- 5VDC, 12 bit (0-4095 counts)
• LVC Valve Cmd Output: 0-1.5Amps, 10 bit (0-1023 counts)
• LVC Analog Input: 0-5VDC, 12 bit (0-4095 counts)
• LCI Dimmer Output: 0-10VDC, 8 bit (0-255 counts)
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• LPD & LPA Analog Input: 0-5VDC, 10 bit (0-1023 counts)
Using the LVC Analog Input for system pressure sensor as an example, the 12 bit A/D breaks up 0-5V =
5 Volts F.S. (Full Scale) into 4096 pieces. (0 to 4095 counts)
Its resolution is therefore:
5 volts
= .001220703 volts per count
4096 counts
Alternatively, to look at it another way:
3500 PSI
= 0.85449 PSI per count 1 PSI = 1.17 counts
4096 counts
There are two basic ranges within which our analog inputs fall:
• Bi-directional example: -5 to +5V

• Unidirectional example: 0 to +5V or 0 to +10V
System components like thrusters that need to go in both directions are driven by a joystick that is
bidirectional (+/- 5V).
Other components like pressure controls are driven by a pot that is unidirectional (0-5V)
So, keep in mind that even though the surface analog input module can handle +/-5V inputs, it may
sometimes be fed by components that are unidirectional (0-5V).
Here is a chart of counts versus volts for a +/- 5V Here is a chart of counts versus volts for a 0-10V
12-bit Analog I/O board. 12-bit Analog I/O board.
VOLTAGE COUNTS VOLTAGE COUNTS

-5 0 0 0
-4 410 1 410
-3 820 2 820
-2 1229 3 1229
-1 1638 4 1638
0 2047 5 2047
1 2458 6 2458
2 2867 7 2867
3 3276 8 3276
4 3686 9 3686
5 4095 10 4095
Note that 0 volts is actually 2047 counts in this Note that 0 volts is actually 0 counts in this
example. example.
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So, how is a raw analog signal (in counts) displayed (in engineering units) on the computer screen?
SCALING!!!
You can make an analog input read anything you want with the proper scaling.
For instance, a pressure input can be scaled to read in PSIG, Bar, Kpa, inches of mercury, feet of water,
you name it!!
Scaling factors are entered via the Conversion tab of the Data Information screen for a data item.
Low Counts Low Eng
= 0 Counts = 0 PSI
High Counts High Eng
= 4095 Counts = 5000 PSI
Figure 4 – Scaling Factors
These four numbers are used in an equation by the computer program to produce the correct
engineering units in proportion to the incoming number of counts on an analog channel.
Basically, with these four numbers, you define the operating envelope of the analog sensor.
• Low Counts: the minimum counts of the sensor range.

• High Counts: the maximum counts of the sensor range.
• Low Eng: what the sensor is reading in engineering units (PSI) at the Low Counts.
• Hig Eng: what the sensor is reading in engineering units (PSI) at the High Counts.
These are the four numbers you enter on the Conversions tab for scaling analog devices in the control
system.
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4.8.3 ALARM LIMITS TAB
The Data Information Alarm Limits tab provides a user interface to configure the alarm limits and trip
limits of the function selected. The Alarm Limits tab provides Enable Alarm, HiHi – highest level alarm
limit, Hi – upper level alarm limit, Lo – lower level alarm limit, and LoLo – lower level trip limit. The user
entries are accessed through the pop up keypad and are enabled by checking the corresponding box.
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4.8.4 DISPLAY TAB
The Data Information Display tab provides a user interface to configure the graphics display parameters.
These include Display Range Low, Display Range High, Display Caption (1st line), Display Caption (2nd
line), and Display Units. The user entries are accessed through the pop up keypad.
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4.8.5 CONFIG I/O TAB
The Data Information Config IO tab provides a user interface based on function selected. For example, if
the Data Information pop-up is associated with an analog device, the user can input a change delta
value for that analog data. If the Data Information is a digital device, the user can select whether the data
logic is inverted and also if the data is a latching switch or momentary.
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4.8.6 DETAILS TAB
The Data Information Details tab provides user information associated with the selected function. The
Details tab provides the Event Name, Function Name, IO Type, Sources Node, Board, Converter Type,
Converter Address, Board Address, Connector, Pins, Scaling, and Comments.
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4.8.7 VALVE NULLS TAB (FOR NULLING THE THRUSTERS)
The Data Information Valve Nulls tab provides a user interface for nulling the thruster valves. This tab
only appears on the Data Information popup when you double click/tap on a thruster.
The procedure for adjusting the null value for a thruster valve is as follows:
1. Double click/tap on the thruster you wish to null to bring up the Data Information pop-up.
2. Select the Valve Nulls tab.
3. Click the radial button for the either Pos or Neg valve direction you wish to null.
4. Clear all personnel away from the ROV!!
5. Apply hydraulics to the ROV
6. Press the Start Ramping Output button. The Subsea Controller will automatically ramp up the
output command to the selected thruster.
7. As soon as you see the thruster blade begin to turn, press the Thruster is Turning button. This
button stops the ramp function and the new null value will be displayed.
The Cancel Null Adjust button will clear the Analog Output Counts and the Toss Out Value button will
delete the New Value data.
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4.8.8 SETTINGS TAB
The Data Information Settings tab provides a user interface containing special settings associated with
the Function selected. The Settings information varies depending on the function and its purpose.
4.8.9 APPLYING CHANGES
After making the desired changes on the Data Information pop-up, remember to click the Apply button.
Clicking the Apply button will immediately send any setting changes you made to all computer nodes in
the control system.
To have the changes available the next time the software starts, the Save Settings function will need to
be used. See the How To… Save Settings procedure in 9.0.
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4.8.10 SHOW DIFFERENCES
The Show Differences button allows the user to look at all of the changes that have been made to the
Control System Factory Default Settings. The user can choose to look at either the metric or the imperial
differences of settings. The user can also save a text file with the information listed .
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4.8.11 SHOW DEFAULTS
The Show Defaults button allows the user to view the Factory Default settings for the information that is
displayed on the tab. When the button is pressed, the default settings will appear with a highlighted color
behind the text.
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4.8.12 RESTORE DEFAULTS
The Restore Defaults button allows the user to set a particular data item to Factory Default or to set the
entire Control System to Factory Default Settings. The user must be logged in as an administrator to
restore default settings. Once the user double-clicks or selects a data item, there is a Restore Defaults
interface that comes up to allow the user which settings to change.
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4.9 STATIC PANELS
The static panels in the system are the panels that are on every page and are not capable of being
removed or manipulated.
4.9.1 TITLE AND CUSTOMER PANELS
The Title Panel contains information relevant to identifying the system. The PSS Logo, System Name,
and System Number are all located on this panel. It is typically located in the upper left hand corner of the
screen.
The Customer Panel at the upper right of the screen displays the Customer Name / Logo. This panel is
configured during system build. Its default is a Perry ICE™ logo; however it usually contains the
customer logo.
Title Panel Customer Panel
4.9.2 ALARM LOG PANEL AND SYSTEM ALARMS
The Alarm Log Panel provides a user interface to view all the system alarms. The user has the capability
of expanding or collapsing this information but it cannot be replaced with another panel. The Alarm Date
and Time, Alarm Cleared Date and Time, and Alarm Description all appear in this log. Active alarms are
shown in red, while cleared alarms are shown in black. The system alarms are continuously updated but
all alarms can be viewed by the scroll button on the right side of the Alarm Log Window. The Alarm
Panel also provides a user interface to Silence Alarms, Clear Old Alarms, and Expand and Collapse the
Alarm Log Window.
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The following table lists all the possible alarms that can appear in the Alarm log panel at the top of each
GUI page. The table lists the alarm text and the cause(s) of each alarm.
Table 4 – System Alarms
Alarm Summary
Alarm Text Cause(s)
Label
HMI1 lost communication to HMI2 possibly due to HMI2
being powered off, the software being shut down, a cable
HMI1 to HMI2 Comms Alarm NODECOMMS
being disconnected or the Ethernet switch being powered
off.
HMI1 lost communication to the surface controller possibly
HMI1 to SurController Comms due to the surface controller being powered off, the
NODECOMMS
Alarm software being shut down, a cable being disconnected or
the Ethernet switch being powered off.
HMI1 lost communication to the subsea controller possibly
due to the subsea controller being powered off, the
HMI1 to SubController Comms
software being shut down, a cable being disconnected, the NODECOMMS
Alarm
Ethernet switch being powered off, the fiber optic Mux’s
being powered off or noise on the line.
HMI2 lost communication to HMI1 possibly due to HMI1
being powered off, the software being shut down, a cable
HMI2 to HMI1 Comms Alarm NODECOMMS
being disconnected or the Ethernet switch being powered
off.
HMI2 lost communication to the surface controller possibly
HMI2 to SurController Comms due to the surface controller being powered off, the
NODECOMMS
Alarm software being shut down, a cable being disconnected or
the Ethernet switch being powered off.
HMI2 lost communication to the subsea controller possibly
due to the subsea controller being powered off, the
HMI2 to SubController Comms
software being shut down, a cable being disconnected, the NODECOMMS
Alarm
Ethernet switch being powered off, the fiber optic Mux’s
being powered off or noise on the line.
The surface controller lost communication to HMI1
SurController to HMI1 Comms possibly due to HMI1 being powered off, the software
NODECOMMS
Alarm being shut down, a cable being disconnected or the
Ethernet switch being powered off.
The surface controller lost communication to HMI2
SurController to HMI2 Comms possibly due to HMI2 being powered off, the software
NODECOMMS
The surface controller lost communication to the subsea
controller possibly due to the subsea controller being
SurController to SubController
powered off, the software being shut down, a cable being NODECOMMS
Comms Alarm
disconnected, the Ethernet switch being powered off, the
fiber optic Mux’s being powered off or noise on the line.
The subsea controller lost communication to HMI1
SubController to HMI1 Comms possibly due to HMI1 being powered off, the software
NODECOMMS
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Alarm Summary
Alarm Text Cause(s)
Label
The subsea controller lost communication to HMI2
SubController to HMI2 Comms possibly due to HMI2 being powered off, the software
NODECOMMS
The subsea controller lost communication to surface
SubController to SurController controller possibly due to the surface controller being
NODECOMMS
Comms Alarm powered off, the software being shut down, a cable being
disconnected or the Ethernet switch being powered off.
Communication to Ethernet I/O device 1 was lost possibly
due to a cable being disconnected, power to the device
EthernetIO1 Comms Alarm SURIOCOMMS
being lost, a hardware device failure or the Ethernet switch
being powered off.
Communication to Ethernet I/O device 2 was lost.
See EthernetIO1 Comms Alarm for possible causes.
Communication to LVC1 was lost possibly due to a cable
being disconnected, power to the device being lost, a
LVC1 Comms Alarm Serial to Ethernet board failure, a Fiber Optic Mux failure, SUBIOCOMMS
an LSI failure, incorrect serial setting selected or a LVC
board failure.
Communication to LVC2 was lost.
LVC2 Comms Alarm SUBIOCOMMS
See LVC1 Comms Alarm for possible causes.
LVC3 Comms Alarm SUBIOCOMMS
Communication to LCI1 was lost.
LCI1 Comms Alarm SUBIOCOMMS
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Alarm Summary
Alarm Text Cause(s)
Label
Communication to LAM1 was lost.
LAM1 Comms Alarm SUBIOCOMMS
Communication to LPCDC1 was lost.
LPCDC1 Comms Alarm SUBIOCOMMS
Communication to LPCAC1 was lost.
LPCAC1 Comms Alarm SUBIOCOMMS
Communication to LSI1 was lost possibly due to a cable
being disconnected, power to the device being lost, a
LSI1 Comms Alarm SUBIOCOMMS
serial to Ethernet board failure, A Fiber Optic Mux failure,
or a LSI board failure.
Communication to LSI2 was lost.
See LSI Comms Alarm for possible causes.
See LSI1 Comms Alarm for possible causes.
LVC10 Comms Alarm TMSIOCOMMS
LAM10 Comms Alarm TMSIOCOMMS
LCI10 Comms Alarm TMSIOCOMMS
LPCDC10 Comms Alarm TMSIOCOMMS
LSI10 Comms Alarm TMSIOCOMMS
See LSI1 Comms Alarm for possible causes.
Communication to the Digiquartz was lost possibly due to
a cable being disconnected, power to the device being
Depth Comms Alarm lost, a serial to Ethernet board failure, A Fiber Optic Mux SENSCOMMS
failure, an LSI failure, incorrect serial setting selected or a
hardware device failure.
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Alarm Summary
Alarm Text Cause(s)
Label
Communication to the Tritech Gyro was lost possibly due
to a cable being disconnected, power to the device being
lost, a serial to Ethernet board failure, A Fiber Optic Mux
Tritech Gyro Comms Alarm SENSCOMMS
failure, an LSI failure, incorrect serial setting selected, a
hardware device failure or the Tritech configured for the
wrong operating mode.
Communication to the DVL was lost possibly due to a
cable being disconnected, power to the device being lost,
a serial to Ethernet board failure, A Fiber Optic Mux
DVL Comms Alarm SENSCOMMS
failure, an LSI failure, incorrect serial setting selected, a
hardware device failure or the DVL configured for wrong
operating mode.
Communication to the Octans Gyro was lost possibly due
to a cable being disconnected, power to the device being
Octans Gyro Comms Alarm lost, a serial to Ethernet board failure, A Fiber Optic Mux SENSCOMMS
failure, an LSI failure, incorrect serial setting selected or a
hardware device failure.
Ground fault detection on the ROV HPU circuit is below
ROV HPU GFD Lo Alarm SURGFD
Low alarm limit.
Ground fault detection on the ROV Instruments circuit is
ROV Inst GFD Lo Alarm SURGFD
below Low alarm limit.
Ground fault detection on the TMS HPU circuit is below
TMS HPU GFD Lo Alarm SURGFD
Low alarm limit.
Ground fault detection on the TMS Instruments circuit is
TMS Inst GFD Lo Alarm SURGFD
Ground fault detection on the ROV AC Instruments is
ROV Inst AC GFD Lo Alarm SUBGFD
Ground fault detection on the ROV AC Lights is below Low
ROV Lights AC GFD Lo Alarm SUBGFD
alarm limit.
Ground fault detection on the ROV DC Instruments is
ROV Inst DC GFD Lo Alarm below Low alarm limit. SUBGFD
Ground fault detection on the ROV DC Solenoid is below

ROV Solenoid DC GFD Lo Alarm SUBGFD
Low alarm limit.
Ground fault detection on the ROV AC Instruments is
ROV Survey AC GFD Lo Alarm SUBGFD
Ground fault detection on the ROV DC Instruments is
ROV Survey DC GFD Lo Alarm SUBGFD
Ground fault detection on the TMS AC Instruments is
TMS DC Inst GFD Lo Alarm TMSGFD
Ground fault detection on the TMS AC Lights is below Low
TMS AC Lights GFD Lo Alarm TMSGFD
alarm limit.
ROV Inst Current Hi Alarm ROV Instrument current is above High alarm limit. SURAMPS
TMS HPU Current Hi Alarm TMS HPU current is above High alarm limit. SURAMPS
TMS Inst Current Hi Alarm TMS Instrument current is above High alarm limit. SURAMPS
ROV HPU Current Hi Alarm ROV HPU current is above High alarm limit. SURAMPS
Cond Loss Hi Alarm Conductor loss is above High alarm limit. CONDLOSS
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Alarm Summary
Alarm Text Cause(s)
Label
The difference between the ROV HPU Phase A, Phase B
ROV HPU Phase Imbalance Hi PHASEDET
and Phase C currents is above High alarm limit.
Hydraulic Compensator LoLo/Lo The ROV Hydraulic Compensator is below Low or LoLo
ROVCOMP
Alarm (trip) limit.
Motor Compensator Lo Alarm The Motor Compensator is below Low limit. ROVCOMP
Electric Compensator Lo Alarm The Electric Compensator is below Low limit. ROVCOMP
Bearing Compensator Lo Alarm The Bearing Housing Compensator is below Low limit. ROVCOMP
Aux Compensator LoLo/Lo Alarm The Aux Compensator is below Low or LoLo (trip) limit. ROVCOMP
The ROV Hydraulic Pressure is outside normal operating
Hydraulic Pressure Lo/Hi Alarm ROVPRESS
range.
Main Manifold Hydraulic The Main Manifold Hydraulic Pressure is outside normal
ROVPRESS
Pressure Lo/Hi Alarm operating range.
Hydraulic Temperature Lo/Hi The ROV Hydraulic Temperature is outside normal
ROVTEMP
Alarm operating range.
Aux Hydraulic Temperature The Aux Hydraulic Temperature is outside normal
ROVTEMP
Lo/HiAlarm operating range.
Control Can Temperature Lo/Hi The Temperature in the Control Can is outside normal
ROVTEMP
The Motor Temperature in the ROV HPU is outside normal
Motor Temperature Lo/Hi Alarm ROVTEMP
operating range.
Core Jbox Water Detect Water has been detected in the Core JBox. ROVWATER
ROV Motor Water Detect Water has been detected in the HPU. ROVWATER
Thrust Manifold Water Detect Water has been detected in the Thruster Manifold. ROVWATER
Main Manifold Water Detect Water has been detected in the Main Manifold. ROVWATER
Aux Manifold Water Detect Water has been detected in the Aux Manifold. ROVWATER
Control Can Water Detect Water has been detected in the Control Can. ROVWATER
Term Jbox Water Detect Water has been detected in the Termination JBox. ROVWATER
Survey Jbox Water Detect Water has been detected in the Survey JBox. ROVWATER
J400 Connector Water Detect Water has been detected in the J400 Connector ROVWATER
DVL Connector Water Detect Water has been detected in the DVL Connector ROVWATER
Aux Hydraulic Pressure Lo/Hi The Aux Hydraulic Pressure is outside normal operating
AUXPRESS
Alarm range.
Hydraulic Filter Alarm The ROV Hydraulic filter is clogged HYDFILTER
TMS Hydraulic Compensator The TMS Hydraulic Compensator is below Low or LoLo
TMSCOMP
LoLo/Lo Alarm (trip) limit.
TMS Motor Compensator Lo
The TMS Motor Compensator is below Low limit. TMSCOMP
Alarm
TMS Electric Compensator Lo
The TMS Electric Compensator is below Low limit. TMSCOMP
Alarm
TMS Hydraulic Pressure Lo/Hi The TMS Hydraulic Pressure is outside normal operating
TMSPRESS
Alarm range.
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Alarm Summary
Alarm Text Cause(s)
Label
Tether Load Pressure Hi/Hi
The Load Pressure on the Tether is outside normal range TMSPRESS
Alarm
TMS Hydraulic Temperature The TMS Hydraulic Temperature is outside normal
TMSTEMP
Lo/Hi Alarm operating range.
TMS Motor Temperature Lo/Hi The TMS Motor Temperature is outside normal operating
TMSTEMP
Alarm range.
TMS Jbox Water Detect Water has been detected in the TMS JBox. TMSWATER
TMS Manifold Water Detect Water has been detected in the TMS Manifold. TMSWATER
TMS Motor Water Detect Water has been detected in the TMS HPU. TMSWATER
Water has been detected in theTMS Main High Voltage
TMSMainJBoxHVWaterDetect TMSWATER
Jbox
Water has been detected in theTMS Main Low Voltage
TMSMainJBoxLVWaterDetect TMSWATER
Jbox
TMSRotatingJBoxWaterDetect Water has been detected in theTMS Rotating Jbox TMSWATER
TMSHydOilWaterDetect Water has been detected in theTMS Hyd Oil Comp TMSWATER
DVL Bottom Alarm 2 or more of the 4 beams no longer have a bottom lock. DVLBOTTOM
The main Gyro is not powered or the ROV is already in
Illegal Auto Heading Alarm ILLEGAUTO
Heading Park Mode.
The main Gyro is not powered or the ROV is already in
Illegal Heading Park Alarm ILLEGAUTO
Auto Heading Mode.
The Digiquartz is not powered or the ROV is already in
Illegal Auto Depth Alarm ILLEGAUTO
Auto Altitude Mode.
The DVL is not powered or the ROV is already in Auto
Illegal Auto Altitude Alarm ILLEGAUTO
Depth Mode.
The DVL is not powered/communication loss or the DVL
Illegal Auto Position Alarm ILLEGAUTO
bottom alarm is active.
The DVL is not powered/communication loss or the DVL
Illegal Waypoint Follow Alarm ILLEGAUTO
bottom alarm is active.
Main HPU Shutoff Override On The Main HPU Shutoff Override has been turned on. OVERRIDE
Aux Comp Override On The Aux Comp Override has been turned on. OVERRIDE
HPU and IHPU Aout Override On HPU and IHPU Aout Override has been turned on. OVERRIDE
TMS HPU Shutoff Override On The TMS HPU Shutoff Override has been turned on. OVERRIDE
The Horizontal/Vertical Thrust Correction Override has
Hor Vert Thrust Corr Override On OVERRIDE
been turned on.
LVC1 Board Temperature Lo/Hi The LVC1 Board Temperature is outside normal operating
LMBOARD
Alarm range.
LMBOARD
Alarm range.
LMBOARD
Alarm range.
LVC10 Board Temperature Lo/Hi The LVC10 Board Temperature is outside normal
LMBOARD
LVC1 Board Supply Voltage The LVC1 Board Supply Voltage is outside normal
LMBOARD
LMBOARD
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Alarm Summary
Alarm Text Cause(s)
Label
LMBOARD
LVC10 Board Temperature Lo/Hi The LVC10 Board Supply Voltage is outside normal
LMBOARD
LCI1 Board Temperature Lo/Hi The LCI1 Board Temperature is outside normal operating
LMBOARD
Alarm range.
LMBOARD
Alarm range.
LMBOARD
Alarm range.
LMBOARD
Alarm range.
LCI1 Board Supply Voltage Lo/Hi The LCI1 Board Supply Voltage is outside normal
LMBOARD
LMBOARD
LMBOARD
LCI10 Board Temperature Lo/Hi The LCI10 Board Supply Voltage is outside normal
LMBOARD
LPCDC1 Board Temperature The LPCDC1 Board Temperature is outside normal
LMBOARD
LMBOARD
LMBOARD
LMBOARD
LPCDC10 Board Temperatrue The LPCDC10 Board Temperature is outside normal
LMBOARD
LPCDC1 Board Supply Voltage The LPCDC1 Board Supply Voltage is outside normal
LMBOARD
LMBOARD
LMBOARD
LMBOARD
LMBOARD
LPCAC1 Board Temperature The LPCAC1 Board Temperature is outside normal
LMBOARD
LPCAC1 Board Supply Voltage The LPCAC1 Board Supply Voltage is outside normal
LMBOARD
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4.9.3 ALARM SUMMARY PANEL
The Alarm Summary Panel provides the user with a quick view of any active alarms in the system by
grouping related alarms under a single alarm label. For instance, the ROVWATER alarm will display in
red when any one of the water detects is active on the ROV. This panel is color coded to be able to
quickly notice active alarms in the system. See the Alarms table in Section ”Alarm Log Panel and
System Alarms” for a list of all the alarms.
Following is a list of the possible states for each alarm:
• No Alarms: The alarm is green (no blinking), with white alarm labels.
• New Alarm Occurs: The alarm starts blinking red / black
• Alarm Silence Press: The alarm stays red, but it no longer blinks
• New Alarm Occurs (After Silence Press): The alarm starts blinking red / black
• Alarm Occurs and Clears (Before Silence pressed): The alarm blinks red / black while the
alarm is active and turns back to green when the alarm clears.
4.9.4 NODE COMMS PANEL
The Node Comms panel in the lower left displays the status of communication links between all 4
computer nodes in the system. Each node communicates with every other node and the communication
link between nodes is displayed in red when the comm link is inactive or bad and green when the comm
link is active and good.
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4.9.5 DIVE LOG INFORMATION
The Dive Log Information includes information relevant to Dive Time, Dive Number, the current User
Logged On and their Access level, Logger On/Off Status, Time, and Date. The operator has the ability to
double-click on the Dive Number to bring up “Data Information” and add this to the Overlay or Data
Logger.
4.10 USER PAGES
The User Pages button enables additional sub menu buttons. The sub menu buttons include User
Pages 1 – 4 and the Save Layout button by which a user can save their current layout options.
4.10.1 CUSTOMIZING THE USER PAGES
The four (4) User pages can be customized in the field and saved on a per user login. A “GUI Builder”
allows the user to customize each screen by simply adding or removing GUI functional panels. Once the
user is satisfied with their configuration, they can save it, and when they log on again, the panels are
placed in the last saved configuration for that user.
Each User Page contains 9 user configurable regular size panels and 3 user configurable small sized
panels. Each panel can be selected from a menu accessed by double clicking / tapping on any one of the
empty panels. A panel will not be selectable if it cannot fit in the space that the user is trying to designate
or if the user does not have the appropriate access level. . A panel can be displayed once per user page.
If the panel is selected a second time it moves from its current location to the new position.
The 4 User pages initially contain default panels when the account is created. The following steps
describe how to customize the User Pages for a user account.
1. If you already have a user account, log in by pressing the Change User button on the Main
Menu. If you do not have an account, you can create one by pressing the Manage User button
on the System Config menu.
2. Select the User Page (1-4) to configure.
3. Remote Unwanted Panels: To remove unwanted panels click the Remove Panel button. Then
click the Remove button on the panels you want to remove.
4. Add new Panels: Double click/tap on the screen and the panel menu list will appear listing all the
panels grouped by functionality. Locate the panel you want and add it to the screen.
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5. Save the Layout: Once the user pages are configured to your satisfaction you must save the
layout so that the next time you log in it is available for use.
The default Monitor, Operator, and Admin accounts cannot have changes to their panel layouts.
Figure 5 – GUI Builder for User Pages
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4.10.2 DEFAULT USER PAGE 1
User Page 1 is setup as the main Piloting page.
Figure 6 – Default User Page 1
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User Page 2 contains piloting panels as well as certain instrumentation panels.
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User Page 3 contains certain piloting panels are well as the GFD panels.
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User Page 4 is setup as the controls page containing the auto function panels as well as the DVL panel
for auto position.
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4.10.6 SAVE LAYOUT
The Save Layout sub menu button allows the user to save the current panel layout. The layout of all
pages will be recalled when the user "Logs In". There is no need to save each user page individually.
The layout of all pages is saved when the button is activated.
4.11 SYSTEM DIAGNOSTICS
The ICE™ control system provides various ways to diagnose problems in the ROV system. At the
highest level there are “pictorial” diagnostic screens and panels on the GUI that highlight (in red) problem
areas in the control system. The user can drill down from the pictorial view to the sub-assembly level and
then to the component level for viewing detailed information specific to a particular component.
The System Diags button enables additional sub menu buttons for the diagnostic screens, which include
Pictorial, F/O Core, F/O Survey, Surface I/O, Subsea Sensors, Subsea Power, Subsea Manifolds, TMS
I/O, and F/O Diag.
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4.11.1 SYSTEM STATUS (GREEN SCREEN)
Pressing the System Diags button will bring up the first diagnostic page called the System Status
screen also known as the “Green Screen”. This screen shows communications status for all devices in
the control system. The devices are color coded to indicate the comms status as follows:
• Green - Good Comms

• Yellow - Device can be “pinged” via Ethernet, but the control software is not
communicating with the device.
• Red - No Comms to device
• Gray - Device is inactive or not installed
Every device or I/O component can be double clicked/tapped to bring up more detail and allow user
configuration of the I/O. Clicking on the down arrows on the EOI or VOI devices will bring up a diagnostic
pop-up for the fiber optic system. An Admin user can change the serial number for the EOI or the VOI.
Moving the mouse over any component will display information such as Ethernet IP addresses, Serial
port information, Local Microboard Type or Optical Board Type.
Figure 10 – System Status (Green Screen)
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4.11.2 PICTORIAL
The Pictorial sub menu button provides a user interface that displays Surface and Subsea system
components. Arrows point to accessible control system components which are highlighted red when they
are in fault condition. Each component can be double clicked to bring up panels that display more detail.
For instance, in
Figure 11 – Pictorial Diagnostics below, the Core JBox on the ROV is colored red indicating a problem in
the box. The user can click on the jbox and a picture of the jbox appears indicating which local micro
board in the jbox is having a problem. The user can then click on the local micro board to see details
about that board to assist with troubleshooting the problem.
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Figure 11 – Pictorial Diagnostics Screen
4.11.3 F/O CORE
The F/O Core sub menu button provides a user interface that displays the Core Fiber Optic Telemetry
system used for the surface to subsea communications. The F/O Core displays the Core fiber optic
system components and the Ethernet and Serial devices connected to them.
The user can change the labels for each of the component inputs on the F/O Core diagnostic page by
clicking the tag label boxes and editing the text.
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Figure 12 – F/O Core Diagnostic Screen
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4.11.4 F/O SURVEY
The F/O Survey sub menu button provides a user interface that displays the Survey Fiber Optic
Telemetry system used for the surface to subsea communications. The F/O Survey displays the Survey
fiber optic system components and the Ethernet and Serial devices connected to them.
The user can change the labels for each of the component inputs on the F/O Survey diagnostic page by
clicking the tag label boxes and editing the text.
Figure 13 – F/O Survey Diagnostic Screen
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4.11.5 SURFACE I/O
The Surface I/O sub menu button provides a user interface that displays surface component panels
including the joystick and information regarding the HVJB. Every I/O component can be double-clicked to
bring up more detail and allow user configuration of the I/O.
Console Shows the digital

Panel or analog value
Mimics for each I/O
Point
Graphically Shows
which device has
failed and which
I/O points are
affected.
Joystick
Mimic
High Voltage
JBox Circuit
Diagram
Figure 14 – Surface I/O Diagnostic Screen
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4.11.6 SUBSEA SENSORS
The Subsea Sensors sub menu button provides a user interface that displays the subsea control system
components. A component will be highlighted in red if the Comms status is bad. The water detection
alarms will be green if no water is detected and red if water is detected. The display also provides various
input device operational criteria associated with each subsea component. Components highlighted in red
and input information areas can be double clicked to bring up more detail.
Figure 15 – Subsea Sensors Diagnostic Screen
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4.11.7 SUBSEA POWER
The Subsea Power sub menu button provides a user interface that displays the Control system
components that are associated with Subsea Power devices.
Figure 16 – Subsea Power Diagnostic Screen
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4.11.8 SUBSEA MANIFOLDS
This screen shows the LVC status panel and Thrusters All panel for diagnosing problems in the
manifolds. See the LVC Status Panel in Section ”LVC Status” for more details.
Figure 17 – Subsea Manifolds Diagnostic Screen
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4.11.9 F/O DIAG
The F/O Diag sub menu button provides the user with acess to an independent fiber optics software
program for diagnostic and configuration information from the Fiber Optic system devices.
To operate correctly, only one HMI node can start the F/O Diagnostics. The other HMI will receive
updates from the HMI with the F/O Diagnostics turned On.
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4.12 SYSTEM CONFIGURATION
The System Configuration navigation button enables additional sub menu buttons for further
configuration of the system. These include Set Dive Number, Imperial / Metric Units Set, Save Settings,
Set Date / Time, Manage Users, and Software Update.
4.12.1 SET DIVE NUMBER
The Set Dive Number sub menu button provides user access to the Dive Number Entry pop-up screen.
The Dive Number Entry pop-up screen provides a user interface to a numeric keyboard for input of the
dive number. The dive number can range between 0 and 9999.
4.12.2 IMPERIAL/METRIC
The Imperial / Metric units sub menu button changes the display of all units in the system from Imperial to
Metric or Metric to Imperial when toggled.
If any changes have been made to the shipped factory defaults using the Data Info Panel on
displays that are in Metric/Imperial then those changes will have to be re-entered once the unit
switch over is complete.
When this button is toggled, it will generate configuration files, distribute these files to all nodes,
and cause a reboot of all controllers. After the files are distributed, the nodes will be instructed to
use the new data. The user is prompted to confirm this change.
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4.12.3 SAVE SETTINGS
The Save Settings sub menu button provides a user interface for updating the system configuration of all
changes made. See the How To Save Settings in 9.0 for details on saving the system settings.
Pressing the 'Save Settings' button will generate configuration files and distribute these files to
all nodes and prompt the user to reboot all controllers. After the files are distributed and the
reboot is complete, the nodes will be instructed to use the new data.
4.12.4 SET DATE/TIME
The Set Date / Time sub menu button provides user access to the Date and Time Properties pop-up
screen. The Date and Time Properties pop-up screen displays the Date & Time and Time Zone tabs
that, provides a user interface for input of the Date, Time, and Time Zone.
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4.12.5 CHANGE USER
The Change User sub menu button provides a user interface for input of User Name and Password to
change the currently logged on user. A user’s ID and Password must first be entered through the
System Configuration\Manager Users sub menu button.
To login as a different user, select the System Config button from the Main Navigation Menu, then the
Change User button from the sub menu. The user logged in is shown at the bottom of the Navigation
menu.
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4.12.6 MANAGE USERS
The Manage Users sub menu button provides a pop-up listing all the authorized Users in the system and
a user interface to Add, Remove, or Change Properties of those Users.
The Add user prompts for a Name, User Name, Password, and user access level. When a new user is
added they start with a default panel configuration that they can then change based on their preferences.
The user role or account type should generally be Operator.
There is one default user for each access level in the system. These default users can not be removed or
modified. The default users are Monitor, Operator and Admin.
Only a system administrator can authorize administration access level.
User accounts and panel configurations are only added to the HMI they are initially created on. If
a user is planning to use both HMI’s equally they will need to create an account on each HMI. This
allows a user to create one customization on the Pilots HMI and a different one on the Co-Pilots
HMI.
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4.12.7 SOFTWARE UPDATE
The Software Update sub menu button provides a user interface for updating the software on any node in
the control system. All available software versions will be displayed to allow the user to select which
version of software to install. See 9.0 for details on updating the PSS Software.
4.13 OVERRIDE SUMMARY
The Override Summary Panel can be view by clicking the Override Summary button on the Main
Navigation menu. It will bring up a panel in which the user can view and change the status of the optional
overrides within the system. A check next to the specified override indicates that the override is “ON”.
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4.14 CONFIGURE PANEL
The Configure Panel button adds a Config button on each panel shown to provide user access to the
Data Information pop-up for the panel selected. The contents of the Data Information pop-up are
discussed in Section ”Changing System Settings Via the Data Information Pop-Up”.
4.15 REMOVE PANEL
The Remove Panel button adds a Remove button on each panel to allow the user to remove the panel
selected from the screen. This operation will not be saved unless the user chooses the Save Layout
button on the sub menu.
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4.16 HELP
The Help navigation button provides the submenu buttons About and How To.
4.16.1 ABOUT
The About submenu button provides the user with software and database version information for all
nodes that are currently running.
4.16.2
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HOW TO
The How To submenu button provides the user with a pop-up of useful procedures and information
documents on how to properly use the control system. See 9.0 for all the How To procedures.
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5.0 GUI PANEL DESCRIPTIONS
5.1 AUTO FUNCTION CONTROLS MENU
In the panel selection list, the Auto Fn Controls provides the user access to panels that are relevant to all
of the auto functionality of the ROV. This includes Auto Position, Auto Depth, Auto Altitude, Auto
Heading, and Auto Heading Park.
5.1.1 AP DEBUG DISPLAY
This panel selection is only available when the user is an Admin on the system. The panel provides a
user interface to values associated with Auto Positioning errors and feedback. It is most likely to be used
when an operator needs to troubleshoot the auto positioning feature.
5.1.2
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AUTO POSITION
This panel provides a user interface that displays the vehicle’s position in relation to “home” position
(position of vehicle when AP is switched to ‘On’). The “Set” represents an off set by using the joystick, the
encoders, or through keyboard entry on the Auto Position panel. The “Error” represents how far off
“home” position the vehicle is. You can also enter a Range and Bearing to determine vehicle off set by
clicking the “Rng/Brg” button which brings up a range and bearing interface for entry.
The Settings button provides user access to the Auto Position Mode Settings pop-up screen that includes
tabs for auto position user configuration.
Please see the section labelled “Auto Position Control” later in this text for a more detailed
description of the capabilities of this panel.
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5.1.3 DEPTH CONTROL
This panel provides a user interface that displays the Auto Depth, Auto Altitude and Vertical Thruster
parameters and settings.
The Depth and Altitude tabs display bar graphs for the Setpoint, Actual depth or altitude sensor value,
Error from setpoint, and Output with numerical values. They also provide a Rate and Integrator value for
the tab selected.
The user can also enter Prop (Proportional) Gain, Int (Integral) Gain, and Deriv (Derivative) Gain for the
closed loop control. The Settings button provides the user access to the Auto Functions Settings pop-
up screen that includes tabs for depth control user configuration.
The Thruster Tab displays the vertical horizontal thrusters command output.
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5.1.4 HEADING CONTROL
This panel provides a user interface that displays the Auto Heading, Heading Park and Horizontal
Thruster parameters and settings.
The Heading and Heading Park tabs display bar graphs for the Setpoint, Actual heading, Error from
setpoint, and Output with numerical values. They also provide Rate and Integrator value for the tab
selected.
The user can also enter Prop (Proportional) Gain, Int (Integral) Gain, and Deriv (Derivative) Gain for the
closed loop control. The Settings button provides the user access to the Auto Functions Settings pop-
up screen that includes tabs for heading control user configuration.
Thruster Tab displays the Horizontal thrusters command output.
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5.2 DIAGNOSTIC ROV COMPONENTS MENU
In the panel selection list the Diagnostic ROV Components provides user access to panels that help in
the diagnosing of issues in the control system. These displays can also be accessed by the System
Diags navigation button and the corresponding sub menu button.
5.2.1 ROV AUX MANIFOLD IMAGE
The ROV Aux Manifold Image provides a display of the Aux Manifold components with the control system
components having a green / red overlay according to the current communication link. You may double
click/tap on any component to bring up the associated panel for that component.
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5.2.2 ROV CCAN IMAGE
The ROV CCan Image provides a display of the CCan components with the control system components
having a green / red overlay according to the current communication link. You may double click/tap on
any component to bring up the associated panel for that component.
5.2.3 ROV CORE JBOX IMAGE
The ROV Core JBox Image provides a display of the Core JBox components with the control system
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5.2.4 ROV MAIN MANIFOLD IMAGE
The ROV Main Manifold Image provides a display of the Main Manifold components with the control
system components having a green / red overlay according to the current communication link. You may
double click/tap on any component to bring up the associated panel for that component.
5.2.5 ROV SURVEY JBOX IMAGE
The ROV Survey JBox Image provides a display of the Survey JBox components with the control system
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5.2.6 ROV THRUST MANIFOLD IMAGE
The ROV Thrust Manifold Image provides a display of the Thrust Manifold components with the control
system components having a green / red overlay according to the current communication link. You may
double click/tap on any component to bring up the associated panel for that component.
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5.3 DIAGNOSTIC SUBSEA MENU
In the panel selection list the Diagnostic ROV Components provides user access to panels that help in
diagnosing issues in the control system. Some of these displays can also be accessed by the System
Diags navigation button and the corresponding submenu button.
5.3.1 GYRO
The Gyro Panel displays the information coming from both the Tritech gyro and the optional Octans gyro.
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5.3.2 LAM STATUS
This panel provides a user interface to the LAM Status panel that displays the LAM (Local Alarms
Monitor) boards. The LAM Status panel displays all data coming from the selected board and its status.
The Board Details box displays the Board ID selected, Board Address, Board Location, Interface ID, and
Board Comms status.
Data is displayed in red or has red question marks after it when the board comms state is bad and is in
black or white when the board comms state is good.
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5.3.3 LCI STATUS
This panel provides a user interface to the LCI Status panel that displays the system control LCI (Local
Camera Interface) boards. The LCI Status panel displays all data going to or coming from the selected
board and its status.
Board Comms status. The user can configure the board voltage and temperature alarm limits located in
the ‘Misc’ section of the panel by clicking the “Configure Panel” button on the Navigation Menu, then
press the blue ‘Configure’ button and find the event in the pull down menu.
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The Configure button on the panel provides a user interface to configure the LCI board. By selecting the
keyboard icon at the left of each data entry, the user can set limits and delays for the corresponding
channel. These channels are continuously monitored channel parameters and will "Trip" or open the
circuit when the limit settings are exceeded. The Trip Delay will delay the continuous monitoring for the
initial start-up when power is applied to the channel.
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5.3.4 LPC-AC STATUS
This panel provides a user interface to the LPC-AC Status panel that displays the system control LPC-AC
(Local Power Controller – AC) boards. The LPC-AC Status panel displays all data going to and coming
from the selected board and its status.
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The Configure button provides a user interface to configure the LPC-AC board. By selecting the
keyboard icon at the left of each data entry, the user can set current limits and delays of the
corresponding channel. These channels are continuously monitored and will "Trip" or open the circuit
when the limit settings are exceeded. The Inrush Hold Off Delay will delay the continuous monitoring for
the initial startup when power is applied to the channel.
The Failsafe user setting, when checked, will disable or power off the channel when communications is
lost to the board. When the Failsafe box is not checked power to the channel remains in the last known
state when comms is lost to the board.
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5.3.5 LPC-DC STATUS
This panel provides a user interface to the LPC-DC Status panel that displays the system control
LPC-DC (Local Power Controller – DC) boards. The LPC-DC Status panel displays all data coming from
the selected board and its status.
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The Configure button provides a user interface to configure the LPC-DC board. By selecting the
keyboard icon at the left of each data entry, the user can set limits and delays of the corresponding
channel. These channels are continuously monitored channel parameters and will "Trip" or open the
circuit when the limit settings are exceeded. The Inrush Hold Off Delay will delay the continuous
monitoring for the initial startup when power is applied to the channel.
The Failsafe user setting, when checked, will disable or power off the channel when communications is
lost to the board. When the Failsafe box is not checked power to the channel remains in the last known
state when comms is lost to the board.
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5.3.6 LSI STATUS
This panel is only available when the user is an Admin on the system. The panel provides a user
interface to the LSI Status panel that displays the system control LSI (Local Serial Isolator) boards.
Board Comms status.
The toggle switches allow the Admin to switch the serial setting between RS-232 or RS-485. The active
setting is shown by the green bar.
Only qualified personnel should modify the LSI settings.
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5.3.7 LVC STATUS
This panel provides a user interface to the LVC Status panel that displays the system control LVC (Local
Valve Controller) boards. The LVC Status panel displays all data going to or coming from the selected
board and its status.
The two tabs, Analog Input and Channel Status are used to view input and output I/O on the board.
The Analog Input tab shows Counts, Volts and Scaled values for each of the Analog Inputs on the LVC
board.
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The Channel Status tab shows the valve demand outputs (in Amps) as well as the Valve Current
feedback (in Amps). Both are displayed as horizontal bar graphs with the demand output the top bar
graph.
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5.4 DIAGNOSTIC SUBSEA POWER MENU
In the panel selection list the Diagnostic Subsea Power provides user access to panels that help in the
diagnosing of issues in the control system main power boards. Some of these displays can also be
accessed by the System Diags navigation button and the corresponding submenu button.
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5.4.1 CORE JB POWER
This panel provides a user interface to the Core JB Power panel that displays the Core JBox Power
Distribution Boards, both AC and DC. The Core JB Power panel displays all data going to or coming
from the power boards in the Core JBox and their status.
The power input, to the left of each board status box, is a text box and must be correctly identified
according to the Local Power board setup. Traces from the power input text box displays the power
distribution to the channel(s) status box (Off, On, Trip, Fault) as shown by the Key at the bottom of the
panel.
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5.4.2 SURVEY JB POWER
This panel provides a user interface to the Survey JB Power panel that displays the Survey JBox Local
Power Distribution boards (DC). The Survey JB Power panel displays all data going to or coming from
the power boards in the Survey JBox.
The power input, to the left of each board status box, is a text box and must be correctly identified
according to the Local Power board setup. Traces from the power input text box displays the power
distribution to the channel(s) status box (Off, On, Trip, Fault) as shown by the Key at the bottom of the
panel.
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5.5 DIAGNOSTIC SURFACE MENU
In the panel selection list the Diagnostic Surface menu provides user access to panels that help in the
diagnosing of issues in the surface system. Some of these displays can also be accessed by the System
Diags navigation button and the corresponding submenu button.
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5.5.1 ETHERNET I/O
This panel provides a user interface to the Ethernet I/O panel that displays the system Ethernet I/O
modules. The Ethernet I/O panel displays all data going to or coming from the selected module and its
status.
Board Comms status.
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5.5.2 JOYSTICK
This panel provides a user interface to the Joystick Panel that is a graphic display of the Joystick Panel
functions. The Joystick panel indicators display all data coming from the joystick and its status.
Data is displayed in red and parts of the joystick are highlighted in red when the comms state to the
joystick is bad and is in black or white when the comms state is good.
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5.5.3 PILOT PANEL 1
This panel provides a user interface to the Pilot 1 Panel and is a graphic display of the physical Pilot 1
panel functions. The Pilot Panel 1 panel indicators display all data going to or coming from the panel and
its status.
Data is displayed in red or devices have red highlights around them when the comms state is bad and is
in black or white when the comms state is good.
Figure 3 – Panel Diagnostics shows a generic diagram of the type of components on Pilot Panel 1 and
their functionality.
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5.5.4 PILOT PANEL 2
This panel provides a user interface to the Pilot 2 Panel and is a graphic display of the physical Pilot 2
panel functions. The Pilot Panel 2 panel indicators display all data going to or coming from the panel and
its status.
Figure 3 – Panel Diagnostics shows a generic diagram of the type of components on Pilot Panel 2 and
their functionality.
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5.5.5 TOOL PANEL
This panel provides a user interface to the Tool Panel that is a graphic display of the physical Tool panel
functions. The Tool Panel indicators display all data going to or coming from the panel and its status.
Figure 3 – Panel Diagnostics shows a generic diagram of the type of components on the Tool Panel
and their functionality.
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L indicates Latched Switch / M indicates Momentary Switch
L L Green LED indicates computer control output

3A 3A
DIN OFF DIN ON

DOUT DOUT
Switch indicates switch output to computer control
Switch moves with the current position of the physical switch

DIN ON/OFF/NEUTRAL
(up/down/middle).
L
Red Switch outline indicates no comms from Ethernet module
3A
Loss of Comms
FLOW 1
4095 / 5.00 V
Proportional output from the computer control in Eng. Counts
Eng. Counts Scaled conversion to Volts
Figure 3 – Console I/O Panel Diagnostics
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5.6 DIAGNOSTIC SURFACE POWER MENU
In the panel selection list the Diagnostic Surface Power menu provides user access to panels that help in
the diagnosing of issues in the surface system power enclosures. Some of these displays can also be
accessed by the System Diags navigation button and the corresponding submenu button.
5.6.1 HIGH VOLTAGE JBOX
This panel provides a user interface with the High voltage JBox panel. The High Voltage JBox panel
displays all data going to or coming from both the Surface and TMS Instrument and HPU power.
Data is displayed in red or have red questions marks beside them when the comms state is bad and is in
black or white when the comms state is good.
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5.6.2 REMOTE GFD DIAGNOSTICS
This GUI panel shows diagnostic information for the Remote GFD Meter hardware panel. This GUI panel
displays data coming from the standard Megacon GFD Unit (Input (Volts) and (Input (Counts)). The
software interprets the GFD readings from the Megacon GFD unit and converts those signals to PWM
outputs to drive the meters on the Remote GFD Meter hardware panel which includes Ethernet IO Device
#13.
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5.7 DIAGNOSTICS SYSTEMS MENU
In the panel selection list the Diagnostic Systems menu provides user access to panels that help in the
diagnosing of issues in the system communications and event handling.
5.7.1 COMM MANAGER STATISTICS
This panel provides the user with the Comm Manager Statistics panel which displays system Ethernet
packet communications information for the HMI node. The information displayed here can help detect
communication problems.
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5.7.2 EVENT MANAGER STATS
This panel selection provides the user with the Event Manager Statistics which displays system event
information. The information displayed here can help detect problems the system is having interpreting
event data.
5.8 GFD MENU
In the panel selection list the GFD menu provides user access to panels that help in the monitoring of
ground faults within the system.
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5.8.1 GFD AND POWER SURFACE
This panel provides a user interface to the GFD and Power Surface panel. This panel displays all
information relevant to monitoring the ground faults associated with the Surface System power. Each bar
graph will have a thin white bar next to it that indicates the history of the value since system start time.
The history can be reset using the History Reset button on the Resets Panel.
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5.8.2 GFD ROV
This panel provides a user interface to the GFD ROV panel. This panel displays all information relevant
to monitoring the ground faults associated with the Subsea and Survey System power. Each bar graph
will have a thin white bar next to it that indicates the history of the value since system start time. The
history can be reset using the History Reset button on the Resets Panel.
5.9 ROV OPERATIONS MENU
In the panel selection list the ROV Operations menu provides user access to panels that help in both the
monitoring and operating functions of the ROV system.
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5.9.1 Blank Panel
This panel provides no control options to the user. They are for aesthetic use to fill unused panel areas
on the custom user page layouts.
5.9.2 Blank Panel (Small)
This panel provides no control options to the user. They are for aesthetic use to fill unused panel areas
on the custom user page layouts.
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5.9.3 DVL
This panel provides a user interface to the DVL (Doppler Velocity Log), panel. The DVL panel displays
all relevant information coming in from the DVL device.
Information coming in from the DVL includes:
• Beam/Echo/Corr Labels: These are the beam, echo, and correlation alarm notifications from the
DVL. When Green, they are valid. If Red, they are invalid.
• Beams/Altitude: These show the four incoming beam values from the DVL and they are
interpolated on the graphical representation of the ROV. The altitude is calculated by an average
of all four beams when all are valid.
• Heave/Surge/Sway Vel: These show the incoming velocity values from the DVL and they are
interpolated on the graphical representation of the ROV.
• Heading/Pitch/Roll: These show the incoming heading, pitch, and roll from the DVL and they are
interpolated on the graphical representation of the ROV.
• Temp: This shows the incoming water temperature from the DVL.
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5.9.4 LIGHTS
This panel provides a user interface to the ROV Lights panel. From this panel, the user is able to control
the lights on/off switch as well as the light intensity. The user can also set up to four presets for which the
light intensities will automatically change to the preset intensities.
To set the lights preset, select the desired preset button. Adjust the sliders to the desired light intensities.
Click/tap on the Save Preset button.
5.9.5 PITCH AND ROLL
The panel selection provides a user graphics display of the ROV Pitch and Roll panel. The Pitch and
Roll panel displays a graphical representation of the vehicle’s current pitch and roll status.
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5.9.6 POWER
This panel provides a user interface for ROV Power buttons. The panel displays each power control
button, which is labeled according to the associated circuit and will display green when energized. The
user is able to toggle the power buttons on/off by using the touch screen or by clicking the corresponding
button.
5.9.7 POWER 2
This panel provides a user interface for ROV Power 2 buttons. The panel displays each power control
button, which is labeled according to the associated circuit and will display green when energized. The
user is able to toggle the power buttons on/off by using the touch screen or by clicking the corresponding
button.
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5.9.8 PRIMARY FLIGHT DISPLAY
This panel selection provides a user interface to the Primary Flight Display panel that displays ROV and
TMS sensor information, and Pilot control settings.
The panel displays a graphical compass and other text information representing the ROV current
positioning.
The Full indication in the bottom right indicates the Joystick sensitivity setting Full / Adj / Deck.
The JS Fwd indication in the bottom left indicates the Joystick select direction Js Fwd or JS Rev.
An indication for AP (Auto Position) at the bottom shows whether or not AP is On.
“Auto” indications will appear for Auto Heading, Auto Depth and Auto Altitude as a result of the Subsea
Controller meeting all conditions to place the ROV in the appropriate auto function.
Tether and Turns counter indications are also included on this panel.
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5.9.9 PUMP CONTROL
This panel provides a user interface to the Pump Control panel. This panel displays all information
representing the current pressure readings on the ROV. The Main Man pressure slider allows the user to
adjust the pressure in the Main Manifold. The values below the pressure pots show the % command
applied on the corresponding hardware pot on the pilot / tool panels. The pots shown on this graphic are
not meant for user control soft controls. On the pressure dials, there are red alarm bands that represent
low/high pressure ranges. The yellow bands represent warning limit ranges. The green bands represent
safe operating ranges.
5.9.10 RESETS
This panel provides a user interface to the Resets panel. The Resets Panel allows the user to reset
several values on the system. The user is able to toggle the reset buttons on/off by using the touch
screen or by clicking the corresponding button.
Some resets require user confirmation before they take place.
5.9.11 ROV CAMERA POWER (1-8)
This panel provides a user interface for ROV Camera Power buttons. The panel displays each power
control button, which is labeled according to the associated circuit and will display green when energized.
The user is able to toggle the power buttons on/off by using the touch screen or by clicking the
corresponding button.
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5.9.12 ROV CAMERA POWER (9-12)
This panel provides a user interface for ROV Camera Power buttons. The panel displays each power
control button, which is labeled according to the associated circuit and will display green when energized.
The user is able to toggle the power buttons on/off by using the touch screen or by clicking the
corresponding button.
5.9.13 ROV CAMERA 1-8
This panel provides a user interface for ROV Cameras 1-8 buttons. The panel displays the both the
power and focus/zoom controls for the user.
The user can select one camera at a time by clicking the “Select” portion of a button in order to perform
focus/zoom operations on the selected camera. Each camera can be powered individually by clicking the
‘Power’ portion of a button. The Power All On/Off button will power on/off all camera circuits. Each
camera control button is labeled according to the associated circuit and will display green when powered
on by the bottom portion of the button and display green Select at the top portion when selected.
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5.9.14 ROV CAMERA 1-12
This panel provides a user interface for ROV Cameras 1-12 buttons. The panel displays the both the
power and focus/zoom controls for the user.
The user can select one camera at a time by clicking the “Select” portion of a button in order to perform
focus/zoom operations on the selected camera. Each camera can be powered individually by clicking the
‘Power’ portion of a button. The Power All On/Off button will power on/off all camera circuits. Each
camera control button is labeled according to the associated circuit and will display green when powered
on by the bottom portion of the button and display green Select at the top portion when selected.
5.9.15 ROV COMPS/MAIN PRESSURE
This panel provides a user interface for ROV Comps / Main Pressure panel. The panel displays all ROV
compensators and the System Pressure in the form of bar graphs and numerical values. Each bar graph
is labeled according to the associated circuit and will display on the bar graph the compensator level /
pressure along with the data value at the bottom of the graph. Each bar graph will have a thin white bar
next to it that indicates the history of the value since system start time. The history can be reset using the
History Reset button on the Resets Panel.
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5.9.16 ROV POWER SENSORS
This panel provides a user interface for ROV Power Sensors panel. The panel displays the ROV power
sensors current and voltage in the form of bar graphs and numerical values. Each bar graph is labeled
according to the associated circuit and will display on the bar graph the current / voltage along with the
data value at the bottom of the graph. Each bar graph will have a thin white bar next to it that indicates
the history of the value since system start time. The history can be reset using the History Reset button
on the Resets Panel.
5.9.17 ROV PWR – LPA1/LPD4/LPD5
This panel provides a user interface for ROV Pwr – LPA1 / LPD4 / LPD5 panel. The panel displays each
power control button, which is labeled according to the associated circuit and will display green when
energized. The user is able to toggle the power buttons on/off by using the touch screen or by clicking
the corresponding button.
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5.9.18 ROV PWR – LPD1/LPD2
This panel provides a user interface for the ROV Pwr – LPD3 / LPD4 / LPD5 panel. The panel displays
each power control button, which is labeled according to the associated circuit and will display green
when energized. The user is able to toggle the power buttons on/off by using the touch screen or by
clicking the corresponding button.
5.9.19 ROV TEMPS/AUX PRESSURE
This panel provides a user interface for ROV Temps / Aux Pressure panel. This panel displays all
information relevant to monitoring the ROV temperatures and the Aux Pressure value. All bar graphs are
labeled and a data value is also displayed. Each bar graph will have a thin white bar next to it that
indicates the history of the value since system start time. The history can be reset using the History
Reset button on the Resets Panel.
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5.9.20 WATER DETECT
This panel provides a user interface for Water Detect panel. The panel displays Water Detects by
component where green represents no water detected and red represents water detected in the
corresponding component.
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5.10 THRUSTERS
In the panel selection list the Thrusters menu provides user access to panels that help in both the
monitoring the feedback of all the thrusters on the ROV system.
5.10.1 THRUSTERS ALL
This panel provides a user interface for the Thrusters All panel. This panel displays both a graphical and
numerical representation of the current thruster commands and direction.
The three numbers in the ‘Encoders’ box represent the surge, sway and heave encoder values
respectively, expressed as a percentage with 1.00 equaling 100% while in manual operation.
When the thrusters are red in color, that indicates the thrust manifold power is not turned on or that the
thrusters are not enabled.
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5.10.2 THRUSTER HORIZONTAL
This panel provides a user interface for the Thrusters Horizontal panel. This panel displays both a
graphical and numerical representation of the current thruster commands and direction.
5.10.3 THRUSTERS VERTICAL
This panel provides a user interface for the Thrusters Vertical panel. This panel displays both a graphical
and numerical representation of the current thruster commands and direction.
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5.11 TOOLING MENU
In the panel selection list the Tooling menu provides user access to panels that help in both the
monitoring and operations of the tooling mechanisms of the system.
5.11.1 TOOLING FLOW/PRESSURE
This panel provides a user interface for the Tooling Flow/Pressure panel. This panel displays all
information relevant to monitoring the current tooling flow and pressure pots and feedback.
The A graphs represents positive pressure and the B graphs represents negative pressure.
The values below the pressure pots show the % command applied on the corresponding hardware pot on
the tool panel. The pots shown on this graphic are not meant for user control soft controls.
See the “Auxillary Manifold Flow and Pressure Control” section of this manual for more details on
configuring the pressure and flow pots.
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5.11.2 FLOW METERS (OPTIONAL)
This panel provides a user interface for the Flow Meters panel. This panel displays all information
relevant to monitoring the current tooling flow meters.
The A graphs represent the amount of flow in the A direction and the same is true of the B graphs for the
B direction. Both are represented here as gallons per minute.
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6.0 GUI APPLICATIONS
The Apps (Applications) navigation button enables the user to access other applications included in the
HMI software. The sub menu buttons contain Overlay On/Off, Overlay Settings, Logger On/Off, Logger
Settings, Frm Survey On/Off, To Survey On/Off and Survey Settings. All of these are applications are
discussed in the sections that follow.
6.1 OVERLAY INTERFACE
The ROV system has the ability to overlay operator selected data using the Video Overlay interface
through an Ethernet UDP setup. The overlay system is compatible with NTSC or PAL video formats.
The typical video overlay data items include Date, Time, ROV Depth, Heading, Altitude, Pitch and Roll.
Additional data may be added by the user. The user is able to specify which items are sent to the
annotation screen through the General tab on the Data Information pop-up.
To turn the overlay interface off and on the user must select the Apps button on the Navigation Panel,
then press the Overlay On/Off button on the submenu. The light on the button turns green when data is
being sent to the overlay and turns red when data is not being sent. To access the Overlay settings
select the Overlay Settings button.
The Overlay should only be turned On from one HMI at a time. If more than one HMI attempts to
send to the Video Overlay it may not display data correctly.
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WITH DVR
OVERLAY
WITH VIGRA
OVERLAY
6.1.1 OVERLAY SETUP
The user can access and setup the Overlay by pressing the Apps button on the Navigation Panel, then
pressing the Overlay Settings button on the submenu. This will bring up the overlay settings.
6.1.1.1 Type
The type represents the type of overlay system installed. The operator has the ability to select the overlay
system of their preference that is installed with the ROV by selecting the correct radio button. Currently
there are 2 choices: (1) Vigra System (2) DVR system. The Overlay Setup form will change according to
the system selected. See the pictures above.
6.1.1.2 Frequency
The frequency represents how often the overlay data is updated and sent while the Overlay is set to
“ON”. This is represented in millisecond (ms). Therefore a value of 1000 is equal to updating once per 1
second.
6.1.1.3 IP Address
The IP Address represents the address on the network of the Video Overlay system(s).
6.1.1.4 Port
The Port represents the UDP port that the Video Overlay is listening on for data.
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The IP Address and the Port values must be the same both from our system and the Video
Overlay. It is recommended to use the default PSS values for these settings.
6.1.1.5 Field List

The Field List represents an alphabetical list of the current data items that will be sent to the overlay
when the Overlay is set to “ON”.
6.1.1.6 Generate Overlay File

The Generate Overlay File button is included on systems that use a Vigra video overlay system. This
button generates a Perry defined configuration file that defines the message format, defines the fields
that will be transmitted, and defines how the string should be parsed. This file is then shared by the Video
Overlay interface and the HMIs via a shared mapped network drive. (V:\). The Video Overlay interface
must be setup correctly to accept this file. The name of the file is defaulted as “PSS_VIGRA.cfg”.
When you press the Generate Overlay File button you will get a message to restart all the
communications programs on the Video Overlay in order for the new file configurations to take effect.
For the Video Overlay Systems that are not a Vigra System, this button will not be included
withinin the HMI.
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6.1.2 ADD/DEL FROM OVERLAY
All data capable of being added or deleted from the overlay can be accessed from the panels on which
the data is located. After adding or deleting data items, the user should generate a new overlay file from
the Overlay Settings pop-up and restart the Video Overlay communications programs so that the Video
Overlay Interface accepts the new overlay message.
6.1.2.1 Add Data Item

To add a data item, bring up the corresponding panel containing the item you want to add to the overlay.
Bring up the Data Information pop-up of that item by either double-clicking/double-tapping the data item
or by using the Configure Panel button on the Navigation Panel and choosing the correct “Function
Name” from the pull-down menu. On the General tab, check the “Send to Overlay” box.
6.1.2.2 Delete Data Item

To delete a data item, bring up the corresponding panel containing the item you want to delete from the
overlay. Bring up the Data Information of that item by either double-clicking/double-tapping the data item
Name” from the pull-down menu. On the General tab, uncheck the “Send to Overlay” box.
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6.2 DATALOGGER INTERFACE
A system data logger is provided to store and display a historical perspective of any of the system
events, as well as export the logs to a delimited text file for importing into other applications. The data is
stored to a database with the pre-selected level of precision as selected by the configuration screen.
The logger is reached thru the Apps menu, Logger Settings button. When pressed, the logger will
display a blank graphing display and, in front of it, a configuration page. See example below.
The Logger Settings page provides a user interface for the selection of, creation of, and manipulation of
data sets.
To turn the data logger off and on the user must select the Apps button on the Navigation Panel, then
press the Logger On/Off button on the submenu. When the applicator is green, the data logger is on and
red when it is off. The Logger indicator on the Dive Log Information will be green when the logger is on
and gray when it is not.
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6.2.1 CONFIGURATION TAB
This tab contains the settings for the data logger application, as well as formatting for each of the
selected events. Events listed in the “Members” list box are the events that have been enabled for data
logging, which can be selected thru the Data Information pop-up for each event.
Frequency: Setting for how often the data logger stores data. Adjustable from 1 second to 60 minutes.
LogDataSetName : Name that the logged data is stored under. If you change this value and apply the
changes while the data logger is running, it will immediately start logging to the database under the new
name.
Format: The data format for each of the events being logged can be changed. The number of decimal
places can be controlled.
At the bottom of the screen, you can see the format of the data as it will be stored in the database. Here
you can confirm that the data precision is correct.
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6.2.2 DISPLAY DATA TAB
This tab allows you to select the events that you wish to display on the graph. Up to 6 events can be
displayed at one time.
Data Source: You can select between displaying the active DataSet and previously stored DataSet
names. The screen reports how many data records have been stored when you pick a DataSet name.
Time Filter: You can select the timeframe for viewing the data. This amount varies depending on the
sampling rate of the logger. Up to 10,000 records can be viewed on the graph at one time. At a sampling
rate of 1 second, this corresponds to 2.7 hours. When you select a DataSet name, the dates and times
will refresh to show the first and last times that the data was stored, or you can push the Refresh from
Log button to get the latest date/times if the data logger is running.
Readings / Unit Time: This controls the density of points displayed on each graph line. It is adjustable
from 0.5 to 1000 points per vertical line on the graph.
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6.2.3 EXPORT DATA
This tab allows you to export selected events to a delimited text file. The order of the data in the export
file is determined by the order of data selection. There is no limit to the number of events that can be
selected or amount of data to be exported.
At the bottom of the screen, you can see the format of the data as it will be stored in the database. Here
you can confirm that the data precision and order is correct.
ExportFileName: This will be the name of the exported file. A “.txt” extension will be added to this file
name.
LogExpFilePath: This sets where the file will be saved. A browser is launched to locate the desired
folder.
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Separator: This sets the delimiter that goes between each piece of data. Choices are:
Like the time filter on the Display tab, this one initially shows the first and last times that the data was
stored, or you can push the refresh button to get the latest date/times if the data logger is running.
When the Export Data button is pressed the data will be read from the database and will be written to the
text file in the selected order. During the process, a progress bar will show the progress and at the end of
the process a confirmation of the number of records exported will be shown.
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A sample exported file is shown below:
6.2.4 DATABASE MANAGEMENT
This tab allows you to perform some management of the data and the database.
Delete Data: this button will delete the data for a particular DataSetName from the database.
Delete Data and Settings: This button will delete the data and the names of the events for a particular
DataSetName from the database.
Compact Database: When large amounts (millions of records) of data is stored and then deleted, the
database can become fragmented and have large allocated and now empty spaces in it. This button will
disconnect the database and perform a defragmenting and compaction of the database. It does not need
to be run too often. The data logger must be shut off during this process.
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6.2.5 GRAPH DISPLAY
The graph will display up to 6 events at a time. The scroll bar or arrow buttons will move the display
forward or backward in time one graph worth of data at a time. How much data is on a graph is decided
by the Reading per Unit Time setting on the configuration screen. Default is one data point per vertical
time division. The refresh button is used to display the latest data when the data logger is running.
The vertical min/max scale of the graph is determined by the smallest and largest values being displayed.
The config button brings up the configuration screen.
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6.2.6 ADD/DEL FROM DATA LOGGER

To add a data item, bring up the corresponding panel containing the item you want to add to the data
logger. Bring up the Data Information pop-up of that item by either double-clicking/double-tapping the
data item or by using the Configure Panel button on the Navigation Panel and choosing the correct
“Function Name” from the pull-down menu. On the General tab, check the “Send to Data Logger” box.
data logger. Bring up the Data Information pop-up of that item by either double-clicking/double-tapping
the data item or by using the Configure Panel button on the Navigation Panel and choosing the correct
“Function Name” from the pull-down menu. On the General tab, uncheck the “Send to Data Logger” box.
The user will be warned that adding or removing items from the active dataset will cause the
logger to delete any existing records for this dataset.
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6.3 SURVEY INTERFACE
The system provides a survey interface which allows an operator to exchange data between the ROV
control system and external survey equipment. This is done by sending a formatted string from the ROV
to the survey equipment or from the survey equipment to the ROV. The survey equipment must be set up
to interface with the string that the operator configures in the Survey Setup of the ROV in order for the
two to interact correctly.
The user can access and setup the survey interfaces by pressing the Apps button on the Navigation
Panel, then pressing the Survey Settings button on the submenu. This will bring up the survey settings.
To turn the survey interface off and on the user must select the Apps button on the Navigation Panel,
and then press the FrmSurvey On/Off button or the ToSurvey On/Off button on the submenu. The light
on the button turns green when data is being sent to/received from the survey devices and turns red
when data is not being sent/received.
Only one HMI should enable sending data to the Survey Device. If more than one HMI attempts to
send to the Survey Device it may not receive data correctly. Both HMI’s may receive data from
the Survey Device although it is recommended that only one is turned on at a time.
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6.3.1 TO SURVEY SETTINGS TAB
This tab allows the user to configure the string that will be sent to external survey equipment. Here, the
user will define the string and the frequency at which the string will be sent.
6.3.1.1 Message Properties

The message properties represent the basics of the string. Here, the user will define the header, footer,
separator, and frequency all defined below:
• Footer: The footer of the string sent to the survey equipment, which is the last character(s)
sent to designate the end of a valid string. Current choices are:
• Header: The header of the string sent to the survey equipment, which is the first character(s)
sent to designate the beginning of a valid string.
• Separator: The separator between data fields in the string being sent.
• Frequency: How often the survey data is updated and sent when the ToSurvey is set to “ON”.
This is represented in milliseconds (ms); therefore a value of 1000 is equal to
updating once per 1 second.
HMI performance may be adversely affected if the frequency is set to values under 100
milliseconds.
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6.3.1.2 Members
The members section displays the current data items that are being sent to the survey equipment and the
order that they are being sent. In the “Properties” Window, you can also format the information to
accommodate the maximum size that the data member can be.
The user can change the order in which the data is sent in the string. To do this, highlight/click the data
member whose order is to be changed. Then click the Up/Down arrows to the right of the Member List to
move the data member to the desired position in the string.
If you do not specify a large enough format for the data item, it is possible that the data will be
interpreted incorrectly by the ROV system and the survey equipment. Please make sure you
accommodate for the maximum possible size that the data member can be.
6.3.1.3 Sample Message

This area shows you a preview of the string format that will be sent to the survey equipment. It will
dynamically change as the user changes the format and configuration of the string.
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6.3.2 FROM SURVEY SETTINGS TAB
This tab allows the user to configure the ROV to handle the string that will be received from external
survey equipment. Here, the user will define the string’s data and select whether or not the data will be
sent to the Overlay screen.
6.3.2.1 Message Properties

The message properties represent the basics of the string. Here, the user will define the header and
separator defined below:
• Header: The header of the string received from the survey equipment, which is the first
character(s) sent to designate the beginning of a valid string.
• Separator: The separator between data fields in the string being received.
• Footer: The ROV can only handle strings that end with <CR><LF>
6.3.2.2 Members
The members section displays a generic list of data items being received from the survey equipment
including the order that they are being received. In the “Properties” Window, you can give the data item a
name and specify whether to send the data item to the overlay. Up to 30 items can be received.
6.3.2.3 Received Message

This section shows the current received message from the survey equipment. It updates dynamically as
data is received.
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6.3.3 ADD/DEL FROM SURVEY INTERFACE
All data capable of being added or deleted from the survey interface that sends data to equipment can be
accessed from the panels on which the data is located.

To add a data item, bring up the corresponding panel containing the item you want to add to the overlay.
Bring up the Data Information pop-up of that item by either double-clicking/double-tapping the data item
Name” from the pull-down menu. On the General tab, check the “Send to Survey” box.

overlay. Bring up the Data Information pop-up of that item by either double-clicking/double-tapping the
data item or by using the Configure Panel button on the Navigation Panel and choosing the correct
“Function Name” from the pull-down menu. On the General tab, uncheck the “Send to Survey” box.
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7.0 VEHICLE THRUSTER CONTROLS
7.1 VEHICLE THRUSTER CONTROLS OVERVIEW
The ROV is provided with eight thrusters. The thrust vector configuration allows six degrees of Motion
Control:
• Surge Forward / Reverse

• Lateral Starboard / Port
• Heading Starboard / Port
• Vertical Up / Down
• Roll Starboard / Port
• Pitch Up / Down
Many of the maneuvering functions of the ROV can be performed manually or automatically. In automatic
modes such as auto depth and auto heading, the vehicle maintains certain functions while
an operator is free to concentrate on other tasks. Any automatic mode can be over-ridden by an operator.
To obtain the desired motion, the Subsea computer calculates the output to the proportional valves by
combining the various manual commands (joystick, trim pots, and encoder commands) and sensor
feedback inputs for automatic modes.
Controls information calculated in the Subsea Computer is sent up the telemetry link and displayed on
various panels on the GUI. Examples of data displayed include thruster output values in percentage of
command, auto mode flags, auto mode setpoints and error values, sensor inputs, control gains, etc.
Below are a few terms that are used in describing the controls for the ROV.
• Surge - Forward and Reverse

• Sway - Lateral Port and Starboard
• Yaw - Heading
• Heave - Vertical Up and Down
The following sections explain each of the control modes for manual and automatic operation.
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7.2 MANUAL CONTROL MODES
In the manual modes, the thrusters are controlled in an open loop fashion by joystick, trim
potentiometers, and encoders located on the pilot's panel.
The following manual control modes are available in the ROV System:
Surge Control Forward / Reverse

Heading Control Starboard / Port
Lateral Control Starboard / Port
Vertical Control Up / Down
Roll Control Starboard / Port
Pitch Control Up / Down
Each of the manual control modes are described in the sections that follow.
7.2.1 SURGE CONTROL
In the manual mode, the horizontal thrusters are controlled by moving the joystick forward or reverse.
The forward / reverse (surge) encoder is added for thrust offset.
7.2.2 HEADING CONTROL
The rotation of the joystick directs the vehicle heading, supplemented by adjustments made with the trim
controls. The input of the heading (yaw) trim control is added to the joystick input as an offset.
7.2.3 LATERAL CONTROL
In the manual mode, the horizontal thrusters are controlled by moving the joystick to either side. The
lateral (sway) encoder is added to the joystick for thrust offset.
7.2.4 VERTICAL CONTROL
In manual mode, the vertical thrusters are controlled by moving the vertical joystick thumb switch up and
down. The vertical (heave) encoder is added for thrust offset.
7.2.5 ROLL CONTROL
In manual mode, the roll angle of the vehicle is controlled by the roll trim pot, which controls the vertical
thrusters.
7.2.6 PITCH CONTROL
In manual mode, the pitch angle of the vehicle is controlled by the pitch trim pot, which controls the
vertical thrusters.
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7.3 AUTOMATIC CONTROL MODES
In the automatic modes, the Subsea computer uses feedback signals from the on board sensors to
compute the proportional valve control signals required to maintain the ROV's heading, depth, altitude, or
positioning.
To enable an automatic mode, the appropriate control panel switch must be set and the joystick and
corresponding trim pot or encoder must be in the neutral position. While in an automatic mode, the trim
pot or encoder may be used to offset the position for fine control. The joystick will override the automatic
mode when moved from the neutral position and a new setpoint will be determined when the joystick
returns to the neutral position.
The following automatic modes are available in the ROV System:
• Auto Heading Mode

• Auto Heading Park Mode (vehicle is anchored to a structure)
• Auto Depth Mode
• Auto Altitude Mode
• Auto Position Mode
Each of the automatic modes is described in the sections that follow.
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7.3.1 AUTO HEADING CONTROL
When auto-heading mode is activated, the last output signal from the directional gyro is used as a
reference by the Subsea computer to detect and correct deviations in the ROV's heading. The output of
the gyro is monitored by the software. When a deviation from the reference signal is detected, the
software sends a voltage to the proportional valves controlling the forward and aft thrusters. This mode
does not compensate for lateral movement. A new heading, selected with the joystick, will be maintained
by the Subsea computer. The set heading value may be offset by using the heading trim pot on the
pilot's panel. The joystick may be used to override the auto-heading mode and adjust the heading to a
new setpoint.
Initialization of the auto heading system is complete when the following conditions are met:
• Gyro power ON
• Auto heading switch ON
• Auto heading park switch is OFF
• Joystick heading control in neutral position
At that time, the set heading is subtracted from the actual ROV heading to generate a heading error. The
heading control system controls the horizontal thrusters to maintain the error signal at zero.
The horizontal thruster function used to maintain heading is:
Yaw torque = [ Prop_Gain * (yaw error + heading trim) ] +

[ Int_Gain * (yaw error integrator) ] –
[ Deriv_Gain (rate of change in heading) ]
The Prop_Gain, Int_Gain and Deriv_Gain are gain values, which can be edited from the Heading
Control Panel on the GUI, for the proportional, integral and derivative feedback loop. The rate of
change in heading is measured by an angle rate sensor located in the gyro.
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7.3.2 AUTO HEADING PARK CONTROL
In this mode, the vehicle may be attached to a structure in front of it and be able to rotate around that
anchoring point. This auto mode is similar to the auto-heading mode. It differs in the way the thrusters
are controlled. When heading park is selected, the Subsea computer maintains heading, using primarily
lateral thrust. Adjustments in heading and lateral movement are made with the joystick and the Subsea
computer will maintain the new setting(s).
The user has the ability to completely disable the forward horizontal thrusters while in this mode. To do
this, click the “Settings” button located on the Heading Control Panel and go to the “Heading Park” tab.
To turn off the forward thrusters, check the “ “ box.
Initialization of the auto heading park control system is complete when the following conditions are met:
Gyro power ON
Auto heading park switch ON
Auto heading switch is OFF
Heading joystick in the neutral position
The lateral thruster function is as follows:
Lateral thrust = [ Prop_Gain (yaw error + heading trim) ] +

[ Int_Gain * (yaw error integrator) ] –
[ Deriv_Gain (rate of change in heading) ]
Yaw Torque = 0
The Prop_Gain, Int_Gain and Deriv_Gain are gain values, which can be edited from the Heading
change in heading is measured by an angle rate sensor located in the gyro.
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7.3.3 AUTO DEPTH CONTROL
Auto depth is controlled by using a digital depth sensor. As the vehicle depth changes, the transducer
senses the absolute pressure and the new depth signal is sent to the Subsea computer. When the
computer receives an output from the transducer, it activates the vertical thrusters to maintain the
assigned depth setpoint. The set depth may be offset by using the vertical encoder control. The joystick
may be used to override the auto depth mode and adjust the depth to a new setpoint.
Initialization of the auto depth is done when the following conditions are met:
Depth Power is ON
Auto Depth switch is ON
Auto Altitude switch is OFF
Vertical joystick in the neutral position
At that time, the set depth is entered in memory. The vertical thrust function used to maintain depth is:
Vertical thrust = [ Prop_Gain (depth error signal + vertical trim) ]

[ Int_Gain * (depth error integrator) ] –
[ Deriv_Gain (rate of change in depth) ]
The Prop_Gain, Int_Gain and Deriv_Gain are the gain values, which can be edited from the Depth
Control Panel on the GUI, for the proportional, integral and the derivative feedback loop. The rate of
change in depth is computed by the Subsea computer and is used to dampen the vehicle depth motion.
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7.3.4 AUTO ALTITUDE CONTROL
Auto altitude is controlled by calculations from the DVL or an altimeter when the DVL is not present. The
altitude switch at the console must be ON before activating auto altitude. The device used sends a pulse
to the sea bottom that bounces back and causes the transducer to send an output signal to the Subsea
computer. The computer then activates the vertical thrusters to maintain the assigned altitude. The set
altitude may be offset by the operator using the vertical encoder on the pilot's panel. The joystick can be
used to change altitude and the new setting will be processed by the Subsea computer and used as the
new reference.
Initialization of the auto altitude system is completed when the following conditions are met:
Altitude Sonar Switch is ON

Auto Altitude Switch is ON
Auto Depth Switch is OFF
Vertical joystick in the neutral position
At that time, the set altitude is subtracted from the actual altitude to generate the altitude error. The
altitude control system controls the vertical thruster to maintain the error signal at zero.
The vertical thrust equation used to maintain altitude is:
Vertical thrust = [ Prop_Gain (altitude error signal + vertical trim) ]

[ Int_Gain * (altitude error integrator) ] –
[ Deriv_Gain (rate of change in altitude) ]
The Prop_Gain, Int_Gain and Deriv_Gain are the gain values, which can be edited from the Depth
change in altitude is computed by the Subsea computer and is used to dampen the main feedback loop.
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7.3.5 AUTO POSITION CONTROL
In this mode, the vehicle will maintain its surge and sway position with respect the sea floor.
To enter this mode the following conditions must be met:
Auto Position Switch is ON

DVL Power must be ON
DVL must be communicating to the Subsea Controller
DVL must have bottom lock, i.e. at least 3 of the 4 DVL beams must have bottom lock.
Upon entry to AP mode, the surge and sway setpoints are 0.00.
If Auto depth or auto altitude are on when entering AP mode, the Heave setpoint is also zeroed with the
present depth/altitude position set as the zero (or home) position.
Coordinate Conventions
+X = surge forward
+Y = sway starboard
+Z = down
7.3.5.1 Adjusting Setpoint

Adjustments to the setpoint can be made four ways:
1. via the surge and sway encoders
2. via the joystick
3. via keyboard entry on the panel
4. via range/bearing entry
1. Using Encoders
The three encoders for surge, sway and heave are dual purpose. When in AP or Auto Depth/altitude
modes, they serve to adjust the setpoint. When out of these modes, they serve as a direct command to
the thrusters in the form of a percentage command. Because of these dual roles, there are two sets of
sensitivity adjustments to the encoders. These settings can be reached thru the “Settings” Tab on the
Data Information pop-up for the corresponding encoder that adjusts how much the setpoint is changed
for each click of the encoder when in and out of AP mode.
While in AP mode, the operator can hold the AP Trim button on the joystick, and while still holding the
button, adjust any of the X, Y, and Z encoders to desired setpoints, and on release of the AP Trim button
the vehicle will move to the new desired setpoints simultaneously.
2. Using Joystick
AP mode has a bumpless transfer feature. If the joystick is being held over to overcome ocean current,
and AP mode is turned on, the current commands from the joystick will be used as a baseline for the AP
control, to avoid loss of position while the system assumes control of the vehicle.
Holding the joystick in a particular surge/sway direction will integrate the AP setpoints at a certain rate.
This rate is adjustable, see Auto Position settings table below for the value.
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Starts a
move in
AP
Select to bring
up Settings to
configure AP
Text box for mode.
keyboard
entry of a new
setpoint.
Select to bring
up Range and
Bearing entry.
Increment /
Decrement arrow to
change the setpoint.
3. Keyboard Entry
To enter a new setpoint via the Auto Position Panel or keyboard entry, enter desired values in the
corresponding text boxes for surge, sway, and heave or click the arrows for constant increments in the
desired direction. The arrow buttons are only active when AP is ‘On’. The increment values are
configurable thru the “HMI Entered Setpoint Settings” Tab by pressing the “Settings” button located on
the Auto Position Panel. When you have the desired inputs, press the “Go” button for the vehicle to
move to the desired setpoints.
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4. Range and Bearing Entry

To enter a setpoint via Range and Bearing coordinates, click the “Rng/Brg” button located on the Auto
Position Panel. The bearing entry can be selected to be relative to either world coordinates or the
vehicle coordinates. After hitting “Apply”, the corresponding surge and sway parameters will be
calculated by converting the range and bearing into it’s surge and sway components (in vehicle
coordinates) and the values will be filled in on the AP panel in the surge and sway setpoint locations.
When you have the desired inputs, press the “Go” button for the vehicle to move to the desired setpoints.
Below is a graphical representation of the above range and bearing settings.
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7.3.5.2 Setpoint and Error

Surge and Sway setpoints are in vehicle coordinates, so X and Y commands are relative to the direction
that the ROV is facing. The ‘Set’ parameter that corresponds with each direction of movement represents
the current setpoint from “home” position (e.g. home position is 0.00 in all directions when you first enter
AP mode). Any offset done from the start of AP will be shown in these parameters.
Error, like the setpoints, are in vehicle coordinates. The ‘Error’ parameter that corresponds with each
direction of movement represents the current error with respect to the current setpoint (i.e. if your offset
(Set) is 1.50 and your error (Error) is 0.05, you have an error of 0.05 M or FT from your desired set
position).
7.3.5.3 Losing Bottom Lock

While in AP mode, if bottom lock is lost (i.e. 2 or more beams from the DVL are invalid), the vehicle will
go into hold mode, which lasts up to 10 seconds. The hold time is set on the Auto Pos Panel from the
“Settings”. During hold mode, the setpoint values are steadily diminished to zero by the end of the hold
time. If at any time during hold mode the bottom lock is restored, the system will resume AP mode with
the previous setpoint. At the end of the hold time, if the bottom lock has not been restored, the system
will kick out of AP mode.
7.4 ADJUSTING CONTROL GAINS
It may be necessary to adjust the control gains for some or all of the automatic functions, when the
dynamic characteristics of the ROV are significantly altered (generally by the addition or removal of a
large work package or skid). To adjust these parameters, click the “Settings” button located on the
corresponding panel.
Adjusting the control gains should only be attempted by qualified operators under very
controlled operating conditions (i.e. good visibility, minimal current, clear of structures, which
may damage the ROV).
The algorithms for all the ROV automatic control modes utilize Proportional-Derivative (PID) control.
Therefore, for each control mode there are three control adjustable parameters, Prop_Gain, Int_Gain,
and Deriv_Gain. To set the gains for any of the control modes, position the vehicle where its behavior
can be clearly monitored using a stationary frame of reference, and adjust the control gains as follows:
• Set the Deriv_Gain value for the function being adjusted to zero.
• Set the Prop_Gain value for the function being adjusted to 10.00.
• Set the Int_Gain value for the function being adjusted to zero.
• Turn ON the auto function switch.
• Increase Prop_Gain until the ROV control function begins to be unstable (ROV will rock or
oscillate).
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• Increase Deriv_Gain until the ROV control function becomes stable and the desired performance
is achieved.
• If increasing Deriv_Gain does not eliminate instability, reduce Prop_Gain until system becomes
stable.
• If the performance has just a slight rock or slightly unstable, slowly increase the Int_Gain until the
approach is stable.
In general, higher values of Prop_Gain will cause faster response to changes in automatic function
errors, but will tend to cause greater overshoot and less stability. Conversely, Deriv_Gain tends to slow
response and improve stability. The Int_Gain is to close the loop as the control nears its setpoint.
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7.5 THRUSTER CORRECTION
The algorithms for control of the ROV in both manual and automatic modes engage correction factors on
each of the thrusters for proper translation of the vehicle. They can be found on the Settings Tab of all
thruster Data Info pop-ups. They are as follows:
Correction Factor Effect(s)

Engages vertical thrusters to keep vehicle from pitching during a surge
Surge / Pitch Correction
move forward and aft.
Engages vertical thrusters to keep vehicle from rolling during a sway move
Sway / Roll Correction
to port and to starboard.
Engages horizontal thrusters to keep vehicle from losing it’s heading during
Sway / Heading Correction
a sway move to port and to starboard.
Engages vertical thrusters during a heave move to keep vehicle from
Heave / Pitch Correction
pitching during a heave move up or down.
These values should be set during factory acceptance testing and should only need to be changed if
there is something added or taken away from the vehicle that effects the balance (e.g. a skid added).
Also, just as with adjusting control gains, this should only be adjusted by a qualified operator and in safe
conditions.
To make changes:
• Set Correction Factors to 0

• Make a desired move in the direction of the correction factor you are adjusting and watch
• the vehicle’s movement. For example, when adjusting the Surge / Pitch Correction, you
• would make a surge move and watch for the pitch of the vehicle.
• Adjust the correction factor (positive or negative depending on observation), reposition,
• and do the move again.
• Continue this exercise until the vehicle has the desired translation in all directions.
Please keep in mind that movement in one direction may be slightly better than the opposite
direction and achieving an perfect balance, depending on the balance of weight of the vehicle,
may not be possible.
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The operator is able to disable the vertical thruster correction during horizontal moves (i.e. surge, sway)
by turning on the “Horiz/Vert Correction Override” which can be found on the Override Summary Panel.
Overriding the thruster correction can effect all Auto Functions and should be taken into account
while flying the ROV.
Overriding the thruster correction of the vehicle should only be done by a qualified operator and
under controlled operating conditions.
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7.6 ENCODER POTS
There are three encoder pots on the pilot’s panel for Surge, Sway and Heave control.
All three encoders will automatically be reset when:
• The user pushes down on the encoder pot

• The ROV HPU is turned On
• Auto Position is turn On or Off
The Heave encoder will also be reset when:
• Auto Depth is turned On or Off

• Auto Altitude is turned On or Off
The encoder pots are scaled as follows:
• In AP Mode: Feet or Meters per click

• In Manual Mode: Percent Thrust per click
The scaling values may be accessed by double clicking on the relevant encoder pot on the Pilot Panel 2
mimic on the Console I/O screen. Then select the Settings tab.
7.7 FAILSAFE MODE
If downlink data communication between the Surface Controller and the Subsea Controller fails, the
Subsea Controller is programmed for a Failsafe mode as follows:
• All horizontal thruster commands are set to zero.

• The ROV is put into auto depth control mode.
• All other automatic control modes are turned off.
• All other commands are maintained as they were prior to losing communications.
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8.0 SPECIAL CONTROLS AND INTERLOCKS
This section provides a complete description of the special controls, interlocks and parameters included
in the ROV software.
8.1 ROV HPU AUTOMATIC SHUTOFF
To protect the vehicle hydraulic system, the main ROV HPU will automatically be shut off when the main
ROV hydraulic compensator falls below its corresponding Hyd Comp Trip Value. The trip level is set on
the ROV Comps / Main Press Panel by double clicking on the Hyd Comp bar graph then selecting the
Alarms tab. The trip limit is the LoLo alarm value. The ROV HPU automatic shutoff can be overridden
by activating the HPU Shutdown Override button on the GFD and Power Surface Panel.
8.2 TMS HPU AUTOMATIC SHUTOFF
The TMS Pump will be automatically shut off when the TMS hydraulic compensator falls below the TMS
Hyd Comp Trip Value. The trip level is set from the TMS Comps / Temp / Press panel by double clicking
on the TMS Hyd Comp bar graph then selecting the Alarms tab. The trip limit is the LoLo alarm value.
The TMS HPU automatic shutoff can be overridden by activating the HPU Shutdown Override button on
the GFD and Power TMS Panel.
8.3 EXTENDED TMS CLUTCH INTERLOCK
When there is an extended TMS with a clutch installed, there is an interlock to prevent the Jog CW/CW
functions on the manifold from being engaged when the clutch is in the OFF position. There is an
override located on the Pilot Panel 1 under the 5A and 6A Settings Tab. You can access the tab by
double-clicking on either of these two inputs, or by using the Configure Panel button.
8.4 WATER DENSITY FACTOR FOR DIGIQUARTZ DEPTH CALCULATION
The user may adjust the conversion factor for the Digiquartz depth transducer if necessary. This
parameter is referred to as “conversion factor” by Paroscientific Inc, since it is used as a multiplier to
convert pressure (psi) to depth (feet).
To access the conversion factor, double click on the Depth value on the Primary Flight Display Panel.
Then select the Conversion tab. The conversion factor is the first multiplier listed, usually set to
2.24212. The value represents ten thousands of the actual conversion factor, i.e. the number on the
screen is the actual conversion factor with 4 decimal places shifted to the right. This number is set as
default to 22421.20 (conversion factor of 2.24212).
For more details on how to derive the conversion factor, please refer to the following document included
with the OEM Manuals Set.
Document: G8203 Rev. A May 1995

From: Paroscientific, Inc.
Digiquartz Pressure Instrumentation
Title: Standard Products Installation Guide for
Transducers
OPR-A75179-001 Page: 154 of 264 Rev. 0
Transmitters
Depth Sensors
Portable Standards
8.5 PUMP PRESSURE CONTROL
Upon system power up (Surface and Subsea Computer Systems), the pump pressure control is set to
automatic mode and the pump pressure command is set to 0. When the main ROV HPU is turned ON,
the pump pressure control remains in automatic mode and the pressure manual switch is ignored for 5
seconds. During that 5-second ramp up period, the pump pressure setpoint is driven to 0. After the HPU
delay has expired, the pressure command is driven to 100% and the pressure manual / auto momentary
switch controls the pump pressure mode. The 5 second delay is a fixed timer not adjustable by the user.
When the ROV HPU is turned OFF the pump pressure returns to automatic mode and the pressure
command is set to 0.
When the pump pressure control is in manual mode, the operator dials in the desired pressure via the
pressure pot on the pilot’s panel. The pressure can be adjusted from 100% down to a minimum pump
pressure (a settable parameter by scaling the system pressure pot).
When the pump pressure control is in automatic mode, the pressure command is set to 100%.
8.6 MAIN MANIFOLD PRESSURE CONTROL
The pressure to the Main Manifold may be adjusted by dialing in the desired pressure via the Main Man
slider control on the Pump Control panel. This will control a proportional valve (Main Manif Press) in
the Thruster Manifold that supplies the pressure to the Main Manifold. The pressure can be adjusted
from 0 to 100%. There are no interlocks associated with the Main Manifold pressure control.
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8.7 AUXILIARY HPU PRESSURE AND CLUTCH CONTROL (OPTIONAL)
The Auxiliary (IHPU) pressure may be adjusted by dialing in the desired pressure via the IHPU pressure
pot on the Tool console panel. The pressure can be adjusted from 100% down to a minimum pump
pressure (a settable parameter by scaling the IHPU pressure pot).
Typically, there is a clutch to engage the auxiliary pump to the main HPU motor.
When the clutch is initially engaged (by pressing the IHPU button on the Tool Panel), the IHPU press pot
is ignored for 5 seconds and the IHPU pressure command is set to 0. The clutch engage solenoid is
turned on immediately. After the 5 second delay the user may manually adjust the IHPU pressure by
adjusting the IHPU pressure pot. The 5 second delay is a fixed timer not adjustable by the user.
When the clutch is disengaged, the IHPU pressure is driven to 0 immediately, and the IHPU pressure pot
is ignored. There is a 12 second delay on disengagement of the clutch to allow the clutch to fully
disengage before turning off the disengage solenoid. The 12 second delay is a fixed timer not adjustable
by the user.
When the Main HPU is shut off while the clutch is engaged, the clutch will automatically shut off the IHPU
switch. This safety mechanism is to ensure that the IHPU switch is not engaged when the Main HPU
starts again.
The clutch will automatically disengage when the Aux hydraulic compensator falls below the Aux Hyd
Comp Trip Value. The trip level is set from the ROV Comps / Temp / Press panel by double clicking on
the Aux Comp bar graph then selecting the Alarms tab. The trip limit is the LoLo alarm value. The
clutch automatic disengage can be overridden by double clicking the IHPU gauge on the Pump Control
panel then select the Settings tab. Then check the box next to the Aux Clutch Comp Override.
8.7.1 AUXILIARY HPU PRESSURE WITHOUT CLUTCH CONTROL (OPTIONAL)
When there is no clutch installed on the ROV, the Aux. pump circuit relies only on the proportional valve
to control the Aux. pressure output of the pump. When the main HPU starts up, the analog output to the
Aux. pump pressure control will be held at zero for a five second delay to allow unloaded starting.
After the five second delay, the analog output to the proportional valve will ramp up to the setpoint
determined via the IHPU pressure pot on the Tool console panel as explained in the previous Section
8.6.
If the Aux hydraulic compensator falls below the Aux Comp Trip Value, the analog output will be driven to
zero, regardless of the IHPU button state, bringing the Aux pump back to idle. The main ROV HPU will
also be shut off. The user will not be able to bring up the main ROV HPU until the Aux hydraulic
compensator is no longer below the Aux Comp Trip Value. The trip level is set from the ROV Comps /
Temp / Press panel by double clicking on the Aux Comp bar graph then selecting the Alarms tab. The
trip limit is the LoLo alarm value. The clutch automatic disengage and main ROV shutoff can be
overridden by double clicking the IHPU gauge on the Pump Control panel then select the Settings tab.
Then check the box next to the Aux Clutch Comp Override.
With no clutch installed, the digital channel used for the clutch operates in the same fashion as it did with
a clutch installed. The operation is: if the IHPU button is engaged on the Tool Panel, and the main HPU
OPR-A75179-001 Page: 156 of 264 Rev. 0
is on, the A valve output is energized. If the IHPU button is disengaged, the A valve is de-energized and
the B valve is energized. After twelve seconds, the B side is de-energized to prevent leaving the B valve
on permanently. If during the twelve seconds the IHPU button is engaged, it is ignored until the twelve
second delay has completed.
8.8
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AUXILLARY MANIFOLD FLOW AND PRESSURE CONTROL
An auxiliary manifold containing 4 proportional valves and 10 solenoid valves has been installed on this
system for use with various tooling.
8.8.1 Flow Control
Two of the proportional valves are setup to run flow control valves and use the typical scaling of the input
pot command to drive the analog output Subsea. The scaling for the 2 Subsea flow analog outputs is
found by double clicking either the Flow 1 or Flow 2 pots on the Tooling Flow / Pressure panel. Then
select the Conversion tab. The scaling values convert the counts from the command pots to a
corresponding output counts Subsea.
8.8.2 Pressure Control
The two other channels may be used for pressure control applications like a torque tool. The control
concept for these two channels is designed to allow the operator to reach desired pressures by pre-
scaling the proportional channels. After this pre-scaling is done, the operator only needs to establish the
maximum pressure of the pressure channel, and the system will scale the pressure command pot as
needed to obtain the desired pressure range.
The first step in the setup of the pressure control channel is to establish a chart of pressure versus output
counts. Essentially, you ramp up the analog output of the desired channel and record the pressure at
regular intervals. This can be done by following the procedure below.
This procedure determines the equation (slope and Y-intercept) of PV1 or PV2 pressure output in order
to control the max pressure allowed. In order to determine the equation of a best fit line, you must store
between 3 and 10 pressure/count points.
Procedure steps:
1. Connect a pressure sensor with readout onto the output of the Press1 or Press2 pressure
channel.
2. Select User Page 4 which contains the Tooling Flow / Pressure panel. Click the Configure
Panel button on the Navigation menu. Click the Config button on the Tooling Flow / Pressure
panel. Under the Function Name select either PressurePot1 or PressurePot2.
3. Verify the scaling for the desired Pressure pot is set to command 0.0 to 1.0, (0-100%). This can
be done by selecting the Conversion tab, and verifying the Lo Counts=2048, Hi Counts=4095,
Lo Eng=0.0 and Hi Eng=1.0.
4. Select the Set MaxP tab.
5. Power on Hydraulics and turn the pressure pot for this channel to desired point. Order of points is
not important just try to spread the points over the expected max operating range.
6. Press the Save Point button and enter the actual pressure at this point in the Reading column.
The count value is automatically filled in the Counts column when you hit the Save Point button.
7. Press the Remove Point button to remove an incorrect point.
8. When you have sufficient points stored, press the Calc Best Fit Line button. The system
determines a best fit line equation and displays it on the graph.
9. If you are satisfied with the line, press the Apply button to save the factors.
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Below is an example of a pressure vs. counts test and the best-fit line linear equation formed following
the procedure above.
From the above graph, you can see it derived an equation of: y = 1.1942x – 2573.9
After you setup the desired max curve for the pressure channel you can set the maximum pressure for
that pot by double clicking the corresponding pressure pot on the Tooling Flow/Pressure Panel and
enter the Max desired pressure. The system will limit the pressure output accordingly.
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8.9 POWER LIMITING
The power consumption on this system is controlled by ramping back on the thruster commands if too
much power is being consumed. The maximum allowable power consumption is based on the electric
motor size (see table below) although it can be set lower through an onscreen setting.
Motor Horsepower Max. Current Allowed

100 21.0
125 24.5
150 32.0
Power limiting is enabled when the ROV HPU Current exceeds the HPU Max Current limit. At that time
all thruster commands are equally limited by an amount that is proportional to the amount of excess
current.
The HPU Max Current limit may be adjusted by double clicking on the System Pressure gauge on the
Pump Control panel, then select the Settings tab. The rate of thruster reduction may also be adjusted
by changing the HPU over current thruster command ramp speed parameter. To access this
parameter, double click on the System Pressure gauge on the Pump Control panel, then select the
Settings tab. Setting the HPU over current thruster command ramp speed parameter higher reduces
the thruster commands faster.
Adjusting the power limit parameters should only be attempted by qualified operators under very controlled
operating conditions (i.e. good visibility, minimal current, clear of structures, which may damage the ROV
8.10
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INTERLOCKS SUMMARY TABLE
The following table summarizes the interlocks in the control software.
Interlock Cause(s) Override

ROV HPU will not turn On ROV Main Hydraulic comp is below the HPU Shutdown Override button
Trip limit. on GFD and Power Surface
panel
TMS HPU will not turn On TMS Hydraulic comp is below the Trip HPU Shutdown Override button
limit. on GFD and Power TMS panel
No commands to Thrusters Thrust Manifold is turned Off None
Thrust Enable button on the Power 2
panel on the GUI is Off.
Reduced or No Commands to ROV HPU is over current, i.e. exceeds None
Thrusters the HPU Max Current Limit
Clutch or PTC valve will not Aux Hydraulic comp is below the Trip Aux Clutch Comp Override on the
engage limit. Settings tab for the IHPU
pressure gauge.
System pressure control ROV HPU is turned Off None
disabled or always in Automatic
mode.
Aux (IHPU) pressure control ROV HPU is turned Off None
disabled
Five-Function Rate Manipulator Manip Enable button on the Power 2 None
controls are disabled panel on the GUI is Off.
Auto Heading will not turn On Gyro power is Off. None
Heading Park is On
Heading Park will not turn On Gyro power is Off. None
Auto Heading is On.
Auto Depth will not turn On Depth sensor power is Off. None
Auto Altitude is On.
Auto Altitude will not turn On Altitude power is Off. None
Auto Depth is On.
Auto Position will not turn On DVL power is Off. None
Comms to DVL is lost.
DVL lost bottom lock, i.e. less than 3
beams have bottom lock.
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9.0 ADDITIONAL FEATURES

This section will include descriptions of special features that have been added to the ICE™ system.
9.1 INSTALLING AN OCTANS DEVICE
The operator has an option to either Install / Uninstall an optional Octans Gyro Device. On the System
Diags screen, the user can choose the Octans box located on LSI 1. By double-clicking on the Octans
box, the user will get a menu with options to either Install or Uninstall the device. The box will change
colors based on the “System Status” legend described above according to the choice made.
Choosing to Install the Octans from this screen DOES NOT switch the ROV controls from the
standard Gyro to the Octans. See the “How to Switch Between Tritech and Octans Gyros” in the
How To Section to do this.
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APPENDIX A HOW TO QUICK REFERENCE GUIDE

A.1. HOW TO EXIT THE SURFACE COMPUTER SYSTEM
The HMI Blade computers need to be shutdown properly as they are running Windows. Before
powering off the Consoles please follow the procedure below for shutting down the HMIs.
Complete Shutdown
1. On the Navigation Menu click the Apps button.
2. On the submenu click the Shutdown button.
This will shutdown the HMI LaserBlade completely if you are logged in as Operator or will give
you the choice to shut down completely or exit the HMI application to Windows if you are logged
in as Admin.
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A.2. HOW TO UPDATE NEW PSS SOFTWARE
Insert a USB Thumb Drive or connect a USB CD-Rom drive containing the new PSS software in either
the HMI #1 or HMI #2 Blade Computer while the HMI software is running.
1. The Software Update dialog box will automatically appear as shown below along with a Windows
‘Removable Disk’ dialog box. Close the Windows ‘Removable Disk’ dialog box. Select [Yes] to
shutdown the HMI software and start the Software Install/Update application. If the Software
Update dialog box does not appear then refer to the Troubleshooting section below.
THE SOFTWARE UPDATE DIALOG BOX MAY APPEAR ON EITHER OF THE HMI DISPLAYS AND
COULD BE HIDDEN BEHIND THE WINDOWS ‘REMOVABLE DISK’ DIALOG BOX.
THE HMI SOFTWARE WILL NOT SHUTDOWN TO ALLOW A SOFTWARE UPDATE UNLESS ALL
NODES ARE POWERED ON.
2. The Software Install/Update application will automatically appear as shown below. All attached
USB devices are automatically scanned for PSS control system software. A list of available
versions to install is presented along with the option to revert to the previous installed working
version.
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The current
versions for
each node
are listed
here.
Available
versions to
install are
listed here.
The text color

indicates node
status.
Black = on
Gray = off
Status
information
will be
displayed
here during
the update.
THE UPDATE BUTTON WILL BE DISABLED IF A NODE IS POWERED OFF. THE NAME OF THE
NODE THAT IS POWERED OFF WILL HAVE GRAYED OUT TEXT TO IDENTIFY IT.
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3. Select the correct Version you wish to install and press the Update button to start the update
process. If the dialog box shown below appears after pressing the Update button then refer to
the Troubleshooting section below.
4. The Save Current Version dialog box will appear as shown below. Select [Yes] to save the
current version of software so that it can be restored at a later date. Select [No] to over write the
current version. Typically the selection will be ‘Yes’ unless the current software installation is not
starting up properly.
5. The Merge Existing Data dialog box will appear as shown below. Select [Yes] to merge all
settings in the current software database into the new software database. Select [No] to use the
factory default settings that come with the new software database. Typically the selection will be
‘Yes’ unless specifically instructed to do otherwise by Perry.
6. The software update process will take about 1 minute to complete. During that time the status
window will update with text indicating the progress of the update.
7. If any error occurs the update process will halt and an error message will be displayed to the user.
Refer to the troubleshooting section below for ways to correct the problem. After correcting the
OPR-A75179-001 Page: 166 of 264 Rev. 0
problem start the update process again by going back to step 4 or abort the update by going to
step 10.
IF THE UDATE FAILS DUE TO AN ERROR THE EXISTING SOFTWARE CONTINUES TO BE

AVAILABLE FOR USE.
8. After the update completes successfully the existing version of software will be saved or over
written with the new software depending on the choice made in step 5. The Update Complete
dialog box will appear as shown below.
9. The text in the status information area can be reviewed by the user before closing the Software
Install/Update program. A copy is automatically saved on the hard disk with the just installed
software and the user can optionally save a copy to a specified location by selecting [Save Text].
10. Close the Software Install/Update program and restart the HMI program on both HMI nodes.
This is done by double clicking the HMI icon shown below.
Hmi.lnk
Troubleshooting
1. No Software Update dialog box appears:
• Try the USB Thumb Drive or USB CD-Rom drive on the other HMI.
• If the Software Update dialog box fails to appear on either HMI then login as ‘Admin’ on
both HMI computers and exit the HMI software (see How To “Properly Shutdown the
HMIs”). Make sure to select the ‘Exit to Windows’ option.
• Start the Software Install/Update application by double clicking on the Software Install
icon shown below.
PSSInstall on D.lnk
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2. An Update Stopped dialog box appears:
• Make sure the HMI software is stopped on both HMI computers. If the HMI software is not
stopped on one of the computers then then login as ‘Admin’ on the HMI computer and exit
the HMI software (see How To “Properly Shutdown the HMIs”). Make sure to select the
‘Exit to Windows’ option. After the HMI software is stopped on both HMI computers try the
update again.
• If the HMI software is stopped on both computers then from the text determine whether
the problem is C:\PSS\Current or X:\PSS\Current.
• If the problem is C:\PSS\Current then reboot the HMI computer you are currently using.
• If the problem is X:\PSS\Current then reboot the other HMI computer.
• After the HMI computer reboots then login as ‘Admin’ on the HMI computer and exit the
HMI software (see How To “Properly Shutdown the HMIs”). Make sure to select the ‘Exit to
Windows’ option.
• After the HMI software is stopped on both HMI computers try the update again. If needed,
start the Software Install/Update application by double clicking on the Software Install
icon shown below.
PSSInstall on D.lnk
3. The Timeout or Ping dialog box as shown below appears:
• Ensure that all nodes are still powered on by checking the text color of the nodes on the
Software Install/Update application (see the Software Install/Update diagram in step 3).
• If all nodes are powered on then try the update again.
• If several repeated attempts fail with the same error then use the fibre optic diagnostics to
ensure the fibre optic cabling is functioning within normal operating parameters.
• Ensure that the physical Ethernet cables are not loosely connected or pinched.
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A.3. HOW TO SAVE SYSTEM SETTINGS
Any time you change a setting in the system, you MUST “Save Settings” before powering off the
system. Follow this procedure for saving the system settings.
1. Click the System Config button on the Navigation Panel.
2. Click the Save Settings button on the submenu.
All nodes need to be on with no communication errors before saving the settings. Otherwise,
there will be version warnings on your next boot and the system may behave incorrectly.
3. When complete, the update process will ask you to reboot. Select Yes to complete the save
settings procedure.
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A.4. HOW TO ADD AN ITEM TO DATALOGGER
1. Bring up the corresponding panel containing the data item you wish to add to the data logger.
2. Bring up the Data Information pop-up by double-clicking/double-tapping the data item or by

using the Configure Panel button on the Navigation Panel and choosing the correct “Function
Name” from the pull-down menu.
3. On the General tab, check the Send to Data Logger box.
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A.5. HOW TO ADD AN ITEM TO OVERLAY
1. Bring up the corresponding panel containing the data item you wish to add to the overlay.
2. Bring up the Data Information by double-clicking/double-tapping the data item or by using the
Configure Panel button on the Navigation Panel and choosing the correct “Function Name” from
the pull-down menu.
3. On the “General” tab, check the “Send to Overlay” box
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If you have a Vigra Overlay Unit

1. After you add the desired data item, you need to regenerate the Config file for the Overlay
system. You do this as follows: select Apps from the Navigation Panel and then select Overlay
Settings.
2. The Overlay Setup popup will appear and you can see the list of items being sent to the Overlay
system.
3. To generate a new configuration file and automatically send it to the Overlay system, press the
[Generate Overlay File] button.
THE OVERLAY COMPUTER MUST BE TURNED ON AND CONNECTED TO THE ETHERNET

NETWORK FOR THE FILE TRANSFER TO OCCUR.
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If you have a DVR Overlay Unit

1. After you add the desired data item, you can view the list of items being sent to the Overlay
system. You do this as follows: select Apps from the Navigation Panel, and then select Overlay
Settings.
2. The Overlay Setup popup will appear and you can see the list of items being sent to the Overlay
system including the one just added.
THE DVR SETUP MUST BE CHANGED TO HANDLE THE NEW STRING SENT FROM THE HMI.
REFER TO THE DVR MANUAL FOR INSTRUCTIONS ON WHAT HAS TO BE DONE.
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A.6. HOW TO ADD AN ITEM TO THE SURVEY OUTPUT STRING
1. Bring up the corresponding GUI panel containing the data item you wish to add to the survey
output string.
2. Bring up the Data Information pop-up by double-clicking/double-tapping the data item or by

using the Configure Panel button on the Navigation Panel and choosing the correct “Function
Name” from the pull-down menu.
3. On the General tab, check the Send to Survey box.
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A.7. HOW TO SWITCH BETWEEN TRITECH AND OCTANS GYROS
1. Bring up the Primary Flight Display Panel.
2. Bring up the Data Information by double-clicking/double-tapping the VehicleHeading display

value or by using the Configure Panel button on the Navigation Panel and choosing the
VehicleHeading from the “Function Name” pull-down menu.
3. On the Settings tab, check the Enables the Octans Gyro in place of the Tritech Gyro box if
you wish to enable the Octans Gyro. Uncheck the box to enable the Tritech Gyro.
A.8.
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HOW TO INSTALL A SPARE HMI BLADE
1. Disconnect all cables from the old HMI Blade. To remove a Blade from the chassis, push down on
the metal clip in the upper left hand corner of the Blade while simultaneously pulling on the handle
on the bottom of the Blade until it slides out.
2. Slide the new HMI Blade into the chassis until it clicks into place. Reconnect all cables to the
Blade.
NOTE:
THE BLUE ETHERNET CABLE GOES INTO THE TOP LAN PORT AND THE GRAY ETHERNET
CABLE GOES INTO THE BOTTOM LAN PORT. THE TOP VIDEO OUTPUT CONNECTS TO THE
TOUCH SCREEN MONITOR AND THE BOTTOM VIDEO OUTPUT CONNECTS TO THE VIDEO WALL
SERVER.
3. Right click on the desktop and select Properties. Select the Settings tab. Set the Screen
resolution for Display 1 to 1280x1024. Check Use this device as the primary monitor. Check
Extend my Windows desktop onto this monitor. Apply the changes.
Ensure both
options are
checked for
Display 1
4. Set the Screen resolution for Display 2 to 1280x1024. Uncheck Use this device as the
primary monitor. Check Extend my Windows desktop onto this monitor. Apply the changes.
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Ensure only
the bottom
option is
checked for
Display 2
5. Move Display 2 above Display 1 as shown below.
Drag and
drop the icons
for Display 1
and 2.
6. Start the touchscreen calibration program by clicking on the ELO Icon in the toolbar in the bottom
right corner of the sceen.
OPR-A75179-001 Page: 177 of 264 Rev. 0
ELO
Touchscreen
Icon.
7. Click on the Align button and touch each of the targets as they appear to align the touchscreen.
Verify the mouse follows your finger then, click the green check mark. Click OK.
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8. Right click on My Computer and select Map Network Drive. Select X: for the Drive Letter. If you
are replacing HMI1 then enter \\Hmi2\C$ in the Folder field as shown below. If you are replacing
HMI2 then enter \\Hmi1\C$ in the Folder field. Check Reconnect at logon. Click Finish to apply
the changes.
Ensure this is
checked.
9. If you have a Vigra Video Overlay unit then complete this step and step 10. Right click on My
Computer and select Map Network Drive. Select V: for the Drive Letter. Click Browse and
expand the Vigra on VIGRA###. Locate and select the COMCfg folder as shown below. Click
OK.
If the Vigra on VIGRA### does not expand it to show the COMCfg folder it means the Vigra
username and password must be entered. Right click on the Vigra on VIGRA### and select
Open. This will prompt for a username and password. The username is ‘administrator’ and the
password is ‘vigra’. Check the box to remember the password. Close the Map Network Drive
screen and then repeat step 9.
OPR-A75179-001 Page: 179 of 264 Rev. 0
Click the ‘+’

next to the
vigra to
browse to the
correct folder.
Select
COMCfg as
the folder to
map.
10. Verify the Folder field is \\Vigra###\vigra\Program Files\Vigra\COMCfg where ### is the vigra
number as shown in the example below. Check Reconnect at logon. Click Finish to apply the
changes.
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A sample Vigra
of 194 is shown
here.
Ensure
this is
checked.
11. Insert a USB Thumb Drive or connect a USB CD-Rom drive containing the new PSS software to
the new HMI Blade.
12. Start the Software Install/Update application by double clicking on the Software Install icon
shown below.
PSSInstall on D.lnk
13. The Software Install/Update application will appear as shown below. All attached USB devices
are automatically scanned for PSS control system software. A list of available versions to install is
presented. The Present Software Versions area will be blank even if other Nodes have PSS
software installed on them.
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The current
versions for
each node are
listed here.
Available
versions to
install are
listed here.
The text
color
indicates
node status.
Black = on
Gray = off
Status
information
will be
displayed
here during
the update.
14. Select the correct Version you wish to install and press the Install button to start the install
process.
OPR-A75179-001 Page: 182 of 264 Rev. 0
IT IS NOT NECESSARY TO HAVE ANY OTHER NODES POWERED ON TO PERFORM A NEW

BLADE INSTALL.
15. The software install process will take about 1 minute to complete. During that time the status
window will update with text indicating the progress of the install.
16. If any error occurs the install process will halt and an error message will be displayed to the user.
Correct the problem and start the install process again by going back to step 6 or abort the
installation by going to step 10.
THE INSTALL MUST COMPLETE SUCCESSFULLY FOR THE SOFTWARE TO BE AVAILABLE FOR
USE.
17. After the installation completes successfully the Update Complete dialog box will appear as
shown below.
18. The text in the status information area can be reviewed by the user before closing the Software
Install/Update program. A copy is automatically saved on the hard disk with the just installed
software and the user can optionally save a copy to a specified location by selecting [Save Text].
19. Close the Software Install/Update program. To synchronize Factory Default setting changes on
the other HMI blade with the new HMI Blade complete the remaining steps.
20. On the other HMI Blade, manually start the Software Install/Update application by clicking on
[System Config] from the Navigation Panel. Then click [Software Update] from the submenu
and answer [Yes] to shutdown the HMI software.
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21. After the Software Install/Update application starts, select the Current version and press the
Update button to start the update process.
22. Answer [Yes] to save the current version of software.
23. Answer [Yes] to merge all settings data.
24. After the update completes close the Software Install/Update program and restart the HMI
program on both HMI nodes. This is done by double clicking the HMI icon shown below.
Hmi.lnk
A.9. HOW TO INSTALL A SURFACE CONTROLLER
1. Disconnect all cables from the old Surface Controller Blade. To remove a Blade from the chassis,
push down on the metal clip in the upper left hand corner of the Blade while simultaneously
pulling on the handle on the bottom of the Blade until it slides out.
2. Slide the new Surface Controller Blade into the chassis until it clicks into place. Reconnect all
cables to the Blade.
THE BLUE ETHERNET CABLE GOES INTO THE TOP GB LAN PORT. THE BOTTOM GB LAN PORT
AND THE LAN PORT NEXT TO THE USB CONNECTORS REMAIN EMTPY.
3. Power on the Blade and wait 1 minute for it to power up.
4. On the HMI, manually start the Software Install/Update application by clicking on [System
Config] from the Navigation Panel. Then click [Software Update] from the submenu and
answer [Yes] to shutdown the HMI software.
OPR-A75179-001 Page: 184 of 264 Rev. 0
Hmi.lnk
FOR MORE INFORMATION ON USING THE SOFTWARE INSTALL/UPDATE APPLICATION SEE

‘HOW TO UPDATE NEW SOFTWARE’.
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A.10. HOW TO INSTALL A SUBSEA CONTROLLER
1. Disconnect all cables from the old Subsea Controller Board. Remove the Board from the control
can.
2. Place the new Board into the control can. Reconnect all cables to the Board. Put the control can
back in the ROV and reconnect it.
THE ETHERNET CABLE GOES INTO THE LAN PORT NEXT TO THE USB CONNECTORS. THE
OTHER LAN PORT REMAINS EMPTY.
3. Power on the control can and the board and wait 1 minute for the board to power up.
4. On the HMI, manually start the Software Install/Update application by clicking on [System
Config] from the Navigation Panel. Then click [Software Update] from the submenu and
answer [Yes] to shutdown the HMI software.
Hmi.lnk
FOR MORE INFORMATION ON USING THE SOFTWARE INSTALL/UPDATE APPLICATION SEE

‘HOW TO UPDATE NEW SOFTWARE’.
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A.11. HOW TO VIEW AND RESTORE FACTORY DEFAULTS
1. To View Factory Defaults, double click or double tap a data item and the Data Info panel will
appear as shown below.
Show all
changes Show
made to the
the Control Factory
System Defaults
Factory for this
Default tab.
settings.
THE SHOW DEFAULTS BUTTON ONLY APPEARS ON TABS THAT HAVE FACTORY DEFAULT
SETTINGS.
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2. Click or tap [Show Differences] to see all the changes made to the Control System Factory
Default settings. The Show Diffs panel will appear as shown below.
A copy of all
changes made to
Factory Default
settings can be
saved to a file.
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3. Click and hold or tap and hold [Show Defaults] to see the Factory Default settings for the
information displayed in the tab. The information that has Factory Default settings will appear as
shown below.
Factory
Defaults
are
highlighted
in blue.
These
have no
Factory
Default
settings.
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4. To Restore Factory Defaults, you must be logged in as the Administrator. Double click or double
tap a data item and the Data Info panel will appear as shown below.
Access the
Restore Factory
Default options.
OPR-A75179-001 Page: 190 of 264 Rev. 0
5. Click or tap [Restore Defaults] and the Restore Defaults panel will appear as shown below.
Restore
Factory
Defaults for
this data
item only.
Select the
settings for
this data
item to
restore to
Factory
Defaults.
Restore the
entire
Control
System back
to Factory
Defaults.
6. Select individual settings for this data item or a restore of the entire control system and then click
or tap [Apply] to restore the settings to Factory Defaults.
ESTORING THE ENTIRE CONTROL SYSTEM TO FACTORY DEFAULTS WILL REBOOT ALL
NODES. RESTORING INDIVIDUAL ITEMS REQUIRES A ‘SAVE SETTINGS’ BEFORE POWERING
OFF THE SYSTEM OR THE RESTORE WILL BE LOST.
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APPENDIX B EXTERNAL DEVICE INTERFACES

This section describes the different external device sensors that are currently being used on the system.
It includes how the devices are to be configured in order to interface with the Control System.
B.1. TRITECH GYRO
The Tritech Gyro sends out an ASCII serial string and connects to its corresponding port in the Subsea
Control Computer System.
The Tritech Gyro must be set up to the “Watson ASCII AHRS-E304 for Perry – Type 1” Telegram
description. To do so, the switches on the inside of the gyro can must be set as follows:
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

OFF ON OFF OFF OFF OFF ON OFF
The serial port settings are 9600 Baud, 8 Data Bits, 1 Stop Bit, and No Parity. The table below shows the
message format:
FIELD FORMAT DESCRIPTION

1 I String header
2 ddd.d Heading in Degrees
3 ±dd.d Roll Rate in Degrees
4 ±dd.d Pitch Rate in Degrees
5 ±dd.d Heading Rate in Degrees
6 ±dd.d Roll in Degrees
7 ±dd.d Pitch in Degrees
8 ±dd Temperature
9 dd <CR>
Note that ‘±’ represents a signed value, ‘d’ represents numeric and ‘c’ represents character in the table
above, each field is separated by a space, and all transmitted data are in ASCII format.
A typical string looks like:
I 142.6 +7.7 -19.9 +18.3 +8.5 -3.3 +23.4 <CR>
Which is: Header Heading RollRate PitchRate HeadingRate Roll Pitch Temperature
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B.2. PAROSCIENTIFIC DIGIQUARTZ
The Paroscientific Digiquartz depth sensor sends out an ASCII serial string and connects to its
corresponding port in the Subsea Control Computer System.
The digiquartz must be setup with PSSI configurations which are done in the factory before shipping. The
serial port settings are 19200 Baud, 8 Data Bits, 1 Stop Bit, and No Parity. The table below shows the
message format:

1 *0001 String header
2 dd.ddd Pressure in psi
3 dddd <CRLF>
Note that ‘d’ represents numeric and ‘c’ represents character in the table above, each field is not
separated by anything, and all transmitted data are in ASCII format.
*000120.010<CRLF>
OPR-A75179-001 Page: 193 of 264 Rev. 0
B.3. RDI WORKHORSE DVL (OPTIONAL)
The RDI Doppler Velocity Log (DVL) sends out a binary serial string and connects to its corresponding
port in the Subsea Control Computer System. If the DVL is not present the Altimeter will be in its place.
The DVL must be setup to send out the PD4/PD5 type string. The serial port settings are 38400 Baud, 8
Data Bits, 1 Stop Bit, and No Parity.
The table below shows the message format:
This gyro string is in Binary format, so viewing via typical terminal applications like
HyperTerminal is not possible since it will interpret some binary characters as control codes and
not display properly. Also, it has no <CR><LF> at the end of the string.
Byte Bit Position MSB / HEX

# 7 6 5 4 3 2 1 0 LSB EXAMPLE
1 DVL DATA ID 7Dh 7D
2 DATA STRUCTURE* 01
3 LSB 56
NO. OF BYTES
4 MSB 00
5 SYSTEM CONFIG F4
6 LSB 00
X – VELOCITY BOTTOM
7 MSB 80
8 LSB 00
Y – VELOCITY BOTTOM
9 MSB 80
10 LSB 00
Z – VELOCITY BOTTOM
11 MSB 80
12 LSB 00
E – VELOCITY BOTTOM
13 MSB 80
14 LSB 00
BM1 RANGE TO BOTTOM
15 MSB 00
16 LSB 00
BM2 RANGE TO BOTTOM
17 MSB 00
18 LSB 00
BM3 RANGE TO BOTTOM
19 MSB 00
20 LSB 00
BM4 RANGE TO BOTTOM
21 MSB 00
22 BOTTOM STATUS AA
23 LSB 00
X – VELOCITY REFERENCE LAYER
24 MSB 80
25 LSB 00
Y – VELOCITY REFERENCE LAYER
26 MSB 80
27 LSB 00
Z – VELOCITY REFERENCE LAYER
28 MSB 80
OPR-A75179-001 Page: 194 of 264 Rev. 0

# 7 6 5 4 3 2 1 0 LSB EXAMPLE
29 LSB 00
E – VELOCITY REFERENCE LAYER
30 MSB 80
31 3C
REFERENCE LAYER START
32 00
33 64
REFERENCE LAYER END
34 00
35 REFERENCE LAYER STATUS 00
36 TOFP – HOUR 16
37 TOFP – MINUTE 22
38 TOFP – SECOND 29
39 TOFP – HUNDREDTHS 17
40 00
BIT RESULTS
41 00
42 FC
SPEED OF SOUND
43 05
44 68
TEMPERATURE
45 09
46 SALINITY 23
47 00
DEPTH
48 00
49 DE
PITCH
50 FF
51 56
ROLL
52 00
53 D7
HEADING
54 1C
55 00
56 00
DIST MADE GOOD / BOTTOM (EAST)
57 00
58 00
59 00
60 00
DIST MADE GOOD / BOTTOM (NORTH)
61 00
62 00
63 00
64 00
DIST MADE GOOD / BOTTOM (UP)
65 00
66 00
67 00
68 00
DIST MADE GOOD / BOTTOM (ERROR)
69 00
70 00
71 00
DIST MADE GOOD / REF (EAST)
72 00
OPR-A75179-001 Page: 195 of 264 Rev. 0

# 7 6 5 4 3 2 1 0 LSB EXAMPLE
73 00
74 00
75 00
76 00
DIST MADE GOOD / REF (NORTH)
77 00
78 00
79 00
80 00
DIST MADE GOOD / REF (UP)
81 00
82 00
83 00
84 00
DIST MADE GOOD / REF (ERROR)
85 00
86 00
87 45
CHECKSUM
88 0C
A typical string looks like: (shown in hex with a space between each hex character)
7D 01 56 00 F4 00 80 00 80 00 80 00 80 00 00 00 00 00 00 00 00 AA 00 80 00 80 00 80 00 80 3C 00
64 00 00 16 22 29 17 00 00 FC 05 68 09 23 00 00 DE FF 56 00 D7 1C 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 45 0C
The PSSI software will only interpret the DVL when it is configured in the PD4/PD5 format. It is
HIGHLY RECOMMENDED that you do not tamper with the DVL settings after shipment.
OPR-A75179-001 Page: 196 of 264 Rev. 0
Below are the RDI Teledyne Default Settings vs. the settings that the DVL is set up with before shipment.
DVL SETTINGS
COMMAND DEFAULT SETTINGS TXLX SETTINGS DESCRIPTION

BA BA030 BA030 Evaluation amplitude minimum (1 to 255 counts)
BB BB60 BB60 High Bandwidth Maximum Depth (dm)
BC BC220 BC220 Correlation Magnitude Minimum (0 to 255 counts)
BD BD000 BD000 Delay Before Reacquire (0 to 999 ensembles)
BE BE1000 BE1000 Error Velocity Maximum (0 to 9999mm/s)
BF BF00000 BF000000 Depth guess (1 to 65535 dm, 0 = automatic)
BI BI005 BI005 Gain Switch Depth (0 to 999 meters)
BK BK0 BK0 Water-mass Layer Mode (0-off,1-on,2-Lost,3-No BT)
BL BL4060100 BL4060100 Water-mass Layer parameters:MinSize(dm),Near(dm),Far(dm)
BM BM5 BM5 Bottom Track Mode (5-Default, 4-Default minus coherent)
BN BN025 BN025 Speed Log hold/drop control (x-hold(1),clear(0),y=0-9999 sec
BO BO25 BO25 Distance measure filter constant (0 to 100 1/100th s)
BP BP000 BP001 Bottom Track Pings per Ensemble
BR BR0 BR0 Resolution (0=4%, 1=2%, 2=1%)
BV BV102500 BV102500 Clear distance Traveled
BX BX450 BX450 Maximum Tracking Depth (40 to 65535 dm)
BZ BZ004 BZ004 Coherent ambiguity velocity (cm/s radial)
CA CA0 CA0 Control Periodic Output
CB CB411 CB611 Serial Port control (baud rate/parity/stop bits)
CD CD000000000 CD000000000 -Water Profile feat. Serial data out
CF CF11111 CF11110 Flow Control
CH CH0 CH0 - Water Profile feat. Suppress banner (0 = display, 1 = suppress)
CI CI000 CI000 - Water Profile feat. Instrument ID (0 to 255)
CL CL1 CL0 Battery Saver Mode (0=Do not sleep,1 = sleep between pings)
CM CM0 CM0 Not used
CN CN0 CN0 Save NVRAM to recorder (0=On,1=Off)
CT CT0 CT1 Turnkey Operation (0=Off,1=On)
CX CX0 CX0 Enables/disables low latency trigger (0=Off,1=On)
DB DB611 DB611 - Water Profile feat. RS485 port protocol
DW DW0 DW0 - Water Profile feat. Current ID on RS-485 bus (0 to 31)
EA EA+00000 EA-04500 Heading alignment (-179.99 to 180.00 degrees)
EB EB+00000 EB+00000 Heading bias (-179.99 to 180.00 degrees)
EC EC1500 EC1500 Speed of Sound (1400 to 1600 m/s)
ED ED00000 ED00000 Transducer Depth (0 to 65535)
EH EH00000 EH00000 Heading (000.00 to 359.99 degrees)
EP EP+0000 EP+0000 Pitch (-60.00 to +60.00)
ER ER+0000 ER+0000 Roll (-60.00 to +60.00)
ES ES35 ES35 Salinity (0 to 40 parts per thousand)
ET ET+2500 ET+2500 Temperature (-5.00 to +40.00 degrees C)
EX EX11111 EX10111 Coordinate Transformation (Xform:Type; Tilts; 3Bm; Map)
EZ EZ1111101 EZ1111101 Sensor Source (C;D;H;P;R;S;T)
HA HA255 HA255 - Water Profile feat. Waves false target threshold (fish rejection)
HB HB05 HB05 - Water Profile feat. Number of automatically chosen bins (20 Max)
HD HD111000000 HD111000000 - Water Profile feat. Waves selected data (VelPres;Surf ;; ;;)
HF HF22222 HF22222 - Water Profile feat. Waves Flow Control (Res;Res;Res;Ser;Rec)
HP HP0000 HP0000 Number of pings per record
HR HR01000000 HR01000000 - Water Profile feat. Time between wave bursts (hh:mm:ss.ff)
HS HS001010021022023 HS001010021022023-Water Prof. Bins selected for directional wave data recording
OPR-A75179-001 Page: 197 of 264 Rev. 0
COMMAND DEFAULT SETTINGS TXLX SETTINGS DESCRIPTION

HT HT00000050 HT00000050 - Water Profile feat. Time between wave pings (hh:mm:ss.ff)
HV HV001010021022023 HV001010021022023-Water Prof. Bins selected for velocity spectrum data recording
LA LA050 LA050 - Water Profile feat. False target threshold maximum (0 to 255)
LC LC064 LC064 - Water Profile feat. Low correlation Threshold (0 to 255)
LD LD111100000 LD111100000 - Water Profile feat. Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
LF LF0044 LF0044 - Water Profile feat. Blank after transmit (cm)
LJ LJ1 LJ1 - Water Profile feat. Receiver gain select (0 = Low, 1 = High)
LN LN030 LN030 - Water Profile feat. Number of Depth Cells
LP LP00000 LP00000 - Water Profile feat. Pings Per Ensemble (0 to 16384)
LS LS0100 LS0100 - Water Profile feat. Depth Cell Size (cm)
LV LV175 LV175 - Water Profile feat. Ambiguity Velocity (cm/s radial)
LW LW1 LW1 - Water Profile feat. Band Width Control (0 = Wide, 1 = Narrow)
LZ LZ030220 LZ030220 - Water Profile feat. Amp, Corr Thresholds (0 to 255)
PB PB01001 PB01001 - Water Profile feat. PD12 bin select
PD PD00 PD05 Data Stream select (0 to 18)
PE PE00001 PE00001 - Water Profile feat. PD12 ensemble select (0 to 65535)
PO PO1111 PO1111 - Water Profile feat. PD12 velocity component select
SA SA001 SA000 Synchronize before/after ping/ensemble
SI SI00000 SI00000 Synchronization interval (0 to 65535 s)
SM SM0 SM0 RDS3 mode select (0 =Off, 1=Master, 2=Slave)
SS SS0 SS0 RDS3 sleep mode (0=No Sleep, 1 = Sleep
ST ST00000 ST00000 Slave timeout (0 to 10800 seconds)
SW SW00000 SW00000 Synchronization elay (0m to 65535 (1/10 milliseconds)
TB TB00000000 TB00000000 Time per burst (hh:mm:ss.ff)
TC TC00000 TC00000 Ensemble per burst (0 to 65535)
TE TE01000000 TE00000005 Time per ensemble (hh:mm:ss.ff)
TP TP012000 TP000000 Time Between Pings (mm:ss.100th seconds)
TX TX000000 TX000000 - Water Profile feat. Buffered Output Period (hh:mm:ss)
WA WA050 WA050 - Water Profile feat. False Target threshold Maximum
WB WB0 WB0 - Water Profile feat. Mode 1 Bandwidth Control (0=Wide, 1=Narrow)
WC WC064 WC064 - Water Profile feat. Low Correlation Threshold (0 to 255 counts)
WD WD111100000 WD111100000 - Water Profile feat. Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
WE WE2000 WE2000 - Water Profile feat. Error Correlation Threshold (0 to 255)
WF WF0044 WF0044 - Water Profile feat. Blank after Transmit (0 to 9999 cm)
WI WI0 WI0 - Water Profile feat. Clip Data Past Bottom (0=Off, 1=On)
WJ WJ1 WJ1 - Water Profile feat. Receiver gain select (0=Low, 1=High)
WL WL001005 WL001005 - Water Profile feat. Water Reference Layer
WM WM1 WM1 - Water Profile feat. Water Profiling Mode (1, 5, 8, 11, 12)
WN WN030 WN030 - Water Profile feat. Number of Depth Cells (1 to 28)
WP WP00045 WP00045 - Water Profile feat. Pings per ensemble (0 to 16384)
WQ WQ0 WQ0 - Water Profile feat. Sample ambient sound (0=Off, 1=On)
WS WS0100 WS0100 - Water Profile feat. Depth cell size (5 to 400 (1200Hz))
WT WT0000 WT0000 - Water Profile feat. Transmit length
WU WU0 WU0 - Water Profile feat. Ping Weight (0=Box,1=Triangle)
WV WV175 WV175 - Water Profile feat. Ambiguity velocity (002 to 480 cm/s radial
WZ WZ010 WZ010 - Water Profile feat. Mode 5 Ambiguity velocity (0 to 999 cm/s)
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B.4. IXSEA OCTANS GYRO (OPTIONAL)
The Octans Gyro sends out an ASCII serial string and connects to its corresponding port in the Subsea
Control Computer System.
The Octans gyro must be setup to send out the Stolt Offshore type string. The serial port settings are
19200 Baud, 8 Data Bits, 1 Stop Bit, and No Parity. The table below shows the message format:

1 $PSXN, String header
2 10, Status 10=no error, 11 = error(s)
3 014, User
4 P±ddddde±dd, Pitch in radians (scientific notation)
5 R±ddddde±dd, Roll in radians (scientific notation)
6 H±ddddde±dd, Heading in radians (scientific notation)
7 P±ddddde±dd, Pitch speed in radians/sec (scientific notation)
8 R±ddddde±dd, Roll speed in radians/sec (scientific notation)
9 H±ddddde±dd, Heading speed in radians/sec (scientific notation)
10 *dd Checksum
11 dd - <CR><LF>
Note that ‘±’ represents a signed value, ‘d’ represents numeric and ‘c’ represents character in the table
above, each field is separated by a comma, all fields are fixed length padded with zeros, and all
transmitted data are in ASCII format.
$PSXN,10,014,+1.200e+01,+2.100e+02,-
1.300e+00,+3.300e+01,+5.100e+01,+6.100e+00,*30<CR><LF>
Which is: id, user, pitch, roll, heading, pitch rate, roll rate, heading rate, checksum
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APPENDIX C SYSTEM DEFAULT SETTINGS

When the system is shipped from PSS, it is configured and tested with the system default settings in the
configuration tables. This section lists all the default values including scale and offset data, alarm limit
ranges, default gains, and miscellaneous other default values.
C.1. INTERPRETING THE SETTINGS TABLES
The systems default settings are presented in a table format which includes two columns for listing both
the Imperial and Metric setting for each data item.
Description Imperial Metric

HydraulicTemperatureAlarmLimits -9999.0 0.0 126.0 -9999.0 -9999.0 0.0 52.0 -9999.0
HydraulicTemperatureOffset 0.0 0.0
HydraulicTemperatureScale 2460 3171 32.0 175.0 2460 3171 0.00 80.00
For Alarm Limits there are four possible limits, Lo, LoLo, Hi and HiHi. The limits are shown as follows
in the tables:
LoLo Lo Hi HiHi

HydraulicPressureAlarmLimits -9999.0 300.0 4000.0 -9999.0 -9999.0 21.0 275.0 -9999.0
The 1st number -9999.0 is the LoLo limit.

The 2nd number 300.0 is the Lo limit.
The 3rd number 4000.0 is the Hi limit.
The 4th number -9999.0 is the HiHi limit.
A value of -9999.0 for an alarm limit indicates that alarm limit is disabled.
For Scaling settings there are four parameters listed in the tables, LoCounts, HiCounts, LoEng and
HiEng. The scaling values are shown as follows in the settings tables:
LoCounts HiCounts LoEng HiEng

HydraulicPressureScale 841 4090 0.0 5000.0 841 4090 0.0 345.00
The 1st number 841 is the LoCounts scale value.

The 2nd number 4090 is the HiCounts scale value.
The 3rd number 0.0 is the LoEng scale value.
The 4th number 5000.0 is the HiEng scale value.
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C.2. APPLICATIONS SEND FREQUENCIES
ConfigTagName Description English Metric

LogFrequency The Frequency in which the Logger String is sent (ms). 1000 1000
ToOverlayFrequency The Frequency in which the Overlay String is sent (ms). 500 500
ToSurveyFrequency The Frequency in which the Survey String is sent (ms). 1000 1000
C.3. AUTO HEADING / HEADING PARK CONTROL SETTINGS

YawDerivGain The Derivative gain for heading PID. 20 30
YawPropGain The Proportional gain for heading PID. 20 20
YawIntegralGain The Integral gain for heading PID. 0 0
YawParkDerivGain The Derivative gain for heading park PID. 35 35
YawParkPropGain The Proportional gain for heading park PID. 25 25
YawParkIntegralGain The Integral gain for heading park PID. 1 1
C.4.
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AUTO DEPTH / ALTITUDE CONTROL SETTINGS

AltitudeDerivGain The Derivative gain for altitude PID. 280 350
AltitudeIntegralGain The Integral gain for altitude PID. 1 1
AltitudePropGain The Proportional gain for altitude PID. 500 400
HeaveDerivGain The Derivative gain for heave PID. 3000 3000
HeaveIntegralGain The Integral gain for heave PID. 0 0
HeavePropGain The Proportional gain for heave PID. 400 500
C.5.
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AUTO POSITION

AutoPosHoldModeTime When bottom lock is lost, this is the amount of time that it will 10 10
remain in hold mode waiting for bottom lock to resume before
turning off AP mode.(1 to 10 Secs)
AutoPosIntegrateLimit The AP limitation of when the AP PID integrator can operate. Error 1 1
must be less than this limit for integrator to operate in order to
prevent integrator overrun. (0.01 to 100 meters).
AutoPosJoystickSensitivity The Surge and Sway integration rate that holding the joystick off- 0.8 0.8
center will change the AP setpoint. (0.05 to 2.0)
AutoPosSetPtIntegrateRate The Surge and Sway integration rate that adjusting the trims will 0.01 0.025
change the AP setpoint. (0.001 to 0.20)
AutoPosSurgeDerivGain The Derivative gain for surge PID 9000 9500
AutoPosSurgeIntegralGain The Integral gain for surge PID 400 500
AutoPosSurgePropGain The Proportional gain for surge PID 7000 9000
AutoPosSwayDerivGain The Derivative gain for sway PID 9000 9000
AutoPosSwayIntegralGain The Integral gain for sway PID 500 500
AutoPosSwayPropGain The Proportional gain for sway PID 8000 9000
CenterGravityLiftPointX The X Dimension of Center of Gravity location with respect to Lift 0.5 0.5
Point Location (factory set)
CenterGravityLiftPointY The Y Dimension of Center of Gravity location with respect to Lift 0.176 0.176
CenterGravityLiftPointZ The Z Dimension of Center of Gravity location with respect to Lift 38.14 38.14
DvlLiftPointX The X Dimension of DVL location with respect to Lift Point Location -29.4 -29.4
(factory set)
DvlLiftPointY The Y Dimension of DVL location with respect to Lift Point Location 0 0
(factory set)
DvlLiftPointZ The Z Dimension of DVL location with respect to Lift Point Location 74 74
(factory set)
HeaveArrowIncrDecrValue AP Heave Up/Down Arrow Increment amount 0.05 0.05
HeaveDerivGain The Derivative gain for heave PID. 3000 3000
HeaveIntegralGain The Integral gain for heave PID. 0 0
HeaveIntegrateLimit The AP limitation of when the Heave PID integrator can operate. 1 1
Error must be less than this limit for integrator to operate in order to
prevent integrator overrun. (0.01 to 100 meters)
HeavePropGain The Proportional gain for heave PID. 400 500
HeaveSetPtIntegrateRate The Heave integration rate that adjusting the trim will change the 0.01 0.01
AP setpoint. (0.001 to 0.20)
SurgeArrowIncrDecrValue AP Surge Up/Down Arrow Increment amount 0.1 0.1
SwayArrowIncrDecrValue AP Sway Up/Down Arrow Increment amount 0.2 0.2
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C.6. DVL SETTINGS

DVLAltitudeMultiplier The Scale Factor Value (Multiply) for the DVL Altitude. 0.03281 0.01
DVLBeam1Multiplier The Scale Factor Value (Multiply) for the DVL Beam 1. 0.03281 0.01
The Display Range (Display Range High/Display Range Low)
DVLTemperatureDisplayRange 0.0 150.0 0.0 150.0
for the Bar Graph representing the DVL Temperature.
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C.7. JOYSTICK

JoystickAmplitude The Amplitude Value for the Joystick. 1 1
JoystickDeadband The Deadband Value for the Joystick. 0.1 0.01
JoystickDeckFactor The Deck Factor for the Joystick. (1 = 100%). 0.1 0.1
The Raw Data Scale (Lo Counts, Hi Counts) and the
JoystickHeaveScale Engineering Units (Lo Eng, Hi Eng) for the Heave 1658 2400 -1.0 1.0 1652 2434 -1.0 1.0
directions of the Joystick.
JoystickSensitivity The Sensitivity Factor for the Joystick (1 = 100%). 0.5 0.4
JoystickSurgeScale Engineering Units (Lo Eng, Hi Eng) for the Surge 0 4095 -1.0 1.0 0 4095 -1.0 1.0
JoystickSwayScale Engineering Units (Lo Eng, Hi Eng) for the Sway 0 4095 -1.0 1.0 0 4095 -1.0 1.0
JoystickYawScale Engineering Units (Lo Eng, Hi Eng) for the Heading 0 4095 -0.7 0.7 0 4095 -.7 .7
C.8.
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PILOT PANEL 1

ManipExtendRetractJS_Panel3Offse The Offset Value (Add) for the Manip 0 0
t Extend/Retract Joystick.
ManipExtendRetractJS_Panel3Scal The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 -1.00 1.00 0 4074 -1.00 1.00
e and the Engineering Units (Lo Eng, Hi Eng) for
Manip Retract/Extend Joystick.
ManipLeftRightJS_Panel3Offset The Offset Value (Add) for the Manip 0 0
Left/Right Joystick.
ManipLeftRightJS_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 1.0 -1.0 0 4074 1.0 -1.0
and the Engineering Units (Lo Eng, Hi Eng) for
Manip Left/Right Joystick.
ManipRotateJS_Panel3Offset The Offset Value (Add) for the ManipRotate 0 0
CW/CCW Joystick.
ManipRotateJS_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 -1.00 1.00 0 4074 -1.00 1.00
Manip Rotate CW/CCW Joystick.
ManipUpDownJS_Panel3Offset The Offset Value (Add) for the Manip Up/Down 0 0
Joystick.
ManipUpDownJS_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 1.0 -1.0 0 4074 -1 1
Manip Up/Down Joystick.
PanJS_Panel3Offset The Offset Value (Add) for the Pan Joystick. 0 0
PanJS_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 -1 1 0 4074 -1 1
the Pan Joystick.
SystemPressurePot_Panel2Scale The Raw Data Scale (Lo Counts, Hi Counts) 2033 4079 0.0 .30 2019 4060 0.0 .2
System Pressure Pot.
TiltJS_Panel3Offset The Offset Value (Add) for the Tilt Joystick. 0 0
TiltJS_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 1 -1 0 4074 1.00 -1.00
the Tilt Joystick.
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TMSTetherIOSpeedPot_Panel2 The Raw Data Scale (Lo Counts, Hi Counts) 2048 4095 0.00 2019 4060 0.00
and the Engineering Units (Lo Eng, Hi Eng) for 1.00 1.00
Speed Pot. The Speed Pot controls the speed
of the pressure from the Tether In/Out Valve.
TrimPitch_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 1.0 -1.0 0 4067 1.0 -1.0
the Pitch directions of the Trim Pot.
TrimRoll_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 -1.0 1.0 0 4067 -1.0 1.0
the Roll directions of the Trim Pot.
TrimYaw_Panel3Scale The Raw Data Scale (Lo Counts, Hi Counts) 0 4095 -1.0 1.0 0 4067 -1.0 1.0
the Yaw directions of the Trim Pot.
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C.9. PILOT PANEL 2

The Raw Data Scale (Lo Counts, Hi
Counts) and the Engineering Units (Lo
M1_PressPot2_Panel2Scale Eng, Hi Eng) for Pressure Pot 2. 2048 4095 0.00 1.00 2033 4074 0.00 1.00
Eng, Hi Eng) for Speed Pot. The Speed
Pot controls the speed of the Valve
M2_SpeedPot_Panel2Scale pressure on the corresponding manifold. 2048 4095 0.00 1.00 2032 4074 0.00 1.00
The Scale Factor Value (Value Per
Click) for the Surge Encoder (In AP
TrimSurgeEncoderAPMultiplier Mode). 0.25 0.25
Click) for the Sway Encoder (In AP
TrimSwayEncoderAPMultiplier Mode). 0.25 0.25
Click) for the Heave Encoder (In AP
TrimHeaveEncoderAPMultiplier Mode). 0.25 0.25
Click) for the Surge Encoder (In Manual
TrimSurgeEncoderManualMultiplier Mode). 0.05 0.05
Click) for the Sway Encoder (In Manual
TrimSwayEncoderManualMultiplier Mode). 0.05 0.05
Click) for the Heave Encoder (In Manual
TrimHeaveEncoderManualMultiplier Mode). 0.05 0.05
TrimDeadband The Deadband Value for the Trim Pots. 0.2 0.2
TrimAmplitude The Amplitude Value for the Trim Pots. 1 1
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C.10. TOOL PANEL

The Raw Data Scale (Lo Counts,
Hi Counts) and the Engineering
Units (Lo Eng, Hi Eng) for IHPU 2025 4067 0.00
AuxHydPressurePotScale Pressure Pot. 2048 4095 0.00 0.25 0.25
Units (Lo Eng, Hi Eng) for the
M3_FlowPot1_Panel4Scale valve of the Flow 1 Pot. 0 4095 -1.0 1.0 0 4065 -1.0 1.0
M3_FlowPot2_Panel4Scale valve of the Flow 2 Pot. 0 4095 -1.0 1.0 0 4065 -1.0 1.0
Units (Lo Eng, Hi Eng) for 2025 4067 0.00
M3_PressurePot1_Panel4Scale Pressure Pot 1. 2024 4062 0.00 0.23 0.23
Units (Lo Eng, Hi Eng) for 2025 4067 0.00
M3_PressurePot2_Panel4Scale Pressure Pot 2. 2023 4056 0.00 0.17 0.17
Units (Lo Eng, Hi Eng) for Speed
Pot. The Speed Pot controls the
speed of the Valve pressure on the 2024 4062 0.00
M3_SpeedPot_Panel4Scale corresponding manifold. 2048 4095 0.00 1.00 1.00
The Offset Value (Add) for the
ManipExtendRetractJS_Panel4Offset Manip Extend/Retract Joystick. 0 0
Units (Lo Eng, Hi Eng) for Manip
ManipExtendRetractJS_Panel4Scale Retract/Extend Joystick. 0 4095 -1.00 1.00 0 4065 1 -1
ManipLeftRightJS_Panel4Offset Manip Left/Right Joystick. 0 0
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ManipLeftRightJS_Panel4Scale Left/Right Joystick. 0 4095 1.0 -1.0 0 4065 1.0 -1.0
ManipRotateJS_Panel4Offset ManipRotate CW/CCW Joystick. 0 0
ManipRotateJS_Panel4Scale Rotate CW/CCW Joystick. 0 4095 -1.00 1.00 0 4065 1 -1
ManipUpDownJS_Panel4Offset Manip Up/Down Joystick. 0 0
ManipUpDownJS_Panel4Scale Up/Down Joystick. 0 4095 1.0 -1.0 0 4065 -1 1
The Offset Value (Add) for the Pan
PanJS_Panel4Offset Joystick. 0 0
Units (Lo Eng, Hi Eng) for the Pan
PanJS_Panel4Scale Joystick. 0 4062 -1 1 0 3750 -1 1
The Offset Value (Add) for the Tilt
TiltJS_Panel4Offset Joystick. 0 0
Units (Lo Eng, Hi Eng) for the Tilt
TiltJS_Panel4Scale Joystick. 0 4062 1 -1 0 4065 1 -1
C.11.
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SURFACE GFD SETTINGS

The Low/High Alarm Values (LoLo,
HiHi) and Low/High Trip Values
(Lo, Hi) for the Conductor Loss -9999.0 -9999.0 2.0 -9999.0 -9999.0 2.0
ConductorLossAlarmLimit Sensor. -9999.0 -9999.0
ConductorLossScale Conductor Loss Sensor. 2047 4095 0.0 20.0 2047 4095 0.0 5
GfdDivider 1000 1000
(Lo, Hi) for the HPU Current -9999.00 -9999.00 -9999.00 -9999.00
ROVHPU1CurrentAlarmLimit Sensor. 31.0 -9999.00 31.0 -9999.00
HiHi) and Low/High Trip Values -9999.0 4.0 -9999.0 -9999.0 4.0 -9999.0
ROVHPU1GFDAlarmLimit (Lo, Hi) for the HPU GFD Sensor. -9999.0 -9999.0
(Lo, Hi) for the ROV HPU Phase -9999.0 -9999.0 -9999.0 -9999.0
ROVHPU1PhaseImbalanceAlarmLimit Diff Sensor. 25.0 -9999.0 25.0 -9999.0
(Lo, Hi) for the ROV Instrument -9999.0 -9999.0 4.0 -9999.0 -9999.0 4.0
ROVInstCurrentAlarmLimit Current Sensor. -9999.0 -9999.0
(Lo, Hi) for the ROV Instrument -9999.0 4.0 -9999.0 -9999.0 4.0 -9999.0
ROVInstGFDAlarmLimit GFD Sensor. -9999.0 -9999.0
Units (Lo Eng, Hi Eng) for the ROV
ROVInstrumentPowerCurrentScale Instrument Power Current. 2048 4095 0.0 5.0 2048 4095 0.0 5.0
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C.12. SUBSEA ROV GFD SETTINGS

The Low/High Alarm Values
(LoLo, HiHi) and Low/High Trip
Values (Lo, Hi) for the -9999.0 4.0 -9999.0
InstACGFMAlarmLimit Instruments AC GFD. -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the -9999.0 4.0 -9999.0
InstDCGFMAlarmLimit Instruments DC GFD. -9999.0 -9999.0 4.0 -9999.0 -9999.0
LAMGFDDivider 1000000 1000000
Values (Lo, Hi) for the Lights -9999.0 4.0 -9999.0
LightsGFMAlarmLimit GFD. -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the Solenoid -9999.0 4.0 -9999.0
SolenoidDCGFMAlarmLimit DC GFD. -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the Survey -9999.0 4.0 -9999.0
SurveyACGFMAlarmLimit AC GFD. -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the Survey -9999.0 4.0 -9999.0
SurveyDCGFMAlarmLimit DC GFD. -9999.0 -9999.00 4.0 -9999.00 -9999.00
C.13.
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TMS ROV GFD SETTINGS

GfdDivider 1000 1000
LAMGFDDivider 1000000 1000000
Values (Lo, Hi) for the TMS AC
TMSACLightsGFDAlarmLimit Lights GFD Sensor. -9999.0 4.0 -9999.0 -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the TMS DC
TMSDCInstGFDAlarmLimit Instruments GFD Sensor. -9999.0 4.0 -9999.0 -9999.0 -9999.0 4.0 -9999.0 -9999.0
Values (Lo, Hi) for the TMS -9999.0 -9999.0 -9999.0 - -9999.0 -9999.0 -9999.0 -
TMSHPU1CurrentAlarmLimit HPU Current Sensor. 9999.0 9999.0
Values (Lo, Hi) for the TMS
TMSHPU1GFDAlarmLimit HPU GFD Sensor. -9999.0 4.0 -9999.0 -9999.0 -9999.0 4.0 -9999.0 -9999.0
The Raw Data Scale (Lo
Counts, Hi Counts) and the
Engineering Units (Lo Eng, Hi
TMSHPUCurrentScale Eng) for the TMS HPU Current. 2048 4095 0.0 5.0 2048 4095 0.0 5.0
Values (Lo, Hi) for the TMS -9999.0 -9999.0 -9999.0 - -9999.0 -9999.0 -9999.0 -
TMSInstCurrentAlarmLimit Instruments Current Sensor. 9999.0 9999.0
Values (Lo, Hi) for the TMS
TMSInstGFDAlarmLimit Instrument GFD Sensor. -9999.0 4.0 -9999.0 -9999.0 -9999.0 4.0 -9999.0 -9999.0
The Raw Data Scale (Lo
Counts, Hi Counts) and the
Engineering Units (Lo Eng, Hi
Eng) for the TMS Instrument
TMSInstPowerCurrentScale Power Current. 2048 4095 0.0 2.0 1950 4095 0.0 2.0
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C.14. HIGH VOLTAGE JBOX PANEL

The Raw Data Scale (Lo Counts, Hi Counts) and
the Engineering Units (Lo Eng, Hi Eng) for Ph A
ROVHPU1CurrentP1Scale HPU Current. 2047 4095 0.0 50.0 2047 4095 0.0 50.0
the Engineering Units (Lo Eng, Hi Eng) for Ph B
the Engineering Units (Lo Eng, Hi Eng) for Ph C
C.15.
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GYRO AND DEPTH SENSOR SETTINGS

DiveNumber The Dive Number. 0 0
DivetimeDepthSetting The Depth at which Divetime is Started. 20 6
OctansGyroEnable The Enable Button For the Octans Gyro. 0 0
OctansGyroInstalled The Installed Flag For the Octans Gyro. 0 0
The Orientation Value (degrees) for the
OctansGyroOrientation Octans Gyro. (0,90,180,270) 0 0
The Scale Factor (Multiply) for ROV
ROVDepthScale Depth. 1 0.3048
The Conversion Factor for the ROV
ROVDQConversionFactor Digiquartz Depth Sensor. 2.24212 2.24212
TMSDepthScale Eng, Hi Eng) for the TMS Depth Sensor. 805 4095 0.00 12992.00 819 4095 0.00 3985
The Orientation Value (degrees) for the
WatsonGyroOrientation Tritech Gyro. (0,90,180,270) 0 0
C.16.
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ROV POWER SENSORS

The Offset Value (Add) for the ROV
ROVInstrumentCurrentOffset Instrument Current Sensor. 0 0
Eng, Hi Eng) for the ROV Instrument
ROVInstrumentCurrentScale Current. 1 424 0.0 30.0 1 424 0.0 30.0
ROVInstrumentVoltageOffset Instrument Voltage Sensor. 0 -5
Eng, Hi Eng) for the ROV Instrument
ROVInstrumentVoltageScale Voltage. 0 1023 0.0 150 0 1023 0.0 150
The Offset Value (Add) for the ROV Light
ROVLightCurrentOffset Current Sensor. 0 0
ROVLightCurrentScale Eng, Hi Eng) for the ROV Light Current. 0 441 0.0 30.0 0 441 0.0 30.0
The Offset Value (Add) for the ROV Light
ROVLightVoltageOffset Voltage Sensor. 0 -6
ROVLightVoltageScale Eng, Hi Eng) for the ROV Light Voltage. 0 1023 0.0 150 1 1023 0.0 150
ROVToolCurrentOffset Instrument Current Sensor. 0 0
ROVToolCurrentScale Eng, Hi Eng) for the ROV Tool Current. 0 452 0.0 30.0 0 452 0.0 30.0
The Offset Value (Add) for the ROV Tool
ROVToolVoltageOffset Voltage Sensor. 0 -6
ROVToolVoltageScale Eng, Hi Eng) for the ROV Tool Voltage. 0 1023 0.0 150 0 1023 0.0 150
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C.17. ROV COMP AND SYSTEM PRESS SETTINGS

The Low/High Alarm Values (LoLo, HiHi) and Low/High 25.0 50.0 -9999.0 25 50 -9999.00 -
AuxCompAlarmLimits Trip Values (Lo, Hi) for the Aux Comp Sensor. -9999.0 9999.00
AuxCompOffset The Offset Value (Add) for the Aux Comp Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Aux Comp 1983 4092 0.00 1700 3916 0.00
AuxCompScale Sensor. 100.00 100.00
The Low/High Alarm Values (LoLo, HiHi) and Low/High -9999.0 50.0 - -9999.0 50.0 -
BearingCompAlarmLimits Trip Values (Lo, Hi) for the Bearing Comp Sensor. 9999.0 -9999.0 9999.0 -9999.0
BearingCompOffset The Offset Value (Add) for the Bearing Comp Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Bearing 903 3073 0.00 979 3071 0.00
BearingCompScale Comp Sensor. 100.00 100.00
The Low/High Alarm Values (LoLo, HiHi) and Low/High -9999.0 50.0 - -9999.00 50 -
ElectricCompAlarmLimits Trip Values (Lo, Hi) for the Electric Comp Sensor. 9999.0 -9999.0 9999.00 -9999.00
ElectricCompOffset The Offset Value (Add) for the Electric Comp Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Electric 1762 4036 0.00 1694 3971 0.00
ElectricCompScale Comp Sensor. 100.00 100.00
The Low/High Alarm Values (LoLo, HiHi) and Low/High 25.0 50.0 -9999.0 25 50.00 -9999.00
HydraulicCompAlarmLimits Trip Values (Lo, Hi) for the Hydraulic Comp Sensor. -9999.0 -9999.00
HydraulicCompOffset The Offset Value (Add) for the Hydraulic Comp Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Hydraulic 1928 4037 0.00 1695 3970 0.00
HydraulicCompScale Comp Sensor. 100.00 100
The Low/High Alarm Values (LoLo, HiHi) and Low/High -9999.0 300.0 -9999.00 400
HydraulicPressureAlarmLimits Trip Values (Lo, Hi) for the Hydraulic Pressure Sensor. 3800.0 -9999.0 3800 -9999.00
The Offset Value (Add) for the Hydraulic Pressure
HydraulicPressureOffset Sensor.. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Hydraulic 841 4090 0.0 818 4090 0.0
HydraulicPressureScale Pressure Sensor. 5000.0 5000
The Low/High Alarm Values (LoLo, HiHi) and Low/High -9999.0 50.0 - -9999.0 50.0 -
MotorCompAlarmLimits Trip Values (Lo, Hi) for the Motor Comp Sensor. 9999.0 -9999.0 9999.0 -9999.0
MotorCompOffset The Offset Value (Add) for the Motor Comp Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the Motor Comp 1319 3479 0.00 1324 3631 0.00
MotorCompScale Sensor. 100.00 100.00
OPR-A75179-001 Page: 217 of 264 Rev. 0
C.18. ROV TEMPERATURE AND AUX PRESS SETTINGS

The Low/High Alarm Values (LoLo, HiHi) and -9999.00 -200
Low/High Trip Values (Lo, Hi) for the Aux -9999.00 400 3800.00 -
AuxHydraulicPressureAlarmLimits Hydraulic Pressure Sensor. 3800 -9999.00 9999.00
The Offset Value (Add) for the Aux Hydraulic
AuxHydraulicPressureOffset Pressure Sensor. 0 0
The Raw Data Scale (Lo Counts, Hi Counts)
and the Engineering Units (Lo Eng, Hi Eng) 804 4090 0.0 818 4090 0.0
AuxHydraulicPressureScale for the Aux Hydraulic Pressure Sensor. 5000.00 5000
The Low/High Alarm Values (LoLo, HiHi) and
Low/High Trip Values (Lo, Hi) for the Aux -9999.0 0.0 -9999.0 0.0 52.0
AuxHydraulicTemperatureAlarmLimits Hydraulic Temperature Sensor. 126.0 -9999.0 -9999.0
AuxHydraulicTemperatureOffset Temperature Sensor. 0 2
AuxHydraulicTemperatureScale for the Aux Hydraulic Temperature Sensor. 175.0 80.00
Low/High Trip Values (Lo, Hi) for the Control -9999.00 32 135 -9999.00 0.00 57
CcanTemperatureAlarmLimits Can Temperature Sensor. -9999.00 -9999.00
The Offset Value (Add) for the Control Can
CcanTemperatureOffset Temperature Sensor. 0 0
CcanTemperatureScale for the Control Can Temperature Sensor. 175 79.40
Low/High Trip Values (Lo, Hi) for the -9999.0 0.0 -9999.00 0.00 55
HydraulicTemperatureAlarmLimits Hydraulic Temperature Sensor. 126.0 -9999.0 -9999.00
The Offset Value (Add) for the Hydraulic
HydraulicTemperatureOffset Temperature Sensor.. 0 3
HydraulicTemperatureScale for the Hydraulic Temperature Sensor. 175.0 80.00
Low/High Trip Values (Lo, Hi) for the Motor -9999.0 0.0 -9999.00 0.00 58
MotorTemperatureAlarmLimits Temperature Sensor. 135.0 -9999.0 -9999.00
The Offset Value (Add) for the Motor
MotorTemperatureOffset Temperature Sensor. 0 1
and the Engineering Units (Lo Eng, Hi Eng) 668 786 77.0
MotorTemperatureScale for the Motor Temperature Sensor. 167.0 640 786 25 75.0
OPR-A75179-001 Page: 218 of 264 Rev. 0
C.19. T4 TMS CONTROL 2 SETTINGS

T4TMSAutoRenderOverride Type4 TXLX TMS Auto Render Override 0 0
T4TMSAutoRenderPayOutSpeed Type4 TXLX TMS Auto Render Payout Speed 0.4 0.4
T4TMSInAirOverride Type4 TXLX TMS In Air Override 0 0
T4TMSLatchOverride Type4 TXLX TMS Latch Override 0 0
T4TMSROVDockedOverride Type4 TXLX TMS ROV Docked Override 0 0
T4TMSROVDockedPayInSpeed Type4 TXLX TMS Docked Pay In Speed 0.05 0.05
T4TMSTetherCounterMaxLength The Tether Counter Max Length Alarm Limit. 984 300
T4TMSTetherLengthInOverride Type4 TXLX TMS Tether In Length Override 0 0
T4TMSTetherLengthInThreshold Type4 TXLX TMS Tether Length In Threshold 164 50
T4TMSTetherLengthPayInSpeed Type4 TXLX TMS Tether Length In Speed 0.7 0.7
T4TMSTetherRampSetting Type4 TXLX TMS Tether Ramp Setting 1 1
TetherCounterOffset The Offset Value (Add) for the Tether Counter. 0 0
The Scale Factor (Multiply) for the Tether
TetherCounterScale Counter. 0.295 0.0961
Low/High Trip Values (Lo, Hi) for the TMS Load -9999.0 -9999.0 -9999.00 -9999.00
TetherLoadPressureAlarmLimits Pressure Sensor. -9999.0 580.0 -9999.00 300
The Display Range (Display Range High/Display
Range Low) for the Bar Graph representing the
TetherLoadPressureDisplayRange TMS Load Pressure Sensor. 0.0 4000.0 0.0 4000.0
The Offset Value (Add) for the TMS Load
TetherLoadPressureOffset Pressure Sensor. 0 0
the Engineering Units (Lo Eng, Hi Eng) for the 0 4095 0.00 831 4095 0.00
TetherLoadPressureScale TMS Load Pressure Sensor. 3625.00 3625.00
OPR-A75179-001 Page: 219 of 264 Rev. 0
C.20. TMS COMP / TEMP / PRESS SETTINGS

MetricIndicationForTempConversion 0 1
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 50.0 - -9999.00 50 -
TMSElectricCompAlarmLimits Electric Comp Sensor. 9999.0 -9999.0 9999.00 -9999.00
The Offset Value (Add) for the TMS Electric
TMSElectricCompOffset Comp Sensor. 0 0
and the Engineering Units (Lo Eng, Hi Eng) for 1326 3646 0.00 1372 3689 0.00
TMSElectricCompScale the TMS Electric Comp Sensor. 100.00 100.00
Low/High Trip Values (Lo, Hi) for the TMS 25.0 50.0 -9999.0 - 25.00 50 -9999.00
TMSHydraulicCompAlarmLimits Hydraulic Comp Sensor. 9999.0 -9999.00
The Offset Value (Add) for the TMS Hydraulic
TMSHydraulicCompOffset Comp Sensor. 0 0
TMSHydraulicCompScale the TMS Hydraulic Comp Sensor. 100.00 100.00
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 300.0 -9999.00 300
TMSHydraulicPressureAlarmLimits Hydraulic Pressure Sensor. 4000.0 -9999.0 4000.00 -9999.00
TMSHydraulicPressureOffset Pressure Sensor. 0 0
TMSHydraulicPressureScale the TMS Hydraulic Pressure Sensor. 2900.00 2900.00
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 0.0 126.0 - -9999.0 0.0 52.0 -
TMSHydraulicTemperatureAlarmLimits Hydraulic Temperature Sensor. 9999.0 9999.0
TMSHydraulicTemperatureOffset Temperature Sensor. 0 0
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 50.0 - -9999.0 50.0 -
TMSMotorCompAlarmLimits Motor Comp Sensor. 9999.0 -9999.0 9999.0 -9999.0
The Offset Value (Add) for the TMS Motor
TMSMotorCompOffset Comp Sensor. 0 0
TMSMotorCompScale the TMS Motor Comp Sensor. 100.00 100.00
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 0.0 126.0 - -9999.0 0.0 52.0 -
TMSMotorTemperatureAlarmLimits Hydraulic Temperature Sensor. 9999.0 9999.0
TMSMotorTemperatureOffset Temperature Sensor. 0 260
OPR-A75179-001 Page: 220 of 264 Rev. 0
C.21. PUMP CONTROL SETTINGS

and the Engineering Units (Lo Eng, Hi Eng) 2048 4095 2025 4067
AuxHydPressurePotScale for IHPU Pressure Pot. 0.00 0.25 0.00 0.25
The Low/High Alarm Values (LoLo, HiHi) and -9999.00 -200
Low/High Trip Values (Lo, Hi) for the Aux -9999.00 400 3800.00 -
AuxHydraulicPressureAlarmLimits Hydraulic Pressure Sensor. 3800 -9999.00 9999.00
AuxHydraulicPressureScale for the Aux Hydraulic Pressure Sensor. 5000.00 5000
The Low/High Alarm Values (LoLo, HiHi) and -9999.0 300.0
Low/High Trip Values (Lo, Hi) for the 3800.0 - -9999.00 400
HydraulicPressureAlarmLimits Hydraulic Pressure Sensor. 9999.0 3800 -9999.00
HydraulicPressureOffset Pressure Sensor.. 0 0
HydraulicPressureScale for the Hydraulic Pressure Sensor. 5000.0 5000
M1_PressPot2_Panel2Scale for Pressure Pot 2. 0.00 1.00 0.00 1.00
and the Engineering Units (Lo Eng, Hi Eng)
for Speed Pot. The Speed Pot controls the
speed of the Valve pressure on the 2048 4095 2032 4074
M2_SpeedPot_Panel2Scale corresponding manifold. 0.00 1.00 0.00 1.00
and the Engineering Units (Lo Eng, Hi Eng)
M2V8ACmd_IHPUClutchEngageScale for M2V8A IHPU Clutch Engage. 0.0 1.0 0 1023 0.0 1.0 0 1023
The Low/High Alarm Values (LoLo, HiHi) and -9999.0 300.0
Low/High Trip Values (Lo, Hi) for the Main 4000.0 - -9999.00 400
MainHydraulicPressureAlarmLimits Hydraulic Pressure Sensor. 9999.0 3100 -9999.00
The Offset Value (Add) for the Main Hydraulic
MainHydraulicPressureOffset Pressure Sensor.. 0 0
OPR-A75179-001 Page: 221 of 264 Rev. 0

MainHydraulicPressureScale for the Main Hydraulic Pressure Sensor. 5000.00 5000
SystemPressurePot_Panel2Scale for System Pressure Pot. .30 .2
HpuAoutOverride The HPU Analog Output Override Button. 0 0
The IHPU Shutoff Override button to override
IHPUShutoffOverride the IHPU Shutoff Interlock. 0 0
The Aux Pump Ramp Flag to Enable ramping
RampAuxPumpFlag of the aux pump. 1 1
The Aux Pump Slope used in the ramping of
RampAuxPumpSlope the aux pump. 50 50
The Ramp Pump Flag to Enable ramping of
RampPumpFlag the pump. 1 1
The Ramp Pump Slope used in the ramping of
RampPumpSlope the pump. 50 50
Fixed ROV HPU Maximum Current Setting for
ROVHpuMaxCurrentLimit the main HPU. 32 32
The ROV HPU Saturation Gain for the main
ROVHpuOvercurrRampSlope HPU. 25 25
The ROV HPU Saturation Limit for the main
ROVHpuSaturationLimit HPU. 32 32
The HPU Shutoff Override button to override
ROVHPUShutoffOverride the HPU Shutoff Interlock. 0 0
T4TMSTetherRampSetting Type4 TXLX TMS Tether Ramp Setting 1 1
OPR-A75179-001 Page: 222 of 264 Rev. 0
C.22. TOOLING FLOW SETTINGS

Engineering Units (Lo Eng, Hi Eng) for the valve of the Flow 0 4095 -1.0 0 4065 -1.0
M3_FlowPot1_Panel4Scale 1 Pot. 1.0 1.0
Engineering Units (Lo Eng, Hi Eng) for the valve of the Flow 0 4095 -1.0 0 4065 -1.0
M3_FlowPot2_Panel4Scale 2 Pot. 1.0 1.0
The Raw Data Scale (Lo Counts, Hi Counts) and the 2024 4062 2025 4067
M3_PressurePot1_Panel4Scale Engineering Units (Lo Eng, Hi Eng) for Pressure Pot 1. 0.00 0.23 0.00 0.23
The Raw Data Scale (Lo Counts, Hi Counts) and the 2023 4056 2025 4067
M3_PressurePot2_Panel4Scale Engineering Units (Lo Eng, Hi Eng) for Pressure Pot 2. 0.00 0.17 0.00 0.17
PV1PressureOffset The Offset Value (Add) for the PV1 Pressure Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the PV1 Pressure 1024 3910 1024 3910
PV1PressureScale Sensor. 3500 -3500 3500 -3500
PV2PressureOffset The Offset Value (Add) for the PV2 Pressure Sensor. 0 0
Engineering Units (Lo Eng, Hi Eng) for the PV2 Pressure 1055 3927 1055 3927
PV2PressureScale Sensor. 3500 -3500 3500 -3500
-9999.00 -
-9999.0 0.0 500
The Low/High Alarm Values (LoLo, HiHi) and Low/High Trip 4000.0 - 4000.00 -
RemotePressureAlarmLimits Values (Lo, Hi) for the Remote Pressure Sensor. 9999.0 9999.00
RemotePressureOffset The Offset Value (Add) for the Remote Pressure Sensor. 0 0
The Raw Data Scale (Lo Counts, Hi Counts) and the 855 4090
Engineering Units (Lo Eng, Hi Eng) for the Remote Pressure 0.00 841 4090
RemotePressureScale Sensor. 5000.00 0.00 5000
OPR-A75179-001 Page: 223 of 264 Rev. 0
C.23. THRUSTERS

HeadingParkAftOnlyOption Heading Park Aft Thrusters Only Option 0 0
PortAftHorGain The Gain Value (Multiply) for the Port Aft Horizontal Thruster. 1 1
PortAftVertGain The Gain Value (Multiply) for the Port Aft Vertical Thruster. -1 -1
PortFwdHorGain The Gain Value (Multiply) for the Port Foward Horizontal Thruster. -1 -1
PortFwdVertGain The Gain Value (Multiply) for the Port Foward Vertical Thruster. 1 1
StbdAftHorGain The Gain Value (Multiply) for the Starboard Aft Horizontal Thruster. 1 1
StbdAftVertGain The Gain Value (Multiply) for the Starboard Aft Vertical Thruster. -1 -1
StbdFwdHorGain The Gain Value (Multiply) for the Starboard Foward Horizontal Thruster. -1 -1
StbdFwdVertGain The Gain Value (Multiply) for the Starboard Foward Vertical Thruster. 1 1
RampThrusterFlag The Ramp Thruster Flag to Enable ramping of the thrusters. 1 1
RampThrusterSlope The Ramp Thruster Slope used in the ramping of the thrusters. 20 20
StbdFwdHorThrNegNull The Negative Null Value for the Starboard Forward Horizontal Thruster. -34 -34
StbdFwdHorThrPosNull The Positive Null Value for the Starboard Forward Horizontal Thruster. 29 29
PortFwdHorThrNegNull The Negative Null Value for the Port Forward Horizontal Thruster. -39 -39
PortFwdHorThrPosNull The Positive Null Value for the Port Forward Horizontal Thruster. 35 35
StbdAftHorThrNegNull The Negative Null Value for the Starboard Aft Horizontal Thruster. -54 -54
StbdAftHorThrPosNull The Positive Null Value for the Starboard Aft Horizontal Thruster. 55 55
PortAftHorThrNegNull The Negative Null Value for the Port Aft Horizontal Thruster. -56 -56
PortAftHorThrPosNull The Positive Null Value for the Port Aft Horizontal Thruster. 56 56
StbdFwdVertThrNegNull The Negative Null Value for the Starboard Forward Vertical Thruster. -36 -36
StbdFwdVertThrPosNull The Positive Null Value for the Starboard Forward Vertical Thruster. 29 29
PortFwdVertThrNegNull The Negative Null Value for the Port Forward Vertical Thruster. -29 -29
PortFwdVertThrPosNull The Positive Null Value for the Port Forward Vertical Thruster. 28 28
StbdAftVertThrNegNull The Negative Null Value for the Starboard Aft Vertical Thruster. -33 -33
StbdAftVertThrPosNull The Positive Null Value for the Starboard Aft Vertical Thruster. 29 29
PortAftVertThrNegNull The Negative Null Value for the Port Aft Vertical Thruster. -56 -56
PortAftVertThrPosNull The Positive Null Value for the Port Aft Vertical Thruster. 53 53
OPR-A75179-001 Page: 224 of 264 Rev. 0
C.24. LVC 1 BOARD (ROV) VALVE SCALING

Low/High Trip Values (Lo, Hi) for the Hydraulic -9999.0 300.0 -9999.00 400
HydraulicPressureAlarmLimits Pressure Sensor. 3800.0 -9999.0 3800 -9999.00
HydraulicPressureOffset Pressure Sensor.. 0 0
and the Engineering Units (Lo Eng, Hi Eng) for 818 4090 0.0
HydraulicPressureScale the Hydraulic Pressure Sensor. 841 4090 0.0 5000.0 5000
Low/High Trip Values (Lo, Hi) for the Hydraulic -9999.0 0.0 126.0 - -9999.00 0.00
HydraulicTemperatureAlarmLimits Temperature Sensor. 9999.0 55 -9999.00
HydraulicTemperatureOffset Temperature Sensor.. 0 3
HydraulicTemperatureScale the Hydraulic Temperature Sensor. 175.0 80.00
LVC1BoardSupplyVoltageAlarmLim -9999.0 20.0 26.0 - -9999.00 20.00
its LVC 1 Board Supply Voltage Alarm Limits 9999.0 32 -9999.00
LVC1BoardSupplyVoltageScale 0 4095 0.0 55.0 0 4095 0.0 55.0
LVC1BoardTemperatureAlarmLimit -9999.0 -22.0 122.0 - -9999.0 -30.0
s LVC 1 Board Temperature Alarm Limits 9999.0 50.0 -9999.0
LVC1BoardTemperatureOffset 0 0
0 4095 -50.0
LVC1BoardTemperatureScale 0 4095 -58.0 842.00 450.00
0 4095 0.0
LVC1SensorsSupply24vdc 0 4095 0.0 30.53 30.53
OPR-A75179-001 Page: 225 of 264 Rev. 0

0 4095 0.0
LVC1SensorsSupply5vdc 0 4095 0.0 5.979 5.979
LVC1ValveCmdCh15Scale the LVC 1 Ch15. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVCAinScale 0 4095 0.0 5.0 0 4095 0.0 5.0
LVCValveCurrentScale 0 255 0.0 1.525 0 255 0.0 1.525
M1V10Cmd_Press2Scale M1V10 Pressure 2. 0.0 1.0 0 1023 0.0 1.0 0 1023
M1V15ACmd_PT3PanScale M1V15A Pan. 0.0 1.0 0 600 0.0 1.0 0 160
M1V15BCmd_PT3PanScale M1V15B Pan. 0.0 1.0 0 600 0.0 1.0 0 160
M1V16ACmd_PT3TiltScale M1V16A Tilt. 0.0 1.0 0 600 0.0 1.0 0 140
M1V16BCmd_PT3TiltScale M1V16B Tilt. 0.0 1.0 0 600 0.0 1.0 0 160
M1V9Cmd_MainManPressScale M1V9 Main Manual Pressure. 0 100 200 475 0 100 100 450
OPR-A75179-001 Page: 226 of 264 Rev. 0

Low/High Trip Values (Lo, Hi) for the Aux Comp 25.0 50.0 - 25 50 -9999.00
AuxCompAlarmLimits Sensor. 9999.0 -9999.0 -9999.00
AuxCompOffset The Offset Value (Add) for the Aux Comp Sensor. 0 0
the Engineering Units (Lo Eng, Hi Eng) for the Aux 1983 4092 0.00 1700 3916 0.00
AuxCompScale Comp Sensor. 100.00 100.00
Low/High Trip Values (Lo, Hi) for the Bearing -9999.0 50.0 - -9999.0 50.0 -
BearingCompAlarmLimits Comp Sensor. 9999.0 -9999.0 9999.0 -9999.0
The Offset Value (Add) for the Bearing Comp
BearingCompOffset Sensor. 0 0
BearingCompScale Bearing Comp Sensor. 100.00 100.00
The Low/High Alarm Values (LoLo, HiHi) and -9999.00 50 -
Low/High Trip Values (Lo, Hi) for the Electric -9999.0 50.0 - 9999.00 -
ElectricCompAlarmLimits Comp Sensor. 9999.0 -9999.0 9999.00
The Offset Value (Add) for the Electric Comp
ElectricCompOffset Sensor. 0 0
ElectricCompScale Electric Comp Sensor. 100.00 100.00
The Low/High Alarm Values (LoLo, HiHi) and 25 50.00 -
Low/High Trip Values (Lo, Hi) for the Hydraulic 25.0 50.0 - 9999.00 -
HydraulicCompAlarmLimits Comp Sensor. 9999.0 -9999.0 9999.00
The Offset Value (Add) for the Hydraulic Comp
HydraulicCompOffset Sensor. 0 0
HydraulicCompScale Hydraulic Comp Sensor. 100.00 100
LVC2BoardSupplyVoltageAlarmLi -9999.0 20.0 -9999.00 20.00
mits LVC 2 Board Supply Voltage Alarm Limits 26.0 -9999.0 32 -9999.00
LVC2BoardTemperatureAlarmLim -9999.0 -22.0 -9999.0 -30.0
its LVC 2 Board Temperature Alarm Limits 122.0 -9999.0 50.0 -9999.0
0 4095 -58.0 0 4095 -50.0
LVC2BoardTemperatureScale 842.00 450.00
0 4095 0.0 0 4095 0.0
LVC2SensorsSupply24vdc 30.53 30.53
0 4095 0.0 0 4095 0.0
LVC2SensorsSupply5vdc 5.979 5.979
LVCAinScale 0 4095 0.0 5.0 0 4095 0.0 5.0
the Engineering Units (Lo Eng, Hi Eng) for
M2V10ACmd_PT2TiltScale M2V10A Tilt. 0.0 1.0 0 200 0.0 1.0 0 150
M2V10BCmd_PT2TiltScale M2V10B Tilt. 0.0 1.0 0 200 0.0 1.0 0 150
OPR-A75179-001 Page: 227 of 264 Rev. 0

M2V11ACmd_CustSpareScale M2V11A Cust Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
M2V11BCmd_CustSpareScale M2V11B Cust Spare.. 0.0 1.0 0 1023 0.0 1.0 0 1023
the Engineering Units (Lo Eng, Hi Eng) for M2V1A
M2V1ACmd_JawOpenScale Jaw Open. 0.0 1.0 0 250 0.0 1.0 0 250
the Engineering Units (Lo Eng, Hi Eng) for M2V1B
M2V1BCmd_JawCloseScale Jaw Close. 0.0 1.0 0 250 0.0 1.0 0 250
M2V2ACmd_WristCWScale Wrist CW . 0.0 1.0 0 250 0.0 1.0 0 200
M2V2BCmd_WristCCWScale Wrist CCW. 0.0 1.0 0 250 0.0 1.0 0 250
M2V3ACmd_ElbowExtendScale Elbow Extend. 0.0 1.0 0 300 0.0 1.0 0 350
M2V3BCmd_ElbowRetractScale Elbow Retract. 0.0 1.0 0 300 0.0 1.0 0 350
OPR-A75179-001 Page: 228 of 264 Rev. 0

M2V4ACmd_ShoulderUpScale Shoulder Up. 0.0 1.0 0 300 0.0 1.0 0 165
M2V4BCmd_ShoulderDownScale Shoulder Down. 0.0 1.0 0 340 0.0 1.0 0 340
M2V5ACmd_ShoulderLeftScale Shoulder Left. 0.0 1.0 0 300 0.0 1.0 0 180
M2V5BCmd_ShoulderRightScale Shoulder Right. 0.0 1.0 0 300 0.0 1.0 0 170
M2V6ACmd_PT1PanScale Pan. 0.0 1.0 0 175 0.0 1.0 0 150
M2V6BCmd_PT1PanScale Pan. 0.0 1.0 0 165 0.0 1.0 0 130
M2V7ACmd_PT1TiltScale Tilt. 0.0 1.0 0 175 0.0 1.0 0 155
M2V7BCmd_PT1TiltScale Tilt. 0.0 1.0 0 175 0.0 1.0 0 155
M2V8ACmd_IHPUClutchEngageS the Engineering Units (Lo Eng, Hi Eng) for M2V8A
cale IHPU Clutch Engage. 0.0 1.0 0 1023 0.0 1.0 0 1023
M2V8BCmd_IHPUClutchDisenga the Engineering Units (Lo Eng, Hi Eng) for M2V8B
geScale IHPU Clutch Disengage. 0.0 1.0 0 1023 0.0 1.0 0 1023
M2V9ACmd_PT2PanScale Pan. 0.0 1.0 0 190 0.0 1.0 0 140
M2V9BCmd_PT2PanScale Pan. 0.0 1.0 0 190 0.0 1.0 0 140
MainHydraulicPressureAlarmLimit Low/High Trip Values (Lo, Hi) for the Main -9999.0 300.0 -9999.00 400
s Hydraulic Pressure Sensor. 4000.0 -9999.0 3100 -9999.00
The Offset Value (Add) for the Main Hydraulic
MainHydraulicPressureOffset Pressure Sensor.. 0 0
MainHydraulicPressureScale Main Hydraulic Pressure Sensor. 5000.00 5000
Low/High Trip Values (Lo, Hi) for the Motor Comp -9999.0 50.0 - -9999.0 50.0 -
MotorCompAlarmLimits Sensor. 9999.0 -9999.0 9999.0 -9999.0
The Offset Value (Add) for the Motor Comp
MotorCompOffset Sensor. 0 0
MotorCompScale Motor Comp Sensor. 100.00 100.00
OPR-A75179-001 Page: 229 of 264 Rev. 0

Low/High Trip Values (Lo, Hi) for the Aux Hydraulic -9999.00 400 -9999.00 -200
AuxHydraulicPressureAlarmLimits Pressure Sensor. 3800 -9999.00 3800.00 -9999.00
AuxHydraulicPressureScale Hydraulic Pressure Sensor. 5000.00 5000
Low/High Trip Values (Lo, Hi) for the Aux Hydraulic -9999.0 0.0 -9999.0 0.0 52.0
AuxHydraulicTemperatureAlarmLimits Temperature Sensor. 126.0 -9999.0 -9999.0
AuxHydraulicTemperatureOffset Temperature Sensor. 0 2
AuxHydraulicTemperatureScale Hydraulic Temperature Sensor. 175.0 80.00
-9999.0 20.0 -9999.00 20
LVC3BoardSupplyVoltageAlarmLimits LVC 3 Board Supply Voltage Alarm Limits 26.0 -9999.0 32.00 -9999.00
-9999.0 -22.0 -9999.0 -30.0
LVC3BoardTemperatureAlarmLimits LVC 3 Board Temperature Alarm Limits 122.0 -9999.0 50.0 -9999.0
0 4095 -58.0 0 4095 -50.0
LVC3BoardTemperatureScale 842.00 450.00
0 4095 0.0
LVC3SensorsSupply24vdc 30.53 0 4095 0.0 30.53
0 4095 0.0
the Engineering Units (Lo Eng, Hi Eng) for LVC 3
LVC3ValveCmdCh15Scale Ch15. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVCAinScale 0 4095 0.0 5.0 0 4095 0.0 5.0
the Engineering Units (Lo Eng, Hi Eng) for M3PV1
M3PV1Cmd_Press1Scale Pressure Sensor. 0.0 1.0 0 1023 0.0 1.0 0 1023
the Engineering Units (Lo Eng, Hi Eng) for M3PV2
M3PV2Cmd_Press2Scale Pressure. 0.0 1.0 0 1023 0.0 1.0 0 1023
OPR-A75179-001 Page: 230 of 264 Rev. 0

M3V10ACmd_CustSpareScale Cust Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
M3V10BCmd_CustSpareScale Cust Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
M3V1ACmd_Flow1PosScale Flow 1 Positive Direction. 0.0 1.0 0 1023 0.0 1.0 0 1023
M3V1BCmd_Flow1NegScale Flow 1 Negative Direction. 0.0 1.0 0 1023 0.0 1.0 0 1023
M3V2ACmd_Flow2PosScale Flow 2 Positive Direction. 0.0 1.0 0 1023 0.0 1.0 0 1023
M3V2BCmd_Flow2NegScale Flow 2 Negative Direction. 0.0 1.0 0 1023 0.0 1.0 0 1023
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The Offset Value (Add) for the PV1 Pressure
PV1PressureOffset Sensor. 0 0
the Engineering Units (Lo Eng, Hi Eng) for the PV1 1024 3910 3500 1024 3910 3500 -
PV1PressureScale Pressure Sensor. -3500 3500
The Offset Value (Add) for the PV2 Pressure
PV2PressureOffset Sensor. 0 0
the Engineering Units (Lo Eng, Hi Eng) for the PV2 1055 3927 3500 1055 3927 3500 -
PV2PressureScale Pressure Sensor. -3500 3500
Low/High Trip Values (Lo, Hi) for the Remote -9999.0 0.0 -9999.00 -500
RemotePressureAlarmLimits Pressure Sensor. 4000.0 -9999.0 4000.00 -9999.00
The Offset Value (Add) for the Remote Pressure
RemotePressureOffset Sensor. 0 0
RemotePressureScale Remote Pressure Sensor. 5000.00 5000
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C.27. LVC 10 BOARD (TMS) VALVE SCALING

LVC10BoardSupplyVoltageAla -9999.0 20.0 -9999.00 20 32 -
rmLimits LVC 10 Board Supply Voltage Alarm Limits 26.0 -9999.0 9999.00
LVC10BoardSupplyVoltageSc
ale 0 4095 0.0 55.0 0 4095 0.0 55.0
LVC10BoardTemperatureAlar -9999.0 -22.0 -9999.0 -30.0 50.0
mLimits LVC 10 Board Temperature Alarm Limits 122.0 -9999.0 -9999.0
LVC10BoardTemperatureOffse
t 0 0
LVC10BoardTemperatureScal 0 4095 -58.0 0 4095 -50.0
e 842.00 450.00
0 4095 0.0
0 4095 0.0
LVC10ValveCmdCh10Scale TMSManV5B Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVC10ValveCmdCh11Scale TMSManV6A Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVC10ValveCmdCh12Scale TMSManV6B Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVC10ValveCmdCh13Scale LVC 10 Ch13. 0.0 1.0 0 1023 0.0 1.0 0 1023
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LVC10ValveCmdCh9Scale TMSManV5A Spare. 0.0 1.0 0 1023 0.0 1.0 0 1023
LVCAinScale 0 4095 0.0 5.0 0 4095 0.0 5.0
The Low/High Alarm Values (LoLo, HiHi) and -9999.0 -
TetherLoadPressureAlarmLimit Low/High Trip Values (Lo, Hi) for the TMS Load 9999.0 -9999.0 -9999.00 -9999.00
s Pressure Sensor. 580.0 -9999.00 300
The Offset Value (Add) for the TMS Load
TetherLoadPressureOffset Pressure Sensor. 0 0
TetherLoadPressureScale the TMS Load Pressure Sensor. 3625.00 3625.00
TMSDepthOffset The Offset Value (Add) for TMS Depth. 0 1.22
TMSDepthScale the TMS Depth Sensor. 12992.00 3985
Low/High Trip Values (Lo, Hi) for the TMS -9999.0 50.0 - -9999.00 50 -
TMSElectricCompAlarmLimits Electric Comp Sensor. 9999.0 -9999.0 9999.00 -9999.00
The Offset Value (Add) for the TMS Electric
TMSElectricCompOffset Comp Sensor. 0 0
TMSElectricCompScale the TMS Electric Comp Sensor. 100.00 100.00
TMSHydraulicCompAlarmLimit Low/High Trip Values (Lo, Hi) for the TMS 25.0 50.0 - 25.00 50 -9999.00
s Hydraulic Comp Sensor. 9999.0 -9999.0 -9999.00
TMSHydraulicCompOffset Comp Sensor. 0 0
TMSHydraulicCompScale the TMS Hydraulic Comp Sensor. 100.00 100.00
TMSHydraulicPressureAlarmLi Low/High Trip Values (Lo, Hi) for the TMS -9999.0 300.0 -9999.00 300
mits Hydraulic Pressure Sensor. 4000.0 -9999.0 4000.00 -9999.00
TMSHydraulicPressureOffset Pressure Sensor. 0 0
TMSHydraulicPressureScale the TMS Hydraulic Pressure Sensor. 2900.00 2900.00
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TMSManV1ACmd_MainLatch and the Engineering Units (Lo Eng, Hi Eng) for
OpenScale TMSManV1A Tether In. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV1BCmd_MainLatch and the Engineering Units (Lo Eng, Hi Eng) for
CloseScale TMSManV1B Tether Out. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV2ACmd_SafeLatch and the Engineering Units (Lo Eng, Hi Eng) for
OpenScale TMSManV2A Latch Close. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV2BCmd_SafeLatchC and the Engineering Units (Lo Eng, Hi Eng) for
loseScale TMSManV2B Latch Close. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV3ACmd_PanLeftSca and the Engineering Units (Lo Eng, Hi Eng) for
le TMSManV3A Pan Left. 0.0 1.0 0 300 0.0 1.0 0 300
TMSManV3BCmd_PanRightS and the Engineering Units (Lo Eng, Hi Eng) for
cale TMSManV3B Pan Right. 0.0 1.0 0 300 0.0 1.0 0 300
TMSManV4ACmd_TiltUpScale TMSManV4A Tilt Up. 0.0 1.0 0 300 0.0 1.0 0 300
TMSManV4BCmd_TiltDownSc and the Engineering Units (Lo Eng, Hi Eng) for
ale TMSManV4B Tilt Down. 0.0 1.0 0 300 0.0 1.0 0 300
TMSManV5ACmd_SpareScale LVC 10 Ch17. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV5BCmd_SpareScale LVC 10 Ch18. 0.0 1.0 0 1023 0.0 1.0 0 1023
TMSManV6ACmd_TetherInSc and the Engineering Units (Lo Eng, Hi Eng) for
ale LVC 10 Ch20. 0.0 1.0 0 545 0.0 1.0 0 545
TMSManV7ACmd_TetherOutS and the Engineering Units (Lo Eng, Hi Eng) for
cale LVC 10 Ch22. 0.0 1.0 0 545 0.0 1.0 0 545
Low/High Trip Values (Lo, Hi) for the TMS Motor -9999.0 50.0 - -9999.0 50.0 -
TMSMotorCompAlarmLimits Comp Sensor. 9999.0 -9999.0 9999.0 -9999.0
The Offset Value (Add) for the TMS Motor
TMSMotorCompOffset Comp Sensor. 0 0
TMSMotorCompScale the TMS Motor Comp Sensor. 100.00 100.00
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C.28. LCI 1 BOARD (ROV) CONFIGURATION SETTINGS

LCI1Camera1OverCurrentTripLevel The Over Current Trip Level Setpoint of LCI 1 Camera 1. 2.5 2.5
LCI1Camera2OverCurrentTripLevel The Over Current Trip Level Setpoint of LCI 1 Camera 2. 1 1
LCI1CameraOverCurrentTripDelay The Over Current Trip Delay of LCI 1. 0.5 0.5


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C.31. LCI 10 BOARD (TMS) CONFIGURATION SETTINGS

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C.32. LPC-AC 1 BOARD (ROV) CONFIGURATION SETTINGS

The Failsafe Setting that will disable/power off when Comms is
LPCAC1FailsafeSettingCh1 lost to LPC AC 1 Ch1. 0 0
LPCAC1HiCurrentLimitCh1 The Hi Current Trip Level Setpoint of LPC AC 1 Ch1. 2 2
The In Rush Hold Off Delay that delays the continuous
LPCAC1InRushHoldOffDelayCh1 monitoring of current on power-up of LPC AC 1 Ch1. 0.25 0.25
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LPCAC1TripDelayCh1 The Trip Delay of LPC AC 1 Ch1. 0.25 0.25
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C.33. LPC-DC 1 BOARD (ROV) CONFIGURATION SETTINGS

LPCDC1FailsafeSettingCh1 lost to LPC DC 1 Ch1. 0 0
LPCDC1HiCurrentLimitCh1 The Hi Current Trip Level Setpoint of LPC DC 1 Ch1. 12 12
LPCDC1HiCurrentLimitCh5 The Hi Current Trip Level Setpoint of LPC DC 1 Ch5. 2.5 2.5
The In Rush Hold Off Delay that delays the continuous monitoring
LPCDC1InRushHoldOffDelayCh1 of current on power-up of LPC DC 1 Ch1. 0.25 0.25
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LPCDC1TripDelayCh1 The Trip Delay of LPC DC 1 Ch1. 0.5 0.5
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The Failsafe Setting that will disable/power off when Comms
LPCDC2FailsafeSettingCh1 is lost to LPC DC 2 Ch1. 0 0
LPCDC2InRushHoldOffDelay The In Rush Hold Off Delay that delays the continuous
Ch1 monitoring of current on power-up of LPC DC 2 Ch1. 0.25 0.25
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The Failsafe Setting that will disable/power off when Comms is lost
LPCDC5FailsafeSettingCh1 to LPC DC 5 Ch1. 0 0
LPCDC5InRushHoldOffDelay The In Rush Hold Off Delay that delays the continuous monitoring of
Ch1 current on power-up of LPC DC 5 Ch1. 0.25 0.25
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C.37. LPC-DC 10 BOARD (TMS) CONFIGURATION SETTINGS

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C.38. LSI 1 BOARD (ROV) CONFIGURATION SETTINGS
The LSI Panels are only accessible by an Administrator. The LSI panel allows an administrator to
change the setting for a serial channel to RS-232 or RS-485. The 232 or 485 setting is indicated on the
LSI panel by a green bar. A setting of 485 is stored as 0 in the Config table and a setting of 232 is store
as a 1.
Only qualified personnel should modify the LSI settings.

LSI1SerialSettingPort1 The Serial Port Setting (RS-232 or RS-485) of LSI 1 Port 1. 0 0

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C.41. LSI 10 BOARD (TMS) CONFIGURATION SETTINGS

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APPENDIX D I/O SHEETS

The I/O sheets in this section are a great reference for finding where the input/output devices are
connected to all of the computer systems. All I/O points that are connected to the computers are listed
and described on the I/O sheets.
The I/O sheets describe each Input and Output device connected to the Surface Computer System, the
Subsea Computer System, and the TMS Computer System.
I/O Sheets Field Descriptions
• EventId – The event Id of the data point

• EventName – The event name of the data point
• FunctionName – The function name of the data point
• Location – The location the data point originates from
• IO Type – The I/O Type of the data point
• SW Bits – The number of bits of the data point
• Delta – The change of state value for an analog data point
• SW I/O – Designates whether the data point is an input or output
• InvertLogic – Designates whether the digital logic is inverted or not
• Latching – Designates whether a switch input is latched or not
• PropEnable – Designates whether a valve is proportional or solenoid
• ConvAddr – Shows the address of the Serial to Ethernet converter that the data passes through
• InterfaceId – Shows the Interface ID or connection ID of the data point
• BdType – Shows the board type
• BdHeader – Shows the board header connector to which the data point is wired
• BdPin – Shows the board pin number to which the data point is wired
• Scaling – Shows the scaling values associated with the data point
OPR-A75179-001 Page: 248 of 264 Rev. 0
Triton® XLX Computer Control
Operations & Maintenance Manual I/O Sheets
SURFACE
SW SW
EventId EventName FunctionName Location IOType Bits Delta I/O InvertLogic Latching PropEnable ConvAddr InterfaceId BdType BdAddr BdHeader BdPin Scaling
1800 LVC10ExternalAinCh1 TMSDepth TMS Analog 0 1 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P5 1 0-5Vdc / 4-20mA; 0-4095
1801 LVC10ExternalAinCh2 TMSHydraulicPressure TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P6 1 0-5Vdc / 4-20mA; 0-4095
1802 LVC10ExternalAinCh3 TetherLoadPressure TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P7 1 0-5Vdc / 4-20mA; 0-4095
1803 LVC10ExternalAinCh4 TMSMotorCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P8 1 0-5Vdc / 4-20mA; 0-4095
1804 LVC10PRTTempIn2 TMSMotorTempSensor TMS Analog 0 5 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P4 3,4 0-5Vdc; 0-4095; Formula
1805 LVC10PRTTempIn1 TMSHydraulicTempSensor TMS Analog 0 5 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P4 1,2 0-5Vdc; 0-4095; Formula
1808 LVC10ExternalAinCh5 TMSElectricCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P9 1 0-5Vdc / 4-20mA; 0-4095
1809 LVC10ExternalAinCh6 TMSHydraulicCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P10 1 0-5Vdc / 4-20mA; 0-4095
1810 LVC10ExternalAinCh7 LVC10ExternalAinCh7 TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P11 1 0-5Vdc / 4-20mA; 0-4095
1811 LVC10ExternalAinCh8/Temp4 LVC10ExternalAinCh8/Temp4 TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P12 1 0-5Vdc / 4-20mA; 0-4095
1852 LVC10ValveCmdCh1 TMSManV1BCmd_MainLatchClose TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P13 1,2 0-100%; 0-1023; 0-1.519A
1853 LVC10ValveCmdCh2 TMSManV1ACmd_MainLatchOpen TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P13 3,4 0-100%; 0-1023; 0-1.519A
1854 LVC10ValveCmdCh3 TMSManV2BCmd_SafeLatchClose TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P14 1,2 0-100%; 0-1023; 0-1.519A
1855 LVC10ValveCmdCh4 TMSManV2ACmd_SafeLatchOpen TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P14 3,4 0-100%; 0-1023; 0-1.519A
1856 LVC10ValveCmdCh5 TMSManV3BCmd_PT4Pan TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P15 1,2 0-100%; 0-1023; 0-1.519A
1857 LVC10ValveCmdCh6 TMSManV3ACmd_PT4Pan TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P15 3,4 0-100%; 0-1023; 0-1.519A
1858 LVC10ValveCmdCh7 TMSManV4BCmd_PT4Tilt TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P16 1,2 0-100%; 0-1023; 0-1.519A
1859 LVC10ValveCmdCh8 TMSManV4ACmd_PT4Tilt TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P16 3,4 0-100%; 0-1023; 0-1.519A
1860 LVC10ValveCmdCh9 LVC10ValveCmdCh9 TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P17 1,2 0-100%; 0-1023; 0-1.519A
1867 LVC10ValveCmdCh16 LVC10ValveCmdCh16 TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P20 3,4 Reserved for config data
1868 LVC10ValveCmdCh17 TMSManV5BCmd_Spare TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P21 1,2 0-100%; 0-1023; 0-1.519A
1869 LVC10ValveCmdCh18 TMSManV5ACmd_Spare TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P21 3,4 0-100%; 0-1023; 0-1.519A
1871 LVC10ValveCmdCh20 TMSManV6ACmd_TetherIn TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P22 3,4 0-100%; 0-1023; 0-1.519A
1873 LVC10ValveCmdCh22 TMSManV7ACmd_TetherOut TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P23 3,4 0-100%; 0-1023; 0-1.519A
1916 LVC10WaterDetect1 TMSManifoldWaterDetect TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P1 1,2 1 = water sensed
1917 LVC10WaterDetect2 LVC10WaterDetect2 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P1 3,4 1 = water sensed
Din, Quad Encoder or High
1918 LVC10DigitalInput1 TetherCounterPulse1 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 1 Fequency
1919 LVC10DigitalInput2 TetherCounterPulse2 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 2 Din, Quad Encoder
OPR-A75179-001 Page: 249 of 264 Rev. 0
SURFACE
SW SW
1920 LVC10DigitalInput3 LVC10DigitalInput3 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 3 Fequency
1921 LVC10DigitalInput4 LVC10DigitalInput4 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 4 Din, Quad Encoder
1923 LVC10ValveEnableCh1 LVC10ValveEnableCh1 TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P13 1,2 1 = Valve Enabled
2307 LCI10AinCh1 TMSAltitude TMS Analog 12 10 In FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P2 4 0-4095; 0-10Vdc
2311 LCI10AoutCh1 TMSLightDimmer1Output TMS Analog 8 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P4 3 0-255; 0V-10V
2313 LCI10AoutCh3 LCI10AoutCh3 TMS Analog 8 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P5 3 0-255; 0V-10V
2330 LCI10WaterDetect LCI10WaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P2 4 1=water sensed
2331 LCI10FiberMuxPower LCI10FiberMuxPower TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P3 1 -
2332 LCI10Camera1Power TMSCamera1Power TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P17 1 1 = Power On
2334 LCI10Camera3Power LCI10Camera3Power TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P13 1 1 = Power On
2340 LCI10Camera1FocusNear TMSCamera1FocusNear TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P17 3 1 = Focus Near
2341 LCI10Camera1FocusFar TMSCamera1FocusFar TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P17 3 1 = Focus Far
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SURFACE
SW SW
2342 LCI10Camera2FocusNear TMSCamera2FocusNear TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P15 31 = Focus Near
2343 LCI10Camera2FocusFar TMSCamera2FocusFar TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P15 31 = Focus Far
2344 LCI10Camera3FocusNear LCI10Camera3FocusNear TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P13 31 = Focus Near
2345 LCI10Camera3FocusFar LCI10Camera3FocusFar TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P13 31 = Focus Far
2348 LCI10Camera1ZoomIn TMSCamera1ZoomIn TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P17 41 = Zoom In
2349 LCI10Camera1ZoomOut TMSCamera1ZoomOut TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P17 41 = Zoom Out
2352 LCI10Camera3ZoomIn LCI10Camera3ZoomIn TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P13 41 = Zoom In
2353 LCI10Camera3ZoomOut LCI10Camera3ZoomOut TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P13 41 = Zoom Out
2575 LAM10Gfm1 TMSACLightsGFM TMS Analog 24 1000 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P6 1*0-16777216; 0-1677214ohms
2576 LAM10Gfm2 TMSDCInstGFM TMS Analog 24 1000 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P6 2*0-16777216; 0-1677214ohms
2583 LAM10WaterDetectCh1 TMSMainJBoxLVWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P3 11 = water sensed
2584 LAM10WaterDetectCh2 TMSInWaterSensor TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P3 41 = water sensed
2585 LAM10WaterDetectCh3 TMSRotatingJBoxWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P4 11 = water sensed
2586 LAM10WaterDetectCh4 TMSMainJBoxHVWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P4 41 = water sensed
2587 LAM10WaterDetectCh5 TMSHydOilWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P5 11 = water sensed
2588 LAM10WaterDetectCh6 TMSMotorWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P5 41 = water sensed
2589 LAM10WaterDetectCh7 LAM10WaterDetectCh7 TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P7 11 = water sensed
2591 LAM10WaterDetectCh9 TMSSafeLatch1ClosedInput TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P8 11 = latch closed
2593 LAM10WaterDetectCh11 TMSMainLatch1OpenInput TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P9 11 = latch open
2595 LAM10WaterDetectCh13 TMSMainLatch1ClosedInput TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P10 11 = latch closed
2597 LAM10WaterDetectCh15 ROVDockedInput TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P11 11 = ROV docked
3500 LPCDC10AinCh1 LPCDC10AinCh1 TMS Analog 0 5 In FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P8A 10-5Vdc / 4-20mA; 0-1023
3563 LPCDC10PowerCh1 LPCDC10PowerCh1 TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P2 1,2 -
3564 LPCDC10PowerCh2 TMSResponderPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P3 1,2 -
3566 LPCDC10PowerCh4 TMSAltimeterPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P7 1,2 -
3569 LPCDC10PowerCh7 TMSManifoldPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P14 1,2 -
3579 LPCDC10Dout1 LPCDC10Dout1 TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P8B 1-
OPR-A75179-001 Page: 251 of 264 Rev. 0
SUBSEA
SW SW
1000 LVC1ExternalAinCh1 HydraulicPressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P5 1 0-5Vdc / 4-20mA; 0-4095
1001 LVC1ExternalAinCh2 LVC1ExternalAinCh2 Subsea Analog 12 20 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P6 1 0-5Vdc / 4-20mA; 0-4095
1004 LVC1PRTTempIn2 LVC1PRTTempIn2 Subsea Analog 12 20 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P4 3,4 0-5Vdc; 0-4095; Formula
1011 LVC1ExternalAinCh8/Temp4 HydraulicTemperature Subsea Analog 12 4 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P12 1 0-5Vdc / 4-20mA; 0-4095
1052 LVC1ValveCmdCh1 M1V1ACmd_VPortFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P13 1,2 0-100%; 0-1023; 0-1.519A
1053 LVC1ValveCmdCh2 M1V1BCmd_VPortFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P13 3,4 0-100%; 0-1023; 0-1.519A
1054 LVC1ValveCmdCh3 M1V2ACmd_HPortFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P14 1,2 0-100%; 0-1023; 0-1.519A
1055 LVC1ValveCmdCh4 M1V2BCmd_HPortFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P14 3,4 0-100%; 0-1023; 0-1.519A
1056 LVC1ValveCmdCh5 M1V3ACmd_HStbdFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P15 1,2 0-100%; 0-1023; 0-1.519A
1057 LVC1ValveCmdCh6 M1V3BCmd_HStbdFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P15 3,4 0-100%; 0-1023; 0-1.519A
1058 LVC1ValveCmdCh7 M1V4ACmd_VStbdFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P16 1,2 0-100%; 0-1023; 0-1.519A
1059 LVC1ValveCmdCh8 M1V4BCmd_VStbdFwdThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P16 3,4 0-100%; 0-1023; 0-1.519A
1060 LVC1ValveCmdCh9 M1V5ACmd_VPortAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P17 1,2 0-100%; 0-1023; 0-1.519A
1061 LVC1ValveCmdCh10 M1V5BCmd_VPortAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P17 3,4 0-100%; 0-1023; 0-1.519A
1062 LVC1ValveCmdCh11 M1V6ACmd_HPortAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P18 1,2 0-100%; 0-1023; 0-1.519A
1063 LVC1ValveCmdCh12 M1V6BCmd_HPortAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P18 3,4 0-100%; 0-1023; 0-1.519A
1064 LVC1ValveCmdCh13 M1V7ACmd_HStbdAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P19 1,2 0-100%; 0-1023; 0-1.519A
1065 LVC1ValveCmdCh14 M1V7BCmd_HStbdAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P19 3,4 0-100%; 0-1023; 0-1.519A
1066 LVC1ValveCmdCh15 LVC1ValveCmdCh15 Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P20 1,2 0-100%; 0-1023; 0-1.519A
1067 LVC1ValveCmdCh16 LVC1ValveCmdCh16 Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P20 3,4 Reserved for config data
1068 LVC1ValveCmdCh17 M1V8ACmd_VStbdAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P21 1,2 0-100%; 0-1023; 0-1.519A
1069 LVC1ValveCmdCh18 M1V8BCmd_VStbdAftThr Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P21 3,4 0-100%; 0-1023; 0-1.519A
1070 LVC1ValveCmdCh19 M1V9Cmd_MainManPress Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P22 1,2 0-100%; 0-1023; 0-1.519A
1071 LVC1ValveCmdCh20 M1V10Cmd_Press2 Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P22 3,4 0-100%; 0-1023; 0-1.519A
1074 LVC1ValveCmdCh23 M1V13Cmd_SystemPress Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P24 1,2 0-100%; 0-1023; 0-1.519A
1075 LVC1ValveCmdCh24 M1V14Cmd_IHPUPress Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P24 3,4 0-100%; 0-1023; 0-1.519A
1076 LVC1ValveCmdCh25 M1V15ACmd_PT3Pan Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 110 LVC 0 P25 1,2 0-100%; 0-1023; 0-1.519A
1077 LVC1ValveCmdCh26 M1V15BCmd_PT3Pan Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 110 LVC 0 P25 3,4 0-100%; 0-1023; 0-1.519A
1078 LVC1ValveCmdCh27 M1V16ACmd_PT3Tilt Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 110 LVC 0 P26 1,2 0-100%; 0-1023; 0-1.519A
1079 LVC1ValveCmdCh28 M1V16BCmd_PT3Tilt Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 110 LVC 0 P26 3,4 0-100%; 0-1023; 0-1.519A
1116 LVC1WaterDetect1 LVC1WaterDetect1 Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P1 1,2 1 = water sensed
1118 LVC1DigitalInput1 HydraulicFilter Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P3 1 Fequency
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1119 LVC1DigitalInput2 LVC1DigitalInput2 Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P3 2 Din, Quad Encoder
1120 LVC1DigitalInput3 LVC1DigitalInput3 Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P3 3 Fequency
1123 LVC1ValveEnableCh1 M1V1AEnable_VPortFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P13 1,2 1 = Valve Enabled
1124 LVC1ValveEnableCh2 M1V1BEnable_VPortFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P13 3,4 1 = Valve Enabled
1125 LVC1ValveEnableCh3 M1V2AEnable_HPortFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P14 1,2 1 = Valve Enabled
1126 LVC1ValveEnableCh4 M1V2BEnable_HPortFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P14 3,4 1 = Valve Enabled
1127 LVC1ValveEnableCh5 M1V3AEnable_HStbdFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P15 1,2 1 = Valve Enabled
1128 LVC1ValveEnableCh6 M1V3BEnable_HStbdFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P15 3,4 1 = Valve Enabled
1129 LVC1ValveEnableCh7 M1V4AEnable_VStbdFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P16 1,2 1 = Valve Enabled
1130 LVC1ValveEnableCh8 M1V4BEnable_VStbdFwdThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P16 3,4 1 = Valve Enabled
1131 LVC1ValveEnableCh9 M1V5AEnable_VPortAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P17 1,2 1 = Valve Enabled
1132 LVC1ValveEnableCh10 M1V5BEnable_VPortAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P17 3,4 1 = Valve Enabled
1133 LVC1ValveEnableCh11 M1V6AEnable_HPortAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P18 1,2 1 = Valve Enabled
1134 LVC1ValveEnableCh12 M1V6BEnable_HPortAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P18 3,4 1 = Valve Enabled
1135 LVC1ValveEnableCh13 M1V7AEnable_HStbdAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P19 1,2 1 = Valve Enabled
1136 LVC1ValveEnableCh14 M1V7BEnable_HStbdAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P19 3,4 1 = Valve Enabled
1137 LVC1ValveEnableCh15 LVC1ValveEnableCh15 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P20 1,2 1 = Valve Enabled
1139 LVC1ValveEnableCh17 M1V8AEnable_VStbdAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P21 1,2 1 = Valve Enabled
1140 LVC1ValveEnableCh18 M1V8BEnable_VStbdAftThr Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P21 3,4 1 = Valve Enabled
1142 LVC1ValveEnableCh20 M1V10Enable_Press2 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P22 3,4 1 = Valve Enabled
1145 LVC1ValveEnableCh23 M1V13Enable_MainPress Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P24 1,2 1 = Valve Enabled
1146 LVC1ValveEnableCh24 M1V14Enable_IHPUPress Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P24 3,4 1 = Valve Enabled
1147 LVC1ValveEnableCh25 M1V15AEnable_PT3PanLeft Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P25 1,2 1 = Valve Enabled
1148 LVC1ValveEnableCh26 M1V15BEnable_PT3PanRight Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P25 3,4 1 = Valve Enabled
1149 LVC1ValveEnableCh27 M1V16AEnable_PT3TiltUp Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P26 1,2 1 = Valve Enabled
1150 LVC1ValveEnableCh28 M1V16BEnable_PT3TiltDown Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 110 LVC 0 P26 3,4 1 = Valve Enabled
1200 LVC2ExternalAinCh1 HydraulicCompensator Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P5 1 0-5Vdc / 4-20mA; 0-4095
1201 LVC2ExternalAinCh2 MotorCompensator Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P6 1 0-5Vdc / 4-20mA; 0-4095
1202 LVC2ExternalAinCh3 ElectricCompensator Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P7 1 0-5Vdc / 4-20mA; 0-4095
1203 LVC2ExternalAinCh4 BearingHousingCompensator Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P8 1 0-5Vdc / 4-20mA; 0-4095
1208 LVC2ExternalAinCh5 AuxCompensator Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P9 1 0-5Vdc / 4-20mA; 0-4095
1209 LVC2ExternalAinCh6 MainManifoldHydraulicPressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P10 1 0-5Vdc / 4-20mA; 0-4095
1211 LVC2ExternalAinCh8/Temp4 LVC2ExternalAinCh8/Temp4 Subsea Analog 12 20 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P12 1 0-5Vdc / 4-20mA; 0-4095
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1252 LVC2ValveCmdCh1 M2V1ACmd_JawOpen Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P13 1,2 0-100%; 0-1023; 0-1.519A
1253 LVC2ValveCmdCh2 M2V1BCmd_JawClose Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P13 3,4 0-100%; 0-1023; 0-1.519A
1254 LVC2ValveCmdCh3 M2V2ACmd_WristCW Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P14 1,2 0-100%; 0-1023; 0-1.519A
1255 LVC2ValveCmdCh4 M2V2BCmd_WristCCW Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P14 3,4 0-100%; 0-1023; 0-1.519A
1256 LVC2ValveCmdCh5 M2V3ACmd_ElbowExtend Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P15 1,2 0-100%; 0-1023; 0-1.519A
1257 LVC2ValveCmdCh6 M2V3BCmd_ElbowRetract Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P15 3,4 0-100%; 0-1023; 0-1.519A
1258 LVC2ValveCmdCh7 M2V4ACmd_ShoulderUp Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P16 1,2 0-100%; 0-1023; 0-1.519A
1259 LVC2ValveCmdCh8 M2V4BCmd_ShoulderDown Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P16 3,4 0-100%; 0-1023; 0-1.519A
1260 LVC2ValveCmdCh9 M2V5ACmd_ShoulderLeft Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P17 1,2 0-100%; 0-1023; 0-1.519A
1261 LVC2ValveCmdCh10 M2V5BCmd_ShoulderRight Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P17 3,4 0-100%; 0-1023; 0-1.519A
1266 LVC2ValveCmdCh15 M2V8ACmd_IHPUClutchEngage Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P20 1,2 0-100%; 0-1023; 0-1.519A
1267 LVC2ValveCmdCh16 M2V8BCmd_IHPUClutchDisengage Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P20 3,4 Reserved for config data
1272 LVC2ValveCmdCh21 M2V11ACmd_CustSpare Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P23 1,2 0-100%; 0-1023; 0-1.519A
1273 LVC2ValveCmdCh22 M2V11BCmd_CustSpare Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P23 3,4 0-100%; 0-1023; 0-1.519A
1283 LVC2ValveCmdCh32 M2V16BCmd_CustSpare Subsea Analog 12 0 Out FALSE FALSE TRUE 172.27.12.151 111 LVC 0 P28 3,4 Reserved for config data
1318 LVC2DigitalInput1 FlowMeter2ADin Subsea Digital 0 0 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P3 1 Fequency
1320 LVC2DigitalInput3 FlowMeter2BDin Subsea Digital 0 0 In FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P3 3 Fequency
1323 LVC2ValveEnableCh1 M2V1AEnable_JawOpen Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P13 1,2 1 = Valve Enabled
1324 LVC2ValveEnableCh2 M2V1BEnable_JawClose Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P13 3,4 1 = Valve Enabled
1325 LVC2ValveEnableCh3 M2V2AEnable_WristCW Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P14 1,2 1 = Valve Enabled
1326 LVC2ValveEnableCh4 M2V2BEnable_WristCCW Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P14 3,4 1 = Valve Enabled
1327 LVC2ValveEnableCh5 M2V3AEnable_ElbowExtend Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P15 1,2 1 = Valve Enabled
1328 LVC2ValveEnableCh6 M2V3BEnable_ElbowRetract Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P15 3,4 1 = Valve Enabled
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1329 LVC2ValveEnableCh7 M2V4AEnable_ShoulderUp Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P16 1,2 1 = Valve Enabled
1330 LVC2ValveEnableCh8 M2V4BEnable_ShoulderDown Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P16 3,4 1 = Valve Enabled
1331 LVC2ValveEnableCh9 M2V5AEnable_ShoulderLeft Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P17 1,2 1 = Valve Enabled
1332 LVC2ValveEnableCh10 M2V5BEnable_ShoulderRight Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P17 3,4 1 = Valve Enabled
1333 LVC2ValveEnableCh11 M2V6AEnable_PT1Pan Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P18 1,2 1 = Valve Enabled
1334 LVC2ValveEnableCh12 M2V6BEnable_PT1Pan Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P18 3,4 1 = Valve Enabled
1335 LVC2ValveEnableCh13 M2V7AEnable_PT1Tilt Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P19 1,2 1 = Valve Enabled
1336 LVC2ValveEnableCh14 M2V7BEnable_PT1Tilt Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P19 3,4 1 = Valve Enabled
1337 LVC2ValveEnableCh15 M2V8AEnable_IHPUOn Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P20 1,2 1 = Valve Enabled
1338 LVC2ValveEnableCh16 M2V8BEnable_IHPUDisengage Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P20 3,4 1 = Valve Enabled
1339 LVC2ValveEnableCh17 M2V9AEnable_PT2Pan Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P21 1,2 1 = Valve Enabled
1340 LVC2ValveEnableCh18 M2V9BEnable_PT2Pan Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P21 3,4 1 = Valve Enabled
1341 LVC2ValveEnableCh19 M2V10AEnable_PT2Tilt Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P22 1,2 1 = Valve Enabled
1342 LVC2ValveEnableCh20 M2V10BEnable_PT2Tilt Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P22 3,4 1 = Valve Enabled
1343 LVC2ValveEnableCh21 M2V11AEnable_CustSpare Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P23 1,2 1 = Valve Enabled
1344 LVC2ValveEnableCh22 M2V11BEnable_CustSpare Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 111 LVC 0 P23 3,4 1 = Valve Enabled
1400 LVC3ExternalAinCh1 PV1Pressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P5 1 0-5Vdc / 4-20mA; 0-4095
1401 LVC3ExternalAinCh2 PV2Pressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P6 1 0-5Vdc / 4-20mA; 0-4095
1402 LVC3ExternalAinCh3 AuxHydraulicPressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P7 1 0-5Vdc / 4-20mA; 0-4095
1403 LVC3ExternalAinCh4 RemotePressure Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P8 1 0-5Vdc / 4-20mA; 0-4095
1411 LVC3ExternalAinCh8/Temp4 AuxHydraulicTemperature Subsea Analog 12 4 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P12 1 0-5Vdc / 4-20mA; 0-4095
1452 LVC3ValveCmdCh1 M3V1ACmd_Flow1Pos Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P13 1,2 0-100%; 0-1023; 0-1.519A
1453 LVC3ValveCmdCh2 M3V1BCmd_Flow1Neg Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P13 3,4 0-100%; 0-1023; 0-1.519A
1454 LVC3ValveCmdCh3 M3V2ACmd_Flow2Pos Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P14 1,2 0-100%; 0-1023; 0-1.519A
1455 LVC3ValveCmdCh4 M3V2BCmd_Flow2Neg Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P14 3,4 0-100%; 0-1023; 0-1.519A
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1478 LVC3ValveCmdCh27 M3PV1Cmd_Press1 Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P26 1,2 0-100%; 0-1023; 0-1.519A
1479 LVC3ValveCmdCh28 M3PV2Cmd_Press2 Subsea Analog 12 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P26 3,4 0-100%; 0-1023; 0-1.519A
1518 LVC3DigitalInput1 FlowMeter1ADin Subsea Digital 0 0 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P3 1 Fequency
1520 LVC3DigitalInput3 FlowMeter1BDin Subsea Digital 0 0 In FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P3 3 Fequency
1523 LVC3ValveEnableCh1 M3V1AEnable_Flow1Pos Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P13 1,2 1 = Valve Enabled
1524 LVC3ValveEnableCh2 M3V1BEnable_Flow1Neg Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P13 3,4 1 = Valve Enabled
1525 LVC3ValveEnableCh3 M3V2AEnable_Flow2Pos Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P14 1,2 1 = Valve Enabled
1526 LVC3ValveEnableCh4 M3V2BEnable_Flow2Neg Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P14 3,4 1 = Valve Enabled
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1549 LVC3ValveEnableCh27 M3PV1Enable_Press1 Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P26 1,2 1 = Valve Enabled
1550 LVC3ValveEnableCh28 M3PV2Enable_Press2 Subsea Digital 0 0 Out FALSE FALSE FALSE 172.27.12.151 112 LVC 0 P26 3,4 1 = Valve Enabled
2007 LCI1AinCh1 LCI1AinCh1 Subsea Analog 12 10 In FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P2 4 0-4095; 0-10Vdc
2011 LCI1AoutCh1 ROVLightDimmer1Output Subsea Analog 8 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P4 3 0-255; 0V-10V
2030 LCI1WaterDetect LCI1WaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P2 4 1=water sensed
2031 LCI1FiberMuxPower LCI1FiberMuxPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P3 1 -
2032 LCI1Camera1Power ROVCamera1Power Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P17 1 1 = Power On
2040 LCI1Camera1FocusNear ROVCamera1FocusNear Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P17 3 1 = Focus Near
2041 LCI1Camera1FocusFar ROVCamera1FocusFar Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P17 3 1 = Focus Far
2048 LCI1Camera1ZoomIn ROVCamera1ZoomIn Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P17 4 1 = Zoom In
2049 LCI1Camera1ZoomOut ROVCamera1ZoomOut Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 102 LCI 0 P17 4 1 = Zoom Out
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2111 LCI2AoutCh1 LCI2AoutCh1 Subsea Analog 8 0 Out FALSE FALSE FALSE 172.27.12.152 118 LCI 0 P4 3 0-255; 0V-10V
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2500 LAM1Gfm1 InstrumentACGFM Subsea Analog 24 1000 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P6 1 *0-16777216; 0-1677214ohms
2501 LAM1Gfm2 LightsGFM Subsea Analog 24 1000 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P6 2 *0-16777216; 0-1677214ohms
2508 LAM1WaterDetectCh1 CoreJboxWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P3 1 1 = water sensed
2509 LAM1WaterDetectCh2 J342ConnectorWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P3 4 1 = water sensed
2510 LAM1WaterDetectCh3 LAM1WaterDetectCh3 Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P4 1 1 = water sensed
2515 LAM1WaterDetectCh8 HPUWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P7 4 1 = water sensed
2516 LAM1WaterDetectCh9 ThrustManifoldWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P8 1 1 = water sensed
2517 LAM1WaterDetectCh10 MainManifoldWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P8 4 1 = water sensed
2518 LAM1WaterDetectCh11 AuxManifoldWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P9 1 1 = water sensed
2519 LAM1WaterDetectCh12 ControlCanWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P9 4 1 = water sensed
2520 LAM1WaterDetectCh13 DVLConnectorWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P10 1 1 = water sensed
2521 LAM1WaterDetectCh14 TermJboxWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.150 101 LAM 0 P10 4 1 = water sensed
2525 LAM2Gfm1 InstrumentDCGFM Subsea Analog 24 999 In FALSE FALSE FALSE 172.27.12.151 109 LAM 0 P6 1 *0-16777216; 0-1677214ohms
2526 LAM2Gfm2 SolenoidDCGFM Subsea Analog 24 1000 In FALSE FALSE FALSE 172.27.12.151 109 LAM 0 P6 2 *0-16777216; 0-1677214ohms
2550 LAM3Gfm1 SurveyACGFM Subsea Analog 24 1000 In FALSE FALSE FALSE 172.27.12.152 117 LAM 0 P6 1 *0-16777216; 0-1677214ohms
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2551 LAM3Gfm2 SurveyDCGFM Subsea Analog 24 1000 In FALSE FALSE FALSE 172.27.12.152 117 LAM 0 P6 2 *0-16777216; 0-1677214ohms
2558 LAM3WaterDetectCh1 SurveyJboxWaterDetect Subsea Digital 1 0 In FALSE FALSE FALSE 172.27.12.152 117 LAM 0 P3 1 1 = water sensed
3000 LPCDC1AinCh1 ROVInstrumentCurrent Subsea Analog 10 10 In FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8A 1 0-5Vdc / 4-20mA; 0-1023
3001 LPCDC1AinCh2 ROVToolCurrent Subsea Analog 10 10 In FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8A 3 0-5Vdc / 4-20mA; 0-1023
3002 LPCDC1AinCh3 ROVLightCurrent Subsea Analog 10 10 In FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8A 5 0-5Vdc / 4-20mA; 0-1023
3003 LPCDC1AinCh4 MotorTemperature Subsea Analog 10 1 In FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8A 7 0-5Vdc / 4-20mA; 0-1023
3063 LPCDC1PowerCh1 ThrustManifoldPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P2 1,2 -
3064 LPCDC1PowerCh2 MainManifoldPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P3 1,2 -
3065 LPCDC1PowerCh3 AuxManifoldPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P5 1,2 -
3066 LPCDC1PowerCh4 ROVGyroPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P7 1,2 -
3067 LPCDC1PowerCh5 ROVAltitudeOrDVLPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P9 1,2 -
3068 LPCDC1PowerCh6 SonarPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P10 1,2 -
3069 LPCDC1PowerCh7 ROVDepthPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P14 1,2 -
3070 LPCDC1PowerCh8 FSICTDPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P15 1,2 -
3079 LPCDC1Dout1 ToolPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8B 1
3080 LPCDC1Dout2 CircuitBreakerReset Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.151 113 LPDC 0 P8B 2
3100 LPCDC2AinCh1 ROVInstrumentVoltage Subsea Analog 10 5 In FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8A 10-5Vdc / 4-20mA; 0-1023
3101 LPCDC2AinCh2 ROVToolVoltage Subsea Analog 10 5 In FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8A 30-5Vdc / 4-20mA; 0-1023
3102 LPCDC2AinCh3 ROVLightVoltage Subsea Analog 10 5 In FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8A 50-5Vdc / 4-20mA; 0-1023
3103 LPCDC2AinCh4 CCanTemperature Subsea Analog 10 1 In FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8A 70-5Vdc / 4-20mA; 0-1023
3163 LPCDC2PowerCh1 ManipPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P2 1,2 -
3164 LPCDC2PowerCh2 ResponderPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P3 1,2 -
3165 LPCDC2PowerCh3 OctansGyroPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P5 1,2 -
3166 LPCDC2PowerCh4 ValveportSVSPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P7 1,2 -
3167 LPCDC2PowerCh5 DVL2Power Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P9 1,2 -
3168 LPCDC2PowerCh6 DVL3Power Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P10 1,2 -
3169 LPCDC2PowerCh7 DQ2Power Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P14 1,2 -
3170 LPCDC2PowerCh8 DQ3Power Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P15 1,2 -
3179 LPCDC2Dout1 LPCDC2Dout1 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8B 1-
3180 LPCDC2Dout2 LPCDC2Dout2 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.150 103 LPDC 0 P8B 2-
OPR-A75179-001 Page: 260 of 264 Rev. 0
SUBSEA
SW SW
3300 LPCDC4AinCh1 LPCDC4AinCh1 Subsea Analog 10 10 In FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P8A 1 0-5Vdc / 4-20mA; 0-1023
3363 LPCDC4PowerCh1 StillsCameraPower Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P2 1,2 -
3364 LPCDC4PowerCh2 LPCDC4PowerCh2 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P3 1,2 -
3365 LPCDC4PowerCh3 SurveyDCPowerJ409 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P5 1,2 -
3369 LPCDC4PowerCh7 LPCDC4PowerCh7 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P14 1,2 -
3379 LPCDC4Dout1 LPCDC4Dout1 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 0 P8B 1 -
3468 LPCDC5PowerCh6 SurveyDCPowerJ437J439 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 119 LPDC 1 P10 1,2 -
4000 LPCAC1AinCh1 LPCAC1AinCh1 Subsea Analog 10 10 In FALSE FALSE FALSE 172.27.12.152 121 LPAC 1 P8 1 0-5Vdc / 4-20mA; 0-1023
4063 LPCAC1PowerCh1 SurveyACPowerJ408 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 121 LPAC 1 P2 1,2 -
4069 LPCAC1PowerCh7 SurveyACPowerJ437J439 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 121 LPAC 1 P12 1,2 -
4070 LPCAC1PowerCh8 LPCAC1PowerCh8 Subsea Digital 1 0 Out FALSE FALSE FALSE 172.27.12.152 121 LPAC 1 P13 1,2 -
OPR-A75179-001 Page: 261 of 264 Rev. 0
TMS
SW SW
1800 LVC10ExternalAinCh1 TMSDepth TMS Analog 0 1 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P5 1 0-5Vdc / 4-20mA; 0-4095
1801 LVC10ExternalAinCh2 TMSHydraulicPressure TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P6 1 0-5Vdc / 4-20mA; 0-4095
1802 LVC10ExternalAinCh3 TetherLoadPressure TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P7 1 0-5Vdc / 4-20mA; 0-4095
1803 LVC10ExternalAinCh4 TMSMotorCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P8 1 0-5Vdc / 4-20mA; 0-4095
1804 LVC10PRTTempIn2 TMSMotorTempSensor TMS Analog 0 5 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P4 3,4 0-5Vdc; 0-4095; Formula
1805 LVC10PRTTempIn1 TMSHydraulicTempSensor TMS Analog 0 5 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P4 1,2 0-5Vdc; 0-4095; Formula
1808 LVC10ExternalAinCh5 TMSElectricCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P9 1 0-5Vdc / 4-20mA; 0-4095
1809 LVC10ExternalAinCh6 TMSHydraulicCompensator TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P10 1 0-5Vdc / 4-20mA; 0-4095
1810 LVC10ExternalAinCh7 LVC10ExternalAinCh7 TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P11 1 0-5Vdc / 4-20mA; 0-4095
1811 LVC10ExternalAinCh8/Temp4 LVC10ExternalAinCh8/Temp4 TMS Analog 0 10 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P12 1 0-5Vdc / 4-20mA; 0-4095
1852 LVC10ValveCmdCh1 TMSManV1BCmd_MainLatchClose TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P13 1,2 0-100%; 0-1023; 0-1.519A
1853 LVC10ValveCmdCh2 TMSManV1ACmd_MainLatchOpen TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P13 3,4 0-100%; 0-1023; 0-1.519A
1854 LVC10ValveCmdCh3 TMSManV2BCmd_SafeLatchClose TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P14 1,2 0-100%; 0-1023; 0-1.519A
1855 LVC10ValveCmdCh4 TMSManV2ACmd_SafeLatchOpen TMS Analog 0 0 Out FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P14 3,4 0-100%; 0-1023; 0-1.519A
1856 LVC10ValveCmdCh5 TMSManV3BCmd_PT4Pan TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P15 1,2 0-100%; 0-1023; 0-1.519A
1857 LVC10ValveCmdCh6 TMSManV3ACmd_PT4Pan TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P15 3,4 0-100%; 0-1023; 0-1.519A
1858 LVC10ValveCmdCh7 TMSManV4BCmd_PT4Tilt TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P16 1,2 0-100%; 0-1023; 0-1.519A
1859 LVC10ValveCmdCh8 TMSManV4ACmd_PT4Tilt TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P16 3,4 0-100%; 0-1023; 0-1.519A
1868 LVC10ValveCmdCh17 TMSManV5BCmd_Spare TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P21 1,2 0-100%; 0-1023; 0-1.519A
1869 LVC10ValveCmdCh18 TMSManV5ACmd_Spare TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P21 3,4 0-100%; 0-1023; 0-1.519A
1871 LVC10ValveCmdCh20 TMSManV6ACmd_TetherIn TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P22 3,4 0-100%; 0-1023; 0-1.519A
1873 LVC10ValveCmdCh22 TMSManV7ACmd_TetherOut TMS Analog 0 0 Out FALSE FALSE TRUE 172.27.12.60 202 LVC 0 P23 3,4 0-100%; 0-1023; 0-1.519A
1916 LVC10WaterDetect1 TMSManifoldWaterDetect TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P1 1,2 1 = water sensed
1917 LVC10WaterDetect2 LVC10WaterDetect2 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P1 3,4 1 = water sensed
1918 LVC10DigitalInput1 TetherCounterPulse1 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 1 Din, Quad Encoder or High Fequency
OPR-A75179-001 Page: 262 of 264 Rev. 0
1919 LVC10DigitalInput2 TetherCounterPulse2 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 2 Din, Quad Encoder
1920 LVC10DigitalInput3 LVC10DigitalInput3 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 3 Din, Quad Encoder or High Fequency
1921 LVC10DigitalInput4 LVC10DigitalInput4 TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 202 LVC 0 P3 4 Din, Quad Encoder
2307 LCI10AinCh1 TMSAltitude TMS Analog 12 10 In FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P2 4 0-4095; 0-10Vdc
2330 LCI10WaterDetect LCI10WaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P2 4 1=water sensed
2331 LCI10FiberMuxPower LCI10FiberMuxPower TMS Digital 1 0 Out FALSE FALSE FALSE 172.27.12.60 201 LCI 3 P3 1-
OPR-A75179-001 Page: 263 of 264 Rev. 0
2575 LAM10Gfm1 TMSACLightsGFM TMS Analog 24 1000 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P6 1*0-16777216; 0-1677214ohms
2576 LAM10Gfm2 TMSDCInstGFM TMS Analog 24 1000 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P6 2*0-16777216; 0-1677214ohms
2583 LAM10WaterDetectCh1 TMSMainJBoxLVWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P3 11 = water sensed
2584 LAM10WaterDetectCh2 TMSInWaterSensor TMS Digital 0 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P3 41 = water sensed
2585 LAM10WaterDetectCh3 TMSRotatingJBoxWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P4 11 = water sensed
2586 LAM10WaterDetectCh4 TMSMainJBoxHVWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P4 41 = water sensed
2587 LAM10WaterDetectCh5 TMSHydOilWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P5 11 = water sensed
2588 LAM10WaterDetectCh6 TMSMotorWaterDetect TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P5 41 = water sensed
2597 LAM10WaterDetectCh15 ROVDockedInput TMS Digital 1 0 In FALSE FALSE FALSE 172.27.12.60 201 LAM 2 P11 11 = ROV docked
3564 LPCDC10PowerCh2 TMSResponderPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P3 1,2 -
3566 LPCDC10PowerCh4 TMSAltimeterPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P7 1,2 -
3569 LPCDC10PowerCh7 TMSManifoldPower TMS Digital 0 0 Out FALSE FALSE FALSE 172.27.12.60 201 LPDC 4 P14 1,2 -
OPR-A75179-001 Page: 264 of 264 Rev. 0

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Triton® XLX 35 Computer Control

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Operations & Maintenance Manual

Triton® XLX 35 Computer Control

DASH NUMBER & QUANTITY

PERRY SLINGSBY SYSTEMS, INC TITLE:

1.0 SCOPE ...................................................................................................................1

2.0 CONTROL SYSTEM OVERVIEW .........................................................................3

3.0 SYSTEM SOFTWARE ........................................................................................ 11

4.0 GRAPHICAL USER INTERFACE (GUI)............................................................. 15

4.12.6 MANAGE USERS ..............................................................................................................................67

5.0 GUI PANEL DESCRIPTIONS ............................................................................. 72

5.4.1 CORE JB POWER .............................................................................................................................92

5.7.2 EVENT MANAGER STATS ............................................................................................................. 104

6.0 GUI APPLICATIONS ........................................................................................ 122

6.1.2.2 Delete Data Item ........................................................................................................................... 125

7.0 VEHICLE THRUSTER CONTROLS ................................................................. 139

7.7 FAILSAFE MODE .................................................................................................................................. 153

8.0 SPECIAL CONTROLS AND INTERLOCKS .................................................... 154

9.0 ADDITIONAL FEATURES ................................................................................ 162

APPENDIX A HOW TO QUICK REFERENCE GUIDE ........................................... 163

APPENDIX B EXTERNAL DEVICE INTERFACES ................................................ 192

APPENDIX C SYSTEM DEFAULT SETTINGS ...................................................... 200

C.8. PILOT PANEL 1 ..................................................................................................................................... 206

APPENDIX D I/O SHEETS...................................................................................... 248

Figure 1 – Computer Control System Block Diagram ............................................................................... 4

Table 1 – Surface IP Addresses ............................................................................................................. 14

1.3 REFERENCE DOCUMENTS

• Triton XLX Operations and Maintenance Manuals

EOI Ethernet Optical Interface

2.0 CONTROL SYSTEM OVERVIEW

2.1 SYSTEM ARCHITECTURE

• (2) Surface Windows® based Human Machine Interface (HMI) PC nodes

The local micro board types are:

Figure 1 – Computer Control System Block Diagram

2.3 SURFACE COMPUTER CONTROL SYSTEM

The primary components of the surface computer control system are:

2.3.1 HMI Blades

• Intel® Core 2 Duo Processors

2.3.2 Surface Controller Blade

• Intel® Core 2 Duo Processors

2.3.3 Blade Chassis

2.3.4 Ethernet Switch

2.3.5 Ethernet I/O Devices

Each Ethernet I/O Device contains the following I/O channels:

• (14) analog input channels

2.4 SUBSEA COMPUTER SYSTEM

The primary components of the subsea computer control system are:

• Real-time Subsea Controller computer

2.4.1 Subsea Controller Computer

• (4.50" x 6.50") EPIC 1.0 form factor

2.4.2 Serial to Ethernet Converters

2.4.3 LSI – Local Serial Isolator Boards

2.4.4 LAM – Local Alarms Monitor Boards

2.4.5 LCI – Local Camera Interface Boards

2.4.6 LPD – Local Power Controller DC Boards

2.4.7 LPA – Local Power Controller AC Board

2.4.8 LVC – Local Valve Controller Boards

2.5 TMS COMPUTER SYSTEM

3.0 SYSTEM SOFTWARE

3.1 HMI SOFTWARE

3.2 SURFACE AND SUBSEA CONTROLLER SOFTWARE

3.3 DATABASE AND XML FILES

• Sensor Scaling Parameters

3.4 SOFTWARE VERSIONS

3.5 INSTALLING NEW SOFTWARE