HiPAP

Product description

High Precision Acoustic Positioning

502/452/352/102 systems
 HiPAP
High Precision Acoustic Positioning
Product description

400578/D
September 2016 © Kongsberg Maritime AS
 400578/D
September 2016 © Kongsberg Maritime AS
 Product description

Table of contents

ABOUT THIS DOCUMENT.......................................................... 5

SYSTEM DESCRIPTION ............................................................ 6
SYSTEM CONFIGURATION ....................................................... 9
SYSTEM FUNCTIONS.............................................................. 12
Standard system functions ...............................................................................................12
Optional system functions ...............................................................................................15
Custom system functions .................................................................................................20
SYSTEM UNITS ...................................................................... 22
Operator Station ...............................................................................................................22
Transceiver Unit...............................................................................................................24
Responder Driver Unit (option) .......................................................................................24
Transducers ......................................................................................................................24
Hull units..........................................................................................................................25
EXTERNAL INTERFACES......................................................... 27
TRANSPONDERS .................................................................... 29
POSITIONING PRINCIPLES AND PROCESSING ...................... 30
SSBL positioning .............................................................................................................30
LBL positioning ...............................................................................................................31
Calibration ..............................................................................................................32
Positioning..............................................................................................................32
Multi-user LBL positioning....................................................................................33
Combined SSBL and LBL positioning ............................................................................34
Multi-LBL positioning.....................................................................................................35
HiPAP processing ............................................................................................................35
Cymbal acoustic protocol ................................................................................................36
Technology .............................................................................................................37
Range capability and reduced impact from noise ..................................................37
Range accuracy.......................................................................................................37
Directional measurements ......................................................................................37
Number of channels................................................................................................37
Multi-path capability ..............................................................................................37
Power management - lifetime.................................................................................38
Data Link with variable data rate - adaptable.........................................................38
Integrated navigation and data link ........................................................................38
cNODE - modeless transponder .............................................................................38
MEASUREMENT COMPENSATION ........................................... 39

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APPLICATIONS ...................................................................... 42
TECHNICAL SPECIFICATIONS................................................ 44
Performance specifications ..............................................................................................44
SSBL accuracy .......................................................................................................44
LBL accuracy .........................................................................................................51
Range capabilities...................................................................................................52
Multi-Band .............................................................................................................54
Weights and outline dimensions ......................................................................................54
Power specifications.........................................................................................................56
Environmental specifications ...........................................................................................58
Input formats....................................................................................................................59
DRAWING FILE...................................................................... 60
MP8300 outline dimensions ............................................................................................61
Hatteland 19T14 Display outline dimensions..................................................................62
Responder driver unit, outline dimensions ......................................................................63
Transceiver unit - Outline dimensions .............................................................................64
Hoist control unit - Outline dimensions...........................................................................65

4 400578/D
 About this document

About this document

Purpose
The purpose of this document is to describe the complete HiPAP Model 502/452/352/102
systems.
It provides a general description of the systems, each module, the functions and technical
specifications. It also includes outline dimension drawings of the main units.

Registered trademarks
Observe the registered trademarks that apply.
Windows®, Windows XP®, and Windows® 7 are either registered trademarks, or
trademarks of Microsoft Corporation in the United States and/or other countries.
HiPAP® is a registered trademark of Kongsberg Maritime AS in Norway and other
countries.
cNODE® is a registered trademark of Kongsberg Maritime AS in Norway and other
countries.
cPAP® is a registered trademark of Kongsberg Maritime AS in Norway and other
countries.

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HiPAP

System description

Kongsberg HiPAP system is designed for optimal positioning of subsea objects in both
shallow and deep water.

HiPAP systems
The HiPAP systems are designed to provide accurate positions of subsea objects such as
Remotely Operated Vehicles (ROVs), autonomous underwater vehicles (AUVs), towed
bodies or fixed seabed transponders. To achieve the accuracy, the HiPAP system uses
unique signal processing techniques. This technique enables narrow transmitter and
receiver beams to be generated in all directions within the lower half of the transducer
using electronic beam control.
The HiPAP Model 502/452/352/102 systems are the third generation HiPAP systems.
These models have a new transceiver unit and a new signal processing algorithms for
Cymbal processing.
Cymbal is KM’s acoustic protocol for positioning and communication.
All HiPAP systems; HiPAP 502, HiPAP 452, HiPAP 352 and HiPAP 102 have common
software and hardware platforms, and thereby offer the same kind of additional
functionality and options.
• The HiPAP 502, HiPAP 452 and HiPAP 352 systems are medium frequency systems
operating from 21 kHz to 31 kHz.
• The HiPAP 102 system is a low frequency system operating from 10 kHz to 15.5 kHz.
HiPAP 502 system
The HiPAP 500 transducer has a full spherical
transducer body including 241 transducer elements.
This model has close to full accuracy in the half sphere
sector and is the preferred system where the best
possible performance is required. The HiPAP 500
transducer can also track targets above the half sphere
sector.
The use of very narrow beams provides:
• High accuracy
• Long range capabilities

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 System description

• Good noise reduction capabilities

• Good multipath suppression
The HiPAP 500 transducer has a diameter of 392 mm and is installed with the 500 mm
gate valve.
HiPAP 452 system
The HiPAP 450 transducer is the same unit
as the HiPAP 500 transducer. The system has
Transmitter/Receiver boards for only 46 elements,
similar to the HiPAP 352 system.
The HiPAP 452 system has the same operational and
technical performance as the HiPAP 352 system.
The HiPAP 452 uses the same hull units as the HiPAP
502.

Upgrading from HiPAP 452 to HiPAP 502

The HiPAP 452 can be upgraded to full HiPAP 502 performance. This is done by:
• Inserting 6 additional Transmitter/Receiver Boards in the transceiver unit which is
fully prepared for this.
• APOS software upgrade.
HiPAP 352 system
The HiPAP 350 transducer has a spherical transducer
with a cylindrical body including 46 transducer
elements. This model has good accuracy in the ± 60º
sector and is suited for operations where the major
positioning objects are within this sector. The total
coverage is ± 80º.
The use of narrow beams provides:
• High accuracy
• Long range capabilities
• Good noise reduction capabilities
• Good multipath suppression
The HiPAP 350 transducer has a diameter of 320 mm and is installed with a 350 mm
gate valve. Installing the system with a 500 mm gate valve will enable an easy upgrade
to a HiPAP 502 system.

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HiPAP 102
The HiPAP 100 transducer has a planar transducer
array with a cylindrical body including 31 transducer
elements. This model has good accuracy in the ± 60º
coverage sector and is suited for operations where the
major positioning targets are within this sector.
A tilt adapter is available for this transducer, making
it able to pointing the covering sector towards for
example towed bodies. The adapter tilts the transducer.
The HiPAP 100 transducer has a diameter of 452 mm
and will be installed with the 500 mm gate valve.

Operating modes
• SSBL - Positions various targets by directional and range measurements, using a
unique processing technique that provides very high accuracy.
• LBL - Positions the surface vessel by simultaneously use of combined directional and
range measurements to transponders in an LBL array.
• MULBL - Positions the surface vessel in an MULBL transponder array.
• Telemetry – acoustic communication to:
– transponders for LBL calibration, metrology
– measurements and set-up.
– instrument units and BOP systems.

APOS
APOS is a Windows based software used to operate the HiPAP system. The system can
be operated from one single APOS station or from a wide number of APOS operator
stations connected on a network.

Sensors
The HiPAP system has a wide range of interfaces to sensors from different manufacturers.
The HiPAP system needs high accuracy heading, roll and pitch sensors to be interfaced.
The accuracy of the sensors has direct impact on the position.
Examples of search sensors are Seapath and MRU.

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 System configuration

System configuration

A HiPAP system may be configured in several different ways, from a single system
to a redundant system with several operator stations. Some of the configurations are
outlined here.

Single HiPAP system

The single HiPAP system has one transceiver and hull unit, but it may have one or
more operator stations.

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HiPAP

Redundant HiPAP system

The redundant HiPAP system has two or more operator stations and two or more
transceivers and hull units. All transceivers are accessible from all operator stations. The
redundant system will operate with two transponders, one on each transducer, or two LBL
arrays. The redundant system is still operational after one single failure in the system.

Dual HiPAP system

A dual system applies for the HiPAP 502 only. HiPAP is designed to operate two sets of
transceivers/transducers, both operated from the same operator station(s).
The dual system uses both transducers to measure the position of one single target
(transponder/responder) by controlling beam forming and directional measurement
separately for each system in parallel. This means that both systems will measure and
calculate a position for the same reply pulse from the transponder.
If the signal is lost due to noise or air bubbles on one of the transducers, it may still
be possible to receive it on the other one.

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 System configuration

A position estimator will use the position information from both systems to estimate one
optimal transponder position. Each system calculates a variance for its measurements,
determined from the known system accuracy and the standard deviation of the
measurements. The position estimator receives the position and the variance from the
two systems, and calculates the weighted mean of the two positions. The variances
are used as the weights.
The quality control function uses variance data, standard deviation and position
difference to perform a quality control of the position. If the variance and the position
difference are outside a pre-set limit, a warning will be displayed for the operator.
For the dual configuration, a synchronisation line between the transceivers is required.
Some of the benefits of a dual HiPAP system are:
• Accuracy improvement
The improvement factor from 1 to 2 transducers is √2. This is based on the statistical
improvements when using two independent systems.
• Redundancy improvement
The two transducers will normally be installed at different locations onboard. One
transducer may then have a better location with respect to noise environments and
reflections than the other. The computed position will be a weighted mean of these
two measurements, if one of the systems fails to receive a reply, the other system may
still receive it and the position will still be computed.

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System functions

A HiPAP system consists of a wide range of functions. A function is selected by

the operator. The basic systems have standard functions included, to ensure normal
operation. There are many other configurations available from the optional functions list.

Standard system functions

APOS base version - 886–212745
Base for running all applications, including:
• Sound velocity profile function
• Ethernet interface for position data
• Serial line, RS-422 for transceiver interface
• Serial line, RS-422 for position data
Transponder telemetry for transponders including:
• Set transmit power level
• Set receive sensitivity
• Set Pulse length
• Change channel
• Enable/Disable
• Transponder release
• Read battery status
• Read sensor data
• Position and angle alarm
APOS software for HiPAP providing alarm for transponder position and riser angle
alarm.
• APOS Depth sensor interface
APOS software for interfacing a depth sensor for depth compensation of position.
Suitable for ROV or Tow fish positioning

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 System functions

• GNSS Interface
APOS software with interface to GNSS for geographical data on transponders and
vessel positions. Also used for SSBL and LBL array calibration. The APOS clock
may be synchronised to 1PPS from the GNSS receiver.
• Position and angle audible alarm
APOS software for HiPAP providing alarm for transponder position and riser angle
alarm. Gives an audible alarm using the computer sound output. An external PC
loudspeaker is required.

HiPAP 502 SSBL function – 886–212746

Note
Export license is required.
This function works for a system with HiPAP 500 transducer/s.

APOS software for HiPAP SSBL operation including:

• Transponder positioning
• Responder positioning
• Serial interface for gyro and VRU or attitude sensor (maximum 3 units total)
• SSBL simulator for training

HiPAP 452 SSBL function – 886–220734

Note
Export license is required.
This function works for a system with HiPAP 450 transducer/s.

APOS software for HiPAP SSBL operation including:

• Transponder positioning
• Responder positioning
• Serial interface for gyro and VRU or attitude sensor (maximum 3 units total)
• SSBL simulator for training

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HiPAP 352 SSBL function – 886–214927

Note
Export license is required.
This function works for a system with HiPAP 350 transducer/s.

APOS software for HiPAP SSBL operation including:

• Transponder positioning
• Responder positioning
• Serial interface for gyro and VRU or attitude sensor (maximum 3 units total)
• SSBL simulator for training

HiPAP 102 SSBL function – 334043

Note
Export license is required.
This function works for a system with HiPAP 100 transducer/s.

APOS software for HiPAP SSBL operation including:

• Transponder positioning
• Responder positioning
• Serial interface for gyro and VRU or attitude sensor (maximum 3 units total)
• SSBL simulator for training

HiPAP 351P SSBL function – 356186

Note
Export license is required.
This function works for a system with HiPAP 351P transducer/s.

APOS software for HiPAP SSBL operation including:

• Transponder positioning
• Responder positioning
• Serial interface for gyro and VRU or attitude sensor (maximum 3 units total)
• SSBL simulator for training

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 System functions

Optional system functions

LBL function – 886–212748

Note
Export license is required.

APOS software for Long Base Line operation using HiPAP, including:
• Calibration of transponder arrays in local grid
• Positioning of vessels/ROVs in LBL arrays
• Necessary transponder telemetry
• LBL simulator for training
• Geographical position output if transponder locations/origin are entered in
geo-coordinates
Positioning of a ROV in LBL requires a cPAP 34 unit.

HiPAP MULBL function – 886–212750

Note
HiPAP SSBL and HiPAP LBL functions are required.

APOS software for HiPAP MULBL operation including:

• Calibration of transponder array in local grid
• Positioning of vessel in MULBL array
• Necessary transponder telemetry
• Setting of fast LBL update rate through the master transponder

MULBL transponder array data – 886–212751

APOS files containing transponder array data for MULBL

HiPAP Multi-LBL function – 399865

The HiPAP Multi-LBL solution enables the HiPAP systems onboard one vessel to utilize
one LBL transponder array to provide several separate independent position inputs to the
DP system. The vessel may be equipped with two, three or four HiPAP systems. Each
system will provide position input to the DP based on independent measurements.

Beacon mode – 886–212752

APOS software for HiPAP, beacon and depth beacon operation.

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HiPAP

Inclinometer mode – 886–212753

APOS software for HiPAP, inclinometer transponder operation.

Compass transponder mode – 886–212754

APOS software for HiPAP, compass transponder operation.

GEO LBL Calibration – 886–212755

APOS software for HiPAP for calibration of LBL array in geographical coordinates. In
positioning mode the position may be reported in geographical coordinates.

LBL Transponder Positioning mode – 886–212757

APOS software for HiPAP for use of transponders to be positioned in an LBL network.
(old name was “Transponder Range Positioning”)

SAL Reference – 334053

APOS software for HiPAP for calculation, displaying a vessel’s distance (numeric value)
relative to a known coordinate in a UTM coordinate system.

Dual HiPAP increased SSBL accuracy function – 886–212758

Note
Requires two complete HiPAP transceivers/transducers and the HiPAP SSBL function.

APOS and HiPAP software for enabling increased SSBL accuracy in dual HiPAP
configurations. Provides simultaneous measurement of transponder position by use of
two HiPAP transducers. Provides two separate and one integrated position.

APOS additional Operator Station function – 886–212759

Software and hardware for allowing several Operator Stations for HiPAP systems.

APOS External synch – 886–212761

APOS software for synchronizing HiPAP transceivers to external equipment.

APOS ACS BOP function – 886–212765

APOS software in the HiPAP system for telemetry to the ACS 400/ACS500 system
used on a BOP.

APOS ACS OLS function – 886–212766

APOS software for telemetry to the ACS 400/ACS500 system used on an OLS.

APOS STL function – 886–212767

APOS software for HiPAP systems for STL fields special functions including:

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 System functions

• Scanning of up to 9 MLBE depth and position

• Positioning of STL buoy
• Scanning of transponder battery status
• Graphics showing STL connection point

HiPAP Transponder Relay Function – 886–215837

Enables use of relay-function, relay-transponder frequency allocation, operator interfaces
and displays functionality.

SAL Tension & Yoke monitoring – 886–215939

For Single Anchor Loading stations.
APOS software for HiPAP systems for showing tension and yoke including:
• Graphical presentation of yoke-angle
• Graphical presentation of tension
• Table for converting inclination angle to tension (this option is field dependent).

APOS Field transponder array data – 886–212768

APOS files containing transponder array data for offshore loading fields. Price is per
upgrade.

APOS Remus SSBL Function – 356185

APOS software for HiPAP SSBL positioning of REMUS AUV transponders.

APOS Trainer - HiPAP – 886–217543

Note
The program requires a computer running Windows 7, with CD-ROM player, a network
card, and a TCP-IP protocol needs to be defined.

The product is suitable for training, planning and demonstration purposes and consists of:
• A CD containing full APOS software with all options except OLS.
• APOS Instruction Operating Manual [319957].
The trainer includes sound velocity ray-trace calculation and displaying deflection based
on velocity profile input.
Includes Long Base Line array planning tool.
Includes data output for testing telegram interfaces to external computers (transmits
standard HPR/HiPAP telegrams).
APOS can be operated as a normal HiPAP and a simulator replaces transceiver and
transponders.

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HiPAP

APOS Remus SSBL LF Function – 368775

APOS software for HiPAP SSBL positioning of REMUS AUV transponders. This option
is for positioning Remus low frequency wide band transponders.
This function requires that the system already has both any of the HiPAP SSBL functions
(for HiPAP 101) and the HiPAP Cymbal acoustic protocol function.

APOS Benthos SSBL LF Function – 369712

APOS software for HiPAP SSBL positioning of Benthos low frequency transponders.
The interrogation is 16 kHz and the transponder replies are 7.5-12.0 kHz with 0.5 kHz
step.
This function requires that the system already has both any of the HiPAP SSBL functions
(for HiPAP 102) and the HiPAP Cymbal acoustic protocol function

No Take Control – 384126

Note
This function should not be delivered when the operator wants to take control from the
secondary station

Secondary station with disabled Take Control Function.

The Secondary Station(s) is configured without the possibility to take control.

Survey OS – 384129
Survey OS option is a safeguards in DP Operations.
When selected, the Survey Operator Station is not allowed to activate or deactivate SSBL
transponders in fixed positioning mode.
Since the transponders used by the vessel DP system are normally selected in fixed
mode, and those used by Survey are selected in mobile mode, this is an additional
safeguard against unauthorized interference with the DP system.

APOS Base Version for µPAP – 395412

APOS – Acoustic Position Operator Station
Software base for running all applications, including:
• SSBL for µPAP
• Sound velocity profile function
• Ethernet interface for position data
• Serial line, RS 422 for transceiver interface
• Serial line, RS 422 for position data
• Transponder telemetry including:

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 System functions

– Set transmit power level

– Set receive sensitivity
– Set Pulse length
– Change channel
– Enable/Disable
– Transponder release
– Read battery status
– Read sensor data, if any
• Position and angle alarm
– APOS software for HiPAP or µPAP providing alarm for transponder position and
riser angle alarm
• APOS Depth sensor interface
– APOS software for interfacing a depth sensor for depth compensation of position.
Suitable for ROV or Tow fish positioning

Anchor line monitoring – 389229

To monitor the distance from a geographic point to transponders, a special view can be
configured and displayed. See the example to the right.
The horizontal distance from the center of the circle
to each transponder is shown in the range column. The
red circle is the alarm circle. If a transponder slides
into this circle, an alarm will be activated. The current
value and position will change to red and you will hear
the sound of a siren. The yellow circle is the warning
circle. Transponders inside of this circle will become
yellow. The purpose of the depth column is to monitor
that transponders stays within a given depth interval.

Electrical Riser Angle (ERA) Mode – 400528

APOS software for reading and displaying Electrical Riser Angle (ERA) where APOS
interfaces the control computer from the supplier of the Blow Out Preventer (BOP) for
the reception of lower riser and stack angles on serial lines. The interface is made for
NL, Hydril and Cameron BOPs

HiPAP - Emergency channels A&B – 400529

The HiPAP transceiver can use emergency channels A and B used on diving bells.

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HiPAP

APOS 3D Current Meter option –

The option includes graphics for displaying the influence of sea current measured by s
at three water depths. Data retrieved by HPR system from transponders connected to
Aquadopp Doppler System Current meters.

HiPAP FastTrack option – 368713

Simultaneous interrogation of up to 8 transponders for faster SSBL positioning without
processing the interrogations and replies in sequence.
The operator may have to change the internal turn-around delay in the transponders from
the APOS menu for avoidance of pulse receipt collisions.
Fast Track can be operated with transponders using FSK (analog protocol) or CYMBAL
(digital protocol).

Custom system functions

APOS Software option for Goliat Tankers – 400526
For all vessels on direct loading from Goliat FPSO
Featuring:
• Global Position data of Goliat FPSO is received and stored as separate object.
• Presentation of the FPSO as independent vessel on the APOS screen together with the
shuttle tanker and Alarm zone
• Dynamic alarm calculation of shuttle tanker relative the Goliat FPSO
• Relay output for position alarm to BLS system
• Special handling of Gyro (heading) information
• System test
• Documentation

APOS Interface to ABB Radio-Link for FPSO Position – 400527

For Goliat Shuttle tankers.
FPSO absolute position is sent by ABB Radio Link via Ethernet UDP packages to the
shuttle tankers HiPAP system.
Including:
• APOS Software module reading GGA and HDT sentences
• Ethernet interface to HiPAP’s computer
• Controlled from the master APOS

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 System functions

APOS Transparent Modem Function – 392903

Applies for HiPAP, µPAP and cPAP
The function is configurable.
• Interleave time for data communication and navigation
• Data communication only
• Data rate
• Operate several subsea modems
This option also supports AUV positioning and data communication operation.
Optional NMEA proprietary messages for configuration and operation
Interface to external system vie Ethernet or serial line.

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System units

Operator Station
The HiPAP system is operated from one or several operator stations, depending on the
actual system configuration. The operator station is identical for all HiPAP models.
The Operator Station comprises:
• Computer
• Keyboard
• Mouse
• Display
The computer runs on a Microsoft Windows operating system. The user interface is a
graphical user interface, designed as a standard Windows application.
A Keyboard and trackball is used to operate the system.
The screen is divided into 3 windows in which the operator can select several different
views. Typical views are graphical position plot, numerical data, inclination and roll,
pitch and heading. A normal display configuration is shown in the following figure.

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 System units

One system may have one or several Operator Stations, which communicates on an
Ethernet. One of the operator stations will be the Master. This is selected by the
operator(s).

Standard Operator Station

Computer
The HiPAP Operator Station contains computer hardware as processor, hard drive,
DVD-RW player and external interface boards. The computer is continuously being
updated with new hardware.
The computer may be mounted on a desktop attached to the colour monitor, or in a
19” rack.
Display
The colour display, the flat-screen 19” TFT is a general purpose, micro-processor based
and digitally controlled display unit. The display can be installed in several ways;
desktop, roof, panel or 19” rack.
Keyboard
The keyboard is a PS/2 keyboard. It has US layout and includes back-lighting and is
splash proof. The keyboard can be mounted on the computer or be placed on a desktop.
Trackball
A standard off the shelf unit is used.

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HiPAP

Operator console
If the HiPAP system is delivered with a Kongsberg DP system the Operator Station
may be a standard Kongsberg DP console.

Transceiver Unit
The HiPAP transceiver is provided to transmit the acoustic energy into the water. To do
this, the transceiver computes and generates the electric signals sent to the transducer to
form a transmission - a 'ping'. After each transmission, it will receive the echoes from
the targets in the water column and/or the seabed. These are filtered and amplified, and
then converted to digital format.
Three types of HiPAP transceiver units are available:
• HiPAP x82-M8 transceiver unit, for HiPAP 502
• HiPAP x82-M2 transceiver unit, for HiPAP 352 or 452
• HiPAP x82-L1 transceiver unit, for HiPAP 102
The transceiver models have identical form and function, but is equipped with
transmitter/receiver and filter board for the various transducers. The unit contains power
supply, transmitter and receiver boards and interface to the optical fibre link.
The unit is designed for bulkhead mounting close to the hull unit.

Responder Driver Unit (option)

The Responder Driver Unit provides responder trigger signals to responders.
The Responder Driver Unit is a stand-alone unit.
The unit is interfaced to the HiPAP system via the transceiver unit. APOS controls which
drive is being active while the sync/timing is received from the transceiver.

Transducers
HiPAP 500 transducer
The HiPAP 500 transducer has a full spherical transducer body including 241 transducer
elements, the elements covers its entire surface area except for a small cone around
the ”north-pole”. The large number of elements enables narrow receiver beams to be
generated. The transducer is mounted on the hull unit.

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 System units

HiPAP 450 transducer

The HiPAP 450 transducer is the same unit as the HiPAP 500 but only the 46 lower
sector elements of the sphere are activated and in use. The transducer is mounted on
the hull unit.

HiPAP 350 transducer

The HiPAP 350 transducer has a spherical transducer with a cylindrical body including
46 transducer elements, the elements covers its’ ± 60° cone pointing downwards. The
large number of elements enables narrow receiver beams to be generated. The transducer
is mounted on the hull unit.

HiPAP 100 transducer

The HiPAP 100 transducer has a planar transducer array with a cylindrical body
including 31 transducer elements. This model has good accuracy in the ± 60º coverage
sector and is suited for operations where the major positioning targets are within this
sector. The transducer is mounted on the hull unit.

Hull units
The HiPAP hull unit enables the transducer to be lowered through the vessel’s hull to
a depth sufficient to minimise the effects of noise and air layers below the vessel. The
hull unit is installed on top of a gate valve, which can be closed during maintenance and
transport. The hull unit also holds the guide-rail arrangement for keeping the transducer
exactly aligned with the vessels reference line.

Available hull units

• HL 2180
• HL 3770
• HL 4570
• HL6180

Gate valve
There are two different gate valves available, one with 500 mm aperture and one with
350 mm aperture. The valve is hand-wheel operated, delivered with electrical interlock
for prevention of lowering the transducer into the gate.
As an option the gate vale can be delivered with an electrical actuator (electrical gate
valve operation).

Mounting flange
There are two different flanges available, one with 500 mm aperture and one with 350
mm aperture. Standard height is 600 mm. Optional height is available on request.

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HiPAP

Hoist Control Unit

This unit holds the power supply and control logic for the hoist and lower operation of the
hull unit. It also has a local control panel for local control of the hoist/lower operation.

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 External interfaces

External interfaces

The HiPAP system can be connected to many different external sensors and systems.

Position outputs
The HiPAP system can be interfaced to other computers allowing them to process the
position data for various applications. The system is flexible in the way it interfaces other
computes. Several binary and ASCII formats are available on serial line and Ethernet
using UDP protocol.
A dual Ethernet is available for secure DP operations.
An accurate time-tagged position output is available if the system is interfaced to a
GNSS and synchronised to 1PPS.

Surface navigation
The HiPAP system can be interfaced to a surface navigation system. As standard the
system uses Global Navigation Satellite System (GNSS). When GNSS is interfaced,
a number of features will become available; UTM grid on display, UTM position of
transponders, transducer alignment and geographical calibration of LBL arrays.

Motion Sensor Unit

The motion sensor unit is interfaced to the transceiver unit. The system can thereby
automatically compensate the transducer position for the vessel’s roll and pitch
movements. The HiPAP system can use the same sensor as the Dynamic Positioning
(DP) system (if one is fitted).

Heading sensor
The heading sensor (gyro compass) provides the HiPAP system with the vessel’s heading
relative to north. The HiPAP system may then provide transponder coordinates relative
to north. It is also used to update the position filter and tracking algorithms as the
vessel changes heading.

Attitude sensors
These sensors integrate rate gyros, accelerometer and GPS to provide an accurate roll,
pitch, heave and heading output. These sensors are superior to traditional gyros and
motion sensors. The HiPAP system may be interfaced to such sensors.

400578/D 27
HiPAP

Interface specification
The HiPAP system has several interface formats available. These are described in the
Attitude formats description document in APOS online help.

28 400578/D
 Transponders

Transponders

The position calculation is based on range and/or direction measurements from the
onboard transducer to the subsea transponder(s). There is a wide range of transponders
available for the HiPAP system. The various transponders models have different depth
rating, source level, lifetime, beam pattern and function.

cNODE series
The cNODE series consist of three main models:
• Maxi transponder
A full size transponder with large battery capacity well suited for seabed deployment
and long life operation.
• Midi transponder
A short transponder with good battery capacity well suited for installation on
structures etc.
• Mini transponder
A small sized transponder suited for ROV mounting.
The cNODE transponders have a flexible design based on a standard housing which can
have various transducers, release mechanism and sensor modules attached.

400578/D 29
HiPAP

Positioning principles and

processing

The HiPAP system uses two different principles for positioning; the SSBL and the
LBL. These two principles have different properties that make the system flexible for
different applications.
• The SSBL principle is based on a range and direction measurement to one
transponder, while the LBL principle is based on range measurements to minimum
three transponders on the seabed.
• The position accuracy in SSBL is proportional to the slant range to the transponder,
while the LBL accuracy is determined by the geometry of the seabed transponders
array and the vessel that is being positioned.
• The SSBL principle, due to its simple operation, is the obvious choice if the accuracy
is good enough for the application performed. The LBL principle is the obvious
choice if the SSBL accuracy is not good enough for the application performed, though
it requires a more complex operation.
• Cymbal is a signal processing technique used for all positioning modes. Cymbal
utilizes Direct Sequence Spread Spectrum (DSSS) signals for positioning and data
communication. DSSS is a wide band signal. The Cymbal protocol provides new
characteristics for both positioning and data communication.

SSBL positioning
In SSBL, the system calculates a three-dimensional subsea position of a transponder
relative to a vessel-mounted transducer. The position calculation is based on range
and direction measurements to one transponder. The onboard transducer transmits an
interrogation pulse to a subsea transponder, which then answers with a reply pulse.
When using a responder the interrogation is replaced by a hard wire trigger connection.
• The onboard system will measure the time from the interrogation to the reply pulse is
detected and use the sound velocity to compute the range.

30 400578/D
 Positioning principles and processing

• The transponder position is presented both numerical and graphically on the operator
station. Only one onboard SSBL type transducer is necessary to establish this position.
Using a pressure sensor in the subsea transponder can increase position and depth
accuracy. The pressure is measured and transmitted to the surface HiPAP system using
acoustic telemetry. The depth is then used in the algorithms for establishing the 3D
position. The system can also read the depth via a serial line input from a pressure
sensor. Simultaneous use of many transponders is made possible by using individual
interrogation and reply frequencies.

LBL positioning
The LBL principle is based on one vessel-mounted transducer, and normally 4 - 6
transponders on the seabed.

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HiPAP

Calibration
The LBL principle is based on one vessel-mounted transducer, and normally 4 - 6
transponders on the seabed. This seabed transponder array must be calibrated before
LBL positioning operations can begin. The calibration determines the transponder’s
positions in a local geographical coordinate frame.
The HiPAP system supports two calibration techniques:
1 Baseline measurements
This technique uses automatic calibration functions in the HiPAP system. This
allows all the ranges to be measured and made available by acoustic telemetry
communication between the transponders and the vessel’s system. Based on the
baseline measurements and initial positions of the transponders, the calibrated
transponder positions are computed.
2 Runtime calibration
To use this technique, the system is run in LBL positioning mode, using the SSBL
positions of the seabed transponders for the vessel LBL position calculation. The
runtime calibration function logs the measurements. Based on this, new optimised
seabed transponder positions will be computed. This technique makes the baseline
measurements redundant. If the baselines measurements are done, they are also
used in the calculations.
The calibration is performed only once prior to positioning operation, since the
transponders will remain in the same location during the operation.

Positioning
When the transponder positions are known, positioning of the surface vessel can begin.
All the seabed transponders will be interrogated simultaneously, and each will respond
with its specific reply signal. The LBL system will then calculate the ranges from the
individual transponders. By using the calibration data together with the calculated ranges
in software algorithms, the vessel or an ROV can be positioned. ROV positioning
requires an cPAP 34 transceiver to be mounted on the ROV.
• The system can take the depth from an ROV-mounted pressure sensor via a serial
line. By using this depth in the computation, it will increase the position accuracy of
the ROV.
• The range capabilities of a medium frequency LBL system will be approximately
the same as those of an SSBL system.
• LBL positioning will give better position accuracy at greater water depths, but is more
complex to operate, and it needs more transponders than the SSBL.
• LBL TP positioning method uses one transponder to measure the ranges to the
transponders in the array and telemetry the data to the surface vessel, which computes
the position of the transponder.

32 400578/D
 Positioning principles and processing

Multi-user LBL positioning

Several individual vessels and ROV units can now position themselves using the same
seabed transponder array. The system and principle has the following main advantages:
• Provides high position accuracy (comparable to standard LBL).
• A small number of transponders serve all vessels and ROVs.
• Secures high position update rate (down to approximately 2 seconds), which is
essential in DP operations.
• Avoids transponder frequency collisions when vessels are working in the same area
(all vessels are “listening” only).
A transponder array is deployed and calibrated by use of subsea baseline measurements.
One transponder is used as the Master in the positioning phase. The other transponders
are Slaves.
The Master transponder acts as a beacon. It starts a positioning sequence by doing the
steps described below. This is done regularly with an interval set by telemetry from
one of the vessels.
• The Master interrogates the Slaves.
• The Master transmits its individual transponder channel to be received by the
vessels/ROVs positioning in the array.
• Each Slave transponder receives the interrogation from the Master and transmits its
individual reply channels after a turnaround delay.

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HiPAP

A MULBL system positioning in the array listens for the individual channels transmitted
by the master beacon, and by the Slave transponders. When they are received, the system
uses its knowledge about their positions in the TP array to calculate the differences
in range to the transponders in the TP array. The time difference between the Master
interrogation and the start of the reception of the pulses at the system is unknown. It has
to be calculated together with the position of the vessel or ROV.
All vessels who uses the MULBL array need the coordinates of the transponders and the
channel numbers, which will be distributed with a file.

Combined SSBL and LBL positioning

The combined SSBL/LBL system uses an onboard multi-element transducer. The system
may operate as an SSBL system and as an LBL system simultaneously.
As an example, the vessel may be positioned relative to the seabed using LBL while an
SSBL transponder/responder on an ROV is positioned relative to the vessel. The vessel
is displayed relative to the array origin and the ROV relative to the vessel.
The combined system will also use the measured directions in 2D together with the
measured ranges in the LBL positioning. The combined measurement gives a robust
system with increased accuracy. An LBL solution is achievable when only two
transponder replies are detected.

34 400578/D
 Positioning principles and processing

Multi-LBL positioning
The HiPAP Multi-LBL solution enables the HiPAP systems onboard one vessel to utilize
one LBL transponder array to provide several separate independent position inputs to the
DP system. The vessel may be equipped with two, three or four HiPAP systems. Each
system provides position input to the DP based on independent measurements.

Principle of operation
One of the HiPAP systems onboard provide the acoustic interrogation of the LBL
transponder array and output an electric trigger signal to the other HiPAP systems. All
HiPAP systems receives the same signal from the transponder array and can thereby
compute an independent position. The electrical trigger enables independent range
measurements to the transponders.
In case the interrogating system fails, one of the other systems automatic takes over and
interrogates the seabed LBL array and provides the electrical trigger signal. The seabed
transponder array can consists of from 3 to 8 transponders. Typically 4 to 5 transponders
will be used in one array providing good redundancy, three transponders are required to
provide a full LBL solution. By this, redundancy is achieved both onboard the vessel
and on the seabed array.
A hardware trigger line must be installed between the HiPAP transceivers, similar to
installation of DUAL HiPAP for SSBL mode used on several survey vessels.
Common mode failure is handled onboard by automatic takeover if the interrogating
system is failing or a failure on the trigger line occurs. On the LBL transponder array
common mode failure is handled by use of redundant transponders in the array.
Features:
• No additional transponders
• No extra battery consumption
• No interference problem from several acoustic interrogations
• Reduced time on transponder deployment
• Reduced time on LBL calibration
• Less maintenance and battery replacement

HiPAP processing
HiPAP SSBL processing
• The HiPAP system determines the position of a subsea target (transponder or
responder) by controlling a narrow reception beam towards its location. The system
uses a digital beam-former, which takes its input from all the transducer elements.

400578/D 35
HiPAP

• The system uses a number of wide fixed beams to generate an approximate position
for the target. Once this is achieved, it uses data from all the elements on the
hemisphere facing the target to compute the narrow reception beam and optimise the
directional measurement.
• The range is measured by noting the time delay between interrogation and reception.
The system will control the beam dynamically so it is always pointing towards the
target. The target may be moving, and the vessel itself is affected by pitch, roll and
yaw. Data from a roll/pitch sensor is used to stabilise the beam for roll and pitch,
while directional data from a compass is input to the tracking algorithm to direct the
beam in the correct horizontal direction.
• The HiPAP transceiver can operate with up to 560 transponders simultaneously.
The data is sent to the computer.

HiPAP LBL processing

• This mode is similar to the HiPAP SSBL processing, but the transceiver positions up
to 8 LBL transponders for each single LBL interrogation. Both ranges and directions
to the transponders are measured.

HiPAP MULBL processing

• This mode is similar to the HiPAP LBL processing, but the transceiver does not
interrogate the MULBL transponder array, it only listen for the replies from the array.
The transceiver can listen for to 8 LBL transponders. The direction to the transponders
and the time difference between the received replies is transmitted to the computer.

HiPAP MULTI-LBL processing

• This mode allows all HiPAP systems on the vessel to share one LBL array. One
of the transceiver/transducers in the system interrogates the network and all
transceiver/transducers receives the replies and compute a individual position. This
reduces the need for two arrays at the seabed.

HiPAP telemetry processing

• The unit transmits acoustic telemetry messages, and receives and decodes the acoustic
telemetry message from the transponder. The data is sent to the computer.

Cymbal acoustic protocol

Cymbal is the acoustic protocol used for both positioning of subsea transponder in
SSBL/LBL mode and data communication to and from transponders.

36 400578/D
 Positioning principles and processing

Technology
Cymbal utilizes Direct Sequence Spread Spectrum (DSSS) signals for positioning and
data communication. The data communication speed is variable and can be adapted to
the acoustic communication conditions; noise and multi-path.
DSSS is a wide band signal.
The Cymbal protocol provides new characteristics for both positioning and data
communication.

Range capability and reduced impact from noise

Cymbal protocol can transmit more energy in each positioning pulse. Compared to
the current HiPAP 500 this extra energy will provide higher position accuracy at low
signal to noise ratio. It will also provide longer range capabilities. This improvement in
energy is 5dB.

Range accuracy
The Cymbal signal gives range accuracy in the order of 0.01 m. Error contribution from
sound velocity and ray bending not included.

Directional measurements
In SSBL operation, the accuracy of directional measurement is the main contributor to
the position accuracy. The HiPAP 502 has new and improved algorithms for directional
computation when using Cymbal. At low signal to noise ratio the system will be more
robust.

Number of channels
The Cymbal protocol has increased number of unique codes for transponder channels
compared to the current system. At present there are 560 unique transponder channels.

Multi-path capability
The Cymbal protocol is designed to have good multi path properties. The processing
technique allows signals to and from the transponder to overlap and still be able to
have correct detection.

400578/D 37
HiPAP

Power management - lifetime

The Cymbal protocol has a power management function that can command the
transponder to adjust transmit power to save batteries. This is done automatically by
the system.

Data Link with variable data rate - adaptable

The Cymbal protocol supports variable data rate and high reliability level. The obtainable
data rate is defined by the signal to noise level and multi-path conditions. By default the
system uses data rates that will secure long range and high reliable communication.

Integrated navigation and data link

Data that needs to be sent to and from a transponder will be interleaved between the
positioning signals. The cNODE transponder can any time send status and data to the
HiPAP and the other way around. If the cNODE transponder detects low battery level,
this can be directly sent to HiPAP and displayed to the operator.

cNODE - modeless transponder

The Cymbal protocol is able to use transponders in SSBL and LBL mode without
changing the mode of the transponder. A transponder in an LBL array can by the
operator be deselected from the LBL positioning and directly be used in SSBL mode. No
data telemetry is required.
The cNODE transponders will either listen for a Cymbal or a HPR 400 channel.

38 400578/D
 Measurement compensation

Measurement compensation

Roll - pitch - heading compensation

In order to compensate for the vessels roll/pitch/heading movements, vertical reference
sensors and heading sensors are interfaced. Data from these sensors are used to compute
position data that is relative to horizontal level and to north.
The absolute accuracy and the standard deviation of the position are very dependent of
the roll/pitch/heading sensors performance. Especially when working at great water
depths the roll/pitch/heading error contribution is significant and when working at long
horizontal range the heading error contribution is significant. This compensation is used
in all positioning modes.
The accuracy of the attitude data is of crucial significance for the total accuracy of the
HiPAP system, and the error from the attitude sensor will add to the error of the HiPAP
system.

Example
A roll or pith error of 0.25 degrees will give an error of 4.4 m at 1000 m
depth, and an error of 13 m at 3000 m depth - while a roll or pitch error of
0.05 degree will give respectively 0.9 m and 2.6 m.

Ray bending compensation

Positions calculated from the raw measurements are influenced by variable sound
velocity through the water column. The variable sound velocity causes an error in both
range measurements and the angular measurements. By use of a sound profile, the
system can correct these errors.

400578/D 39
HiPAP

The sound velocity values may be measured by a probe and transferred to the system. If
the depth of the target (transponder) is known either by depth sensor in the transponder
or by an ROV depth sensor, these data can be transferred to the system and they will be
used in the compensation.
The range calculation is compensated for the error caused by different sound velocities
in the water column, and for the extra propagation path caused by the ray bending. The
angular measurements are compensated for the ray bending.
The compensation is used in all positioning modes.

Transducer alignment
After a HiPAP installation, it is necessary to determine a number of offsets between
various sensor reference points and axes. These are:
• Vertical angular
The offset between transducer axis and roll / pitch sensor axis.
• Horizontal angular
The offset between roll / pitch sensor and heading reference.
• Horizontal distance
The offset between transducer location and reference point.
The principles for these alignment adjustments are based on the position of a fixed
seabed transponder relative to the vessel and the geographical position of the vessel.
In order to simplify and improve the quality of the alignment scenario, the alignment
function in APOS is used. By logging the vessel position from GNSS along with the
measured HiPAP position of a seabed transponder, the program computes the alignment
parameters. The normal procedure is to locate the vessel at four cardinal points and on
top of the transponder with four headings.
Immediately the alignment parameters can be computed and automatically be transferred
to the APOS alignment parameters. No manual transfer is needed. The results from the
alignment are shown both numerical and graphically in APOS.

40 400578/D
 Measurement compensation

An example is shown in the two following figures.

The figure shows the positions at the seabed transponder in UTM coordinates after the
compensation values are determined and applied. The various symbols are used so
readings from different locations easy can be separated from each other.

400578/D 41
HiPAP

Applications

Dynamic Positioning (DP) reference

The position data can be used by a DP system as the reference signals for keeping the
vessel in the desired position. High position accuracy and reliability ensure a secure and
stable reference input to the DP systems. SSBL and LBL systems may be used.

Subsea survey and inspection

Positioning of ROVs carrying instruments for survey and inspection is another important
application for the HiPAP system. The ROV position relative to the vessel is integrated
with the position from surface navigation to provide a geographical position of the ROV.
In this application, a responder is suitable.
Tracking towed bodies for similar applications may also be done. In survey applications,
a best possible geographic position is wanted. To obtain this, sound velocity and depth
(pressure) sensor input to the HiPAP system may be used.

Rig and Riser monitoring

The HiPAP system can be used to monitor the drill rig position relative to the well/Blow
Out Preventer (BOP). It can also be used with inclinometer transponders to monitor the
BOP and riser inclination. Used with the Acoustic Control Subsea (ACS500) it can be
used for BOP.

Acoustic Blow Out Preventer (BOP) control

The HiPAP system is also used for transmitting and receiving acoustic telemetry
command with high security. This is used for acoustic BOP control, which includes BOP
valve operation and monitoring critical functions by reading subsea status information
and sending this information to the operator onboard the vessel.
A separate unit, the ACS500, is required on the BOP stack. The ACS500 contains
electronics and batteries for interfacing the BOP.
A portable control unit, the Acoustic Command Unit (ACU30), is also available. The
ACU30 contains electronics and batteries for operating the BOP functions.

Construction work and metrology

The HiPAP system forms a powerful platform for performing several tasks for
positioning and acoustic data communication for construction and metrology work:

42 400578/D
 Applications

• LBL array calibration

• Box-in of locations
• Telemetry of sensor data
• Highly accurate baseline measurements
The cNODE transponder has high performance range measurement and data
communication capabilities. A variety of sensors are available for cNODE and the
sensor data is available to the operator from the HiPAP system.
The accuracy of baseline measurements obtained by use of cNODE transponders can be
in the order of 0.01 m. However, to obtain this kind of accuracy it is essential that the
operator has full control of the sound velocity. The figure below shows an APOS screen
dump showing the statistics from a LBL calibration. The RMS residuals are calculated
to be 0.03 m. There were 7 transponders in the array.

400578/D 43
HiPAP

Technical specifications

Performance specifications
These performance specifications summarize the main functional and operational
characteristics of the HiPAP.

SSBL accuracy
The given values for accuracy are 1σ figures.
The specification is based on:
• Free line of sight from transducer to transponder.
• No influence from ray-bending.
• Signal to Noise ratio in water in the 250 Hz receiver band.
• No error from heading and roll/pitch sensors.

44 400578/D
 Technical specifications

Transducer reference point

The reference points shown below are the origin for the position measurements.
The elevation and orthogonal angles are used in the accuracy curves.

400578/D 45
HiPAP

HiPAP 502
HiPAP 502 Single system HiPAP 502 Dual system
S/N [dB rel.
20 10 0 20 10 0
1μPa]
Angular
accuracy
(X & Y 0.06 0.1 0.3 0.042 0.07 0.21
direction)
[°]
Position
accuracy
0.08 0.14 0.42 0.06 0.1 0.3
[°](At 0°
elevation)
Range
accuracy 0.1 0.1 0.15 0.1 0.1 0.15
[m]
Cymbal
range
0.02 0.02 0.02 0.02 0.02 0.02
accuracy
[m]
Receiver
10 10
beam [°]
Operational
±110 ±110
coverage [°]
Main
±100 ±100
coverage [°]

Angular accuracy (X & Y direction) [°] is the accuracy in each of the x and y axis.
Position accuracy [°] is the combined accuracy of both axis √(x2 + y2)
Operational coverage defines the sector where acoustic positioning and communications
are operational.
Main coverage is the sector where maximum range and angular accuracy can be achieved.
Outside the main coverage range and elevation angular accuracy are reduced, therefore
a depth input for aiding is recommended.

46 400578/D
 Technical specifications

The following figure shows the accuracy as a function of elevation angle. The signal to
noise ratio of 10 dB is within the signal bandwidth.

The following figure shows the accuracy as a function of signal to noise ratio. The
elevation angle is 0° (at vertical).

400578/D 47
HiPAP

During transducer alignment at 1200 meter water depth with data logged with 4 different
heading on top of transponder and 4 cardinal points a total accuracy of the seabed
position is estimated to a standard deviation is N0.97 m and E0.91 m
This equals to 0.08% of water depth or 0.046º accuracy. A cNODE MAXI 34-30V
was used.

HiPAP 452
See the specification for HiPAP 352.

48 400578/D
 Technical specifications

HiPAP 352
HiPAP 352/452 Single system
S/N [dB rel. 1μPa] 20 10 0
Angular accuracy (X &
0.1 0.15 0.4
Y direction) [°]
Position accuracy [°](At
0.14 0.35 0.6
0° elevation)
Range accuracy [m] 0.1 0.15 0.2
Cymbal range accuracy
0.02 0.02 0.02
[m]
Receiver beam [°] 15
Operational coverage
±90
[°]
Main coverage [°] ±80

Angular accuracy (X & Y direction) [°] is the accuracy in each of the x and y axis.
Position accuracy [°] is the combined accuracy of both axis (√(x2 + y2)
Operational coverage defines the sector where acoustic positioning and communications
are operational.
Main Coverage is the sector where maximum range and angular accuracy can
be achieved.
Outside the main coverage range and elevation angular accuracy are reduced, therefore
a depth input for aiding is recommended. Whilst within the main coverage, range is up to
5000 m, operational tests show ranges out to 1000 m at 80 degrees or near the horizontal.

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HiPAP

The elevation and orthogonal angles are used in the accuracy curves.
The following figure shows the accuracy as a function of elevation angle. The signal to
noise ratio 10 dB is within the signal bandwidth.

The following figure shows the accuracy as a function of signal to noise ratio. The
elevation angle is 0° (at vertical).

50 400578/D
 Technical specifications

HiPAP 102
HiPAP 102 system
S/N [dB rel. 1μPa] 20
Angular accuracy, 1σ [°] (At 0° elevation) 0.14
Cymbal, range accuracy, 1σ [m] 0.02
Range accuracy, 1σ [m] 0.2
Receiver beam [°] 15
Operational coverage[°] ±90
Main coverage [°] ±60

Operational coverage defines the sector where acoustic positioning and communications
are operational.
Main Coverage is the sector where maximum range and angular accuracy can
be achieved.
Outside the main coverage range and elevation angular accuracy are reduced, therefore
a depth input for aiding is recommended. Whilst within the main coverage, range is
up to 10.000 m, operational tests show ranges out to 3500 m at 86 degrees or near
the horizontal.

LBL accuracy

LBL accuracy
The position accuracy for LBL operation depends on the transponder array geometry,
sound velocity errors and signal to noise ratio. Range accuracy’s down to a few
centimetres can be obtained, while ROV and vessel positions can be calculated to within
a few decimetres.
The following table and figure show acoustic parameters and position accuracies,
achieved in deep waters when using an array with four transponders at 3000 metre
water depth.
Source of random error 1σ CW 1σ Cymbal
Range reception with 20 dB S/N 0.15 m 0.02 m
Range reception in the 0.15 m 0.02 m
transponder
Range error due to transponder
0.01 m
movements
Range error due to rig 0.05 m
movements
HiPAP angle accuracy 0.15 °

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HiPAP

The following figure is LBL position error in the horizontal plane as a function of the
East coordinate. The North coordinate is zero. The blue lines show random error due to
acoustics. The black line is systematic error due to 1 m/s wrong sound velocity settings.

The blue lines show the random error in the horizontal position when the rig moves
within a transponder array with 4 transponders placed on a circle with 500 m radius at
water depth 3000 m. The lower line shows the expected error when the Cymbal acoustics
is used and the upper line when the CW acoustics is used.
The black line shows the systematic error when the sound velocity is set 1 m/s wrongly
in APOS. This error is zero in the centre of the array due to the symmetry. The LBL
run time calibration should be done when the rig is in the centre of the array. Then the
effect of a wrong sound velocity setting in APOS is strongly reduced, as shown with
the dotted black line.

Range capabilities

Range capabilities
The range capabilities of an acoustic system are dependent of the vessels noise level and
attenuation of the transponder signal level due to ray bending. The transponder source
level and the signal to noise ratio are crucial factors for calculating maximum range
capability. The following figures are recommended guideline for maximum operating
range.
Please also be aware of:
• The figures are valid for HiPAP 502/352/452
• Figures for cNODE are when used in Cymbal mode (Wideband)
• The HiPAP system will in many cases have longer range capabilities that specified
below due to its narrow receiving beam.

52 400578/D
 Technical specifications

• The figures are approximate values for guidance.

• Ray bending can limit the maximum range
• Ray bending is normally not a problem for vertical positioning operations
System/transponder Transponder source level (dB Max Range (Typical, m)
rel.1μPa ref. 1 m)
HiPAP 502/352/452/ cNODE 190 2000
180º transducer
HiPAP 502/352/452/ cNODE 203 4000
40º transducer
HiPAP 502/352/452/ cNODE 206 5000
30º transducer
HiPAP 102/ cNODE 50º 203 10000
transducer

The specification is based on:

• Free line of sight from transducer to transponder
• No influence from ray bending
• Signal to Noise ratio ≥ 12 dB. rel. 1μPa
The HiPAP 502/452/352/ systems operates with 56 channels in 10 different frequency
bands enabling a total number of 560 unique transponder channels to be utilized.
Proven capabilities HiPAP 502:

During positioning of a towed object a slant range of 5360 meters where obtained. The
object was towed at approximately 2660 meter depth and at a horizontal offset of 4330
meters. A cNODE MIDI 34-40V was used.
Proven capability HiPAP 102:

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HiPAP

Multi-Band

Multi-Band
The Cymbal acoustic protocol includes operation in several frequency bands. Telemetry
executes in the same band as the selected transponder interrogation and reply occurs.
Each band consist of 56 positioning channels and 6 LBL interrogation channels. A
total of 560 unique channels for positioning along with 60 unique LBL interrogation
channels are available.

Weights and outline dimensions

These weights and outline dimension characteristics summarize the physical properties
of the HiPAP system.

Operator station
Weight Height Width Depth
Computer: 7.6 kg 103 mm 337 mm 384 mm
Display: 444 mm 483 mm 82 mm
Keyboard: 0.5 kg 298 mm 142 mm

Transceiver unit

Width: 525 mm
Height: 909 mm
Depth: 548 mm
Weight: 72 kg

54 400578/D
 Technical specifications

Hull unit
Mounting flange DN 500

Standard height: 600 mm

Optional height: Specified by customer
Internal diameter: 506 mm
Flange diameter: 670 mm
Wall thickness: 20 mm
Number of securing bolts: 20
Diameter securing bolt 26 mm
holes:
Weight: Approximately 90 kg

Mounting flange DN 350

Standard height: 200 mm

Optional height: Specified by customer
Internal diameter: 350 mm
Flange diameter: 505 mm
Wall thickness: 20 mm
Number of securing bolts: 16
Diameter securing bolt 22 mm
holes:
Weight: Approximately 70 kg

DN 500 gate valve

Height: 350 mm
Material case: 670 mm nodular cast iron
Material gate: bronze
Internal diameter: 500 mm
Flange diameter: 670 mm
Total length from centre: 1335 mm
Wall thickness: 20 mm
Number of securing bolts: 20
Diameter securing bolt 26 mm
holes:
Weight: 500 kg

DN 350 gate valve

400578/D 55
HiPAP

Height: 290 mm
Material case: 670 mm nodular cast iron
Material gate: bronze
Internal diameter: 500 mm
Flange diameter: 350 mm
Total length from centre: 904 mm
Wall thickness: 20 mm
Number of securing bolts: 20
Diameter securing bolt 26 mm
holes:
Weight: 225 kg

Hoist control unit

Width: 300 mm
Depth: 250 mm
Height: 400 mm
Weight: 12 kg

Responder driver unit

Weight Height Width Depth
2.8 kg 73 mm 280 mm 200 mm

Power specifications
These power characteristics summarize the supply power requirements for the HiPAP
system.

Operator station
Value
Voltage: 110/220 VAC, 50/60 Hz autosensing, 240 W 85+ autosensing power
Maximum voltage deviation: 15%
Maximum current draw: 5A
Normal current draw: 0.5 A
Nominal power: 150 W

56 400578/D
 Technical specifications

Transceiver unit

Voltage: 110-230 VAC

Frequency: 50–60 Hz
Maximum voltage 15%
deviation:
Maximum current draw: 40 A
Normal current draw: 0.8 A

Hull unit

Voltage: 230/440 VAC 3-phase

Frequency: 50 to 60 Hz
Maximum consumption: 1100 W

Hoist control unit

Voltage: 230/440 VAC 3-phase

Frequency: 50–60 Hz
Power consumption: 750 to 1100 W, depending on application

Raise and lower motor

Voltage: 230/44o VAC 3-phase

Frequency: 50–60 Hz
Power consumption: 750 W
Speed: 1500 RPM
Timken OK Load, ASTM Lb 40
D2509:

Responder driver unit

Value
Power: 85 to 264 VAC
Frequency: 40 to 440 Hz
Maximum inrush: 5 A AC
Maximum current drawn: 0.4 A
Normal current drawn: 0.06 A
Nominal power consumption: 15 W

400578/D 57
HiPAP

Environmental specifications
The environmental specifications summarize the temperature and humidity requirements
for the HiPAP system.

Operator station
Value
Operational temperature: 0 to 55°C
Storage temperature: -20 to 70°C
Humidity: 5 to 95% (non-condensing)

Transceiver unit

Protection: IP 44
Vibration range: 5 to 100 Hz
Excitation level: 5-13.2 Hz ± 1.5 mm, 13.2-100 Hz 1 g
Operating temperature: 0 to 55 °C
Storage temperature: -20 to 65 °C
Humidity: 15% to 95% (non condensing)

Hoist control unit

Protection: IP 54
Operational temperature: 0 to 55°C
Storage temperature: -20 to 60°C
Operational humidity: 80% relative
Storage humidity: 90% relative

Responder driver unit

Value
Protection: IP44
Operation temperature: 0 to 55°C
Storage temperature: -40 to 75°C
Humidity: 15% to 95% (non condensing)
Vibration range: 5 to 100 Hz
Vibration excitation level: 5 to 13.2 Hz ±1.5 mm, 13.2 to 100 Hz 1 g

58 400578/D
 Technical specifications

Input formats
Transceiver unit
The HiPAP transceiver accepts the following input formats:
Gyro
• NMEA $**HDT
• NMEA $**VHW
• Yokogawa $**HRC
• SKR
• STL
VRU/Attitude
• EM 3000
• $SPSXN,10
• $SPSXN,23
• IxSea Octans TAH ($PHOCT) R-P-H (UTC)
• IxSea Octans $PHTRO (roll and pitch)
• Ixsea Octans $PHLIN (Heave only)
For attitude data, the data rate should be at least 25 Hz, 100 Hz is recommended.
Data input can be either serial line RS-232 / RS-422 or Ethernet UDP.
Serial line speeds can be from 1200 baud up to 115200 baud, 1 or 2 stop bits, 7/8 bit
data and parity none, even or odd.

400578/D 59
HiPAP

Drawing file

60 400578/D
 Drawing file

MP8300 outline dimensions

Drawing 378828

400578/D 61
HiPAP

Hatteland 19T14 Display outline dimensions

The information in this drawing has been provided by Hatteland Displays. We are not
responsible for errors. Recent changes made by the manufacturer may not be reflected in
this drawing.

483
465

444 267 412

98.7
16
ø6.5

14
68

434

NOTE:
This is a copy of the original drawing made
by the manufacturer . We are not responsible for
errors. Changes made by the manufacturer may
not be reflected in this copy .
For the original drawing, see
http://www.hatteland-display .com

All measurements in mm. [Hatteland Displays]

The drawing is not in scale. CD12_000101_001_001

62 400578/D
 Drawing file

Responder driver unit, outline dimensions

Drawing 316067

163

Ø 4.5
265

70

200

280

All measurements in mm. [316067] Rev .A

The drawing is not in scale. CD12_316067_001_001

400578/D 63
HiPAP

Transceiver unit - Outline dimensions

Drawing 400538.

525
480 548
220 220 Maintenance
access space
160 500
83 Absolute
physical
minimum

364

700

900 909 706

(789)

83

Min 200

490 Weight 72 kg

401
Note:
The centre of gravity may vary slightly
according to dif ferent con figurations
within the cabinet.

All measurements in mm. [400538] Rev .A

The drawing is not in scale. CD12_400538_001_001

64 400578/D
 Drawing file

Hoist control unit - Outline dimensions

Drawing 355186.

400578/D 65
HiPAP

Index

A E
about ........................................................... 5 environmental requirements
HiPAP ...................................................... 6 computer .................................................. 58
ac mains power external interface
requirements .............................................. 56 HiPAP ..................................................... 27
accuracy
HiPAP ..................................................... 44
APOS F
options..................................................... 12 functions
applications HiPAP ..................................................... 12
HiPAP ..................................................... 42
H
C HiPAP
channels about ........................................................ 6
Cymbal .................................................... 37 accuracy ................................................... 44
cNODE applications ............................................... 42
modeless transponder ................................... 38 combined SSBL and LBL positioning ................ 34
combined SSBL and LBL positioning configuration............................................... 9
HiPAP ..................................................... 34 Cymbal .................................................... 36
computer description ................................................. 6
environmental requirements............................ 58 external interface......................................... 27
outline dimensions....................................... 54 functions .................................................. 12
outline dimensions drawing ............................ 61 hull unit ................................................... 25
power requirements...................................... 56 LBL calibration .......................................... 32
weight ..................................................... 54 LBL positioning..................................... 30–32
configuration measurement compensation ............................ 39
HiPAP ...................................................... 9 MULBL positioning..................................... 33
Cymbal Multi-LBL positioning .................................. 35
channels ................................................... 37 options..................................................... 12
data link ................................................... 38 processing................................................. 35
directional measurements............................... 37 SSBL positioning ........................................ 30
HiPAP ..................................................... 36 transducer ................................................. 24
multi-path ................................................. 37 transponders .............................................. 29
power management ...................................... 38 hoist control unit
range accuracy ........................................... 37 outline dimensions....................................... 65
range capability .......................................... 37 hull unit
technology ................................................ 37 HiPAP ..................................................... 25
Cymbal acoustic protocol.................................. 36 humidity
requirements .............................................. 58
specifications ............................................. 58
D
data link I
Cymbal .................................................... 38 introduction
description Transceiver Unit ......................................... 24
HiPAP ...................................................... 6
dimensions
computer outline dimensions drawing ................ 61 L
display outline dimensions drawing................... 62 LBL calibration
specifications ............................................. 54 HiPAP ..................................................... 32
transceiver ................................................ 54 LBL positioning
directional measurements HiPAP ................................................ 30–32
Cymbal .................................................... 37
display
outline dimensions drawing ............................ 62 M
drawing
mains power
computer outline dimensions........................... 61
requirements .............................................. 56
display outline dimensions ............................. 62
measurement compensation
HiPAP ..................................................... 39

66 400578/D
 Index

modeless transponder supply power ............................................. 56

cNODE .................................................... 38 temperature ............................................... 58
MULBL positioning responder driver unit
HiPAP ..................................................... 33 outline dimensions....................................... 63
Multi-LBL positioning
HiPAP ..................................................... 35
multi-path S
Cymbal .................................................... 37 size
hoist control unit ......................................... 65
responder driver unit .................................... 63
O
transceiver unit ........................................... 64
operating humidity specifications
transceiver ................................................ 58 dimensions ................................................ 54
operating temperature humidity................................................... 58
requirements .............................................. 58 operating temperature ................................... 58
specifications ............................................. 58 outline dimensions....................................... 54
transceiver ................................................ 58 temperature ............................................... 58
operating voltage weight ..................................................... 54
transceiver ................................................ 57 SSBL positioning
outline dimensions HiPAP ..................................................... 30
computer .................................................. 54 storage temperature
hoist control unit ......................................... 65 transceiver ................................................ 58
responder driver unit .................................... 63 supply power
specifications ............................................. 54 requirements .............................................. 56
transceiver unit ........................................... 64 supply voltage
outline dimensions drawing transceiver ................................................ 57
computer .................................................. 61 system
display ..................................................... 62 description ................................................. 6
overview
Transceiver Unit ......................................... 24
T
technology
P Cymbal .................................................... 37
physical dimensions temperature
hoist control unit ......................................... 65 requirements .............................................. 58
responder driver unit .................................... 63 specifications ............................................. 58
transceiver unit ........................................... 64 transceiver
power dimensions ................................................ 54
requirements .............................................. 56 operating humidity....................................... 58
power consumption operating temperature ................................... 58
transceiver ................................................ 57 operating voltage......................................... 57
power management power consumption...................................... 57
Cymbal .................................................... 38 storage temperature...................................... 58
power requirements weight ..................................................... 54
computer .................................................. 56 transceiver unit
processing outline dimensions....................................... 64
HiPAP ..................................................... 35 Transceiver Unit
product environmental specifications ........................... 58
description ................................................. 6 introduction ............................................... 24
purpose overview .................................................. 24
Transceiver Unit ......................................... 24 power requirements...................................... 57
purpose .................................................... 24
weight and outline dimensions......................... 54
R transducer
range accuracy HiPAP ..................................................... 24
Cymbal .................................................... 37 transponders
range capability HiPAP ..................................................... 29
Cymbal .................................................... 37
requirements
W
ac mains power........................................... 56
humidity................................................... 58 weight
mains power .............................................. 56 computer .................................................. 54
operating temperature ................................... 58 specifications ............................................. 54
power ...................................................... 56 transceiver ................................................ 54

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