Gaps M5 (G4) Technical Description - TD-GAPSM5-AN-001-E

Gaps M5 (G4)
Positioning System
Technical Description
Gaps M5 - Technical Description
Revision History
Edition Date Comments

A 9/2020 First version
B 9/2021 Added new Gaps DGPS antenna
C 9/2021 Packing List
D 1/2022 DGNSS Kit
E 9/2023 Rebranding Exail
TD-GAPSM5-AN-001-E - September 2023 3

Copyright
This document is the property of Exail SAS. Its contents may not, without Exail SAS prior
written authorization, be reproduced or communicated, in whole or in part, to third parties.
Disclaimer
Exail specifically disclaims all warranties, either expressed or implied, including but not
limited to implied warranties about merchantability and fitness for a particular purpose with
respect to this product and documentation. Exail reserves the right to revise or to make
changes or improvements to this product or documentation at any time without notifying any
person of such revision or improvements.
In no event shall Exail be liable for any consequential or incidental damages, including but
not limited to loss of business profits or any commercial damages, arising out of the use of
this product.
Trademarks
Microsoft, MS-DOS and Windows are registered trademarks of Microsoft Corporation.
Intel and Pentium are registered trademarks and Celeron is a trademark of Intel
Corporation.
Export Control
This product may be subject to export control regulations. Please refer to the commercial
offer or contact Exail for details about the applicable export control regulations and
restrictions.
4 TD-GAPSM5-AN-001-E - September 2023

Gaps M5 Documentation Overview

The following documents give all the information you need in order to understand and to use
Gaps M5.
> Gaps M5 Technical Description

• USBL Gaps series description, functionalities and applications
• Gaps M5 specifications and performances
• Interfacing, life cycle and references
• Packing list and ordering codes
• Mechanical drawings
> Gaps M5 Installation & Setup Guide

• Principle and equipment description
• Conventions and specifications
• Physical installation of Gaps M5 and its accessories
• Setup of the system via the Web-based User Interface
> Gaps M5 Operation Guide

• Setting to work, configuration of the tracking parameters
• Setting up the transponders
• Launching the survey, control of incoming data, telemetry
• Coupling with an INS, dynamic positioning modes
> Gaps M5 Interface Library

• Input protocols
• Output protocols with transponder positions
• Output protocols with INS positions
> Gaps M5 Quick Start Guide

• Install and connect Gaps M5
• Configure the system, data flow and the survey
• Start the survey, control the data
• Example of configurations, operational check list
> Gaps M5 Maintenance Guide

• General preventive maintenance
• Firmware update, reset to factory settings
• Dismantling and reassembling an arm of Gaps M5 acoustic antenna
• Calibration of Gaps M5 after the replacement of an arm
> Gaps M5 ICD Interface Control Document

Guide Overview
This document is the Technical Description for Exail Gaps M5. It must be read and
understood prior to using the Gaps M5 system. The manufacturer shall in no case be held
liable for any application or use that does not comply with the stipulations in this Technical
Description. The Gaps M5 Technical Description is divided into several parts:
> Part 1: Gaps Series Description – This section introduces Gaps Series.
> Part 2: Gaps Applications – This section describes the various applications of Gaps.
> Part 3: Gaps Diagram Assembly – Describes how the various elements of the Gaps
system interconnect together.
> Part 4: Gaps functionalities – List and descriptions of the various functionalities of
Gaps.
> Part 5: Gaps + INS Navigation – Principles of Gaps operation with INS navigation.
> Part 6: Compatible Transponders - List of compatible transponders.
> Part 7: Gaps Deployment Methods - Description of various deployment methods.
> Part 8: Interfacing - All connections on Gaps BOX.
> Part 9: Gaps Repeater Box - Description of Gaps Repeater BOX.
> Part 10: Gaps M5 Specification
> Part 11: Gaps M5 Performances
> Part 12: Life Cycle - Various Information on Gaps system.
> Part 13: References - List of customers owning a Gaps system.
> Part 14: Drawings - Mechanical drawings of Gaps M5.

Abbreviations and Acronyms

AHRS Attitude and Heading Reference System
APRS Acoustic Positioning Reference Sensor
AUV Automated Unmanned Vehicle
CBIT Continuous Built- In Test
CEP Circular Error Probability
DGPS Differential Global Positioning System
DP Dynamic Positioning
EMC ElectroMagnetic Compatibility
FPSO Floating Production Storage and Offloading
GAPS Global Acoustic Positioning system
GNSS Global Navigation Satellite System
GPS Global Positioning system
ICD Interface Control Document
INS Inertial Navigation System
IP Internet Protocol
LF Low Frequency
MF Middle Frequency
NMEA National Marine Electronics Association
OBC Ocean Bottom Cable
OEM Original Equipment Manufacturer
PPS Pulse Per Second
RMS Root Mean Square
ROV Remote Operated Vehicle
SNR Signal-to-Noise Ratio
TCP Transmission Control Protocol
THDU Through Hull Deployment Unit
TL Transmit Level
UDP User Datagram Protocol
USBL Ultra Short BaseLine
USV Unmanned Surface Vehicle
UTC Universal Time Coordinated
VAC Volts Alternating Current
VDC Volts of Direct Current

Text Usage
Bold text is used for items you must select or click in the software. It is
Bold
also used for the field names used into the dialog box
Text in this font denotes text or characters that you should enter from
Courier the keyboard, the proper names of disk drives, paths, directories, pro-
grams, functions, filenames and extensions
Italic text is the result of an action in the procedures. It is also used for
Italic
referencing to other document titles
Icons
The Note icon indicates that the following information is of particular interest
and should be read with care.
Important
The Important mention indicates that the following information should be
read to forbid or prevent a product dysfunction or a faulty operation of the
equipment.
The Caution icon indicates that the following information should be read to
forbid or prevent product damage.
The Warning icon indicates that possible injury or death could result from fail-
ure to follow the provided recommendation.
The Advanced / Expert icon indicates that the described procedure / action
is reserved to advanced level of operation.

Table of Contents
1 GAPS M5 DESCRIPTION 12
1.1 PRODUCT DESCRIPTION 12
1.2 GAPS SERIES 13
1.2.1 Overview 13
1.2.2 Components 14
1.2.3 Gaps Design 14
1.3 BASIC PRINCIPLE 15
1.4 GAPS ADVANTAGES 16
1.5 GENERAL CHARACTERISTICS 18
1.5.1 Positioning 18
1.5.2 Operating / Environment 18
1.6 MECHANICAL SPECIFICATIONS 18
1.7 PACKING LIST 19
1.8 PACKING AND SHIPPING 19
2 GAPS M5 APPLICATIONS 20
3 GAPS DIAGRAM ASSEMBLY 21
4 GAPS FUNCTIONALITIES 22
4.1 SUBSEA POSITIONING 22
4.2 ACOUSTIC TELEMETRY V.1 23
4.3 SURFACE NAVIGATION AND ATTITUDE COMPENSATION 25
4.4 DYNAMIC POSITIONING 26
4.5 SOUND VELOCITY PROFILE AND RAY BENDING 27
4.6 NOISE SPECTRUM DISPLAY 27
4.7 TELECOMMAND 28
4.8 INPUT AND OUTPUT 28
4.9 COMPLETE AUTOTEST 28
4.10 GAPS M5 WEB-BASED USER INTERFACE 29
4.10.1 Web-Based User Interface 29
4.11 CONTROL AND COMMAND PROTOCOL 30
4.12 DELPH ROADMAP OPTIONAL VISUALIZATION SOFTWARE 30
4.12.1 Real-time data input 30
4.12.2 Offline Data Input 31
4.12.3 Replay data input 31
4.12.4 Display 31
4.12.4.1 Main Display Overview 31
4.12.4.2 Background Map 32
4.12.4.3 Various Camera modes 33
4.12.4.4 Environment Modelization 34
4.12.5 Real-time measurement 35
4.13 INTERFACING TO NAVIGATION SOFTWARE 35
5 GAPS + INS NAVIGATION 36
6 COMPATIBLE ACOUSTIC TRANSPONDERS 38
6.1 MTBX2 OEM 41

7 GAPS DEPLOYMENT METHODS 43

7.1 POLE MOUNT 43
7.2 MOON POOL 43
7.3 EXAIL HOISTING SYSTEM 44
7.4 EXISTING HOISTING SYSTEM 44
7.5 SURFACE BUOY 45
7.6 SURFACE DRONE USV 45
8 INTERFACING 46
9 GAPS REPEATER BOX 47
10 GAPS M5 DGNSS KIT 48
11 GAPS M5 PERFORMANCES 50
11.1 MAXIMUM RANGE 50
11.2 BEARING ACCURACY 51
11.3 POSITIONING ACCURACY 51
12 LIFE CYCLE 52
12.1 PACKAGING, HANDLING, STORAGE, TRANSPORTATION 52
12.2 CALIBRATION 52
12.3 BUILT-IN TEST 52
12.4 RELIABILITY & MAINTAINABILITY 52
12.5 HYDROPHONE AND LEG REPLACEMENT 53
13 ORDERING CODES 54
13.1 GAPS M5 & M5-XR 54
13.2 ACCESSORIES, OPTIONS AND SPARE PARTS 54
13.2.1 Gaps Box 54
13.2.2 Gaps Main Junction Cable 54
13.2.3 Gaps Repeater Box 54
13.2.4 Gaps 3rd Party Transponder Compatibility 55
13.2.5 GNSS Option for Gaps 55
13.2.6 Gaps Hydrophone Protective Cap 55
13.2.7 Gaps Dummy Plug 55
13.2.8 Plastic Coupling Washer 55
13.2.9 Spare Hydrophones and Spare Short / Long Arms 56
13.3 SOFTWARE 56
13.3.1 Delph Roadmap Software 56
13.3.2 Delph Subsea Positioning software 56
13.3.2.1 Delph Subsea Positioning Software – LBL Array Planning Module 56
13.3.2.2 Delph Subsea Positioning Software – Operation Module 56
13.4 GAPS HOISTING SYSTEM 57
14 REFERENCES FOR GAPS SERIES 58
15 DRAWINGS 63
15.1 GAPS ACOUSTIC HEAD 63
15.2 GAPS BOX 64
15.3 GAPS DGPS ANTENNA 65
EXAIL CONTACT - SUPPORT 66
15.4 GAPS M5 SPECIFICATION 67

15.4.1 System (Gaps + Cable +Box) 67

15.4.1.1 Positioning Accuracy(1) 67
15.4.1.2 Performance 67
15.4.1.3 Attitude and Heading Reference System 68
15.4.1.4 Acoustic Communication 68
15.4.1.5 Input / Output 68
15.4.2 Gaps Head 69
15.4.2.1 Mechanical 69
15.4.2.2 Environmental 69
15.4.3 Gaps Box 69
15.4.3.1 Mechanical 69
15.4.3.2 Environmental 69
15.4.4 Main Cable 70

1 Gaps M5 Description
1.1 Product Description

Gaps Series is a high performance integrated underwater positioning solution. Gaps makes
USBL (Ultra Short Base Line) underwater positioning extremely simple to operate from any
vessel. Gaps uses a portable and truly pre-calibrated USBL head which is coupled with
internal INS (Inertial Navigation System) or AHRS (Attitude and Heading Reference
System) and GNSS. Gaps exchanges data between the transceiver and the beacon using
acoustic communication.
Gaps measures the absolute position of one or more subsea objects or subsea vehicles up
to 995 meters, with 200 degrees hemispherical coverage below the antenna. Positioning
accuracy is better than 0.5% of the slant distance depending on environmental conditions.
Data rate is 500 bits / second (in burst mode) for acoustic communication. These objects or
vehicles are located using acoustic transponders or beacons and a subsurface acoustic
array (Gaps head). The Gaps head is typically deployed underwater below the ship hull or
from any surface platform.
Figure 1 - USBL systems Figure 2 - Visualization software (option)
Gaps is used for:

> Tracking and communication with ROVs, AUVs, structures, tow fish, divers…
> Dynamic positioning applications when transponders are fixed on the seabed.
Gaps meets the needs of oil & gas, defense, marine construction, survey, and scientific
applications from inshore to offshore conditions.

1.2 Gaps Series

1.2.1 OVERVIEW
Gaps series USBL system is available in two different version, M5 and M7.
> M for Medium Frequency band
> 5 and 7 for the performance grade.
is a cost-effective USBL system design for inshore to near shore applications. Its maximum
Gaps M5
operating range is 995 m and it is free of export restriction.
is the ultimate USBL system for all applications.

Gaps M7
Gaps M5 and M7 are similar in term of component. Only the Gaps head is different.
Installation and operation are the same. This technical description is common to Gaps M5
and M7. When a feature is only available on Gaps M7, it is clearly mentioned.
Table 1 - Gaps Series Comparative table
Gaps M5 Gaps M7
Accuracy (CEP50) 0.5 % of slant range Up to 0.06 of slant range
Maximum range 995 m / 4,000 m* 4,000 m
Embedded Gyro type AHRS INS
Export status Free of export / Dual Use* Dual use
* with -XR dual use version

1.2.2 COMPONENTS
Gaps comprises, in a single lightweight housing (carbon fiber made), all required
components to achieve USBL positioning including the AHRS. The system is plug and play,
deployable in an instant, and can be operated immediately thanks to its pre- calibrated
concept.
The AHRS is the inertial navigation system composed of three Fiber Optic Gyroscopes
(FOG) and three accelerometers mounted on orthogonal axis.
The Gaps M5 AHRS provides the exact attitude with high level of accuracy with high update
rate. Heading accuracy is 0.5° secant latitude.
The acoustic array is composed of one (1) transmission transducer and four (4) reception
hydrophones. It ensures the sending of the acoustic triggering signal to the transponders
and the receiving of their replies. The acoustic array of the Gaps is 3D: it has four receiving
hydrophones on the vertices of a tetrahedron (four is the minimum number of hydrophones
for unambiguous positioning in 3-D space). This design implies very good angular coverage
(>200 degrees aperture below the acoustic antenna).
Figure 3 - Gaps M5 components
1.2.3 GAPS DESIGN

Gaps head is not only the acoustic transceiver of the Gaps system but also the digital
processing unit and heading and attitude sensor. It integrate an AHRS for heading roll pitch
compensation and surface position sensor with motion compensation (heave surge sway).
The internal AHRS is accessible and can be used for other purpose than USBL. See section
4.
The acoustic array of the Gaps is three dimensional. It has four receiving hydrophones on
the vertices of a tetrahedron (four is the minimum number of hydrophones for unambiguous
positioning in 3-D space). This design implies very good angular coverage ( > 200 degrees
aperture below the acoustic antenna).

1.3 Basic Principle

USBL principle is based a two-ways acoustic communication between the USBL transducer
- on surface - and the transponder - on the object to track. The transducer transmits an
interrogation signal that reaches the beacon. The beacon detects this interrogation signal
and replies another signal.
Figure 4 - Acoustic transmission sequence between Gaps antenna and the beacon
The surface antenna detects the beacon reply. The beacon reply is processed to determine
the phase difference between hydrophones and then, the exact direction of the beacon.
Slant range is measured knowing the speed of sound and the time elapsed between the
interrogation and the reply. Since the acoustic array is installed on a moving platform
(surface ship), its absolute motion is known thank to its internal INS/AHRS that provides
geographic true heading, roll and pitch with high accuracy.
Figure 5 - Phase difference between hydrophones and position measurement

1.4 Gaps Advantages

Taking advantage of its unique expertise in acoustic positioning and inertial sensors, Exail
introduces Gaps, the first acoustic and inertial integrated positioning system for marine and
subsea applications. It is an all- in- one system which can provide at the same time the
position of a surface vessel and of several subsea vehicles or divers. It also provides a very
accurate heading and attitude for the surface vessel with the highest accuracy and unrivaled
performances in shallow or extreme shallow water depth thanks to unique receiving antenna
design and enhanced digital signal processing techniques.
Gaps is a portable system (light weight and reduced size), does not require any complicated
and time consuming installation (all- in- one pre- calibrated system), features very high
performance thanks to data fusion of Acoustic, inertial and GNSS technologies and finally
has no limit in terms of operation area (shallow and deep water, horizontal and vertical
channel, short or long range).
Figure 6 - Gaps Series, an all-in-one solution
Features > Compact, all-in-one USBL solution

> Embedded FOG-gyro for true north reference
> 3D acoustic array geometry
> Wide band modulation
> Provide absolute georeferenced position for the beacon
> Compatible with all major navigation suites
> Easy to interface with subsea INS
> Compatible with DP
> More than 500 available acoustic channels
> Unified Exail web interface
> Acoustic communication
Benefits > Rapid deployment

> Operational cost savings
> Pre-calibrated
> Easy to install

> Easy to operate

> Accurate positioning
> Robust performance
> Flexible deployment operations
> Horizontal tracking

1.5 General Characteristics

1.5.1 POSITIONING
Coverage > 200° below the acoustic array
Standard version*: 181 +/-3 dB ref. 1 µPa @ 1 m

Acoustic Level
-XR version: 191 +/-3 dB ref. 1 µPa @ 1 m
Operating frequency 22 to 30 kHz MFSK chirp modulation technique
Heading / Roll / Pitch accuracy 0.5° / 0.1° / 0.1°
Receiving voltage sensitivity -206 dB re 1 V / µPa (± 3 dB) 56 µV / Pa (nominal)
Horizontal directivity Omnidirectional ± 2 dB at 100 kHz (Typical)
Vertical directivity 270° ± 2 dB at 50 kHz (Typical)
* Standard version manufactured before may 2023 acoustic level is 191 +/- 3 dB ref. 1 µPa
@1m
1.5.2 OPERATING / ENVIRONMENT
Power supply 100-240 VAC / 24 to 36 VDC
22 W nominal
Consumption < 100 W at starting up
50 W transmission
Operating temperature -5 °C to 35 °C
Storage temperature -40 °C to + 70 °C
Highest humidity 95% at 40°C

Vibration range from 1 to 55 Hz at 1 mm / 10 m/s2
Shock acceleration 15 m/s2 for 15 ms, ½ sinus
1.6 Mechanical Specifications

Housing Painted carbon fiber
Weight in air / water 14 kg / -5 kg
Housing diameter x H (mm) 296 x 520.8 (fits in DN350 gate valves)
Up to 25 m for nominal accuracy

Array depth-rating
Up to 100 m non destruction
Maximum sailing speed 12 knots

1.7 Packing List

Product ordering code: 00193562
Description Part number / Ref.
Gaps M5 00153193
GAPS BOX PAA00273
Gaps M5 USB-KEY 00174456
20 m Cable 00158703
Fixing Kit SAS00025
CE : SCA00146
US : SCA00147
Supply Connection
UK : SCA00148
AUS/CHI : SCA00149
Acceptance Test Report ATR GAPS M5
Gaps e-learning Course 00173681
Quick Start Guide Gaps M5 00174467
1.8 Packing and Shipping

Gaps M5 Gaps M5 system is delivered in 1 flight cases containing the Gaps M5 head, the Gaps Box
and a 20 m cable. 50 m and 95 m cables are delivered with an additional package (plywood
transit box or flight case on demand).
FLIGHT CASES Dimensions (m) Weight (kg) Box

Gaps M5 80 x 60 x 50 60 Pellicase

2 Gaps M5 Applications
Oil & Gas Structure placement, ROV navigation, AUV & glider operations, towfish tracking, cable/pipe
laying, diver tracking, exploration, drilling, DP, touch down positioning, mattress lay,
plough/trench positioning, Out Of Straightness, BSR positioning, seismic (streamer, nodes,
OBC), rig move, anchor positioning, riser positioning
Defense Diver tracking, AUV tracking, under hull inspection, imagery, mine counter measure
ROV, AUV, gliders and towfish tracking
Scientific
Other Marine construction, cable laying, mining, seabed crawler positioning, touch down
monitoring
Trenching ROV Tracking Touch Down Monitoring Structure placement
Cur to length Pipeline crossing Pipeline survey Ocean bottom cable
AUV Diver tracking Glider DP
FPSO Buoy supported

Towed sonar Drilling Survey
riser

3 Gaps Diagram Assembly
Gaps is a fully integrated system which does not require any further third-party equipment to
be operated. A comprehensive but reduced list of equipment is provided with the system.
Its compact size, light weight, operating versatility, and pre-calibrated characteristics make it
usable in almost any kind of tracking operation with very quick and easy deployment.
A standard Gaps system requires the following components for a ready to use configuration:
Figure 7 - An all-in-one solution
This is the main part of the Gaps system, which comprises the acoustic array to com-
1
municate with the transponder(s) installed on the target(s), the AHRS/INS for motion
compensation and absolute georeferencing, and all electronics and signal pro-
cessing.
The Gaps Box is designed to interface between the Gaps head and external peri-
2 pherals. It includes power supply from mains & 28 Vdc, Ethernet connector, RS422 /
232 input / output, and synchro in/out on BNC.
3
20, 50 or 95 m long cable used to communicate with Gaps head. Possible options:
ATEX, 95 m and greater length using repeater Box.
4
Terminal with Web-based User Interface used to configure the system and to control
the system operation during the survey.
5
A complete turnkey solution is available on option, including a GPS receiver, a ‘Y’
cable, and a 15 m GPS cable.
Transponders are deployed on the vehicle or the object to track. Several models are
6 available depending on the autonomy, the type of batteries and if an acoustic release
is required.

4 Gaps Functionalities
4.1 Subsea Positioning

Gaps simultaneously tracks several fixed or mobile transponders. Every model of
transponder has different interrogation and reply codes. The combination of interrogation
and reply code makes a unique address for one transponder.
The maximum Gaps capacity:

> 18 beacons can be positioned simultaneously
> 500 beacons can be declared in the system (only 40 simultaneously “in use”)
Tilting the Gaps antenna is not mandatory for horizontal tracking. The Gaps can track a
beacon up to the surface around 360° thanks to its 200° acoustic aperture.

4.2 Acoustic Telemetry V.1
Figure 8 - Telemetry v.1 principle
The Gaps offers the Exail Telegram Service and the full benefit of underwater wireless
communication technology between the Gaps transducer and the beacon in half-duplex
mode (Gaps to beacon and beacon to Gaps).
Tracking and communication are achieved simultaneously, using Exail wideband telemetry
modulation.
This can achieve a variety of communication tasks thanks to the user defined protocol:
> Broadcast information from a sensor to the surface
> Change the configuration of the beacon
> Get beacon status and internal sensor measurement (battery voltage, pressure
sensor…)
> Send / get data to / from host
> Send position to a subsea INS
The data rate is 500 bps and it includes a robust error detection and correction method. This
enable to send or receives 160 bits per recurrence. The Doppler is +/- 6 knots.

Table 2 - Functionalities of telemetry v.1
Position wireless emission to Collect data from any subsea

Control Command of AUVs
subsea INS sensor
For AUV and ROV applications,

Gaps enables simultaneous
Gaps enables wireless emission of Any sensor can be interfaced to a
tracking and acoustic coms without
a position to a subsea INS: subsea transponder. The
the need to install dedicated
Gaps estimates the position of the transponder broadcasts sensor
modem transducer on the AUV or
transponder (USBL) data to the Gaps via the acoustic
on the surface vessel. Gaps tracks,
Gaps sends its position to the channel. It outputs the
sends commands and receives
transponder information on serial or Ethernet
AUV status, all with the same
The transponder broadcasts the communication ports.
equipment.
position to the INS
Any Gaps IV can be updated to benefit of this new feature. Canopus and MTB transponders are compatible
with Exail telemetry service.

4.3 Surface Navigation and Attitude Compensation

Gaps M5 integrates an Octans Nano Free of export AHRS for robust attitude and true north
heading compensation. The Octans Nano can be used as an AHRS for attitude and heading
compensation. lt is built on iXblue renowned fiber-optic gyroscope (FOG)
technology and offshore instrumentation expertise.
Figure 9 - Gaps M5 AHRS
Heading dynamic accuracy(1)(2) 0.5 deg secant latitude

Roll / pitch dynamic accuracy (1) 0.1 deg
Settling time (ready to nav) < 5 mn
Full accuracy settling time (all conditions) < 30 min
Resolution 0.01 deg
Operating / storage Temperature -15 °C to +60 °C / -40 °C to +80 °C
Rotation rate dynamic range Up to 250 deg/s
Acceleration dynamic range ±5 g
Heading / roll / pitch 0 to +360 deg / ±180 deg / ±90 deg
100,000 hours (System observed)
MTBF
500,000 hours (FOG + Accelerometers)
(1) RMS values - (2) Secant latitude = 1 / cosine latitude
It is possible to use the Octans Nano with the following restrictions:

> Octans Nano is not connected to the PPS link.
> Configuration of an output must be achieved via the Web-based User Interface of Gaps
(AHRS protocols are available)
> In case of modification of the configuration, it is possible that the USBL positioning
function of Gaps may be disturbed.
> Modification of the configuration of Octans Nano from its own Web- based User
Interface may generate dysfunctions in the USBL positioning of Gaps M5.
Octans nano technical document including interface library is provided with Gaps.

4.4 Dynamic Positioning

Gaps M5 is ready to be interfaced to any Dynamic Positioning system to ensure follow target
mode (when transponder is on a subsea vehicle) or auto position mode (when transponders
are deployed on the seabed).
Figure 10 - Gaps used for DP and ROVs tracking
Gaps M5 becomes an Acoustic Positioning Reference Sensor (APRS) for the DP. Gaps M5
provide to the DP system
> Relative position of one to several deployed transponders
> Position of the vessel by LBL computation when at least 3 transponders are deployed.
Figure 11 - Dynamic positioning synoptic

4.5 Sound Velocity Profile and Ray Bending

Ray bending compensation is essential to provide accurate positioning. The sound velocity
can be easily uploaded into the Gaps system through the Web-based control/command
interface.
Figure 12 - Sound velocity profile and ray bending compensation
4.6 Noise Spectrum Display

Gaps enables to monitor the noise level. The estimated noise level is displayed into the web
MMI through a spectrum graphic.
Figure 13 - Noise spectrum display in Gaps web MMI

4.7 Telecommand
When used with RTA MF series, the Gaps is used to send release telecommands. RTA LF
(Low Frequency) are not compatible with Gaps.
Figure 14 - Telecommand settings in Gaps web MMI
4.8 Input and Output

All communication to and from Gaps are achieved using industry standard NMEA0183 data
telegram through the serial input/output ports, messages content is fully described in the
user manual provided with the equipment.
In addition to its standard proprietary communication protocol (“Gaps standard”) Gaps is
featuring native compatibility with other Exail sensors and subsystems (PHINS, RAMSES,
etc…) and can emulate other industry standard protocols.
This allows Gaps to smoothly interface to Exail or already existing third-party hardware /
software, or easily interface to peripherals or main system such as DP engines.
Example Protocols for USBL positions:

> Gaps Standard
> HIPAP HPR 400, HPR418, HPRBCD
> NAUTRONIX
> iXblue USBL INS
> Posidonia 6000
> GPGGA
Examples of protocols for attitudes (inside the Gaps M5 antenna):
Gaps M5
> HEHDT
> AMS
> TMS CCV
> OCTANS STANDARD
4.9 Complete Autotest

Gaps M5 provides a built-in test to verify the system is ready to use.
Gaps M5 provides an acoustic autotest to verify the hydrophones and the transducer are
fully operational.

4.10 Gaps M5 Web-Based User Interface

4.10.1 WEB-BASED USER INTERFACE
Gaps M5 can be connected to a PC for configuration, installation, and display purposes
through a Web-based User Interface software. The Web-based User Interface is used to:
> Configure Gaps M5 (input/output configuration, sound velocity profile, etc).
> Control the position(s) of the transponder(s) and the status related to the quality of the
positioning.
User-friendly menu screens allow the operator to define Gaps M5 setting before deployment
in an instant. The use of the control system is not mandatory once Gaps is configured.
Gaps M5 keeps all its settings when powered off and resume its last behavior when started
up.
Figure 15 - Example of a page of Gaps web interface
This Web-based control/command software is also used for maintenance purposes. All the
firmware can be downloaded into the Gaps and does not require to open the Gaps housing.
Alternatively, and when Gaps is part of a system, it can be controlled/commanded using
URL commands coming from a supervision software. The ICD (Interface Control Document)
can be provided on request for the description of the commands.

4.11 Control and Command Protocol

Gaps M7 can be commanded and controlled with strings in NMEA format. The ICD is
provided on request.
All available features from the Web- based User Interface operates with the control and
command protocols.
4.12 Delph RoadMap Optional Visualization Software

Delph RoadMap is a optional 3D cartographic module of Delph software product line.
Originally used for geophysical data processing and visualization, its range of application
has been extended to 3D trajectory monitoring. Delph RoadMap can be provided with Gaps.
Delph RoadMap uses a Microsoft Windows user interface. Cartographic display aggregates
geo-referenced data in 3D view. All input layers (vectors, raster) are displayed in a map that
uses a user-configured geodetic system. Delph offers a large library of geographic (GCS)
and projected (PCS) cartographic systems, with advanced capabilities of extending this
library with user-configurable geodetic systems and re-projecting information layers on the
fly.
Delph RoadMap displays live and offline data coming from positioning devices such as Exail
USBL products (Gaps and Posidonia). With a very simple connection, live acoustic
positioning data displays in Delph RoadMap 3D map including USBL sensor location and
acoustic beacons positions and trajectories.
4.12.1 REAL-TIME DATA INPUT

Delph RoadMap connects to positioning equipment using:
> Ethernet TCP/IP connection
> Ethernet UDP (broadcast) connection
> RS232 Serial port link
It has support for the main data protocols supplied by the equipment:
> Exail USBL protocol $PTSAG
> Exail INS protocol PHINS-STANDARD
> NMEA protocol (GGA, GLL, RMC, HDT)
When data is received, mobiles automatically appear in Delph RoadMap. Their appearance
can be customized using:
> Pre-defined 3D objects (sphere, cube, etc.)
> User-supplied 3D models (3DS format)
> Custom size
> Custom offsets (translate and rotation)

4.12.2 OFFLINE DATA INPUT

Prerecorded data are opened in Delph RoadMap by inserting records from supported
protocols
4.12.3 REPLAY DATA INPUT

Previously recorded data can be opened in Delph RoadMap by inserting data records from
supported protocols into the project.
4.12.4 DISPLAY
4.12.4.1 Main Display Overview
Figure 16 - Delph RoadMap main window

4.12.4.2 Background Map

Background and various map format can be loaded in Delph RoadMap.
Figure 17 - Bathymetric map used as background of georaphical display
Figure 18 - Example of user-defined map showing a pipelay corridor

4.12.4.3 Various Camera modes

Delph RoadMap cartographic view may be using different camera modes:
> 3D visualization
> 2D visualization
> Relative positioning
3D view 2D view North Up Relative view

4.12.4.4 Environment Modelization

Each items can be represented by symbols and user-define models (.dxf, .3ds formats). It
is possible to link a model to items (transponder, Gaps…) in order to display the
environnement and help operators. A model can be linked to several items.
Figure 19 - Pipelay operation monitored using Delph RoadMap
Figure 20 - The barge model is linked to Gaps realtime location
Figure 21 - Pipe model linked to 2 transponders to monitor the pipe position and orientation

4.12.5 REAL-TIME MEASUREMENT

Users can easily choose couple of items for which they want to display measurement
information in side panel and / or in the 3D view:
> Horizontal Distance: On the map projection or ellipsoid σ
> Vertical Distance
> Slant Distance
> Horizontal Bearing: On the map projection or ellipsoid
> Vertical Angle
Figure 22 - Slant range, horizontal & vertical distance measurement from Gaps to ROV
4.13 Interfacing to Navigation Software

Gaps system provides data telegrams with each transponder’s position for use with any
third-party navigation package, with various communication protocols.
Up to 8 Serial or Ethernet output are available which allow data distribution to different
peripherals.
Industry standard data telegrams are provided to easily interface each sensor to standard
navigation packages from the marketplace such as Winfrog, Quinsy, etc.
STARFIX DELPH ROADMAP

GATOR QUINSY NAVIPAC HYDROPRO HYPACK
WINFROG GECDIS

5 Gaps + INS Navigation
Gaps M5 and Gaps M7 can be interfaced to a subsea INS. The subsea INS receives the
USBL position of the beacon (through the umbilical or using acoustic communication) and
the INS make the fusion of all available internal or external) sensors (accelerometers,
gyroscopes, pressure sensor, DVL, USBL) to deliver an optimized position of the ROV. This
architecture brings the following advantages:
> Position of the ROV is updated every 10 ms (whatever the acoustic update rate)
> Position of the ROV is updated even when Gaps does not detect the beacon
> The subsea INS rejects the erroneous USBL positions
> The subsea INS filters/smooth the USBL positions
The INS improves by more than 3 the positioning accuracy of the USBL if used alone.
Figure 24 - USBL positions (dots), USBL +

Figure 23 - Gaps and INS system architecture
DVL + INS positions (line)
Figure 25 - Positioning accuracy comparison (with and without the INS), 200 m of WD with Gaps M5

The system integration requires different interfaces between surface and subsea equipment
as shown on following diagram.
Figure 26 - Gaps and INS system interfacing

6 Compatible Acoustic Transponders
The transponders compatible with Gaps M5 are listed below. Please report to specific User
guides. Contact Exail to know if compatibility exists with other models.
Table 3 - Gaps M5 compatible transponders
Exail MT8
Exail MT9
Exail ET / RTAx2
Exail ZTA02C
Exail RAMSES
Exail CANOPUS
Exail STAx2
Exail MTBx2
1000 series software

Applied
permitting *
Mini beacon 5 & 6

Sonardyne Sonardyne
Wideband® 1 compatible
Compatt 5 & 6 Sonardyne

Sonardyne
Wideband® 1 compatible
* Only the “software permitting”. Make sure your Applied beacon has the Exail codes
compatibility before operating.


PAGE INTENTIONALLY LEFT BLANK

6.1 MTBx2 OEM

MTBx2 OEM is a USBL GAPS compatible beacon for tracking and acoustic communication
(telemetry).
Figure 27 - MTBx2 OEM
Features > Gaps USBL positioning, with easy AHRS USBL aiding
> Robust acoustic data telemetry (500 bits/s)
> External sensor interface
> 2 different USBL interrogation channels
> Hemispherical transmission and reception transducer
> Embedded Web-based User Interface for the configuration
> 4 communication ports (Serial Link and Ethernet)
> Responder and external power supply input
> Low power consumption
Benefits > Simultaneous tracking and acoustic communication

> Platform with multiple input/output ports
> Easy integration in vehicles
> Unified Exail web-based user interface
Interfaces
External power supply 12 - 36 VDC ± 10% (45 W peak)
External Trigger Differential signal (-5 ► +5 V)
Internal RTC High accuracy +/- 2 ppm
Acoustics
Frequency band Medium Frequency (MF) band: 18 - 36 kHz
Remote transducer Beam-shape Omni-directional 220° at ± 4 dB
Tx Level 181 - 191 dB (ref. 1μPa @ 1 m)
Mechanical
Transducer Protective cage Stainless steel 316L
Transducer decoupling flange Stainless steel 316L
Size (housing) 120 mm x 91 mm
Transducer weight in air 1.5 kg
Depth rating 4,000 m (transducer head only)

Figure 28 - Dimension of the MTBx2 OEM

7 Gaps Deployment Methods
Examples below demonstrate the extreme ease of operation of the system which does not
require sophisticated mechanical pole or deployment machine to operate it.
Exail has a very large experience in terms of Gaps integration and can help the customers to
define the best solution according to the specific operational needs.
7.1 Pole Mount

This kind of installation is the most used. A pole is installed on the side of the vessel and can
be rotated in 2 positions: one position for the survey (side pole is vertical) and one position
for the transit (side pole is horizontal).
7.2 Moon Pool

For vessels equipped with moon pools, Gaps can be very easily deployed with a pole and a
lifting system to recover the equipment.

7.3 Exail Hoisting System

The Hoisting system is an automated through hull deployment machine for Gaps USBL
system including a pole, a sea chest and a gatevalve.
It is delivered with / without, manual / electric / hydraulic gate valve (DN350 in standard ).
The service chest with inspection door allows to access the equipment without dry-docking
the vessel. The whole system is to be installed on the flange of a through hull penetration
pipe.
Hoisting system dedicated Technical Description is available on demand.
7.4 Existing Hoisting System

Gaps can also be installed in existing hoisting system when gate valve is diameter is greater
than 300 mm (external diameter is only 296 mm, i.e. 11.7 inch). Some examples below:

7.5 Surface Buoy

Thanks to the INS inside the USBL transceiver, very light platforms such as simple buoys +
pole can be used for some applications.
7.6 Surface Drone USV

Because of its dimensions and its weight, Gaps is easy to integrate onto Unmanned Surface
Vessels. No surface electronic rack is required, all the processing is done into the
transceiver. The INS can be used for the navigation of the drone.
Figure 29 - USV integrating a Gaps USBL

8 Interfacing
Interfacing is done from the rear panel of the Gaps Box. Gaps Box is a unique reference for
Gaps M5 and Gaps M7.
Figure 30 - Gaps box
Table 4 - Interfacing
Power supply / Consumption 24 to 36 VDC - 100-240 VAC / 5.6 W
Connector for VDC SOURIAU 4-pins - UTO00104PH
Main connector to Gaps head SOURIAU 23-pins - UT061823SH
Ethernet communication port 1 x RJ45 plug
Serial communication port 4 x DB9 connectors for RS232 or RS422/485 serial links
Synchronization IN & PPS 2 x BNC connectors (trigger and PPS)
Synchronization out 2 x BNC connectors (main and secondary)
IP Rating IP54
If active (on 1), Gaps automatically starts when the Gpas is
Auto Start switch
powered and ON / OFF button is inactive.

9 Gaps Repeater Box
The Repeater Box is necessary when two main cables (95 + 95 m or 95 + 50 m) are used
simultaneously between the Gaps BOX and the Gaps unit. The Repeater Box realizes the
junction between the two cables. Standard main cables are used so the connectors on the
Repeater Box are similar to connectors on the Gaps BOX and on the Gaps antenna.
Figure 31 - Gaps repeater box when cable length higher than 95 m
Table 5 - Specifications
Dimension (L x l x h) 217 x 188 x 68.5 mm

Weight 2.15 kg
Operating temperature (1) -5°C to +50°C
Temperature, storage (1) -20 °C to +80 °C
IP rating IP65
(1) NF X10-812

10 Gaps M5 DGNSS Kit
Connect the DPGS antenna directly to the Gaps Head thought the Main SUBCONN
connector using the Y-cable and a 15 m cable. The DGPS antenna is powered by Gaps.
It allows installing the DGPS antenna near Gaps acoustic head wherever is the Gaps Box.
See DGPS antenna mechanical drawings in section 15.3.
Table 6 - DGPS antenna specifications

Antenna
Receiver Multi-band GNSS
Housing Composite
Dimensions 140 mm x 50 mm (refer to interface drawing for exact values)
Weight 0.5 kg
Power consumption <2W
Cable 15 m to Gaps head
Performances
Constellation GPS, GALILEO, GLONASS, BEIDOU (concurrent tracking)
Augmentation systems QZSS, SBAS, DGNSS
Horizontal position 3 m CEP50
Acquisition time < 60 s for first position
The performances are depending on multipath effects, number of satellites in view,

geometry and ionosphere activity.
Environment
Storage temperature -40 to 80°C
Operating temperature -32 to 71°C
Ingress protection IP67
EMC MIL-STD-461G

11 Gaps M5 Performances
11.1 Maximum Range

Maximum range of the system is driven by the sonar equation and the signal to noise ratio:
With:
> SNR : signal to noise ratio in dB
> TL : transmit level in dB / sqrt(Hz) @ 1 m ref µPa
> D : slant range in m
> a0 : attenuation in dB/km
> Bsignal : signal bandwidth in Hz
> Bnoise : input signal bandwidth in Hz
> T : pulse duration in s
> NIS : noise level in dB / sqrt(Hz) @ 1 m ref µPa
As Gaps M5 is a free of export USBL system, the maximum operating range will
never exceed 995 meters whatever the SNR.
Above formula enables to estimate maximum ranges that enables a sufficient signal to noise
ratio for the detection, depending on the conditions (noise level).
Figure 32 - Gaps M5 maximum range versus noise level, 191 dB ref µPa @ 1 m transmit level, MT8/9

11.2 Bearing Accuracy

For the acoustic part of the global budget of error, the bearing accuracy is given by the
Woodard formula (accuracy on bearing for a goniometer).
With:
> λ : wavelength in m
> p : distance between hydrophones in m
> θ : target angle in rad
> SNR: signal to noise ratio 10^(value in dB / 10)
Following graphic provides bearing accuracy for a beacon in responder mode, at 1000 m of
slant range, in vertical conditions, for different noise levels.
11.3 Positioning Accuracy

Unlike other conventional USBL system the performance is inclusive of all sources of error
such as GNSS (DGNSS mode), motion and heading internal sensors. The global budget of
error is the quadratic sum of each error that are supposed to be independent.
Following graphic provides positioning accuracy for a MT8/9 beacon in responder mode, in
vertical conditions, for different SNR_in. It includes a GNSS error of 10 cm.
Figure 33 - Positioning accuracy depending on SNR_in – CEP 50

12 Life Cycle
12.1 Packaging, Handling, Storage, Transportation

During storage and transportation, Gaps and its accessories should be kept locked in its
transportation case.
The whole system is packed in two reusable transit cases for the Gaps and its accessories
and a plywood transit case for the transponder only:
12.2 Calibration
Mechanical alignment is ensured by design, even when an hydrophone has been changed,
Gaps M5 do not need to be re-calibrated. Only reconfiguration is necessary (refer to Gaps
M5 User Guide for details).
12.3 Built-in Test

Gaps includes a Continuous Built- In Test (CBIT) that covers internal sensor status
verification, system status and algorithm status. The User Manual document details the
complete list of parameters that are monitored.
12.4 Reliability & Maintainability

Subconn recommends a replacement of the 24-pins connector every 4 years to avoid any
water ingress. But thanks to the technology used in its design, Gaps does not require any
kind of preventive maintenance except regular visual inspections for permanent
installations, under vessel hulls to check for marine growth.

12.5 Hydrophone and Leg Replacement

Hydrophones and short or long legs can be ordered separately as spare parts and replaced
on the field. A new hydrophone design to protect Gaps mechanical structure in case of an
incident:
> One connector only
> Longer cable providing more freedom to the damaged part
> One single design for all hydrophones
> Breakable sections in the lead cable to protect connector in case of traction or bending
Figure 34 - Damaged hydrophone, spare parts and hydrophone replacement

13 Ordering Codes
13.1 Gaps M5 & M5-XR

Ordering code Export/Cat Product name
00168006 FE/P Gaps M5
00221804 DU/P Gaps M5-XR
13.2 Accessories, Options and Spare Parts

13.2.1 GAPS BOX
> Gaps surface control unit and power supply (4th generation of electronic)
> Including mains power supply cable
> Compatible with Gaps M5 and M7 systems (4th generation)

KAA00717 FE/Acc Gaps Box
KAA00976 FE/Acc Gaps-Box 19'' rack mount option
13.2.2 GAPS MAIN JUNCTION CABLE

> Subconn terminated (wet end) and Souriau (topside)
> Ethernet, serial link, synchro and power supply
> 20 or 50 or 95 m long
> Delivered with protective flight case
> ATEX version: contact Exail

00198854 FE/Acc Gaps 20m cable (packed)
13.2.3 GAPS REPEATER BOX
> For cable length greater than 95 m


KAA01015 FE/Acc Gaps Repeater box

13.2.4 GAPS 3RD PARTY TRANSPONDER COMPATIBILITY
> Allows Gaps to operate with third party transponders

> WB1 (Sonardyne Wideband® 1) interrogation / reply

KAA00977 FE/Acc Gaps WDB1 option
13.2.5 GNSS OPTION FOR GAPS

> GNSS active antenna
> 15 m long GNSS antenna extension cable
> ‘Y’ junction cable

00198957 FE/UDC Gaps GNSS Kit (antenna & cables)
13.2.6 GAPS HYDROPHONE PROTECTIVE CAP
4 pieces

KAA00726 FE/Acc Gaps Hydro Protect (x4)
13.2.7 GAPS DUMMY PLUG
> Protects connectors during handling and storage

> Subconn dummy plug

KAA00727 FE/Acc Gaps Female Dummy
KAA00825 FE/Acc Gaps Male Dummy
13.2.8 PLASTIC COUPLING WASHER
> To be installed between Gaps head top bridle and deployment system
> Subconn dummy plug

KAA00713 FE/Acc Gaps Coupling Washer

13.2.9 SPARE HYDROPHONES AND SPARE SHORT / LONG ARMS
00220434 FE/Acc Spare hydrophone kit for Gaps M5
00220742 FE/Acc Spare 160 mm arm kit for Gaps
KAA01161 FE/Acc Spare 200 mm arm kit for Gaps
13.3 Software
13.3.1 DELPH ROADMAP SOFTWARE
DelphRoadMap is a 2D/3D cartographic module for trajectory monitoring interfaced to
Gaps. It uses a standard Microsoft Windows user interface and is a cartographic display
that aggregates geo-referenced data in a single 2D or 3D view. All input layers (vectors,
rasters) display in a map that uses a user-configured geodetic system. Delph offers a
large library of geographic (GCS) and projected (PCS) cartographic systems.
00232249 FE/P Delph RoadMap software – Hardware license
13.3.2 DELPH SUBSEA POSITIONING SOFTWARE

13.3.2.1 Delph Subsea Positioning Software – LBL Array Planning Module
Delph Subsea Positioning is an intuitive and dynamic software used for the preparation, the
operation and the post-processing of Exail subsea positioning products.
LBL Array Planning module is dedicated to LBL jobs preparation . The software analyzes
acoustic propagation by considering the Digital Terrain Model and Sound Velocity Profile. It
produces real time visibility map for LBL acoustic transponders and trans-ceivers.
13.3.2.2 Delph Subsea Positioning Software – Operation Module
00167166 FE/P DSP LBL Array Planning Module
The operations module runs state-of-the-art algorithms for the calibration of LBL array and
produces automatic calibration reports for the transponders.
This module comprises a software and a box to be interfaced to Ramses during the cali-
bration of the transponders (boxin and/or relative calibration).
00167148 FE/P DSP Operations Module (including the box)

13.4 Gaps Hoisting System

Through Hull Deployment Unit (THDU) for USBL
THDU is an automated through hull deployment machine for Gaps USBL system.
Shipyard install the system according to the installation manual. Finalization and
configuration of the system is done by Exail support onboard (Commision
intervention).
Standard specifications (THDU-2600)

> Electrically activated with local and remote command
> Approx. size: 2010x810 mm footprint, 4800 mm high
> Approx. weight 1,700 kg
> Sea chest for access to the antenna without dry docking, height 800 mm.
> DN350 gate valve with electrical drive and Lloyd’s certification
Not included
> Shipyard work on the hull
> Installation & setting to work (service recommended below)
Option
> Other certification (DNV, BV, Lloyds, RINA, ABS)
> Other deployment length (1200mm, 2200mm, 2700mm)
> Other Gatevalve (no gatevalve, DN400…)
THDU-2600 with gatevalve DN350

TBD FE/UDC Electrical drive, Lloyd’s certification for gatevalve
Required services for commissioning/HAT are excluded

14 References for Gaps Series
The main customers are rental companies, offshore companies, military and scientific
institutes.
ALDA MARINE (France) Submarine cable deployment
ASHTEAD (UK) Rental company
Mine Counter Measure Vehicle

Belgian Navy (Belgium)
Double Eagle
BOSKALIS(Netherlands) Dredging, construction, survey
C&C Technology (USA) Survey. Vehicle C-Surveyor I

COSL (China) Survey
Oceanographic Institute ROV and

COMRA (China) AUV positioning Dynamic
Positioning
Subsea mining Drill head

DE BEERS (South Africa)
positioning
E-MARINE Cable Laying
FUGRO (Netherlands) Survey. Vehicle Echo Surveyor II
HYDROID AUV Tracking

ROV and AUV positioning Dynamic

IFREMER (France)
Positioning
ISE (Canada) AUV tracking
JOGMEC (Japan) Drilling, mining, ROV positioning
KRAKEN SAS Sonar Tracking
MARUM (Germany) Research University ROV tracking
MMTAB (Sweden) Multibeam survey with tow fish

NIOT (India) Oceanographic Institute
ROV positioning and Dynamic

P&O Maritime (Ireland)
Positioning
Petrobras / Cybernetix Buoyancy supported riser (BSR)

(Brazil) monitoring system
Pipe laying and subsea

SAIPEM (France)
construction
SAIPEM Offshore Energy
SBGS (USA / Norway) Ocean Bottom Cable

SCHLUMBERGER AUV Tracking
Seatronics (UK) Rental company
ST Electronics (Singapore) Mine sweeping
STR (UK) Rental company
Unique Systems (USA) Rental company
Multi purpose vessels to install

Van Oord (Netherdlands)
cables for wind farm

15 Drawings
15.1 Gaps Acoustic Head

15.2 Gaps Box

15.3 Gaps DGPS Antenna

Exail CONTACT - SUPPORT
For non-URGENT support:

> by email: support@exail.com
> using the form on the iXblue web site www.ixblue.com
For 24/7 URGENT SUPPORT:

> North America / NORAM
+1 617 861 4589
> Europe Middle-East Africa Latin-America / EMEA-LATAM

+33 1 30 08 98 98
> Asia Pacific / APAC

+65 6747 7027

15.4 Gaps M5 Specification

15.4.1 SYSTEM (GAPS + CABLE +BOX)
15.4.1.1 Positioning Accuracy(1)
CEP50 CEP90
SNR > 10 dB(2) <0.5 % x slant range <1.0% x slant range
(1) In vertical conditions. With MT9x2 beacon. Transmit level = 191 dB ref µPa @ 1 m, sound
velocity compensated, slant range of 700 m

(2) SNR is input signal to noise ratio
15.4.1.2 Performance
Range(4) 995 m (up to 4,000 m)(5)
Coverage 200 deg below acoustic array
Operating frequency 21.7 – 30.3 kHz wideband
Position refresh rate 1 to 15 s (depends on range) – 10 Hz with predictive filter
8 with MT8 beacons

Nb of channels 40 with MT9 beacons
529 with MTA beacons
Acoustic transmit level 191 dB ±3 dB ref. 1 µPa @ 1 m

(4) Surface noise level < 93dB ref µPa. Transponder transmit level = 191dB ref. 1 µPa @ 1
m. Vertical conditions. With MT9x2 beacons.
(5) Surface noise level < 67dB ref μPa. Transponder transmit level = 191dB ref. 1 μPa @ 1
m.

15.4.1.3 Attitude and Heading Reference System
Pure inertial mode 0.6 nm / hour (CEP50)

Heading dynamic accuracy 0.5 deg secant latitude (RMS)
Roll / pitch dynamic accuracy 0.1 deg (RMS)
Settling time (ready to nav) 5 min
Full accuracy settling time (all con-
< 10 min
ditions)
15.4.1.4 Acoustic Communication
Sequencing Simultaneous positioning and communication

Bi-directional (Gaps head to beacon and beacon to Gaps
Type
head)
Data rate 500 bps (burst of 160 bits)
Doppler ± 6 knots
Surface input/output Ethernet or serial link (broadcast from/to host)
Underwater input/output Serial link (broadcast from/to host)
15.4.1.5 Input / Output
Control / command Ethernet with Web-Based User Interface

Input/output (serial) 4 communication ports (RS232 / 422 / 485)
Baud rate (serial) 1.2 to 115 kbauds
Input/output (Ethernet) 4 communication ports (UDP / TCP client / TCP server)
Synchronization IN 1 PPS and 1 external trigger
Synchronization OUT 2 triggers
Input/output formats Industry standards NMEA 0183, ASCII, BINARY

15.4.2 GAPS HEAD

15.4.2.1 Mechanical
Dimension (Ø x h) 296 x 521 mm (without connector)

Minimum gate valve 350 mm / 12” (DN350)
Weight (air / water) 14 kg / -5 kg (positive buoyancy)
Depth rating 25 m (standard) / 100 m (non destructive)
Construction Carbon fiber painted
Maximum sailing speed 12 knots
Connector Subconn MCOMM21F
15.4.2.2 Environmental
Temperature, operating(6) -5 to +35°C

Temperature, storage(6) -40 to +70°C
Thermal shock(6) Δ 45°C
Vibration(6) 1 to 55 Hz ± 1 mm / 10 m/s²
Shock(6) 15 m/s² / 15 ms / ½ sinus
EMC 89 / 336 / EEC – EN 60945
(6) NF X10-812
15.4.3 GAPS BOX

15.4.3.1 Mechanical
Dimension (L x l x h) 361 mm x 233 mm x 93.5 mm

Weight 4.6 Kg
IP rating IP54
15.4.3.2 Environmental
Temperature, operating(7) -5 to +50°C

Temperature, storage(7) -40 to +80°C
Humidity(7) 95% at 40°C
Vibration(7) 1 to 55 Hz ± 1 mm / 10 m/s²
Shock(6) 15 m/s² / 15 ms / ½ sinus
EMC EN 60950 / EN 61000
(7) NF X10-812

15.4.4 MAIN CABLE

Cable between Gaps head and Gaps Box
20 m ± 1 m (option for 50 m ± 1.5 m, option for 95 m ± 3 m

Length
and for repeater box when greater ranges are required)
ATEX Yes (option)
Diameter 15 mm (± 0.8 mm) – 42 mm for the Subconn connector
Minimum bending radius 75 mm
Maximum pulling strength 150 daN

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Edition Date Comments

TD-GAPSM5-AN-001-E - September 2023 3

4 TD-GAPSM5-AN-001-E - September 2023

Gaps M5 Documentation Overview

> Gaps M5 Technical Description

> Gaps M5 Installation & Setup Guide

> Gaps M5 Operation Guide

> Gaps M5 Interface Library

> Gaps M5 Quick Start Guide

> Gaps M5 Maintenance Guide

> Gaps M5 ICD Interface Control Document

TD-GAPSM5-AN-001-E - September 2023 5

> Part 6: Compatible Transponders - List of compatible transponders.

> Part 7: Gaps Deployment Methods - Description of various deployment methods.

> Part 8: Interfacing - All connections on Gaps BOX.

> Part 9: Gaps Repeater Box - Description of Gaps Repeater BOX.

> Part 10: Gaps M5 Specification

> Part 11: Gaps M5 Performances

> Part 12: Life Cycle - Various Information on Gaps system.

> Part 13: References - List of customers owning a Gaps system.

> Part 14: Drawings - Mechanical drawings of Gaps M5.

6 TD-GAPSM5-AN-001-E - September 2023

Abbreviations and Acronyms

APRS Acoustic Positioning Reference Sensor

AUV Automated Unmanned Vehicle

CBIT Continuous Built- In Test

CEP Circular Error Probability

DGPS Differential Global Positioning System

EMC ElectroMagnetic Compatibility

FPSO Floating Production Storage and Offloading

GAPS Global Acoustic Positioning system

GNSS Global Navigation Satellite System

GPS Global Positioning system

ICD Interface Control Document

INS Inertial Navigation System

NMEA National Marine Electronics Association

OBC Ocean Bottom Cable

OEM Original Equipment Manufacturer

PPS Pulse Per Second

RMS Root Mean Square

ROV Remote Operated Vehicle

SNR Signal-to-Noise Ratio

TCP Transmission Control Protocol

THDU Through Hull Deployment Unit

UDP User Datagram Protocol

USBL Ultra Short BaseLine

USV Unmanned Surface Vehicle

UTC Universal Time Coordinated

VAC Volts Alternating Current

VDC Volts of Direct Current

TD-GAPSM5-AN-001-E - September 2023 7

8 TD-GAPSM5-AN-001-E - September 2023

TD-GAPSM5-AN-001-E - September 2023 9

7 GAPS DEPLOYMENT METHODS 43

10 TD-GAPSM5-AN-001-E - September 2023

15.4.1 System (Gaps + Cable +Box) 67

TD-GAPSM5-AN-001-E - September 2023 11

1.1 Product Description