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GAPS

User Guide

PTSAY

Transponder Relative Positioning Message relative to GAPS – NORTH orientation (Relative

coordinates and depth)

#NNNNN

hhmmss.ss

aaaa

BBB

XXXXX.X

YYYYY.Y

PPPP.PP

CCCC.CC

NNNN.N

Recurrence frame Number

Time in hours, minutes, seconds ,milliseconds

Day jj = 0 to 31

Month mm =1 to 12

Year

Transponder 1 to 128, Unknown Transponder -128 to –1

X coordinate (+ forward) in meters

Y coordinate (+ starboard) in meters

Position validity (X, Y, Z): 0 to F: binary code of acoustic channel validity

Calculated depth in meters

Depth validity (0: None 1: Calculated 2: Sensor)

Sensor depth in meters

Altitude of the transponder

MU-GAPS-AN-005-H - November 2019

199

Содержание GAPS

Страница 1: ...GAPS Positioning System User Guide...

Страница 2: ......

Страница 3: ...GAPS User Guide Revision History Edition Date Comments F 5 2016 Pack Soft 6 G 3 2018 Pack Soft 7 H 11 2019 Pack Soft 8 MU GAPS AN 005 H November 2019 3...

Страница 4: ...ties either expressed or implied included but not limited to implied warranties of merchantability and fitness for a particular purpose with respect to this product and documentation iXblue reserves t...

Страница 5: ...ions or damages caused by improper use or inadequate maintenance of the product Under no circumstances shall iXblue be due to provide repair or replacement under this warranty in order a to repair dam...

Страница 6: ...port license by the French authorities If an individual export license has to be issued by the French authorities it is required that you provide a description of your usual activity and the one of th...

Страница 7: ...to external systems Configuring GAPS In this section you find the procedure for configuring GAPS with the help of the Web based User interface It describes all required parameters before operating th...

Страница 8: ...y INS Inertial Navigation System IRF Individual Response Frequency GPS Global Positioning System HRP Heading Roll Pitch LBL Long Base Line LED Light Emitting Diode MFSK Multiple Frequency Shift Keying...

Страница 9: ...s It is also used for ref erencing 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...

Страница 10: ...25 2 2 1 1 Positioning 25 2 2 1 2 Operating Environment 25 2 2 2 Mechanical Specifications 25 2 2 3 Electrical Specifications 26 2 2 3 1 Main Cable 26 2 2 3 2 Optional Repeater Box for the Main Cable...

Страница 11: ...a Computer 56 4 2 1 1 Default IP Address 56 4 2 1 2 Configuring the Computer 57 4 2 2 Connecting GAPS to a Local Network 59 4 2 2 1 Configuring GAPS Network Interface 60 4 2 2 2 Connection Procedure 6...

Страница 12: ...nels 94 6 2 2 3 Mobile Toolbar 96 6 3 REAL TIME MODE 97 6 3 1 Defining an Equipment 97 6 3 2 Configuring the Connection 98 6 3 3 Configuring the Logging 100 6 3 4 Connecting Equipment and Logging Data...

Страница 13: ...TROL Window 145 9 3 1 2 NAVIGATION Window 146 9 3 2 Checking the Current Voltage of a ZTA02C Transponder 147 9 3 3 Deselecting a Channel for a USBL Computation 148 9 3 4 List and Meanings of Status Wa...

Страница 14: ...UM DEFINITION 176 H INPUT PROTOCOLS 177 H 1 GPS 177 H 2 PRESSURE DATAGRAM PMEVL 179 H 3 ITS TELEMETRY 180 H 4 HOISTING SYSTEM 181 I OUTPUT PROTOCOLS WITH TRANSPONDER S POSITION 182 I 1 MINIMUM OUTPUT...

Страница 15: ...I 19 PIFM POPSN 226 J GAPS PHINS LEVER ARM 226 K OUTPUT PROTOCOLS WITH INS POSITION 227 L GAPS ANTENNA MECHANICAL DRAWING 229 M MAIN CABLE REPEATER BOX MECHANICAL DRAWING 230 N GAPS BOX MECHANICAL DR...

Страница 16: ...Accuracy The GAPS system is used to deliver The position of one or more underwater objects or vehicles which can maneuver at depth up to 3 000 meters Deeper is possible depending on the type of beacon...

Страница 17: ...ders 1 2 5 Optional integrated DGPS antenna provides absolute positions of the ship to GAPS Cables Three cables are used in the GAPS system Main cable links GAPS to the BOX Optional Y cable connects t...

Страница 18: ...nnection plug Contents The GAPS head contains The acoustic electronics for reception based on the MSFK Chirp modulation technique An Inertial Navigation System INS The acoustic transmitter electronics...

Страница 19: ...inks Four input and output serial links Two synchronization outputs and one synchronization input One PPS link Power supply VDC AC Rack option On customer request the GAPS BOX can be rackable 19 rack...

Страница 20: ...1 GAPS compatible transponders iXblue MT8 iXblue MT9 iXblue ET RTAx2 iXblue ZTA02C iXblue RAMSES iXblue CANOPUS iXblue STAx2 iXblue MTBx2 Applied 1019 software permitting Sonardyne Mini beacon 5 6 Son...

Страница 21: ...GAPS transmits orders to the transponder release etc via the telemetry Configuration of the telemetry in input and output is described in section 4 4 1 5 The telemetry datagram uses ITS TELEMETRY NMEA...

Страница 22: ...GAPS User Guide Figure 7 HiSys hoisting system 22 MU GAPS AN 005 H November 2019...

Страница 23: ...r is at the barycenter of the four hydrophones Reference frames The lever arms of the external sensor with respect to the GAPS center of measurements is represented by three lengths LV1 LV2 LV3 defini...

Страница 24: ...e 2 1 3 ATTITUDE The attitude angles are defined as follows Roll is positive when Port goes up Pitch is positive when the bow is down Heading is positive when it goes to Starboard 24 MU GAPS AN 005 H...

Страница 25: ...tical directivity 270 2 dB at 50 kHz Typical 2 2 1 2 Operating Environment Power supply Consumption 24 to 36 VDC 35 W 45 W at starting up 100 240 VAC Operating temperature 5 C to 35 C Storage temperat...

Страница 26: ...ed at 500 VDC for conductor to conductor conductor to shield and conductor to body SOURIAU Accepted result above 200 M All measured values are above or equal to 500 MOhm SUBCONN Connector Maximal diam...

Страница 27: ...ue GPS 5 C Sync PPS 6 B Sync IN 1 7 K Sync OUT 1 8 F Sync OUT 2 9 Not Connected 10 Not Connected 11 M Ethernet Rx 12 Y Ethernet Tx 13 Not Connected 14 Not Connected used by iXblue GPS 15 T Sync PPS 16...

Страница 28: ...Specifications The general characteristics of the Repeater Box are the following Weight 2 15 kg Size 217 x 188 x 68 5 mm Operating temperature 20 C 70 C Storage temperature 20 C 80 C IP rating classi...

Страница 29: ...s classified IP65 We recommend an indoor installation The repeater box may be installed on any vertical or horizontal surface Electrical Ground The Repeater Box must be connected to the electrical gro...

Страница 30: ...the Y cable Figure 14 GPS Cable connectors 2 2 3 4 Optional GAPS Y Cable The 1 m long Y cable MP FR10141 rev C is used to connect the GPS unit and the BOX to the GAPS The cable can be immersed for lon...

Страница 31: ...c IN 1 7 7 Sync OUT1 8 8 Sync OUT2 9 9 Not Connected 10 Shield 11 11 Ethernet Rx 12 12 Ethernet Tx 13 13 Not Connected 14 4 TxA GPS RS232 15 8 Sync PPS 16 16 Sync IN 17 17 Sync OUT 1 18 18 Sync OUT 2...

Страница 32: ...cs Characteristics Values Power supply Consumption 24 to 36 VDC 5 6 W 100 240 VAC Weight 4 6 kg Operating temperature 5 C to 50 C Storage temperature 20 C to 80 C Highest humidity 95 at 40 C Vibration...

Страница 33: ...aptation needed Compartment with 2 fuses 1 A 5x20 mm ref D1 TD REF SCHURTER 7030 332 GAPS SOURIAU 23 pins connector for the Acoustic Array cable ETHERNET Access to network SERIAL A B C D 4 DB9 connect...

Страница 34: ...GAPS is powered by a 24 to 36 V 50 W DC source on a 4 pins SOURIAU UTO00104PH connector The DC connector is the only way to disconnect the DC power supply no switch Figure 17 AC DC power supply conne...

Страница 35: ...s doesn t mean that the system is not detecting the signals If GAPS is triggered in responder mode from the outside with a transponder in responder mode triggered on the sync IN input the triggering p...

Страница 36: ...k the contents of the pack and the equipment immediately on receipt of your System Check that all items are present on delivery and that none of them has been damaged during shipping Use the packing l...

Страница 37: ...On a ship it is recommended to install the GAPS head in the front third of the ship in order to decrease the noise level from the propeller and as far as possible from any water discharge system 3 2 1...

Страница 38: ...materials electro chemical potential aluminum for example it is necessary to electrically insulate it in order to avoid any electro galvanic reaction that will result in structure corrosion and GAPS...

Страница 39: ...re 18 GAPS fixed on the hull and a transponder on a ROV or tow fish Figure 19 Transponder fixed on a scuba cylinder Figure 20 GAPS antenna on a pole underneath the keel or in a moon pool MU GAPS AN 00...

Страница 40: ...ng the new GAPS BOX 3 3 1 ELECTROMAGNETIC COMPATIBILITY RECOMMENDATIONS GAPS system has been qualified with the following standards EN 60945 2002 EN 61000 3 2 2006 A1 2009 A2 2009 EN 61000 3 3 2008 It...

Страница 41: ...GAPS User Guide 3 3 3 CONNECTING THE BOX Figure 22 Connection of the GAPS BOX and signal types Figure 23 Architecture of the GAPS positioning system MU GAPS AN 005 H November 2019 41...

Страница 42: ...rom the sky Figure 24 DGPS antenna installation 3 4 1 INSTALLING AN EXTERNAL GPS Connection In this case you must not use the Y cable to be plugged to the GAPS Plug your GPS directly on the BOX via th...

Страница 43: ...GPS The DGPS DB9 connector of the BOX is not used in this case Plug the 15 m GPS cable on the Y cable and then plug the DGPS to the 15 m cable Figure 25 Architecture of GAPS system with the use of the...

Страница 44: ...GPS antenna and the acoustic array have to be entered accurately When GAPS is in horizontal position the axes are inverted and the attitude outputs are irrelevant There are 2 different solutions to in...

Страница 45: ...S antenna lever arm 3 4 3 2 GPS Antenna not above GAPS When the GPS antenna is not located right above GAPS its position in the CRP GAPS frame has to be determined The definition of these lever arms L...

Страница 46: ...A PPS can be interfaced with the BOX In order to improve the time stamping 3 5 Installing the Transponders The transponders are installed on the fixed or the mobile device that you intend to track Th...

Страница 47: ...computer The communication with the computer can be performed either directly through Ethernet link or through a local network The communication is made in an http or https domain which includes encry...

Страница 48: ...stem status display Main data display You can re size the page Some elements disappear as you decrease the size of the window Figure 30 Web based Interface main window Logo The logo appears on every p...

Страница 49: ...ata input from external sensors The color code applies for the indicators and text labels displayed in these pop up windows When a problem occurs the color of the logo changes and these pop up automat...

Страница 50: ...ition Color Definition Grey Inactivity Flashing Grey Blue System Configuration during initialization Blue Activity nominal operation Orange Activity warning the system works with limited efficiency Re...

Страница 51: ...area In order to keep each web based page as small as possible only the main parameters are default visible You can expand the hidden area by clicking on its text label title OK Cancel buttons Each c...

Страница 52: ...artificial mode simulates an actual operating mode It allows the user to validate beforehand the chosen configuration without the need to deploy the acoustic antenna into the water Hydrophone Disablin...

Страница 53: ...the Zone in the scrolling list For Latitude Longitude system select the Notation in the scrolling list 4 In Simulation Mode select between Real default and ArtificialDetection 5 In Hydrophones Disabli...

Страница 54: ...the options files when sending them by mail in order to avoid any file corruption caused by mail applications Make sure to UNZIP the options files that you have received by mail before loading them i...

Страница 55: ...SETTINGS frame click on Browse to select the CNF_ file Once selected the name of the file appears in the File field 3 Click on the button Restore Settings A Sending File frame appears briefly Once th...

Страница 56: ...APS is already assigned with an IP address When connecting only one computer to GAPS it is only necessary to adapt the computer to GAPS configuration 4 2 1 1 Default IP Address The default IP address...

Страница 57: ...ies If you cannot locate this icon you can still proceed by selecting Start menu Connect To Show all connections Select Start menu Settings Control Panel then double click on the icon Network Connecti...

Страница 58: ...e subnet masks of both computer and GAPS must be identical If you have no idea on which IP address GAPS has been configured you may recover this IP address by connecting a HyperTerminal on the compute...

Страница 59: ...parameters You edit these parameters to makeGAPS compatible with the network see section 4 2 2 1 The global procedure follows see section 4 2 2 2 Figure 35 GAPS connected to the local network Equipme...

Страница 60: ...dress and mask are detailed in annex B Gateway IP address is the address of the workstation connected to other networks of the vessel Turn GAPS OFF and ON after every IP address edition 1 Click on INS...

Страница 61: ...GAPS from this computer GAPS is now visible from this computer 4 Choose an IP address compatible to the local network You are going to assign this address to GAPS 5 Add this address to the list of IP...

Страница 62: ...d during the installation process GAPS depth the distance from the CRP to the sea level Lever arm for relative coordinates for HPR400 HPR418 HPRBCD protocols only If you plan to output data using thes...

Страница 63: ...na to the water surface 4 If it is needed enter the Lever arm for relative coordinates the LV1 LV2 and LV3 coordinates in meters 5 Click on OK to validate your input data configuration and send this d...

Страница 64: ...CONTROL menu 4 4 1 1 Input Stream Parameters Below you find the various parameters that you have to set up Input Choose the Port among the Serial A B C D and Ethernet A B C D ports Select Embedded fo...

Страница 65: ...ponding scrolling list 5 For a Serial link enter the Parity Stopbits Standard and Baudrate 6 For a Ethernet link select the Transport Layer IP address and Port 7 Lever Arms enter LV1 LV2 LV3 separatin...

Страница 66: ...APS User Guide You may enter the lever arms in the GAPS Web based User Interface or in the third party navigation software The drawing below describes the two options 66 MU GAPS AN 005 H November 2019...

Страница 67: ...ou use the iXblue GPS We recommend to set the same port for Position and UTC 4 In Protocol select the Protocol and the PPS in the corresponding scrolling lists 5 If you have selected Serial in step 3...

Страница 68: ...A B C D 4 In Protocol select the Protocol and the Timeout in the corresponding scrolling lists 5 In Protocol enter an Offset in millibar for the pressure sensor 6 For a Serial link enter the Parity S...

Страница 69: ...C D or Ethernet A B C D 4 In Protocol select ITS TELEMETRY 5 If you have selected Serial in step 3 enter the following parameters 6 If you have selected Ethernet in step 3 enter the following paramete...

Страница 70: ...he Port between Serial A B C D or Ethernet A B C D 4 In Protocol select NMEA 183 PMEVL and enter a Timeout from 1 to 10 s 5 If you have selected Serial in step 3 enter the following parameters 6 If yo...

Страница 71: ...l a list of protocols is available which allows compatibility between the GAPS and other devices and I Note For protocols with INS position the primary lever arm translates the INS position to the GAP...

Страница 72: ...D The selected port is highlighted in blue According to the type of link the Serial or Ethernet component appears below 3 In Protocol select a Protocol and a Frequency if necessary 4 If you have selec...

Страница 73: ...r Interface of the internal INS of GAPS is possible via the GAPS Web based User Interface http IP IP IP IP ins_restricted_area Please refer to PHINS Web based User Interface for a complete description...

Страница 74: ...ustic cycle of GAPS is defined as follows The main parameter is the Synchronization Mode Internal Synchronization Interrogation time for the transponder is automatically determined by GAPS Internal re...

Страница 75: ...me Choice of the recurrence The choice for the recurrence is mainly made upon the maximal travel distance Table 9 Maximum working distance versus recurrence with a TAT 90 ms Maximum working distance m...

Страница 76: ...vate another acoustic device if the need arises 1 Click on the menu SETUP and select TRACKING The TRACKING window opens 2 Select Internal from the Synchro Mode scrolling list The TRACKING window shows...

Страница 77: ...he setting off takes place on a Rising Edge of the signal Min Duration this is the minimum length of time necessary for the setting off after activation during which the signal must remain stable high...

Страница 78: ...s and avoid detecting on echoes coming from previous recurrences The main recurrence must allow the interrogation answer detection cycle The switch between discovery mode and ping stacking mode occurs...

Страница 79: ...d every transponder must have a specific answering code even with specific interrogation code Telemetry Telemetry may be active with the ping stacking The processing time of the telemetry is 2 s The c...

Страница 80: ...ended If a transponder is deeper than the last layer of the SVP the last layer is virtually extended at 10 000 m depth 5 2 1 LOADING A PROFILE FROM A DATA FILE It is possible to load a file containing...

Страница 81: ...es warnings and errors provide guidance Table 10 Messages for Manual Input of Sound Velocity Message Action Valid Profile You may validate the profile by clicking OK Thin Slice 1 m Low interval betwee...

Страница 82: ...1 375 and 1 900 m matching the entered depth 6 Click on Tab The depth value of the following line is highlighted 7 Go back to step 3 until you have entered all the depth and velocity data from your pr...

Страница 83: ...F4 19 5 21 0 5 kHz MFSK 22 23 MFSK 00 09 ET RTAx2 19 5 30 5 0 5 kHz MFSK 22 23 0 45 19 5 30 5 0 5 kHz MFSK 22 23 0 45 ZTA02C MFSK 0 44 45 telemetry MFSK 0 44 45 telemetry RAMSES 19 5 30 5 0 5 kHz MFS...

Страница 84: ...ultaneously interrogated The interrogation then takes place on as many cycles as there are various frequencies The transponders are separated thanks to different MFSK reply codes and Individual Interr...

Страница 85: ...ogation reply codes Codes 22 23 Codes 0 to 45 Codes Sonardyne Wideband 1 It is recommended to use codes from only one family in the frequency plan iXblue guarantees the intercorrelation properties onl...

Страница 86: ...Click on Add a transponder The window shows 3 Type an ID Number from 1 to 9999 Unavailable identifiers appear in red 4 Select one of the transponders listed under Type optional and click on Create If...

Страница 87: ...the acoustic array The drawback is that the electrical signal has to be transmitted up to the transponder usually through an electrical or a fiber optic wire or by using synchronous clocks GAPS in ex...

Страница 88: ...positions By default do not activate the filter Activate the filter if the unfiltered positioning is stable and if the increase of the output rate is necessary Other The Label is a name eight characte...

Страница 89: ...ERS 2 Click on Change Settings for the appropriate transponder to be configured The configuration window opens The image shown corresponds to a RTA transponder 3 In Interrogation select Mode and Code...

Страница 90: ...ponder to compute the position of the USBL antenna Enter manually the Latitude Longitude Depth and Accuraciesof the transponder or click on Get Current Position to get the transponder USBL position If...

Страница 91: ...ransponder you would like to activate The button becomes The transponder is activated 5 3 4 DELETING A TRANSPONDER A transponder can be removed from the transponder list 1 Select SETUP TRANSPONDERS 2...

Страница 92: ...L geographic positions in real time as well as in off line mode DELPH RoadMap displays the USBL data with the navigation of the ship as well as any background images and coastlines Visualization modes...

Страница 93: ...s access to the waypoint mode the Waypoint Creator tool as well as the addition of a measurement and of an equipment Figure 40 Navigation menu 6 2 2 TOOLBARS AND PANELS The toolbars and panels that ar...

Страница 94: ...the current log file and start a new one 6 2 2 2 Panels Control and management of a list of measurements between mobiles or annotation point items annotations sonar targets etc Control and management...

Страница 95: ...on the disc when critical the name size and logging time of the file s in which are stored data from different pieces of equipment This panel replays offline data A time span may be selected and only...

Страница 96: ...llipse around the selected mobile in the 3D view Only in real time mode Show or hide the LBL range of the selected mobile towards the system mobile if available in the 3D view Only in real time mode C...

Страница 97: ...es to match your system configuration 1 Select the Navigation Add equipment menu or in the Project view panel right click on Navigation and select Add equipment in the menu that opens The Equipment wi...

Страница 98: ...protocols may be received on the same connection when they are present in the device data output Acoustic Positioning iXblue Standard GAPS Standard DATA Standard RAMSES Standard etc INS iXblue Standa...

Страница 99: ...select the Port Number and click on the button to open the serial port configuration window Select the Bits Per Second Data Bits Parity and Stop Bits parameters 7 Click on OK to validate the configura...

Страница 100: ...the Type of data to be stored The choice has to be made between All datagrams all received data is stored and Interpreted datagrams only all decoded data is stored 3 Type in a file Prefix and a Suffix...

Страница 101: ...green All the mobiles whose protocols are present in the data flow are displayed in the project view below the corresponding equipment These mobiles are also all present in the graphic display and in...

Страница 102: ...and select Switch to a new log file in the menu that opens In the equipment toolbar select the equipment device or All equipment if you wish to switch to a new log file for all equipment devices at on...

Страница 103: ...ngth m Width Radius m and Height m Offsets tab Offset X Y and Z in meters and degrees of the three dimensions model with respect to the incoming navigation These offsets are computed in the DELPH Road...

Страница 104: ...s option if you wish to enter such a value Activate the Maximum duration option if you wish to enter such a value You can activate the Display vertical axis option You can activate the Display range c...

Страница 105: ...anel under Navigation right click on the name of the equipment and select the Import Navigation Data menu 3 Select the data file 4 Choose and validate the geodesy The navigation data is being imported...

Страница 106: ...start time to the end time of the file and back again 1 Select Display Panels Time or right click in the ribbon and select Time in the menu 2 Move the two cursors at each side of the time scale and p...

Страница 107: ...clicked on the button are present in the Mobile Immersion The panel is automatically rescaled as data comes in to optimize the visualization of the immersions for the last received position You can a...

Страница 108: ...The vertical axis has an automatic scaling in order to optimize the visualization See an example of such a display below Figure 46 The vertical axis displays the immersion of the selected mobile The...

Страница 109: ...splay The tool is accessible via the button in the Equipment toolbar Figure 47 Range circle around a ROV Circle Radius In order to edit the radius of the range circle follow the procedure 1 In the Pro...

Страница 110: ...ng the confidence region for the two coordinates of a mobile This tools allows a quick evaluation of the uncertainty of the position of the mobile The tool is accessible via the button in the Equipmen...

Страница 111: ...le properties window The objective is to visually check the residuals of the range to the transponders to help determine whether sound velocity is under estimated or over estimated The range residuals...

Страница 112: ...GAPS User Guide Figure 52 Mobile properties window 112 MU GAPS AN 005 H November 2019...

Страница 113: ...o a 2D North oriented view by clicking on the button or by selecting the menu Display 2D View North up This view is a 2D view in which the top side is oriented to the North See below the orientation o...

Страница 114: ...View Heading up This view is centered on the selected mobile The heading of the position source stays always directed to the top of the display Equidistant concentric circles are drawn to indicate th...

Страница 115: ...values Depth X and Y Positions Heading Date Time Uncertainty Ellipse Size and Orientation Altitude Standard Deviation Range and Residual Range for a selected mobile of an equipment Select the Equipme...

Страница 116: ...st 1 000 points of the tracks are displayed Click on the button to auto scale the display of the mobile track Click on the button to hide or show the link between the vessel 0 and the current position...

Страница 117: ...described and its width style color and transparency can be edited Date time position and immersion of the mark are displayed in the Feature Data tab Figure 57 Event creation window 1 During real tim...

Страница 118: ...play properties tab move the cursor along the Transparency scale to choose a value between 0 and 100 7 Click OK to validate the creation of the event mark The event mark is created and displayed on th...

Страница 119: ...created If you remove an event mark data file all the event marks written in the data file are also removed from the Project view panel Event Mark Edition You can perform a few operations directly on...

Страница 120: ...int creation window 1 Click on to select the waypoint mode Move the mouse cursor at the location where you want to create a waypoint and double click The waypoint is created and the waypoint creation...

Страница 121: ...Height m values In Offsets tab enter the optional Offsets X Y Z in meters and or degrees 7 In Points tab Select a Width in the scrolling list Select a Style in the scrolling list Select the Color in...

Страница 122: ...from the Project view panel Waypoint Edition You can perform a few operations on a waypoint In the Project view panel under Annotations Features if you right click on one waypoint a pop up menu opens...

Страница 123: ...window see below allows the selection of a pair of object between which may be monitored several kinds of distances and angles Horizontal Projected and Geographic Vertical and Slant Distances Horizont...

Страница 124: ...ist 3 Select which measurement s you want to monitor in the Measurements frame 4 Click on OK to validate your choice The Measurement window opens if it was not opened yet The measurement you configure...

Страница 125: ...ow buttons Icon Task Select in the list the values to display Flip objects of a measurement Change the item color and the displayed line Show hide the measurement in the 3D display Font size for the w...

Страница 126: ...r other File Formats than Google Earth KML is Surface Clamp to sea level the trajectory is displayed on the surface Clamp to seabed the trajectory is displayed on the seabed Relative to sea level the...

Страница 127: ...t is Google Earth KML select the Z Level in the corresponding scrolling list 3 You may activate the Track and or Positions options If the export File Format is Google Earth KML select the Color of the...

Страница 128: ...nd Subsea INS 7 1 List of iXblue Subsea INS In the table below are listed the iXblue INS that can be coupled to GAPS Table 14 iXblue INS PHINS Compact series C3 C5 C7 ROVINS Nano ROVINS PHINS Subsea 1...

Страница 129: ...rs sparse array application i e pipeline tracking Figure 63 Coupling GAPS and an INS In this section is detailed how to connect GAPS to the INS in order for GAPS to provide to the INS the needed absol...

Страница 130: ...ndwidth in the umbilical or acoustic modem Age of the position and time stamping no requirement for ZDA synchronization Standard Deviation estimated by USBL Figure 64 Coupling GAPS to an INS When post...

Страница 131: ...ort of your choice Serial A B C D or Ethernet A B C D 3 Select IXSEA USBL INS 1 or POSIDONIA 6000 for the Protocol and the Minimum Frequency of your choice from the pull down list 4 If you have select...

Страница 132: ...of the INS to GAPS on axis 3 1 In the INS Web based User Interface select INSTALLATION INPUTS The INPUT AND EXTERNAL SENSORS SETTINGS opens 2 Select a port among the ports A to E and click in the tabl...

Страница 133: ...ayer the IP address in the case of a TCP Client Transport Layer and the Port number 7 In Beacon Selection enter the Beacon ID and its corresponding TP Code 8 In Lever Arms enter the LV1 LV2 and LV3 va...

Страница 134: ...stic communication every three recurrences The sent position is not the latest one but two positions before Constraints and coupling details are to be found in the MTB user guide Figure 65 GAPS INS co...

Страница 135: ...lass 2 and 3 The INS becomes the core component of the positioning system and achieves the data fusion of all available sensors LBL USBL and GNSS When L USBL or L USBL INS mode is activated GAPS can s...

Страница 136: ...e then the positioning is provided by both USBL and LBL computations see figures below The LBL computation is made from the travel distances of at least three moored transponders Figure 68 USBL comput...

Страница 137: ...ssel The INS provides the combined position of all above sensors The INS improves the robustness redundancy reliability and accuracy of the global position Figure 70 Data fusion of GAPS INS There is n...

Страница 138: ...N A 0 31 2 0 67 N A 0 22 3 0 55 0 43 0 14 5 0 43 0 33 0 11 10 0 3 0 23 0 08 Fixed transponders are placed in order to give maximum observability for surface positioning Vessel position is centered in...

Страница 139: ...guration and that can be read by a DP system are HIPAP HPR 400 HIPAP HPR 418 fix or mobile KONGSBERG BCD GAPS can be used without GPS Options Four different modes are available Automatic default the G...

Страница 140: ...itions information given in the message starting with PTSAG of the log repeater document recorded during the tracking Each transponder can be recognized by its transponder number included in the PTSAG...

Страница 141: ...rmitted but accelerations should be avoided Leaving the vessel adrift for 5 minutes would lead to satisfactory conditions for coarse alignment After the coarse alignment phase the GAPS is ready for na...

Страница 142: ...ine alignment The inertial sensor status light turns green at the end of the coarse alignment You can then start to operate with GAPS The accuracy of the INS is optimal at the end of the fine alignmen...

Страница 143: ...salignments and immersion of the antenna See section 4 3 6 Configure the input and output if there are new sensors during this mission See section 4 4 7 Configure the tracking parameters See section 5...

Страница 144: ...ontrolling the Data 9 3 1 DATA CONTROL WINDOWS Controlling data from GAPS is carried out via Navigation window Control window Figure 73 Data monitoring via CONTROL and NAVIGATION windows 144 MU GAPS A...

Страница 145: ...TUS label on the left of the main logo display alternatively the SYSTEM DETAILED STATUS and the list of the active transponders and their associated parameters A click on the frame of a transponder of...

Страница 146: ...external sensors X Rel Antenna Transponder coordinates with respect to the frame centered on the antenna and to the antenna axes Y Rel Antenna X Rel North Transponder coordinates with respect to the f...

Страница 147: ...TA02C transponders in use on their current voltage 1 During tracking select the SETUP TRANSPONDERS menu 2 Click on Change Settings for one of the active ZTA02C transponders 3 Click on the Get Current...

Страница 148: ...be able to perform the positioning without this hydrophone A faulty hydrophone may greatly decrease the quality of the positioning The automatic default mode rejects the erroneous detections of any hy...

Страница 149: ...again If the problem remains contact iXblue DSP Overload Data processing is overloaded Telemetry Overflow USBL Net Overflow Network is overloaded Reduce number of output protocols and rates Profile co...

Страница 150: ...ccurred on one of the four chan nels 1 2 3 or 4 5 dB detected between two channels Hydrophone broken or a lot of noise detec ted by one hydrophone Speed Limit 12 kt Ship sails too fast antenna mechani...

Страница 151: ...elease note Zoom A few graphical tools are available from the mouse Zoom on the graph with the scroll wheel of your mouse Draw a zoom rectangle with left mouse button Unzoom backto normal display with...

Страница 152: ...ger 2 Click on the general configuration button Set up the logging file and folder session name automatic log date and hour format Set up the time out configuration time stamping segmentation options...

Страница 153: ...on the flow view button Check the Settings Status and Flow Log History Three status give you the quality of the message NORMAL WARNING ERROR You can easily see if one data stream carries erroneous da...

Страница 154: ...L antenna must not be pinging while the remote control is operating GAPS sends commands to the transponders Commands are configured by the input of the following parameters Bit0 and Bit1 two frequenci...

Страница 155: ...ect Bit0 Bit1and CAF 3 Under Codes set ARM and CMD codes RELEASE in the corresponding drop down lists 4 Under AcknowledgmentTimeout select the Timeout 5 Click on Send to validate your choice and to se...

Страница 156: ...ot any more in the water the hydrophone protective caps must be put in place Hydrophones Do not paint hydrophones with traditional painting Do not use metallic instruments to clean hydrophones Do not...

Страница 157: ...placed back in its transport box and stored in a dry area until it is installed The equipment must always be stored in its packaging The limits of storage temperature are the following Item Min T Max...

Страница 158: ...he ship with a multitester 1 Put the first probe of the multitester on a conductive part of the housing of the GAPS antenna It can be the transducer titanium plate or the titanium screws 2 Put the sec...

Страница 159: ...witch off the GAPS BOX and disconnect it 2 Connect the new GAPS BOX to the GAPS See section 3 3 3 Turn on the GAPS BOX GAPS starts the configuration of the GAPS BOX 4 Wait 30 seconds until the configu...

Страница 160: ...he bulkhead nuts SUBCONN connectors should not be exposed to extended periods of heat or direct sunlight If a connector becomes very dry it should be soaked in fresh water before use We recommend to r...

Страница 161: ...for complete details on the calibration procedure 10 2 2 UPDATING THE SYSTEM iXblue sends to you an update file when available The update file names have srec or sre extension TQ_ prefix for the mothe...

Страница 162: ...n are updated 6 Empty the cache of your browser and reload the page before using the User Interface 10 2 3 CHECKING THE CURRENTLY INSTALLED OPTIONS In the maintenance page you may check which options...

Страница 163: ...RT area to send an e mail to iXblue technical support with all related information of your system Product name and serial number and other information that you can fill in the corresponding fields Con...

Страница 164: ...America NORAM 1 888 600 7573 1 401 475 4400 iXblue Defense Systems Inc 27 Wellington Road Lincoln RI 02865 USA 1 800 727 2828 1 303 993 4649 iXblue Inc 1580 Lincoln Street Suite 860 Denver CO 80203 U...

Страница 165: ...the Java Control Panel Windows 7 Vista Click on the Start button and then click on the Control Panel option In the Control Panel Search enter Java Control Panel Click on the Java icon to open the Java...

Страница 166: ...Site List The Exception Site List window opens 4 Enter the IP address of GAPS Web based User Interface 5 Press Enter or click on Add 6 Click on OK to validate your choice and to close the window 166...

Страница 167: ...Only the listed values below are allowed 0 0 0 0 128 0 0 0 192 0 0 0 224 0 0 0 240 0 0 0 248 0 0 0 252 0 0 0 254 0 0 0 255 0 0 0 255 128 0 0 255 192 0 0 255 224 0 0 255 240 0 0 255 248 0 0 255 252 0 0...

Страница 168: ...gathers all reply codes from Sonardyne Wideband 1 transponders that are partly compatible with GAPS Note the area where reply codes are compatible with GAPS Table 16 Sonardyne Wideband 1 reply codes...

Страница 169: ...GAPS User Guide Table 17 Sonardyne Wideband 1 interrogation codes and compatibility with GAPS MU GAPS AN 005 H November 2019 169...

Страница 170: ...The interrogation and reply codes the turn around time TAT and the name of the transponder are highlighted A Sonardyne Wideband 1 transponder interrogated by CIS signal replies with IRS signal A Sonar...

Страница 171: ...king time TP1 0 8 s 1 8 s 2 8 s 3 8 s 4 8 s 5 8 s E 2 Two Transponders Same Interrogation Code TP Interr code Reply code TaT Rep factor TP1 1 22 90 ms x1 TP2 1 23 90 ms x1 Distance max m 682 1432 2182...

Страница 172: ...ode TaT Rep factor TP1 1 22 90 ms x1 TP2 2 22 90 ms x1 Distance max m 682 1432 2182 2932 3682 4432 GAPS recurrence 1 s 2 s 3 s 4 s 5 s 6 s Blanking time TP1 1 8 s 3 8 s 5 8 s 7 8 s 9 8 s 11 8 s Blanki...

Страница 173: ...3 22 90 ms x1 Distance max m 682 1432 2182 2932 3682 4432 GAPS recurrence 1 s 2 s 3 s 4 s 5 s 6 s Blanking time TP1 2 8 s 5 8 s 8 8 s 11 8 s 14 8 s 17 8 s Blanking time TP2 2 8 s 5 8 s 8 8 s 11 8 s 1...

Страница 174: ...90 ms x1 TP4 3 22 90 ms x1 Distance max m 682 1432 2182 2932 3682 4432 GAPS recurrence 1 s 2 s 3 s 4 s 5 s 6 s Blanking time TP1 0 8 s 1 8 s 2 8 s 3 8 s 4 8 s 5 8 s Blanking time TP2 0 8 s 1 8 s 2 8...

Страница 175: ...eodetic parameter in QPS according to your working area GAPS is set as a POSITION NAVIGATION SYSTEM in QPS Add a Tp by adding a new object in QPS data base Associate a POSITION NAVIGATION SYSTEM to th...

Страница 176: ...between but not including and the delimiters The hexadecimal value of the most significant 4 bits of the result is converted to two ASCII characters 0 9 A F upper case for transmission The most signi...

Страница 177: ...ongitude in degrees LLL and in minutes mm mm Longitude sign E East W West GPS quality indicator 0 and 6 fix invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix va...

Страница 178: ...only 2 1D time 3 currently unused 4 2D time 5 3D time Number of GPS satellites being tracked NOT USED If the receiver is not tracking satellites the time tag is based on the receiver clock In this ca...

Страница 179: ...ime PPS Rising while using PPS UTC Avoid using ZDA only on TRIMBLE GPS If no GST string is received the quality factor is interpreted by INS as follow At input INS converts quality factor to standard...

Страница 180: ...er signal ID In T mode transmit If sig 0 data is sent when the carrier signal sig is transmitted If sig 0 data is sent as soon as possible In R mode receive sig is the ID of the carrier signal nds 0 4...

Страница 181: ...state e1 e2 e3 e4 e5 0 1 0 1 0 1 0 1 0 1 High position 1 yes 0 no Low position 1 yes 0 no Door closed 1 yes 0 no Door opened 1 yes 0 no System default 1 yes 0 no ck 00 to FF Checksum NMEA 183 of data...

Страница 182: ...6 2090 1050 530 270 180 140 90 70 50 40 30 20 Gyrocompass 72 1980 990 500 250 170 130 90 70 50 40 30 20 Haliburton 233 6410 3210 1610 810 540 410 270 210 140 110 70 40 Navigation 113 3110 1560 780 390...

Страница 183: ...kHz F2 20 kHz 22 23 22 90 ms 20 ms 90 ms 1 8 s 1 8 s 1 8 s 2 s 2 s 2 s 3 8 s 3 8 s 3 8 s 4 s 4 s 4 s 3 beacons options 2 lowest rate TP 1 TP 2 TP 3 F1 19 5 kHz F2 20 kHz F3 20 5 kHz 22 22 22 90 ms 90...

Страница 184: ...X X X X X X X X X X Nb of recurrences X X X X X X X Time X X X X X X X X X X Date X X X X X X Latitude X X X X X X X X Longitude X X X X X X X X Forward rel position X X X X Starboard rel position Y X...

Страница 185: ...GAPS User Guide Figure 81 Output protocols containing the transponder position and the INS positions MU GAPS AN 005 H November 2019 185...

Страница 186: ...th validity 0 None 1 Calculated 2 Sensor Sensor depth in meters Hexadecimal checksum precedes the checksum value Position validity The value represents the acoustic hydrophone validity on 4 bits from...

Страница 187: ...0 None 1 Calculated 2 Sensor Sensor depth in meters Hexadecimal checksum precedes the checksum value Position validity The value represents the acoustic hydrophone validity on 4 bits from 0000 to 1111...

Страница 188: ...Depth validity 0 None 1 Calculated 2 Sensor Sensor depth in meters Hexadecimal checksum precedes the checksum value Position validity The value represents the acoustic hydrophone validity on 4 bits fr...

Страница 189: ...Longitude rad Heading correction rad Roll correction rad Pitch Correction rad Hexadecimal checksum precedes the checksum value Ex PTSAZ 00038 224357 921 19 05 2011 PTSAW R 0 012 0 025 0 004 0 5929326...

Страница 190: ...n in the XY plane m float Minor axis XY small axe in m of the error ellipse representing the standard deviation of the position in the XY plane m float Angle between the North and the major axis of th...

Страница 191: ...iXblue string type LABEL String ID aa Number of couples ID Label aaaa ID 1 Integer c c Label of ID 1 ASCII 8 characters aaaa ID 2 Integer c c Label of ID 2 ASCII 8 characters hh CR LF Checksum and end...

Страница 192: ...validity 0 none 1 BUC 2 Sensor Sensor depth m Example PTSAX 01 00100 00199 F 0301 1 9999 16 PTSAX 01 00100 00199 F 0301 1 9999 16 PTSAX 04 0010 00004 F 1135 1 9999 0F PTSAX 04 0010 00004 F 1135 1 9999...

Страница 193: ...de degrees minutes and 1 100000 Longitude direction E East W West Validity of acoustic hydrophones 0 to F binary coding see below Calculated depth in meters Depth validity 0 None 1 Calculated 2 Sensor...

Страница 194: ...None 1 Calculated 2 Sensor Sensor depth in meters Hexadecimal checksum precedes the checksum value Position validity The value represents the acoustic hydrophone validity on 4 bits from 0000 to 1111...

Страница 195: ...meters Depth validity 0 None 1 Calculated 2 Sensor Sensor depth in meters Hexadecimal checksum precedes the checksum value Position validity The value represents the acoustic hydrophone validity on 4...

Страница 196: ...d 1 GPS SPS Mode fix valid 2 Differential Mode SPS Mode fix valid 3 GPS PPS Mode fix valid 4 RTK 5 Float RTK is the number of satellites Hexadecimal checksum precedes the checksum value GPVTG Course O...

Страница 197: ...tude that is added at the end of the protocols PTSAG PTSAX and PTSAY It is the only protocol where the PTSAG is different The transponder altitude is computed as described in the picture below Transpo...

Страница 198: ...ustic hydrophone validity Calculated depth in meters Depth validity 0 None 1 Calculated 2 Sensor Sensor depth in meters Altitude of the transponder PTSAX Transponder relative Positioning Message relat...

Страница 199: ...r Time in hours minutes seconds milliseconds Day jj 0 to 31 Month mm 1 to 12 Year Transponder 1 to 128 Unknown Transponder 128 to 1 X coordinate forward in meters Y coordinate starboard in meters Posi...

Страница 200: ...Latitude and Longitude Latitude 48 deg 21 77993 min North Longitude 432 deg 32 94054 min West Fix taken at 10 05 32 436 UTC Data Active or V void Hexadecimal checksum precedes the checksum value This...

Страница 201: ...oordinate See table below Northing x x Y_coordinate See table below Easting x x Depth Depth in meters depth x x Expected_accuracy The expected accuracy of the position Sqrt Tx2 ty2 a Additional_info N...

Страница 202: ...sor only for USBL BOX TP Bit 4 6 Always 0 Bit 7 Transceiver error opposite of Bit 0 Byte 3 0x20 Status Byte 2 Bit 0 1 Transducer number MSB s n USBL BOX Bit 2 3 Transceiver number LSB s n USBL BOX Bit...

Страница 203: ...t Byte 16 Byte 17 0xHH 0xHH Heading MSB Heading LSB 0 to 359 9 LSB 0 1 BCD coded Byte 18 Byte 19 Byte 20 XsD 0xDD 0xDD Sensor Depth Optional Data 1 Meters S 0 BCD coded Byte 21 Byte 22 Byte 23 0x00 0x...

Страница 204: ...e 11 Byte 12 0xTT 0xTT Number of TP 5 From 1 to 999 Byte 13 Byte 14 0xTT 0xTT Number of TP 6 From 1 to 999 Byte 15 Byte 16 0xTT 0xTT Number of TP 7 From 1 to 999 Byte 17 Byte 18 0xTT 0xTT Number of TP...

Страница 205: ...5 Spare Bit 6 BCD Conversion error Bit 7 Transceiver error 4 00 4 Status byte 2 bit orientated Bit 0 1 Transducer number Bit 2 3 Transceiver number Bit 4 Training mode Bit 5 Mobil TP SSBL Rov TP LBL B...

Страница 206: ...1 03 LSB is 1 10 of the unit 0 3 22 D0 12 OPTIONAL DATA 2 23 00 MSB used for sign D is negative 24 75 LSB is 1 10 of the unit 7 5 25 00 13 Horizontal error ellipse direction 26 00 LSB is 1 10 of the u...

Страница 207: ...6 BCD Conversion error Bit 7 Transceiver error 4 00 4 Status byte 2 bit orientated Bit 0 1 Transducer number Bit 2 3 Transceiver number Bit 4 Training mode Bit 5 Rov TP mobile Bit 6 LBL Co ordinates i...

Страница 208: ...f residuals 24 09 LSB is 1 10 of the uni 000 9 25 00 13 Horizontal error ellipse direction 26 00 LSB is 1 10 of the unit 27 00 14 Horizontal error ellipse major axis 28 00 LSB is 1 10 of the unit 29 0...

Страница 209: ...on HAIN positions are not included in the transponders in sequence telegram Example TP 001 103 207 133 300 in use Byte BCD INFO 1 DF 1 SOT 2 03 2 Head byte 3 TP in sequence telegram 3 05 3 No of TP in...

Страница 210: ...00 18 00 11 TP 8 19 00 20 00 12 TP 9 21 00 22 00 13 TP 10 23 00 24 00 14 TP 11 25 00 26 00 15 TP 12 27 00 28 00 16 TP 13 29 00 30 00 17 Dummy byte filled with zero 31 XX 17 CHECK SUM 32 FF 18 EOR 210...

Страница 211: ...x 8 8 4 bits byte11 byte12 bits 3 to 0 of 13 20 Z m immersion 0 01 m 0 m 0000hex 10485 75 m FFFFFhex Bit 4 1 Reserved Bits 7 to 5 3 Major axe XY long axe in m of the error ellipse representing the sta...

Страница 212: ...dard deviation 25 m 110 25 m standard deviation 50 m 111 standard deviation 50 m Bits 7 to 4 4 Reserved 16 PPhex 8 Reserved 17 18 19 rrrrrrrrrrrrrrrrrrrrrr bin 8 8 6 bits of byte 17 byte 18 bits 5 to...

Страница 213: ...osition in the XY plane 0 0 m standard deviation 0 5 m 1 0 5 m standard deviation 1 5 m 2 1 5 m standard deviation 3 m 3 3 m standard deviation 6 m 4 6 m standard deviation 12 m 5 12 m standard deviat...

Страница 214: ...thus heave corrected This data is coherent with the one that would be given by a depth sensor on the underwater mobile But it does not allow to deduce the absolute position as there is no compensation...

Страница 215: ...eld 3 Transponder number From 1 to 127 Field 4 Status 0 Field 5 X coordinate In meters when directed to starboard Field 6 Y coordinate In meters when directed to the bow Field 7 Z coordinate In meters...

Страница 216: ...ansponder latitude 232 Pi signed 32 bits Data Field 3 Bytes 6 to 9 Transponder longitude 232 Pi signed 32 bits Data Field 4 Bytes 10 to 11 Transponder depth IEEE floating point format meters Warning N...

Страница 217: ...ing flange RANT o Hx Acoustic antenna reference frame centered on hydrophone x Overview USBL_POSTPRO protocol comprises all necessary data for post processing Configuration data supposed invariant Sys...

Страница 218: ...stem Identification This datagram gathers the configuration elements of the system Description Format Unit Observation Header Synchronization byte Total Size byte 30 Datagram ID byte 80 Datagram relea...

Страница 219: ...system Description Format Unit Observation Header Synchronization byte Total Size byte 16 Datagram ID byte 81 Datagram release number byte 01 Parameters Demodulation frequency float Herz Maximum phas...

Страница 220: ...F RAMSES 6000 BF ET9 BF RTT4 BF RT8 BF Code interrogation frequency Code response frequency ushort ushort Hz Hz 8000 code MFSK 8000 frequency Operational behavior byte 0 1 2 None Fixed transponder Mob...

Страница 221: ...r meter meter radian RANT o H2 RANT o H2 RANT o H2 Pair H3 H4 Delta X Delta Y Delta Z Delta Phase float float float float meter meter meter radian RANT o H3 RANT o H3 RANT o H3 Measured antenna Pair H...

Страница 222: ...a Y Delta Z float float float meter meter meter RIXI o CRP RIXI o CRP RIXI o CRP Mounting Flange Delta X Delta Y Delta Z float float float meter meter meter RIXI o CRP RIXI o CRP RIXI o CRP Sea Level...

Страница 223: ...0 Position accuracy Latitude Longitude Altitude float float float meter meter meter Attitude Heading Roll Pitch Heave float float float float degree degree degree meter Attitude accuracy Heading Roll...

Страница 224: ...radian Noise Signal Ratio H1 H2 H3 H4 float float float float dB dB dB dB Validity H1 H2 H3 H4 byte Bit 0 0 1 invalid valid Bit 1 0 1 invalid valid Bit 2 0 1 invalid valid Bit 3 0 1 invalid valid Auxi...

Страница 225: ...ID short Age of position ulong s Since emission Time Emission Seconds Micro seconds ulong ulong s s Base 01 01 1970 time_t Transponder Position Latitude Longitude Immersion long long float meter 231...

Страница 226: ...characters 5 Transponder number nn 3 Position date JJ MM AAAA 11 Time position HH MM SS DDD 13 Latitude in degrees s is the latitude sign s dd mm mmmm 13 Longitude in degrees s is the longitude sign s...

Страница 227: ...tocols with INS Position The output data protocols that contain the INS position are to be found in PHINS User Guide Here is the list of the protocols output by GAPS and understandable by PHINS MU GAP...

Страница 228: ...PAGE INTENTIONALLY LEFT BLANK 228 MU GAPS AN 005 H November 2019 GAPS User Guide...

Страница 229: ...GAPS User Guide L GAPS Antenna Mechanical Drawing MU GAPS AN 005 H November 2019 229...

Страница 230: ...GAPS User Guide M Main Cable Repeater Box Mechanical Drawing 230 MU GAPS AN 005 H November 2019...

Страница 231: ...GAPS User Guide N GAPS BOX Mechanical Drawing MU GAPS AN 005 H November 2019 231...

Страница 232: ...GAPS User Guide O Rackable GAPS BOX Mechanical Drawing 232 MU GAPS AN 005 H November 2019...

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