SIO Shipboard Technical Support 3 April, 2005 The Trials and Tribulations of Interfacing Modern Motion Sensors to the Kongsberg Simrad EM-120 Multibeam System onboard R/V Roger Revelle

3 April, 2005SIO Shipboard Technical Support Selection of Ixsea PHINS

3 April, 2005SIO Shipboard Technical Support

3 April, 2005SIO Shipboard Technical Support Order placed 01/25/2002 Requested delivery 03/31/2002 Delivery from quote (16 weeks) 05/17/2002

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS May, Original Message From: "Brock J. Rosenthal" To: Sent: Thursday, May 23, :37 AM Subject: PHINS > Woody: > > Things have slipped a bit at Ixsea. They now have your unit scheduled to go > out in mid July. Hope this is not a problem for you. > > Brock J. Rosenthal > Ocean Innovations

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS July, Original Message From: "Brock J. Rosenthal" To: Sent: Monday, July 15, :54 AM Subject: PHINS > Woody: > > A problem has been discovered with a component in the PHINS that affects its > accuracy. They can ship a reduced accuracy unit soon and then upgrade it at > a later date or they can deliver a corrected unit in mid to late September. > > Let me know which option is better for you. Sorry for delays. > > Brock J. Rosenthal > Ocean Innovations

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS September, Original Message From: "Brock Rosenthal" To: "'Woody Sutherland'" Sent: Thursday, September 26, :25 PM Subject: RE: PHINS > YES, it should be shipping out tomorrow!!! > > Regards, > > Brock Rosenthal > OCEAN INNOVATIONS

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS November, 2002 >----- Original Message >From: Brock Rosenthal >To: >Sent: Tuesday, November 26, :19 AM >Subject: PHINS > >Woody: > >Hope to get the PHINS out of customs today or tomorrow. Will you be around? > >Regards, >Brock Rosenthal >OCEAN INNOVATIONS

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS December, 2002 >----- Original Message >From: "Woody Sutherland" >To: "Thomas Althouse" >Sent: Monday, December 02, :53 PM >Subject: Re: ixsea PHINS for REVELLE > > The new motion sensor for the EM120 system on REVELLE was delivered > today. This is the ixsea PHINS that was ordered last spring. > > - Woody

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS January, 2003 Upon initial checkout of Phins found following problems: 1. Unit powers up in an unrecognizable mode of operation 2. Unit fails to respond to Software commands Action taken: 1. Contacted Ixsea Customer Support. 2. After several s describing symptoms Ixsea finally came to the conclusion that they had mistakenly sent the unit out with the wrong firmware installed. 3. Received and installed correct firmware from Ixsea.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS January, 2003 New Status Report: 1. Tested unit as much as possible in shop 2. Pitch, Roll - ok 3. Gyro out - ok 4. SIMRAD EM protocol output - Pitch, roll, heading fields - ok 5. SIMRAD EM protocol output - Heave inoperative 6. Reported Failure of Heave signal to Ixsea 8. Ixsea responded by saying that the problem is in the firmware They will fix the firmware but this fix is expected to take several weeks.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS March, Original Message From: "Carl Mattson" To: "woody" ; "scg" Sent: Friday, March 14, :33 AM Subject: Phins Status The latest Phins software seems to work ok now. After configuring the Phins everything checks out. It takes about 7 minutes for the Phins to stabilize after power up. After installing the new firmware, the Simrad VRU format now works in all fields. The unit is now ready for installation on Revelle.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS March, Original Message From: "Carl Mattson" To: "woody" ; "scg" ; Sent: Friday, March 21, :59 AM Subject: Phins Status #2 After doing one more test I can now say that the Phins doesn't seem to tolerate running during the lose of GPS for much more than about a minute. After the lose of GPS the Phins gives every appearance of running well. Pitch, roll and heading look good. Perhaps about 5 minutes later I restored the GPS signal. It continues to look good. Status indicators continue to say that everything is good. However about an hour after GPS is restored all numbers go erratic. As long as GPS is running well then the Phins seems to work well.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS July, Original Message From: To: Sent: Friday, July 25, :24 AM Subject: PHINS data output problems The data output from the PHINS to the EM 120 is supposed to be sent at a rate of 100 Hz, i.e. at regular 10 msec intervals. This is what the EM 120 expects, and the timing accuracy is required to be 5 ms (a constant delay is not a problem). It was observed that while the average data output rate of the PHINS was 100 Hz, the data was bunched with typically 50 ms gaps between data sets, and with 10 measurements in the bunch. The 50 ms gap was not fixed, we also saw gaps bigger and smaller. Best regards, Erik Hammerstad

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS August, Forwarded by Erik Oscar Hammerstad/NOHRT/KS/KM/KOG on To: Subject: Re: PHINS data output problems Dear Erik, Just a quick note to acknowledge your question. We have identified the problem and we are working on a new software version to solve it. We will let you know as soon as this new version is available. Best regards Yves PATUREL

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS August, Forwarded by Erik Oscar Hammerstad/NOHRT/KS/KM/KOG on In addition to my previous mail, I just wanted to tell you that you are right on your last item: Our user manual is wrong for the definition of roll and pitch. I confirm that the angles provided are an Eulerian representation. The order of the rotations from local geographic frame to Phins frame is : heading, pitch, roll. Best regards Yves PATUREL -----Message d'origine----- A question with regard to the PHINS manual ( ): It is stated that both roll and pitch angles are referred to the horizontal plane. This surprises me, I would have expected them to be rotational/Euler angles. Can you please confirm that the manual is correct, i.e. that roll is according to the convention used by for example the Hippy 120.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS November, Original Message From: Brock Rosenthal Sent: Tuesday, November 11, :55 AM Subject: PHINS Ixsea has just realized that your PHINS can output raw, unprocessed data. By their agreement with the Customs department, this capability is supposed to be restricted, even though you guys are not using the raw data. Unfortunately to remedy the situation, the PHINS needs to be returned to the factory. Is there some window of time when we could do this without disrupting the Revelle’s operations? Of course Ixsea would pay for all the shipping costs and we could probably get them to re-calibrate the unit for you. Regards, Brock Rosenthal OCEAN INNOVATIONS

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS November, Original Message From: Brock Rosenthal Sent: Tuesday, November 11, :55 AM Subject: PHINS Ixsea has just realized that your PHINS can output raw, unprocessed data. By their agreement with the Customs department, this capability is supposed to be restricted, even though you guys are not using the raw data. Unfortunately to remedy the situation, the PHINS needs to be returned to the factory. Is there some window of time when we could do this without disrupting the Revelle’s operations? Of course Ixsea would pay for all the shipping costs and we could probably get them to re-calibrate the unit for you. Regards, Brock Rosenthal OCEAN INNOVATIONS

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS February, Original Message From: Brock Rosenthal Sent: Wednesday, February 25, :18 PM Some technical details about the PHINS upgrade: Several electronic boards will be changed. These boards have been redesigned to offer better { DETAILS OMITTED }. The software upgrade is based on a new design of the algorithm, and is some kind of a breakthrough in terms of data fusion, as compared with the version you have. First of all, bugs and defects of the previous version have been corrected for, and this drastically increases inertial performances. Other benefits include: { DETAILS OMITTED

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS March, Original Message From: "Woody Sutherland" Sent: Monday, March 29, :57 AM Subject: PHINS return > What is the best and most expedient way of returning our PHINS and getting > the replacement to us? The ship is due to arrive in San Diego on April 1 and > depart April Original Message----- From: Brock Rosenthal Sent: Monday, March 22, :53 PM To ensure that they don’t miss the boat, Ixsea will send you a new unit rather then refurbish yours. They offered to have their freight forwarder come by and pick up the old unit. Let me know when and where.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS April, Original Message From: Brock Rosenthal Sent: Thursday, April 08, :41 You are getting a brand new unit which shipped out yesterday to me. It has the following improvements: { DETAILS OMITTED } I’ll give you a call when the new unit arrives Original Message From: Carl Mattson Sent: Monday, April 19, :49 AM Subject: Phins - Revelle I just got off the phone with Brock.The new Phins unit was supposed to have been delivered by now. However, there was some sort of snafu at Ixsea and they cannot meet the promised shipping date. They now say that they can get it to us in May.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS April, Original Message From: Carl Mattson I checked out the new Phins. It seems to work ok except there is a problem with the output protocol. Pitch,roll and heading come out ok but the Heave field is always zero. We had this problem last year when we received the original unit. Ixsea had to send us a special firmware update to enable this protocol to work Original Message From: "Brock Rosenthal" Sent: Friday, April 23, :12 AM Subject: RE: FW: New Phins This is the long awaited new firmware that fixes the latency problem. It also has the corrected output protocol. I will install it and confirm this over the weekend.

3 April, 2005SIO Shipboard Technical Support Ixsea PHINS May, Original Message From: "Veronique Dentan" Sent: Friday, May 14, :05 Subject: Recommendations on PHINS installation, setting to work and operation > I understood that you were encountering difficulties with setting your PHINS > unit to work properly. As you may have noticed, there has been changes and > improvements with PHINS. You will find attached the latest firmware version > v This is the version which is now released for manufacturing, and > you will then be updated with the latest version.

3 April, 2005SIO Shipboard Technical Support Selection of VT TSS MARINUS

3 April, 2005SIO Shipboard Technical Support

3 April, 2005SIO Shipboard Technical Support

3 April, 2005SIO Shipboard Technical Support Order placed 03/30/2004 Requested delivery 05/19/2004

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS May, Original Message From: Jeff Garlike To: Scripps Sent: Friday, May 14, :01 PM Subject: 'Marinus' Delvery Schedule Woody; I hate to say this, but we have run into a delivery schedule problem and the ‘Marinus’ unit will not be ready for shipping until August. In the interim I would like to offer a S.G. Brown ‘Meridian’ Gyro and/or a TSS Motion Sensor for the vessel if this will suffice temporarily. Please refer attached Data Sheets for performance.

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS August, Original Message From: "Jeff Garlike" Sent: Monday, August 16, :48 AM Subject: FW: Marinus Delivery > We have just received the 'Marinus' unit here in Houston and await your > instructions. We would like to send an Engineer to the vessel to do the > installation and the calibration - This will be entirely free, no cost to > Scripps, we really want to ensure that there are no problems and that you > sail with a fully functional unit even if we have to send him to Hawaii.

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS September, Original Message From: "Carl Mattson" To: Cc: ; "woody" ; Sent: Monday, September 13, :41 AM Subject: Marinus Operation question > I went through a checkout of the Marinus # It powers up and > seems to operate ok. However there is one snag. Perhaps you can > help me out. { DETAILS OMITTED } > I can see GPS coming into the Marinus so it is not a question > of rejecting GPS. It is just not seeing it. I tried several different GPS > receivers. All the same results. What do I do next?

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS September, Original Message From: "Carl Mattson" Sent: Thursday, September 16, :31 PM Subject: Re: Marinus testing with GPS input > I was just going to ask you how important the GSA string was because the > primary GPS on Revelle is a Furuno GP90. Looking at its manual it > can't output GSA but can do all the other strings. This was the GPS we > had intended to connect to. > John Carss wrote: >>The GSA string is missing from this data set. The Marinus will not accept >>the GPS, without this string.

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS September, 2004 >>>A VT Group Company >>>Registered in England VAT Registration GB >>>Registered Address Victoria Rd, Woolston, Southampton SO19 9RR >>> >>>This and any files transmitted with it are confidential and may be >>>legally privileged. They are intended for the use solely of the intended >>>recipient(s). >>> >>>(a) any distribution, copying or other use of its contents is prohibited; >>>Any views or opinions expressed are solely those of the author and do not >>>necessarily represent the views of VT Group plc or any of its subsidiary or >>>associated companies. If you have any other problems please contact the >>>Administrator by or by telephone +44 (0)1923 >>>

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS September, Original Message From: "Carl Mattson" Sent: Tuesday, September 21, :27 PM Subject: Marinus problem > > John Carrs was here this AM with his own GPS. He hooked it up > to Marinus and he tried all kinds of ideas. After several hours > of trying he concluded that there must be something wrong with > the Marinus. > > John left this PM and is on his way back to his office. > > We are sending Marinus back to TSS today - Fedex.

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS December, Original Message From: "Carl Mattson" Sent: Friday, December 17, :37 AM Subject: Re: "Marinus" unit > The vessel that we installed the Marinus on has left port on an extended > cruise. The technicians onboard are having trouble getting the Marinus to  complete the dynamic alignment procedure. They are following the  procedure in the book and are getting frustrated.

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS December, Original Message From: "John Carss" Sent: Friday, December 17, :25 PM Subject: RE: "Marinus" unit > Typically once a dynamic alignment has been started. The status flag will > normally immediately go to a lower case g. Typically it takes approximately > mins of dogleg, or figure 8 maneuvers for the status flag to then go to > a upper G indicating that the unit is aligned, and ready to go. > It will remain aligned until the unit is powered off. >

3 April, 2005SIO Shipboard Technical Support VT TSS MARINUS December, Original Message From: "Carl Mattson" Sent: Monday, December 20, :28 AM Subject: Re: Revelle Status Report, 20 Dec 2004 > Scott > > On the Marinus situation I talked to TSS again this AM. They suggested > just putting the unit in dynamic mode prior to course changes and let it go. > It may take an hour or two.