Impact Subsea ISD4000 User manual

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INNOVATIVE UNDERWATER PRODUCTS www.impactsubsea.com
T. [phone]
Impact Subsea Ltd, Company Number: SC498003, Registered in Scotland, Registered
Office: Unit 10, Castle Street, Castle Road Industrial Estate, Ellon, AB41 9FR, UK
E. [email protected].uk
W. www.impactsubsea.com
ISD4000
Depth & Temperature Sensor
With Optional AHRS
Installation & Operation Manual
Revision Number:
1.9
Date
19th April 2020

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1.0 Introduction......................................................................................................................................2
2.0 Specification .....................................................................................................................................3
2.1 ISD4000 Overview.........................................................................................................................3
2.2 ISD4000 Dimensions......................................................................................................................3
2.3 Depth, Temperature & AHRS........................................................................................................4
2.4 Communications, Power & Physical.............................................................................................4
3.0 Overview...........................................................................................................................................5
4.0 Installation........................................................................................................................................6
4.1 Location .........................................................................................................................................6
4.1.1 Pressure (For Depth Accuracy)................................................................................................6
4.1.2 Magnetic Disturbers (For Heading Accuracy).........................................................................6
4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy) .................................................................7
4.1.4 Heat Sources (For Temperature Accuracy).............................................................................7
4.2 Mounting.......................................................................................................................................8
4.3 Electrical ........................................................................................................................................9
4.3.1 Connector Pin Out..................................................................................................................9
4.3.2 Power................................................................................................................................... 10
4.3.3 Serial Interface .................................................................................................................... 10
4.3.4 RS232 Wiring ....................................................................................................................... 10
4.3.5 RS485 Wiring ....................................................................................................................... 11
4.3.6 Establishing Communications............................................................................................. 12
4.3.7 Connector Mating................................................................................................................ 12
4.3.8 Connector Cleaning ............................................................................................................. 13
5.0 Operation...................................................................................................................................... 13
5.1 Use With The Impact Subsea Software ......................................................................................13
5.2 Integration With Systems ...........................................................................................................15
5.3 Calibration ...................................................................................................................................16
5.4 Magnetic Calibration...................................................................................................................16
6.0 ASCII Output Strings..................................................................................................................... 24
6.1 Depth ...........................................................................................................................................24
6.2 AHRS ............................................................................................................................................27
7.0 Servicing........................................................................................................................................ 33
8.0 Warranty....................................................................................................................................... 34
9.0 Technical Support......................................................................................................................... 35

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Every effort is made to ensure that information within this document is up to date. However, information within this document
is subject to change without notice, in-line with our commitment to continuous product development and improvement.
1.0 Introduction
The ISD4000 sensor provides depth and temperature measurement with exceptional accuracy
and resolution. Optionally, the ISD4000 can also measure Heading, Pitch & Roll.
Suitable for a large range of underwater applications, the ISD4000 can be used with ROVs,
AUVs, Hydro-graphic Survey, Construction, Positioning and any other task where accurate
depth and temperature is required underwater.
The ISD4000 utilises the latest in temperature compensated piezo-resistive depth sensing
technology, to provide an exceptional 0.01% full scale depth measurement accuracy. A highly
accurate RTD sensor is used to provide temperature to 0.01°C accuracy.
Where fitted, the Heading, Pitch and Roll readings are provided from integrated MEMs based
Magnetometers, Accelerometers and Gyroscopes. The MEMs based devices are fused together
to provide highly accurate and stable Heading, Pitch and Roll measurements.
Housed in a compact and lightweight titanium or acetal housing ensures that the ISD4000 is not
only at the forefront of sensor technology; but is built to withstand the most extreme
underwater environments.
ISD4000 Depth & Temperature Sensor

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2.0 Specification
2.1 ISD4000 Overview
2.2 ISD4000 Dimensions
All dimensions are in mm.

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2.3 Depth, Temperature & AHRS
Depth
Pitch & Roll*
Accuracy
± 0.01% Full Scale
Pitch
± 90°
Roll
± 180°
Resolution
0.001% Full Scale
Accuracy
0.2° RMS
Range
10, 30, 50, 100, 300,
400 or 600 Bar
Resolution
0.1°
Type
Temperature
Compensated Piezo-
Resistive
Temperature
Accuracy
0.01°C
Resolution
0.001°C
Heading*
Accuracy
± 0.5°
Resolution
0.1°
* Optional
2.4 Communications, Power & Physical
Communications & Power
Physical
Digital
RS232 & RS485
Weight
(Air/Water)
Titanium: 0.42 / 0.28kg
Acetal: 0.20 / 0.10kg
Protocol
300 to 115200 baud
Depth Rating
Titanium: 6,000 meters
Acetal: 500 meters
Data
Continuous or on
demand
Temperature
Calibrated: -5 to 25°
Operating: -10 to 60°
Storage: -20 to 70°
Data Rate
Up to 100Hz
Connector
Subconn MCBH8M-SS
fitted as standard
Input Voltage
7 to 32V DC
Power
< 40mA @ 24V DC

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3.0 Overview
The ISD4000 is a pressure measurement device – making use of increasing pressure in water to
determine depth. It is important to note that the device is designed to provide depth &
temperature measurements in water, and will not provide accurate readings when operated in
air.
The Heading, Pitch and Roll readings are provided by a Micro-Electro-Mechanical system
(MEMS) based technology. MEMs based Gyros, Accelerometers and Magnetometers are
integrated within the unit.
The temperature reading is provided by a dedicated RTD sensor, located in a probe next to the
pressure sensor.
The ISD4000 can be configured using the supplied Impact Subsea software. The software
allows all settings to be configured (output strings, communications protocol, baud rate, taring
etc).
In addition to allowing the ISD4000 to be configured, the Impact Subsea software also allows all
sensor readings to be viewed in real time and logged.

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4.0 Installation
4.1 Location
When evaluating the installation location of the ISD4000, there are several factors to consider
to achieve optimum operation from each part of the unit:
–Pressure (Depth Measurement)
–Magnetic Disturbers (Heading)
–Alignment with Vehicle (Pitch/Roll)
–Heat Sources (Temperature Measurement)
4.1.1 Pressure (For Depth Accuracy)
The ISD4000 pressure port must not be blocked or obstructed by any item. Take care
when mounting the unit not to block any of the holes on the pressure port of the
ISD4000.
The unit should be mounted to allow good water flow to the pressure sensor.
Ideally the ISD4000 should be mounted with the pressure sensor end pointing
downwards. This will help to minimise the build-up of sediment on the pressure sensor.
4.1.2 Magnetic Disturbers (For Heading Accuracy)
Where the heading output is to be used, the ISD4000 should be mounted as far as
possible from sources of magnetic interference.
Electrical items which can cause magnetic interference include motors, transformers
and valve packs. Ferrous metals, or any other magnetically active materials will also
have influence on the heading reading. Thus, where possible, the unit should be
installed as far as possible from magnetically active materials.

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4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy)
When mounting vertically, the ISD4000 should be mounted with the Pressure Sensor
facing downwards (to the seabed) and the indentation in the connector end cap
pointing forwards, in the direction of forward vehicle travel:
When mounting horizontally the ISD4000 should be installed with the indentation in the
connector end cap pointing upwards:
4.1.4 Heat Sources (For Temperature Accuracy)
In order for the ISD4000 to read the ambient temperature of the water, it should not be
installed in close proximity of any heat sources (such as Hydraulic Power Packs).

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4.2 Mounting
The ISD4000 should be mounted using clamps around the mid-section of the body. The unit
has a 38mm recess in the main body to enable a clamp to be tightened securely around the
unit:
Ideally a non-metallic clamp should be used, however in the event that this is not possible,
effort should be made to electrically isolate the clamp from the ISD4000 housing. This can be
achieved by using rubber or plastic strips around the body of the ISD4000.
The ISD4000 has two flats, on either side of the body – these are to enable the unit to sit tightly
against another flat surface if available. These flats also help prevent the unit moving when on
the workbench for testing.

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4.3 Electrical
The ISD4000 is fitted with a SubConn MCBH8M-SS connector as standard. This will mate to a
SubConn MCIL8F connector/cable assembly.
4.3.1 Connector Pin Out
The standard connector pin out is provided below:
Male Connector on ISD4000 Unit
Pin
Function
Mating Wire Colour
1
0VDC
Black
2
7-32VDC
White
3
Not Used
Red
4
Not Used
Green
5
0V Digital
Orange
6
Not Used
Blue
7
RS232 TX & RS485 A+
White/Black
8
RS232 RX & RS485 B-
Red/Black

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4.3.2 Power
The ISD4000 is polarity protected and fused with a 400mA resettable poly fuse. Internal
circuitry isolates the supply from the outside environment requiring the serial interface
to use the digital 0v reference pin.
4.3.3 Serial Interface
The RS232 and RS485 interface has in-line fused protection on the serial lines. A
prolonged transient voltage on these lines will blow the surface mount fuses which will
require replacement by Impact Subsea or an approved distributor.
4.3.4 RS232 Wiring

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4.3.5 RS485 Wiring
The RS485 termination resistor is software selectable.
The digital 0V must be connected on an RS485 interface, otherwise
the voltage potential between one of the A+ or B- lines to ground could
reach a damaging level

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4.3.6 Establishing Communications
The default serial settings are RS232, 9600, N81
If the ISD4000 is tilted from vertical to upside down 3 times within the first 10 seconds
of power up then it will temporarily configure the serial interface to the default and
output an ASCII message with the settings.
Note: When the device is powered cycled the serial interface setting will
revert back to the last configuration.
ISD4000 sensors which have firmware V3 and above can also be configured to RS485,
9600, N81. This is done by inverting the sensor 6 times, starting within the first 10
seconds of applying power.
4.3.7 Connector Mating
When mating the cable to the SubConn connector, to maximise the life of the connector,
it is important to observe the following:
–Always apply grease before mating. Molykote 44 Medium grease must be used.
–Disconnect by pulling straight, not at an angle.
–Do not pull on the cable and avoid sharp bends at cable entry.
–Do not over-tighten the bulkhead nut.
Do not expose the connector to extended periods of heat or direct sunlight. If a
connector becomes very dry, it should be soaked in fresh water before use

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4.3.8 Connector Cleaning
General cleaning and removal of any accumulated sand or mud on a connector should
be performed using spray based cleaner (for example Isopropyl Alcohol).
New grease must be applied again prior to mating.
5.0 Operation
5.1 Use With The Impact Subsea Software
The ISD4000 is supplied with the highly intuitive Impact Subsea seaView software on USB. The
latest version of seaView can also be downloaded from www.impactsubsea.com.
The seaView software is designed to operate all of the Impact Subsea sensors. Single sensors
can be operated, or multiple sensors together.
seaView is designed for use with a PC running the Windows 7, 8, 10 or 11 operating system and
require Microsoft's .net framework 4.5.2 or above
The software uses an advance framed binary protocol to communicate to the ISD4000 and can
do so over RS232 or RS485 at any standard baud rates above 4800. The parity must be none,
stop bits 1 and data bits 8. If the ISD4000 communication settings differ from this then perform
the comms reset as described in the establishing comms section of this manual.
All settings and offsets are saved to the ISD4000 device flash memory.
Note:
Firmware: If your ISD4000 has firmware version 3.0 or above, it will only operate with seaView
V3.0 and above.
If your ISD4000 has an earlier version of firmware it will only operate with seaView 1.9.2 or
earlier.
If you would like to upgrade the firmware of your ISD4000 to version 3.0 or newer, please
contact Impact Subsea support. Please note that if upgrading to firmware V3.0 or newer, the
firmware cannot be downgraded again.

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seaView V3.0 ISD4000 Application
seaView V1.9.0 ISD4000 Application

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5.2 Integration With Systems
Conceptually there are two modes of operation, Interrogated and Autonomous.
Interrogation mode requires a master to request the ISD4000 to make a
measurement and report this back.
The ISD4000 can be interrogated by the user defined interrogation string. Upon
interrogation the ISD4000 will make a measurement and report back the result over the
serial interface.
Autonomous mode will make a measurement and output the results at a
specified time interval.
The ISD4000 can be configured to operate in one or both of these modes at the same time.
ISD4000's with the AHRS option make use of the same Interrogated and autonomous
mechanisms to output heading pitch and roll data over the serial interface.

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5.3 Calibration
The ISD4000 unit is supplied fully calibrated and should not require further calibration prior to
use. The calibration interval is one year.
The unit can be calibrated using a standard deadweight tester, atmospheric pressure sensor and
the ISD4000 calibration block. The calibration block is available from Impact Subsea.
Using the Impact Subsea Software, a calibration of both temperature and pressure can be
performed on the ISD4000. The software provides a step by step guide to talk the user through
the calibration procedure.
5.4 Magnetic Calibration
For sensors with integrated AHRS, following final physical installation on the vehicle (or other
structure) it is critical that a magnetic calibration is conducted.
The magnetic calibration takes into account all local hard and soft iron artefacts of the vehicle
(or other structure the ISD4000 is mounted to). This enables the correction of any heading
offsets that permanent magnetic interferers may cause.
If the magnetic calibration is not conducted, the heading will not be correct and will suffer from
non-linear movement when rotated. For example, when operating with inertial mode disabled,
a 90° physical rotation may only be recognised as an 80° rotation.
To conduct a good magnetic calibration, please complete the following procedure. There is also
a video demonstration of this procedure available on the ISD4000 product page of the Impact
Subsea website.
ISD4000 Calibration Block

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5.4.1 Magnetic Calibration Procedure
Step 1: Ensure that the ISD4000 has been physically installed in a location as free from
magnetic interference as possible (away from value packs, thrusters etc).
Step 2: Check that the ISD4000 is mounted securely to the structure ensuring the unit is
not able to move independently from the structure.
Step 3: If conducting the magnetic calibration in a workshop, ideally hang the ROV from
a crane away from magnetic sources. If conducting the calibration at sea, deploy the
ROV and move into open water, away from any structures with a magnetic property
(vessel, pipeline etc). Do not conduct the calibration with the ROV on the vessel.
Step 4: Run the seaView software, select the ISD4000 application and connect to the
ISD4000 unit:
seaView V3.0
seaView V1.9.0

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Step 5: Once connected to the ISD4000, go into the ISD4000 settings:
seaView V3.0 seaView V1.9.0
Step 6:
For seaView V3.0 onward: Select ‘AHRS Settings’ then click on ‘Calibrate Mag’
For seaView V1.9.0 and earlier: Click on the 'Calibrate' button to open the calibration
window:

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Step 7: (only required for seaView V1.9.0 and earlier) On the 'Mode' button, click this
to change it to 'Calibrate'
Step 8: (only required for seaView V1.9.0 and earlier) On the 'Acquire Data' button
change to 'Start'. The calibration process has now begun.