iXBlue POSIDONIA II Parts list manual

TECHNICAL DESCRIPTION
POSIDONIA II

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Table of contents
1. Introduction .......................................................................................................................................................... 4
1.1. Technology .................................................................................................................................................. 4
1.2. General Concept ........................................................................................................................................ 4
1.3. System standard configuration ............................................................................................................. 6
1.4. Detailed item description ......................................................................................................................... 7
1.4.1. Acoustic Array ............................................................................................................................................ 7
1.4.2. Main Processing & command/control Unit: USBL-box .................................................................... 7
1.4.3. Transponder, Acoustic telecommand .................................................................................................. 8
1.4.4. POSIDONIA II MMI (Man Machine Interface software) ...................................................................... 9
1.4.5. Display software ...................................................................................................................................... 10
2. Installation, calibration, setting to work ...................................................................................................... 11
2.1. Disclaimer: initial installation note...................................................................................................... 11
2.2. Installation ................................................................................................................................................. 11
2.2.1. Acoustic array installation .................................................................................................................... 11
2.2.2. POSIDONIA II electronics installation ................................................................................................ 13
2.3. Calibration ................................................................................................................................................. 13
3. POSIDONIA II system Performance & Specifications .............................................................................. 14
3.1. Standard configuration performance ................................................................................................. 14
3.2. How to maintain or improve the performance ................................................................................. 14
3.2.1. Use directional transducer .................................................................................................................... 14
3.2.2. Use high accuracy heading and motion sensor .............................................................................. 15
3.2.3. Use PRESSURE Sensor ......................................................................................................................... 16
3.2.4. Use POSIDONIA II coupled to PHINS + DVL Subsea ...................................................................... 17
3.3. Other Characteristics.............................................................................................................................. 19
3.3.1. acoustic array and main cable ............................................................................................................. 19
3.3.2. Electronic cabinet (USBL-box) ............................................................................................................. 19
4. Scope of supply ................................................................................................................................................. 21
4.1. Standard product pack, Deployable antenna version .................................................................... 21
Including sub-references as indicated here below: ............................................................................................ 21
4.2. Standard product pack, FLUSH antenna version ............................................................................ 22
Including sub-references as indicated here below: ............................................................................................ 22
5. References .......................................................................................................................................................... 23
5.1. Acoustic positioning systems references ........................................................................................ 23
5.2. Inertial Navigation System (INS) .......................................................................................................... 24
5.3. Combined Acoustic and Inertial navigation systems .................................................................... 24
6. Appendix ............................................................................................................................................................. 25
6.1. Deployable acoustic array ..................................................................................................................... 25
6.2. Flush acoustic array ............................................................................................................................... 26
6.3. USBL-Box electronic cabinet ............................................................................................................... 27

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6.4. Main junction cable (deployable antenna) ........................................................................................ 28
6.5. Main junction cable (Flush antenna) .................................................................................................. 29

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1. Introduction
1.1. Technology
Based on unique CHIRP technology and proprietary sophisticated signal processing algorithm POSIDONIA II
is the iXBlue’s Ultra Short Base Line (USBL) system featuring extreme long range and designed to operate
in most difficult conditions:
Extreme long range, proven at sea (10,000 m under nominal conditions)
In a noisy environment
With strong immunity to reflection and reverberation
Since its first introduction on the market in the late 90’s POSIDONIA II has constantly been maintained to
operational conditions, with a number of worldwide applications for deep sea vehicle/long range tracking
up to deepest seas.
A major redesign of the topside electronics has recently been carried out with the release of the so called
USBL-box replacing the previous one. POSIDONIA II is now based on most recent electronics and
software/digital signal processing techniques, derived from our famous GAPS USBL tracking system, and
taking benefits of all accumulated experience and development over the past years.
Using the same proven acoustic arrays, significant improvements in terms of range, accuracy and
robustness are available, together with a new user interface (iXBlue common WEB-based interface) for
unrivalled ease of operation.
1.2. General Concept
The operation is based on the two-way acoustic communication between the USBL acoustic array and the
subsea transponders, with an electrical data link capability through cables connecting a specific
transponder and the ship. To localize the transponder, the system measures the slant distance with sound
velocity profile corrections, and two bearing angles, derived from the two orthogonal baselines in the hull
or pole mounted acoustic array.
More specifically...
To calculate the position of an acoustic transponder
POSIDONIA II sends an interrogation pulse or chirp
(either acoustic or through a cable).
The transponder replies by emitting an acoustic chirp.
(A chirp is a wideband signal optimized for
performance; the wider the band the better the
accuracy).
The chirp travels through the water column (In
difficult environments, many multipath signals due to
reflections might also arrive to the surface acoustic
array)
The signal is received on each of the four hydrophones
of the acoustic array. Then the signal on each
hydrophone is compared to the chirp motif (a perfect
copy of the signal emitted by the transponder): the
two signals are correlated using Fast Fourier
ox
oy
o
z

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Transforms and the time and phase of arrival of the signal on the hydrophone are estimated (a
powerful digital signal processing has been developed to remove multipaths).
Given the time and phase of arrival of the signal on the four hydrophones, the reception
angle and the range between the acoustic array and the transponder are calculated.
External motion sensor is used to compensate from the acoustic array horizontal position at
time of signal reception so that an absolute angle is calculated, GPS input is used to convert
into an absolute geographical position of the target.
Up to 8 transponders can be tracked with POSIDONIA II within the same interrogation cycle. This number
of transponders, acoustically managed in a single operation without mechanical scanning, implies the need
for coding of the signals. This coding process provides transponder identification and an improved signal to
noise ratio due to the correlation process. Furthermore, it improves accuracy and counteracts acoustic
multipaths.
Each transponder is field programmable. When the system is delivered, the user can change or re-initialize
a set of parameters according to his own need for a specific operation. To do so, he uses the electric
standard interface connected to the Main Processing Unit or an independent PC.

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1.3. System standard configuration
Unless otherwise specified and agreed at time of project discussion a standard POSIDONIA II USBL
positioning system comprises the following sub-assemblies:
Main Equipment
 One (1) off acoustic array (portable version equipped with preamplifiers,
shipped in wooden box)
 One (1) off main interconnect cable (50 m long standard supply)
 One (1) off main Electronic acoustic processor hardware (USBL-BOX) comprising
o 19’’-2U rack-mountable cabinet
 Acoustic Power Transmit Amplifier PCB & Power supply
 Signal processing PCB
 Processor PCB for Controlling Navigation data, providing protocol and data
position messages to be used by third party Navigation and Display/Charts
packages
o Web-Based User Interface for System & Transponder and Navigation set-up
o USBL system calibration software
o DELPH RoadMap navigation display software
o Shipped in re-usable transit case
 User Documentation in English
 Quality control certificates
 Setting to Work Services which are compulsory for completion of system
acceptance
The following parts and services are not included in the standard configuration:
 Acoustic Releasable Transponder (OCEANO RT series) and telecommand
 Deep-water floatation package & rigging for transponder
 Operator PC-based Working station (for Web Interface, USBL Calibration
Software, DELPH RoapMap podition display software)
 Pole or hoisting system for Acoustic Array
 DGPS & attitude (Pitch/Roll/heading) sensors: OCTANS or PHINS recommended
 Shipyard work on the hull
 Installation on board (Main antenna and peripheral cables installation)
 Setting to Work Services which are compulsory for completion of system
acceptance
 Spare parts (quoted on option)

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1.4. Detailed item description
1.4.1. Acoustic Array
The Acoustic Array is available in two versions:
The «deployable» acoustic unit.
Designed to be deployed through an existing moon pool or on
a side pole, this version is offered for vessel of opportunity and
can easily be transferred from one vessel to the other.
Optionnaly this antenna can be mechanically coupled to an
HARS (Heading and attiture reference sensor; OCTANS) so that
the complete assembly is precalibrated once for all allowing
easy and quick installation / re-installation.
The «flush» (mounted) acoustic.
Designed for permanent installation under the ship with
no protruding part and excellent acoustic baffling
(machinery noise and vibrations) the flush acoustic array
allows similar performances as the deployable but higher
operating speed, together with safe navigation.
Such principle does not require the use of sophisticated
and expensive deployment machine, saving significant
money and improving the global reliability of the system
with no moving part.
Each acoustic array is composed of a central emission transducer and four reception
hydrophones. The task devoted to the acoustic unit is to receive the acoustic signals
transmitted by the transponder. After filtering and pre-amplification, the signals are
transferred to the Main Processing Unit for digital signal processing.
1.4.2. Main Processing & command/control Unit: USBL-box
The whole electronics is now integrated in a compact 19’’ rackmount topside, integrating all
required hardware and software to smoothly interface to external sensors (antenna, HARS,
GPS, data output, synchro, etc) and computing power for calculating the final position of
the tracked subsea vehicles.

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Main features:
Longer range, improved accuracy, wider antenna aperture
Full wideband modulation on all channels, interrogation and reception with up to 8
beacons in the field and processed during the same interrogation cycle
Improved multipath rejection algorithms to enable operation in challenging conditions
(noise, multipath, high elevation targets)
Adaptive gain control with real time monitoring of ambient noise
External sensor direct interface (heading/pitch/roll, GPS, etc…) through Ethernet local
network or serial fully configurable communication ports
Kalman filter on position output (can be disabled) to increase position output rate
Immediate acquisition of the target even at long distance
Multiple data output port (Ethernet, serial) with choice of different communication
protocols for data distribution and interconnection to various peripherals
iXBlue new WEB-based interface for easy configuration and control of the system
1.4.3. Transponder, Acoustic telecommand
The transponder (also named “beacon”) is installed on the tracked vehicle(s) and replies to
each surface acoustic array interrogation by sending a coded wideband signal used for the
surface deck unit to calculate the position.
A releasable OCEANO RT series transponder is also required to be used at time of system
calibration to provide a fixed reference (deployed on sea bed) during initial setting to work,
and every time the acoustic array is moved from its current installation.
Although POSIDONIA II is able to interrogate releasable transponder and send command
codes an iXBlue TT801 portable deckset telecommand unit is recommended for separate
and easy configuration and preparation / recovery of mooring lines.
OCEANO RT2500S Light /R
(protective cage and responder plug not shown) TT801 acoustic telecommand and
dunking transducer
A range of transponders is available including:
Self-contained expandable transponders with internal battery for long term deployment
Recoverable transponders fitted with release mechanism
Miniature transponders for installation of small vehicles
Options for internal pressure sensor, remote or integral transducer head, directional
beam pattern remote transducer head, external plug for responder mode and/or
external power supply

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Shallow water or full ocean water depth,
500 kg to 300 tons SWL (Safe Working Load)
1.4.4. POSIDONIA II MMI (Man Machine Interface software)
Most components in the subsea positioning solution (PHINS, POSIDONIA II, RAMSES) are
delivered with iXBlue new WEB-based graphic user interface which is progressively installed
to the full range of products, providing a common look-and-feel to all products.
Directly Ethernet compatible, this new MMI greatly improves the ease of installation and
operation of the equipment thanks to its interactive menu screens and network
characteristics. The products are easily interfaced to any TCP/IP network, and running the
WEB-based MMI is achieved with any terminal with WEB brower installed (PC computer,
MAC, pocket PC’s, etc…): dedicated PC and software is no longer required.
Using graphic and conversational menu screens the WEB-based GUI allows:
Defining the installation parameters i.e., the parameters that do not change from one
mission to another, for instance orientation and misalignment of AHRS with respect to
the antenna (MECHANICAL PARAMETERS option), lever arms for external monitoring
points, the INPUTS (external sensors, UTC), the OUTPUTS and the IP address, network
mask (NETWORK option)
Defining the set-up parameters i.e., the parameters that may vary from one mission to
another or even during the same mission: transponders interrogation and reply
frequencies, etc…
Monitoring each subsystem operations such as:
 Follow the navigation sequence
 Display in real time data delivered or used
 Be informed of the Status
 Record data
Performing maintenance tasks including:
 System restart
 Firmware updates
 Parameters reset
 Support contact

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1.4.5. Display software
POSIDONIA II system provides data telegrams with each transponder’s position for use with
any third party navigation package, with various communication protocols.
Several outputs are available (Ethernet and RS232 format) which allow data distribution to
different peripherals.
Industry standard data telegrams are provided to easily interface each sensor to standard
navigation packages from the market place such as Winfrog, Quinsy, etc.
Additionally iXBlue offers USBL – RoadMap, a display package for visualisation of the
tracked vehicles in several modes (2D, 3D) with basic tools to interact of the screen plots.

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2. Installation, calibration, setting to work
The initial deployment and operation of POSIDONIA II is a 3 step procedure: Installation, calibration, use of
the system.
2.1. Disclaimer: initial installation note
Unless otherwise agreed on a case by case basis iXBlue does not proceed to electrical & hardware
installation of the system and will not be responsible for damaged or incorrect performances resulting from
non-compliant initial deployment.
POSIDONIA II has been designed to be easy to install and operate; iXBlue will provides all required standard
information to do so, including advises based on its own experience or past deployment with other users
However:
1/ Some mechanical work such as antenna deployment mechanism (if not supplied by iXBlue), hull
work, antenna and peripheral cables routing, etc… are strictly under shipyard responsibility.
2/ Initial setting to work, necessary adjustments due to local equipment characteristics such as
interfacing to on-board peripherals, setting beacons in transponder mode, etc… may require
deeper knowledge of the system.
3/ First calibration of the system and performances vs. onboard sensors and environment/acoustic
propagation characteristics must be supervised by iXBlue field operator during commissioning
of the system.
4/ A complete training is recommended for efficient deployment and use of the system
Considering all the above it is compulsory to include in the global POSIDONIA II budget 5 (five) working days
for one iXBlue operator for a comprehensive installation, training and commissioning of the system.
2.2. Installation
This first step depends on the configuration of the system.
It mainly comprises of the acoustic array installation (under the ship’s hull for a flush acoustic array, inside
a moon pool or an a side pole for deployable array), main antenna cable routing between acoustic array
and control room, installation of the electronic package and (third party) external sensors such as heading
and motion sensor (HARS) + GPS.
2.2.1. Acoustic array installation
Most of the time every single installation is specific to each customer and the vessel.
iXBlue already assisted many customers and can provide recommendations and assistance
for a fast and effective deployment.
Here after are several typical pictures:
deployable and flush arrays installations, and a last interesting method making the system
calibration free after the initial installation (OCTANS heading and motion sensor installed
together with the acoustic array):
i/ Deployable array … Installed on a deployment machine (iXBlue optional supply), side pole,
or installed on a lockable moon pool structure

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Deployable array on a hoisting system. Deployable array on a
rotating side pole.
Deployable array in a moon pool
ii/ one-shot calibration system … the acoustic array is installed together with OCTANS heading
and motion sensor close to it. After initial calibration of the system to compensate from
mechanical misalignments the system is calibrated once for all and can easily be move from
one vessel to the other
Deployable array and
OCTANS on side pole.
Deployable array and OCTANS on small rigid
frame
Deployable array and OCTANS on
deployment machine
iii/ Flush mount acoustic array under the ship’s hull
Close view, Flush array View of acoustic pod including flush array

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2.2.2. POSIDONIA II electronics installation
The topside electronics consists in a single 19’’ electronic rack including all interface to
peripheral and external sensors.
No specific knowledge is required for this part and the operation can be achieved in a very
short time.
POSIDONIA II already interfaces to most of the heading and motion sensors and GPS
available on the market with a large library of communication protocols. (NMEA0183
based) POSIDONIA II allows operations in transponder mode (interrogates and receives
through the water column or in responder mode (interrogation through umbilical in case of
ROV or tow fish operation) Special attention is recommended when interfacing
transponders in responder mode in order to preserve signal integrity through umbilical.
2.3. Calibration
USBL principle requires a perfect knowledge of the attitude of the acoustic array (both in heading and P/R)
to measure angles to the tracked targets and calculate position.
The calibration procedure is used to measure and compensate the mechanical misalignments between the
acoustic array, the heading/motion sensor and the horizontal plan.
It mainly consists in the following steps:
Deploy a recoverable transponder on the sea
bed with sufficient water depth (OCEANO
RT2500 light is part of the package)
Collect sufficient readings (positions) of this
fixed transponder while navigating above it.
(Ideally figure of eight)
Run the calibration algorithm which will
ultimately produce a set of calibration
coefficients that will be used as long as the
alignment between the acoustic array and the
motion sensor has not been modified
Check calibration; recover the mooring line and
transponder.
D

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3.
POSIDONIA II
system
P
erformance & Specifi
cations
3.1. Standard configuration performance
The performances (range and accuracy) of a USBL acoustic positioning system is depending on several
factors which can dramatically change expected results. Among them Heading and motion sensor (P/R)
used to compensate acoustic array attitude as well as acoustic environment (ambient noise level,
propagation conditions) are the most sensitive parameters.
Although some existing solutions are available to improve performances in case of difficult acoustic
environment (see next chapter), the standard POSIDONIA II configuration performances are defined with
the following conditions:
Positioning accuracy (1) 0.2% x slant range
Measurement repeatability +/-3m
Operating range
(1)
10
,000m
Operating frequency 16kHz (central frequency) +/-4kHz bandwidth
Position refresh rate
2 second min (acoustic, depends on range)
10 Hz with predictive filter
Communication protocol
Serial communication link
NMEA proprietary GAPS protocol
Multiple other NMEA or binary data telegrams
Native compatibility with iXBlue products
(1) Range and accuracy of the system depend on ambient acoustic propagation conditions, water depth and signal to noise
ratio (SNR) and GPS grade.
The accuracy and range are nominal with the following conditions:
- sea state 5 maximum, ship noise < 60dB at 16kHz
- vessel speed 3 knots in operation
- target below the antenna +/-30deg
- Heading / Pitch / Roll : 0.15 deg
- Sound Velocity Profile ideally compensated
- System calibrated (antenna v.s. HARS aligned)
3.2. How to maintain or improve the performance
3.2.1. Use directional transducer
In case the system is operated with higher noise level (ship’s noise, ambient noise), the
maximum range can be significantly reduced.

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Rather than having higher radiated power at the subsea
transponder level, which leads to additional although different
problems (energy consumption, size of electronics), the use of a
directional transducer with a reduced beam pattern (+/- 30deg)
allows focusing the energy toward the surface receiver.
iXBlue transducer PET861-DIR60 is using a Tonpiltz technology
and high efficiency transducer assembly which provides an
additional 6dB minimum compared to a standard hemispherical
standard transducer.
This simple and easy solution allows 2,000 to 3,000m additional
range.
Note:
Electronic impedance matching for directional transponder
requires special setting of the electronic board in the transponder itself.
3.2.2. Use high accuracy heading and motion sensor
The position to the target is calculated using slant distance and bearing angles (X & Y).
Since the acoustic array is installed on a moving platform (surface ship) its absolute position
must be known with sufficient accuracy (calibration procedure) and its motion carefully
monitored and compensated (AHRS sensor) in order to get the best performances out of
the POSIDONIA II system.
Depending on the version (Flush mount or deployable array) and mode of operation
(permanent installation or vessel of opportunity) a mechanical structure must be prepared
such as …
side pole with portable acoustic array at the end
flush acoustic array permanently installed under the vessel (must be dry-docked)
electromechanical hoisting system for deployment of the acoustic array when required
etc…
Whatever the installation method is the relative positions of the acoustic array and
heading/motion sensor must be rigid, repeatable and stable over the system operation
time.
An accuracy of 0,15 deg or better for heading and 0.05deg for Pitch & Roll is recommended
in order to reach nominal performances of the POSIDONIA II USBL system.
iXBlue manufactures a high grade Fiberoptic Gyroscope and
Motion sensor, OCTANS, which is a perfect match with
POSIDONIA II requirements:

heading accuracy : 0.1deg (x secant latitude)

pitch and roll accuracy : 0.01 deg

refresh rate : up to 100Hz

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3.2.3. Use PRESSURE Sensor
In case of high elevation of the target the angle measurement accuracy decreases.
(Woodward law, physics characteristics).
If a pressure information is available POSIDONIA II automatically integrate this additional
information into the algorithm to improve the depth information, which in turns allow the
system to better estimate bias in X/Y data and correct it.
POSIDONIA II can use either optional pressure sensor installed in the iXBlue transponder
(optional, data retrieved through umbilical or through the acoustic channel) or third party
pressure sensor if available on the tracked vehicle.

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3.2.4. Use POSIDONIA II coupled to PHINS + DVL Subsea
POSIDONIA II is fully manufactured by
iXBlue and as such nicely interfaces to other
company products such as PHINS / PHINS
subsea / PHINS-DVL ready.
The use of an Inertial Navigation System
(INS) on the towed vehicle will provide the
highest position data rate, filtered and
robust to acoustic hazards.
A typical configuration as shown below
provides the best position accuracy and
performances, together with all attitude of the towed vehicle including heading, pitch and
roll.
i/ Positioning method: data fusion
Subsea positioning has been achieved until now by using one technology: LBL, USBL….
Because each technology has advantages but also drawbacks, most modern positioning
techniques involve a combination of technologies and data fusion, notably with INS.
The purpose of data fusion is to use different sources bringing the
same type of information: it allows cross-correlating the different
data, and thus estimating some of the imperfections of each
sensor. As such, data fusion is particularly interesting when using
different technologies, as it allows a real compensation of the drawbacks of one technology
by the assets of the other one. Only the advantages of each technology are kept; it improves
the performances and provides new operational features.
The mathematical tool used to perform this data fusion is a Kalman filter – it is embedded
into the PHINS (INS).
Using data fusion between PHINS, POSIDONIA II and other optional sensors benefits:
Advantages of POSIDONIA II acoustic systems: the positions remains stable and
accurate on the long term;
Advantages of the PHINS inertial system: the output is smooth and at a very high
recurrence, with an extreme accurate position on the short term. Above all, the
acoustic (and GPS) noise is filtered, thus improving the accuracy. It makes the
system robust to environmental conditions (GPS or acoustic dropouts…) – potential
wrong values in case of acoustic noise are rejected, and the INS provides the real
position even in case of acoustic outage for some time.

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Positioning output with
POSIDONIA II
alone (no INS coupling
and data fusion)
Positioning output with data fusion with INS and other
sensors:
- Smooth, high data rate
- Noise filtered
- Robust to GPS and ACOUSTIC outages
- Higher accuracy and range
ii/ example: GAPS + PHINS + DVL
Real field data, collected in La Ciotat bay - France, using such an integrated system. Both
pure acoustic (blue) and coupled system (red) outputs are shown below, where the signal
to noise ratio of the acoustic signal was evolving. It demonstrates all the advantages of the
iXBlue integrated solution.

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3.3. Other Characteristics
3.3.1. acoustic array and main cable
Reception
sensitivity (OCV)
-
195
dB Vrms/µPa +/
-
3
dB
-
195
dB Vrms/µPa +/
-
3
dB
frequency 16 kHz +/- 3 kHz bandwidth 16 kHz +/- 3 kHz bandwidth
Beam aperture / channel
(2
Ɵ
-3dB
)
-3 dB: 65 deg +/-5 deg
-
10
dB: 140
deg
-3 dB: 120 deg +/-5 deg
-
10
dB: 140
deg
Acoustic accuracy (1 sig) 60 deg cone: +/-0.3 deg 60 deg cone: +/-0.3 deg
Transmission
Acoustic power 188 dB ref 1µPa @ 1m 185 dB ref 1µPa @ 1m
frequency
8
kHz to 16
kHz (
-
3
dB)
8
kHz to 16
kHz (
-
3
dB)
Beam aperture 200 deg @ 3 dB 200 deg @ 3 dB
Mechanical
Diameter (mm) 580 800
Height (mm)
410
245
Weight (kg in air) 34 180
Weight (kg in water) 25 150
Electrical
Mating socket
Burton
Jupiter (right angle)
Main cable
length 50 m 50 m
diameter (mm) 26 +/-0.5 26 +/-0.5
Plug diameter
63
mm
63
mm
Plug length 305 mm 305 mm
Min bending radius 156 mm 156 mm
3.3.2. Electronic cabinet (USBL-box)
Dimension 483 mm x 89 mm
Weight 5.8 kg
Operating temperature
0 to +50 deg C
Storage temperature -20 to +70 deg C
Power supply 100~240 VAC / 50~60 Hz
Power consumption
15 W continuous
80
W peak

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Front panel (test purpose)
Console RS232 serial link (DB9 – factory testing only)
Synchro OUT Synchro OUT main & secondary (BNC)
Synchro IN Trigger input (BNC)
HYDRO 1 to 4
Antenna connected: signal received from the antenna
Without antenna: simulation for test purpose (factory only)
Power consumption
15W continuous
80W peak
Rear panel
Power supply External power supply (110~240 VAC)
Synchro OUT Synchro OUT main & secondary (BNC, id front panel)
Synchro IN
Trigger input (BNC, id front panel)
PPS PPS (Pulse Per Second) synchronisation input
Serial 1 to 4
Standard RS232 / RS422 input output communication port
User programmable.
ancillary sensors and
data communication
Ethernet
True Ethernet communication port for programming, sensors
interface and data distribution
Acoustic array
Connector to the
acoustic array