iXBlue Gaps MT9 - A.1.21 HOW DOES THE GAPS INTERFACE WITH YOUR INS ON AN AUV?; A.1.22 HOW FAST CAN AUV BE TRACKED RELIABLY?; A.1.23 HOW CAN I USE THE M5 TO COMMUNICATE WITH AN AUV IN MODEM MODE ON A COMPATIBLE BEACON WITHOUT USING THE TOWFISH MODEM FOR AUV POSITIONING?; 2.2 Integration and mechanical aspects

Gaps can transmit the USBL position of the AUV using the telemetry link. The AUV-embed-
ded transponder on the AUV will automatically output the USBL position to the INS. This is
really easy to configure, and it is fully explained in the Gaps user manual.
Gaps MFSK modulation offers doppler resistant codes that can be used to track above 30
knots.
Gaps M5 can communicate with an AUV that embeds a MTBx2 OEM beacon. You will use
the telemetry link to transmit command to the AUV and receive status, the message length
in 20 bytes and the input/output data format is given in the user manual. This communication
is interlaced with the positioning cycle.
SVP data is loaded into Gaps M5 manual from the MMI or by loading a SVP file.
Gaps M5 web MMI shows the AHRS Octans Nano status. Then if an error occurs, the user
will be informed by the overall systus status.
No, the acoustic interrogation and reply code must be selected by the user.
Gaps M5 has to be handle with care and never be let standing on its hydrophones. We
advise to place protective caps (delivered with Gaps) to protect the 4 hydrophones.
Gaps M5 does not have a full self test. Hydrophones can be tested in air by a noise meas-
urement and a comparison each other. Basic functional test of the emitting transducer is
also possible.