Release Notes

HAIN 9.4.6

2025-05-01

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

Bug fixes

• Fixed timing function wrap around, which could prevent HAIN from publishing navigation solution.

HAIN 9.4.5

2023-07-02

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

Bug fixes

• Validating sensor input and position output
• Logging system state in error situations

HAIN 9.4.4

2022-10-12

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

Bug fixes

• Fixed error in MGC/JB7 gap filling

HAIN 9.4.3

2022-09-29

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

Bug fixes

• Additional logging of error conditions for the MGC/JB7 IMU type.

HAIN 9.4.2

2022-04-06

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

• Digiquartz pressure sensor interface: adding unit conversion factor (ie for PSI->Bar).

Bug fixes

• Fixed failure to create NavSettings folder on HAIN computer when version 9.4.1 was installed on a "clean" computer.

HAIN 9.4.1

2022-03-07

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

• Making HAIN configurating the Nortek DVL optional

Bug fixes

• Fixed problem with Nortek DVL number of beams setting

HAIN 9.4.0

2021-09-06

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

New features

• Added new IMU type for use with MGC R3 w/ JB7

Bug fixes

• Improving diagnostic logging in case of failing HiPAP sigma filter

HAIN 9.3.6

2021-05-10

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

Bug fixes

• Timing issure prevented HAIN from exporting the navigation solution

HAIN 9.3.5

2021-04-19

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

Bug fixes

• Improved startup output information
• When upgrading the configuration was overwritten. Fixed.
• Corrected timing bug which could prevent HAIN from exporting the navigation solution

HAIN 9.3.4

2019-10-28

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7 or newer

Bug fixes

• Fixed error message related to NTP in CP-HAIN during startup
• Fixed error when using EM3000 as heading/motion aid
• Configuration: increased the available interval for IMU accelerometer constant error values

HAIN 9.3.3

2019-03-01

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

Bug fixes

• For HAIN Reference, the default configuration parameters for automatic data deletion were improved.

HAIN 9.3.2

2018-11-01

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• Test tool for IMU HG9900 included

HAIN 9.3.1

2018-09-06

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

Bug fixes

• HAIN may now be configured to accept data from RDI DVL configured with tilt.

HAIN 9.3.0

2017-10-16

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• Standalone DVL calibration included for HAIN Subsea.
• Interface for easy setup (with APOS 6.5 or higher)
• Nortek DVL format on Ethernet.
• GGA output.

Bug fixes

• User interface showed some statuses incorrectly or inaccurately.
• Gyrocompassing status was missing from user interface.
• Short (8 characters) Digiquartz messages were not accpted.

HAIN 9.2.1

2017-06-13

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

Bug fixes

• Data sets produced by HAIN failed in NavLab processing, due to redundant extracted files.

Known issues

• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.

HAIN 9.2.0

2017-06-08

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• HAIN Status is a new front end to HAIN, showing the status of HAIN and its inputs.
• HAIN accepts both instrument and vessel coordinates from DVL format PD0.

Bug fixes

• DVL was on some occasions time stamped wrongfully.

Known issues

• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.

HAIN 9.1.2

2017-01-25

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

Bug fixes

• HAIN and APOS Survey installations failed on same computer.

Known issues

• The HainPP feature is not included in this version.
• Settings for NavLab version < 4 are no longer generated.
• Rejections of the outlier filter are not shown in APOS.
• On occasion, when HainController.exe retrieves/sends ini file from/to the HAIN computer, message boxes with any error information might be hidden behind the HainController progress dialog. This happens more frequently when the operator switches to other programs (i.e. Alt+TAB) while waiting for the process to complete.
• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.
• On some computers, HAIN installation fails to create the HAIN-folder on the selected install drive (typcially C:\HAIN). Create the folder manually to workaround this problem.

HAIN 9.1.1

2016-12-05

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• Supports IMU STIM300

Bug fixes

• Better Logging of MuSSBL.
• Logging and extraction is improved, automatically outputs new and more comprehensive format.
• NTP failed due to missing files.
• Stability fixes: HAIN would on rare occasion stop on APOS automatic (bias) restart.

Known issues

• The HainPP feature is not included in this version.
• Settings for NavLab version < 4 are no longer generated.
• Rejections of the outlier filter are not shown in APOS.
• On occasion, when HainController.exe retrieves/sends ini file from/to the HAIN computer, message boxes with any error information might be hidden behind the HainController progress dialog. This happens more frequently when the operator switches to other programs (i.e. Alt+TAB) while waiting for the process to complete.
• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.
• On some computers, HAIN installation fails to create the HAIN-folder on the selected install drive (typcially C:\HAIN). Create the folder manually to workaround this problem.

HAIN 9.1.0

2016-06-30

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• MuSSBL: Uses 3D position data from selected transponders to improve accuracy and robustness, and allow multiple transponders to aid HAIN simultaneously. Requires APOS 5.7.0 or higher.
• NMEA Version string can be transmitted from HAIN. Default it is turned off.

Bug fixes

• MGC option was missing from OptionsEditor.
• GPSolutionData was missing when data was extracted.
• Gyrocompassing improved robustness on higher velocities.
• HAIN ocassionally crashed on shutdown.
• HAIN initialized attitude wrong. Roll was initialized as pitch and vice versa.
• Sign of outputed position covariance was wrong, resulting in the error ellipsis being mirrored about longitude axis.
• Under specific circumstanses, HAIN covariance remained locked in initialization values. Such circumstances normally only achieved during simulations.
• Autostart of Dnet2 failed.

Known issues

• The HainPP feature is not included in this version.
• Settings for NavLab version < 4 are no longer generated.
• Rejections of the outlier filter are not shown in APOS.
• On occasion, when HainController.exe retrieves/sends ini file from/to the HAIN computer, message boxes with any error information might be hidden behind the HainController progress dialog. This happens more frequently when the operator switches to other programs (i.e. Alt+TAB) while waiting for the process to complete.
• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.
• On some computers, HAIN installation fails to create the HAIN-folder on the selected install drive (typcially C:\HAIN). Create the folder manually to workaround this problem.

HAIN 9.0.1

2015-12-16

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

Bug fixes

• HAIN were unable to receive IMU data from Seatex MGC on serial line.
• Improved capabilities regarding the deletion of old log files to prevent full disk.
• MSI-installer failed on Windows Embedded.
• HAIN startup generated wrongful error messages regarding NTP.
• DNet2 (when installed) was not set to run on startup.

Known issues

• The HainPP feature is not included in this version.
• Settings for NavLab version < 4 are no longer generated.
• Rejections of the outlier filter are not shown in APOS.
• On occasion, when HainController.exe retrieves/sends ini file from/to the HAIN computer, messages boxes with any error information might be hidden behind the HainController progress dialog. This happens more frequently when the operator switches to other programs (i.e. Alt+TAB) while waiting for the process to complete.
• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.
• On some computers, HAIN installation fails to create the HAIN-folder on the selected install drive (typcially C:\HAIN). Create the folder manually to workaround this problem.

HAIN 9.0.0

2015-10-23

Requirements

• APOS 5 (or higher)
• HAIN computer must be Windows 7

New features

• New navigation architecture allowing multiple sensors
• New configuration
• New installer
• Integrated GP and NavP in CP-HAIN
• Merged AUV (HUGIN) and UNAV (HAIN) code
• New storage format
• Updated NavLab interface for NavLab 4 or higher

Bug fixes

• Outlier filter in HAIN only rejects n measurements in a row, where n is configurable and default is 5

Known issues

• The HainPP feature is not included in this version.
• Settings for NavLab version < 4 are no longer generated.
• Rejections of the outlier filter are not shown in APOS.
• On occasion, when HainController.exe retrieves/sends ini file from/to the HAIN computer, messages boxes with any error information might be hidden behind the HainController progress dialog. This happens more frequently when the operator switches to other programs (i.e. Alt+TAB) while waiting for the process to complete.
• Debug functionality for serial inputs, may not work on all computers.
• When setting up HAIN it is necessary to set the network configurations both in HAIN and APOS.
• On some computers, HAIN installation fails to create the HAIN-folder on the selected install drive (typcially C:\HAIN). Create the folder manually to workaround this problem.