The iXBlue fourth-generation pre-calibrated GAPS combines high performance ultra-short baseline (USBL) and a fiber-optic gyroscope (FOG) inertial navigation system (INS) in the same housing to provide accurate position of any subsea object, in diverse and challenging environments. Its performance ranges from extremely shallow water to deep sea. Its compact and all-in-one design allows both portable and permanent installations with iXBlue and third party acoustic transponders. One of GAPS key new features is support of dynamic positioning (DP).