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4600 Swath Bathymetry and Side Scan Sonar System

1. 2 4 222 The Topside Processor sb pea ndi ranis abite iude 2 4 23 Deck IT Em 2 5 2 4 Product Specifications S 2 5 2 5 Data Formats and Connections 2 7 2 6 System Connections and Data 2 8 2 6 1 Ethernet LAN Connections inire tenth unice rebar durs 2 8 2 6 2 POTS e 2 8 2 6 3 Hardware Data 2 9 2 6 4 Sonar Data e PEE 2 13 SET UP AND DEPLOYMENT 971 3 1 Unpacking and Inspecting uiuere rer t 3 1 3 2 Sonar Head rtp dna cia ctp ak dx a ERA ER 3 1 Sonar Mp cuis p c 3 5 3 3 1 Over the Bow 3 5 3 3 2 Over the Side 3 5 3 4 Positioning the Topside Processing 3 8 3 5 Topside COMMEGHONG ki qa ses bep eu Ehe pte aA Hide IE M RIDE 3 8 3 6 Care and Maintenance 3 10 PRINCIPLES OF 4 1 4 1 Confirming Supporting Data is Present 4 1 4 2 DISCOVER 600 4 4 4 2 1 DISCOVER Toolbar 4 7 42 2 DISCOVER C
2. 81 X 0O lt EdgeTech in Towfish EdgeTech SSSSonar Sonar Search Sonar Organize v 2 Prit New folder Hu e Desktop Name a Date modified Type Size F Downloads 3 sonar ini 7 15 2011 4 03 PM Configuration sett 3KB EdgeTech ld Sonar opt 1 17 20128 46PM OPT File 1KB E Recent Places SONAR TXT 4 14 20 111 PM Document 37 KB EdgeTech sonar 230 SP JT ini 7 21 2011 1 06 Configuration sett 3KB ETS EdgeTech S i sonar 540 SP ini 7 15 2011 4 03PM Configuration sett 3KB MH EdgeTech Bi 188 10 20 2010 8 16 AM Application 1 096 KB 8 SonarArraylnfo ini 1 17 2012 9 01 Configuration sett 2 19 Libraries L1 6 16 2011 315 PM Document 2KB Documents Lj SonarObsoleteKeywords txt 9 14 2010 1 02PM_ Text Document 18 KB E Music it SonarSerial ini 6 21 2011 11 59 AM Configuration sett 1KB Pictures L1 SonarSerial Txt 6 30 2011 4 36 PM Text Document 29 KB Videos SonarSerialFormats b t 1 4 2010 10 42 AM Document 1KB Lj SonarXDucer txt 1 4 2010 10 42 AM Tet Document 2KB 1 1 Computer Lj SoundConnect xt 2 25 2005 1 00 AM Document 1KB amp os c L SoundNoConnect tt 12 10 2007 7 07 Text Document 1KB cx HP_LRECOVERY SoundPostError txt 9 29 2003 5 15 AM Document 1KB M l
3. 3 2 Sonar Processor Connections on End Cap 3 3 Top View of Mounting Bracket on Sonar 3 4 Connecting the Deck Cable to End 3 4 4600 Deployment Option 1 3 6 4600 Deployment Option 2 3 7 Sonar 192 9 0 101 Remote Desktop Connection 4 1 Serial Port Information Window meer 4 3 System Status WINQOW qr mee 4 4 DISCOVER Main Window BATHYMETRIC PROCESSOR 4 5 Bathymetric Processor MOGUIB die es sentita cii enti i etas 4 6 NET ONIM DISCOVE rc Q 4 6 DISCOVER Toolbar 4 7 Towtish Control Tab U 4 9 Diagnostic WINDOW 4 9 Document No 990 4600REF 1000 Rev G Figure 4 10 Figure 4 11 Figure 4 12 Figure 4 13 Figure 4 14 Figure 4 15 Figure 4 16 Figure 4 17 Figure 4 18 Figure 4 19 Figure 4 20 Figure 4 21 Figure 4 22 Figure 4 23 Figure 4 24 Figure 4 2
4. Figure 4 20 Advanced Bathymetry These settings are described in detail Please refer to Figure 4 20 for each description Advanced Bathymetric Processing Parameters Warning Changing these parameters will have significant effects on the data These parameters 1 M 3 Bottom Track Data Source Quality Filter 36 This feature should only be disabled under extreme TVG dB 100M circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is beyond the acoustic data j Max TVG dB m Advanced Processing Refinements Multipath Suppression Level 3 Maximum Across Track Average Size 0 05 Warning Changing these parameters will invalidate your existing patch test Itis strongly recommended that a new patch test be performed after changing these parameters Figure 4 21 Advanced Bathymetric Processing Parameters 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 17 Auto Detect Altitude This function tells the Bathymetric Processor to use its highly sophisticated algorithms to track the bottom If the Auto Detect Altitude box is unchecked then the user has the opportunity to input a value in which they think the bottom resides Altitude Determination Auto Detect Altitude Manual Altitude 0 000 This feature should only be
5. 07 Msc Graph Capture StatusBar Network Nav Printer Logs MutiPing Wizard Disk 4600 551 Alerts LiveVideo 00 D1 Transmit Tigoerng Ping On Power 100 0 Ping At 350 00 Meters intemal v Master 4600 bea 0 1 fi Acquire Data Window Start Trace E Data Format Raw ADC Gain 32X 02 05 D Figure 2 JSTAR Status and Control Window 7 Rub your hand vigorously across the face of the Port Array for 3 seconds and observe the response in JSTAR Figure B 3 Array Rub Test 8 Repeat the Rub Test for the Starboard Array If the response in JSTAR resembles Figure B 4 then the Arrays have passed If any channels do not respond as in the example illustrated in Figure B 5 please contact EdgeTech Customer Service 4 APPENDIX B PERFORMING Rub Test 9 Exit out of JSTAR when finished as this will cause a network conflict between JSTAR and DISCOVER if both programs are trying to run at the same time NOTE 1 Each cell is split in half by a yellow line Above this yellow line corresponds to the Port side channels and below this line corresponds to the Starboard channels NOTE 2 Each cell also represents the different elements for each array see Figure B 4 and Figure B 5 for element assignment 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000
6. Processor zi Poids immi SVP Track Ball 7 4600 Sonar Head IP Address 192 9 0 101 Bathy Side Scan Arrays Port and Stbd Figure 2 4 Hardware Data Flow Diagram Hardware Manual System Name 1 Heading Navigation Roll Pitch Heave Topside Processor Not Used Example 3 Heading Pitch Heave Roll Pitch PosMV GPS w HD MS Gyro MS GPS Figure 2 5 Sonar Interface Box Connections 2 12 SECTION 2 COMPONENTS AND SPECIFICATIONS In Figure 2 4 the 4600 Sonar Interface connects to the Sonar Head via the Seacon 19 pin connector and Deck Cable Navigation heading roll pitch and heave data from the supporting sensors via COM ports 1 2 and or 3 are inputted at the Sonar Interface passed through the Deck Cable and logged by the Sonar Processor in the Sonar Head These data are then transmitted along with the raw side scan data with a common timestamp up the deck cable to the 4600 Sonar Interface and passed to the Topside Processor through the Deck Cable and via Ethernet Port 1 IP Address 192 9 0 100 The Topside Processor then processes these data using the DISCOVER and Bathymetry software to send amplitude angle and range data to the third party software for logging and post processing This process is explained in further details in the following section The third party and DISCOVER Sid
7. aril 324 Megs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 2 0 In 297 1 324 Capacity 53 23 NMEA 9 36 770 0d Oa Serial4 Com4 Queues N State OK ParseErrors 0 Moge Recvd 0 Generated 4520 RecvQOF 0 XQOF 0 8511930 1 297 1 324 Serial3 On Com3 Queues N State OK ParseErrors 0 Figure A 13 Checking all COM Ports 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G B PERFORMING A RUB TEST This test is carried out on a bench or work table and is used to indicate if the receive section of the Sonar Arrays is working properly This section states how a Rub Test should be performed NOTE 1 f the Rub Test fails please contact EdgeTech immediately using the provided information in the EdgeTech Customer Service NOTE 2 this section it is assumed that the 4600 Topside Processor monitors keyboard and mouse are all connected and powered on If this has not been done yet please do so at this moment 1 Ensure the Ethernet from Port1 of the 4600 Topside Interface is plugged into the Ethernet Port1 of the Topside Processor labeled SONAR Turn the Sonar Head ON by using the switch on the front side of the 4600 Sonar Interface NOTE Topside Interface does not turn ON check to see if the switch next to the power cable on the back of the Topside Unit is in the ON position If not flip the switch t
8. Port 4 Baud 19200 4 p Figure A 12 All Sensors Set 3 Then select File gt Save and close the file Do not change any other settings 4 Close the SonarSerial ini file and reboot the Sonar Firmware by double clicking on the Sonar icon in the main Sonar Remote Desktop Screen designated by the green arrow in Figure A 6 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 10 11 12 13 14 15 13 Now plug in your devices into COM 1 2 and 3 The Gyro should be connected to COM1 the MRU and the GPS to COM3 The devices connected to COM1 COM2 may be interchanged but the GPS must be connected to COMS Click on the Misc at the top of the Sonar screen as shown in Figure A 7 then Serial Port Information Check 1 and set the correct baud rate for that device by using the drop down menu shown in blue Figure A 7 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Figure A 7 The correct data string should also be scrolling in the lower part of the window green arrow Figure A 7 Now check and set the correct baud rate for the other device as done before in Step 6 Also remember to check COMS as before and set the correct baud rate for GPS Now click on File Show Status in the sonar window circled in red Figure A 8 On the right hand side o
9. This section provides a list of frequently asked questions pertaining to the EdgeTech 4600 Swath Bathymetry and Side Scan System 1 2 3 4 Which frequency is better The 230 kHz or the 540 kHz Both systems work very well but each has its own benefits depending on the environment water depth and application For customers who mainly operate in open ocean environments with a depth of 30 to 100 meters of water the 230 kHz system is the optimal solution For customer s surveying mostly in channels creeks and other enclosed bodies of water and operating in depths of about 2 to 30 meters the 540 kHz system is the best fit Please contact EdgeTech Customer Service for more information on the benefits of each system Does the 4600 system interface to Ethernet devices Currently the 4600 system can only interface to supporting sensors via the three COM ports RS 232 in the back of the Topside Interface Box Please check with EdgeTech as it is an upcoming feature Where is the best place to mount the 4600 Sonar Head on the survey vessel The bow of a survey vessel is always the best place to mount the 4600 Sonar Head By placing the system at the bow the sonar will most likely be far enough away from most interferences such as hull echo es propeller noise wake etc How long can I keep 4600 Sonar Head in the water for The 4600 system was not designed with a permanent submerged installation in mind It is
10. C 5 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G xix List of Tables Table 2 1 In depth Specifications for 4600 System 2 5 1 Overview Options EdgeTech s 4600 is combined fully integrated swath bathymetry and side scan sonar system The 4600 uses eight receive element transducers and one discrete transmit element to produce real time high resolution bathymetric data while also providing co registered simultaneous side scan data The high number of channels enables good rejection of multi path effects reverberation and acoustic noise Figure 1 1 4600 Topside Processing Unit left and 4600 Sonar Head right The 4600 operates at one of two frequencies 230 kHz or 540 kHz depending on the model The sonar electronics and arrays are mounted onto a streamline body that is deployed over the bow or side of a survey vessel Sonar data is transferred from the transceiver to the processing unit on board via an Ethernet network interface Default configuration for the 4600 includes an integrated sound velocity sensor and a built in bottom tracker The system can interface with standard DFPS RTK systems MRUs SVPs CTDs Altimeters and Gyros Simple to use acquisition software is provided by EdgeTech along with an approved post processing software program The 4600 Topside Processing Unit comes standard
11. TOP VIEW SCALE 1 8 NOTES 1 DIMENSIONS IN BRACKETS ARE IN CM REVISIONS DESCRIPTION INITIAL RELEASE 07 01 2010 68 17 REAR VIEW SCALE 1 4 UNLESS OTHERWISE NOTED APPROVALS n c 1141 HOLLAND DRIVE BAY 1 ETE DIMENSIONS ARE IN INCHES ResisToRsARENOHMS WJM 09701710 BOCA RATON FL 33487 CAPACITORS ARE IN MICROFARADS CHECKED TITLE ME 4600 MULTI PULSE ARRAY CENTER 2PLACES mem system DRAWING NO REV 0 os e 35 Sa 800 000021 1 0800 SHEET 1 OF 1 Figure C 4 Acoustic Centers Long Body Type 230 kHz Only 9 9
12. When ready press the Record button on the right hand side of the Disk Tab The name of the file will appear in the Record File box 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 11 If the user does not specify a specific name DISCOVER will automatically name every according to the date and time UTC the user hit record For example if the user hit record at 13 18 UTC on July 12 2012 the file name will be recorded as 20120712131822 jsf Towfish Control Video Gains Display Bottom Track Grids Status mc ERE WM M Figure 4 12 Disk Tab For basic playback navigate to the Disk Tab Figure 4 12 and select Browse green arrow Locate the desired JSF file and use the function buttons to play stop fast forward etc These playback buttons are also conveniently located on the Shortcut Menu NOTE file was recorded in DISCOVER while data was being recorded in the 3rd party acquisition software the file can be re processed for bathymetric estimation using different parameters post survey please see Section 5 2 1 for more details This recorded DISCOVER file provides useful for debugging and training purposes 4 2 2 5 Grids DISCOVER also has the option to place a grid on the screen The grid may facilitate measuring the size of a target or estimating its range from the sonar The Grids Tab allows the user to place horizont
13. A 74 m yeu Towish Control Video Gains Display Disk Grids Status Frequencies M SonxOn Range 50 5430 KHz 5530 KHz Ping Rate 100 al gt Ping 189238 Lat 30 134122N Lon 88 59 9329W 110 Speed 8 1 Date Apr 09 2012 Time 19 11 52 Heading 110 2 Pitch 36 Rol 38 Altitude 54 Pressure 0 000 A Mak 0 Free Space 815399 MB Sonar ON GPS OFF NET ON Power FULL Figure 4 4 DISCOVER Main Window and BATHYMETRIC PROCESSOR The DISCOVER Main Window contains a Top Menu a Toolbar Menu and a Control These menus are illustrated in Figure 4 4 and correspond to A B and C respectively A brief description of the shortcut keys in the DISCOVER Toolbar Menu and the DISCOVER Control Menu are given in sub section section 4 2 1 The BATHYMETRIC PROCESSOR is the built in module that is responsible for computing the seafloor solutions It displays the number of processed pings the last altitude found by the BATHYMETRIC PROCESSOR and the number of angle sets used in the seafloor calculations 4 6 SECTION 4 PRINCIPLES OF OPERATION Bathymetric File View Processed Pings Partial Pings 0 Detected Altitudes 0 Last Altitude M Port Angle Sets Stbd Angle Sets Figure 4 5 Bathymetric Processor Module NOTE The BATHYMETRIC PROCESSOR will restart if you press the up at the to
14. Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 2 1 COMPONENTS AND SPECIFICATIONS The complete 4600 system consists of Swath Bathymetry and Side Scan Sonar Head and Topside Processing Unit This section describes the two main components that make up the 4600 system and lists their specifications NOTE specifications are subject to change without notice 2 1 4600 Sonar Head The 4600 Swath Bathymetry and Side Scan Sonar Head comes standard with a Sonar Processor Port and Starboard Sonar Arrays a Sound Velocity Sensor SVS a Nose and Tail Cone and a Mounting Bracket with handles A Mounting Pole may be purchased separately to secure the 4600 System to a survey vessel These components are demonstrated in Figure 2 1 Mounting Bracket ewe ur Mounting Pole Sold Separately Tail Cone Sound Velocity Sensor SVS Sonar Nose Cone Processor Sonar Arrays gt Port and Stbd Figure 2 1 4600 Sonar Head Components 2 2 2 1 1 2 1 2 SECTION 2 COMPONENTS AND SPECIFICATIONS NOTE Please become familiar with these terms in Figure 2 1 as they will be referenced throughout the rest of this manual Sub sections 2 1 1 through 2 1 5 give a detailed description of the standard components illustrated in Figure 2 1 Sonar Processor The 4600 Sonar Processor has a built in PC running Windows XP as its operating system The main firmware installed on the embed
15. Figure 3 2 Sonar Processor Connections on End Cap 5 Orient the Mounting Bracket on top of the Sonar Processor so that the longest part of the keyway is pointing towards the tail section as shown in Figure 3 3 3 4 SECTION 3 SET UP AND DEPLOYMENT Keyway Nose Tail Figure 3 3 Top View of Mounting Bracket on Sonar Head 6 Lift the Mounting Bracket and feed the tail end of the 20 m Deck Cable through the provided keyway Figure 3 4 The tail end of the Deck Cable has the Seacon 19 pin female connector MINK19 CCP 7 Ensure the Deck Cable stays within the slotted region of the keyway on the Mounting Bracket and pull the cable towards the tail section Figure 3 4 8 Connect the Deck Cable to the Sonar Processor using the Seacon 16 pin female connector MINK16 CCP to J1 as indicated in Figure 3 2 and Figure 3 4 am Cable Path Figure 3 4 Connecting the Deck Cable to End Cap 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 3 3 3 3 1 3 3 2 9 Secure the Mounting Bracket to the top of the Sonar Processor using four 3 8 16 x 34 inch button socket cap screws four 3 8 inch split lock washers and a 7 32 inch Allen wrench 10 Attach the Tail Cone to the tail section of the Sonar Processor using six 3 8 16 x 34 inch socket cap screws and a 5 16 inch Allen wrench Assembly Complete Sonar Head Installation The 4600 System s installation on the survey ve
16. Inputting a Manual TVG M 4 22 Activating the Interferometry 4 23 Interferometry Display 4 23 Accessing the Filtering 5 4 24 Filtering 4 24 Viewing the Filters in the Interferometry Window sese 4 25 Basic Bathymetric Controls t direxit auibus 4 25 Advanced Bathymetric 4 26 reuersi 4 27 Figure 4 37 Figure 4 38 Figure 4 39 Figure 4 40 Figure 4 41 Figure C 1 Figure C 2 Figure C 3 Figure C 4 Bathymetric ProGeSSOr 4 27 Connection Status Window nennen nennen 4 28 Situalion StatUS MA uin 4 29 Processing Paralelo udo Ga iri apodo oris fesn teats 4 30 55 acti cars Geet ee 4 31 Terminated Deck Cable Wiring Diagram 2 Large Figure CARTON C 3 Acoustic Centers Standard Body C 4 Acoustic Centers Long Body 230 kHz
17. Scan Sonar System with 20 m 65 ft Deck Cable please refer to the Cable Drawing in APPENDIX C e Sound Velocity Sensor SVS located in the nose section of the Sonar Head e 4600 Topside Processing Unit 4600 Interface and Topside Processor with DISCOVER 4600 Bathymetry and Side Scan Acquisition Software 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 1 3 e Survey and Post Processing Software unless otherwise specified at time of purchase e System Restore Software DVD e 2x HP 21 in LCD Monitors e HP Keyboard and Mouse e 2 Power Cables e Spares Kit NOTE customer is to provide cable path between the 4600 Topside Processor Unit and the Sonar Head 1 4 Optional Equipment The following list of optional equipment is available for the 4600 system e 4600 Mounting Pole see Figure 1 2 e Crescent VS111 Series Hemisphere GPS Figure 1 3 e SMC IMU Sensor Figure 1 4 e Coda F175 Presition Attitude and Position Sensor e HP 25 in LCD Monitor e Samsung 25 in LCD Monitor e Hard Copy of Manuals NOTE Customer must specify their request for optional equipment at the time of purchase 1 4 SECTION 1 OvERVIEW AND OPTIONS 1 4 1 Optional Mounting Pole Example Cable Path Protected by Fairing Max Cable Length 20 m 65 ft 10 cm 4 in N 1 02 m 3 ft 10 cm 4 in m 2 1 m 7 ft Bow of Survey Vessel Waterli Eee 0 9 m 3 ft
18. Standard Figure 1 2 Mounting Pole Concept Drawing 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 1 4 2 Optional Dual Headed GPS System Figure 1 3 Crescent VS111 Series Hemisphere GPS 1 4 3 Optional Motion Reference Unit Figure 1 4 SMC IMU Sensor Please contact EdgeTech Customer Service for further product and purchasing information 1 5 Software Description EdgeTech s DISCOVER 4600 Bathymetry and Side Scan Software Acquisition package provides a way to control store and display the bathymetry and side scan sonar data The data is presented on a color waterfall display and is stored in JSF formats on the hard disk of the Topside Processor see sub section 4 2 for more information about DISCOVER 4600 1S cavetech _ 1 6 SECTION 1 OVERVIEW AND OPTIONS Hydrographic Survey Software package provides the end user with all of the necessary tools needed to design their survey collect process and reduce data as well as generate final products QINSy is another third party software paired with the EdgeTech 4600 system QINSy is integrated navigation system software package used extensively worldwide for acquiring and processing multibeam data NOTE 4600 Topside Processing Unit comes standard with pre installed third party software currently the default is HYPACK unless the customer has specified otherwise upon time of purchase 4600 Swath
19. angles across track multiple adjacent time samples may be combined to improve the signal to noise ratio prior to phase estimation This is also a form of spatial averaging which can be applied to the data prior to the angle estimation processing This parameter determines the maximum across track region size that will be used in forming these averages and is specified in meters For output data with very high across track resolution this value should be kept small for example 0 05 to 0 5m 5 to 50 cm For less resolution and more averaging region sizes up to 1m can be used to produce good effects in some cases deep water Processing Refinements These parameters are explained in detail in order of appearance Processing Refinements a b Quality Filter 26 50 0 TVG dB 100M Default TVG dB Figure 4 25 Processing Refinements Advanced Controls Lb EdgeTech _ d 4 20 SECTION 4 PRINCIPLES OF OPERATION a The default setting for the Bottom Track Data Source is Product This means the BATHYMETRIC PROCESSOR takes the product of the information coming from both arrays to estimate the seafloor depth This setting seems to work well in most scenarios especially for heavy boat traffic areas where boat wake is prominent but three other parameters have been added for those special cases a user may face These three other settings are Port Starboard and Sum The Port and Starboard settings state that the BATHYMT
20. are witnessed under any one of these two sections please check to see if the correct password was installed For help in doing so please contact EdgeTech Customer Service You can also check the connection status between the BATHYMETRIC PROCESSOR and DISCOVER 4600 This can be done by selecting View gt Connection Status from the BATHYMETRIC PROCESSOR s Top Menu Figure 4 37 Bathymetric Proces Partial Pings Detected Altitudes Last Altitude M Port Angle Sets Stbd Angle Sets Figure 4 37 Bathymetric Processor 4 28 SECTION 4 PRINCIPLES OF OPERATION The following window should appear Discover Connection Status Sonar Control 1 Disconnections 40 Messages Out 928 Bytes Out 2050 Dropped Sonar Data In 1 Disconnections 39 Messages Out 780 Bytes Out 2051 Dropped Sonar Data Out 1 Disconnections 39 Messages Out 780 Bytes Out 2052 Dropped Queue Figure 4 38 Connection Status Window Here you will find the Sonar Control Sonar Data In and Sonar Data Out connections status window Figure 4 38 To turn off this window simply click on View from the Top Menu Figure 4 37 and uncheck the Connection Status window any Disconnections are witnessed under any one of these three sections please turn all systems off and reboot If the problem persists please contact EdgeTech Customer Service 4 2 4 2 Situation Status From the T
21. as protection for the SVS at the front and for the array and deck cable connections at the rear Mounting Bracket The 4600 Mounting Bracket provides the user with an efficient way to carry the system via the two handles at the front and back of the Sonar Head It also offers a way for the user to secure the 4600 to their deployment mechanism while protecting the 20 m deck cable The 4600 Topside Processing Unit The 4600 Topside Processing Unit includes a 4600 Sonar Interface and a Topside Processor see Figure 2 3 2 4 2 2 1 2 2 2 SECTION 2 COMPONENTS AND SPECIFICATIONS 4600 Sonar Interface 4600 Topside Processor Figure 2 3 4600 Topside Processing Unit The 4600 Topside Sonar Interface The 4600 Interface has two purposes e To provide power to the Sonar Head e provide a direct link between the Sonar Head any supporting sensors and the Topside Processor The interface delivers power to the system and transmits receives data via a 20 m 65 ft Deck Cable and a 20 pin Amphenol connector The interface also supplies two high speed high accuracy 10Mbps COM ports along with a third COM port configured for standard connections to intake the navigation heading and attitude data from the supporting sensors These connections are explained in more detail in SECTION 3 The Topside Processor The 4600 Topside Processor is a high performance PC running Windows 7 as its operating system The Topside Processor is
22. connects to the Topside Processor via a standard RJ 45 Ethernet plug The Topside Processor automatically senses straight and crossover Ethernet cables COM Ports There are three COM ports provided on the 4600 Sonar Interface COM1 and COM2 have been configured for high speed and high accuracy 10Mbps COMS is configured for standard connections These COM ports are provided to intake the navigation heading and attitude roll pitch and heave data from the supporting sensors Please see APPENDIX A on how to configure the COM ports 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 2 6 3 Hardware Data Flow Figure 2 4 is a block diagram that illustrates the interconnections between the 4600 Swath Bathymetry and Side Scan Sonar System the 4600 Topside System and all supporting sensors A more detailed block diagram demonstrating the interconnections and inputs to the 4600 Sonar Interface is shown in Figure 2 5 This illustration also gives three examples of possible sensor configurations SECTION 2 COMPONENTS AND SPECIFICATIONS 2 10 Monitor A Monitor B IP Address 192 9 0 100 Keyboard 4600 TOPSIDE SYSTEM Top 4600 Sonar Interface Bottom Topside Processor with DISCOVER and HYPACK Software COM1 COM2 COM3 Ethernet Supporting Sensors 20m SONAR to TOPSIDE Deck Cable 48V Ethernet RS232 x 3 PPS Trigger x 2 Mounting Pole Optional Sonar
23. damage If any damage is noticed please report it to the carrier and to EdgeTech immediately If the shipping containers appear damage free carefully unpack the components and inspect them Also please check the packing list and verify that all the items on the list are included Again if any damage is found please report it to the carrier and to EdgeTech immediately If any items are missing please contact EdgeTech Customer Service Do not install or operate any equipment that appears to be damaged Although the items shipped may vary depending on the customer s requirements the standard components for the 4600 Swath Bathymetry and Side Scan Sonar system are listed in sub section 1 3 on page 1 2 Sonar Head Assembly The 4600 streamline body system includes the Sonar Processor two Hydrophone Arrays one Port and one Starboard a Nose and Tail Cone a Mounting Bracket with handles a Sound Velocity Sensor located in the Nose section of the Sonar Head and is described in sub section 2 1 3 on page 2 2 and a 20 m Deck Cable 3 2 SECTION 3 SET UP AND DEPLOYMENT NOTE 4600 Sonar Head is sent to the customer pre assembled If for some reason the customer has disassembled the system please use this set of instructions to reassemble the Sonar Head EdgeTech does not recommend anyone other than trained EdgeTech engineers to assemble and or disassemble the 4600 system Tail Cone Sonar Processor Nose Cone Sonar Ar
24. features of the EdgeTech 4600 Swath Bathymetry and Side Scan Sonar System The system consists of a topside unit and a sonar head For detailed information relating to the DISCOVER software included with the topside unit refer to the appropriate user manual Although this manual encompasses the latest operational features of the 4600 Swath Bathymetry and Side Scan Sonar System some features of the system may be periodically upgraded Therefore the information in this manual is subject to change and should be used for reference only Summary of Sections This manual is divided into the following five sections and three appendices SECTION 1 Overview and Options Discusses the background and applications of the 4600 Swath Bathymetry and Side Scan Sonar System as well as providing information about EdgeTech as a company SECTION 2 Components and Specifications Explains the sonar head and topside processor specifications in detail SECTION 3 Set up and Deployment Discusses how to properly unpack assemble and deploy the system SECTION 4 Principles of Operation Explains how to use the system SECTION 5 Frequently Asked Questions Contains a list of common questions about the system and their corresponding answers APPENDIX A Configuring the COM Ports Describes the process for configuring the COM ports on the 4600 vi APPENDIX B Performing a Rub Test Describes the procedure for performing a rub test to ensure that the s
25. have a uniform sound velocity and depending on how drastic the profile is a depth error as large as 1 6 m can occur Can incorporate RTK Tide measurements with the 4600 system Yes HYPACK and QINSy have the ability to record this information within their native data files Please refer to their corresponding manuals for more information Why cant I feed navigation directly into the Topside Computer In order for the 4600 to properly process the bathymetry data it needs all of the supporting information such as position heading roll pitch and heave By inputting the supporting device directly into the computer poses a risk of 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 10 11 12 13 mismatching time stamps the time stamps do not match the bathymetric processor will not know how to correct the data How often should connect to the Remote Desktop Connection Sonar exe and check to see the status of the supporting data You should only need to do this if a device is not connected properly Usually this is done during training with an experienced representative from EdgeTech It is not recommended for users to connect to the sonar without EdgeTech support What do do if do not see data scrolling in DISCOVER Check to see if the Sonar Head has connected to DISCOVER by checking the status of the network NET ON down in the right hand corner of the DISCOVER
26. with pre installed as the default post processing software unless the customer has specified otherwise upon time of purchase 1 2 SECTION 1 OvERVIEW AND OPTIONS 1 1 Company Background EdgeTech formerly EG amp G Marine Instruments traces its history in underwater data acquisition and processing back to 1966 For over 35 years EdgeTech has designed developed and manufactured products instruments and systems for the acquisition of underwater data including marine estuarine and coastal applications The company has responded to the needs of the scientific Naval and offshore communities by providing equipment such as sub bottom profilers side scan sonar acoustic releases and positioning systems that have become standards in the industry Equally as significant is EdgeTech s ability to anticipate and respond to future needs through an active research and development program Current efforts are focused on the application of cutting edge chirp DSP and acoustic technology 1 2 4600 Applications Applications of the 4600 Swath Bathymetry and Side Scan Sonar system include e Mine countermeasures e Hydrographic surveys e Cable and pipeline surveys e Channel conditioning clearance surveys e Geological geophysical surveys e Route surveys e Archaeological surveys 1 3 Supplied Components The 4600 system comes supplied with the following standard components e 4600 Swath Bathymetry and Side
27. 0 to 40 C 32 F to 104 F 20 to 60 C 4 to 140 F 0 to 8096 0 to 10095 100 baseT Ethernet Serial RS 232 110 220 VAC Auto Sensing Windows 7 4600 Swath Bathymetry and Side Scan Sonar System 540 kHz Model Yellow and Black Watertight Cover O ring Seal with Purge Valve 540 kHz 125 410 ft 15 mm 0 6 in 0 5 2 way 30 150m 30 mm 1 18 in 25 m 82 ft 60 Hz 50 m 164 ft 30 Hz 100 m 328 ft 15 Hz 50m 48 VDC 100 Watts 0 to 40 C 32 F to 104 F 20 to 60 C 4 F to 140 0 to 80 0 to 100 100 baseT Ethernet Serial RS 232 110 220 VAC Auto Sensing Windows 7 Document No 990 4600REF 1000 Rev G Interface Display Storage Power Supply 2 7 230 kHz Model 540 kHz Model 100 baseT Ethernet 100 baseT 100 baseT Ethernet 100 baseT Ethernet Ethernet Serial RS 232 Serial RS 232 Dual 21 LCD Monitors Dual 21 LCD Dual 21 LCD Monitors Dual 21 LCD Monitors Monitors Expandable to 4 Expandable to 4 1TB min Hard Drive amp RW DVD 1TB min Hard Drive amp RW DVD 110 220 VAC Auto Sensing 110 220 VAC Auto Sensing 2 5 Data Formats and Connections In order to collect valid survey data the following is required to support the survey operations and correct processing of the 4600 Bathymetry and Side Scan echo data i GPS Position or Latitude and Longitude in NMEA format ii Heading data in NMEA format or EM1000 binary format iii Attitude or
28. 4 Baud 19200 4 Figure A 10 SonarSerial ini File This will deactivate COMS By deactivating this port Sonar will report to DISCOVER that only two sensors are to be used on COM1 and COM 2 to parse the necessary sensor information Therefore DISCOVER will not throw up any errors if a sensor is not connected to COMG 3 Close the SonarSerial ini file and reboot the Sonar Firmware by double clicking on the Sonar icon in the main Sonar Remote Desktop Screen designated by the green arrow in Figure A 6 L Edgelech _ A 10 APPENDIX A CONFIGURING the Ports 10 11 Now plug in your devices into COM 1 and COM 2 Which device is connected to which COM port does not matter as long as their respective ports and baud rates are noted Click on the Misc at the top of the Sonar screen as shown in Figure A 7 then Serial Port Information Check 1 and set the correct baud rate for that device by using the drop down menu shown in blue Figure A 7 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Figure A 7 The correct data string should also be scrolling in the lower part of the window green arrow Figure A 7 Now Check and set the correct baud rate for the other device as done before in Step 6 Now click on File Show Status in the sonar window circled in red Figure A 8 On the right hand side of the window click on the Con
29. 4600 Swath Bathymetry and Side Scan Sonar System User Manual Document No 990 4600REF 1000 Rev G EdgeTech 4 Little Brook Road West Wareham MA 02576 Tel 508 291 0057 Fax 508 291 2491 www EdgeTech com The information figures and specifications in this manual are proprietary and are issued strict confidence on condition that they not be copied reprinted or disclosed to a third party either wholly or in part without the prior written consent of EdgeTech Any reproduction of EdgeTech supplied software or file sharing is strictly prohibited Copyright 2013 by EdgeTech All rights reserved Full Spectrum is a trademark of EdgeTech Microsoft and Windows are registered trademarks of Microsoft Corporation Kevlar is a registered trademark of the DuPont Company Intel and Pentium are registered trademarks of Intel Corporation Novagard G624 is a trademark of Novagard Solutions Inc 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G Warning Read This First All personnel involved with the installation operation or maintenance of the equipment described in this manual should read and understand the warnings and recommendations provided below Static Sensitive Devices This equipment contains devices that are extremely sensitive to static electrical charges Therefore extreme care should be taken when handling them as static electricity may be present on th
30. 5 Figure 4 26 Figure 4 27 Figure 4 28 Figure 4 29 Figure 4 30 Figure 4 31 Figure 4 32 Figure 4 33 Figure 4 34 Figure 4 35 Figure 4 36 xvii Video Gains mc a 4 10 e 4 10 Disk c X99 4 11 Gids zio are 4 11 e P 4 12 Discover 4600 Top Menu Selecting Bathymetric Processing Parameters 4 12 Basic Fast ER bend 4 13 Disabled BATHYMETRIC PROCESSOR LS AT UP n EPA 4 13 Bathymetric Processor csi E dans 4 15 Discover 4600 Top Menu Selecting Advanced 4 15 4 16 Advanced Bathymetric Processing 4 16 Auto Detect Altitude Disabled pat 4 17 Example Extreme Circumstance Surveying next to a reef bank 4 18 Example Extreme Circumstance Input Approximate Depth 4 18 Processing Refinements Advanced 4 19 Boat Echo S BER FEMA 4 20 Discover Toolbar MBN iei eto re osea tera eo Ree sibi dealt ka x Eon ou UR Ra RUE 4 22
31. C PROCESSOR adjust the echo strength 1 10 SNR filter dB and Minimum Process Range m This window also allows you to specify if you would like to use not use the external limits given by the 3rd Party Interface The recommended parameters are shown in Figure 4 16 for a silty sand type seafloor 4600 Swath Bathymeiry and Side Scan Sonar System Document 990 4600REF 1000 Rev 4 13 Bathymetric Processing Parameters V Bathymetric Processing Use External Limits Processing Refinements Echo Strength Filter 1 10 percent 4 SNR Filter dB Figure 4 16 Basic Bathymetry A few important things to know about basic bathymetry are discussed in items 1 through 4 and are highlighted in Figure 4 16 1 If the Bathymetric Processing box is unchecked during real time acquisition the system will act as a simple side scan system and will not compute or acquire any bathymetric solutions If this is the case the BATHYMETRIC PROCESSOR will remain dormant as in Figure 4 17 Bathymetric Proces File View Processed Pings 0 Partial Pings 0 Detected Altitudes 0 Last Altitude M 0 000 Port Angle Sets 0 Stbd Angle Sets Figure 4 17 Disabled BATHYMETRIC PROCESSOR If the Bathymetric Processing box is unchecked during playback DISCOVER will playback the file exactly as it was collected If the box is left checked the BATHYMETRIC PROCESSOR will recalculate the seaflo
32. ERIC PROCESSOR should only use the port or starboard side only to compute the seafloor depth For instance if the 4600 is mounted on the side of a survey vessel there is the possibility that the 4600 will observe one or more hull echoes on its side facing the boat If this is the case you would choose the Bottom Track Data Source as the clear side whether that be Port or Starboard as shown in Figure 4 26 Meters aL i 4 6t Meters Boat Echoes Witnessed on Starboard Side Figure 4 26 Boat Echo Example This tells the BATHYMETRIC PROCESSOR to use the clear side only when tracking the seafloor If it were to use the side facing the boat there is a chance that the BATHYMETRIC PROCESSOR will use the hull echo as its first bottom return therefore locking the bottom tracker to the hull echo leading to false measurements 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 24 Another case where Port or Starboard may be used is if one of the arrays should fail or the seafloor is beyond the limits of the sonar This way the user will still be able to carry out a survey even though one side of the system does not work or does not see the seafloor The Minimum setting tells the BATHYMETRIC PROCESSOR to use the lowest amplitude return for the bottom tracking algorithm In this case if there were any high amplitude points within the water column the BATHYMETRIC PROCESSOR would ig
33. PERATION Xi xiii xiv XV xvi Auto Set TVG Automatically sets the Time Varying Gain TVG This control compensates for spherical spreading and attenuation losses This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab and is called Norm TVG Decrease TVG Decreases the TVG This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab Current TVG Value Shows the current TVG value This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab Increase TVG Increases the TVG This feature can also be found under the DISCOVER Control Menu no the Video Gains Tab Mark Places a mark in the recorded data where something might be of interest this mark can be seen during playback This feature is only located in the DISCOVER Toolbar Menu Reset Displays Resets the screen to the default display This feature is only located in the DISCOVER Toolbar Menu Toggle Speed Correction Toggles speed correction on off This function adjusts the display settings to make the image look more proportioned and is only located in the DISCOVER Toolbar Menu 4 2 2 DISCOVER Control Menu The DISCOVER Control Menu allows the user to turn the towfish on off adjust the range and gains playback or record a side scan file and displays the towfish status These windows are displayed and described over the next few pages 4 2 2 1 Towfish C
34. PPENDIX If all systems are working properly close this window and proceed to Step 4 If there is an issue with one of the ports please contact EdgeTech Customer Service 4 Now click on Menu File Show Status The System Status window will appear as shown in Figure 4 3 On the right hand side of the window click on the Config bullet under the Update button and then on the drop down menu named Config Item Select Serial and then click the Update button several times Check to make sure all sensors usage percentages are well below 80 If they are not increase the baud rates of the sensors until these percentages drop Make sure to change the baud rate accordingly in Sonar When satisfied with the incoming data press OK in the System Status window and then minimize the Sonar 192 9 0 101 Remote Desktop Connection window 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G File Recording Transmit Misc Self Test Sonar OFF SIB 46 Queues N State OK Errors 3 Msgs Recvd 0 Gen 1051 RecvQOF 0 XQOF 0 Bytes Out 0 In 28656 Last Out 0 In 297 1 324 J 000000 0001U 0066 003711 000000 0001U 0066 003711 000000 0001U 0067 00421 000000 0001U 0068 00411 000000 0001U 0067 00411 000000 0001U 0066 00371 000000 0001U 0065 00371 000000 0001U 0066 00371 Figure 4 2 Serial Port Information Window 4 4 SECTION 4 PRINCIPLES OF OPE
35. RATION 19 2 Sonar File Recording Transmit Misc System Status Serial2 On Com1002 Queues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4520 RecvQOF 0 XQOF 0 Bytes 2535 Last Out 0 In 297 1 324 Capacity 53 23 EA 2 311 30 20 3930 30 20 2d 30 30 30 30 55 24 30 Serial4 On Com4 Queues N State OK ParseErrors 0 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 B 535 Last Out 0 In 297 1 324 Capacity 1 23 ASCII 1545 23 II Refresh 30 30 30 9 7e 30 30 30 20 04 Save List Clear Ctrs fm Figure 4 3 System Status Window 4 2 DISCOVER 4600 EdgeTech s DISCOVER display and control application allows recording of side scan and range angle bathymetry data in the binary EdgeTech JSF file format The JSF file format has been in use for 10 years and has new public extensions to support the additional bathymetry data messages This section describes DISCOVER and the BATHYMETRIC PROCESSOR entirely and how to operate them during a survey 1 Launch DISCOVER 4600 using the Desktop shortcut The two main windows will appear as in Figure 4 4 4600 Swath Bathymeiry and Side Scan Sonar System Document 990 4600REF 1000 Rev B EdgeTech Discover 600 File View Configuration Control Bathymetry Help gt ne loon M 0 v ERREUR amp dighed Fyfe 2 A 2 ASS PEG eeu j
36. RODUCED COPIED OR USED IN ANY WAY WITHOUT THE EXPRESS WRITTEN PERMISSION OF EDGEONE LLQ2008 EDGEONE LLC DESCRIPTION DATE UPDATED ACOUSTIC CENTER 06 16 2011 SEE TABLE FOR ACOUSTIC CENTERS UPDATED DUAL FREQUENCY ACOUSTIC CENTERS 3 23 2012 540 4 ac o w 230 kHz in mm 540 kHz in mm RECEIVE 10 75 273 1 50 38 TRANSMIT A C 2 56 65 8 15 207 4X 75 19 THRU EQUALLY SPACED ON B C ACOUSTIC CENTER BOTH SIDES ESTIMATED WEIGHTS e APPROVALS R 1141 HOLLAND DRIVE BAY 1 AIR 98 LBS 44 KG DIMENSIONS ARE IN INCHES SW 2418 11 KG cassortons ne memorans an Me _ 2 28 70 s pom EET TOLERANCES ER 1 NOTES woes 4600 230 540kHz SBS 4800588 te DEACEEIS 300 0000208 0800 G A mibi TII SHEET 1 OF 1 Figure C 3 Acoustic Centers Standard Body Type Hardware Manual System Name THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY OF EDGEONE LLC EDGETECH OR ORE AND ARE ISSUED IN STRICT CONFIDENCE THEY SHALL NOT BE REPRODUCED COPIED OR USED IN ANY WAY WITHOUT THE EXPRESS WRITTEN PERMISSION OF EDGEONE LLQ2010 EDGEONE LLC Walter Water Miranda DN CN Walter J J Miranda C US EdgeTech M ed esearch Date 2010 00 02 15 13 27 00 ACOUSTIC CENTER 8 0 20
37. Rev G 5 Starboard Receive Signals Port Receive Signals Star A CH 4 E 3 CH 1 CH6 Figure B 4 Rub Test for 4600 Port and Starboard Arrays PASSED 6 Missing Starboard Receive 4 CH5 CH 6 CH 7 4600 Swath Bathymeiry and Side Scan Sonar System APPENDIX B PERFORMING a Rub Test D o0 ka FA o 7 7 M a 5 0 1 0 0 0d SL 1273 SH 01 8 000 000 No Pitch Roll 0 M S PID 01 0 0 48 51 1 30 9 lore co roo Figure B 5 Rub Test for 4600 Port and Starboard Arrays FAILED Missing Port Receive Signals CHO CH 1 CH 2 CH3 Document No 990 4600REF 1000 Rev G This section contains diagrams of the wiring and acoustic centers for the 4600 system C 1 DIAGRAMS APPENDIX C 2 UNLESS AS MAY BE OTHERWISE PROVIDED BY CONTRACT THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY OF EDGETECH AND ARE ISSUED IN STRICT CONFIDENCE AND SHALL NOT BE REPRODUCED COPIED OR USED AS THE BASIS FOR THE MANUFACTURE OR SALE OF APPARATUS WITHOUT PERMISSION COPYRIGHT 2010 EDGETECH INC Ethernet 4 x 2 AMPHENOL MS3106B28 16P RS232 GND Tx1 ReRxt Tx2 Rx2 Rx3 1 9
38. Rodney Digitaty cn Rodney Rampersad H emall Rampersad tdgeTech DryMate Connector AMPHENOL Ram persad s ene SEACON MINK16 CCP on CF MS3106B28 16P Date 2010 08 31 11 31 16 04 00 FMXCATS2218K12 Rev B 1141 Holland Drive Suite 1 Boca Raton FL 33487 Tet S61 995 7767 Fax 995 7761 Email 5 owfish Topside Cable AMPHENOL gt Seacon E 15 Meters X MINK16 4600 mu pem ume Figure C 1 Terminated Deck Cable Wiring Diagram Hardware Manual System Name PROVIDED SY CONTRACT THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY REVISIONS AND ARE ISSUED IN STRICT CONFIDENCE AND SHALL NOT REPRODUCED COPIED OR USED AS THE BASIS FOR THE MANUFACTURE OR SALE OF APPARATUS WITHOUT PERMISSION COPYRIGHT 2010 EDGETECH INC Gry1 2 MM CAT5 4Pairs MINK16CCP Tet 561 995 7767 Fax 995 7761 FullSpectum Edg Cable FMXCAT52218K12 DryMate Connector SEACON 16 es P FMXCAT52218K12 Cable E DRAWING REV E 15 Meters 067 F016P049 0105 1141 Holland Drive Suite 1 Boca Raton FL 33487 Figure C 2 Large Figure Caption 9 DIAGRAMS APPENDIX C C 4 THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY OF EDGEONE LLC DBA EDGETECH OR ORE REVISIONS AND ARE ISSUED IN STRICT CONFIDENCE THEY SHALL NOT BE REP
39. Roll Pitch and Heave data in TSS1 EM1000 binary format iv Time sync data in NMEA format These data may be supplied by 1 2 or 3 individual sources 1 Position Data this may be supplied via any of the following NMEA type sentences messages xxGGK Applanix PosMV Format xxGGA xxGLL xxRMC PTNL GGK Trimble Format Non NMEA standard sentences 2 Heading Data this maybe input via NMEA xxHDT sentence or 2 8 2 6 2 6 1 2 6 2 SECTION 2 COMPONENTS AND SPECIFICATIONS e EM1000 binary format along with attitude data 3 Attitude Roll Pitch and Heave Data this may be input via lt lt EM1000 binary format or e TSS1 format 4 Time Input supported sentences are in order of priority use e xxZDA e xxGGK derived from data in item a above xxGGA e xxRMC xxGLL At minimum items 1 2 and 3 above are required and must be supplied System Connections and Data Flow The following sections describe the Ethernet LAN Connections COM Ports Hardware Data Flow and Sonar Data Flow for the 4600 system Ethernet LAN Connections The Ethernet LAN connection from the Sonar Head to the 4600 Topside Interface is made using a physical wired connection via the standard 20 m deck cable This cable is fixed to the Sonar Head and provides a Seacon 19 pin connector for direct connection from the Sonar Head to the 4600 Sonar Interface The 4600 Sonar Interface then
40. Scan Sonar System Document No 990 4600REF 1000 Rev G 919 2 Sonar Recording Transmit Misc System Status Seriall On Com1001 Queues N State OK ParseErrors 3 Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Out 0 In 297 1 324 1 Capacity 3 43 NMEA 7 30 30 30 30 30 30 29 24 50 30 30 30 55 24 30 C POST Diag nfi C Serial4 On Com4 Queues N State OK ParseErrors im Refresh aes R Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Save List 4 0 In 297 1 324 Figure A 8 Checking Sensor Status 15 When satisfied with the incoming data press OK in the System Status window Figure A 9 8 2 APPENDIX A CONFIGURING the COM Ports 16 Seriall On Com1001 Queues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4528 RecvQOF 0 0 Bytes Out 0 In 122535 Last Out 0 In 297 1 324 J Capacity 3 43 3a 30 30 30 30 30 30 20 2d 30 30 30 30 55 2d 30 C Messages Refresh 4 On Com4 Queues N State OK ParseErrors 0 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Bytes Out 0 In 122535 Last Out 0 In 297 1 324 J Capacity 1 23 ASCII 1545 23 II 20 30 30 30 30 2e 30 30 30 20 0d Val Figure A 9 Closing the System Status Window Finally close the Sonar 192 9 0 101 Remote Desktop Connection window If this window is left open during data acquisition the user may experience a very slow comp
41. al or vertical grids and to adjust the size and scale of these grids Towfish Control Video Gains Display Disk Bottom Track Grids Status Grids Scale Meters C Miliseconds Horizontal Interval meters 505 Vertical Interval meters 50 C Feet C Yards Figure 4 13 Grids Tab 4 12 SECTION 4 PRINCIPLES OF OPERATION 4 2 2 6 Status The Status Tab conveniently displays all of the important information for the system such as navigation and sensor data Tonfsh Corto Video Gains Display Disk Bottom Track Gids Status Navigation Towfish Sensors Lat 0 00 0000 Course Date NA Heading NA Pitch 0 0 Lon 0 00 0000 E Speed 0 0 Time Altitude NA Rol 0 0 Pressure 0 000 Figure 4 14 Status Tab 4 2 3 Other Features in DISCOVER 4600 There are other features in DISCOVER that may be used during a survey These functions are explained in this section 4 2 3 1 Basic Bathymetry To adjust the basic bathymetric processing parameters in DISCOVER select Bathymetry from the Top Menu designated as row A in Figure 4 4 and then Processing Parameters Figure 4 15 and Figure 4 16 File View Configuration Control Bathymetry Help gt o M Interferometry Display Processing Parameters Filtering Advanced Controls Figure 4 15 Discover 4600 Top Menu Selecting Bathymetric Processing Parameters Here you can turn on off the BATHYMETRI
42. arameter that is used to specify how the beam forming is calculated The data from the 8 half wavelength spaced elements can be combined prior to phase estimation processing to combat the effects of multipath signal propagation Seafloor echoes arriving at the array from single or multiple bounces off the seafloor and the sea surface are the primary cause of poor angle estimation and across track range limitations in a shallow water deployed system In deep water deployments as may be seen on ROV or AUV mounted systems this effect is much reduced if not 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 19 eliminated This parameter can take values between 1 and 3 and increasing this value combines more of the elements to combat the effects of multipath echoes e fthis is set to 1 then no multipath suppression is applied and all 8 staves are used in the angle estimations In the absence of multipath errors this will result in good data e If this is set to 2 then adjacent element pairs are combined to help reject weak multipath echoes resulting in 7 synthesized half wavelength spaced elements e fthis is set to then adjacent elements are combined to help reject strong multipath echoes resulting in 6 synthesized half wavelength spaced elements In normal shallow water deployed systems using a value of 3 gives the best result Maximum Across Track Average Size In estimating the
43. ath Suppression Level If you are consistently surveying within a channel the Multipath Suppression Level can be adjusted to 1 This will give you more soundings along the bank of the channel but it will decrease the number of soundings measured at Nadir Why do I have to redo my patch test after changing the Multipath Suppression Level and or Maximum Across Track Average Size m The Multipath Suppression Level and the Maximum Across Track Average Size are parameters used by the BATHYMETRIC PROCESSOR to estimate the depths of the seafloor Changing these parameters alters the way the soundings and installation offsets are computed so it is very important to re acquire the Patch Test data once these limits have been modified What is the difference between the options listed under Bottom Track Data Source Port Starboard Sum or Product The Bottom Track Data Source parameter states how the BATHYMETRIC PROCESSOR should calculate the depth of the seafloor These options include using the port side array only starboard side array only or take the product of both arrays A more detailed explanation is provided in Section 5 2 1 of this manual What do I do if do not see data scrolling in my Third Party Software Check to see if DISCOVER is connected to your Third Party Software following the directions stated in sub section 4 2 2 The 4600 system connects with Hypack and QINSy why doesn t connect with other topsides 4600 Swat
44. ays a previously collected side scan file This feature can also be accessed under the DISCOVER Control Menu on the Disk Tab ii Pause Playback Pauses a previously collected side scan file This feature can also be found under the DISCOVER Control Menu on the Disk Tab iii Stop Playback Stops a previously collected side scan file This feature can also be found under the DISCOVER Control Menu on the Disk Tab iv Fast Forward Fast forwards a previously collected side scan file This feature can also be found under the DISCOVER Control Menu on the Disk Tab v Sonar On Toggles the 4600 System On Off This feature can also be found under the DISCOVER Control Menu on the Towfish Control Tab vi Normalize Data Normalizes the side scan data with respect to the highest intensity This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab vii Decrease Gain Decreases the gain with respect to the highest intensity This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab viii Current Gain Value Shows the current gain value with respect to the highest intensity This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab ix Increase Gain Increases the gain with respect to the highest intensity This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab o Edgelech _ 4 8 SECTION 4 PRINCIPLES OF O
45. ctetu be tuin E tee e anda eee A 8 Three 0 ner nenne nnne rre rrr rrr rrr enis 11 APPENDIX B PERFORMING RUB 1 APPENDIX C DIAGRAMS nnne 1 xvi List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 8 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Figure 4 8 Figure 4 9 4600 Swath Bathymetry and Side Scan Sonar System 4600 Topside Processing Unit left and 4600 Sonar Head right 1 1 Mounting Pole Concept Drawing 1 4 Crescent 5111 Series Hemisphere 1 5 red PEDI ec 1 5 4600 Sonar Head GompOFIgFlle 2 1 SVS Nose of Sonar Head T 2 3 4600 Topside Processing Unibet REOR EMEN EF UU 2 4 Hardware Data Flow Diagram sssssseeeeeennnm eene nnn 2 10 Sonar Interface Box Connections rettet eara pu tU UE 2 11 S ar Dat 2 13 Sonar Head Components Deck Cable Not
46. d set up in a dry sheltered area on the survey vessel that is protected from weather and water spray The temperature should also consistently be between 0 and 40 C 32 F and 104 F Avoid areas of direct sunlight especially in tropical environments as heat build up can occur and viewing the LCD monitor and status indicators can become difficult The location should also enable direct communications with the deck crew that is operating the survey vessel Sonar Head and other supporting sensors Secure the Topside Processing Unit in place near the required power source 3 5 Topside Connections After the Sonar Head has been installed and the Topside Processing Unit correctly placed on the survey vessel the supporting sensors can now be connected This section describes how to interconnect the supporting sensors Sonar Head and Topside Processing Unit 1 Connect the provided two HP monitors to the back of the Topside Processor via the DVI connectors 2 Position the monitors on the vessel accordingly and power them ON 3 Connect the keyboard and mouse the USB ports on the back of the Topside Processor 4 Turn ON the Topside Processor via the power switch on the front of the Topside Processing Unit NOTE ifthe Topside Processor does not turn ON check to see if the switch next to the PC s power cable on the back of the Topside Unit is in the ON position If not please flip the switch to the ON position 5 Po
47. ded PC is an application called sonar exe This firmware controls the sonar s hardware and performs specific functions such as the signal processing and time synchronization of the acquired data Sonar Arrays The 4600 operates at one of two frequencies 230 kHz or 540 kHz and uses two arrays port and starboard to map the seafloor Each 4600 hydrophone array is constructed using nine independent longitudinal PZT elements One of these elements is used only for the transmit function while the remaining eight elements make up an approximately half wavelength spaced array of sensors for its receiver The eight independent elements are connected to eight independent receive channels that are used to estimate the amplitude and phase measurements Selected sub elements of each array are used to form the side scan display data Sound Velocity Sensor The 4600 Sonar Head has a flooded section in the front that is used to house an OEM version of the AML SV X change sound velocity sensor SVS This sensor provides a response time of 47 us a resolution of 0 001 m s and a theoretical accuracy of 0 025 m s A closer look at the SVS is presented in Figure 2 2 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 2 1 4 2 2 2 3 SVS Figure 2 2 SVS in Nose of Sonar Head Nose and Tail Cones The 4600 Nose and Tail Cones supply a streamline body for efficient underwater maneuvers The cones also serve
48. disabled under extreme circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is beyond the acoustic data Figure 4 22 Auto Detect Altitude Disabled This feature should always be checked unless the system is tested under extreme circumstances For example if the bathymetric processor consistently fails to determine the altitude due to a complex environment the user would then disable this function Such a complex environment shown in Figure 4 23 can include surveying next to a large coral reef where one array sees the reef bank and the other array does not see anything because there is nothing other than open ocean would look like water column data The user would determine the range to the reef bank shown in Figure 4 23 and input this number into the Manual Altitude box Figure 4 22 For the example below the user would input 32 m Figure 4 24 4 18 SECTION 4 PRINCIPLES OF OPERATION Figure 4 23 Example Extreme Circumstance Surveying next to a reef bank Altitude Determination Auto Detect Altitude Manual Altitude 32 000 This feature should only be disabled under extreme circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafioor is beyond the acoustic data Figure 4 24 Example Extreme Circumstance Input Approximate Depth 2 Multipath Suppression Level The multipath suppression level is a p
49. e Scan Bathymetry processors all run on the same computer The first example in Figure 2 6 depicts an Applanix PosMV system interfacing to the 4600 Sonar Interface This type of system provides navigation latitude longitude heading roll pitch and heave data and so no other sensor is required The PosMV should be connected to COM or COM2 The second example shows the most common interfacing scenario a GPS that provides navigation and heading data accompanied by a motion sensor for attitude measurements The COM ports should be assigned as such GPS Navigation and Heading MRU Roll Pitch Heave These assignments may be interchanged between COM1 and COM2 because both ports have been configured for high speed and high accuracy COMS should not be used in this scenario The third and last example portrays the situation where the supplied GPS does not provide heading data In this case three sensors are required a GPS for navigation latitude longitude a Gyro for heading and a motion sensor for roll pitch and heave measurements Therefore all three COM ports should be used and assigned as follows COM Gyro Heading MRU Roll Pitch Heave CONG GPS latitude longitude The sensors allocated to COM1 and COM2 may be interchanged because of the same reason stated above in the second example The GPS data or latitude and longitude data 4600 Swath Bathymetry and Side Scan Sonar System Doc
50. e Sonar Application running designated by the blue arrow This is the firmware that controls the system Click on the X at the top right to close the firmware Now double click on the Shortcut to EdgeTech icon red arrow Figure A 2 and open the SSSonar folder then the Sonar folder Look for the SonarSerial ini file Figure A 3 and open it using WordPad or Notepad Figure A 4 Under Serial2 and Serial3 set Create 0 select File gt Save and close the file Do not make any other changes This will deactivate COM ports 2 and 3 By deactivating these ports Sonar will report to Discover that only one sensor is to be used on 1 to parse the necessary sensor information Therefore Discover will not throw up any errors if a sensor is not connected to COM2 or If steps 3 through 6 were not carried out then these errors would be reported in the Diagnostic window Figure A 5 2 APPENDIX A CONFIGURING the COM Ports 7 Close the SonarSerial ini file and reboot the Sonar Firmware by double clicking on the Sonar icon in the main Sonar Remote Desktop Screen designated by the green arrow in Figure A 6 19 2 Sonar oix Fie Recording Transmit Misc Self Test Sonar OFF SIB_4600 OF 0 A start 929 Figure A 1 Sonar Remote Desktop Application Main Screen 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G
51. e body and clothing Normal handling precautions involve the use of anti static protection materials and grounding straps for personnel Radiation This equipment generates uses and can radiate radio frequency energy Therefore if the equipment is not installed properly it may cause interference with radio communications The equipment has not been tested for compliance with the appropriate FCC rules designed to provide reasonable protection against such interference when operated in a commercial environment Therefore when operating the equipment in a residential area the user may be required to take whatever measures are needed and incur any expenses necessary to eliminate interference it is the user s responsibility to verify that the system complies with the applicable FCC emission limits High Voltages High Voltage may be present in all parts of the system Use caution when the electronics are removed from their containers for servicing Improper Line Voltage Operation with improper line voltage may cause serious damage to the equipment Always ensure that the proper line voltage is used Hardware Variations and Compatibility The 4600 Swath Bathymetry and Side Scan Sonar System contains both standard PC and proprietary hardware At times EdgeTech may change the standard components due to their availability or performance improvements Although the component manufacturers along with their models and styles may change from unit to un
52. e raw sonar data and sends it to the Bathymetry Processor where the raw data is converted to range and angle data The Bathymetry Processor transmits this range angle data back to DISCOVER where it is then displayed on the monitor packaged with the heading position motion and side scan data and recorded as a JSF file This complete data package is then sent to and used by the third party software in this case HYPACK to generate three dimensional bathymetry data files and to display side scan and bathymetry data on a monitor Finally these three dimensional bathymetry data files can be used post survey to generate hydrographic final products 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 3 1 3 2 SET UP AND DEPLOYMENT Assembly and installation of the EdgeTech 4600 Swath Bathymetry and Side Scan Sonar System encompasses unpacking inspecting and connecting the system s components connecting the supporting sensors and verifying that the system operates correctly using EdgeTech s DISCOVER 4600 and third party software This section provides instructions on how to perform these tasks Unpacking and Inspecting The Sonar Head Topside Processing Unit and supporting sensors are shipped in separate reusable heavy duty transport cases The necessary cables spares kit and documentation are also included Before unpacking the system s components inspect the shipping containers for any
53. f the window click on the Config bullet under the Update button and then on the drop down menu named Config Item in green Figure A 8 Select Serial and then click on the Update button several times blue arrow Figure A 13 Check to make sure the sensors usage percentages are well below 80 circled in purple Figure A 13 If they are not increase the baud rate of the sensor change the baud rate under Serial Port Information as done before in steps 6 and 7 and check the Status again otherwise the sonar will report errors When satisfied with the incoming data press OK in the System Status window Figure A 13 Finally close the Sonar 192 9 0 101 Remote Desktop Connection window If this window is left open during data acquisition the user may experience a very slow computer This is because the remote desktop application uses a large amount of the link capacity to stay open So it is always a good idea to close the remote desktop application when finished with the configurations o Edgelech _ A 14 APPENDIX A CONFIGURING the Ports E 19 2 Sonar F e Recordng Transmit Misc System Status Seriall On Com1001 Queues N State OK ParseErrors 3 ean Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Out 0 In 297 1 324 13 43 NMEA 45070 30 30 55 2d 30 Serial2 nus On Com1002 Queues N State OK ParseErrors 3 Msgs Reced 0 Generated 4528 RecvQOF 0 XQOF 0 m
54. fig bullet under the Update button and then on the drop down menu named Config Item in green Figure A 8 Select Serial and then click on the Update button several times blue arrow Figure A 8 Check to make sure the sensors usage percentages are well below 80 circled in purple Figure A 11 If they are not increase the baud rate of the sensor change the baud rate under Serial Port Information as done before in steps 6 and 7 and check the Status again otherwise the sonar will report errors 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 11 E Sonar 192 9 0 101 Remote Desktop Seriall On Com1001 Queues N State OK ParseErrors 3 ad Reeve 0 Generic 4528 RecvQOF 0 XQOF 0 Serial2 Com1002 Queues N State OK ParseErrors 3 0 Generated RecvQOF 0 XQOF 0 0 30 30 30 55 2d 30 Serial4 On Com4 Queues N State OK ParseErrors 0 me Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 5 List att sttQut 0 In 297 1 324 uo Figure A 11 Checking Sensors Usages 12 When satisfied with the incoming data press OK in the System Status window Figure A 11 13 Finally close the Sonar 192 9 0 101 Remote Desktop Connection window If this window is left open during data acquisition the user may experience a very slow computer This is because the remote desktop application uses a large amount of the
55. from the user o Edgelech _ 4 22 SECTION 4 PRINCIPLES OF OPERATION Display this option applies the TVG set in the display settings as shown in Figure 4 27 This option requires constant monitoring of the side scan imagery and the TVG must be normalized as the composition of the seafloor changes This can be done by clicking on the T button or it can be manually adjusted by using the or buttons see Figure 4 27 File View gt Configuration Control Bathymetry Help om 24 W gt Figure 4 27 Discover Toolbar Menu Manual this option allows the user to input a manual TVG value This number is specified in the box to the right of the drop down menu When this option is selected the user can also specify a maximum TVG value in the Max TVG dB field see Figure 4 28 This option also requires constant monitoring of the side scan imagery so that the correct TVG value is applied to the bathymetric solutions TVG dB 100M Manual 20 Max TVG dB 60 Figure 4 28 Inputting a Manual TVG NOTE if TVG moae is activated then the Echo Strength Filter in the Basic Bathymetry Parameters can be increased to reduce noise at the extremities of the bathymetry solutions Monitoring the results in the Interferometry window will help the user determine what TVG value is best for the current conditions The Interferometry window is explained in the following section 4600 Swath Bathymei
56. h Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 19 EdgeTech has approved a small number of Third Party Topsides for acquisition and processing of the bathymetry and side scan data Currently only HYPACK and QINSy software have been approved but work continues to expand the number of topsides Please contact EdgeTech for updates What should do if my Topside crashes Please contact EdgeTech Customer Service immediately so we can help restore your system and get you back up and running as soon as possible A 1 CONFIGURING THE COM Ports There are 3 available COM ports on the Interface Box to provide the necessary information to the 4600 This information includes position latitude longitude heading attitude roll pitch and heave and time This section explains how to configure the three COM ports depending on what type of sensors are used One Sensor One sensor such as the Applanix PosMV may be used to supply position latitude longitude heading attitude and a time source For this type of configuration only 1 will be utilized To configure the COM ports for one sensor the following steps should be carried out 1 Turn on the 4600 Topside Processor and connect the 4600 via the deck cable to the Topside Interface Box Turn on the 4600 Sonar Head and run the Remote Desktop Application named Sonar The main screen as in Figure A 1 should appear Here you will see th
57. he availability of a work around Software Telephone Facsimile and E mail Support The SSA entitles EdgeTech customers to contact EdgeTech Customer Service by telephone facsimile or e mail to report a difficulty to discuss a problem or to receive advice on the best way to perform a task When contacted EdgeTech Customer Service will do the following e Respond within 24 hours e Immediately attend to serious problems affecting operations e Attempt to find an immediate work around 4600 Swath Bathymetry and Side Scan Sonar System Document 990 4600REF 1000 Rev xi Returned Material Authorization Prior to returning any equipment to EdgeTech a Returned Material Authorization RMA number must be obtained The RMA will help us identify your equipment when it arrives at our receiving dock and track the equipment while it is at our facility The material should be shipped to the address provided in the EdgeTech Customer Service section Please refer to the RMA number on all documents and correspondences as well All returned material must be shipped prepaid Freight collect shipments will not be accepted The following steps apply only to material being returned from outside the Continental United States Follow them carefully to prevent delays and additional costs 1 All shipments must be accompanied by three copies of your proforma invoice showing the value of the material and the reason for its return If the reason i
58. hear from users of our products Your feedback is welcome and is a valuable source of information which we use to continually improve these products Therefore we encourage you to contact EdgeTech Customer Service to offer any suggestions or to request technical support E mail service edgetech com Mail 4 Little Brook Road West Wareham MA 02576 Telephone 508 291 0057 Ext 712 Facsimile 508 291 2491 24 Hour Emergency Technical Support Line 508 942 8043 For more information please go to www EdgeTech com 4600 Swath Bathymetry and Side Scan Sonar System Document 990 4600REF 1000 Rev xiii Table of Contents SECTION 1 SECTION 2 Warning Read This First nnn iii Static Sensitive Devices m High SS RR TT iii Improper Line uie o rp tr t SURE PE iE a iii Hardware Variations and Compatibility iv Purpose OF this al V Summary of Sections Warnings Cautions and Notes vii S vii viii Software Service Agreement rare Mus ix Software Updates and Enhancements ix Software Performance Report iecit rene ta tre an petet oa ix Software Telephone Facsimile and E mail X Returned Material Au
59. hen Serial Port Information Check 1 and set the correct baud rate for that device by using the drop down menu shown in blue Figure A 7 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Figure A 7 The correct data string should also be scrolling in the lower part of the window green arrow Figure A 7 Now click on File Show Status in the sonar window circled in red Figure A 8 On the right hand side of the window click on the Config bullet under the Update button and then on the drop down menu named Config Item in green Select Serial and then click on the Update button several times blue arrow 6 APPENDIX A CoNricURING the Ports 14 Check to make sure the sensors usage percentage is well below 80 circled in purple If it is not increase the baud rate of the sensor change the baud rate under Serial Port Information as done before in step 10 and check the Status again otherwise the sonar will report errors X Sonar 192 9 0 101 Remote Connecti 12 000000 0001U 0066 003711 000000 0001U 0066 003711 000000 0001U 0067 004211 000000 0001U 0068 004111 000000 0001U 0067 004111 000000 0001U 0066 003711 000000 0001U 0065 003711 000000 0001U 0066 003711 I tei start 92s Figure A 7 Checking Serial Port Information 4600 Swath Bathymetry and Side
60. ide Scan Sonar System Document No 990 4600REF 1000 Rev G Software Service Agreement EdgeTech provides software services free of charge The SSA does not address customer specified modifications or enhancements These services may be ordered separately Furthermore EdgeTech software upgrades are meant for the sole use of EdgeTech customer Any reproduction of EdgeTech supplied software or file sharing is strictly prohibited Software Updates and Enhancements EdgeTech customers can download new software releases with all modifications and enhancements along with user s manual changes from the EdgeTech ftp site Major software issues should they occur will be reported directly to the customer New software releases consist of the following e Software enhancements that are not on the price list e Software fixes and changes e Product integration e Documentation updates to on line help e Tests for compatibility with other modules Software patches consist of software that has undergone the following e Minor software enhancements e Software fixes and changes Software Performance Report EdgeTech customers may submit reports using a Software Performance Report SPR form SPR forms are available from EdgeTech This report may be related to a problem or to an inquiry or it may be a specific request for a software enhancement EdgeTech will attend to the SPR at a priority level appropriate to the seriousness of the problem and to t
61. iew Engineering Displays Processing Parameters 4 30 SECTION 4 PRINCIPLES OF OPERATION n m Bathymetric Processing Multipath Suppression Level Port Installation Angle degrees 3 Maximum Across Track Average Size meters Starboard Installation Angle degrees Amplitude Threshold counts Minimum Process Range meters E Minimum Quality Factor 96 Maximum Process Range meters Maximum Output Angle degrees Minimum Depth meters 1 Across Track Decimation Factor Maximum Depth meters i Spike Filter Distance meters Port Element Spacing meters Spike Filter Max Z Delta meters Starboard Element Spacing meters Water Column Offset meters Averaging Start Angle degrees Altitude Determination Source Minimum Across Track Average Size meters Bottom Track Cell Size meters T Outer Element Amplitude Scaling Figure 4 40 Processing Parameters 4 2 4 4 Processing Details Under View Engineering Displays Processing Details you will find the processing details Figure 4 41 Processing Details Some fields include the number of processed and partial pings detected altitudes last altitude detected in meters and percent queues Some of these details have been repeated in the BATHYMETRIC PROCESSOR Main Window Figure 4 4 right To turn off this window simply navigate to View gt Engineering Displays gt Processing Details 4600 Swath Bathymetry and Side Scan Sona
62. it replacement components will generally be interchangeable EdgeTech will make every effort to see that replacement components are interchangeable and use the same software drivers At times however direct replacements may not exist When this happens EdgeTech will provide the necessary drivers with the replacement part EdgeTech may also change certain hardware per customer requirements Therefore portions of this manual such as parts lists and test features are subject to change These sections should be used for reference only When changes are made that affect system operation they will be explicitly noted Also some options and features may not be active in the customer s unit at time of delivery Upgrades will be made available when these features are implemented 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G Preface We the employees at EdgeTech would like to thank you for purchasing a 4600 Swath Bathymetry and Side Scan Sonar System At EdgeTech it is our policy to provide high quality cost effective products and support services that meet or exceed your requirements We also strive to deliver them on time and to continuously look for ways to improve them We take pride in the products we manufacture and want you to be entirely satisfied with your equipment Purpose of this Manual The purpose of this manual is to provide the user with information on the setup operation care and
63. ith a Seacon MINK19 CCP dry mate connector on both ends has a breaking strength of 545 kg 1200 Ibs and provides power and telemetry to the 4600 system 2 4 Product Specifications Table 2 1 provides a list of the specifications for the 4600 Swath Bathymetry and Side Scan Sonar system Table 2 1 In depth Specifications for 4600 System 230 kHz Model 540 kHz Model Physicals Size 1210 L x 260 W x 230 H mm 1210 L x 260 W x 230 H mm j 47 64 L x 10 13 W x 9 18 H in 47 64 L x 10 13 W x 9 18 H in Weight 44 kg 98 Ibs 44 kg 98 Ibs Construction Aluminum and Polyurethane Aluminum and Polyurethane 2 6 Color Sealing Side Scan Sonar Frequency Range per Side Range Resolution Beam Width Along Track Depression Angle Interferometric Swath Bathymetry Maximum Swath Range Resolution Ping Reception Rate Max Depth Below Tx Sonar Head Power Requirements DC Input Power Environment Operating Temperature Storage temperature Operating relative humidity Non operating storage relative humidity Topside Interface Interface Power Supply Topside Processor Operating System SECTION 2 COMPONENTS AND SPECIFICATIONS 230 kHz Model Yellow and Black Watertight Cover O ring Seal with Purge Valve 230 kHz 225 m 728 ft 30 mm 1 18 in 0 64 2 way 30 350 60 mm 2 36 in 25 m 82 ft 30 Hz 50 m 164 ft 15 Hz 100 m 328 ft 7 5 Hz 120m 48 VDC 100 Watts
64. lant range The sonar will not process any data until it has reached this slant range limit The default value is set to 1 m Typically this parameter is not adjusted unless the user is surveying within constant deep water greater than 50 m If this is the case the user may adjust this value to a much larger slant range i e 5 10 m Another parameter the user should be aware of in terms of basic bathymetry is the Last Altitude circled in green in Figure 4 18 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 15 Bathymetric Proces 281824 File View 0 Figure 4 18 Bathymetric Processor This value states the last depth the BATHYMETRIC PROCESSOR has calculated in meters If this value momentarily flashes red it means that the BATHYMETRIC PROCESSOR has lost track of the bottom and will retain the last depth found for a short period of time If the BATHYMETRIC PROCESSOR cannot find the bottom after several pings this value will fall to 0 and will remain at O until it can find or track the bottom again If this should happen the advanced processing parameters should be used to help the module find the bottom again unless of course the seafloor has surpassed the operating limits of the sonar The advanced parameters are discussed in the following section 4 2 3 2 Advanced Bathymetry To access the advanced processing parameters in DISCOVER select Bathymetry from
65. link capacity to stay open So it is always a good idea to close the remote desktop application when finished with the configurations Three Sensors Three sensors such as a gyro heading a GPS position and time source and a Motion Reference Unit roll pitch and heave may be used to supply the necessary information For this type of configuration all available COM ports will be utilized To configure the COM ports for the three sensors the following steps should be carried out A 12 APPENDIX A CONFIGURING the COM Ports 1 Follow steps 1 through 6 as stated previously under Section A 1 2 Make sure Create under each Serial description is set to 1 Create 1 Figure A 12 23 SonarSerial ini Notepad 5 File Edit Format View Help seriali A Set for GPS or MRU 551 sentence ORE Sentence Std NMEA E Create 1 Parser 4 Must be 4 Port 1001 Baud 9600 Baud 38400 serial2 Set for TSS 7551 sentence ORE Sentence Std NMEA Create 1 Parser 4 Port 1002 dm 3115200 for ORE MRU or 38400 bit for the smc Disk 1 verifychecksum 0 n serial3 Spare Port change create to 1 to use Create 1 Parser 4 Port 3 Baud 9600 Baud 9600 wetportchecksum 100 serial4 Dont touch ever or there will be no sound velocity data set for valeport Minisvs Setup Using the vendor provided configuration utility set the following Baud 200 Create 1 Parser 9
66. main window please see sub section 4 2 It usually takes about a minute and a half for the Sonar Head to boot and connect to the Topside Processor If the problem persists please contact EdgeTech Customer Service What do do if the Diagnostic window will not disappear even after l ve clicked Done If DISCOVER is connected check the Diagnostic window for any missing data on any of the three four COM ports depending on how your system has been configured If one Port is showing Port Inactive check the connection of the device and the Topside Interface Box If a Port is showing Unknown Data check the format of the devices output data Ensure the data format follows sub section 2 5 of this manual If the problem persists please contact EdgeTech Customer Service Can the 4600 System measure pilings or vertical objects The 4600 system itself can measure vertical objects but the third party software is not configured to do so at this time Currently the system acquires data that is then binned and averaged according to a specified number of horizontal bins by the third party In doing so the software can only plot horizontal features and so it should not o Edgelech _ nid 5 4 SECTION 5 FREQUENTLY ASKED QUESTIONS 14 15 16 17 18 be relied upon to plot vertical objects Please check with EdgeTech as this is an upcoming feature If am constantly surveying within a channel should adjust the Multip
67. measure the pitch roll and heave of the survey vessel e GPS is used to gather position latitude longitude data and may or may not provide heading NOTE 1 Please refer to sub section 2 6 2 page 2 8 for more information on connecting the COM Ports Also please use Appendix A to configure the COM ports for the individual sensors 3 10 SECTION 3 SET UP AND DEPLOYMENT NOTE 2 Please refer to sub section 2 5 on page 2 7 to ensure the correct data formats are used for each sensor 3 6 Care and Maintenance The 4600 System was not designed for long term deployments and it is not recommended to keep the system in water for more than two weeks After each mission the system should be rinsed thoroughly with freshwater making sure to rinse the SVS at the front and connectors at the back using the provided rinse holes in the nose and tail cones Inspect the face of the arrays after every deployment for organism growth or damage If any residue is noticed clean the array faces using a wash cloth with mild soap and water If any damage is observed contact EdgeTech Customer Service immediately In addition the SVS sensor should be inspected regularly If fouling is observed on the sensor carefully clean it based on the manufacturer s recommendations The sensor does not need regular calibration but it is suggested to have it calibrated at least once every two years 4600 Swath Bathymetry and Side Scan Sonar System Docu
68. ment No 990 4600REF 1000 Rev G ES OF OPERATION This section describes how to operate the 4600 system in order to collect data with DISCOVER and your third party topside interface 4 1 Confirming Supporting Data is Present To ensure the Sonar Head s processing unit is communicating properly with the Topside Processor follow these steps 1 Onthe Desktop launch Shortcut to sonar exe The following window should appear Sonar 19290101 Remote Desk RA 19 2 Sonar Shortcut to File Recording Transmit Misc EdgeTech Self Test OK Sonar OFF 51 4600 OF 0 B NOT AVAILBLEco Figure 4 1 Sonar 192 9 0 101 Remote Desktop Connection Window 4 2 SECTION 4 PRINCIPLES OF OPERATION Click on Menu Misc Serial Port Information Check each COM port in the drop down menu to ensure data is coming through for each device and in the correct format Figure 4 1 Sonar 192 9 0 101 Remote Desktop Connection Window Figure 4 2 e COMI MRU e 2 GPS e Sound Velocity Sensor in the nose of the Sonar Head NOTE 1 cows would be necessary if the GPS did not provide the heading NOTE 2 The GPS and MRU are interchangeable on COM1 and as long as the appropriate baud rate is set in the drop down menu next to the channel assignment in the Serial Port Information Window Figure 4 2 red arrow More information on how to configure the COM ports is presented in A
69. n adjust the gain levels in DISCOVER to facilitate the viewing of the side scan waterfall These levels can be regulated one of two ways e Using the Video Gains Tab Figure 4 10 4 10 SECTION 4 PRINCIPLES OF OPERATION Using the Shortcut Menu on DISCOVER s main window Figure 4 7 buttons vi through xiii The user can also adjust the Gain and TVG manually by either typing in the desired value or increasing decreasing the value using the arrow buttons Towish Control Video Gains Display Disk Bottom Track Grids Status Video Gain Gang 12 15H 80 1 Compression 0H Starboard Gan de 0 i20 120 Nom TVG Figure 4 10 Video Gains Tab NOTE gains are strictly used for viewing purposes and do not affect the processing of the bathymetry or side scan data 4 2 2 3 Display The user can adjust the zoom and color palette by utilizing the Display Tab These features are used solely on the customer s preferences Control Video Gains Display Disk Bottom Track Gids Status Zoom 3 23002 Video Delay tangs 0 Palette z 200 1 video Delay amples 0H zi IV Link Pot and Starboard Unes Retun 1H Figure 4 11 Display Tab 4 2 2 4 Disk To set up a recording directory navigate to the Disk Tab and click Browse red arrow Usually the recording directory is located on the F Data Disk the Topside Processor
70. nore these points and search for the points that had the lowest amplitude The bottom track function would then lock on to those lowest amplitude points which is hopefully the bottom and track these accordingly Lastly Sum tells the BATHYMETRIC PROCESSOR to sum the information from both sides of the arrays to calculate a depth estimate for the seafloor This parameter is the least effective of the four and should rarely be used Quality Filter 96 In practice measured interstave phases may either agree quite well 5 to 10 or not at all up to 90 The quality filter metric is a measure of how good the interstave measurements are and is defined as 100 phase differences equal to 0 i e not possible in practice setting the quality factor to 10096 will exclude all data points 80 has a 20 tolerance 70 has a 30 tolerance 60 has a 40 tolerance 50 has a 50 tolerance 25 has a 90 tolerance 0 allows all data points to pass through For most cases any data with a quality factor less than 5096 should be discarded Time Varying Gain This option allows the user to apply TVG in dB per 100m to the bathymetry solutions EdgeTech has incorporated this feature to increase the bathymetry range in soft bottom conditions This parameter can have one of three options as described below e Default this option adjusts the TVG according to the operating frequency and requires no input
71. o the ON position 2 Wait several minutes This waiting period allows the Sonar Head s Processing Unit to connect with the Topside Processor 3 Launch JSTAR using the shortcut on the Desktop or alternatively navigate to C EdgeTech JSTAR4600 and launch the JSTAR Application The main window appear with 8 cells Figure B 1 These cells correspond to each coupled port and starboard channels 1 2 APPENDIX B PERFORMING Rub Test NOTE the window that appears does not resemble Figure B 1 please load the configuration file by File gt Load Configuration gt JStar 4600 Test jni 4 Ensure the Sonar Head is connected to JSTAR by checking that the network is on NET ON in the bottom right hand corner of the window f JStar Sonar Data File Options View Window Help ASA mic kt ORAN onan 00 ka P3 EI JStar Sonar Data 2 wt oz o o0 o ox oz NAO ox ISLO SH 9 SBS 000 000 OM SIPID 0 OF 0 48v 51 2 34 3 28 5 No Data At Cursor Figure B 1 JSTAR Startup Window 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 5 Click on the icon to open up the Status and Control Window Figure B 2 6 Select the 4600 tab and check the Ping On box under the Transmit section This will engage the 4600 Sonar Head to start receiving signals
72. o the third party topside software all the user has to do is uncheck the corresponding filter box in Figure 4 32 The filtering parameters are repeated in the Bathymetric Data Filtering window for easier access between the dialogs If a value is changed in the Basic Bathymetry Controls Figure 4 34 the change is reflected in the Filtering window Figure 4 33 and vice versa 4 2 4 Engineering Displays DISCOVER and the BATHYMETRIC PROCESSOR offer a few more features for troubleshooting and training purposes These engineering displays are described below and are usually not displayed during normal surveying conditions 4 2 4 1 Connection Status In the DISCOVER main window Figure 4 4 locate View from the Top Menu and select Connection Information Here you will find the Sonar Control and Sonar Data connections status window Figure 4 36 This window displays the connections status between the DISCOVER 4600 and the installed External Topside Interface To turn this window off click Done 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 27 External Topside Interface Connections Messages In Bytes In Port Connections Messages In Bytes In Port Sonar Control D Disconnections Messages Qut D Bytes Out 1900 Dropped Sonar Data 0 Disconnections O Messages Out D Bytes Out 1901 Dropped Figure 4 36 Connection Information If any Disconnections
73. ontrol 4 8 4 2 2 1 Towfish Control 4 8 4 2 2 2 Video ee dendo 0 oe ene 4 9 4 10 MU 4 10 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G XV 42 20 MT 4 11 4 12 4 2 3 Other Features in DISCOVER 4600 4 12 4 2 3 1 Basic iussa br Sex EE 4 12 4 2 3 2 Advanced 4 15 4 2 3 3 Inter reromply ocu 4 23 4 2 4 Engineering 5 4 26 4 2 4 1 Connection obi adl 4 26 4 2 4 2 Situation Status 4 28 4 2 4 3 Processing Parameters seen 4 29 4 2 4 4 Processing Details 4 30 4 3 Third Party SOMA 4 31 431 HYPACK Sue T M 4 31 4 0 2 QINSY P 4 31 SECTION 5 FREQUENTLY ASKED QUESTIONS 5 1 APPENDIX A CONFIGURING THE COM PORTS 1 1 One ene rne ese rne ree ree A 1 A2 TWO SersSOIS e euenit
74. ontrol Navigate to the Towfish Control Tab to turn the sonar On Off by checking the Sonar On box or by clicking on the ON button from the Shortcut Menu The range m and ping rate 96 can also be adjusted from this control menu The range is specified per side In the example below the total swath is 200 m 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 9 Towfish Control Video Gains Display Disk Bottom Track Grids Status Frequencies Signal Meter Range M 100 1 00 KHz 00 Pot 0 Starboard 0 Ping Rate 2 100 gt Figure 4 8 Towfish Control Tab NOTE any time one or more of the systems i e GPS MRU Sonar Head have been disconnected or are not sending data to DISCOVER while the Sonar Head is ON a window Figure 4 8 will appear displaying the unavailable system s If this window appears check the connection to the unavailable system s If the problem persists please call EdgeTech Customer Service r Diagnostic Information Connection to Towfish Electronics Good Service Flag 0x30000000 Overflow Count Power V 51 1 Error Count Ambient 300 Resets Activity 388216 Time Syne None Sonar Head is ON Port Inactive lt GPS IMU is DISCONNECTED and CONNECTED Port Inactive IMU GPS is DISCONNECTED SVS is ON and CONNECTED Figure 4 9 Diagnostic Window 4 2 2 2 Video Gains The user ca
75. op Menu of the Main DISCOVER window under View Situation Status you will find the number of incoming processed messages from each connected serial port Figure 4 39 To turn off this window simply navigate to View Situation Status and uncheck it 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 29 r ga Not Processed Average Rate Hz 9 4 JE 4 4 33 3 4114 4 a m o m 2 Ww OQ wg Figure 4 39 Situation Status Here you can assign a specific COM port for each message or set the field to ANY and the Bathymetric Processor will automatically find the message on which it is being parsed Also there is the option to turn OFF the message If any checked NMEA messages are showing zero please check the power on the device that is outputting those strings This same procedure is followed if the pitch roll processed value is also showing 0 If the problem persists please contact EdgeTech Customer Service 4 2 4 3 Processing Parameters Under View Engineering Displays Processing Parameters you will find important information about the 4600 system Figure 4 40 Some fields include the array installation angles in degrees and element spacing in meters multipath suppression level altitude determination source also known as Bottom Track Data Source etc To turn off this window simply navigate to V
76. or solutions based on the 4 14 SECTION 4 PRINCIPLES OF OPERATION parameters set in Figure 4 16 So during acquisition and playback it is very important to pay attention to this feature Typically this box is always checked because the Discover is normally used during real time acquisition 2 The Echo Strength Filter is a fundamental attribute that is used primarily to exclude or trim weak echo points from the data i e water column and very weak backscatter amplitudes The data points have an amplitude that can span 0 to 32 767 Typical sea floor echoes are above 300 to 1800 depending on the bottom type The values that can be inputted to the system are based on 1 1096 of this span meaning that an echo strength of 320 is realistically 320 32767 x 100 0 98 and so the value that would be inputted to the system would be 1 In Figure 4 15 the input is 2 meaning that the seafloor echoes have an amplitude of approximately 650 3 The SNR Filter is a valuable statistic used to trim bad data points near the outer swath where the angle noise is high due to multipath effects SNR values greater than 20 dB are excellent in terms of angle estimation noise and less than 5 dB is very poor Useful thresholds are between 5 20 dB depending on the desire to have maximum swath more noise or lower noise and less swath Typically this filter is set between 12 and 18 dB 4 The Minimum Processing Range acts like a blanking range but in terms of s
77. ot covered in the warranty and EdgeTech disclaims any liability for consequential damage resulting from defects in the performance of the equipment No product is warranted as being fit for a particular purpose and there is no warranty of merchantability This warranty applies only if i The items are used solely under the operating conditions and in the manner recommended in Seller s instruction manual specifications or other literature ii The items have not been misused or abused in any manner nor have repairs been attempted thereon without the approval of EdgeTech Customer Service iii Written notice of the failure within the warranty period is forwarded to Seller and the directions received for properly identifying items returned under warranty are followed iv Thereturn notice authorizes Seller to examine and disassemble returned products to the extent Seller deems necessary to ascertain the cause for failure The warranties expressed herein are exclusive There are no other warranties either expressed or implied beyond those set forth herein and Seller does not assume any other obligation or liability in connection with the sale or use of said products Any product or service repaired under this warranty shall be warranted for the remaining portion of the original warranty period only Equipment not manufactured by EdgeTech is supported only to the extent of the original manufacturer s warranties 4600 Swath Bathymetry and S
78. p right corner In doing so the BATHYMETRIC PROCESSOR will delete all current settings and revert back to its default configuration Please refrain from pressing the x on the BATHYMETRIC PROCESSOR window 2 If the EdgeTech 4600 is powered on and connected to the 4600 Topside Interface box then ensure that the Sonar Head is connected to DISCOVER by ensuring the network is on NET ON down in the right hand corner of the DISCOVER main window as pointed to by the blue arrow in Figure 4 6 Towish Control Video Gains Display Disk Grids Status Signal Meter Sonar On Range M mH 543 0 KHz 5530 KHz Port 1534 Starboard 3756 Ping Rate 4 100 gt Ping 189238 Lat 30 134122N Lon 88 59 9329 Course 110 Speed 81 Date 09 2012 Time 19 11 52 Heading 110 2 Pitch 36 Rol 38 Altitude 54 Pressure 0 000 0 Free Space 815399 MB Sonar ON GPS OFF 9 ON Power FULL Figure 4 6 NET ON in Discover 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 2 1 8 ali 12 H 15 DISCOVER Toolbar Menu The DISCOVER Toolbar Menu permits the user to have easy access to certain features in the Top Menu and Control Menu The Toolbar Menu list B in Figure 4 4 is demonstrated in Figure 4 7 with an explanation for each i ii iii iv v vi vii viii ix X xi xii xiii xiv XV xvi Figure 4 7 DISCOVER Toolbar Menu i Playback Repl
79. r System Document No 990 4600REF 1000 Rev G 4 3 4 3 1 4 3 2 4 34 z Bathymetric Processing Details Processed Pings Detected Altitudes Last Altitude M Port Angle Sets Queue Navigation 0 000 Altitude 0 000 Processor 1 0 000 0 000 Processor 3 0 000 i Processor 4 0 000 0 000 Processor 6 0 000 Figure 4 41 Processing Details Third Party Software Currently HYPACK and QINSy are the only software that has been approved by EdgeTech but work continues to expand the number of available topsides A brief description is listed in below HYPACK The processed bathymetry and side scan data is sent in real time to the HYPACKe HYSWEEPe survey applications These application display and record the bathymetric data in HYPACK s HSX format These HSX files can then be used off line in the MBMax Side Scan Mosaic and other proprietary packages that support these formats to edit clean and mosaic the collected data A complete guide on how to use HYPACK with the EdgeTech 4600 system is given in the HYPACK Software Guide for the EdgeTech 4600 System QINSy Bathymetry and side scan data is sent in real time to the QINSy survey applications These applications display and record bathymetric and side scan data in QINSy s native format These files can then be processed offline to create final bathymetric and side scan products 3EQUENTLY ASKED QUESTIONS
80. rays Port and Stbd Figure 3 1 Sonar Head Components Deck Cable Not Shown To assemble the 4600 Sonar Head 1 Secure the Nose Cone to the front of the Sonar Processor using six 3 8 16 x 34 inch socket cap screws and a 5 16 inch Allen wrench The front of the system can be identified by the section of the cylindrical body that houses the SVS Figure 3 1 2 Attach the Port Array to the port side of the Sonar Processor using six 3 8 16 x 34 inch button socket cap screws six 3 8 inch split lock washers and a 7 32 inch Allen wrench Ensure the connectors are facing the tail section opposite of the SVS section The Port and Starboard Arrays are unique and must be put back exactly as they were assembled Usually the arrays have a label on the back side stating which array goes where 3 Attach the Starboard Array in the same manner as in Step 2 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 4 Connect the Port and Starboard Arrays to the Sonar Processor as in Figure 3 2 where J2 mates to the starboard array s transmitter via the Subconn 5 pin male connector MCIL5M P J3 couples to the starboard array s receivers via the Seacon 19 pin female connector MINK19 CCP J5 connects to the port array s transmitter via the Subconn 5 pin male connector MCIL5M P and lastly J6 couples to the port array s receivers via the Seacon 19 pin female connector MINK19 CCP Starboard
81. recommended that the 4600 system remain submerged no longer than 2 weeks at a time especially in warm salty waters Fouling and corrosion may degrade the measurements of the 4600 system and or the sound velocity sensor in the nose of the Sonar Head It is recommended that the arrays faces be checked 5 2 SECTION 5 FREQUENTLY ASKED QUESTIONS 5 6 7 8 9 regularly and if fouling is observed clean them using a wash cloth with mild soap and fresh water It is also recommended that the SVS in the nose is regularly inspected and cleaned as well as calibrated once every two years How often should I rinse my system Please rinse the 4600 Sonar Head after every mission Please pay special attention to the SVS in the nose and the connectors in the tail rinsing them thoroughly using the rinse holes provided Also it is a good idea to rinse the deck cable and flush its track using the keyway at the top of the mounting bracket What if the Topside Processor or Topside Interface does not turn on If the Topside Processor or Topside Interface does not turn on please check the on off switch in the back of the 19 mountable rack Both are located next to the power plug of their respective box Do I always need a sound velocity cast It is always a good idea to collect a sound velocity profile especially in the area where you collected your patch test data Most likely the water you are operating in does not
82. ric Processing Parameters Bathymetric Processing Use External Limits pw Processing Refinements Limits Echo Strength Filter 1 10 percent 2 Minimum Process Range M SNR Filter dB 10 Maximum Process Range 750 Minimum Depth M amp 0 Maximum Depth 20 0 Figure 4 34 Basic Bathymetric Controls b Edgelech _ ow 4 26 SECTION 4 PRINCIPLES OF OPERATION x EN Advanced Bathymetric Processing Parameters Warning Changing these parameters will have significant effects on the data These parameters should not be altered unless the user has a complete understanding of the consequences Altitude Determination Processing Refinements 7 Track Data Source Product Quality Filter 96 50 0 This feature should only be disabled under extreme TVG dB 100M Default 20 circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is beyond the acoustic data Max TVG dB Advanced Processing Refinements Multipath Suppression Level 3 Maximum Across Track Average Size 0 05 Warning Changing these parameters will invalidate your existing patch test Itis strongly recommended that a new patch test be performed after changing these parameters Figure 4 35 Advanced Bathymetric Controls If the user would like to allow certain points to pass through the Discover output and handed off t
83. ry and Side Scan Sonar System Document 990 4600REF 1000 Rev 4 23 Once these parameters under the Advanced Controls have been set do not change them during a survey This will require you to perform another calibration patch test so it is very important to set these parameters correctly 4 2 3 3 Interferometry DISCOVER now offers an interferometry display This window displays the raw interferometry points before binning and averaging and is not corrected for motion This display can be accessed by selecting Bathymetry from the Top Menu and then Interferometry Display as in Figure 4 29 and Figure 4 30 File View Configuration Control Bathymetry Help gt on nm Interferometry Display mig Processing Parameters Filtering MEIETE 40 Advanced Controls 0 SR Figure 4 29 Activating the Interferometry Display Interferometry ESI View Figure 4 30 Interferometry Display d Edgelech _ panasia 4 24 SECTION 4 PRINCIPLES OF OPERATION The Interferometry Display allows the user to see the effects of the various filters built in to DISCOVER The built in filters are listed below and each have a designated color associated with it e Echo Strength Filter red e Quality Filter orange e SNHFilter yellow e Water Column Filter blue e Outlier Filter purple The BATHYMETRIC PROCESSOR also offers a Data Filtering Dialog To access it simply click on Bathyme
84. s for repair it must be clearly stated in order to move through customs quickly and without duties being charged Whenever possible please send copies of original export shipping documents with the consignment If the value of the equipment is over 1000 the following Shipper s oath must be sent with the invoice This oath can be typed on the invoice or on a separate letterhead li declare that the articles herein specified are the growth produce or manufacture of the United States that they were exported from the United States from the port of on or about that they are returned without having been advanced in value or improved in condition by any process of manufacture or any other means and that no drawback or allowance has been paid or admitted hereof Signed If there is more than one item per consignment a packing list must accompany the shipment It is acceptable to combine the proforma invoice and packing list as long as the contents of each carton are clearly numbered and identified on the invoice Small items can be shipped prepaid directly to EdgeTech by FedEx DHL UPS Airborne etc If the equipment is the property of EdgeTech formerly EG amp G Marine Instruments Division please insure for full value Fax one invoice packing list and a copy of the airway bill to EdgeTech upon shipment o Edgelech _ xii Customer Service Customer service personnel at EdgeTech are always eager to
85. sition and secure a MRU to the vessel s center of motion If the mounting pole was purchased from EdgeTech an alternative way to attach the MRU is to the top of this mounting pole 4600 Swath Bathymetry and Side Scan Sonar System Document 990 4600REF 1000 Rev 6 3 9 Measure the location of the Sonar Head relative to the MRU If the MRU was attached to the Sonar Head s mounting pole measure the relative location of the MRU to the vessel s center of motion NOTE These measurements are important and will be used later as Offsets in the third party acquisition and post processing software So please make sure to measure and note the exact location of the MRU to the vessel s center of motion 10 11 Setup the GPS as described in the GPS s user manual Measure the location of the GPS s antenna relative to the vessel s center of motion If a dual antenna GPS system is used please measure from the midpoint of the two antennas to the vessel s center of motion If your GPS does not provide heading install a Gyro as described by the Gyro s user manual and measure it s offsets relative the vessel s center of motion Connect the Sonar Head to the 4600 Topside Interface via the Seacon 19 pin connector Connect the MRU to COM1 and the GPS to 2 If a dual antenna GPS system was not used and a Gyro was required to provide heading then please connect the Gyro to and the GPS to e AMRUis used to
86. ssel is the customer s responsibility and certain considerations need to be kept in mind The Sonar Head can be mounted on the side of a vessel but it is recommended to secure the 4600 to the bow of the boat Consideration must be given to keel clearance for both cases This section outlines the 4600 Sonar Head deployment options NOTE if interested in purchasing the optional mounting pole for the 4600 installation please contact EdgeTech Customer Service Over the Bow Deployment The first and recommended option is to mount the 4600 Sonar Head to the bow of the survey vessel An example of an over the bow deployment is depicted in the photographs in Figure 3 5 If help is needed with this type of installation please do not hesitate to contact EdgeTech Customer Service Over the Side Deployment An alternative to the latter is to mount the 4600 Sonar Head over the side of the survey vessel An example of an over the side deployment is illustrated in the images in Error Reference source not found If help is needed with this type of installation please do not hesitate to contact EdgeTech Customer Service SECTION 3 SET UP AND DEPLOYMENT 3 6 Figure 3 5 4600 Deployment Option 1 Over the Bow Hardware Manual System Name Figure 3 6 4600 Deployment Option 2 Over the Side 2 6 3 8 SECTION 3 SET UP AND DEPLOYMENT 3 4 Positioning the Topside Processing Unit The Topside Processing Unit should be located an
87. t 3 Configuration settings Date modified 6 21 2011 11 59 AM Size 722 bytes Date created 2 6 2012 6 27 PM Figure A 3 Finding the SonarSerial ini file 4 APPENDIX A CONFIGURING the COM Ports 23 SonarSerial ini Notepad File Edit Format View Help seriali Set for GPS or MRU 1551 sentence ORE Sentence Std NMEA Create 1 Parser 4 Must be 4 Port 1001 Baud 9600 Baud 38400 serial4 Dont touch ever or there will be no sound velocity data set for valeport Minisvs Setup Using the vendor provided configuration utility set the following Baud 19200 Create 1 Parser 9 Port 4 Baud 19200 4 Figure A 4 SonarSerial ini File Service Flag 0x30000000 Overflow Count 0 Power V 511 Error Count 58 Ambient C 300 Resets 0 Activity 388216 Time z None Sonar Head is ON GPS IMU is DISCONNBCTED and CONNECTED IMU GPS is DISCONNBCTED SVS is ON and CONNECTED Figure A 5 Diagnostic Window Reporting Ports Inactive Error 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 10 11 12 13 19 2 Sonar inf x File Recording Transmit Misc Self Test Sonar OFF SIB_4600 OF 0 start Figure 6 Rebooting Sonar from the screen Now plug in your device into COM 1 Click on the Misc at the top of the Sonar screen as shown in Figure A 7 t
88. the Top Menu Figure 4 19 and then Advanced Controls Figure 4 19 Here you can disable enable Auto Detect Altitude adjust the multipath suppression levels and the maximum across track average size m and refine the advanced processing parameters File View Configuration Control Bathymetry Help gt M Interferometry Display Processing Parameters Filtering Advanced Controls Figure 4 19 Discover 4600 Top Menu Selecting Advanced Controls 4 16 SECTION 4 PRINCIPLES OF OPERATION Advanced Bathymetric Processing Parameters Warning Changing these parameters will have significant effects on the data These parameters should not be altered unless the user has a complete understanding of the consequences Altitude Determination Processing Refinements 4 e Bottom Track Data Source Quality Filter 96 This feature should only be disabled under extreme TVG dB 100M circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is Max TVG dB beyond the acoustic data 2 Advanced Processing Refinements Multipath Suppression Level 3 Maximum Across Track Average Size M 0 05 Warning Changing these parameters will invalidate your existing patch test Itis strongly recommended that a new patch test be performed after changing these parameters
89. thorization nn xi Guslomelr Service C dares xii Bue I A T E 0 C xvi qoi eT x HE OVERVIEW AND OPTIONS 1 1 1 1 Company no rice ui Re Cu io cr itta RR 1 2 1 2 4600 Applications rcs C t 1 2 1 3 Supplied COMPONG MNS EORR T 1 2 154 Optional Equipment S dS uU E EUR E EIN DM E 1 3 1 4 1 Optional Mounting Pole Example 1 4 1 4 2 Optional Dual Headed GPS 1 5 1 4 3 Optional Motion Reference 1 5 1 5 Software Description nenne 1 5 COMPONENTS AND SPECIFICATIONS 2 1 2 1 The 4600 Sonar Head rn 2 1 xiv SECTION 3 SECTION 4 2 151 Sonar PrOCBSSON a EU Ub M PI M RI DU UD RU ME 2 2 2 1 2 Sonar Arrays T EO Oo 2 2 2 1 3 Sound Velocity Sensor 2 2 2 1 4 Nose and Tail 2 3 2 1 5 Mounting Bracket 2 3 2 2 The 4600 Topside Processing rtr true 2 3 2 2 1 The 4600 Topside Sonar Interface
90. try and then Filtering as shown in Figure 4 31 Help Interferometry Display 1 Processing Parameters Filtering Advanced Controls 4600 Swath Bathymetry and Side Scan Sonar System Figure 4 31 Accessing the Filtering Options n Bathymetric Data Filtering Trim Flagged Points in Bathymetric Processor Dee Trim Flagged Points on Discover Output Echo Strength Fiter 10 4 Quality Filter 50 0 SNR Filter dB 10 Water Column Outlier Figure 4 32 Filtering Options Document No 990 4600REF 1000 Rev G 4 25 Each filter has a designated color for easier viewing within the Interferometry window To view the different filters the user must first uncheck the Trim Flagged Points in Bathymetric Processor in Figure 4 32 then select VIEW from the top of the Interferometry screen Figure 4 33 and then select a desired filter The green points known as Unfiltered Points display the data that has passed all filters and is designated as valid data View v Unfiltered Points Echo Strength Filter Quality Filter SNR Filter Water Column Filter Outlier Filter Figure 4 33 Viewing the Filters in the Interferometry Window As a reminder the Echo Strength and SNR filters are controlled in the Basic Processing Parameters window while the Quality filter is within the Advanced Controls The Water Colum and Outlier Filter are always enabled r Bathymet
91. ument No 990 4600REF 1000 Rev G 2 13 must be allotted to because it does not rely on the high accuracy time stamp as the first two measurements NOTE configure the COM ports according to the examples given above please see Error Reference source not found 2 6 4 Sonar Data Flow To illustrate the data flow between DISCOVER the Bathymetry Processor and the third party software the block diagram in Figure 2 6 is used Hypack is the default and will be used as an example in the following exercise Heading Position and Motion Data Information Gets Time Stamped and Sent Back to Interface Supporting Data 4600 Sonar Interface 4600 Sonar Head Raw Sonar Data Supporting Data Raw Sonar Data Supporting Data Range Angle Data Supporting Information DISCOVER Side Scan Data Raw Sonar Data Range Angle Data Bathymetry Processor Figure 2 6 Sonar Data Flow _ 2 14 SECTION 2 COMPONENTS AND SPECIFICATIONS As demonstrated by the flow chart the 4600 Sonar Interface acquires the heading position latitude longitude and motion roll pitch and heave data and relays this information to the 4600 Sonar Head via the Deck Cable Here the information is combined with the raw sonar and sound velocity data time stamped with a common value and sent back to the 4600 Sonar Interface DISCOVER intakes th
92. used to simultaneously execute EdgeTech s DISCOVER 4600 Side Scan Acquisition software and Bathymetric Processing module as well as a third party data acquisition and processing software Such third party software includes HYPACK s Hydrographic Surveying Software QINSy s Data Acquisition Navigation and Processing Software etc The Topside Processor also has a 1 TB hard drive to store the bathymetry and side scan data 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G NOTE 1 4600 Topside Processing Unit comes standard with pre installed third party software HYPACK or QINSy based on the customers preference unless the customer has specified otherwise upon time of purchase NOTE 2 Although the Topside Processor may look and operate like a general purpose PC it is not designed to have other software installed Installing other software besides the ones supplied with the system can have undesirable effects such as poor and or slow performance when acquiring bathymetry and side scan data the possibility of missing and or incomplete data being acquired and in the worst case the possibility of a complete system crash 2 3 Deck Cable The deck cable is a 20 meter 65 feet underwater high speed network data and power cable The deck cable includes Cat 5e 4 pair stranded conductors that meet or exceed TIA 568 B and is suitable for 10Base T and 100Base T The deck cable is also terminated w
93. uter This is because the remote desktop application uses a large amount of the link capacity to stay open So it is always a good idea to close the remote desktop application when finished with the configurations Two Sensors Two sensors such as a dual headed GPS heading position and time source and a Motion Reference Unit roll pitch and heave may be used to supply the necessary information For this type of configuration only COM1 and will be utilized To configure the COM ports for the two sensors the following steps should be carried out 1 Follow steps 1 through 6 as stated previously under Section A 1 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G 2 Under Serial3 set Create 0 select File gt Save and close the Figure 10 DO NOT TOUCH ANYTHING ELSE SonarSerial ini Notepad eB X File Edit Format View Help seriali Set for GPS or MRU 1551 sentence ORE Sentence Std NMEA Must 4 Baud 9600 Baud 38400 serial2 Set for TSS 7551 sentence ORE Sentence Std NMEA Create 1 Parser 4 Port 1002 e S 3115200 for ORE MRU or 38400 bit for the smc Disk 1 wetportchecksum 100 serial4 Dont touch ever or there will be no sound velocity data set for valeport Minisvs Setup Using the vendor provided configuration utility set the following Baud 200 Create 1 Parser 9 Port
94. ystem is working properly before deployment APPENDIX C Diagrams Includes wiring and acoustic center diagrams for the 4600 system 4600 Swath Bathymetry and Side Scan Sonar System Document No 990 4600REF 1000 Rev G vii Warnings Cautions and Notes Where applicable warnings cautions and notes are provided in this manual as follows WARNING Identifies a potential hazard that could cause personal injury or death to yourself or to others CAUTION Identifies a potential hazard that could be damaging to equipment or could result in the loss of data NOTE Recommendations or general information that is particular to the material being presented It may also refer to another part of this manual or to another manual Liability EdgeTech has made every effort to document in this manual the 4600 Swath Bathymetry and Side Scan Sonar System accurately and completely However EdgeTech assumes no liability for errors or for any damages that result from the use of this manual or the equipment it documents EdgeTech reserves the right to upgrade features of this equipment and to make changes to this manual without notice at any time viii Warranty All equipment manufactured by EdgeTech is warranted against defective components and workmanship for a period of one year after shipment Warranty repair will be done by EdgeTech free of charge Shipping costs are to be borne by the customer Malfunction due to improper use is n

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