4600 Swath Bathymetry and Side Scan Sonar Startup
Contents
1. DryMate Connector AMPHENOL Ra m pe rsa d c US SEACON MINK16 CCP on el M331066828 16P Date 2010 08 31 11 31 16 400 FMACATS2218K12 Rev B ry 771 Pelion a i i Erf Je ch Boca Rabon FL 33407 geTech aseye ie Tare owfish Topside Cable AMPHENOL gt Seacon 20 Meters gt a I ioi 4600 Startup Guide Page A1 of A2 REV E 4600 Swath Bathymetry a Edgelech and Side Scan Sonar 4600 Acoustic Centers Standard Body Type THESE DRAWINGS AHD SPECIFICATIONS ARE THE PROPERTY OF EOJEONE LLG DOA EOGETECH OF ORG REVISIONS ABD ARE ISSUED IN STRICT CONHDENGCE THEY SHALL NOT BE REPRODUCED COPIED Of USED MAMY YAY a m WITHOUT THE EXPRESS WRITTEN PERMISSION OF EOGEONE LLB FOGRONE LLE a f DESL IPTC SEE TABLE FOR ACOUSIC CENIERS ACOUSh lentes j J 4 75 19 THRU j 4 006 c EQUALLY SPACED isa ON B C ii ACOUSTIC CENTER 02 570 BOTH SIDES ESTIMATED WEIGHTS UNLESS OTHERWISE NOTED OVALS eee A AIR 98 LBS 44 kG CIMENSICNS ARE IN INGHES E akpa Nee RESISTORS ARE IH CHMS WJA AAT ES RSA BOCARATON FL T3487 SW 24 LBS l KG APACS ARE IN HICROUFARADS ari R A a gt 5 NOTES DIMENSIONS IN BRACKETS ARE IN MM TE oe AND KG RESPECTIVELY Co NOT SO ALE PRINT REWOVE BURRS BREAK SHARP EDGES 4600 Startup Guide Page A2 of A2 REV E2. 4600 Swath Bathymetry Edgelech and Side Scan Sonar Figure 9 4600 Deployment Option 1 Over the Bow 3 3 2 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 Figure 10 A larger representation of these photographs is given in the Appendix If help is needed with this type of installation please do not hesitate to contact EdgeTech using the information in the Customer Service Section on page 46 of this manual 4600 Startup Guide Page 16 of 46 0012884 REVE 4600 Swath Bathymetry EdgeTech and Side Scan Sonar Figure 10 4600 Deployment Option 2 Over the Side 4600 Startup Guide Page 17 of 46 0012884 REVE 4600 Swath Bathymetry 4 Principles of Operations 4 1 Sensor Installation This section outlines the steps taken to install the 4600 Sonar Head and supporting sensors used to collect navigation heading roll pitch and heave data 1 Mount the 4600 Swath Bathymetry and Side Scan Sonar System to the hull of the survey vessel Please read the deployment configurations in Section 3 2 on page 15 and 16 for Sonar Head installation 2 Position and secure a motion sensor to the vessel Two positions for this are considered a Position 1 Mount the motion reference unit MRU at the vessel s center of motion This method requires a very stiff mounting of the Sonar
3. 6 of 46 0012884 _REVE 4600 Swath Bathymetry Optional Equipment e 4600 Mounting Pole see drawing in Figure 5 on Page 8 e Crescent VS100 Series Hemisphere GPS Figure 4 Page 3 e SMC IMU Sensor Figure 4 Page 3 e HP 25 in LCD Monitor e Samsung 25 in LCD Monitor 4600 Startup Guide Page 7 of 46 0012884 REVE 4600 Swath Bathymetry Optional Mounting Pole Example Cable Path Protected by Fairing Max Cable Length 20 m 65 ft 10cm 4in 1 02 m 3 ft 10 cm 4 in Bow of Survey Vessel gt n BN Waterline 0 9 m 3 ft Standard Figure 5 Mounting Pole Concept Drawing 4600 Startup Guide Page 8 of 46 0012884 REVE 4600 Swath Bathymetry 3 Overview 3 1 Data Formats 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 a GPS Position in NMEA format latitude and longitude b Heading data in NMEA format or EM1000 binary format c Roll Pitch and Heave data in TSS1 or EM1000 binary format and d Time sync data in NMEA format This data may be supplied by 1 2 or 3 individual sources a Position Data this may be supplied via any of the following NMEA type sentences messages i xxGGK Applanix PosMV Format Il xxGGA iii XXGLL IV XXRMC V PTNL GGK Trimble Format xx Non NMEA standard sentences b Heading Data this m
4. PM Figure 12 Serial Port Information Window 5 Now click on Menu gt File gt Show Status The System Status window will appear as shown in Figure 13 4600 Startup Guide Page 22 of 46 0012884 REVE 4600 Swath Bathymetry a Edgelech and Side Scan Sonar E Sonar 192 9 0 101 Remote Desktop Ce MB 19 2 Sonar File Recording Transmit Misc System Status Seriall On Com1001 Queues N State OK ParseErrors 3 Msgs sect 0 Generated 4528 RecvQOF 0 XQOF 0 g 2535 Last Out 0 In 297 1 324 Capacity 23 43 ASCII 000000 0000U 0 30 30 20 2d 30 30 30 30 55 2d 30 n Serial On Com1002 Queues N State OK ParseErrors 3 ea Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 C Eers C POST Serial4 On Com4 Queues N State OK ParseErrors 0 mp Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Refresh Save List Clear Ctrs A Start 19 2 Sonar Figure 13 System Status Window 6 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 I tem 7 Select Serial and then click the Update button several times 8 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 9 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 460
5. Tab in DISCOVER Playback 8 To adjust the basic bathymetric processing parameters in DISCOVER select Bathymetry from the Top Menu and then Processing Parameters Figure 22 and Figure 23 File View Configuration Control Help gt il E gt on H Interferometry Display Processing Parameters P T Figure 22 Discover 4600 Top Menu Selecting Bathymetric Processing Parameters Filtering Advanced Controls Here you can turn on off the BATHYMETRIC 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 3 Party Interface The recommended parameters are shown in Figure 23 for a silty sand type seafloor Bathymetric Processing Parameters 1 Bathymetric Processing if Use External Limits Processing Refinements Limits Echo Strength Filter 1 10 percent 2 Minimum Process Range M SNR Filter dB Maximum Process Range M Minimum Depth M Maximum Depth M Figure 23 Basic Bathymetry Note 1 Ensure the Bathymetric Processing box is checked while recording a file otherwise no bathymetry data will be processed or sent to Hypack 4600 Startup Guide Page 28 of 46 0012884 REVE 4600 Swath Bathymetry For a full description of all the functions in DISCOVER and the BATHYMETRIC PROCESSOR please refer to Section 5 2 in the 4600 REFE
6. should be set to a value that will get the desired Max Width or max swath coverage Here the number of beams was set to 240 and the bin size was set to 0 5 m to acquire the desired swath coverage of 120m Note For higher resolution the recommended settings are 400 Beams by 0 25m Bin Size to achieve a total swath of 100m If a smaller larger swath is desired the 4600 Startup Guide Page 41 of 46 0012884 REVE 4600 Swath Bathymetry Bin Size can be adjusted accordingly or the Port and Starboard Offset Limits can be fine tuned 16 On the Hysweep Survey Window Figure 30 top choose View gt Profile Window to bring up the two dimensional profile of the seafloor Figure 39 Profile Window E ll lt Figure 39 Profile Window using Sounding Points Viewing Option 17 Click on the second button in Figure 39 to bring up the Display Options This window may also be accessed by right clicking on the Profile Window and selecting Options or by hitting the F9 key 18 This window allows the user to pick and choose different viewing methods of the data Choose each one and hit Apply to see what the data looks like The preferred viewing is shown in Figure 40 When finished click OK 4600 Startup Guide Page 42 of 46 0012884 REVE 4600 Swath Bathymetry rs Edgelech and Side Scan Sonar Ranges Multibeam Display QC Tests Coverage Map Other Profile Window E Sweep Profile C Beam Pattem C Wavetront f Sounding Point
7. the correct RMA Procedure 4600 Startup Guide Page 46 of 46 0012884 REVE 4600 Swath Bathymetry and Side Scan Sonar E EdgeTech APPENDIX A 4600 Startup Guide Page A of 46 0012884_REV E 4600 Swath Bathymetry EdgeTech and Side Scan Sonar Deck Cable Drawing UNLESS AS MAY BE OTHERWEE PROVIDED BY CONTRACT THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY OF EDGETECH AND ARE ISSUED IN STRICT CONFIDENCE AND SHALL MOT BE REPRODUCED COPIED OR USED AS THE BASE FOR THE MANUFACTURE OF SALE OF APPARATUS WITHOUT PERMISSION GOFYRIGHT Gj 2D10 EDGETECH INC anal l A mtia Release si2010 i i lt a wa i oe O o E a lt _ lt _ s Ethernet 4x2 F Trig A P gt lt Trig A Seacon TrGnd gt lt i 2 TG apes 12 BluAWht Whit N MinK16 CCFP Dn aa a gt a OOO Dn iF Dnt gt 3 Blu PES U One ao ao i eo So 14 Org Wht a Bm gt al gt a se Up _ _ yui 15 Orange w Up 10 cee ge i i i i Bik1 l Blk a AMPHENOL at i a MS3106B28 16P RS23 GND gt i Yiwz2 i RS232 GND Tx1 Red G Tx Rx1 gt 2 Redz R c Rx1 l 4 eo Emi O F Tx gt _ or S SSaSS lt Tx g a o Rx2 gt gt oe aee Orgi ia lt Rx2 l 10 l a TX3 ETX3 IPPS gt a Gm J 4ppe i l Blu T i Blu2 PPS GND Gry _ ST Digitally signed by Rodney 92 _____ Rodney iran DE aera een o EdgeTech ou Build email Rampersadm EdgeTech com
8. to DISCOVER and click the Record button from the Disk tab When finished with collecting data select the Stop Logging feature from the Survey window by Logging gt Stop Logging or by selecting the shortcut key Bl Note f DISCOVER was recording please make sure to stop this recording too For more details on logging survey data please refer to Section IV of the EDGETECH 4600 HYPACK SOFTWARE GUIDE Repeat Steps 20 and 21 for as many data files as needed to complete the survey When completed with the survey save and exit out of all applications and turn off the 4600 system using the power switch on the Topside Interface Shut down the Topside Processor by exiting out of all programs then Start gt Shut Down 4600 Startup Guide Page 45 of 46 0012884 REVE 4600 Swath Bathymetry 5 Contact and Service I nformation For product service or support please contact EdgeTech 4 Little Brook Road Tel 508 291 0057 West Wareham MA 02576 Fax 508 291 2491 Email service edgetech com Note If it is necessary to return the equipment for service a Returned Material Authorization RMA number is required prior to returning any equipment to EdgeTech This is to assist EdgeTech in recognizing the returned equipment when it arrives at EdgeTech s receiving dock and to assist customer service representatives in tracking the returned equipment while it is at EdgeTech s facilities Please refer to the 4600 REFERENCE MANUAL for
9. 0 0 00 1 25 Forward Vertical Yaw rotation follows azimuth clockwise rotation is positive Bow up is positive pitch port side up is positive roll Device Latency Enter the Latency Time Positive in Seconds Installed on Towfish Close Help About Edgetech 4600 System v Figure 28 Hysweep Hardware Offsets 4600 Startup Guide Page 33 of 46 0012884_REV E 4600 Swath Bathymetry Note These offsets are measured with respect to the vessel s center of motion and should have been collected during sensor installation 7 Select Survey on the top menu of the HyYPAcK Shell Figure 26 circled in red and choose Survey and Hysweep Survey Five windows will appear as in Figure 29 and Figure 30 1 Survey 2 GPS NMEA 0183 with RTK Tide Option 3 Edgetech 4600 Navigation 4 Hysweep Survey and 5 Hysweep Interface Note The GPS NMEA 0183 with RTK Tide Option and Edgetech 4600 Navigation windows will only appear if you have configured the mobile devices properly as described in Section III of the EDGETECH 4600 HYPACK SOFTWARE GUIDE This is why it is important to copy the EdgeTech 4600 project as these devices are already configured for EdgeTech s system 8 Before continuing ensure all systems and inputs are green in the Hysweep Survey window Figure 30 top Green indicates that each system and input is connected properly and all devices are on If a device is highlighted in red
10. 0 Startup Guide Page 23 of 46 0012884 REVE 4600 Swath Bathymetry 4 3 DISCOVER 4600 AND THE BATHYMETRIC PROCESSOR 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 states the basic functions of DISCOVER and the BATHYMETRIC PROCESSOR and how to operate them during a survey A full description of DISCOVER IS given in the 4600 REFERENCE MANUAL If you are not familiar with previous versions of DISCOVER please read Section 5 2 of the REFERENCE MANUAL before continuing 1 Launch Discover 4600 using the Desktop shortcut The two main windows will appear as in Figure 14 and Figure 15 A EdgeTech pm 4600 File View Configuration Control Help gt il on H lf i Towtish Control Video Gains Display Disk Bottom Track Grids Status Frequencies Signal Meter Sonar On Range M 10 0 0 KHz 0 0 KHz ON 0 Starboard Ping Rate 100 al gt Ping 31006 Lat 26 044922N Lon 80 06 65352 W Course 180 Speed 3 8 Date Apr 19 2011 Time 15 55 10 Heading 176 9 Pitch 05 Roll 1 3 Mark O Free Space 460823 MB Sonar OFF GPS OFF Emai yer DFF y Figure 14 DISCOVER Main Window 4600 Startup Guide Page 24 of 46 0012884 REVE 4600 Swath Bathymetry File Vi
11. 4 Little Brook Road West Wareham MA 02576 Tel 508 291 0057 Fax 508 290 2491 Edgelech 4600 Swath Bathymetry and Side Scan Sonar Startup Guide Document No 0012884 Email info edgetech com REV E Website http www edgetech com February 2013 4600 Swath Bathymetry The information figures and specifications in this manual are proprietary and are issued in 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 2010 by EdgeTech All rights reserved Full Soectrum is a trademark of EdgeTech Microsoft and Windows are registered trademarks of Microsoft Corporation Kevlar is a registered trademarks 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 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
12. 8 8 amp 8 amp D i lehla 4 Figure 19 Situation Status Window 6 To set up a recording directory navigate to the Disk Tab and click Browse next to the Record File box Usually the recording directory is located on the F Data Disk Towfish Control Video Gains Displ disk Jo om Track Grids Status Playback File g Browse Record File Yoo Browse D 1 m 1a 44 gt gt vo m 4 gt Figure 20 Disk Tab in DISCOVER Record 7 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 text box To stop or pause a file select the appropriate function button Note If a file is recorded in DISCOVER while data is being recorded in HyPAck the file can be re processed for bathymetric estimation using different parameters post Survey This recorded DISCOVER file provides useful for debugging and training purposes 7 For basic playback navigate to the Disk Tab Figure 21 and select Browse next to the Playback File box Locate the desired JSF file and use the function buttons to play stop fast forward etc boxed in green 4600 Startup Guide Page 27 of 46 0012884 REVE 4600 Swath Bathymetry Bottom Track Grids _ Status Towfish Control Video Gains Dispig Playback File 20110419155509 jsf Q Brazil Example Data ICW Patch Test Record File Browse OKKI Da eo J1 m 4 oo Figure 21 Disk
13. DISCOVER should have already displayed a warning message Check the connection between the device and the Topside Processor If problems persist please contact Customer Service using the information provided on page 46 4600 Startup Guide Page 34 of 46 0012884 REVE 4600 Swath Bathymetry and Side Scan Sonar Edgelech Ell Height Easting Morthing Tide corr Time sour Figure 29 Survey and Hysweep Survey Windows Windows 1 through 3 Fix RTK 2608 0271 N Os0 04 B443 26 82 m 991895 38 2890824 55 0 00 0 00 0 00 25 87 m 0 95 0 95 computer Hysweep Survey File View Matrix Targets Corrections Tools Help Depth Tide Corr Heave Fitch Easting SY From Profile 4600 Startup Guide Edgetech 4600 Navigation E 591895 50 W 2690825 51 COG 1 1 spd 3 0 x 591895 52 Y 2890625 30 COG 1 1 spd 3 8 591095 54 W 26090825 12 COG 1 1 spd 3 6 591895 55 Y 2890824 94 COG 1 1 spd 3 f 591895 55 Y 2890824 75 COG 1 1 0 00 Time Event oo Draft Corr 000 Pol 0 00 Heading fo Northing 0 0 8 54 From SOnar spd 3 f 591895 57 Y 28906824 55 COG 1 1 00 00 00 0 0 00 0 00 C Towtish Into Page 35 of 46 0012884 _REV E 4600 Swath Bathymetry p HYSWEEP INTERFACE Heading Heave Roll Depth Pitch Filler Figure 30 Survey and Hysweep Survey Windows Windows 4 and 5 9 On the Hysweep Sur
14. E EEE nnn enna 14 3a SY SUSIE Sra OR eae pae cade cps reenact ee ea ee 15 3 3 1 Over the Bow Deployment cccccccc cece cece eect eeeeeeeeeeeeseeneenaeeeeeeeestaeeggges 15 3 3 2 Over the Side DeployMent cccccccccee esse cece ee eeeeeeeeeeeseeeseesaeeeeeeeettenaggaes 16 4 Principles Of Operations c cece cece eee ee seen eee e eee eeeeeeeneeeeeeeeeeeeeeeaeeeeetttssenagenngs 18 Mode sD ONGOR IMSEGIGUION eerren EENE E OEE cecreiten ecumenism eiear erences 18 4 2 Confirming Supporting Data IS PreSent ccc cece cece cece eeeeeeeeeeeeeeeteseeneneengs 20 4 3 DISCOVER 4600 AND THE BATHYMETRIC PROCESSOR ceeeeee eee e eee eee esses eee eens 24 4 4 Operating HYPACK ccececccccceeeseeeeveeeeeeeeeeeeeeeeeeaeeneetavaeereeeetaenensavateneneneatens 30 DE Contact and Service Information ccc cece cece eee e eee e ee ne teense enna 46 Deck Cable Dra win oester na EEE AE E E EEEE 1 4600 Acoustic Centers Standard Body Type ccccceee eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneanaes 2 4600 Swath Bathymetry and Side Scan Sonar a Eagelech EdgeTech s 4600 Startup Guide 1 Introduction The complete 4600 Bathymetry and Side Scan Sonar System consists of the 4600 Swath Bathymetry and Side Scan Sonar Head and the 4600 Topside Processing Unit TPU Figure 1 4600 Topside Processing Unit Left and Sonar Head Right EdgeTech s 4600 is a combined fully integrated swath bathymetry and
15. Head to the boat Any angular displacements between the sensor and the Sonar Head induced as a result of roll pitch motion and pole mount bending will be transferred to the final dataset This method subjects the MRU to the least amount of lateral accelerations during vessel roll pitch Lever arm corrections for heave displacements must be applied Recommended b Position 2 An alternative method is to attach the MRU to the top of the Sonar Head s mounting pole In this case the pole mount to the vessel needs to be stiff only in the yaw place so that the vessel heading is still accurately coupled to the Sonar Head heading This method is best if the pole boat coupling is not ideal Lever arm corrections for heave displacements are not required However long term roll angles changes due to crew movement etc are not corrected for 3 Measure the depth of the Sonar Head and its location relative to the MRU sensor If the MRU was attached to the Sonar Head s mounting pole measure the relative location of the MRU sensor to the vessel s center of motion Record these measurements as they will be used later as Offsets in HYPACK 4 Setup the GPS as described in the GPS user manual 5 Connect the Sonar Head to the 4600 Topside Interface via the 20 pin Amphenol Industrial connector 4600 Startup Guide Page 18 of 46 0012884 REVE 4600 Swath Bathymetry Edgelech and Side Scan Sonar 6 Connect the GPS to COM1 and the MRU to CO
16. M2 assuming the GPS provides heading as well as position in latitude and longitude Note An alternative configuration might require a third sensor such as a Gyro for heading data In this case the Serial port assignments Should be Gyro COM1 MRU COM2 and GPS Position COMS3 Refer to Section 3 2 3 for more details 7 Ensure the Ethernet from Portl of the 4600 Topside Interface is plugged into the Ethernet Portl of the Topside Processor labeled SONAR 8 Turn the Sonar Head ON by using the switch on the front side of the 4600 Topside Interface 9 Wait several minutes This waiting period allows the Sonar Head s processing unit to connect with the Topside Processor 4600 Startup Guide Page 19 of 46 0012884 REVE 4600 Swath Bathymetry 4 2 Confirming Supporting Data is Present To ensure the Sonar Head s processing unit is communicating properly with the Topside Processor follow these steps 1 On the Desktop launch Shortcut to sonar exe The following window should appear k Sonar 192 9 0 101 Remote Desktop Connection baaje ee Shortcut to File Tare Transmit Misc EdgeTech Self Test OK Sonar OFF SIB_4600 OF 0 aL Shortcut to sonar exe J Recycle Bin diskmgmt msc Start 19 2 Sonar Figure 11 Sonar 192 9 0 101 Remote Desktop Connection Window 2 Check the clock time of the sonar bottom right hand corner of Figure 11 with the clock time from the GPS and the Topside P
17. RENCE MANUAL 4600 Startup Guide Page 29 of 46 0012884 REVE 4600 Swath Bathymetry 4 4 Operating HYPACK The processed bathymetry and side scan data is sent in real time to the HYPACK HYSWEEP 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 This segment briefly explains how to use HyPacK in order to complete a hydrographic survey For more information on how to use Hypack with the EdgeTech 4600 System please refer to the EDGETECH 4600 HYPACK SOFTWARE GUIDE Note This section assumes the end user has a high level Knowledge of HYPAcK If not it is the sole responsibility of the customer to acquire training Support from HYPACK 1 Place the white HypAck Dongle in the front USB port of the 4600 Topside Processor in order to activate the HYPACK License 2 Launch HyPAcK and copy the EdgeTech4600 Project This will copy all the necessary files in order to complete a survey with the 4600 system Figure 24 a Project Manager Local Project Folders Help PAARRAN RAAR RANRARAARARRAARANAN RARKRRRH RAS Mow 02 2010 Oct 29 2008 birnir eT Copy Project EdgeTech4600 New Project Mame Cancel Open Project Hew Project Delete Project View Local Proj
18. ar Head 2 and the MRU In HYPACK Sonar Head 1 and Sonar Head 2 represent the array on the port and starboard side of the underwater unit Figure 2 respectively Both sonar heads should have the same Forward and Vertical Offsets while the Starboard offset should differ according to the acoustic centers Please refer to the Appendix for the Acoustic Center locations of each array O O 4600 Startup Guide Page 32 of 46 0012884 REVE Edgelech e When finished click Close 4600 Swath Bathymetry and Side Scan Sonar Connect COM Test Network Test Offsets Manufacturer Model Applanix POS MV Network Installed Add gt Edgetech 4600 System Applanix POS MY Serial Atlas Bomasweep E lt Remove Atlas Fansweep Atlas Fansweep Serial Atlas Hydrosweep DS Atlas Hydrosweep MD 30 Atlas Hydrosweep MD 50 Atlas Hydrosweep MD2 Benthos 162 Benthos C3D BlueView Multibeam C MAx CM2 C MAx CM2 USB Coda Octopus F180 Edgetech 272 T TD Specific Sonar Identification EdgeT ech 4600 Close Help About Edgetech 4600 System Edgetech 4600 System v Figure 27 Hysweep Hardware Window Hysweep Hardware Setup E Edgetech 4600 System File Manufacturer Model Connect COM Test Network Test Offsets Sonar Head 1 Sonar Head 1 Sonar Head 2 MAU Offsets Heading Offset Yaw The Vertical Offset is Positive Downward and Measured From Waterline Starboard 0 0
19. ative Humidity Topside I nterface Interface Power Supply Topside Processor Operating System Interface Display Storage Power Supply Supplied Components Edgelech 0 C to 40 C 32 F to 104 F 20 C to 60 C 4 F to 140 F Operating 0 to 80 Non Operating 0 to 100 100 baseT Ethernet Serial RS 232 110 220 VAC Auto Sensing Windows 7 100 baseT Ethernet Serial RS 232 Dual 21 LCD Monitors Expandable to 4 ITB min Hard Drive amp RW DVD 110 220 VAC Auto Sensing 4600 Swath Bathymetry and Side Scan Sonar 0 C to 40 C 32 F to 104 F 20 C to 60 C 4 F to 140 F Operating 0 to 80 Non Operating 0 to 100 100 baseT Ethernet Serial RS 232 110 220 VAC Auto Sensing Windows 7 100 baseT Ethernet Serial RS 232 Dual 21 LCD Monitors Expandable to 4 1TB min Hard Drive amp RW DVD 110 220 VAC Auto Sensing e 4600 Swath Bathymetry and Side Scan Sonar System with 20 m 65 ft Deck Cable Please refer to the Cable Drawing in the Appendix 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 Side Scan and Bathymetry Acquisition Software e Hypack Survey and Post Processing Software e System Restore Software DVD e 2X HP 21 in LCD Monitors e HP Keyboard and Mouse e 2 x Power Cables e Spares Kit e Manuals on CD 4600 Startup Guide Page
20. aybe input via i NMEA xxHDT sentence or il EM1000 binary format along with attitude data c Roll Pitch and Heave Data this may be input via i EM1000 binary format or ii TSS1 format d Time Input supported sentences are in order of priority use I xxZDA Il xxGGK derived from data in item a above iii xXxXGGA IV xxRMC V XXGLL At minimum items a b and c above are required and must be supplied 4600 Startup Guide Page 9 of 46 0012884 REVE 4600 Swath Bathymetry The rest of this section presents an overview of the systems connections data flow and installation considerations for the 4600 System 3 2 System Connections and Data Flow 3 2 1 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 15 m deck cable This cable is fixed to the Sonar Head and provides a 20 pin Amphenol Industrial connector for direct connection from the Sonar Head to the 4600 Sonar Interface The 4600 Sonar Interface then connects to the Topside Processor via a standard RJ 45 Ethernet plug The Topside Processor auto senses straight and crossover Ethernet cables 3 2 2 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 COM3 is configured for standard connections These COM ports are provided to intake the naviga
21. be present on the 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 voltages are present in the sonar head the power amplifier and the topside processor Always use caution when removing the electronics from these devices Improper Line Voltage Operation with improper line voltage may cause serious damage to the equipment Always ensure that the proper line voltage is used 4600 Startup Guide 0012884 REVE 4600 Swath Bathymetry and Side Scan Sonar EdgeTech Foreword This startup guide is intended to provide the user with an understanding of how to deploy and operate the 4600 System in order to complete a hydrographic survey using EdgeTech s Discover and an a
22. between the Sonar Head any supporting sensors and the Processor running EdgeTech s DISCOVER 4600 Side Scan and Bathymetry Acquisition software and an approved post processing software Note 1 At this point the only hydrographic surveying and post processing software that has been approved by EdgeTech to interface with the 4600 software is HYPACK EdgeTech has worked exclusively with this company to provide a user friendly interface for the 4600 System Note 2 The 4600 Topside Processing Unit comes standard with a third party software pre installed unless the customer has specified otherwise upon time of purchase Also installing other software besides the ones supplied with the system can have undesirable 4600 Startup Guide Page 2 of 46 0012884 REVE 4600 Swath Bathymetry effects such as poor and or slow performance when acquiring bathymetry and side scan data and the possibility of missing and or incomplete data being acquired 4600 Sonar Interface 4600 Topside Processor Figure 3 4600 Topside Processing Unit The end user needs only to supply a source of data for position latitude longitude and heading measurements as well as roll pitch and heave data to complete the acquisition package Some examples that provide these types of data are presented in Figure 4 Figure 4 Optional GPS Left and MRU Right Sensors 4600 Startup Guide Page 3 of 46 0012884 REVE 4600 Swath Bathymetry GPS provides p
23. e it is not as important as the first two measurements 4600 Startup Guide Page 13 of 46 0012884 REVE 4600 Swath Bathymetry 3 2 4 Sonar Data Flow To illustrate the data flow between Discover the BATHYMETRY PROCESSOR and HyPack the following block diagram is used Heading Position and Motion Data Information Gets Time Stamped and Sent Back to Interface 4600 Sonar Supporting Data Interface _ o Raw Sonar Data Supporting Data 4600 Sonar Head HyYPAcK Raw Sonar Data Supporting Data Range Angle Data Supporting Information DISCOVER Side Scan Data Raw Sonar Data Range Angle Data Bathymetry Processor Figure 8 Sonar Data Flow 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 data time stamped with a common value and sent back to the 4600 Sonar Interface DISCOVER intakes the 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 recorded as a JSF file and packaged with the heading position motion and side scan data This complete da
24. ects View Network Projects ES Make Network Copy Figure 24 Copy Project Window 4600 Startup Guide Page 30 of 46 0012884 REVE 4600 Swath Bathymetry Edgelech and Side Scan Sonar 3 Give the copied project a relevant name such as the area to be surveyed and the date i e Port Everglades 10 28 2010 4 Now configure the Geodetic Parameters for the survey area a Select Preparation from the top menu in the HypaAck Shell Figure 26 circled in red and click on Geodesy This same window may be reached by choosing the Geodesy shortcut from the shortcut menu designated by red arrow in Figure 26 The following window should appear iy Hypack Geodetic parameters File Options Help Predefined Projection Transverse Mercator Central Meridian Reference latitude one Zone TESI St r Scale factor Distance Unit bleker False Easting 500000 0000 Depth Urit i i P same as horizont False Northing ioa Elevation Mode Z axis positive going up Datum transformation parameters Delta 0 00 Deltas 0 00000 Ellipsoid WGS 84 z Delta r 0 00 Deltary 0 00000 lt Delta Z 0 00 Delta Z 0 00000 Semi Major Axis 6378137 000 Delta Scale 0 00000 Flattering 1f 298 257223563 Datum shift file GeoidModel SSC Orthometic Height Correction 0 000 m Chart datum level above geoid 0 00 Ok Cancel Figure 25 Geodetic Parameters Window b Configure the para
25. ew Processed Pings Partial Pings Detected Altitudes Last Altitude M Port Angle Sets Stbd Angle Sets Figure 15 BATHYMETRIC PROCESSOR Main Window 2 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 Figure 14 circled in blue 3 Check the clock time in DISCOVER and ensure it corresponds to the sonar GPS and Topside Processor s clocks This is done by looking at the time stamp listed next to the word Time Figure 14 arrow indicator in blue 4 Navigate to the Towfish Control Tab and check the Sonar On box to turn ON the Sonar Head Contra Video Gains Display Disk Bottom Track Grids Status Frequencies Signal Meter Range M 100 0 0 KHz 0 0 KHz Port 0 Starboard 0 Ping Rate 100 l Figure 16 Towfish Control Tab Turning the Sonar On Note If at 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 turned on a window Figure 17 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 Customer Service using the information provided on page 46 4600 Startup Guide Page 25 of 46 0012884 REVE 4600 Swath Bathymetry Diagnostic Information Connection to Towfish Electronics Good Ser
26. h Bathymetry RF Edgelech and Side Scan Sonar po Interferometry o x Figure 33 Interferometry Window Illustrating a Biased Data Set Caused by too low of a Port and Starboard Angle Limit PR Profile Window Sounding Points Swath Width Figure 34 Profile Window Illustrating a Biased Data Set Caused by too low of a Port and Starboard Angle Limit 4600 Startup Guide Page 38 of 46 0012884 REVE 4600 Swath Bathymetry Since the 4600 System has a 200 field of view the correct way to limit the bathymetry data is setting the Port Angle Limit and the Starboard Angle Limit set to 100 Figure 35 EM View Option aaa ee Ranges Multibeam Display QC Tests Coverage Man Other Wark Units F Multibeam Minimum Depth Masimum Depth 25 00 1 OO Port Offset Limit 50 00 Starboard Offset Limit 50 00 Port Angle Limit 1 00 00 Starboard Angle Limit 1 00 00 5 0 Depth Range for Overlap Colors Detaults Figure 35 View Options Window Correct Way of Limiting Data 4600 Startup Guide Page 39 of 46 0012884 REVE 4600 Swath Bathymetry RF Edgelech and Side Scan Sonar If the data needs to be limited adjust the Port and Starboard Offset Limits instead This will only keep the data points included within the horizontal range specified by these offset limits without biasing the data points A proper way to threshold the data is demonstrated in Figure 36 and Fig
27. meters according to the survey area c When finished click OK 5 Load any necessary background files needed to complete the survey a Under Project Files on the left side of the HYPACK main window Shell Figure 26 right click on the Background Files and select Add Files b Locate the background files needed and select Open 4600 Startup Guide Page 31 of 46 0012884 REVE 4600 Swath Bathymetry and Side Scan Sonar Fa Administrator Hypack C HYPACK 2010 Projects EdgeTech 4600 EdgeTech 4600 ini an kba File Draw View Setti GE Hysweep Spe Scan Utilities Tools Help eal i PEH 3 ae SOS fr ey opr Er er oR a uH eve Bae Ed Grid UT N Ellipsoid WGS 84 Zone one 206E EM Dist Unit Meter zai PERN SEH Data Files a J E Faw Data Files i C Edited Data Files Pi i a Matris Files zo Flanned Line Files amp Hla xZ a 5 te i pT F Archives o ge 7 Se a Lo S 3 0000 0 6078 H DB 2919 4574 W Od scale 1 604 72 Figure 26 Hypack Main Window Shell 6 Input any offsets for the 4600 Bathymetry and Side Scan Sonar System These values depend on how the system was mounted a Select Hysweep from the top menu of the HYPACK Shell Figure 26 circled in red and click on Hysweep Hardware Please refer to Figure 27 and Figure 28 Ensure the EdgeTech 4600 system is highlighted Select the Offsets Tab at the top d Enter the offsets for Sonar Head 1 Son
28. ocessor i m Pade Proceasee Mo Liaj Ral Fish Hiiri Biol Bitch Herse a i Hak Liisi Not Lisad Narvigati ee ee Ju on E Posty GPS w HD MS Gyre MS GPS 1 a a E COT E LEM 2 kt Fl a CILLI TETLE DS ITITI 400 Sonar read 5 ee a a Pr APS 5 LE LF Si ik obo 1 LEIF hey lai E i h fee ee a re at 5 Port i Ethernet 48VDC A agy Eri Switch n Converter Filter A E TR TO hT i l mri PEE A si ce i l soc On h siek Converter PA iy ad E n Edgelech Figure 7 Sonar Interface Connections Here the 4600 Sonar Interface connects to the Sonar Head via the 20 pin Amphenol 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 via Ethernet Port 1 IP Address 192 9 0 100 via the Deck Cable The Topside Processor then processes these data using the DISCOVER and BATHYMETRY software to send amplitude angle and range data to the Hypack software for logging and post processing This process is explained in further details in the following section The Hypack and Di
29. osition latitude longitude and may or may not provide heading MRU provides a source of roll pitch and heave measurements 4600 Startup Guide Page 4 of 46 0012884 REVE Edgelech 2 Product Specifications 230 kHz Model Physicals Size 1210 L x 260 W x 230 H mm 47 64 L x 10 13 W x 9 18 H in Weight 44 kg 98 Ibs Construction Aluminum and Polyurethane Color Yellow and Black Sealing Watertight Cover O ring Seal with Purge Valve Side Scan Sonar Frequency Range per Side 225 m 738 ft Range Resolution 30 mm 1 18 in Beam Width Along Track 0 64 2 way Depression Angle 30 230 kHz Interferometric Swath Bathymetry Maximum Swath 350 m Range Resolution 60 mm 2 36 in Ping Repetition Rate 25 m 82 ft 30 Hz 50 m 164 ft 15 Hz 100 m 328 ft 7 5 Hz Max Depth Below Tx 120 m Sonar Head Power Requirements DC Input 48 VDC Power 100 Watts 4600 Startup Guide Page 5 of 46 4600 Swath Bathymetry and Side Scan Sonar 540 kHz Model 1210 L x 260 W x 230 H mm 47 64 L x 10 13 W x 9 18 H in 44 kg 98 Ibs Aluminum and Polyurethane Yellow and Black Watertight Cover O ring Seal with Purge Valve 540 kHz 125 m 410 ft 15 mm 0 6 in 0 5 2 way 30 150 m 30 mm 2 36 in 25 m 82 ft 60 Hz 50 m 164 ft 30 Hz 100 m 328 ft 15 Hz 50 m 48 VDC 100 Watts 0012884 _REV E Environment Operating Temperature Storage Temperature Rel
30. pproved 3 Party Acquisition and Post Processing Software The approved 3 Party Topside specific to this startup guide is HyPpACK s Hydrographic Surveying Software EdgeTech assumes the end user has an assembled and tested 4600 System It is also assumed that the user has a high level knowledge of the specific 3 Party Topside Software and if this is not the case then training is required before proceeding The contents encompassed within this STARTUP GUIDE provide a brief overview of the 4600 System and its basic operations All other information i e Warranty Complete System Installation Technical Details Care and Maintenance etc regarding the 4600 System is described within the 4600 Reference Manual 4600 Startup Guide ji 0012884_REV E 4600 Swath Bathymetry and Side Scan Sonar EdgeTech Contents 1 LEO QUCTION rann E EEE E E E E canes edcacocetuecewarcenacs 1 2 Product Speci ation tetiienascracgueeuesaanalvusadeden orders emer achi rained eee 5 3 OU TVI W eee ara E E 9 AL DFO a eaa AEE A E T EE AEE 9 3 2 System Connections and Data FIOW c cece cece eeeee seen ee eee eeeeeeeeeeeeeeeteeeneaes 10 3251 Ethernet LAN CONNECHONS sicacanestoccicouerebeescone nara EA a euros 10 Pee COM POR GS werent cen EE E ede pe aaaneacanes cout EE 10 S225 HardWare CONNECTIONS sicsascusica iene aaniaresaensiesie steaks aie ETENEE OETA 10 3 2 4 Sonar Data FIOW ccccccccccc cece eee eee ene A EEE EEE EERE EEE EE EE
31. rocessor Ensure all three have the same time stamp 3 Click on Menu gt Misc gt Serial Port Information 4600 Startup Guide Page 20 of 46 0012884 REVE 4600 Swath Bathymetry 4 Check each COM port in the drop down menu to ensure data is coming through for each device and in the correct format Figure 12 a COM1 MRU a COM2 GPS b COM4 Sound Velocity Sensor in the nose of the Sonar Head Note The GPS and MRU are interchangeable on COM1 and COM2 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 12 red arrow If all systems are working properly close this window and proceed to Step 5 If there is an issue with one of the ports please contact Customer Service using the provided information on page 46 4600 Startup Guide Page 21 of 46 0012884 REVE 4600 Swath Bathymetry B Sonar 192 9 0 101 Remote Desktop MB 19 2 Sonar File Recording Transmit Misc Self Test OK Sonar OFF SIB_4696 fs F 0 Serial Port Information 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 000000 0001U 0066 003711 7000000 0001U 0066 003711 000000 0001U 0067 004211 7000000 0001U 0068 004111 000000 0001U 0067 004111 000000 0001U 0066 003711 000000 0001U 0065 003711 7000000 0001U 0066 003711 A start 19 2 sonar 2 46
32. s Fe Vertical Horizontal Scale 4D Seafloor Wiggle Display Co Wireftame Display Solid TIN Multibeam Waterfall C Sobd TIN f Color TIN C Intensity Nadi Depth Font Alam Depth fo Figure 40 View Options I nterface Display Tab 4600 Startup Guide Page 43 of 46 0012884 REVE 4600 Swath Bathymetry 19 On the Hysweep Survey Window choose View gt Multi Beam Waterfall to bring up the waterfall view of the seafloor PA Multibeam Waterfall Color Bil mi El X 591895 Y 2890961 Depth 25 21 Display Multibeam W pa Sounding Colors Range 7 hi Figure 41 Multibeam Waterfall using Color Tin Viewing Option Note 1 Range Settings and Display Options buttons for all three windows portray the same settings from the same window The Sounding Colors button allows the user to change the color scheme of the Multibeam Waterfall window Note 2 There are other windows that Hysweep Survey provides and these are accessed the same way as in step 16 20 When ready to collect data select the Start Logging feature from the Survey window by Logging gt Start Logging or by selecting the shortcut key El Hoa aaa S A eo e ee u Figure 42 Survey Window First Display Window in Figure 30 4600 Startup Guide Page 44 of 46 0012884 REVE 4600 Swath Bathymetry 19 20 ZA 22 Note DISCOVER could be recording simultaneously as HYPACK is logging data If desired navigate
33. scover Side Scan Bathymetry processors all run on the same computer The first example depicts an Applanix PosMV system interfacing to the 4600 Sonar Interface This type of system provides navigation latitude longitude heading roll 4600 Startup Guide Page 12 of 46 0012884 REVE 4600 Swath Bathymetry pitch and heave data and so no other sensor is required The PosMV should be connected to COM1 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 COM1 GPS Navigation and Heading COM2 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 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 COM1 Gyro Heading COM2 MRU Roll Pitch Heave COM3 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 must be allotted to COM3 becaus
34. side scan sonar system that produces real time high resolution 3D maps of the seafloor while providing co registered simultaneous side scan and bathymetric data The 4600 Sonar Head s side scan sonar arrays are mounted on a streamlined body that is deployed over the bow of a survey vessel via a pole Sonar data is transferred from the transceiver to the Topside Processing Unit on board via an Ethernet network interface A detailed description of the 4600 Sonar Head configuration is presented in the REFERENCE MANUAL and its main components are illustrated in Figure 2 4600 Startup Guide Page 1 of 46 0012884 REVE 4600 Swath Bathymetry Mounting Bracket Mounting Pole Sold Separately Tail Cone Sound Velocity Sensor SVS er Nose Cone We ie SZ OO SS 5 i A Figure 2 4600 Sonar Head Components Sonar Processor Sonar Arrays Port and Stbd 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 A Mounting Pole may be purchased separately to secure the 4600 System to a survey vessel Note Please become familiar with these terms in Figure 2 as they will be referenced throughout the rest of this startup guide The 4600 Topside Processing Unit includes a 4600 Sonar Interface and a Processor Figure 3 The 4600 Interface provides power to the Sonar Head and a link
35. ta package is then sent to and used by HyYPAcK to generate three dimensional bathymetry data files and to display side scan and bathymetry data on a monitor Finally these 4600 Startup Guide Page 14 of 46 0012884 REVE 4600 Swath Bathymetry three dimensional bathymetry data files HSX can be used post survey to generate hydrographic final products 3 3 System Installation The 4600 System s installation on the survey vessel 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 Customer Service for a quotation using the information provided on page 46 3 3 1 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 9 A larger representation of these photographs is given in the Appendix If help is needed with this type of installation please do not hesitate to contact EdgeTech using the information provided in the Customer Service Section on page 46 of this manual 4600 Startup Guide Page 15 of 46 0012884 REVE
36. tion heading roll pitch and heave data from the supporting sensors 3 2 3 Hardware Connections The following is a block diagram that illustrates the interconnections between the 4600 Swath Bathymetry and Side Scan Sonar Head the 4600 Topside System and all supporting sensors 4600 Startup Guide Page 10 of 46 0012884 REVE 4600 Swath Bathymetry ry Edgelech and Side Scan Sonar Monitor A 4600 TOPSIDE SYSTEM Top 4600 Sonar Interface Bottom Topside Processor with DISCOVER and HYPACK Software COM1 COM2 COM3 Supporting Sensors Ethernet IP Address 192 9 0 100 20m SONAR to TOPSIDE Deck Cable 48V Ethernet RS232 x 3 PPS Trigger x 2 Monitor B Mounting Pole Optional Sonar Processor gar COM4 OO Kevboard TT bA SVP Track Ball m e N 4600 Sonar Head IP Address 192 9 0 101 Bathy Side Scan Arrays Port and Stbd Figure 6 Hardware Data Flow Diagram for the 4600 System A larger representation of Figure 6 is provided in the Appendix A more detailed block diagram demonstrating the interconnections and inputs to the 4600 Sonar Interface Top section of the 4600 Topside Processing Unit is shown in Figure 7 This illustration also gives three examples of possible sensor configurations 4600 Startup Guide Page 11 of 46 0012884 REVE 4600 Swath Bathymetry Example 1 Example 2 Example 3 kaipaan Hardag Harigation Roll Fach Here Hash mig Raa ng Topside Pr
37. ure 37 Interferometry 0 x Figure 36 Correct Window Thresholding Interferometry Window x Profile Window Sounding Points Figure 37 Correct Window Thresholding Profile Window 11 Select the third button in Figure 31 to access the Interferometry Options This window may also be accessed by right clicking on the Interferometry window and selecting Options 4600 Startup Guide Page 40 of 46 0012884 REVE 4600 Swath Bathymetry 12 Check the Filter along track box under Filtering boxed in red in Figure 38 Set the number of bins to 50 and set the Height Weight between 2 5 0 3 0 6 The parameters shown below work well for rejecting bad data when the seafloor is behind an object Interferometry Option Avoid Nothing Filtering Ignore manufacturer flags Filter by display limits Filter by manual limit Filter by quality code Filter water column We Fiter along track Bins 50 Height weight 4 00 0 50 Filter across track E eamforming Beams 240 Mode Bin by Horizontal Offset Weighting Mode None Bin Size 0 50 Max Width 120 00 Enable Std Deviation Test Enable Colinearity Test Figure 38 Interferometry Options 13 Under Beamforming boxed in green Figure 38 the number of beams or number of points per swath should typically be less than or equal to 400 14 Ensure that the Mode drop down menu is set to Bin by Horizontal Offset 15 The Bin Size
38. vey window Figure 30 top choose View gt Interferometry to bring up the interferometry window Display Options Range Settings Figure 31 Interferometry Window 10 Select the first button in Figure 31 to access the Ranges tab in the View Options window Figure 32 This window allows the user to control the Minimum and Maximum Depth Port and Starboard Offset Limits Port and Starboard Angle Limits and the Depth Range to Overlap Colors limit 4600 Startup Guide Page 36 of 46 0012884 REVE 4600 Swath Bathymetry Edgelech and Side Scan Sonar Ranges Mullibeam Display OC Tests Coverage Map Other Work Units fe bel alt ee ar Minimum Depth 0 00 Mamun Depth 15 00 Port Offset Lini 40 00 Sha beard Oliset Limit 40 00 Port Arge Limit Starboard Angle Limi Cows 50 Depth Range for Overlap Figure 32 View Options Window Incorrect Way of Limiting Data Note 1 It is important to note here that it is not a good idea to limit your data by setting the Port and Starboard Angle Limits under the Ranges tab Figure 32 When the Port and Starboard Angle Limits are set too low gt 90 the data becomes biased resulting in a false curvature of the seafloor Figure 33 and Figure 34 illustrate this biasing concept Note 2 The Port and Starboard Angle Limits in this example have been set to 55 the field of view of a traditional multibeam 4600 Startup Guide Page 37 of 46 0012884 REVE 4600 Swat
39. vice Flag 0x30000000 Overflow Count Power V 51 1 Error Count Ambient C 30 0 Resets Activity 388216 Sonar Head is ON Time Sync None and CONNECTED Port1 Port Inactive lt GPS MRU is DISCONNEQTED Port2 Port Inactive lt MRU GPS is DISCONNECTED Port4 Active ia SVS is ON and CONNECTED Figure 17 Diagnostic Information Window 5 Ensure the correct supporting information is being inputted to the system on the appropriate COM ports by choosing View gt Situation Status on the Bathymetric Processor main window Figure 18 and Figure 19 Proce Reset Dialogs Parte Deted Last amp Connection Status ai Situation Status Forta Engineering Displays Stbd Angle Sets Figure 18 Selecting the Appropriate Ports The choices available are OFF ANY COM1 COM2 etc Ensure the correct strings i e GGA HDT VTG etc are set to ANY or set to their corresponding COM port If only one source of each piece of information is provided to the system the Situation Status window may look like the one presented in Figure 19 Also the processed or not processed pitch roll data is presented in this window as well 4600 Startup Guide Page 26 of 46 0012884 REVE 4600 Swath Bathymetry a Situation Processed Not Processed Average Rate Hz Pitch Roll Pressure Altitude r 2 4 g g 0 g 0 g 0 0 g 0 g 0 0 D o 8 8 O 8 585 8 8 8
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