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4600 Swath Bathymetry and Side Scan Sonar

1. has a 50 tolerance 25 has a 909 tolerance 0 allows all data points to pass through For most cases any data with a quality factor less than 50 should be discarded c Time Varying Gain TVG 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 i Default this option adjusts the TVG according to the operating freguency and reguires no input from the user ii Display this option applies the TVG set in the display settings as shown in Figure 42 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 42 4600 REFERENCE MANUAL PAGE 53 or 68 REV G E EdgeTech 4600 Swath Bathymetry File View Configuration Control Bathymetry Help gt IEE o B 24 H 12 4 v BH sz Figure 42 Discover Toolbar Menu iii 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 43 This option also requires constant monitoring of the side sca
2. Self Test OK Sonar OFF SIB 4600 OF 0 start 3 19 2 Sonar Fig 6 Rebooting Sonar from the main screen 8 Now plug in your device into COM 1 9 Click on the Misc at the top of the Sonar screen as shown in Fig 7 then Serial Port I nformation 10 Check COM1 and set the correct baud rate for that device by using the drop down menu shown in blue Fig 7 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Fig 7 The correct data string should also be scrolling in the lower part of the window green arrow Fig 7 11 Now click on File Show Status in the sonar window circled in red Fig 8 12 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 13 Select Serial and then click on the Update button several times blue arrow 14 Check to make sure the sensor s 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 Proceed to step 15 on page A7 4600 REFERENCE MANUAL A5 oF A13 REV G EdgeTech 4600 Swath Bathymetry 051 RecvQOF 0 XQOF 0 000000 0001U 0066 003711 000000 0001U 0066 003711 000000 0001U 0067 00421 7000000 0001
3. Monitor B Mounting Pole Optional Sonar Processor Kevboard Track Ball 4600 Sonar Head IP Address 192 9 0 101 Bathy Side Scan Arrays Port and Stbd Figure 8 Hardware Data Flow Diagram for the 4600 System Example 1 Example 2 Example 3 Navigation Heading Navigation i Roll Pitch Heave Headrg Li Heading Le Topside Processor Not Used Rell Pitch Heave Roll Pitch Meave e A Not Used Ach Not Used ral Navigation D PosMV GPS w HD MS Gyro MS GPS tre 4600 Sonar Head BACK vew Tee Sonar Head 5 Port TOP Ethernet n 48VDC Si 48V vew Switch Converter Filter f ER ISO ice s 5VDC Converter Figure 9 Sonar Interface Connections 4600 REFERENCE MANUAL PAGE 15 or 68 REV G E EdgeTech 4600 Swath Bathymetry In Figure 8 the 4600 Sonar Interface connects to the Sonar Head via the Seaconn 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 proces
4. Software patches consist of software that has undergone the following 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 the availability of a work around vi E EdgeTech 4600 Swath Bathymetry n I n Dat 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 Software Service Agreement Fee The SSA covers one year and is renewable upon expiration For the SSA annual fee please contact EdgeTech directly For contact information refer to the Customer Service Section on page x of this manual vii EN EdgeTech 4600 Swath Bathymetry n I n Dat Returned Material Authorization If it is necessary to return the equipment for service a Returned Mater
5. 2000 el Video Delay samples 9 el Lines Retum we V Link Port and Starboard Lines Retum E Zoom 4 201 0 Video Delay samples iH Palette l4 Figure 27 Display Tab 4600 REFERENCE MANUAL PAGE 42 or 68 REV G EA EdgeTech 4600 Swath Bathymetry 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 on the Topside Processor 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 If the user does not specify a specific file name DISCOVER will automatically name every file 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 Gids Status Playback Fille Browse Record File Lm ed U e Figure 28 Disk Tab For basic playback navigate to the Disk Tab Figure 28 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 If a file was recorded in DISCOVER while data was being recorded in the 3 party acquisition software the file can be re processed for bathymetric estimation using different pa
6. AND SHALL NOT BE REPRODUCED COPIED OR USED AS THE REV DESCRIPTION APPROVED BASIS FOR THE MANUFACTURE OR SALE OF APPARATUS WITHOUT PERMISSION COPYRIGHT 2010 EDGETECH INC TA initial Rele 723480 I Wht1 L B Changed pin connections 8 20 11 SEEN gt E E BIk2 Ylw1 Yiw2 Brn2 Gry1 Gry2 CAT5 4Pairs AX DL DX XD e S Clinton s Frayne a A 1141 Holland Drive Sune 1 MINK16CCP E o Edgelech Boca Raton FL 33487 7 Tet 561 995 7767 Fax 995 7761 DRAWN 07 10 10 Emat Ful pectrumbEdgeTech com Cable FMXCAT52218K12 DryMate Connector SEACON MINK16 CCP ees ms pn FMXCAT52218K 12 Cable MEC I 15 Meters m ame ST Jaxx 067 F016P049 0105 B 4600 REFERENCE MANUAL PAGE C6 OF C7 REV G ES Edgelech 4600 Swath Bathymetry Acoustic Centers Standard Body Type THESE DRAWINGS AND SPECIFICATIONS ARE THE PROPERTY OF EDGEONE LLC DBA EDGETECH OR ORE Ont ao JR USED IN AN Y WAY OF EDGEONE LI Qonoa FDGEONE uc THE Y SHALL NOT DE REPRODUCED C AND ARE ISSUED IN ONTIDENCE RITTEN PERMISSION WITHOUT THE EXPRESS SEE TABLE FOR ACOUSTIC ENTERS 4x 75 19 THRU EQUALLY SPACED ON B C 65 00 B C 152 ESTIMATED WEIGHTS AIR 98 LBS 44 KG SW 24 LBS 11 KG NOIES LL DIMENSIONS IN BRACKETS ARE IN MM AND KG RESPECTIVELY 4600 REFERENCE MANUAL UNLESS OTHERWISE NOTED DIMENSIONS ARE IN INCHE
7. 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 main window please see Section 5 2 of this manual 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 Customer Service using the information provided on page x of this manual 12 What do I do if the Diagnostic window will not disappear even after I 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 Section 3 1 of this manual If the problem persists please contact Customer Service using the information provided on page x of this manual 13 Can the 4600 System measure pilings or vertical objects The 4600 system can measure vertical objects if configured to do so Currently the system acquires data that is then binned and averaged according to a specified number of horizontal bins In doing so the system can only measure horizontal features and so it should not be relied upon to measure vertical objects 14 If am constantly surveying within a ch
8. Figure 39 100 80 50 40 20 Figure 38 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 seafloor is beyond the acoustic data Figure 39 Example Extreme Circumstance Input Approximate Depth 2 Multipath Suppression Level The multipath suppression level is a parameter 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 eliminated This parameter can take values 4600 REFERENCE MANUAL PAGE 50 or 68 REV G E EdgeTech 4600 Swath Bathymetry between 1 and 3 and increasing this value combines more of the elements to combat the effects of multipath echoes a Ifthis 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
9. Oueues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Out 0 In 297 1 324 Capacity 3 43 NMEA 0 30 30 30 55 2d 30 im Serial On Com 002 Queues N State OK ParseErrors 3 Moge Reca 0 Generated 4528 RecvQOF 0 XQOF 0 lv ast Out 0 In 297 1 324 Geng 23 13 ASCII RI 30 20 30 30 30 A0 210 d 0 30 30 55 2d 30 Serial3 On Com3 Queues N State OK ParseErrors 0 Recvd 0 Generated 4520 RecvQOF 0 XQOF 0 Out 0 In 297 1 324 Capac 53 23 NMEA T d 0a Seriala S e Com4 Guca N State OK ParseErrors 0 Mese Recvd Generated 4528 RecvQOF 0 XQOF 0 i tOut 0 In 297 1 324 Capacity 1 23 ASCII 1545 21 Fig 13 Checking all COM Ports 4600 REFERENCE MANUAL A13 oF A13 REV G EN EdgeTech 4600 Swath Bathymetry Appendix B 4600 REFERENCE MANUAL REV G E EdgeTech 4600 Swath Bathymetry Performing a Rub Test This test is carried out on a bench or work table and is usually 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 If the Rub Test fails please contact EdgeTech immediately using the provided information in the Customer Service Section on page x of this manual Note 2 In 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 Ens
10. Top Menu designated as row A in Figure 20 and then Processing Parameters Figure 31 and Figure 32 File View Configuration Control Help gt UR So HW Interferometry Display Processing Parameters Filtering Advanced Controls Figure 31 Discover 4600 Top Menu Selecting Bathymetric Processing Parameters Here you can turn on off the BATHYMETRIC PROCESSOR adjust the echo strength 1 1096 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 32 for a silty sand type seafloor Le Bathymetric Processing Parameters Bathymetric Processing J Use External Limits Processing Refinements Limits Echo Strength Filter 1 10 percent 2 4 SNR Filter dB 10 Maximum Process Range M 75 0 Minimum Depth M 6 0 Maximum Depth M 20 0 Figure 32 Basic Bathymetry 4600 REFERENCE MANUAL PAGE 45 or 68 REV G E EdgeTech 4600 Swath Bathymetry A few important things to know about basic bathymetry are discussed in items 1 through 4 and are highlighted in Figure 32 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 i
11. Topside Processing Unit Note If the 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 Position 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 6 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 HYPACK So please make sure to measure and note the exact location of the MRU to the vessel s center of motion 4600 REFERENCE MANUAL PAGE 23 or 68 REV G E EdgeTech 4600 Swath Bathymetry 7 Setup the GPS as described in the GPS s user manual 8 Connect the Sonar Head to the 4600 Topside Interface via the Seaconn 19 pin connector 9 Connect the dual headed GPS to COM1 and the MRU to COM2 or vice versa a A GPS is used to gather heading and position latitude longitude data b A MRU is used to measure the pitch roll and heave of the survey vessel Note Please refer to Section 3 2 2 for more information on connecting the COM Ports Also please use Appendix A to configure the COM ports for the individual sensors 4600 REFERENCE MANUA
12. 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 4600 REFERENCE MANUAL PAGE 51 oF 68 REV G E EdgeTech 4600 Swath Bathymetry 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 BATHYMTERIC 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 to be the clear side whether that be Port or Starboard as shown in Figure 41 Meiers 1 Al 4 Meters Boat Echoes Witnessed on Starboard Side Figure 41 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 Another case where Port or Starboard
13. for More 0 00 0000 NO 000 000 No Pitch Roll 0 M S PID 010F EE m 1 H 1 48V 51 1 AMB 35 0C BOT 30 9C s ETON ENNIO 00 Press Left E A Fig 18 Rub Test for 4600 Port and Starboard Arrays FAILED 4600 REFERENCE MANUAL B5 or B5 CHO CH 1 CH 2 CH 3 REV G EN EdgeTech 4600 Swath Bathymetry Appendix C 4600 REFERENCE MANUAL REV G ZE EdgeTech 4600 Swath Bathymetry Hardware Data Flow Diagram Monitor A 4600 ToPsi DE SYSTEM Top 4600 Sonar Interface Bottom Topside Processor with DISCOVER and HYPACK Software S COM1 COM2 COM3 pee B Supporting Sensors Ethernet m oo IP Address 192 9 0 100 LET 20m SONAR to TOPSIDE Deck Cable 48V Ethernet RS232 x 3 PPS Trigger x 2 Monitor B Mounting Pole Optional Sonar Ke i Processor y COM4 Keyboard immi SVP Track Ball i FA 4600 Sonar Head IP Address 192 9 0 101 Bathy Side Scan Arrays Port and Stbd 4600 REFERENCE MANUAL PAGE C1 OF C7 REV G E EdgeTech 4600 Swath Bathymetry Sonar Interface Box Connections Example 1 Example 2 Example 3 Za lm mme Roll Pitch Meave Heading E Heading i Topside Processor i Not Used Rell Pitch Heave Roll Pitch Heave 4600 REFERENCE MANUAL PAGE C2 OF C7 REV G AB EdgeTech 4600 Swath Bathymetry Bow Mount Example 4600 REFERENCE MANUAL PAGE C3 O
14. go to www edgetech com or email info edgetech com EN EdgeTech 4600 Swath Bathymetry n I n Dat Table of Contents Miri EE i Warnings Cautions and Notes ii BE le Uer EE iii luris Emm iv Warning s n H V Software Service Agreement EEN NN REN DEENEN ERENNERT a vi Software Updates and Enhancements sss eene enne nnam nennen nn vi Software Performance Report vi Software Telephone Facsimile and E mail Support vii Software Service Agreement Fee vii Returned Material Authorization lt lt lt 4 4414414 101r1 1001000 messen emnes viii CUSTOMER Serve P x 1 TntrodU CH ON MEET 1 1 1 Company Background aset DEN cetera RR RR eR NBA conven l NEEN KA ORE d ENER ERE E 1 1 2 Prodtct OVOFVIOW mites Ee ks Dida ng akad aindiiie tere e CE PERS 1 1 3 Supplied Components kn r norka dak CRY hn k RR REN ERR Rx RR NEE A RAT TR EO S RA ok 2 1 4 Optional Equipment iioc iix xe amer cvE n EENS YEN dE REES AEN EVER Vik KA 3 1 5 Software Description ieri iiec ere xeu eden bavi VR EY IIVYRR VELA XV ED V EX VVYVA iva dE EN 6 2 System DESCHIPEOM BEE 7 2 1 Fhe 4600 Elle ET EE 7 SERIES rm DELE 8 2 1 2 Sonar Array Sissi na nd encarga cid vad icr nol a ca X AR EYE YA E RE Y d n 8 2 1 3 Sound Velocity Sensor iere ei ii tame Plans er cid ka ceil ened ae ee Ratna Rene EN 8 2 1 4 Nose and Tail CONES egent ENNEN ENNER EEN dE SN SEENEN EEEE NE
15. inspect the shipping containers for any 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 pleases 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 using the information provided on page x 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 Section 1 3 4 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 Section 3 2 and a 20 m Deck Cable Note The 4600 Sonar Head is sent to the customer pre assembled If for some reason the system had to be disassembled please use this set of instructions to re assemble the Sonar Head EdgeTech does not recommend anyone other than trained EdgeTech engineers to assemble and or disassemble the 4600 system 4600 REFERENCE MANUAL PAGE 19 or 68 REV G AB EdgeTech 4600 Swath Bathy
16. oF B5 REV G E EdgeTech 4600 Swath Bathymetry 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 Fig 17 and Fig 18 for element assignment Port Receive Signals Starboard Receive Signals KSC d ta Fle Options Window Help mz es E mupp Dis e CH A CH 0 CH 5 CH 1 CH 6 CH 2 BEY CH 3 0 0000 E 0 0kt Od SL 1273 SH 0 SBS 000 000 No Pitch Roll 0 M S PID 0IOF 1 AMB o BOT 30 9C Pre use Button for More Eo D AI O O Fig 17 Rub Test for 4600 Port and Starboard Arrays PASSED 4600 REFERENCE MANUAL B4 or B5 REV G EA Edgelech 4600 Swath Bathymetry 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 Missing Starboard Receive Signals N Each cell also represents the different elements for each array see Fig and Fig 18 for element assignment 17 Missing Port Receive Signals JStar So Ve File Options vil Window Help nz m 3 star Sonar Data CH 4 CH 5 CH 6 CH 7 3 2 pts Sonar Datat 0000 E 0 Okt Od SL 1273 SH 0 SBS 2 Button
17. on View from the Top Menu Figure 52 and uncheck the Connection Status window If any Disconnections are witnessed under any one of these three sections please turn all systems off and reboot If the problem persists please contact Customer Service 4600 REFERENCE MANUAL PAGE 60 or 68 REV G AB EdgeTech 4600 Swath Bathymetry Situation Status From the Top 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 54 To turn off this window simply navigate to View Situation Status and uncheck it r Y gt Processed Not Processed Average Rate Hz 4 ov o GEE EE LANE 0 0 0 0 0 0 0 0 0 0 0 0 0 3 4 n im c o GS G S amp S OO OQ Figure 54 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 Customer Service 4600 REFERENCE MANUAL PAGE 61 or 68 REV G 4600 REFERENCE MANUAL Edgelech Processing Parameters 4600 Swath Bathymet
18. select Connection Information Here you will find the Sonar Control and Sonar Data connections status window Figure 51 This window displays the connection status between the DISCOVER 4600 and the installed External Topside Interface To turn off this window simply click Done External Topside Interface Sonar Control Connections D Disconnections Messages In 0 Messages Out Bytes In D Bytes Out Fort 1900 Dropped Sonar Data Connections Disconnections Messages In Messages Out Bytes In Bytes Out Port Dropped Figure 51 Connection I nformation If any Disconnections 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 Customer Service You can also check the connection status between the BATHYMETRI C PROCESSOR and DISCOVER 4600 This can be done by selecting View gt Connection Status from the BATHYMETRI C PROCESSOR s Top Menu Figure 52 4600 REFERENCE MANUAL PAGE 59 or 68 REV G AB EdgeTech 4600 Swath Bathymetry Detected Altitudes Last Altitude M Port Angle Sets Stbd Angle Sets Figure 52 Bathymetric Processor The following window should appear z Discover Connection Status m Figure 53 Connection Status Window Here you will find the Sonar Control Sonar Data In and Sonar Data Out connections status window Figure 53 To turn off this window simply click
19. strongly recommended that a new patch test be performed after changing these parameters 1 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 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 37 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 380 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 38 and input this 4600 REFERENCE MANUAL PAGE 49 or 68 REV G E EdgeTech 4600 Swath Bathymetry number into the Manual Altitude box Figure 39 For the example below the user would input 32 m
20. that meet or exceed your requirements 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 The information contained in this manual provides the user with a description of the setup operation care and maintenance of the EdgeTech 4600 Swath Bathymetry and Side Scan Sonar System Although this manual encompasses the latest operational features of the 4600 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 E EdgeTech 4600 Swath Bathymetry n I n Dat 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 eguipment or could result in the loss of data NOTE Note Recommendations or general information that is particular to the material being presented or a referral to another part of this manual or to another manual 4600 Swath Bathymetry EdgeTech Ge n I 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 er
21. 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 Com4 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 p Fig 12 All Sensors Set 3 Then select File gt Save and close the file DO NOT TOUCH ANYTHING ELSE 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 Fig 6 pg A5 4600 REFERENCE MANUAL A11 oF A13 REV G EN EdgeTech 4600 Swath Bathymetry 5 Now plug in your devices into COM 1 COM 2 and COM 3 The Gyro should be connected to COM1 the MRU COM2 and the GPS to COM3 The devices connected to COM1 or COM2 may be interchanged but the GPS must be connected to COM3 6 Click on the Misc at the top of the Sonar screen as shown in Fig 7 pg A6 then Serial Port Information 7 Check COMI and set the correct baud rate for that device by using the drop down menu shown in blue Fig 7 pg A6 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Fig 7 A6 The correct data string should also be scrolling in the lower part of the window green arrow Fig 7 A6 8 Now check COM2 and set the correct baud ra
22. vessel These components are demonstrated in Figure 5 Mounting Bracket Mounting Pole Sold Separately Tail Cone Sound Velocity Sensor SVS Sonar Nose Cone Processor ac AN a Sonar Arrays Port and Stbd Figure 5 4600 Sonar Head Components Note Please become familiar with these terms in Figure 5 as they will be referenced throughout the rest of this manual Sections 2 1 1 through 2 1 5 give a detailed description of the standard components illustrated in Figure 5 4600 REFERENCE MANUAL PAGE 7 OF 68 REV G E EdgeTech 4600 Swath Bathymetry 2 1 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 embedded 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 2 1 2 Sonar Arrays The 4600 operates at one of two frequencies 230 kHz or 540 kHz and utilizes two arrays port and starboard to map the seafloor Each 4600 hydrophone array is constructed using 9 independent longitudinal PZT elements One of these is used only for the transmit function while the remaining 8 elements make up an approximately half wavelength spaced array of sensors for its receiver The 8 independent elements are connected to 8 independent receive channels that are used to estimate the amplitude and p
23. you collected your patch test data Most likely the water you are operating in does not have a uniform sound velocity and depending on how drastic the profile is a depth error as large as 1 6 m has been witnessed Can incorporate RTK Tide measurements with the 4600 system Yes HYPACK has the ability to set up a mobile device under Hypack Hardware that has been made especially for this Please see the Tide Support Section on page 26 of the HYPACK Software Guide for the EdgeTech 4600 System for more details Why can t 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 mismatching time stamps If the time stamps do not match the bathymetric processor will not know which ping to coordinate the data with 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 4600 REFERENCE MANUAL PAGE 66 or 68 REV G E EdgeTech 4600 Swath Bathymetry 11 What do do if I do not see data scrolling in DISCOVER
24. 0 to 80 Non Operating 0 to 100 PAGE 11 oF 68 540 kHz Model 1210 L x 260 W x 230 H mm 47 64 Lx 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 150m 30 mm 2 36 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 C to 40 C 32 F to 104 F 209C to 60 C 49F to 140 F Operating 0 to 80 Non Operating 0 to 100 REV G AB EdgeTech 4600 Swath Bathymetry Topside Interface Interface Power Supply Topside Processor Operating System Interface Display Storage Power Supply 4600 REFERENCE MANUAL 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 PAGE 12 OF 68 100 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 REV G E EdgeTech 4600 Swath Bathymetry 3 System Formats and Connections This section describes the systems data formats connections and diagrams for hardware and data 3 1 Data Formats In order to collect valid survey data the following is req
25. 14 JSTAR Startup Window 6 Click on the B icon to open up the Status and Control Window Fig 15 7 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 4600 REFERENCE MANUAL B2 oF B5 REV G EdgeTech 4600 Swath Bathymetry Mic Graph Capture Status Ba Network Nav Printer Logs ac Wizard Disk 4600 SSL Aets LiveVideo D0 D1 D2 Im D4 05 mma E Ping Oni Power 100 0 Ping At 350 00 Meters D S Mater 4600 Pies Uer o 1 N fi Acquire j Data Window Stat 0 Trace N no Data Format Raw D Data Window Size Meters ln Pixel N ADC Gain 32X D AGC Ping Rate 2 137000 ADC Rate 60386 472000 Advanced Options Fig 15 J STAR Status and Control Window 8 Rub your hand vigorously across the face of the Port Array for 3 seconds and observe the response in JSTAR Fig 16 Array Rub Test 9 Repeat the Rub Test for the Starboard Array If the response in JSTAR resembles Fig 17 then the Arrays have passed If any channels do not respond as in the example illustrated in Fig 18 please contact EdgeTech using the information provided in the Customer Service Section on page x 10 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 4600 REFERENCE MANUAL B3
26. 4 Little Brook Road West Wareham MA 02576 Edgelech o Fax 508 290 2491 4600 Swath Bathymetry and Side Scan Sonar Reference Manual Document No 0012885 Email info edgetech com REV G Website http www edgetech com FEB 2013 EN EdgeTech 4600 Swath Bathymetry n I n Dat 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 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 EN EdgeTech 4600 Swath Bathymetry nd Si n Sonar Warning Read This First All personnel involved with the installation operation or maintenance of the eguipment 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 stati
27. 7000000 0001U 0066 00371 000000 0001U 0065 003711 1000000 0001U 0066 00371 Figure 18 Serial Port Information Window 4600 REFERENCE MANUAL PAGE 31 or 68 REV G EdgeTech 4600 Swath Bathymetry PREFERITI File Recording Transmit Misc System Status Seriall On Com1001 Queues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 aoe peed eg 0 In 297 1 324 ae Serial2 baled On Com1002 Queues N State OK ParseErrors 3 bie Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 2535 Last Out 0 In 297 1 324 Serial4 On Com4 Queues N State OK ParseErrors 0 Mage Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Figure 19 System Status Window 4600 REFERENCE MANUAL PAGE 32 or 68 REV G 4600 Swath Bathymetry ZE EdgeTech 5 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 20 Le EdgeTech Discover 4600 m A Exe Configurati
28. 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 meets or exceeds TIA 568 B and is suitable for 10Base T and 100Base T The deck cable is also terminated with 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 4600 REFERENCE MANUAL PAGE 10 or 68 REV G ZE EdgeTech 4600 Swath Bathymetry 2 4 Product Specifications Physicals Size Weight Construction Color Sealing Side Scan Sonar Frequency Range per Side Range Resolution Beam Width Along Track Depression Angle 230 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 230 kHz 225 m 738 ft 30 mm 1 18 in 0 649 2 way 309 Interferometric Swath Bathymetry Maximum Swath Range Resolution Ping Repetition Rate Max Depth Below Tx 350m 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 Sonar Head Power Requirements DC Input Power Environment Operating Temperature Storage Temperature Relative Humidity 4600 REFERENCE MANUAL 48 VDC 100 Watts O C to 40 C 32 F to 104 F 20 C to 60 C 4 F to 140 F Operating
29. Document 2KB d P Computer _ SoundConnect bxt 2 25 20051 00 AM Text Document 1KB amp os C L SoundNoConnect bt 12 10 2007 7 07 DM Text Document 1KB ca HP RECOVERY C SoundPost rror bt 9 29 2003 5 15AM Text Document 1KB SonarSerialini Date modified 6 21 2011 11 59 AM Date created 2 6 2012 6 27 PM Configuration settings Size 722 bytes Fig 3 Finding the SonarSerial ini file 4600 REFERENCE MANUAL A3 OF A13 REV G EdgeTech 4600 Swath Bathymetry SonarSerial ini Notepad ell 3 J File Edit Format View Help seriali Set for GPS or MRU TSS1 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 Com4 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 Fig 4 SonarSerial ini File Service Flag 0x30000000 Overflow Count 0 bw Power V 511 Error Count 58 Ambient C 30 0 Resets 0 Activity 388216 Time None Sonar Head is ON GPS IMU is DISCONNECTED and CONNECTED IMU GPS is DISCONNECTED SVS is ON and CONNECTED Fig 5 Diagnostic Window Reporting Ports I nactive Error 4600 REFERENCE MANUAL A4 oF A13 REV G EN EdgeTech 4600 Swath Bathymetry r K Sonar 192 9 0 101 Remote Desktop Connection File Recording Transmit Misc
30. E wands a ERE RAE NNN Ya Ye KE 8 2 1 5 Mounting Bracket oen eek ok x re re CR Ra RR BATTLE NR RE RR ENNEN ERRARE RE 9 2 2 The 4600 Topside Processing Unit 4444444040000 eene 9 F3 EdgeTech A m 2 2 1 The 4600 Topside Sonar Interface c cee ceee cece cere eee eee eee eee a netstat aetna tas 9 2 2 2 The 4600 Topside Droceseor te nnn nennen nn 10 2 3 DECK Cable Eggs eer AERE KaB e MNT RIA UT R A ENEE erence A 10 2 4 Prod ct Specifications s citer rui de are Re SNE SNE RRE E ERE este dE 11 3 System Formats and Connechons se emnes sense 13 3 1 Data Formats PREEIIDEUDERESMEMT 13 3 2 System Connections and Data Flow seessessseeseeen nennen nnnm nnn 14 3 2 1 Ethernet LAN Connection zs erit ab er ke eva n EY Lo EA E e a EYE Ea eda 14 S22 COM gm EM E 14 3 2 3 Hardware Data e EE 14 3 2 4 Sonar Data FloW eege iiber dee ENEE ad HER Ma Va Kau SEN FERRE RA v 17 4 System Assembly and Installation esses Ime 19 4 1 Unpacking and Inspecting or rer er kem ree nde NEEN REENEN EEN 19 4 2 Sonar Head Assembly sen EX RRRRRR KR RAKA A RR hindi RA RERO UOCE dg 19 4 3 Positioning the Topside Processing Unt eee e eect ee eee eee eats eee ee eneees 23 4 4 Topside Connections zi ten u kdes REX en ER RR ag Rr eR RR CO UR salut va aa KA a RU vanes 23 4 5 Sonar Head Installation ie best AEN dE t ep a EXE EY XAR REENEN ee 25 4 6 1 Over the Bow Deployment eee hte RXHRERRR RE RRRARRRRRRERR
31. F 68 REV G E EdgeTech 4600 Swath Bathymetry 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 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 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 HSX can be used post survey to generate hydrographic final products 4600 REFERENCE MANUAL PAGE 18 or 68 REV G E EdgeTech 4600 Swath Bathymetry 4 System Assembly and Installation 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 4 1 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
32. F C7 REV G v EdgeTech 4600 Swath Bathymetry and Side Scan Sonar Side Mount Example 4600 REFERENCE MANUAL PAGE C4 or C7 REV G E EdgeTech 4600 Swath Bathymetry Terminated Deck Cable Wiring Diagram 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 REV DESCRIPTION BASIS FOR THE MANUFACTURE OR SALE OF APPARATUS WITHOUT A Initial Release 8 31 2010 i Ethernet 4 x 2 Trig A E TrGnd gt Seacon MinK16 CCP V ov VDC AMPHENOL 3 MS3106B28 16P RS232 GND n RS232 GND Tx1 Tx1 Rx1 9 Rx2 P Gan E awa J lt upps PPS GND T Gry1 Digitamy signed by Rodney Rodney EE Ry Rangers o EdgeTech ou 8ufid DryMate Connector AMPHENOL Rampersad gt SEACON MINK16 CCP on CF MS3106B28 16P Date 2010 08 31 11 31 16 0400 FMXCAT52218K12 Rev B l 1141 Holland Drive Sulte 1 Boca Raton FL 33487 Be bt poor bea bag owfish Topside Cable AMPHENOL gt fo lt lt 15 Meters r ae INK16 4600 ge NAME DRAWING NO E ET Tee zemmmmeae PAGE C5 OF C7 4600 REFERENCE MANUAL REV G EdgeTech 4600 Swath Bathymetry Non Terminated Deck Cable Wiring Diagram UNLESS AS MAY BE OTHERWISE PROVIDED BY CONTRACT THESE DRAIMNGS AND SPECIFICATIONS ARE THE PROPERTY REVISIONS OF EDGETECH AND ARE ISSUED IN STRICT CONFIDENCE
33. Figure 45 Interferometry Display 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 i Echo Strength Filter red ii Quality Filter orange iii SNR Filter yellow iv Water Column Filter blue V Outlier Filter purple 4600 REFERENCE MANUAL PAGE 55 or 68 REV G E EdgeTech 4600 Swath Bathymetry The BATHYMETRIC PROCESSOR also offers a Data Filtering Dialog To access it simply click on Bathymetry and then Filtering as shown in Figure 46 Interferometry Display v Eg za T Processing Parameters Filtering W m 7 Advanced Controls E EE 2 Figure 46 Accessing the Filtering Options n Bathymetric Data Filtering V Trim Flagged Points in Bathymetric Processor Trim Flagged Points on Discover Output Iw Echo Strength Filter 1 10 96 4 Iv Quality Filter 96 50 0 Iv SNR Filter dB 10 V Water Column Iw Outlier Figure 47 Filtering Options 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 47 then select VIEW from the top of the Interferometry screen Figure 48 and then select a desired filter The green points known as Unfiltered Points display the data that has pas
34. IL5M P and lastly J6 4600 REFERENCE MANUAL PAGE 20 or 68 REV G EA EdgeTech 4600 Swath Bathymetry couples to the port array s receivers via the Seacon 19 pin female connector MINK19 CCP Starboard Figure 12 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 13 Keyway Nose Tail Figure 13 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 14 The tail end of the Deck Cable has the Seaconn 19 pin female connector MINK19 CCP 4600 REFERENCE MANUAL PAGE 21 or 68 REV G E EdgeTech 4600 Swath Bathymetry 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 14 8 Connect the Deck Cable to the Sonar Processor using the Seacon 16 pin female connector MINK16 CCP to J1 as indicated in Figure 12 and Figure 14 Cable Path Figure 14 Connecting the Deck Cable to End Cap 9 Secure the Mounting Bracket to the top of the Sonar Processor using four 3 8 16 x 3 4 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
35. L PAGE 24 or 68 REV G EA EdgeTech 4600 Swath Bathymetry 4 5 Sonar Head Installation The 4600 Systemv 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 X 4 6 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 15 A larger representation of these photographs is given in the Appendix on page B1 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 x of this manual Figure 15 4600 Deployment Option 1 Over the Bow 4600 REFERENCE MANUAL PAGE 25 or 68 REV G EA EdgeTech 4600 Swath Bathymetry 4 6 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 ima
36. R 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 20 is demonstrated in Figure 23 with an explanation for each vi vii viii i i iiiv v vi vii viii ix x xi xii xiii xiv XV xvi gt NEM an N 2 H 5 v EH B Figure 23 DISCOVER Toolbar Menu Playback Replays a previously collected side scan file This feature can also be accessed under the DISCOVER Control Menu on the Disk Tab Pause Playback Pauses a previously collected side scan file This feature can also be found under the DISCOVER Control Menu on the Disk Tab Stop Playback Stops a previously collected side scan file This feature can also be found under the DISCOVER Control Menu on the Disk Tab 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 Sonar On Toggles the 4600 System On Off This feature can also be found under the DISCOVER Control Menu on the Towfish Control Tab 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 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 Current Gain Value Shows the current gain value with respect to the hig
37. Re n EEN EEN AREE EE KA 25 4 6 2 Over the Side Deployment lt lt EEE EEE EEE EEE nnn nnn 26 4 6 Care and Maintenance 27 5 Principles of Operation oo cce certa e ne vei a we REA e RR REX RE C CY A TY BERE 29 5 1 Confirming Supporting Data is Present 29 5 2 DISCOVER 4600 RE 33 5 2 1 Other Features in DISCOVER 4600 cssssssssssse e mmm 45 5 2 2 Engineering Displays cer rn ete v ec Waar Deka Yn eg YR AER La ge E n AEN 59 5 3 Third Party Software ere cese c reci a enit a eX kn CARE YVES E EYE EENS e ee 64 5 3 1 LY PACKS EE 64 6 Frequently Asked Questions Lo ieee EEE nnn 65 ele ue EE 1 Configuring the COM POMS wc iet rr eee SP e a N PUE UV TVA OD RA NR NER AUR 1 A1 OMG S MS OM PEUT 1 A 2 TWO SENSO S ed ont tice er meh en ences tas KEES vay ea reete NES EAR EEN er ea gru edd 8 A 3 Three Sensors uc eive ii cR RR aD DOC PO ODORE Ce CO E D E as C D OCC E 11 E EdgeTech 4600 Swath Bathymetry n I n Dat Appendix ET 1 Performing a Rub KEE 1 APPENADC Er 1 Hardware Data Flow Dlagkarm oerte pru ex an cu ENN ERA E FEX PER A KR EAR ENEE 1 Sonar Interface Box Connections eere he ERR REN ENER KENNS ENNER SEN AA KK AA EAA ERR ERR KAN 2 Bow Mount Example ERED nne nnn anna nnn nnn nnn 3 Side Mount Example ok ern ke EX Ene KR ER RIEN EN Ee FR RUE ACER REIR Plk a RERO EEN 4 Terminated Deck Cable Wiring Diagramm 5 Non Terminated Deck Cable Wiring Diagram ssssssss
38. S CAPACI RS AR IN MICROFARADS TOLERANCES REVISIONS V DESCRIPTION Acoustic Center ACOUSTIC BOTH APPROVALS SIGNATURE 4 DATE WE dk TEE emag rmacrions ANGLES En EE system ore re I DO NOT SCALE PRINT PAGE C7 OF C7 REMOVE BURRS BREAK SHARP EDGES 1141 HO E Ss BARNO TITLE 4600 230 540kHz SBS BI 0010823 H REV G
39. U 0068 00411 000000 0001U 0067 004111 000000 0001U 0066 003711 N 000000 0001U 0065 003711 000000 0001U 0066 003711 Serial On Com1001 Oueues N State OK ParseErrors 3 q d 0 Generated 4528 RecvQOF 0 XQOF 0 Byt Sei Out 0 In 12 0 In 297 1 324 J sa pachy E A NMEA D 2d 30 30 30 30 55 2d 30 Serial On Com4 Queues N State OK ParseErrors 0 Msgs m Generated 4528 RecvQOF 0 XQOF 0 art et Qut 0 In 297 1 324 Capacity 1 1545 Fig 8 Checking Sensor Status 4600 REFERENCE MANUAL A6 oF A13 REV G EdgeTech 4600 Swath Bathymetry 15 When satisfied with the incoming data press OK in the System Status window Fig 9 L 19 2 Sonar Fle Recording Transmit System Status Seriall On Com1001 Queues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 Bytes Out 0 In 122535 Last Out 0 In 297 1 324 Capacity 3 439 NMEA 3a 30 30 30 30 30 30 20 2d 30 30 30 30 55 2d 30 Serial4 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 Capacity 1 2396 ASCII 1545 23 II 20 30 30 30 30 2e 30 30 30 20 0d Oa Cmc gt ZZ C Messages Config Item F Refresh Save List Clear Ctrs Cmd Fig 9 Closing the System Status Window 16 Finally close the Sonar 192 9 0 101 Remote Desktop Connection window If this window
40. V G E EdgeTech 4600 Swath Bathymetry 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 Chapter 5 Section 2 for more information about Discover 4600 HYPACK Hydrographic Survey Software package provides the end user with all of the necessary tools needed to design their survey collect data process it reduce it and generate final products Note The 4600 Topside Processing Unit comes standard with pre installed third party software currently only HYPACK is available unless the customer has specified otherwise upon time of purchase 4600 REFERENCE MANUAL PAGE 6 OF 68 REV G AB EdgeTech 4600 Swath Bathymetry 2 System Description The complete 4600 system consists of a Swath Bathymetry and Side Scan Sonar Head and a Topside Processing Unit This section describes the two main components that make up the 4600 system and lists its specifications 2 1 The 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
41. and the number of angle sets used in the seafloor calculations Bathymetric Proces C File View Processed Pings Partial Pings 0 Detected Altitudes 0 Last Altitude M Port Angle Sets Stbd Angle Sets Figure 21 Bathymetric Processor Module Note The BATHYMETRIC PROCESSOR will restart if you press the x up at the top 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 22 Towtish Control Video Gains Display Disk Grids Status Frequencies Signal Meter V SonarOn Range M H 5430 KHz 5530 KHz Pot 1534 Staboard 3756 Ping Rate 100 gt Ping 189238 Lat 30 134122N Lon 88 59 9329W Course 110 Speed 8 1 Date Apr 09 2012 Time 19 11 52 Heading 110 2 Pitch 36 Rol 38 Altitude 54 Pressure 0 000 Mak 0 Free Space 815399 MB Sonar ON GPS OFF Aa ON Power FULL Figure 22 NET ON in Discover 4600 REFERENCE MANUAL PAGE 38 of 68 REV G E EdgeTech 4600 Swath Bathymetry DI SCOVER Toolbar Menu The DISCOVE
42. annel should adjust the Multipath 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 15 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 4600 REFERENCE MANUAL PAGE 67 or 68 REV G E EdgeTech 4600 Swath Bathymetry 16 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 sum the two arrays on each side or take the product of both arrays A more detailed explanation is provided in Section 5 2 1 of this manual 17 What do do if I do not see data scrolling in my Third Party Software Check to see if DISCOVER is connected to your Third Party Softwa
43. athymetric processor consistently fails to determine the altitude or the seafloor is d beyond the acoustic data Max TVG dB bg 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 Figure 50 Advanced Bathymetric Controls 4600 REFERENCE MANUAL PAGE 57 or 68 REV G E EdgeTech 4600 Swath Bathymetry If the user would like to allow certain points to pass through the Discover output and handed off to the third party topside software all the user has to do is uncheck the corresponding filter box in Figure 47 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 49 the change is reflected in the Filtering window Figure 47 and vice versa 4600 REFERENCE MANUAL PAGE 58 or 68 REV G ZE EdgeTech 4600 Swath Bathymetry 5 2 2 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 Connection Status In the DISCOVER main window Figure 20 locate View from the Top Menu and
44. c electricity may 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 power amplifier topside processor and deck cable Always use caution when removing the electronics from these devices I mproper Line Voltage Operation with improper line voltage may cause serious damage to the equipment Always ensure that the proper line voltage is used EN EdgeTech 4600 Swath Bathymetry n I n Dat 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
45. ch 4600 Swath Bathymetry 5 Principles of Operation This section describes how to operate the 4600 system in order to collect data with DISCOVER and your third party topside interface 5 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 On the Desktop launch Shortcut to sonar exe The following window should appear V Sonar 192 9 0 101 Remote Desktop Connection MZE X La KETTEN Bis X Shortcut to File Recording Transmit Misc EdgeTech Self Test OK Sonar OFF SIB_4600 OF 0 td Shortcut to sonar exe TEST COM NOT AVAILBLEcCO GPS IN com3 ht B ETcomd4 ht ES E diskmgmt msc Recycle Bin A start 71192 sonar 2 40 PM Figure 17 Sonar 192 9 0 101 Remote Desktop Connection Window 2 Click on Menu Misc Serial Port I nformation 4600 REFERENCE MANUAL PAGE 29 or 68 REV G E EdgeTech 4600 Swath Bathymetry 3 Check each COM port in the drop down menu to ensure data is coming through for each device and in the correct format Figure 18 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 18 red arrow Mor
46. circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is z beyond the acoustic data Max TVG dB Advanced Processing Refinements Multipath Suppression Level 3 I 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 Figure 36 Advanced Bathymetry These settings are described in detail Please refer to Figure 36 for each description 4600 REFERENCE MANUAL PAGE 48 or 68 REV G EdgeTech 4600 Swath Bathymetry 3 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 1 Au Bottom Track Data Source Product v Quality Filter 96 This feature should only be disabled under extreme TVG dB 100M Default v 20 circumstances Such as when the bathymetric processor consistently fails to determine the altitude or the seafloor is E beyond the acoustic data Max TVG dB Advanced Processing Refinements 2 Multipath Suppression Level 3 Je Maximum Across Track Average Size M 0 05 Warning Changing these parameters will invalidate your existing patch test Itis
47. d Service Flag 0x30000000 Overflow Count 0 Power V 51 1 Error Count 58 Ambient C 30 0 Resets 0 Activity 388216 Time Sync None Sonar Head is ON Pont Port Inactive lt GPS IMU is DISCONNEICTED and CONNECTED Port2 Port Inactive amp IMU GPS is DISCONNECTED Port4 i SVS is ON and CONNECTED Figure 25 Diagnostic Window Video Gains 4600 REFERENCE MANUAL PAGE 41 or 68 REV G E EdgeTech 4600 Swath Bathymetry The user can adjust the gain levels in DISCOVER to facilitate the viewing of the side scan waterfall These levels can be regulated one of two ways a Using the Video Gains Tab Figure 26 b Using the Shortcut Menu on DISCOVER s main window Figure 23 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 Towfish Contro M Display Disk Bottom Track Grids Status Video Gain Nomalize Gand 1221 mw 1H Macveity 6H Compression ty 0 Steed t 12 mo o Nom TVG Figure 26 Video Gains Tab Note The gains are strictly used for viewing purposes and do not affect the processing of the bathymetry or side scan data 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 Towfish Control Video Gains Disk Bottom Track Grids Status Zoom 4
48. d 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 E EdgeTech 4600 Swath Bathymetry n I n Dat Warning This equipment contains static sensitive devices that are extremely sensitive to static electrical charges which may be developed on the body and the clothing Extreme care should be taken when handling these devices both in and out of the circuit board Normal handling precautions involve the use of anti static protection materials and grounding straps for personnel This equipment generates uses and can radiate radio frequency energy and if not installed properly may cause interference to radio communications It has not been tested to compliance to the appropriate FCC rules designed to provide reasonable protection against such interference when operated in a commercial environment Operation of this equipment in a residential area may cause interference in which case the user at his own expense will be required to take whatever measures needed to correct the interference It is the user s responsibility to ve
49. d is only located in the DISCOVER Toolbar Menu 4600 REFERENCE MANUAL PAGE 40 or 68 REV G EN EdgeTech 4600 Swath Bathymetry 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 Towfish Control 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 9o can also be adjusted from this control menu The range is specified per side In the example below the total swath is 200 m Towfish Control Video Gains Display Disk Bottom Track Grids Status Frequencies Signal Meter SonarOn Range M 190 00 KHz 0 0 KHz Pot 0 Starboard 0 Ping Rate 100 4 gt Figure 24 Towfish Control Tab 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 ON a window Figure 25 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 x Diagnostic Information r Connection to Towfish Electronics Goo
50. e information on how to confiqure the COM ports is presented in Appendix A 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 x 4 Now click on Menu File Show Status The System Status window will appear as shown in Figure 19 5 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 6 Select Serial and then click the Update button several times 7 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 8 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 REFERENCE MANUAL PAGE 30 or 68 REV G EdgeTech 4600 Swath Bathymetry Remote Desktop i 19 2 Sonar Cf x File Recording Transmit Misc Self Test OK Sonar OFF SIB 4696 oF 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 00371 000000 0001U 0066 003711 7000000 0001U 0067 00421 7000000 0001U 0068 00411 7000000 0001U 0067 00411
51. e 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 2 21 in LCD Monitors e HP Keyboard and Mouse e 2 Power Cables e Spares Kit e Manuals 4600 REFERENCE MANUAL PAGE 2 OF 68 REV G E EdgeTech 4600 Swath Bathymetry 1 4 Optional Equipment e 4600 Mounting Pole see drawing in Figure 2 on Page 4 Crescent VS111 Series Hemisphere GPS Figure 3 Page 5 e SMC IMU Sensor Figure 4 Page 5 e HP 25 in LCD Monitor e Samsung 25 in LCD Monitor Note Optional equipment must be specified upon time of purchase 4600 REFERENCE MANUAL PAGE 3 OF 68 REV G EA EdgeTech 4600 Swath Bathymetry Optional Mounting Pole Example Cable Path Protected by Fairing Max Cable Length 20 m 65 ft 10 cm 4 in 1 02 m 3 ft 10 cm 4 in Bow of Survey Vessel 2 1 m 7 ft Waterline 0 9 m 3 ft Standard Tail Section Figure 2 Mounting Pole Concept Drawing 4600 REFERENCE MANUAL PAGE 4 OF 68 REV G EA EdgeTech 4600 Swath Bathymetry Optional Dual Headed GPS System cot Figure 3 Crescent VS111 Series Hemisphere GPS Optional Motion Reference Unit Figure 4 SMC I MU Sensor Please contact EdgeTech for further product and purchasing information 4600 REFERENCE MANUAL PAGE 5 OF 68 RE
52. ead 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 navigation heading and attitude roll pitch and heave data from the supporting sensors Please see Appendix A on how to configure the COM ports 3 2 3 Hardware Data Flow Figure 8 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 9 This illustration also gives three examples of possible sensor configurations A larger representation of Figure 8 and Figure 9 are given in Appendix B 4600 REFERENCE MANUAL PAGE 14 or 68 REV G EA EdgeTech 4600 Swath Bathymetry 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
53. ech 4600 Swath Bathymetry 6 Freguently Asked Ouestions This section provides a list of freguently asked guestions pertaining to the EdgeTech 4600 Swath Bathymetry and Side Scan System 1 2 3 4 Which freguency 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 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 keep my 4600 Sonar Head in the water for The 4600 system was not designed with a
54. errors this will result in good data b Ifthis is set to 2 then adjacent element pairs are combined to help reject weak multipath echoes resulting in 7 synthesized half wavelength spaced elements c Ifthis is set to 3 then 3 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 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 3 Processing Refinements These parameters are explained in detail in order of appearance Processing Refinements Bottom Track Data Source Product Quality Filter Tag TVG dB 100M Default v 20 60 Max TVG dB Figure 40 Processing Refinements Advanced Controls a The default setting for the Bottom
55. ew gt Engineering Displays gt Processing Details you will find the processing details Figure 56 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 20 right To turn off this window simply navigate to View Engineering Displays Processing Details Bathymetric Processing Details E oo Processed Pings Partial Pings Detected Altitudes Last Altitude M Figure 56 Processing Details 4600 REFERENCE MANUAL PAGE 63 or 68 REV G E EdgeTech 4600 Swath Bathymetry 5 3 Third Party Software Currently HYPACK is 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 5 3 1 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 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 4600 REFERENCE MANUAL PAGE 64 or 68 REV G EA EdgeT
56. ges in Figure 16 A larger representation of these photographs is given in the Appendix on page B2 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 x of this manual Figure 16 4600 Deployment Option 2 Over the Side 4600 REFERENCE MANUAL PAGE 26 or 68 REV G E EdgeTech 4600 Swath Bathymetry 4 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 The faces of the arrays should also be inspected 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 REFERENCE MANUAL PAGE 27 OF 68 REV G E EdgeTech 4600 Swath Bathymetry 4600 REFERENCE MANUAL PAGE 28 or 68 REV G EA EdgeTe
57. gh 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 4600 REFERENCE MANUAL PAGE 46 or 68 REV G E EdgeTech 4600 Swath Bathymetry 4 The Minimum Processing Range acts like a blanking range but in terms of slant 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 34 r d Bathymetric Proces 2 File View Processed Pings 19 Partial Pings 0 Port Angle Sets 19 Stbd Angle Sets Figure 34 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 ping
58. hase measurements Selected sub elements of each array are used to form the side scan display data 2 1 3 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 Xchange sound velocity sensor SVS with a 33 mm 1 3 in x 246 mm 9 5 in sensor providing 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 6 SVS Figure 6 SVS in Nose of Sonar Head 2 1 4 Nose and Tail Cones The 4600 Nose and Tail Cones supply a streamline body for efficient underwater maneuvers The cones also serve as protection for the SVS at the front and the array and deck cable connections at the rear 4600 REFERENCE MANUAL PAGE 8 OF 68 REV G EA EdgeTech 4600 Swath Bathymetry 2 1 5 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 2 2 The 4600 Topside Processing Unit The 4600 Topside Processing Unit includes a 4600 Sonar Interface and a Topside Processor see Figure 7 4600 Sonar Interface 4600 Topside Processor Figure 7 4600 Topside Processing Unit 2 2 1 The 4600 Topside Sonar Interface The 4600 Interface has two purposes i to provide p
59. hest intensity This feature can also be found under the DISCOVER Control Menu on the Video Gains Tab 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 4600 REFERENCE MANUAL PAGE 39 or 68 REV G E EdgeTech 4600 Swath Bathymetry Xi xii 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 an
60. ial 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 The material should be shipped to the address provided in the in Customer Service Section located on page x of this manual Please refer to the RMA number on all documents and correspondence as well All returned material must be shipped pre paid 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 is for repair it must be clearly stated in order to come through customs faster and without duties being charged Whenever possible please send copies of original export shipping documents with the consignment 2 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 I declare that the articles herein specified are the growth produce or manufacture of the United States that they were exported fro
61. inch socket cap screws and a 5 16 inch Allen wrench Assembly Complete 4600 REFERENCE MANUAL PAGE 22 OF 68 REV G E EdgeTech 4600 Swath Bathymetry 4 3 Positioning the Topside Processing Unit The Topside Processing Unit should be located and 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 O C 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 4 4 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 via 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
62. 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 4600 REFERENCE MANUAL A7 OF A13 REV G EdgeTech 4600 Swath Bathymetry A 2 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 COM2 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 2 Under Serial3 set Create 0 select File gt Save and close the file Fig 10 DO NOT TOUCH ANYTHING ELSE i SonarSerial ini Notepad eg xd File Edit Format View Help seriali Set for GPS or MRU TSS1 sentence ORE Sentence Std NMEA E Create 1 Parser 4 Must be 4 Port 1001 Baud 9600 Baud 38400 gt serial2 Set for TSS TSS1 sentence ORE Sentence Std NMEA Create 1 Parser 4 Port 1002 EE 3115200 for ORE MRU or 38400 bit for the smc Disk 1 Verifychecksum 0 m serial4 Dont touch ever or there will be no Sound velocity data Com4 set for valeport Minisvs Setup Using the vendo
63. latitude longitude 4600 REFERENCE MANUAL PAGE 16 or 68 REV G EN EdgeTech 4600 Swath Bathymetry 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 because it is not as accurate as the first two measurements Note To configure the COM ports according to the examples given above please see Appendix A 3 2 4 Sonar Data Flow To illustrate the data flow between DISCOVER the Bathymetry Processor and HYPACK the block diagram in Figure 10 is used Heading Position and Motion Data Information Gets Time Stamped and Sent Back to Interface 4600 Sonar Supporting Data 4600 Sonar Head Interface Raw Sonar Data Supporting Data Raw Sonar Data Supporting Data Range Angle Data Supporting Information HYPACK DISCOVER Side Scan Data Raw Sonar Data Range Angle Data Bathymetry Processor Figure 10 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 4600 REFERENCE MANUAL PAGE 17 O
64. m 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 viii EN EdgeTech 4600 Swath Bathymetry n I n Dat 3 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 4 Small items can be shipped prepaid directly to EdgeTech by FedEx DHL UPS Airborne etc 5 If the equipment is the property of EdgeTech formerly EG amp G Marine Instruments Division please insure for full value 6 Fax one invoice packing list and a copy of the airway bill to EdgeTech upon shipment EN EdgeTech 4600 Swath Bathymetry nd Si n Sonar Customer Service Customer service personnel at EdgeTech are always eager to 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 customer service to offer any suggestions or to request technical support For product service or support please contact EdgeTech 4 Little Brook Road Tel 508 291 0057 West Wareham MA 02576 Fax 508 291 2491 For more information please
65. 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 4600 REFERENCE MANUAL PAGE 52 or 68 REV G E EdgeTech 4600 Swath Bathymetry BATHYMETRIC PROCESSOR would ignore 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 b Quality Filter 96 In practice measured interstave phases may either agree quite well 5 to 109 or not at all up to 909 The quality filter metric is a measure of how good the interstave measurements are and is defined as 100 phase differences equal to O i e not possible in practice setting the quality factor to 100 will exclude all data points 80 has a 20 tolerance 70 has a 30 tolerance 60 has a 40 tolerance 50
66. metry Mounting Bracket Mounting Pole Sold Separately Tail Cone Sound Velocity Sensor SVS Sonar Processor Sonar Arrays Port and Stbd we Figure 11 Sonar Head Components Deck Cable Not Shown This section explains how to assemble the 4600 Sonar Head 1 Secure the Nose Cone to the front of the Sonar Processor using six 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 11 Attach the Port Array to the port side of the Sonar Processor using six 5 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 identical but usually EdgeTech designates the array with the lowest serial number as the Port Array The serial number can be found on the color coded plate in the front of the array opposite of the connectors Attach the Starboard Array in the same manner as in Step 2 Connect the Port and Starboard Arrays to the Sonar Processor as in Figure 12 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 MC
67. mit Misc EdgeTech Self Test OK Sonar OFF SIB 4600 OF 0 pa E 19 2 Sonar File Recording Transmit Misc est OK Sonar OFF SIB 4600 OF 0 Fig 2 Sonar Remote Desktop Shortcut to EdgeTech folder 4600 REFERENCE MANUAL A2 oF A13 REV G EdgeTech 4600 Swath Bathymetry eB X J 0O A EdgeTech in Towfish EdgeTech SSSSonar Sonar v 44 Search Sonar D Organize v a Open v Print Burn New folder Bez e E KE Desktop Name Date modified Type Size di Downloads sonarini 7 15 2011 4 03 PM Configuration sett 3KB j EdgeTech EdgeT Sonar opt 1 7 202846 PM OPT File 1KB EL Recent Places SONAR TXT 4 4 2011 111 PM Text Document 37 KB V ETN EdgeTech M i sonar 230 SP JT ini 7 2 20111 06PM Configuration sett 3KB j ETS EdgeTech S it sonar 540 SP ini 7 15 2011 4 03 PM Configuration sett 3KB Z MH EdgeTech M sonarl8 8 exe 10 20 2010 8 16 AM Application 1 096 KB 3 SonarArrayInfo ini 1 17 200129 00 PM Configuration sett 2KB Libraries SonarArrayInfo bxt 6 16 2011 3 15PM Text Document 2KB E Documents _ SonarObsoleteKeywords txt 9 14 20101 02 PM Text Document 18 KB E a Music 3 SonarSerial ini 6 21 2011 11 59AM Configuration sett 1KB li Pictures SonarSerial Txt 6 30 2011 4 36 PM Text Document 29 KB B Videos SonarSerialFormats tet 1 4 2001042 AM Text Document 1KB SonarXDucer bt 1 4 201010 42AM Text
68. n imagery so that the correct TVG value is applied to the bathymetric solutions TVG dB 100M Manual v 20 Max TVG dB 60 Figure 43 Inputting a Manual TVG Note If TVG mode 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 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 4600 REFERENCE MANUAL PAGE 54 or 68 REV G EN EdgeTech 4600 Swath Bathymetry 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 44 and Figure 45 File View Configuration Control Bathymetry Help gt n E gt on nm Interferometry Display v 6 Processing Parameters mm Filtering b MEETS 40 i Advanced Controls D SR Figure 44 Activating the I nterferometry Display TA 8 Interferometry View
69. n Figure 33 r Bathymetric reed E3 File View Processed Pings 0 Partial Pings 0 Detected Altitudes 0 Last Altitude M 0 000 Port Angle Sets 0 Stbd Angle Sets Figure 33 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 seafloor solutions based on the parameters set in Figure 32 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 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 10 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 32 the input is 2 meaning that the seafloor echoes have an amplitude of approximately 650 The SNR Filter is a valuable statistic used to trim bad data points near the outer swath where the angle noise is hi
70. on Control Bathymety Help 721 me om M 10 B 4 v DS B Meiers Ja 30 ft en fio 20 H e Gg lan 277 f A EE S ele EE SESALI m JE UE Ki m Lf ys f IES Fi pe VETE jm Qf Cue Salac A y s E E E y ES EE y euge Fala A Z pp k y a 28 ME Or y Sale Salac Towish Control Video Gains Display Disk Grids Status M SonxOn Range M 50H 5430 KHz 5530 KHz Pot 1534 Starboard 3756 Ping Rate 2 100 2 ce Ping 189238 Lat 30 124122N Lon 88 59 9329W Couse 110 Speed 8 1 Date Apr 09 2012 Time 19 11 52 Heading 1102 Pitch 36 Rok 38 Aliude 54 Pressure 0000 A Mak 0 Free Space 815399 MB Sona ON GPS OFF GE NET ON Power FULL 4 Figure 20 DISCOVER Main Window and BATHYMETRI C PROCESSOR 4600 REFERENCE MANUAL PAGE 33 OF 68 REV G ZE EdgeTech 4600 Swath Bathymetry The DISCOVER Main Window contains a Top Menu a Toolbar Menu and a Control Menu These menus are illustrated in Figure 20 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 on page 39 through 44 The Top Menu is not described because it is self explanatory 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
71. ower to the Sonar Head and ii to 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 and high accuracy 10Mbps COM ports and 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 2 2 4600 REFERENCE MANUAL PAGE 9 or 68 REV G E EdgeTech 4600 Swath Bathymetry 2 2 2 The 4600 Topside Processor The 4600 Topside Processor is a high performance PC running Windows 7 as its operating system The Topside Processor is 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 The Topside Processor also has a 1 TB hard drive to store the bathymetry and side scan data Note Even though 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 and the possibility of missing and or incomplete data being acquired 2 3 Deck
72. permanent submerged installation in mind It is 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 regularly and if fouling is observed to please 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 4600 REFERENCE MANUAL PAGE 65 or 68 REV G E EdgeTech 4600 Swath Bathymetry 5 6 7 8 9 10 How often should 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 always need a sound velocity cast It is always a good idea to collect a sound velocity profile especially in the area where
73. r provided configuration utility set the following Baud 19200 Baud 19200 4 Fig 10 SonarSerial ini File This will deactivate COM3 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 COM3 4600 REFERENCE MANUAL A8 oF A13 REV G E EdgeTech 4600 Swath Bathymetry 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 Fig 6 pg A5 4 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 5 Click on the Misc at the top of the Sonar screen as shown in Fig 7 pg A6 then Serial Port I nformation 6 Check COM1 and set the correct baud rate for that device by using the drop down menu shown in blue Fig 7 pg A6 When the correct baud rate is set the State should say OK and Errors should not be increasing as circled in green Fig 7 A6 The correct data string should also be scrolling in the lower part of the window green arrow Fig 7 A6 7 Now Check COM2 and set the correct baud rate for the other device as done before in Step 6 8 Now click on File Show Status in the sonar
74. rameters post survey please see Section 5 2 1 for more details This recorded DISCOVER file provides useful for debugging and training purposes 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 horizontal or vertical grids and to adjust the size and scale of these grids M Status Grids Scale r Meters C Miliseconds Horizontal Interval meters 50 1 7 vertical Interval meters 50 Gi EST z C Feet C Yards Figure 29 Grids Tab 4600 REFERENCE MANUAL PAGE 43 oF 68 REV G F3 4600 Swath Bathymetry EdgeTech Status The Status Tab conveniently displays all of the important information for the system such as navigation and sensor data Tofish Control Video Gains Display Disk Bottom Track Grids 8 Navigation Towfish Sensors Lat 0 00 0000N Course 0 Date NA Heading NA Pitch 0 0 Altitude NA Rol 0 0 Pressure 0 000 Lon 0 00 0000E Speed 0 0 Time NA Figure 30 Status Tab REV G 4600 REFERENCE MANUAL PAGE 44 or 68 EdgeTech 4600 Swath Bathymetry 5 2 1 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 Basic Bathymetry To adjust the basic bathymetric processing parameters in DISCOVER select Bathymetry from the
75. re following the directions stated in Section 5 2 2 18 The 4600 system connects with Hypack and Triton why doesn t connect with other topsides 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 TRITON IMAGING software have been approved but work continues to expand the number of topsides Please contact EdgeTech for updates 19 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 4600 REFERENCE MANUAL PAGE 68 or 68 REV G EN EdgeTech 4600 Swath Bathymetry Appendix A 4600 REFERENCE MANUAL REV G E EdgeTech 4600 Swath Bathymetry 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 A 1 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 COM1 will be utilized To configure the COM ports for one sensor the following steps should be carried out 1 Turn on the 4600 Topside P
76. rify that the system complies with the applicable FCC emission limits High Voltage may be present in the Sonar Head power amplifier and the topside processor Use caution when the electronics are removed from their containers for servicing Operation with improper line voltage could cause serious damage to the equipment E EdgeTech 4600 Swath Bathymetry n I n Dat Software Service Agreement EdgeTech provides software services free of charge for one year following the purchase of an EdgeTech system A Software Service Agreement SSA which is available for an annual fee covers these services after the first year The services are listed below 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 customers that have purchased a system within a year or have an existing SSA Any reproduction of EdgeTech supplied software or file sharing is strictly prohibited Software Updates and Enhancements EdgeTech customers with a SSA automatically receive regular new software releases with all modifications and enhancements along with user s manual changes 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 Documentation updates to on line help Tests for compatibility with other modules
77. rocessor and connect the 4600 via the deck cable to the Topside Interface Box 2 Turn on the 4600 Sonar Head and run the Remote Desktop Application named Sonar The main screen as in Fig 1 should appear Here you will see the Sonar Application running designated by the blue arrow This is the firmware that controls the system 3 Click on the X at the top right to close the firmware 4 Now double click on the Shortcut to EdgeTech icon red arrow Fig 2 and open the SSSonar folder then the Sonar folder 5 Look for the SonarSerial ini file Fig 3 and open it using WordPad or Notepad Fig 4 6 Under Serial2 and Serial3 set Create 0 select File gt Save and close the file DO NOT TOUCH ANYTHING ELSE 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 COM1 to parse the necessary sensor information Therefore Discover will not throw up any errors if a sensor is not connected to COM2 or COM3 If steps 3 through 6 were not carried out then these errors would be reported in the Diagnostic window Fig 5 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 Fig 6 Proceed to Step 8 on page Ab 4600 REFERENCE MANUAL A1 oF A13 REV G EdgeTech 4600 Swath Bathymetry ag Shortcut to File Recording Trans
78. rors 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 EN EdgeTech 4600 Swath Bathymetry n I n Dat 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 not 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 or repairs attempted thereon 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 The return notice authorizes Seller to examine and disassemble returned products to the extent Seller deems necessary to ascertain the cause for failure The warranties expresse
79. ry Under View gt Engineering Displays gt Processing Parameters you will find important information about the 4600 system Figure 55 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 Displays Processing Parameters To turn off this window simply navigate to View gt Engineering Bathymetric Processing Port Installation Angle degrees Starboard Installation Angle degrees Minimum Process Range meters Maximum Process Range meters Minimum Depth meters Maximum Depth meters Port Element Spacing meters Starboard Element Spacing meters Altitude Determination Source Bottom Track Cell Size meters Positive Down Enabled Not in Data Ignored r Processing Parameters oos n c c mg me A E Multipath Suppression Level Maximum Across Track Average Size meters Amplitude Threshold counts Minimum Quality Factor 36 Maximum Output Angle degrees Across Track Decimation Factor Spike Filter Distance meters Spike Filter Max Z Delta meters Water Column Offset meters Averaging Start Angle degrees Minimum Across Track Average Size meters Outer Element Amplitude Scaling 96 Figure 55 Processing Parameters PAGE 62 or 68 REV G ZE EdgeTech 4600 Swath Bathymetry Processing Details Under Vi
80. s this value will fall to 0 and will remain at 0 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 4600 REFERENCE MANUAL PAGE 47 or 68 REV G EdgeTech 4600 Swath Bathymetry Advanced Bathymetry To access the advanced processing parameters in DISCOVER select Bathymetry from the Top Menu Figure 35 and then Advanced Controls Figure 36 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 Help gt lI E gt on DI Interferometry Display Processing Parameters Filtering Advanced Controls Figure 35 Discover 4600 Top Menu Selecting Advanced Controls es Em Advanced Bathymetric Processing Parameters Warning Changing these parameters will have significant effects on the data These parameters Doe should not be altered unless the user has a complete understanding of the consequences Altitude Determination Processing Refinements a Bottom Track Data Source Product v Quality Filter 50 0 This feature should only be disabled under extreme TVG dB 100M Defaut v 20
81. sed all filters and is designated as valid data Olmer v Unfiltered Points Echo Strength Filter Quality Filter SNR Filter Water Column Filter M EE RA rou POE ss Re M Pd Outlier Filter Figure 48 Viewing the Filters in the I nterferometry Window 4600 REFERENCE MANUAL PAGE 56 or 68 REV G EdgeTech 4600 Swath Bathymetry 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 Bathymetric Processing Parameters Iw Bathymetric Processing v Use External Limits Processing Refinements Limits Echo Strength Filter 1 10 percent 2 Minimum Process Range M 1 0 SNR Filter dB 10 Maximum Process Range M 75 0 Minimum Depth M Maximum Depth M Figure 49 Basic Bathymetric Controls m gt 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 Bottom Track Data Source Product e Quality Filter 50 0 This feature should only be disabled under extreme TVG dB 100M fault circumstances Such as when the b
82. ses 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 DISCOVER Side Scan Bathymetry processors all run on the same computer The first example in Figure 9 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 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 COM3 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 COM1 Gyro Heading COM2 MRU Roll Pitch Heave COM3 GPS
83. srsrrsssrrnrnnnsrrrrnnnurnrrnnenrnnnnnenenna 6 Acoustic Centers Standard Body Twvpel nennen nennen nen 7 ZE EdgeTech 4600 Swath Bathymetry 1 EdgeTech s 4600 Reference Manual I ntroduction 1 1 Company Background EdgeTech formerly EG amp G Marine Instruments traces its history in underwater data acquisition and processing back to 1966 EdgeTech has designed developed and manufactured products instruments and systems for the acquisition of underwater data including marine estuarine and coastal applications for over 40 years It 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 current meters and positioning systems which have become standards in the industry Equally as significant is the company 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 Product Overview EdgeTech s 4600 is a 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 3D maps of the seafloor while also providing co registered simultaneous side scan and bathymetric data The high number of channels enables good rejection of multi path effects re
84. te for the other device as done before in Step 6 9 Also remember to check COM3 as before and set the correct baud rate for GPS 10 Now click on File Show Status in the sonar window circled in red Fig 8 pg A6 11 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 Fig 8 pg A6 12 Select Serial and then click on the Update button several times blue arrow Fig 13 A13 13 Check to make sure the sensors usage percentages are well below 80 circled in purple Fig 13 pg A13 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 14 When satisfied with the incoming data press OK in the System Status window Fig 13 pg A13 15 Finally close the Sonar 192 9 0 101 Remote Desktop Connection window 4600 REFERENCE MANUAL A12 oF A13 REV G EdgeTech 4600 Swath Bathymetry 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 L 19 2 Sonar Fle Recording Transmit Mec System Status Seriall On Com1001
85. uired to support the survey operations and correct processing of the 4600 Bathymetry and Side Scan echo data GPS Position in NMEA format latitude and longitude Heading data in NMEA format or EM1000 binary format Attitude or Roll Pitch and Heave data in TSS1 or EM1000 binary format Time sync data in NMEA format oo C o 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 ii xxGGA iii xxGLL iv xxRMC v PTNL GGK Trimble Format Non NMEA standard sentences b Heading Data this maybe input via i NMEA xxHDT sentence or ii EM1000 binary format along with attitude data c Attitude 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 ii xxGGK derived from data in item a above iii xxGGA iv xxRMC V xxGLL 4600 REFERENCE MANUAL PAGE 13 or 68 REV G E EdgeTech 4600 Swath Bathymetry 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 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 H
86. ure the Ethernet from Porti of the 4600 Topside Interface is plugged into the Ethernet Port1 of the Topside Processor labeled SONAR 2 Turn the Sonar Head ON by using the switch on the front side of the 4600 Sonar Interface Note Ifthe 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 to the ON position 3 Wait several minutes This waiting period allows the Sonar Head s Processing Unit to connect with the Topside Processor 4 Launch JSTAR using the shortcut on the Desktop or alternatively navigate to C EdgeTech JSTAR4600 and launch the JSTAR Application The main window will appear with 8 cells Fig 14 These cells correspond to each coupled port and starboard channels Note If the window that appears does not resemble Fig 14 please load the configuration file by File gt Load Configuration gt JStar 4600 Rub Test jni 5 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 4600 REFERENCE MANUAL Bi oF BS REV G EdgeTech 4600 Swath Bathymetry JStar Sonar Det File Options View Window Help RS Emo tt ORAND ounn oA JStar Sonar Data 2 M 5 D 1 1 0 1 1 WHI MNO NO OZ SD wo oz Ia ISLOISHO SBS 000 0001 MIS PID 0 OF 0 48V b1 2 AM B 34 3C BOT 28 5C No Data At Cursor Fig
87. verberation and acoustic noise Figure 1 4600 Topside Processing Unit Left and 4600 Sonar Head Right 4600 REFERENCE MANUAL PAGE 1 OF 68 REV G E EdgeTech 4600 Swath Bathymetry 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 and an approved post processing software 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 The 4600 Topside Processing Unit comes standard with HYPACK pre installed unless the customer has specified otherwise upon time of purchase 1 3 Supplied Components e 4600 Swath Bathymetry and Side Scan Sonar System with 20 m 65 ft Deck Cable please refer to the Cable Drawing on page A3 of the Appendix Sound Velocity Profiler SVP located in the nos
88. window Fig 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 link capacity to stay open So it is always a good idea to close the remote desktop application when finished with the configurations 4600 REFERENCE MANUAL A10 oF A13 REV G ZE EdgeTech 4600 Swath Bathymetry A 3 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 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 Fig 12 a SonarSerial ini Notepad aisi E File Edit Format View Help seriall A Set for GPS or MRU TSS1 sentence ORE Sentence Std NMEA Create 1 Parser 4 Must be 4 Port 1001 Baud 9600 Baud 38400 serial2 Set for TSS TSS1 sentence ORE Sentence Std NMEA Create 1 Parser 4 Port 1002 CHE 3115200 for ORE MRU or 38400 bit for the smc Disk 1 Verifychecksum 0 m serial3 Spare Port change create to 1
89. window circled in red Fig 8 pg A6 9 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 Fig 8 pg A6 10 Select Serial and then click on the Update button several times blue arrow Fig 8 pg A6 11 Check to make sure the sensors usage percentages are well below 80 circled in purple Fig 8 pg A10 If they are not increase the baud rate of the sensor change the baud rate under Serial Port I nformation as done before in steps 6 and 7 and check the Status again otherwise the sonar will report errors 4600 REFERENCE MANUAL A9 oF A13 REV G EdgeTech 4600 Swath Bathymetry E 5 Sonar 19290101 Remote Desktop Connection 19 2 Sonar system Status Seriall On Com1001 Oueues N State OK ParseErrors 3 Msgs Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 BYES TOU U Tn ssttQut 0 In 297 1 324 Si pacity 3 43 NMEA 0 30 3U 30 20 2d 30 30 30 30 55 2d 30 ES Serial2 On Com1002 Queues N State OK ParseErrors 3 Perva 0 Generated 4528 RecvQOF 0 XQOF 0 i Qut 0 In 297 1 324 d 30 30 30 30 55 2d 30 Serial4 On Com4 Queues N State OK ParseErrors 0 tens Recvd 0 Generated 4528 RecvQOF 0 XQOF 0 i 2tfOut 0 In 297 1 324 Capaciy 1 23 ASCII 1545 GE Dd da Fig 11 Checking Sensors Usages 12 When satisfied with the incoming data press OK in the System Status

4600 Swath Bathymetry and Side Scan Sonar

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