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L3 comminications SERIES 5000, Operation And Maintenance Manual

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Towfish Commands

C-19

C.6.3 System 5000 Actuator Commands

For System 5000s equipped with an actuated wing, the wing actuator may be 
controlled using towfish commands. This is not recommended. The syntax is 
$MA<command><CR><LF> where <command> is a actuator control command. 
Refer to the appropriate actuator motor controller user's manual for more 
information on actuator commands.

C.6.4 3000 System Multiplexer Commands

$MMd:

Selects the towfish acquisition mode. This command should 
not be issued by the user as the format of the data is changed 
without the TPU being informed. This command is 
inherently sent when the framing mode is changed via the 
SonarPro interface.

$MLd:

Selects the low-frequency TVG page where d = 0 – F 
hexadecimal. The default page is 7. Increasing the value 
increases the gain by 3 dB for each increment. Conversely 
decreasing this value decreases the gain by 3 dB.

$MHd:

Selects the high-frequency TVG page where d = 0 – F 
hexadecimal. The default page is 7. Increasing the value 
increases the gain by 3 dB for each increment. Conversely 
decreasing this value decreases the gain by 3 dB.

$MDd:

Sets the responder divisor to 2^d, where d = 0 – 15. A value 
of 15 turns the responder off.

$MAd:

Sets the low-frequency waveform. This command should 
not be issued by the user as damage to the transmit 
electronics could result if an inappropriate waveform is 
selected.

$MBd:

Sets the high-frequency waveform. This command should 
not be issued by the user as damage to the transmit 
electronics could result if an inappropriate waveform is 
selected.

C.6.5 Auxiliary and Compass Commands

For the both the 3000 and 5000 Systems the compass module may be controlled 
using towfish commands. This is not recommended unless manual reconfiguration 
of the compass is necessary. The syntax is $C<command><CR><LF> where 
<command> is a TCM2 compass command. Refer to the TCM2 user’s manual for 
more information on compass commands. For example, to stop the compass the 
halt command would be issued by sending the fish command $C$h<CR><LF>.

Summary of Contents for SERIES 5000

Page 1: ...SERIES 5000 SONAR SYSTEM Operations and Maintenance Manual P N 11210060 Rev 13 0 11 Klein Drive Salem NH 03079 1249 U S A Tel 603 893 6131 Fax 603 893 8807 www L 3Klein com ...

Page 2: ...r any errors inaccuracies or omissions that may be present in this document The SonarPro software program may be used or copied only in accordance with the terms of the Software License Agreement Copyright 2007 by L 3 Communications Klein Associates Inc All rights reserved SonarPro is a registered trademark of L 3 Communications Klein Associates Inc K Wing and K Wing II are a registered trademarks...

Page 3: ...o observe these warnings could result in injuries to personnel CAUTION Serious damage to the sonar electronics may occur if the sonar towfish is operated out of the water for periods longer than 15 minutes Let the sonar cool 15 minutes or longer between operations Protect the sonar towfish from direct exposure to the sun prior to and during operation in high temperature climates CAUTION The depth ...

Page 4: ...xxiv What s in This Manual xxiv Note Warning Caution and Shock Hazard Notices xxv Customer Service xxv CHAPTER 1 Overview 1 1 1 1 Equipment 1 1 1 1 1 Multibeam Sonar Instrumented Towfish 1 1 1 1 2 Transceiver and Processing Unit TPU 1 1 1 1 3 Computer Display and Control Unit 1 2 1 1 4 Tow Cable 1 2 1 2 Features 1 2 1 3 Physical Description 1 2 1 3 1 Surface Equipment 1 2 1 3 2 Subsurface Equipmen...

Page 5: ... 2 9 Physical Characteristics 2 3 2 3 Computer Display and Control Unit 2 3 2 4 Ethernet Hub 2 3 2 5 Towfish 2 3 2 5 1 General 2 3 2 5 2 Transducers 2 3 2 5 3 Transmitter 2 4 2 5 4 Receiver 2 4 2 5 5 A D Converter 2 4 2 5 6 Multiplexer 2 4 2 5 7 Power 2 4 2 5 8 Physical Characteristics 2 4 2 5 9 Heading Sensor 2 5 2 5 10 Pitch and Roll Sensor 2 5 2 5 11 Pressure Sensor 2 5 2 6 Tow Cables 2 5 2 6 1...

Page 6: ...er Connection 3 3 3 3 1 Connecting Cables and Power Cords 3 3 3 3 2 Power Line Fuse 3 4 3 3 3 Towfish Fuse 3 4 3 3 4 Grounding 3 5 3 4 Towfish Setup 3 5 3 4 1 General Rigging Notes and Cautions 3 5 3 4 2 Tow Cable Electrical Connection 3 6 3 4 3 Towfish and Optional Depressor Connection 3 7 3 4 4 Tow Cable Disconnection 3 8 3 5 Quick Start Installation and Operating Guide 3 9 3 5 1 Hardware Instal...

Page 7: ... Navigation Window Properties 4 30 4 13 2 Using the Navigation Window Tool Bar 4 31 4 13 3 Managing C MAP Charts 4 33 4 13 4 Managing C MAP Licenses 4 35 4 13 5 Managing Maptech Charts 4 36 4 13 6 Configuring the Chart Properties 4 36 4 13 7 Displaying Outlines 4 37 4 14 3D Terrain Window 4 38 4 15 Targets And Target Management 4 41 4 15 1 Setting up the Target Window Properties 4 41 4 15 2 Using ...

Page 8: ...th SonarPro 4 64 4 22 Operating SonarPro With Dual Displays 4 65 4 22 1 Recommendations When Using Dual Displays 4 65 4 22 2 Setting up the Displays and Switching between Them 4 66 4 23 Raw Channel Data 4 68 4 24 Operating the Wing 4 69 4 24 1 Selecting the Emergency Activation COM Port 4 70 4 24 2 Initiating Emergency Activation 4 70 4 24 3 Setting the Wing Angle 4 70 4 24 4 Depth and Altitude Di...

Page 9: ...ashproof TPU 6 2 6 1 2 External Connections 6 2 6 1 3 Operator Controls and Indicators 6 4 6 1 4 Functional Components 6 7 6 2 Setting up and Connecting the Splashproof TPU 6 9 6 2 1 Included Accessories 6 9 6 2 2 Connecting Power 6 9 6 3 Activating the Splashproof TPU 6 10 6 4 Specifications 6 11 6 5 Splashproof TPU Drawings 6 11 APPENDIX A Sample Towing Characteristics A 1 APPENDIX B Notes on Ha...

Page 10: ... 19 C 6 4 3000 System Multiplexer Commands C 19 C 6 5 Auxiliary and Compass Commands C 19 C 6 6 System 5900 MUX Commands C 20 C 6 7 System 5900 DSP Commands C 21 C 6 8 System 5900 Transmitter Commands C 21 C 6 9 System x000 Sub Bottom Profiler SBP Commands C 22 C 6 10 Datalogger On Off commands C 23 APPENDIX D General Setup Configuration and Troubleshooting D 1 D 1 Basic System Requirements D 2 D ...

Page 11: ...41 D 8 4 Checking the Receivers before Deployment D 41 D 8 5 Standard Transducer Configuration Trouble Shooting Chart D 42 D 8 6 Towfish Bottle Electronics D 43 D 8 7 Removing the Towfish Electronics D 43 D 8 8 Towfish Telemetry D 46 D 8 9 Setting up for Testing the Electronics D 46 D 8 10 Checking the Multiplexer Board D 47 D 8 11 Checking the Transmitter Board D 48 D 8 12 Checking the Receiver B...

Page 12: ...nce Manual P N 11210060 Rev 13 0 D 11 Problem Troubleshooting D 55 D 11 1 Recommended Test Equipment D 56 D 11 2 Spare Boards and Components D 57 D 12 Cable Pinouts D 58 D 13 NMEA 0183 Formats and Information D 59 APPENDIX E Drawings and Parts Lists E 1 ...

Page 13: ...ure 4 3 The Channels and Sensors Dialog Box 4 5 Figure 4 4 The Run Survey Wizard Dialog Box 4 5 Figure 4 5 The Real Time Tool Bar 4 5 Figure 4 6 Real Time Sonar Viewer Scan and Information Windows 4 6 Figure 4 7 The Survey Wizard Dialog Box Start Page 4 7 Figure 4 8 The Survey002 File 4 8 Figure 4 9 The Survey Wizard Data Storage Location Page 4 8 Figure 4 10 The Survey Wizard Target Catalog Page ...

Page 14: ...tus Displays on the Main Tool Bar 4 19 Figure 4 27 The Playback Tool Bar 4 20 Figure 4 28 The Go To Time Dialog Box 4 20 Figure 4 29 The Sonar Viewer Properties Dialog Box Plan View Configuration Tab 4 22 Figure 4 30 The Sonar Viewer Properties Dialog Box TVG Tab 4 23 Figure 4 31 The Sonar Viewer Properties Dialog Box Color Palette Control Tab 4 24 Figure 4 32 The Sonar Viewer Properties Dialog Bo...

Page 15: ...37 Figure 4 50 Outlines in the Sonar Viewer and Navigation Windows 4 37 Figure 4 51 The 3D Terrain Window 4 38 Figure 4 52 The 3D Terrain Window Tool Bar 4 38 Figure 4 53 The 3D Terrain Window Rotated 4 40 Figure 4 54 The Target Window 4 41 Figure 4 55 The Target Properties Dialog Box Target Gain Tab 4 41 Figure 4 56 The Target Properties Dialog Box Color Palette Control Tab 4 42 Figure 4 57 The T...

Page 16: ...d Scan Windows Bottom 4 67 Figure 4 78 The Raw Channel Data Window 4 68 Figure 4 79 The Control Towfish Wing Dialog Box Control Wing Tab 4 69 Figure 4 80 The Control Towfish Wing Dialog Box Trim Setup Tab 4 70 Figure 4 81 Choosing the Wing Angle 4 71 Figure 4 82 Wing Angle Set 4 71 Figure 4 83 Sonar Viewer Window Dual Frequency Operation with the Series 3000 Sonar System 4 73 Figure 4 84 Sonar and...

Page 17: ...e 5 3 Figure 5 2 Tail Cone being Aligned and Attached to Towfish 5 4 Figure 5 3 Tail Cone Being Tightened with Hex Key 5 4 Figure 5 4 Crossbar Used to Secure Tail Cone Parts 5 5 Figure 5 5 Tail Cone Being Tightened With Screwdriver and Key 5 5 Figure 5 6 Tail Fins being Inserted into Tail Cone 5 6 Figure 5 7 Tail Fins being Secured to Tail Cone 5 6 Figure 6 1 Splashproof TPU 6 1 Figure 6 2 Splashp...

Page 18: ...e Switch and Fuse on the Rear Panel of the TPU D 33 Figure D 8 TPU Block Diagram D 34 Figure D 9 Measuring the 200 VDC Output to the Towfish D 35 Figure D 10 Location of D9 D 36 Figure D 11 Towfish with Standard Transducer Configuration D 39 Figure D 12 Towfish with Bathymetry Transducer Configuration D 40 Figure D 13 Towfish Block Diagram D 40 Figure D 14 Transmit Waveform D 41 Figure D 15 Image ...

Page 19: ...al P N 11210060 Rev 13 0 Figure D 24 Sample Transmit Waveform D 50 Figure D 25 Image in Sonar Viewer Window for Display Test Pattern 1 D 50 Figure D 26 The Sensor Interface Board D 51 Figure D 27 The Towfish Power Supply Pinouts D 51 Figure D 28 Cable Pinouts D 58 ...

Page 20: ... Pinouts 1 13 Table 1 6 System Fuses 1 14 Table 3 1 TPU Power Cord Wiring 3 4 Table 6 1 List of Drawings 6 12 Table D 1 Troubleshooting Chart 1P or 1S Connections D 42 Table D 2 Troubleshooting Chart 2P or 2S Connections D 43 Table D 3 TPU Spares D 57 Table D 4 Towfish Spares D 57 Table D 5 Multiplexer Board Components D 57 Table D 6 Transmitter Board Components D 58 Table E 1 List of Drawings and...

Page 21: ...ble from the original buyer upon approval by Klein b Warranty does not cover equipment that has been repaired or modified other than by us nor equipment that has been subjected to misuse or to negligent or accidental mishandling c Buyer is responsible for the prepayment of all freight charges insurance customs imposts duties etc to return defective equipment to us and for the charges for us to ret...

Page 22: ...one 1 year after the related cause of action has accrued Representations and warranties made by any sales representative or other person which are inconsistent or in conflict with the terms of this limited warranty shall not be binding upon us unless made in writing and signed by an authorized officer of Klein Associates Inc THIS LIMITED WARRANTY SHALL BE GOVERNED BY THE LAWS OF THE STATE OF NEW H...

Page 23: ...used on any workstation or any network server owned by or leased to you provided that the Software is used only in connection with one L 3 KLEIN Model 3000 or Series 5000 Sonar System You may reproduce and provide authorized copies only of the Software and supporting documentation for each such workstation or network server for this equipment on which the Software is used as permitted hereunder Ot...

Page 24: ...this License Agreement TERM AND TERMINATION This license will terminate immediately if you fail to comply with any term or condition of this License Agreement Upon such termination you agree to destroy the Software and documentation together with all copies and merged portions in any form You may terminate it at any time by destroying the Software and documentation together with all copies and mer...

Page 25: ...Preparation for Use Provides instructions for unpacking and setting up the Series 5000 Sonar System components It also includes a pre survey checkout procedure Chapter 4 SonarPro Ver 10 0 Operating Instructions Contains detailed instructions for operating SonarPro Ver 10 0 Chapter 5 Equipment Maintenance Provides checklists for daily weekly and long term inspection and service and includes instruc...

Page 26: ...7 For more information about L 3 Klein and our products please go to our Web site at www l 3klein com 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 WARNING Identifies a potential hazard that could cause personal injury or death to yourself or to others CAUTION Identifies a potential h...

Page 27: ......

Page 28: ...tem s susceptibility to externally induced electronic noise Processing includes transmit receive functions time varied gain TVG amplification digitalization and multiplexing of the sonar uplink data Timing and sonar data are bidirectionally multiplexed on a single conductor coaxial cable Use of a low noise preamplifier design ensures maximum range performance The ability to operate with a fiber op...

Page 29: ...owing capabilities High speed high resolution multibeam side scan sonar 12 bit digital multiplexer for transmission of sonar and control data over a single coaxial cable Integrated attitude and ancillary sensors Easy to use graphical user interface GUI Data can be stored on the hard disk drive or on a CD Flexible and expandable system configurations 1 3 Physical Description The Series 5000 Sonar S...

Page 30: ...facturer s manual 1 3 2 Subsurface Equipment The subsurface equipment comprises the towfish as shown in Figure 1 2 and a tow cable Towfish The Towfish consists of a negatively buoyant tow body containing port and starboard sonar transducers processing and control electronics for sonar operation a downlink demultiplexer for control signals and an uplink multiplexer for sonar and auxiliary sensor da...

Page 31: ...ar System operation 1 4 1 Introduction The Series 5000 Sonar System is a simultaneous multiple swath forming side looking sonar intended for high speed high resolution survey use The two primary drawbacks of conventional side looking sonars along track resolution and towing speed limitation have been addressed by simultaneously forming multiple dynamically focused beams per side per ping This allo...

Page 32: ...ovides power transfer and duplex communications between the towfish and the TPU The TPU processes the data from the towfish producing multiple simultaneously focused swaths The TPU outputs this data via a proprietary parallel port Sonar processor control of the TPU is done via the local area network LAN 1 4 2 Towfish The towfish is composed of the towfish housing which has external brackets for ca...

Page 33: ...g types coupled through a double tuned transformer to the transducer sub arrays The Transmitter board also contains two additional auxiliary transmitters one for an optional externally mounted responder and one for the downward looking altimeter Receiver boards The Receiver boards process the backscatter information by applying fixed gain time varied gain TVG and frequency filtering to the input v...

Page 34: ...gital data stream to the TPU via the tow cable The Multiplexer board also receives the trigger signal and command messages which instruct the Transmitter board to fire the arrays and configure aspects of towfish operation The Multiplexer board also acts as a motherboard for the other boards providing the connections and distributing power The Multiplexer board uses a proprietary sampling scheme th...

Page 35: ...ong with the system control and data telemetry functions The TPU is composed of three circuit boards an embedded CPU board a Demultiplexer board and a Digital Signal Processor DSP board The TPU also contains a 200 volt towfish power supply and a TPU power supply A block diagram of the TPU is shown in Figure 1 5 Figure 1 4 Towfish Connector at Towfish Figure 1 5 TPU Block Diagram ...

Page 36: ... allowing their independent operation DSP board The DSP board is the heart of the sea bottom imaging system It processes the data and forms the multiple swaths for display The processed data is output via a parallel interface to an external sonar display processor i e workstation or PC The DSP performs the multi channel processing using a parallel processor approach To achieve this the board is eq...

Page 37: ...he towfish and also powers a 12 VDC power supply in the towfish that provides operational voltages for the towfish electronics Rear connector panel The rear connector panel provides the following I O connectors as shown in Figure 1 6 TOWFISH See also Table 1 2 AC See also Figure 1 7 and Table 1 3 COM 1 and COM 2 See also Figure 1 8 and Table 1 4 TRIG IN TRIG 1 OUT TRIG 2 OUT PARALLEL See also Figu...

Page 38: ...Theory of Operation 1 11 Figure 1 7 AC Connector Table 1 3 AC Connector Pinouts PIN NO LABEL FUNCTION 1 L AC line 2 N AC neutral 3 G Ground Figure 1 8 COM1 and COM2 Connectors 1 3 2 1 5 6 9 ...

Page 39: ... and Maintenance Manual P N 11210060 Rev 13 0 Table 1 4 COM1 and COM2 Connector Pinouts PIN NO LABEL FUNCTION 1 NC No connection 2 RXD Data input 3 TXD Data output 4 NC No connection 5 GND Ground 6 NC No connection 7 8 9 Figure 1 9 PARALLEL Connector 1 18 20 37 ...

Page 40: ...ata bit 9 11 D8 Data bit 8 12 D7 Data bit 7 13 D6 Data bit 6 14 D5 Data bit 5 15 D4 Data bit 4 16 D3 Data bit 3 17 D2 Data bit 2 18 D1 Data bit 1 19 D0 Data bit 0 LSB 20 37 GND Ground NOTE The value of signals on the data select lines indicates which channel is present on the data CAUTION Do not replace a fuse with one with a higher current rating Do not bypass the fuse Failure to observe this cau...

Page 41: ...intenance Manual P N 11210060 Rev 13 0 Table 1 6 System Fuses FUSE TPU LOCATION AMP VOLT BLOW CHARACTERISTICS SIZE Main AC power Rear panel below AC connector 3 A 250 V F 2 0 25 X 1 25 inch Towfish Rear panel above TOWFISH connector 630 mA Slow Blow 250 V T 5 X 20 mm ...

Page 42: ...cted Range scale 50 75 100 and 150 m 50 and 75 m are high resolution Sonar drive Tone burst Maximum range Up to 150 m per side actual range varies with environmental conditions and operating frequency Sonar drive Up to 150 m Number of beams 8 4 per side Model 5400 10 5 per side Model 5500 Swath width 100 to 300 m usable swath width varies with environmental conditions and operating frequency Depth...

Page 43: ...ggered Rise time 1 µs maximum Pulse width 100 µs minimum Impedance 10 Kohm 2 2 4 Trigger Outputs The trigger outputs are used to slave external processors or other equipment such as locators The main trigger output runs at the trigger rate determined by the RANGE setting The auxiliary trigger occurs at a sub multiple of this determined by the AUX TRIG DIVISOR setting Quantity 2 Output level CMOS T...

Page 44: ...2 A 2 2 9 Physical Characteristics Size 48 3 cm 19 in wide 13 2 cm 5 2 in high 54 6 cm 21 5 in deep Weight 12 7 kg 28 lb 2 3 Computer Display and Control Unit For specifications on the Computer Display and Control Unit refer to the manufacturer s manual 2 4 Ethernet Hub For specifications on the Ethernet Hub refer to the manufacturer s manual 2 5 Towfish 2 5 1 General Electronics boards Modular 2 ...

Page 45: ... Resolution 12 bits Quantization Linear Sample rate Proprietary 2 5 6 Multiplexer Modulation format Pulse code modulation PCM Multiplexing format Time division multiplexing TDM Number of channels 32 Data rate 29 12 Mbaud Data format NRZ Bit error rate Better than 1x10 8 before correction 2 5 7 Power Input power Powered from the TPU no additional power required 2 5 8 Physical Characteristics Body m...

Page 46: ...ability 0 1 2 5 10 Pitch and Roll Sensor Accuracy 0 2 RMS Resolution 0 1 Repeatability 0 2 2 5 11 Pressure Sensor Pressure range 0 300 psig Accuracy 0 10 2 6 Tow Cables 2 6 1 Lightweight Tow Cable Type Polyurethane jacketed coaxial Kevlar reinforced Conductors Coaxial copper Diameter OD 1 03 cm 0 405 in Breaking strength 2270 kg 5000 lb Working load 454 kg 1000 lb Operational length 3000 m maximum...

Page 47: ...g 1200 VDC Termination Stainless steel shackle at towfish end 2 7 Options The Series 5000 Sonar System design provides the configuration flexibility to meet your specific needs The highly modular design of the equipment makes this possible This section provides information on the available optional capabilities of the System 2 7 1 Towfish Options The towfish can be equipped with the following opti...

Page 48: ...ter and the towfish to ensure noise free safe towing 3 1 Unpacking and Inspection 3 1 1 Unpacking the TPU Remove the TPU from the shipping container and set it on a sturdy flat surface Inspect the TPU for signs of damage If there is any damage or if any items are missing immediately contact L 3 Communications Klein Associates Inc or your L 3 Klein sales representative Record the serial number of t...

Page 49: ... 2 Mechanical Installation of the TPU and Computer 3 2 1 Location The TPU is partially sealed against spray and inclement weather However for equipment longevity it is best to locate the TPU in a sheltered area The computer should be located near the TPU and it should be protected against spray and inclement weather and located in a sheltered area For operational convenience and safety this area s...

Page 50: ...ing the tow cable NMEA navigation data line Connect the data line from your NMEA navigation equipment to the TPU COM2 connector LAN cables One end of a LAN cable connects to the LAN connector on the rear panel of the TPU and the other end connects to the Ethernet Hub A second LAN cable connects from the Ethernet Hub to the computer Computer cables Connect the computer display keyboard and mouse ca...

Page 51: ...When the tabs are aligned push in on the holder and close the hinged cover 3 3 3 Towfish Fuse The towfish is protected by a 630 mA 5 x 20 mm slow acting fuse rated for 250 volts P N 13000043 It is located on the back panel of the TPU and is above the TOWFISH connector Before changing the fuse be sure that the TPU is disconnected from its power source To remove the fuse use a flat bladed screwdrive...

Page 52: ...ns and tow bracket assembly to be sure the retaining screws and bolts are secure Tail fin tether cables should be tight to the end of the tail cone It is important to make sure tail fins are straight and true Attach the shackle end of the safety cable to the bail grip on the tow cable near the tow cable shackle and clevis pin end to the safety cable tab on the top of the towfish near the tail The ...

Page 53: ...anically to the towfish tow bracket using a tow pin The waterproof connector on the towfish end of the tow cable connects to the waterproof connector on the tow cable as shown in Figure 3 1 WARNING In all of the procedures which follow be sure that the power is turned off Disconnect the TPU power cable from the power source Failure to follow this practice may result in personal injury or damage to...

Page 54: ... the strap fork with clevis pin end to the safety cable tab on the top of the towfish near the tail 4 If not already secured use cable ties 7 5 x 0 185 in which are included in the towfish spares kit to fasten the safety cable to the cable hold down clips on the top of the towfish housing Place a cable tie through the shackle pin hole and wrap around the shackle pin to prevent the shackle from loo...

Page 55: ...onnectors and press the connectors together firmly If necessary use a slight side to side rocking motion while pressing on the connector but do not bend the pins When properly inserted there should be no gap between the surfaces of the two connectors 5 Attach the shackle end of the safety cable to the bail grip loop on the tow cable near the tow cable shackle Attach the strap fork with clevis pin ...

Page 56: ...e from the towfish or tow bracket Replace the tow pin in the hole in the tow bracket and secure it with the retaining ring Refer to CHAPTER 4 SonarPro Ver 11 0 Operating Instructions before powering up 3 5 Quick Start Installation and Operating Guide 3 5 1 Hardware Installation Refer to Figure D 1 on page D 3 and to Figure D 2 on page D 4 in APPENDIX D General Setup Configuration and Troubleshooti...

Page 57: ...he computer 11 Connect the tow cable to the TPU This completes the hardware installation For SonarPro installation instructions refer to CHAPTER 4 SonarPro Ver 11 0 Operating Instructions 3 5 2 Deck Test To perform the deck test 1 Turn on the GPS receiver customer supplied and let it acquire its location 2 Verify that the tow cable is connected to the TPU and the towfish 3 Turn on the computer Aft...

Page 58: ...g and at the Windows desktop turn on the TPU After the TPU boots as in Step 3 above start SonarPro Again check for the output pulse and then carefully deploy the towfish 2 Adjust the towfish within the water column so that it is at a comfortable altitude off the bottom and under the boat wake about 15 percent of range A good starting vessel speed is around 4 or 5 knots Check for the following The ...

Page 59: ......

Page 60: ...rade double click the setup exe file in the SonarPro Disk1 folder and follow the directions carefully Multiple versions of SonarPro can reside on the same computer When installation is complete verify that your startup and vxWorks files are located in the klein directory NOTE Both the Series 3000 and Series 5000 Sonar Systems currently use SonarPro version 11 0 software Therefore wherever the oper...

Page 61: ...bottom profiling system is installed The data will start scrolling down in the Sub Bottom Viewer window 5 Click This button will allow you to adjust the time varied gain TVG on the data For normal operation leave the Auto TVG is On check box selected and adjust the Intensity slider For manual control clear this check box and tune the port and starboard sides manually 6 Click This button allows you...

Page 62: ... windows Main Sonar Viewer Sub Bottom Viewer Information Target Navigation 3D Terrain Sensor Raw Channel Data The Main window which is shown in Figure 4 1 is the first window to open after launching SonarPro This is where you select the data source option Figure 4 1 The Main Window ...

Page 63: ...re is already a master computer on the network running the sonar system You may want to put one or more additional computers on the network to work with the data in real time or for post processing The slave computer cannot control the sonar Connect as Thin Slave Select this option to transfer only navigation data to another computer running SonarPro This option is useful in certain instances wher...

Page 64: ...pen along with the Scan and Information windows in the Main window as shown in Figure 4 6 When operating in real time the Sonar Viewer window includes the Real Time tool bar as shown in Figure 4 27 At the top of the Main window is the Scan window where you can monitor signal strength Below this window is the Sonar Viewer window At the bottom of the Main window you have the Information window Here ...

Page 65: ...sonar data will start scrolling down the Sonar Viewer window and the TVG will start to automatically adjust the gain on the data Click The drop down list box displays the sonar range scale setting Click This will stop sonar data collection Many of the features in SonarPro are available when operating in either real time or in playback Refer to Operating in Playback on page 4 20 for information on ...

Page 66: ...ey grid waypoint file Specify a session state file Specify the sensor scale of the towfish being used Once the above has been checked or set up click Finish You will then have an opportunity to print a summary of the setup information using the Snagit print utility check print preview On the Start page of the Survey Wizard you are asked to enter a name for the survey This action gives the main fol...

Page 67: ...he final text box is Minutes of data per disk file This sets the length of time that the current data file will collect sonar data The default is one minute You should usually keep this file time short to protect the data should a problem occur You will only lose one minute of data There are times however when you may want to increase the time interval For example if you are running a survey and w...

Page 68: ...g a new layer If you will be using the targets in conjunction with a reference target catalog you might want to set the new targets on a different layer In this case they will have a different color and will be easily identified On the Survey File Location page shown in Figure 4 12 you are asked to either create a new survey grid or route file or load a previously created survey route or grid The ...

Page 69: ...shown in Figure 4 13 you can change the name of the default Session State file This is a file that stores all of SonarPro s parameters such as the number of open windows and their locations file prefixes and so on It is suggested that the default settings be used Figure 4 11 The Survey Wizard Target Creation Page Figure 4 12 The Survey Wizard Survey File Location Page ...

Page 70: ...that this setting be correct since it affects the depth reading The Series 3000 towfish currently has a default sensor of 1500 psi and a optional 300 psi sensor Select the appropriate one If the incorrect sensor is selected here the operator can change the setting within SonarPro once the program is launched and running by opening the Sensor window and then doing a right click which will open the ...

Page 71: ...terface for the Series 5000 Sonar System It is used to configure following towfish setup parameters Sonar Range The distance you want the sound to travel away from the towfish Pulse Length Gives you a few default waveform settings for the output sound waveforms The optimum setting for the Series 5000 is 100 µsec chirp Figure 4 15 The Sonar Interface Dialog Box Series 5000 Sonar System System 5000 ...

Page 72: ...ch as a GPS receiver A manual setting is available should a failure occur Speed of Sound The speed of sound in water This setting may be adjusted for special conditions The Responder Control tab shown in Figure 4 16 is used when the towfish is equipped with an optional responder Set the responder ping rate and the responder frequency here The Towfish Diagnostics tab shown in Figure 4 17 is used fo...

Page 73: ... Click Run Compass Calibration Wizard to open the Compass Calibration Wizard dialog box which is shown in Figure 4 18 This provides a fairly quick and accurate method for calibrating the towfish compass Figure 4 17 The Sonar Interface Dialog Box Series 5000 Sonar System Towfish Diagnostics Tab Figure 4 18 The Compass Calibration Wizard ...

Page 74: ...nformation Alarms 4 8 1 Altitude Alarm The Towfish Altitude display is located on the far right side of the Information Window as shown in Figure 4 20 Here you can monitor the current distance above the bottom that the towfish is flying To set a minimum towfish altitude alarm left click the Towfish Altitude Display area The Towfish Altitude Display dialog box shown in Figure 4 21 will open Set the...

Page 75: ...owfish Roll dialog box shown in Figure 4 22 will open You can set the roll threshold and turn an audible beep on when the threshold is exceeded When this happens the roll status window will turn red If you are viewing the roll data in the Sensor window the roll graph will also change from yellow to red 4 8 3 Error Field The Error display in the Information window will turn red if an error from the...

Page 76: ... 4 24 Here you can set a ping lag threshold and a time interval for SonarPro to check the ping status An audible beep may also be enabled 4 9 Recording Sonar Data Data Recorder Click this button to record data The Sonar Data Recorder dialog box will open as shown in Figure 4 25 The Sonar Data Recorder dialog box allows you to specify the recorder parameters for saving the survey data When operatin...

Page 77: ...e the Survey Wizard Then inspect the Minutes of data per disk file text box Click to change the size of the default data file based on the time the file records If the optional chirp sub bottom profiling system is installed and you want to record raw non matched filtered sub bottom profile data select the Store Raw Non Match Filtered Sub Bottom Data check box With this check box selected raw sub b...

Page 78: ...o not be stored To start recording sonar data click Record After the recording parameters are set up close the Sonar Data Recorder dialog box You can start or stop the recording by clicking the SDF File Recording Status or XTF File Recording Status displays on the Main tool bar as shown in Figure 4 26 When recording is on the background is green When recording is off the background is red 4 9 1 Ed...

Page 79: ...o begin 4 10 Operating in Playback Hard Disk Click this button to open the Sonar Viewer window and operate SonarPro in playback The data could be on a hard drive or CD on the local computer or on a mass storage device that is on a network Many of the features in SonarPro are available when operating in either real time or in playback When operating in playback the Sonar Viewer window includes the ...

Page 80: ...ing on whether the Distance or Time option is selected on the Plan View Configuration tab of the Sub Bottom Profiler Viewer Properties dialog box as described below The lower scale is variable By adjusting the sliders on the top scale you can zoom in or out of any swath segment of the displayed sonar data both port and starboard simultaneously Effectively the right slider for the port channel sele...

Page 81: ... selections Select the Slant Range Correct check box to display slant range corrected data Select the Water Column Inversion check box to change the water column from black to white Select the Water Column Blanking check box to blank the surface noise in the water column Select the Altitude Line check box to display the yellow altitude line Select the Speed Correction check box to turn on speed co...

Page 82: ...dingly TVG Click this button to open the Sonar Viewer Properties Dialog box to the TVG tab as shown in Figure 4 30 You can adjust the overall TVG intensity of the displayed sonar data using the Automatic TVG slider Clear the Auto TVG On check box to have manual control over each channel By adjusting the sliders you can control the initial end and overall intensity of the displayed sonar data Palet...

Page 83: ...open a color selection box Range lines are disabled when slant range is selected The Altitude Tracker tab is shown in Figure 4 33 To open this tab right click anywhere in the Sonar Viewer window to open the Sonar Viewer Properties dialog box and then click the tab On this tab you can override the auto tracker setting in an attempt to track the bottom in adverse operating conditions The altitude de...

Page 84: ...lable where you can enter an estimated altitude The altitude tracking lines in the Sonar Viewer window will change to the color cyan the Towfish Altitude display in the Information Window will also change to cyan and a display with a cyan background will appear in the Sonar Viewer window tool bar indicating either Manual Altitude followed by the altitude for the Use Manual Setting option or Offset...

Page 85: ...and use your mouse to outline a target of interest when playing back sonar data The outline also appears in the Navigation window Cursor information will be displayed on the bottom of the Main window in the Status bar as shown in Figure 4 35 By placing the cursor in the sonar display and holding the left mouse button down the sonar range latitude and longitude will also be displayed in the Status ...

Page 86: ...alog box shown in Figure 4 37 In the Display Attributes area you can select the data you want to display across the display area Select Left Right to display both left and right channel data select Left to display only left channel data or select Right to display only right channel data In the Left Display area and when Left Right or Left is selected you can select the port side scan sonar data th...

Page 87: ... settings Choose Open State File to open a previously saved session A search box will open Look for yourfile ini This will read the session file and restore SonarPro to the state it was in when the session file was created If you want to have SonarPro in a state with resized window sizes you must click on and under the general tab set window sizes to manual Choose Save State to Registry to save th...

Page 88: ...ation of the targets that are selected or outlined This window has the option of displaying the data collection track over a chart of the area SonarPro is compatible with the MAPTECH digital charts www maptech com bsb file format and C MAP Global Electronic Chart Service http www c map no If you are using a demo CD there is a folder on the CD labeled MAPTECH which has charting information for the ...

Page 89: ...es off the edge of the window You can also use the Drag Tool button at the top of the window to re center it manually Select Display Compass Rose to place a compass rose icon in the upper right corner of the Navigation window for orientation The compass rose is used with the C MAP charts Select Display Sonar Swath to display sonar swath lines When not selected the survey route is displayed as a do...

Page 90: ...round targets Erase Tracks Click this button to erase the data collection track Survey Grid Click this button to open the Survey Grid dialog box which allows you to set up a survey grid as described in Setting up a Survey Grid on page 4 53 Survey Route Click this button to open the Survey Route dialog box which allows you to set up a survey route as described in Setting up a Survey Route on page 4...

Page 91: ...Survey Route and Display Compass Rose check boxes to display the survey grid and the compass rose for orientation Align North This button is only active with the C MAP charts or no charts Click the button to align north up Location Click this button to move the cursor over to a location of interest in the Navigation window The location of the cursor will be displayed in the Status bar in the Main ...

Page 92: ...n the General tab of the Navigation Properties dialog box The C Map Management dialog box shown in Figure 4 42 opens to the Display Options tab This dialog box allows you to choose from five different palettes and two presentation styles for map and symbols displayed on the C MAP charts The symbols can be customized by selecting Custom Display and moving items from the Available Options list into ...

Page 93: ...es updates to charts on a regular basis and makes them available though their Web site An internet connection is required To update a chart profile select the profile of interest and then click Reject Selected Update To get the latest updates click Download Updates The Download C MAP Chart Updates dialog box shown in Figure 4 44 opens Downloads can be quite large so you can check the size of the d...

Page 94: ...AP Licenses button on the General tab of the Navigation Properties dialog box The C MAP License Registration Dialog Box shown in Figure 4 46 opens This dialog box allows you to manage C MAP licenses For more information read the SENC Distribution End User Info PDF file located in the manual folder under your SonarPro folder and the SonarPro installation section If you have the C MAP charts loaded ...

Page 95: ... will then extract the proper chart The chart of the area that the sonar is working in will then be displayed in the Navigation window as long as the zoom is set at a reasonable level If the zoom level is too far out the chart will not display Check that the Auto Track check box is selected The Specific Chart tab is available in the Navigation Properties dialog box with Maptech charts as shown in ...

Page 96: ...ea the area outlined will be marked both in the Sonar Viewer Window and in the Navigation window as shown in Figure 4 50 Right click in the Navigation window select the Chart Properties tab in the Navigation Properties dialog box and lower the Chart Palette Control to see the outline To erase outlines right click in the Navigation window select the General tab and click Erase Outlines Figure 4 50 ...

Page 97: ...n Window 3D Terrain Click this button on the Main tool bar to view a 3D terrain of the data The 3D Terrain window will open as shown in Figure 4 51 This window is only available when the C MAP navigation charts are loaded The 3D Terrain window tool bar is shown in Figure 4 52 Figure 4 51 The 3D Terrain Window Figure 4 52 The 3D Terrain Window Tool Bar ...

Page 98: ...o display all of the data collection tracks and targets Zoom Window Click this button to select an area in the 3D Terrain window to zoom in on Rotate Window Click this button to rotate the scene with respect to the camera in 3D as shown in Figure 4 53 Align North Click this button to align north up and position the camera directly over the view Regenerate Mesh Click this button to regenerate mesh ...

Page 99: ...anual P N 11210060 Rev 13 0 Move Location Click this button to open a window that allows you to enter a location Erase Outlines Click this button to erase the outlines that have been drawn around targets Erase Tracks Click this button to erase the data collection track Figure 4 53 The 3D Terrain Window Rotated ...

Page 100: ...o select a target classification such as a cable rock pipe or wreck Coordinates around the edge of the target window are measured in meters or feet For target catalog setup information refer to Setting up the User Preferences on page 4 48 4 15 1 Setting up the Target Window Properties Right click on the Target window to open the Target Properties dialog box to the Target Gain tab as shown in Figur...

Page 101: ...fault Palette 4 15 2 Using the Target Window Tool Bar The Target window tool bar is shown in Figure 4 57 Delete Click this button to delete a selected Target window from the target catalog Zoom In Click this button to zoom in on the Target window Zoom Out Click this button to zoom out of the Target window Drag Tool Click this button to pan the target data in any direction The button is on by defau...

Page 102: ...rget Gain tab shown in Figure 4 55 on page 4 41 where you can adjust the gain of the target data being displayed Palette Click this button to open the Target Properties dialog box to the Color Palette Control tab shown in Figure 4 56 on page 4 42 where you adjust the color of the target data being displayed Erase Click this button to erase any measurement marks in the Target window Save Click this...

Page 103: ... displaying and editing targets in the Main window Two lists of targets are shown by default the Invisible Targets list which are the targets that are stored in the target catalog but are not visible in the Main Window and the Visible Targets list which are separate visible Target windows displayed in the Main Window The maximum number of visible windows can be set by entering a value in the Maxim...

Page 104: ...e Main Window The maximum number of visible targets is 12 Make Invisible By selecting a target from the Visible Targets list this button will become available Click the button to move the selected target into the Invisible Targets list and close its Target window Make All Invisible Click this button to move all the targets in the Visible Targets list into the Invisible Targets list and close all t...

Page 105: ...on and with your mouse outline a target The outline will be placed in the Target window as well as in the Navigation window Right click in the Navigation window select the Chart Properties tab in the Navigation Properties dialog box and lower the Chart Palette Control to see the outline To erase outlines right click in the Navigation window select the General tab and click Erase Outlines At the bo...

Page 106: ...e is different than this the values can be entered in the Minimum and Maximum text boxes To manually add an offset in psi plus or minus to the pressure sensor output enter the offset in the Pressure Sensor Offset text box To manually add an offset in degrees plus or minus to the magnetic heading output enter the offset in the Magnetic Heading Offset text box If you are unsure what the values shoul...

Page 107: ...is button to set up the user preferences The SonarPro User Preferences dialog box will open to the General Preferences tab as shown in Figure 4 63 NOTE The Sensor window is graphic intensive and should therefore be used sparingly during real time operation Leaving this window open for long periods may result in the system running in a data lag condition The Sensor window should be used mostly in p...

Page 108: ...orming target mensuration In addition you can select the format to use when displaying latitude and longitude select either English or Japanese for displayed text and select whether to output User Data Protocol UDP messages containing sonar and target information When this option is selected SonarPro will broadcast the UDP messages In most cases this option is not selected SonarPro will beep when ...

Page 109: ...SonarPro either the towfish heading or the ship heading In addition you can choose to have SonarPro automatically select which positioning method to use or you can select a specific one When choosing automatic SonarPro will use the ultra short baseline USBL system if installed which uses a towfish mounted responder and a shipboard transceiver If not installed or if not operating layback will be au...

Page 110: ...talog or a previously generated catalog The catalog must be located on a hard drive If the Survey Wizard was used when starting the survey the location was selected at that time Click Browse to select or create the directory from the Save box In the Reference Catalog area you can optionally browse for historical targets located on the computer hard drive These targets can be used in the Navigation...

Page 111: ...ferent layers These layers are displayed as different colored targets in the Navigation window This feature is useful if you have previously surveyed an area and want to compare the targets from this survey with the current survey The most recent surveyed targets are placed on a separate layer for easy comparison If the Survey Wizard was used when starting the survey the layer was selected at that...

Page 112: ...6 and an example survey route is shown in Figure 4 70 on page 4 56 Survey routes and survey grids can be turned on or off in the Navigation window by right clicking in the window to open the Navigation Properties dialog box to the General tab and selecting or clearing the Display Survey Route check box 4 18 1 Setting up a Survey Grid Survey Grid Click this button either on the Main tool bar or on ...

Page 113: ...ey grid Save Survey Click this button to save the survey grid Restore Survey Click this button to restore the survey grid Set Origin Lat Lon Click this button to open the Origin Location dialog box which allows you to enter the latitude and longitude manually Use Current Trackpoint Click this button to start the survey grid at the current navigation trackpoint location Move Origin Click this butto...

Page 114: ...r to set up and place a survey route over a charted area in the Navigation Window The Survey Route dialog box will open as shown in Figure 4 69 The survey route is used to set up surveys where a survey grid is not the best pattern A survey route is intended for rivers or coastlines where a free form survey is better Use the following scroll boxes to set up the survey route First line heading Maxim...

Page 115: ...onarPro Ver 11 0 Operating Instructions Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 Figure 4 69 The Survey Route Dialog Box Figure 4 70 Example Survey Route in the Navigation Window ...

Page 116: ... when you click Restore Survey and open the file from the Open dialog box Insert New Line Click this button to insert a line Click the button and then click in the Navigation window to insert the first waypoint which is the beginning of the line Click again in the window to insert the second waypoint which is the end of the line Continue clicking to add additional lines When you are finished click...

Page 117: ...own by the waypoint numbers Click this button to reverse the ordering of the waypoint numbers for a line Click the button and then click the line whose direction you want to reverse Set Line Order Click this button to set the line order for the entire survey Click the button and then click the lines in the order desired The order is updated immediately as each line is clicked You can stop at any t...

Page 118: ...e accurate the information entered here is the more accurate the positioning information will be 4 19 1 Entering the Layback Parameters The layback parameters are entered in the Layback dialog box as follows Cable Out Source Select the Manual option if you want to manually enter the length of cable out select the External option to obtain the length from a winch status input If you select the Manu...

Page 119: ...meters will not take effect until this button is clicked Depressor Type Select the type of depressor being towed with the towfish from the drop down list box If a depressor is not being used select None Cable Type Select the cable type being used from the drop down list box For convenience a Cable out scroll box is included on the tool bar of the Sonar Viewer window when operating in real time as ...

Page 120: ... device name which COM port the computer will use to receive the data the message format the location of the cable out value in the data string and whether you want the data stored in a log file A template is provided for devices that uses a NMEA format message SonarPro requires that the cable out value from the device be in meters You make this adjustment in the Cable Out Value Calculation area b...

Page 121: ...out device settings to a file choose Save Devices to File from the Session menu To read the cable out device settings from a file choose Open Devices File from the Session menu 4 20 Towfish Depth Towfish Depth Click this button to enter the depth output parameters The Depth Output dialog box will open as shown in Figure 4 73 The current towfish depth can be output to a hardware device using an RS ...

Page 122: ...ne feed and spaces For the depth value enter the scale factor to convert from meters to the units required by the message in the Scale Factor text box If the message value is in meters the scale factor equals one If the message value is in feet the scale factor should be set to the number of feet per meter or 3 281 and so on Then select the format option as follows Integer for no decimal places Fl...

Page 123: ...r s IP address in the Printer s IP address drop down list box The IP address 192 168 0 88 is the default which must be changed when using a different network Select additional print options as follows Printing Select On to turn the printer on select Off to turn the printer off Annotation text Select On to print the annotated text select Off to not print the text Grey Levels Select the 16 or the 64...

Page 124: ...llows you to run the sonar on one display and do navigation and target management on the other or run the port sonar data on the left display and the starboard sonar data on the right display 4 22 1 Recommendations When Using Dual Displays Below are some recommendations if you plan to use two displays If you change from a single to dual displays or vice versa on the fly you must close and restart ...

Page 125: ...itch RWS button in the Status bar of the Main window as shown in Figure 4 76 This button is only visible when two displays are connected and the Main window in each display fills the entire display area Click RWS to move the Sonar Viewer window to the other display and all the open windows in that display to the one originally occupied by the Sonar Viewer window If more than one Sonar Viewer windo...

Page 126: ...Operating SonarPro With Dual Displays 4 67 Figure 4 77 Dual Displays with Open Control Towfish Wing Dialog Box and Target Window Top and Sonar Viewer Information and Scan Windows Bottom ...

Page 127: ...Operations and Maintenance Manual P N 11210060 Rev 13 0 4 23 Raw Channel Data You can monitor the raw data output from the towfish by choosing Raw Channel Data from the Window menu The Raw Channel Data window will open as shown in Figure 4 23 Figure 4 78 The Raw Channel Data Window ...

Page 128: ...g the wing angle an emergency feature is included which when activated immediately lowers the wing to within three degrees of its horizontal position The emergency activation can be initiated from SonarPro or by sending a command to a COM port of the computer running SonarPro The COM port is selected in SonarPro and the command is sent from an interface board when a switch which is connected to th...

Page 129: ... the Control Towfish Wing dialog box or activate the switch closure to the interface board The emergency condition is indicated by a red border around the wing graphic as shown in Figure 4 81 and the wing moves to its horizontal zero degree position as shown in Figure 4 82 The interface board must be connected to the selected COM port for the emergency activation to function See Selecting the Emer...

Page 130: ...of 0 on the slider to immediately move the wing to its maximum angle click the button to the right of 17 Again movement of the wing can be stopped at any time by clicking Stop Motion If maneuvering of the mouse or pointing device is awkward or difficult you can use an alternate method of setting the wing angle To set the angle of the wing using this method use the up or the down arrow key on the k...

Page 131: ...tenance Manual P N 11210060 Rev 13 0 4 24 4 Depth and Altitude Displays For convenience depth and altitude is displayed on the Control Wing tab of the Control Towfish Setup dialog box The displayed information is the same as that displayed in the Information window as shown in Figure 4 20 on page 4 15 ...

Page 132: ...ptional chirp sub bottom profiler You can operate both the low and high frequency sonars simultaneously as shown in Figure 4 83 or you can operate either the low or the high frequency sonar and the chirp sub bottom profiler simultaneously as shown in Figure 4 84 To operate both the low and high frequency sonars open a second Sonar Viewer window right click in this window to open the Sonar Viewer P...

Page 133: ...ns each open the Sub Bottom Profiler Viewer Properties dialog box where you can adjust the display settings in the Sub Bottom Viewer window To operate SonarPro in playback refer to Operating in Playback on page 4 20 When operating in playback the Sub Bottom Viewer window includes the playback tool bar shown in Figure 4 86 Again except for the Ruler Display TVG and Palette buttons the buttons on th...

Page 134: ... can zoom in or out of any water column segment of the displayed sub bottom profile data Effectively the left slider selects the distance or time from the start of each scan to where or when the display of data starts The right slider selects the distance or time in each scan over which data are displayed When adjusting the sliders the scaling of the lower scale adjusts automatically and double cl...

Page 135: ...isplay of data in distance or time from the start of each scan depending on whether the Distance or Time option is selected Effectively it selects where or when in each scan the display of data starts The Duration adjustment selects the distance or time in each scan over which data are displayed Effectively it selects where or when in each scan the display of data ends The ruler scale and its unit...

Page 136: ...ny time click Use Default Palette The Range Lines tab is shown in Figure 4 90 To open this tab right click anywhere in the Sub Bottom Viewer window to open the Sub Bottom Profiler Viewer Properties dialog box and then click the tab On this tab you can turn the range lines on or off in the Sub Bottom Viewer window The distance between the range lines and the color of the lines can also be set here ...

Page 137: ...tracking on This is the default setting and should be used almost all of the time However if conditions warrant select Use Manual Setting to enable manual altitude tracking or select Use Altitude from Towfish plus Manual Offset to enable the sum of both auto and manual tracking Once either of these two options is selected the Manual Towfish Altitude Offset scroll box becomes available where you ca...

Page 138: ...ndow choose Sub Bottom Scan from the Window menu Right clicking in the Sub Bottom Scan window opens the SBP A Scan Display Configuration dialog box shown in Figure 4 37 In this dialog box you can use the Gain slider to adjust the gain of the signal being displayed New Sub Bottom Viewer Click this button on the Main tool bar to open additional Sub Bottom Viewer windows Figure 4 92 The Sub Bottom Pr...

Page 139: ... from 25 meters to 1000 meters Remember however that when operating at ranges longer than 150 meters the high frequency will fall off at the longer range settings Pulse Length When applicable you can have different pulse length selections for the high and low frequencies When you select a range scale the optimum pulse length will be selected Keep in mind that longer pulse lengths put more power in...

Page 140: ... available should a failure occur Speed of Sound The speed of sound in water This setting may be adjusted for special conditions Framing Mode Selects whether to acquire sonar or sub bottom data or both Sub Bottom Settings Selects the chirp pulse length for the sub bottom sonar if installed The available settings are dependent on the range setting To turn off the chirp transmitter select Off Pre Am...

Page 141: ...ries 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 Figure 4 95 The Sonar Interface Dialog Box Series 3000 Sonar System Responder Control Tab Figure 4 96 The Sonar Interface Dialog Box Series 3000 Sonar System Towfish Diagnostics Tab ...

Page 142: ...master computer When the system is successfully booted SonarPro can be started from the master computer The master computer controls the range pulse width etc of the sonar and only one master computer can be running at a time with one sonar Any other computers connected to the Ethernet Hub and running SonarPro would be considered slaves The slave computers running SonarPro have no control of the s...

Page 143: ...seconds is the time read from the GPS input on COM2 if a sentence with time is input This time is not viewable in SonarPro 4 27 2 IRIG Some users choose to use an IRIG board to ensure accurate time The IRIG board is installed in the TPU as an option The IRIG board is triggered by an external IRIG time generator which is synced to a time source such as a GPS or other extremely accurate time source ...

Page 144: ...mputer Control and Display Unit computer or towfish is used in a large survey operation Inventory the system related spares and accessories carefully Record the serial numbers of the major components such as the TPU the computer and the towfish Store the shipping boxes in a safe place so they can be reused when needed A small amount of regular maintenance and care makes the critical difference in ...

Page 145: ...replace the cable 3 Inspect and clean the system plugs and jacks 4 Inspect the towfish for signs of corrosion or other damage 5 Check the underwater connectors on the towfish The contacts should be clean and shiny Contacts may be cleaned with a rubber pencil eraser or very fine emery paper 5 2 3 Long Term Maintenance Checklist Perform the following maintenance steps at six month intervals or more ...

Page 146: ...t tail cone assembly The following tools and parts are required 8 mm hex key with a shaft at least 6 in 15 cm long Medium flat bladed screwdriver Pliers Tail cone assembly P N 14102954 Also refer to Drawing 15100952 Option Kit 25 Tailfin T System 5000 throughout the procedure To replace the fixed tail cone assembly 1 Align rear center pin This center pin is not part of the tail cone assembly and i...

Page 147: ... hole to the upper right align the tail cone with the rear center pin and thread the rear tail cone bolt 7 into the rear center pin using the 8 mm hex key 3 Using the pliers tighten the rear tail cone bolt 7 Do not overtighten Figure 5 2 Tail Cone being Aligned and Attached to Towfish Figure 5 3 Tail Cone Being Tightened with Hex Key ...

Page 148: ... screw driver align the threaded hole in the crossbar 4 and screw the bolt 7 with the retaining cup 5 into the crossbar with the 8 mm hex key Leave the retaining cup loose to accommodate the tail fins Figure 5 4 Crossbar Used to Secure Tail Cone Parts Figure 5 5 Tail Cone Being Tightened With Screwdriver and Key ...

Page 149: ...ting the forward slot into the towfish body The rearward slot should be secured by the retaining cup 7 Tighten the retaining cup bolt 7 so that the tail fins are secured 5 4 Removing the Fixed Tail Cone Assembly Removal of the fixed tail cone assembly is the reverse of the installation procedure Figure 5 6 Tail Fins being Inserted into Tail Cone Figure 5 7 Tail Fins being Secured to Tail Cone ...

Page 150: ...o 6 1 General Description The Splashproof TPU is shown in Figure 6 1 It provides the same functions and most of the same external connections as the rack mount TPU All of the connectors indicators and switches are splashproof and are located on a connector panel on the side of the case In addition two view ports on the connector panel allow viewing of additional indicators inside the TPU The Splas...

Page 151: ... half inch as shown in Figure 6 3 To close the vent tighten each of the screws until the vent is completely closed Hand tightening is sufficient 6 1 2 External Connections The external connections to the Splashproof TPU are made on the connector panel which is shown in Figure 6 4 Most of the connectors on this panel are wired to internal connectors which connect to the Demultiplexer CPU and Transi...

Page 152: ... board using a BNC cable LAN RJ 45 connector that connects to the Ethernet port of a computer or to a hub or switch This connector is internally wired through a crossover block to an RJ 45 connector that connects directly to the LAN connector of the CPU board TRIG 3 pin bulkhead connector that provides a trigger output for keying external equipment This connector is internally wired to a BNC conne...

Page 153: ...ce 12 VDC 6 pin bulkhead connector that connects to a 12 VDC 1 5 A power source 6 1 3 Operator Controls and Indicators Most of operator controls and one indicator are located on the connector panel of the Splashproof TPU as shown in Figure 6 4 on page 6 3 They are the following PWR Green indicator that is illuminated when either AC or DC power is on VAC 12 VDC 3 position switch that when switched ...

Page 154: ...5 Figure 6 5 Front Panel of VME Chassis inside Splashproof TPU COM1 TRIG 1 OUT CABLE COM2 Demultiplexer CPU board Low voltage power supply VOLTAGE SELECT switch See CAUTIONS on page 6 9 VME chassis board DSP board DEBUG LAN ...

Page 155: ...d Maintenance Manual P N 11210060 Rev 13 0 Figure 6 6 VME Backplane and Power Supply Connections inside Splashproof TPU VME chassis 12 VDC 200 VDC power supply Towfish fuse GPS fuse Power Choke Low voltage power supply Transformer VME backplane VME fan fuse power supply ...

Page 156: ...se components along with the additional components provided with the Splashproof TPU are described below and shown in Figure 6 5 on page 6 5 and Figure 6 6 on page 6 6 This information along with the information provided in APPENDIX D General Setup Configuration and Troubleshooting can be useful when performing any system troubleshooting In addition refer to Splashproof TPU Drawings on page 6 11 f...

Page 157: ...n series with the 200 VDC output of the 200 VDC power supply It is a 630 mA 5 x 20 mm slow blow fuse rated for 250 volts P N 13000043 GPS fuse The GPS fuse is in series with the main AC power input and the input to the 12 VDC power supply It is a 1 A 5 x 20 mm fast acting fuse rated for 250 volts P N 13000161 Transformer The transformer inputs either 115 or 230 VAC depending on the setting of the ...

Page 158: ...ing accessories are included with the Splashproof TPU AC power cord DC power cord Towfish jumper cable GPS connector TRIG connector Waterproof LAN cable 6 2 2 Connecting Power The TPU can be powered from a 115 VAC 230 VAC or 12 VDC power source However before making any power connections refer to the CAUTIONS below To open the TPU lay it on a flat surface with the connector panel to your left The ...

Page 159: ...PU 1 Connect the towfish cable to the TOWFISH connector of the TPU 2 Turn on the computer and wait for it to fully boot up 3 Switch the RUN STAND BY switch to STAND BY 4 Switch the VAC 12 VDC switch to VAC to apply AC power to the TPU switch to 12 VDC to apply DC power Refer to the CAUTIONS on page 6 9 SHOCK HAZARD Do not connect or disconnect the tow cable from the towfish or the TPU when power i...

Page 160: ... are the same as the rack mount TPU Refer to CHAPTER 2 Specifications for those specifications Power consumption 250 VA nominal Input voltages 115 or 230 VAC 50 60 Hz manually selected or 12 VDC at 12 A Size 52 5 cm 20 7 in wide 21 7 cm 8 5 in high 43 6 cm 17 2 in deep Weight 16 4 kg 36 lb Operating temperature 0 40 C with vent open 0 30 C with vent closed Ingress protection Designed to IP 66 with...

Page 161: ... N 11210060 Rev 13 0 Table 6 1 List of Drawings DRAWING NO TITLE 15104342 Assembly Drawing Connector Panel SP 3000 5000 TPU Sheets 1 and 2 14314343 Wiring Diagram SP 3000 5000 Base Unit 14314344 03 Wiring Diagram Splashproof System 5000 15104403 Assembly Drawing Connector accessory Kit SP TPU ...

Page 162: ...Splashproof TPU Drawings 6 13 ...

Page 163: ...6 14 CHAPTER 6 Splashproof TPU Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 ...

Page 164: ...Splashproof TPU Drawings 6 15 ...

Page 165: ...6 16 CHAPTER 6 Splashproof TPU Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 ...

Page 166: ...Splashproof TPU Drawings 6 17 ...

Page 167: ......

Page 168: ...hecked with field data wherever possible At best the values are within 15 accurate with the greatest accuracy at towfish depths between 91 m 300 ft and 914 m 3000 ft and at tow speeds of 3 to 7 knots They are least accurate at slow speeds and short cable lengths Tow Cables Tow cables having the characteristics below were used Should you have a different cable it could make a significant difference...

Page 169: ...Wing mounts directly to the towfish end Interpreting the Graphs Pick the graph closest to your operating conditions With a given speed and cable length you can determine effective tow depth You can also determine the cable length required to reach a specific depth at a given speed More details on towing characteristics such as tension layback etc are available at L 3 Communications Klein Associate...

Page 170: ...A 3 Figure A 1 Cable Length vs Towfish Depth Graph 1 ...

Page 171: ...A 4 APPENDIX A Sample Towing Characteristics Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 Figure A 2 Cable Length vs Towfish Depth Graph 2 ...

Page 172: ...A 5 Figure A 3 Cable Length vs Towfish Depth Graph 3 ...

Page 173: ...A 6 APPENDIX A Sample Towing Characteristics Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 Figure A 4 Cable Length vs Towfish Depth Graph 4 ...

Page 174: ...A 7 Figure A 5 Cable Length vs Towfish Depth Graph 5 ...

Page 175: ......

Page 176: ...l should be revolved and the rope taken off the way it was put on the reel as shown in Figure B 1 for two effective methods Place a shaft through the reel center and jack it up so that the reel revolves freely Pull the cable straight ahead keeping it taut to prevent the cable from becoming loose on the reel A board held against a flange may be used as a brake to prevent the reel from revolving too...

Page 177: ... kinking are discussed below B 3 1 Cause of Cable Kinking Kinking is caused when the cable takes a spiral shape as the result of an unnatural twist One of the most common causes of twisting is improper unreeling and uncoiling A cable loop and a cable kink are shown in Figure B 3 At the loop stage no damage will occur if the loop is immediately straightened out before it causes a kink CAUTION If th...

Page 178: ...inking is that strands and wires are displaced creating uneven tension which causes excessive wear at the point of the kink The kink can be straightened out so that the damage appears slight however since the relative adjustment between strands has been disturbed the cable cannot give maximum service Figure B 3 Cable Loop and Kink Figure B 4 Damaged Cable Cable Loop Cable Kink ...

Page 179: ......

Page 180: ...e VARIABLE is one of the variables from the list below and the values are as defined for the associated commands If a variable is not included in the file then the default value is used The following variables are available 3 1 RANGE d 0 1 2 3 or 25 1500 Set range scale where d 0 is 50 m d 1 is 75 m d 2 is 100 m and d 3 is 150 m Default 100 m For the 5000 System the above enumerated ranges are ava...

Page 181: ...tion mode where d 0 is normal and d 1 is high resolution Note ranges of 100 m and 150 m are not available in high resolution mode Default is normal BAUDRATE d 300 600 1200 2400 4800 9600 19200 38400 Set the baud rate for the NMEA port COM2 Default is 4800 NMEA standard ALTIMETER d 0 1 5000 System only Turn altimeter transmitter on or off Setting d 1 turns altimeter on d 0 turns altimeter off Defau...

Page 182: ...s on COM1 bit 1 Reserved bit 2 Setting this bit monitors hard disk activity bit 3 Setting this bit monitors the data quality analysis thread bit 4 Setting this bit echoes the towfish sensor packet on COM1 bit 5 Setting this bit echoes the towfish trigger character CTRL Q on COM1 bits 6 7 Reserved Example to monitor the towfish sensor packet add the following to the startup ini file set DIAGLEVEL 1...

Page 183: ...sor must be used to convert this value to depth The sensor measures absolute pressure so the atmospheric pressure must also be taken into account 14 7 psi An example of the calculation is depth Volts Full_Scale 5 0 14 7 1 458 meters where Volts is the value in the depth field of the sensor message and Full_Scale is the full scale output of sensor in psi ENABLELEAKSENSOR d 0 1 5000 System only Sett...

Page 184: ...IPMC761 is factory installed when the system is modified for raw data acquisition DEFAULTUPLINK d 0 1 3000 System only The default operation of the 3000 System telemetry subsystem utilizes a party line topology where the various serial data sources are routed to the uplink auxiliary serial channel depending upon the downlink message destination the main uplink serial channel is dedicated to sensor...

Page 185: ...here the lower 16 bits set the port mask and the upper 16 bits set the starboard mask A value of one in each bit position configures the system to acquire the corresponding channel For example set RAWDATACONFIG 0007000f would select the first 3 channels on the starboard side and the first four channels on the port side To acquire all the available raw data channels set the configuration word to 3f...

Page 186: ...d 0 1 For the System 3000 5000 and 5900 Setting d 1 causes each GPS string that the TPU detects on COM1 to be output to the debug COM2 port Setting d 0 turns off the debug navigation output Default is 0 For the System 7180 5900 Setting d 1 causes any string from the SVP Transmissometer Actuator Depth Sensor and GPS to be output to the debug port Setting d 0 turns off the debug output Default is 0 ...

Page 187: ... 1 indicates a master control board is present normal operation Default is 1 DSPLOWPASSFILTERCUTOFF d 0 9 System 7XXX 5900 Only Sets the DSP low pass filter cutoff to d Equivalent to the DCd command Default is 4 DECIMATIONFACTOR d 0 9 System 7XXX 5900 Only Causes the TPU to decimate the side scan sonar data by factor d Thus the equivalent sample frequency becomes Default Sample Freq d Default is 2...

Page 188: ... with all new Sonar systems If you are using an older version of SonarPro or other TPU interfacing software set this value to 3 or don t include Default is 3 When this value is set the page version is as follows for the various systems d 3 3000 towfish page version 3000 d 4 3000 towfish page version 3001 d 3 5000 towfish page version 5000 d 4 5000 towfish page version 5001 PRESSURESENSOROFFSET d S...

Page 189: ... to klein startup ini C 3 Remote Control COM2 is a NMEA 0183 serial port used for inputting navigation data to the TPU In addition to the standard messages that are accepted i e RMC GGA refer to manual for details the TPU also accepts proprietary messages of the form PKLA aaddd hh CR LF where aa is two letter command code ddd is a variable length hexadecimal data field and hh is the checksum compu...

Page 190: ...r 100 m this would be 102 ms after the sonar trigger Valid values are between 0 and 50 DF Set all parameters to their default values DLd Sets diagnostics verbosity Each bit in d turns on or off specific diagnostic features Setting bit 0 turns on fish command echoing This echoes any commands sent to the towfish out COM1 Setting bit 1 enables program flow monitoring This enables messages that indica...

Page 191: ... another event such as the beginning of a track The current file is closed and the new file is opened on the subsequent ping following this command If record mode is 0 the command will not take effect until record mode is switched to 1 RB Reboot the TPU In the event that the TPU watchdog reports an error the TPU should be rebooted using this command Prior to issuing the reboot command recording mu...

Page 192: ...SSdddddd Sets the speed of sound in cm s The data field is expected to be of length six Default is 150000 cm s Accepted range is from 140000 to 160000 ST Dump a status message See below TMd Set test mode where d 0 is normal Reserved for factory test do not access TPd Set TVG page where d 0 15 Default is 7 Decreasing d decreases the gain by 3dB whereas increasing d increases gain by 3dB TS Triggers...

Page 193: ...epth in meters altitude in meters and date C 4 Snapshots The system is capable of outputting image snapshots for use in equipment health monitoring These snapshots are decimated images of the current imagery data Five different sizes are supported so as to meet the limitations of varying acoustic or RF telemetry links between the AUV and the mother ship The data is output in a simple raster format...

Page 194: ...e revisions 3 Sensor Checksum Error the checksum in the sensor data packet does not equal the computed checksum Occasional errors are no cause for alarm as sometimes a sensor packet is corrupted by the strong electromagnetic field generated when the towfish fires Repeated errors however may indicate a telemetry or other fault and should be investigated 4 Leak there is a leak in the electronics bot...

Page 195: ...ssage contains the current ping number time altitude and the current error status as follows PKLA HB PxxxxHddMddSddTdddAdd dEyy hh CR LF Following the HB the fields are ping number hours minutes seconds thousandths of seconds altitude in meters and error state C 5 3 Sensor Message Roughly once per second if enabled see Startup Script and Remote Control above a sensor message is output This message...

Page 196: ...rd 1 and Y for Transmitter board 2 Issuing commands to the towfish can be done in a number of ways The most straightforward technique is to use the towfish command interface in the SonarPro software The desired command is simply entered and then sent to the towfish Another technique is to use the PKLA FC command via the NMEA interface COM2 The desired command is simply typed after the FC For examp...

Page 197: ...boot up Note this command is only supported on towfish equipped with a 14102066 Multiplexer board MSd Sets the uplink source where d 0 selects the normal coaxial drive Setting this to 1 selects the laser as the source and deactivates the metallic uplink See the LASER description in the startup script above for more information Note this command is only supported on towfish equipped with a 14102066...

Page 198: ...requency TVG page where d 0 F hexadecimal The default page is 7 Increasing the value increases the gain by 3 dB for each increment Conversely decreasing this value decreases the gain by 3 dB MDd Sets the responder divisor to 2 d where d 0 15 A value of 15 turns the responder off MAd Sets the low frequency waveform This command should not be issued by the user as damage to the transmit electronics ...

Page 199: ...artup script above for more information This command can be used to fine tune the uplink for various cables When the performance is optimized then this value can be incorporated into the startup script to initialize the pre emphasis on boot up MGd Sets the uplink gain where d 0 3 See the LBOGAIN description in the startup script above for more information This command can be used to fine tune the ...

Page 200: ...ssed to the TPU as a 32 bit value If d 0 the DSP passes the I and Q data up as two 16 bit words for each channel DHyd System 7180 5900 only Sets the saturation detect headroom threshold d for receiver card y where d is a 16 bit hexadecimal number 0x0000 thru 0xFFFF and y is A B C or D The headroom threshold is used by the DSP to compare each A D value on every channel to determine if any raw sampl...

Page 201: ...ottom Profiler SBP Commands SGd Selects the Sub Bottom Preamp Gain where d 0 is low and d 1 is high Default is 1 SEd Enables d 1 or disabled d 0 the Sub Bottom Tx Default is 1 SWd Selects the Sub Bottom Tx waveform where d 0 15 Default is 0 STd Selects the Sub Bottom test mode where d 0 6 The test modes are as follows d 0 Normal mode RX data is sent d 1 Reserved d 2 Reserved d 3 Generate a sawtoot...

Page 202: ...ands will be PKLA PC1 Will turn power off to the sonar only PKLA PC2 Will turn power off to the TPU only PKLA PC3 Will turn power on to both the TPU and sonar PKLA PC0 Will turn power off to both the TPU and sonar PKLA PL2 Will shut down data logger in the proper Linux sequence ...

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Page 204: ...er and Processing Unit have voltages as high as 240 volts and some circuits in the sonar towfish have 1500 volts You should familiarize yourself with the location of these voltages before you attempt any troubleshooting Failure to observe these warnings could result in injuries to personnel CAUTION Serious damage to the sonar electronics may occur if the sonar towfish is operated out of the water ...

Page 205: ...indows NT disk defragmenter Power backup module When running the PC system it is important to make sure that you leave at least 500 MB of free disk space for temporary system disk swap files You will need to connect the Transceiver and Processing Unit TPU to the host PC computer using a fast Ethernet hub such as a 3Com 8 port product number 3C16722 D 2 Basic System Setup Refer to Figure D 1 for th...

Page 206: ...shooting 9600 baud Computer LAN HUB TPU Slip Ring Sample navigation strings The preferred is RMC GPRMC 101842 572 A 3318 577 N 07845 424 W 7 452 2 45 4 050202 0 0 E 72 GPVTG 245 4 T 245 4 M 7 5 N 13 8 K 76 However the following can be used also GPGLL 3446 8877 N 07849 0595 W 091739 00 A 1d GPVTG 290 0 T 290 0 M 06 6 N 12 2 K 4f Navigation Unit 4800 baud Format RMC or GLL VTG or GGA VTG ...

Page 207: ...iv 2 Out boot device processor number host name file name inet on ethernet e Terminal or PC Running HyperTerminal for troubleshooting 9600 baud Computer LAN HUB TPU Slip Ring Navigation Unit NMEA 0183 4800 Baud Formats RMC or GLL VTG or GGA VTG Acoustic Tacking Unit NavigationCom puterSystem Output Format RMC and TLL or GLL VTG and TLL or GGA VTG and TLL Depth from PC Com 2 acoustic tracking unit ...

Page 208: ...ns of SonarPro can reside on the same computer When installation is complete verify that your startup ini file or your vxWorks files are located directly in the klein directory D 4 Configuring the LAN Connection Three LAN configuration setup procedures are provided one for each of three Windows operating systems NT 2000 and XP In addition the TPU must be configured for the LAN D 4 1 Windows NT LAN...

Page 209: ...D 6 APPENDIX D General Setup Configuration and Troubleshooting Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 3 Note your computer name 4 Select the Protocols tab ...

Page 210: ... computer 1 On the desktop choose Start Programs Microsoft Peer Web Services Common If you do not find Microsoft Peer Web Services Common under your Start menu you will have to install it You will need your Windows NT 4 0 CD ROM Insert the NT CD ROM into your CD ROM drive Go to NT File Explorer and locate the Windows NT directory and look for d I386 inetsev inetstp exe This program will ask you fo...

Page 211: ...ices Common Internet Service Manager 3 Right click the computer running the FTP service and choose Service Properties The computer name should be the one noted earlier The FTP Service Properties dialog box for your computer will open to the Service tab 4 Enter the parameters shown Make sure the dialog boxes match NOTE A new empty directory C InetPub ftroot will be created on your C drive Do not de...

Page 212: ...Configuring the LAN Connection D 9 5 Click the Directories tab and check for the c klein directory If it is not present click Add and set up the dialog box as shown Make sure the dialog boxes match ...

Page 213: ...up Configuration and Troubleshooting Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 Finally set up the user profile 1 On the desktop choose Start Programs Administrative Tools Common User Manager ...

Page 214: ...boxes and set up the check boxes as shown If checking the user klein setup click klein and check the dialog box The password is klein 3 Click OK 4 Verify that your vxWorks file is located in the klein directory D 4 2 Windows 2000 LAN Configuration Setup First check the TCP IP protocol 1 On the desktop choose Start Settings Control Panel ...

Page 215: ...tenance Manual P N 11210060 Rev 13 0 2 Right click Network and Dial up Connection 3 Right click Local Area Connection The Local Area Connection Properties dialog box opens 4 Select Internet Protocol TCP IP and then click Properties 5 Enter the IP address and the subnet mask for your computer and then click OK ...

Page 216: ...t Settings Control Panel Administrative Tools Computer Management NOTE If the Internet Information Services item is not in the Computer Management Local menu above it will need to be installed Locate your Windows CD select Install Add on Components and then select Internet Information Services ...

Page 217: ...ns and Maintenance Manual P N 11210060 Rev 13 0 2 Select Internet Information Services 3 Right click Default FTP Site and choose Properties The Default FTP Site Properties dialog box will open to the FTP Site tab 4 Enter the parameters as shown The IP address is the address that was set up earlier ...

Page 218: ... Directory tab 6 Set up the dialog box as shown including entering C in the Local Path text box Finally set up the user profile 1 On the desktop choose Start Settings Control Panel Administrative Tools Computer Management 2 Select Local Users and Groups ...

Page 219: ... Right click Users and then choose New User The New User dialog box will open 4 Enter klein in all the text boxes and set up the check boxes as shown 5 Click Create 6 Verify that your vxWorks file is located in the klein directory D 4 3 Windows XP LAN Configuration Setup First check the TCP IP protocol 1 On the desktop choose Start Control Panel ...

Page 220: ...nection D 17 2 Right click Network Connections The Network Connection dialog box opens 3 Right click Local Area Connection The Local Area Connection dialog box opens 4 Select Internet Protocol TCP IP and then click Properties ...

Page 221: ...ies 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 5 Enter the IP address and the subnet mask for your computer and then click OK Next set up the FTP service 1 On the desktop choose Start Control Panel Administrative Tools Computer Management ...

Page 222: ... The IP address is the address that was set up earlier NOTE If the Internet Information Services item is not in the Computer Management Local menu above it will need to be installed Locate your Windows XP Professional CD select Install Optional Windows Components and then select Internet Information Service IIS and add it to the list of other checked components Select Details and make sure File Tr...

Page 223: ...em Operations and Maintenance Manual P N 11210060 Rev 13 0 5 Click the Home Directory tab 6 Set up the dialog box as shown including entering C in the Local Path text box Finally set up the user profile 1 On the desktop choose Start Control Panel Administrative Tools Computer Management ...

Page 224: ...and set up the check boxes as shown With the addition of XP Service Pack 2 Microsoft has added a firewall This firewall prevents the system from downloading the vxWorks program and will cause the system to not boot up properly and usually produce an error message If you are using XP with Service Pack 2 you must also check the following 1 On the desktop choose Start Control Panel ...

Page 225: ...erations and Maintenance Manual P N 11210060 Rev 13 0 2 Right click Network Connections The Network Connection dialog box opens 3 Right click Local Area Connection and then choose Properties The Local Area Connection dialog box opens 4 Select Internet Protocol TCP IP and then click Properties ...

Page 226: ...Configuring the LAN Connection D 23 5 Select the Advanced tab 6 Click Settings select the Off option and then click OK 7 Verify that your vxWorks file is located in the klein directory ...

Page 227: ...tup in the ASCII Setup dialog box and then connect the TPU to the host PC computer using the Ethernet Hub Turn on the TPU The CPU in the TPU will look for the host computer and load the file vxWorks VxWorks System Boot Copyright 1984 2001 Wind River Systems Inc CPU Motorola M VME5110 2161 MPC 7410 Version VxWorks5 4 2 BSP version 1 2 2 Creation date Aug 29 2006 10 17 52 Press any key to stop auto ...

Page 228: ... interface lo0 done No SCSI device found local data logging not supported Determining Sonar Type from sonarclient klein startup ini ____________________________________________________________ 5555555555 000000000 000000000 00000000 5 0 0 0 0 0 0 5 0 0 0 0 0 0 5 0 0 0 0 0 0 555555555 0 0 0 0 0 0 5 0 0 0 0 0 0 5 0 0 0 0 0 0 5 0 0 0 0 0 0 5 5 0 0 0 0 0 0 555555555 000000000 000000000 000000000 Copyr...

Page 229: ...ersion 5 40 2089 08 29 2006 Auto detecting attached devices IRIG B Decoder Board not detected IRIG support not available M TA1 TA1 TA1 MT7 MT7 MT7 TW0 TW0 TW0 TDF TDF TDF TR7 TR7 TR7 MR MR Opening script file on sonarclient klein startup ini Processing startup script TW0 TW0 TW0 PS1 PS1 MT7 MT7 MT7 MT7 MT7 MT7 TW0 TW0 TW0 TDF TDF TDF TR7 TR7 TR7 ...

Page 230: ...s host name sonarclient Name of your host PC as noted earlier file name klein vxWorks Path to vxWorks on your computer inet on ethernet e 192 168 0 81 Address you give the TPU host inet h 192 168 0 82 user u klein User name as set up earlier ftp password pw klein User password as set up earlier flags f 0x0 Sets boot delay to 10 target name tn VxTarget Set as is startup script s klein startup ini L...

Page 231: ...BEAMBALANCE 100 set PREEMPHASIS 2 set LBOGAIN 1 set DIAGLEVEL 0 SonarPro needs to know the IP address of the TPU Start SonarPro and then click to connect to the towfish in real time The TPU Connection dialog box will open Enter the TPU IP address into the dialog box if different The LAN configuration should now be complete While you have the TPU Connection dialog box open click Change the Sonar Ch...

Page 232: ...ecommend the following For a 15 meter cable set PREEMPHISIS 0 set LBOGAIN 0 For a 150 meter cable set PREEMPHISIS 2 set LBOGAIN 1 For cables around 600 meters set PREEMPHISIS 4 set LBOGAIN 2 For cables that are longer experimentation with the above settings should be done However the only sure technique is to connect a counter or oscilloscope to the BER connector on the Demultiplexer board in the ...

Page 233: ... recommend that you use tow cables with the following characteristics Type Double layer counter helical galvanized improved plow steel GIPS Stainless steel can be a special order Conductors Coaxial copper Diameter OD 10 2 mm 0 40 in Breaking strength 4990 kg 11 000 lb Working load 1247 kg 2750 lb Operational length 3000 m maximum depending on cable Voltage rating 1200 VDC Termination Stainless ste...

Page 234: ...t is shown in Figure D 3 If you do not have access to a Hewlett Packard 4194A Impedance Gain Phase Analyzer you can get a close reading by using a function generator a 50 ohm terminator and an oscilloscope as shown in Figure D 4 Figure D 3 Sample Plot of Tow Cable Characteristics Figure D 4 Setup for Measuring Tow Cable Characteristics using a Function Generator Terminator and Oscilloscope 50 ohm ...

Page 235: ...gh the 50 ohm termination Use the formula dB 20 log Vout Vin For example if at 15 MHz you get a reading of 160 mv then dB 20 log 0 16 1 0 15 9 dB loss D 6 3 Spare Tow Cable Given the nature of high speed towing cable problems can occur For troubleshooting purposes we suggest that you have on hand a lightweight Kevlar reinforced 150 meter minimum length tow cable This extra cable will allow you to ...

Page 236: ...er is connected below the red AC input selection switch The AC input fuses both high and low sides are located below the AC power input To check or replace an AC fuse pull down on the access door This will reveal two tabs Press the tab to the right and the fuse will be released With a little effort the fuse can be removed and checked or changed Both fuses are 3 A 250 V P N 13000007 Figure D 6 TPU ...

Page 237: ... TPU Block Diagram The TPU block diagram is shown in Figure D 8 D 7 4 TPU Internal Access To access the inside of the TPU you must first remove the four screws on the front of the unit and then slide the TPU out toward you Once the TPU is out of the outer case you can remove the top cover by removing the ten screws on the top and the four screws down each side The top cover then lifts off Figure D...

Page 238: ...WFISH connector J1 on the rear panel of the TPU as shown in Figure D 9 D9 which is shown in Figure D 10 lights if there is excessive current draw such as a cable short 5 VDC 12 VDC and 12 VDC are generated from a separate power supply located center rear This is also used to supply the VME chassis and the 200 VDC power supply The 5 volts can be measured on the power supply across the red and black...

Page 239: ...he towfish or the TPU when power is on Failure to follow this practice may result in personal injury and will damage the towfish or the TPU electronics or both CAUTION Serious damage to the towfish electronics may occur if the towfish is operated on deck for periods longer than fifteen minutes Between periods of operation let the sonar cool for fifteen minutes In high temperature climates protect ...

Page 240: ...ht then go off Light B will light then go off Light C will light and lights A and B will flicker VME light stays off On the Demultiplexer board LOCK LOSS light will be off ERROR light will light and stay on On the CPU board CPU BFL SCSI BUSY PIB BUSY will all light SCSI BUSY PIB BUSY will go out CPU light will blink off and then come back on CPU BFL will both go off and then the CPU light will com...

Page 241: ...light and stay on On the CPU board CPU BFL SCSI BUSY PIB BUSY will all light SCSI BUSY PIB BUSY will go out CPU light will blink off and then come back on CPU BFL will both go off and then the CPU will come back on and stay on for about 12 seconds and then go off There will then be light activity on the CPU board as the system looks for the boot program on the host computer and then initializes Th...

Page 242: ...re LOCK LOSS and ERROR lights on the Demultiplexer board are off This then adds the tow cable assembly and towfish into the test equation The boot process sequence should be monitored with an external terminal or with Windows default terminal HyperTerminal See TPU LAN Configuration Setup on page D 24 If the LOCK LOSS and ERROR lights do not go off on the first try turn the TPU off and back on If t...

Page 243: ...y Link to the Towfish Turn the TPU on and check the LOCK LOSS and ERROR lights The lights should be off If they are on or flickering there is a problem Again a telemetry link problem could be one or more of the following towfish fuse failure cable assembly problems miswire open using too long a cable using wrong type of cable or a failure in the towfish Figure D 12 Towfish with Bathymetry Transduc...

Page 244: ... These elements are divided into six pairs Each pair is driven by one transmitter and each transmitter drives the specific pair on both transducers For example if a transmitter fails say TX4 then transducer elements seven and eight on both the port and the starboard transducer would not transmit To verify that the transmitters are working run an oscilloscope probe with the scope tip in place along...

Page 245: ...n Table D 1 Refer to Checking the Transmitters before Deployment on page D 41 for information about the troubleshooting chart Figure D 15 Image in Sonar Viewer Window During a Rub Test Table D 1 Troubleshooting Chart 1P or 1S Connections TRANSDUCER CRYSTAL 10 PIN BULKHEAD 1P 1S RECEIVER BOARD TRANSMITTER BOARD TEST CODE GND 1 7 Xtal 1 2 6 IN1 TX1 Channel 1 Xtal 2 3 1 IN2 TX1 Channel 2 Xtal 3 4 2 I...

Page 246: ...sh pull assembly shown in Figure D 17 This assembly is used to insert or remove the electronics from the pressure housing Positioned one way the Table D 2 Troubleshooting Chart 2P or 2S Connections TRANSDUCER CRYSTAL 10 PIN BULKHEAD 2P 2S RECEIVER BOARD TRANSMITTER BOARD TEST CODE GND 1 7 Xtal 7 2 6 IN7 TX4 Channel 7 Xtal 8 3 1 IN8 TX4 Channel 8 Xtal 9 4 2 IN9 TX5 Channel 9 Xtal 10 5 3 IN10 TX5 Ch...

Page 247: ...tronics housing feed thru 6 Place the washer onto the jacking screw thread the nut on and tighten the nut This will extract the electronics housing To reassemble the electronics into the pressure housing 1 Slide the electronics gently and carefully into the pressure bottle aligning the alignment pin with the notch in the pressure housing 2 Position the post with the threaded hole to the top and th...

Page 248: ...Towfish D 45 With the towfish electronics out of the pressure housing you can identify some of the components as shown in Figure D 19 Figure D 19 Towfish Electronics ...

Page 249: ... the towfish telemetry is shown in Figure D 20 D 8 9 Setting up for Testing the Electronics Remove the towfish electronics as described in Removing the Towfish Electronics on page D 43 and place the electronics in a position so that you can reconnect the transducers The towfish electronics is shown removed and ready for servicing in Figure D 21 Figure D 20 The Towfish Telemetry Details ...

Page 250: ...he 200 VDC to the Transmitter boards Generates 5 VDC Generates the time varied gain TVG curves for the received sonar signals from the transducers Multiplexes all the data channels and transmits the telemetry back to the surface Provides the fiber optic interface 200 VDC should be checked across pins 1 and 2 of the tow cable and then checked from the minus side of C93 and on the U16 side of R59 Th...

Page 251: ...ransmitters are working Probe each transmitter trace as shown in Figure D 24 on page D 50 and you should see a scope trace similar to the one shown in the figure You can change the pulse width to 100 µsec and back to 50 µsec on the System 5000 Control tab of the Sonar Interface dialog box If you do not see anything on the altimeter transmitter check that it is turned on by sending an Altimeter ON ...

Page 252: ...oblem in the DSP board To check this select the Display test pattern 1 option on the Towfish Diagnostics tab of the Sonar Interface dialog box and you should see a clean cascading image as shown in Figure D 25 Figure D 23 Multiplexer Board Waveforms TP4 Telemetry TP 4 6 5 TP6 TP5 TP9 should be low 0 volts TP7 TVG curve ...

Page 253: ...he Information window as shown in Figure D 25 above Move the towfish in pitch roll and heading and check to see if the readings change If you have no sensor readings check that the cable is properly plugged into the sensor interface board at JP5 Also check that the cable is properly connected at the compass board Figure D 24 Sample Transmit Waveform Figure D 25 Image in Sonar Viewer Window for Dis...

Page 254: ...ish at ambient temperature measure the ambient temperature with an accurate thermometer Set the potentiometer on the Sensor Interface board which is shown in Figure D 26 to the current temperature The temperature can be viewed in the Information window in SonarPro D 8 16 Towfish Power Supply Pinouts The towfish power supply pinouts are shown in Figure D 27 Figure D 26 The Sensor Interface Board Fi...

Page 255: ...also be done by manually entering commands in the Operator command area of the Towfish Diagnostics tab After entering a command click Send Command to send the command to the towfish To calibrate the compass manually enter the following commands in the order shown TWF Turn off transducer transmitter TA0 Turn off altimeter transmitter Ch Halt compass transmission Cmpcal d Disables compass multi poin...

Page 256: ...mands TWd Select transmit waveform d where d is 0 50 µs chirp 1 100 µs chirp 2 200 µs chirp 3 200 µsec two tone hop 4 50 µs chirp with rear transmitter off 5 100 µs chirp with rear transmitter off 6 200 µs chirp with rear transmitter off 7 200 µs two tone hop with rear transmitter off 8 50 µs chirp with front and rear transmitter off 9 100 µs chirp with front and rear transmitter off A 200 µs chir...

Page 257: ...Menu To totally remove C Maps from the registry 1 Select Start Run enter REGEDT in the Open text box and then click OK 2 Navigate the path My Computer HKEY_CURRENT_USER Software 3 Select and delete C Map 4 Navigate the path My Computer HKEY_LOCAL_MACHINE Software 5 Select and delete C Map 6 Select and delete Aladin D 10 Terminating an Optical Fiber When terminating optical fibers use a termination...

Page 258: ...otruding fiber end off using the sapphire pencil tool Use a light slicing motion 13 Polish the tip of the ceramic connector with the pink polishing pad Polish until all epoxy has been removed Use a figure 8 pattern If there is epoxy on the side of the barrel remove it completely with this pad 14 Place some slurry onto the rubber mat glass purple diamond polishing pad 15 Place the connector into th...

Page 259: ...g fiber optics check that you have 5 volts in the shackle termination D 11 1 Recommended Test Equipment The following equipment is recommended when servicing or performing troubleshooting operations Fluke 87 multimeter Tektronix TDS 3014 4 channel digital oscilloscope Hewlett Packard 4194A impedance gain phase analyzer with measurement unit Terminal program such as HyperTerminal Small flat blade s...

Page 260: ...board 1 Power Supply board 10 Towfish fuses 6 AC fuses Table D 4 Towfish Spares QTY DESCRIPTION 1 Multiplexer board 1 Transmitter board 1 Receiver board 1 Sensor Interface board 1 Compass assembly 1 Towfish Power Supply Table D 5 Multiplexer Board Components QTY PART NO DESCRIPTION 1 MC7905ACT 5volt regulator 1 MC7805ACT 5volt regulator 1 10uH Coil L5 4 3 0 ohm 1 watt resistors 4 4 7 ohm 1 watt re...

Page 261: ...m Operations and Maintenance Manual P N 11210060 Rev 13 0 In addition a spare lightweight tow cable is recommended D 12 Cable Pinouts Table D 6 Transmitter Board Components QTY PART NO DESCRIPTION 1 IR2110 Driver U1 to U8 2 IRF254 Power FET 1 Transformer 12300114 Figure D 28 Cable Pinouts ...

Page 262: ...NMEA 0183 Formats and Information D 59 D 13 NMEA 0183 Formats and Information ...

Page 263: ...D 60 APPENDIX D General Setup Configuration and Troubleshooting Series 5000 Sonar System Operations and Maintenance Manual P N 11210060 Rev 13 0 ...

Page 264: ...NMEA 0183 Formats and Information D 61 ...

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Page 266: ...sis Electronics DMB Micro 15104053 Assembly Drawing Chassis Electronics DMB Micro 14104053 Assembly Chassis Electronics DMB Micro 15100952 Assembly Drawing Option Kit 25 Tailfin T Sys 5000 14102954 Assembly Option Kit 25 Tailfin T Sys 5000 15100813 Assembly Drawing Nosecone DMB 14102643 Assembly Nosecone DMB 15100917 Assembly Drawing Term 455D L W Coax Cable 8 Pin Micro 14102898 150M Assembly Term...

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