R2Sonic 2022 Operation Manual Download

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133

Version 3.0 Rev r000
Date 25-08-2010
Part No. 96000001

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Summary of Contents for 2022

Page 1: ...SONIC 2024 2022 BROADBAND MULTIBEAM ECHOSOUNDERS Operation Manual V3 0 Part No 96000001 ...

Page 2: ...Page 2 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 ...

Page 3: ...ithout the express written approval of R2Sonic LLC Permissions You may request permission to use the copyright materials in this manual by writing to support r2sonic com Authorship This manual Sonic 2024 2022 Operation Manual and all of the content therein written by R2Sonic LLC 1503 A Cook Place Santa Barbara California 93117 USA Telephone 1 805 967 9192 Facsimile 1 805 967 8611 Version Printing ...

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Page 5: ...ONAR HEAD INSTALLATION Surface Vessel 21 3 1 Sonic 2024 2022 Receive Module Installation 21 3 1 1 Mounting the Sonic 2024 2022 Receive Module 22 3 1 2 Receive Module 22 3 1 3 Mounting the Projector 24 3 1 4 Correct Orientation of the Sonic 2024 and Sonic 2022 25 3 2 Sonar Head Installation Guidelines 26 3 2 1 Introduction 26 3 2 2 Over the Side mount 26 3 2 3 Moon Pool Mount 27 3 2 4 Hull Mount 27...

Page 6: ...work Setup 40 6 2 1 Initial Computer setup for Communication 40 6 2 2 Discover Function 41 6 2 3 Configuring Network Communication 42 6 3 Sensor Setup Serial Interfacing 44 6 3 1 GPS 44 6 3 2 Motion 45 6 3 3 Heading 45 6 3 4 SVP 45 6 3 5 Message displays 45 6 3 6 Synch In Synch out 45 6 4 Sonar Settings 45 6 4 1 Frequency 46 6 4 2 Ping Rate Limit 46 6 4 3 Sector Coverage 47 6 4 4 Sector Rotate 47 ...

Page 7: ...ec 500µsec 62 6 8 4 Gain 1 45 62 6 8 5 Depth Gates 62 6 9 Save Settings 64 6 10 Operating Sonic Control on a second computer 65 6 10 1 Two computer setup 65 6 10 2 Changing back to one computer 66 7 SONIC 2024 2022 THEORY OF OPERATION 67 7 1 Sonic 2024 2022 Sonar Head Block Diagram 67 7 2 Sonic 2024 2022 Transmit Normal Operation Mode 68 7 3 Sonic 2024 2022 Receive Normal Operation Mode 69 7 4 Son...

Page 8: ...75 8 3 The Motion Sensor 80 8 4 Sound Velocity Probes 81 8 4 1 CTD Probes 82 8 4 2 Time of Flight Probe 83 8 4 3 XBT Probes 83 8 5 The sound velocity cast 84 8 5 1 Time of Day 84 8 5 2 Fresh water influx 84 8 5 3 Water Depth 84 8 5 4 Distance 84 8 5 5 Deploying and recovering the Sound Velocity Probe 84 Appendix II Multibeam Surveying 9 Introduction 87 9 1 Survey Design 87 9 1 1 Line Spacing 87 9 ...

Page 9: ...e Patch Test 11 Introduction 97 11 1 Orientation of the Sonic 2024 2022 Sonar Head 97 11 2 Patch Test Criteria 98 11 2 1 Latency Test 98 11 2 2 Roll Test 99 11 2 3 Pitch Test 100 11 2 4 Yaw Test 101 11 3 Solving for the Patch Test 102 Appendix V Sound in Water 12 Introduction 103 12 1 Sound Velocity 103 12 1 1 Salinity 105 12 1 2 Temperature 105 12 1 3 Refraction Errors 105 12 2 Transmission Losse...

Page 10: ...r 113 13 2 2 Type Definitions 113 13 2 3 Command Packet Format 113 13 3 R2Sonic Head Commands Binary Format 114 13 4 R2Sonic SIM Commands Binary Format 115 Appendix VI R2Sonic Data Formats 14 R2Sonic Uplink Data Formats 117 14 1 Introduction 117 14 2 General Notes 117 14 3 Port Numbers 117 14 4 Type Definitions 118 14 5 Bathymetry Packet Format 118 14 6 Snippet Format 121 Appendix VII Drawings 123...

Page 11: ... projector 24 Figure 17 View of the mounted Projector NB Connector is facing protective fin 25 Figure 18 Correct Orientation of the Sonic 2024 and the Sonic 2022 25 Figure 19 Typical over the side mount 26 Figure 20 Single Head ROV Installation scheme A 31 Figure 21 Single Head ROV Installation scheme B Preferred 31 Figure 22 Dual Head ROV Installation scheme A 32 Figure 23 Dual Head ROV Installat...

Page 12: ...59 Figure 57 Error if component cannot be found 59 Figure 58 Display Settings 60 Figure 59 Operating parameter buttons 60 Figure 60 Range setting represented in the wedge display 61 Figure 61 Transmit Pulse 62 Figure 62 Depth Gates on and off control 63 Figure 63 Dragging depth gates to new location 63 Figure 64 Graphical representation of depth gate 64 Figure 65 Change in GUI IP 66 Figure 66 SONI...

Page 13: ...surements 103 Figure 88 Concept of refraction due to different sound velocities in the water column 104 Figure 89 Sound velocity profile 104 Figure 90 Refraction Error indication 105 Figure 91 Concept of Spherical Spreading 106 Figure 92 Concept of Cylindrical Spreading 107 Figure 93 Sonic 2024 2022 Projector 124 Figure 94 Sonic 2024 Receive Module 125 Figure 95 Sonic 2022 Receive Module 126 Figur...

Page 14: ...37 Table 9 Gyro Calibration Method 2 computation 79 Table 10 Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz 108 Table 11 Operating Frequency water temperature absorption 110 List of Graphs Graph 1 Depth errors due to incorrect roll alignment 99 Graph 2 Position errors as a result of pitch misalignment error can be either negative or positive 100 Graph 3 Along track position e...

Page 15: ... tags sensor data relays commands to the sonar head and routes the raw multibeam data to the customer s Data Collection Computer DCC The Sonic 2024 and Sonic 2022 work on a user selectable frequency range of 200 kHz to 400 kHz so it is adaptable to a wide range of survey depths and conditions The user can adjust the operating frequency via the Sonic Control GUI on the fly without having to shut do...

Page 16: ... read through the entire Operation Manual before commencing the installation or use of the equipment 1 2 1 Standard of Measurement The Metric system of measurement is utilised throughout this manual this includes temperature in degrees Celsius METRIC IMPERIAL 10mm 0 010m 0 39 inches 100mm 0 100m 3 9 inches 1000mm 1 0 metre 39 4 inches 100 grams 0 100kg 3 5 oz 1000 grams 1 0 kilogram 2 2 pounds 10 ...

Page 17: ... 2 Sonic 2022 System Specification System Feature Specification Frequency 400kHz 200kHz Beamwidth Across Track 1 0 400kHz 2 0 200kHz Beamwidth Along Track 1 0 400kHz 2 0 200kHz Number of Beams 256 Swath Sector 10 to 160 user selectable Maximum Slant Range 500 metres Pulse Length 15µSec 500µSec Pulse Type Shaped Continuous Wave CW Depth Rating 100 metres 3000 metres optional Operating Temperature 0...

Page 18: ... 75 Watt Sonic 2022 54 Watt Power Consumption Sonar Head Only 50W avg 90W Peak Sonic 2022 35W avg 70W Peak Uplink Downlink 10 100 1000Base T Ethernet Data Interface 10 100 1000Base T Ethernet Sync IN OUT TTL GPS Timing 1PPS RS232 NMEA Auxiliary Sensors RS232 Deck Cable Length 15 metre optional to 50 metres Table 4 Electrical Interface 2 6 Sonic 2024 2022 Ping Rates RANGE PING RATE 2 7 60 0 10 48 4...

Page 19: ...rsion 3 0 REV r000 Date 25 08 2010 2 7 Acoustic Centre Figure 2 Sonic 2024 Acoustic Centre Figure 3 Sonic 2024 Acoustic Centre as Mounted Centre of Flange to Alongship offset 181 6mm Top of Flange to Z reference 327 3mm ...

Page 20: ...ersion 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 4 Sonic 2022 Acoustic Centre Figure 5 Sonic 2022 Acoustic Centre as Mounted Centre of Flange to Alongship offset 181 6mm Top of Flange to Z reference 327 3mm ...

Page 21: ... 150MM 3 1 Sonic 2024 2022 Receive Module Installation The Sonic 2024 2022 sonar head is mounted on the standard R2Sonic mounting frame as shown below Figure 6 Sonic 2024 and Sonic 2022 on the mounting frame If the Sonic 2024 2022 sonar head is not pre mounted the following guidelines must be followed for proper operation of the system The Receive Module is orientated with the narrow part of the f...

Page 22: ... securing bolt Figure 10 Insert short threaded side of bolt in pass through and tighten to receiver face 3 1 2 Receive Module The Receive Module has two connectors the female connector is for the Projector cable the male connector is for the deck lead that goes to the SIM There is a securing ear on top of the Receive Module to secure the cables with a cable tie or other similar securing methods Se...

Page 23: ...easily done by putting the receive module face on a piece of cardboard or other material and then lowing the mounting frame down with the threaded bolts passing through the mounting frame The securing bolts after passing through the frame should be wrapped with 2 wraps of Teflon tape Figure 13 Position the insulating bushing then wrap threads with Teflon tape then secure with flat washer locking w...

Page 24: ...w secures the projector through the stand off The Projector s connector faces towards the protection fin Connect the 0 439m interconnect cable s female end to the Projector s male bulk head connector When the connectors are mated there should be no visible gap between them A very light spray of silicon lubricant will aid seating the connector Figure 15 Projector Stand off Figure 16 Mounting the pr...

Page 25: ...2022 The Sonic 2024 2022 is designed to be installed with the projector facing forward or towards the bow However if the installation requires the projector to face aft in Sonic Control the user can select the orientation to projector aft and this will re orientate the data output to reflect the projector orientation Figure 18 Correct Orientation of the Sonic 2024 and the Sonic 2022 ...

Page 26: ...be employed when mounting the sonar head must be taken into account and strengthened if necessary 3 2 2 Over the Side mount The over the side mount is normally employed for shallow water survey vessels and or temporary survey requirements The over the side mount consists of a frame structure that is attached to the vessel s hull or superstructure A pole will be attached to the frame normally throu...

Page 27: ...hed to the vessel s hull With this way of securing the sonar head there is no possibility of movement outside that of the movement of the vessel There are disadvantages to the hull mount the head cannot be inspected easily for marine growth or damage the vessel may be restricted in the depth of waters that can be surveyed due to the head being permanently attached to the hull A normal hull mount w...

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Page 29: ...e from getting into the sonar head A common mode choke on the 48V line is recommended The Bourns JW Miller PM3700 50 RC common mode choke works well surface mount part A Bourns 8102 RC choke which is easier to install non surface mount can also be used The supplied deck cable is a special cable with Ethernet pairs which are rated to 3000 meters water depth Do not substitute this cable as the Ether...

Page 30: ...will be no connection Sometimes it s not obvious if a port is Gigabit enabled try connecting unknown ports to a gigabit Ethernet switch and see what speed it connects at via the status lights on the switch Gigabit to 100BASE T Two pairs green and orange on TIA EIA 568 B wiring can be used Be sure to test this with a modified patch cable cut the brown and blue pairs before committing to the chosen ...

Page 31: ...Page 31 of 133 Version 3 0 REV r000 Date 25 08 2010 4 2 ROV Installation Examples Figure 20 Single Head ROV Installation scheme A Figure 21 Single Head ROV Installation scheme B Preferred ...

Page 32: ...Page 32 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 22 Dual Head ROV Installation scheme A Figure 23 Dual Head ROV Installation scheme B Preferred ...

Page 33: ... sonar head and motion data are also interfaced to the SIM to be passed onto the sonar head 5 1 1 Physical installation The 15 metre cable from the Sonic 2024 2022 Receive Module connects directly to the SIM via an Amphenol style connector Therefore the SIM must be located within 15 metres of the sonar head a 50 metre cable is an option The SIM is not water or splash proof so it must be installed ...

Page 34: ... decoded wrong baud rate or format setting in the Sonic Control Sensor Settings menu On the second row up are three BNC connections as well as three Ethernet connections The BNC which is above the GPS DB 9 receives the one Pulse Per Second PPS from the GPS receiver The PPS along with the GPS time information on the DB 9 is used to time stamp and synchronise all data The two BNC connections to the ...

Page 35: ...2010 Figure 26 SIM Interfacing Physical Connections Figure 27 SIM Interfacing Guide from label on top of the SIM NB Again at the present time the SIM only takes in the PPS NMEA Time message sound velocity and motion data and not heading information ...

Page 36: ...n Number R2Sonic 10013A Wire Colour Data 1 4 A Blue Data 1 5 B Blue White Data 2 7 C Green Data 2 8 D Green White Data 3 11 E Brown Data 3 12 F Brown White Data 4 9 G Orange Data 4 10 H Orange White Data Shield 6 n c Drain Wire Power 1 J M Red Yellow 18AWG Power Return 2 K L Black Blue 18 AWG Table 6 Deck Lead Pin Assignment Gigabit Ethernet and Power Figure 29 Impulse connector ...

Page 37: ...the same PPS and time message to synchronise the computer clock and the auxiliary sensor data The PPS is normally a TTL transistor transistor logic pulse The pulse is transmitted to the SIM and the data collection computer via a coaxial cable such as RG 58 the cable is terminated with BNC connectors so that it is easy to use a T adaptor to parallel the PPS to different locations Connect one end of...

Page 38: ...onnect the motion data to the DB 9 labelled Motion on the SIM Setting up the serial port parameters is done through Sonic Control which is covered in Chapter 6 5 1 6 SVP input 5 1 6 1 Connecting the sound velocity probe The sound velocity probe is used to provide the sound velocity at the sonar head which is used for the receive beam steering It is not used for refraction correction that must be a...

Page 39: ...uire a dedicated computer and is usually installed on the user s data collection computer 6 1 Installing Sonic Control Graphical User Interface Sonic Control is supplied on a CD or as an attached file There is no installation program merely decompress the program to a folder in a root directory of the computer Send the R2Sonic exe to the desktop as short cut Figure 30 Sonic Control Icon on desktop...

Page 40: ... Communication Prior to starting Sonic Control 2000 for the first time the computer s network parameters must be set correctly to establish the first communication Open the computer s network connections Identify the NIC Network Interface Card that is being used for the Sonic system and select Properties usually by using the right mouse button context menu highlight the Internet Protocol TCP IP an...

Page 41: ...nformation from all attached R2Sonic equipment The Discover function will automatically transfer the serial numbers to the correct field 6 2 2 1 Default Network Configuration Head IP 10 0 0 86 BasePort 65500 SIM 10 0 0 99 BasePort 65500 GUI 10 0 1 102 BasePort 65500 Bathy 10 0 1 102 BasePort 4000 Snippets 10 0 1 102 BasePort 4000 It is very important that the exact settings as shown in Figure 33 a...

Page 42: ...een devices 6 2 3 Configuring Network Communication The network settings allow freedom in selecting IP numbers for various pieces of equipment The most important settings to get right are the Subnet Mask upper left corner of the Network settings dialog and the GUI IP number If these numbers are wrong the Sonic Control program will not be able to configure the sonar head and SIM The GUI IP number a...

Page 43: ...er within the network subnet SIM BasePort Any number between 49152 and 65535 Preferred is 65500 GUI IP Same IP number of the computer running the Sonic Control software GUI BasePort Any number between 49152 and 65535 Preferred is 65500 Bathy IP IP number of the computer running bathymetry data collection software Bathy BasePort Base port number that the bathymetry data collection software requires...

Page 44: ...eration manual there will be an entry that will detail which edge of the PPS pulse is used for synchronisation this will be either synch on rising edge or synch on falling edge Selecting the correct polarity is vital for correct timing The firmware supports the ZDA integer part HHMMSS and accepts PPS pulses if they pass a basic stability test the last two pulses must be within 200ppm If the PPS is...

Page 45: ...abled 6 3 4 SVP This is used to set the communication for the sound velocity probe mounted on the sonar head 6 3 5 Message displays Not currently enabled 6 3 6 Synch In Synch out Used to receive or send synchronisation TTL pulses This is under development 6 4 Sonar Settings The Sonic 2024 2022 has many features that provide the user with the versatility to tailor the system to any survey project t...

Page 46: ...equency is selected via the drop down menu next to Frequency kHz Figure 38 Operating Frequency Selection 6 4 2 Ping Rate Limit The Sonic 2024 2022 can transmit at a rate up to 60 Hz 60 pings per second this is called the Ping Rate At times it may be desirable to reduce the ping rate to reduce the collection software file size or for other reasons Highlight the box next to Ping Rate Limit and the p...

Page 47: ...h a high concentration of soundings resulting from the compressed sector First change the sector coverage to the desired opening angle this will concentrate the 256 beams within the sector Second rotate the swath towards the feature to be mapped with high definition This is done on the fly with no need to stop data recording or to go off line The Sector Coverage can also be controlled via the mous...

Page 48: ...rm Normal bathymetry survey Bathy VFeature With the ability to map vertical surfaces without physically rotating the sonar head this Mission Mode provides improved detection methods tailored to mapping vertical features This specialised mode greatly reduces the corner ringing seen in older technology systems The Mission Mode can be changed on the fly with no need to stop recording data The sector ...

Page 49: ...de nor is there a need to go into the data collection software and identify the data as roll stabilised The R2Sonic roll stabilisation has been developed based on recommend methods from various data collection software companies Roll stabilisation only works within the 160 maximum sector any swath rotation or large sector size opening angle that attempts to go beyond the 160 limit will cause the s...

Page 50: ...n controls Range Power Pulse Length and Gain set both sonar heads NB For a dual head system the Discover function will only list the systems Discover does not auto fill the serial numbers for a dual head system Correct serial numbers must be entered by hand for both systems 6 4 8 1 Dual Head default settings To make it easier to set up the system for dual head operation there is a specific setting...

Page 51: ...ngs files will be shown There are two Factory Default initialisation files one for single head the other for dual head Figure 47 Selecting Factory default settings file for dual head operation When the file is loaded Sonic Control will be configured for dual head mode this includes the default network settings ...

Page 52: ...projector to face aft this setting is used to renumber the beams to reflect the aft orientation 6 4 10 2 Projector Z Offset m Using the standard R2Sonic mounting frame the projector is mounted at a precise distance relative to the receive array with a Z offset of 0 119m the default If the projector is not mounted in the same vertical relationship to the receive array an offset can be entered here ...

Page 53: ... relative to the receive array Please contact R2Sonic for further guidance on mounting the projector with a different vertical offset 6 4 10 3 Head Tilt If the sonar head is physically tilted to port or starboard the tilt angle is entered here to rotate the wedge and depth gates ...

Page 54: ...f a sound wave due to dispersion of the wave front It is a geometrical phenomenon and is independent of frequency The sound wave propagates in a spherical manner the area of the wave front increases as the square of the distance from the source Therefore the sound intensity decreases with the square of the distance from the projector Spreading loss is not dependent on frequency Spreading loss is n...

Page 55: ...ry strong As the receive window time lengthens the weaker returns are received Using a fixed gain would apply either too much gain for the early returns or insufficient gain for the later returns The solution is to use TVG The function of TVG is to increase gain continuously throughout the receive cycle Therefore smaller gain corresponds with the first returns normally the strongest and higher gai...

Page 56: ...sound velocity probe by entering in the correct sound velocity for the area around the sonar head To manually enter a sound velocity check the box for Use Custom velocity and enter a velocity WARNING The wrong sound velocity at the sonar head will cause erroneous data There are currently no known post processing tools to correct for this If the sound velocity is wrong the beam steering will be in ...

Page 57: ...ve the most delay applied whereas receive element 8 would have no delay thus a virtual array will be formed 6 6 Tools Firmware Upgrade When R2Sonic issues a firmware upgrade it will be made available to the customer allowing the customer to upgrade their system by themselves There are two firmware upgrades possible SIM upgrade and or sonar head upgrade The upgrade file will be designated either Si...

Page 58: ... Select correct upgrade bin file Once the Update button is clicked on a batch file will automatically run and download the bin to the appropriate place Figure 54 A batch file will automatically load the upgrade file Figure 55 Message displayed when the upgrade process is complete ...

Page 59: ...process may fail one is if the wrong type of file is selected the other is if there is no communication with the part of the sonar that is to be upgraded Each instance will provide an error message Figure 56 Error if wrong file chosen for upgrade Figure 57 Error if component cannot be found ...

Page 60: ... depth gate settings f Operating frequency c Sound velocity at the sonar head PR Ping rate D Nadir depth The user can customise the colour scheme of Sonic Control s main window Dot Colors provides a means to view instantaneous information by colouring the bottom detections dots for the detection algorithm being employed when Magnitude is selected Selecting Intensity provides a grey scale represent...

Page 61: ... detection dots relationship to the straight legs of the wedge display Figure 60 Range setting represented in the wedge display 6 8 2 Power 0 221 dB The Power setting sets the source level of the transmit pulse this is represented in Figure 60 below The Sonic 2024 2022 should be operated with sufficient power to enable good acoustic returns from the sea floor The value will change based on water d...

Page 62: ...hich is determined by the Power setting The general guide line is to maintain as short a pulse length as possible to optimise the resolution but not so short as to weaken the transmit pulse Generally as the water gets deeper the pulse length will have to be increased to get more total power in the water The default pulse length will depend on the chosen operating frequency Figure 61 Transmit Pulse...

Page 63: ...data collection software there will also be a form of depth gates If the data are eliminated there it is more than likely that the data is flagged and not really deleted so it can be recovered The main reason to use the Sonic 2024 2022 depth gates is to eliminate interference of the bottom detection process Depending on bottom composition multiple returns can occur There will be a secondary and po...

Page 64: ...tom detections are gated out those data are lost entirely and cannot be recovered 6 9 Save Settings When Sonic Control is launched it will always load the default settings configuration file located in the Sonic Control installation directory CurrentSettings ini The default configuration file will save any local configuration changes during operation of the system When a user defined configuration...

Page 65: ...ress 10 0 1 105 using this as an example 4 Load Sonic Control on the second computer but do not connect the second computer to the SIM until directed to below 5 Open Sonic Control on the second computer 6 Go to Settings Network settings and change only the GUI IP address to 10 0 1 105 see illustration below 7 Connect a LAN cable from the second computer to one of the free RJ45 ports on the SIM the...

Page 66: ...o one computer 1 Open Sonic Control on the data collection computer 2 Change the GUI address to 10 0 1 102 3 On the second computer change the GUI IP address back to 10 0 1 102 and Apply 4 Sonic Control on the data collection computer now controls the system Disconnect the second computer s Ethernet cable from the SIM ...

Page 67: ...Module the beams are formed and the bottom detection process takes place The resultant bottom detections range and bearing are then sent via Ethernet through the deck lead to the SIM The SIM then sends the data out to the Sonic Control software and the data collection software 7 1 Sonic 2024 2022 Sonar Head Block Diagram Receive Module Receivers Wet Controller Beam Former Bottom Detection To SIM G...

Page 68: ...e transmit Power setting in Sonic Control 2000 the Pulse Length setting in Sonic Control 2000 determines how long the pulse excites the ceramics The projector s transmit pattern ensonifies the seafloor in a very wide across track but narrow along track pattern as the vessel moves along the survey line The across track angle is 160 the along track angle depends on frequency The 400 kHz along track ...

Page 69: ... pattern is 130 normal bathymetry survey in the across track The along track pattern depends on the frequency from 23 at 400 kHz to 40 at 200 kHz Figure 68 Receive pattern with Transmit pattern The Wet Controller board contains the FPGA that performs the beam forming and bottom detection operation time tags the data and formats the sonar data for output back up to the SIM The bathymetry data is ou...

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Page 71: ...ls with RS 23 and BNC data 7 4 1 3 SIM Sonic Control 2000 interfacing Sonic Control 2000 communicates with the SIM over the Gigabit Ethernet DATA RJ 45 Commands from Sonic Control 2000 are transmitted to the SIM and then to the Sonic 2024 2022 The Sonic 2024 2022 data passes through SIM to the data collection software 7 4 1 4 SIM RS 232 Interfacing The SIM receives the GPS PPS and time message NME...

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Page 73: ...ntionally made less accurate this was Selective Availability SA When SA was enacted the GPS position became too inaccurate for survey use It was during this period that the concept of differential corrections was established Differential corrections were derived from users monitoring the GPS position at a known survey point and computing the corrections required to adjust the various pseudo ranges...

Page 74: ...dations using electrical tape with a secondary covering of self amalgamated tape Ensure that there are no air gaps in the tape they will become a channel for water If a cable is to be run upwards from the antenna form a drip loop by leaving slack in the cable that will hang below the antenna connector This will allow any water that flows down the cable to collect and drip from the slack loop inste...

Page 75: ...em to the midpoint of the stern If it is not possible to place the gyrocompass on the centreline of the vessel it can be mounted on a parallel to the centre line All survey grade gyrocompasses will be plainly marked for alignment on the centre line This marking may be an etched line fore and aft on the mounting plate or possibly metal pins on the front and the back of the housing that point down I...

Page 76: ...neous to this the survey personnel will record the gyro heading as it is read by the survey computer Any variation between the digital output and the physical gyro reading should be remedied prior to the commencement of readings It is recommended that the personnel on the vessel and the surveyors on the quay be in constant communication to assist in coordinating the measurements One round of readi...

Page 77: ...tion process detailed above Figure 70 Gyrocompass Calibration method 1 Quayside Benchmarks have known geodetic positions Measure Range and Bearing to reflectors on vessel centre line Using Range and Bearing to reflectors determine geodetic position for reflectors Calculate bearing from stern reflector to bow reflector will give the true heading of the vessel True heading of vessel is then compared...

Page 78: ...be of a length that will exceed the baseline that is established on the vessel A baseline is established on the vessel that is parallel to the centre line of the vessel It should not be assumed that the side of the vessel is parallel to the centre line This baseline should be on the deck that faces the dock The baseline on the vessel should be as long as possible the longer the better With the ves...

Page 79: ...5 7 Ship Azimuth 270 5 7 275 7 Table 9 Gyro Calibration Method 2 computation Figure 73 Idealised concept of Gyro Calibration Method 2 In this example the vessel heading for this set of readings is 275 7 this would be compared to the gyro reading recorded at the same time the offsets were measured In the above example if the bow was further out from the quay than the stern the angle b would be subt...

Page 80: ...is fashion can provide false attitude measurements This is particularly true when there is significant roll the motion sensor on the pole can interpret a portion of this roll as heave which is not true By placing the motion sensor as close to the centre of rotation also called the centre of gravity as possible only the real heave of the vessel will be measured All software will solve for the motio...

Page 81: ... test It is important to keep the motion sensor in mind when surveying A motion sensor takes time to settle down after a turn or a speed change and most of the settling down will depend on the heave bandwidth that is entered into the motion sensor Some motion sensors can take in position speed and heading data to assist them in the settling process Depending on the degree of the turn or the amount...

Page 82: ...mulae available that are based on the parameters that are recorded by the CTD The UNESCO algorithm is considered a universal standard and was put forth by C T Chen and F J Millero in 1977 The Chen Millero and Li equation is complex as is Del Grosso s 1974 and have been termed Refined Simple formula such as Mackenzie s 1981 also yields good results When using a CTD it is very important that the pro...

Page 83: ... mounted close to the Sonic 2024 2022 sonar head is a time of flight probe Figure 75 Time of Flight SV probe 8 4 3 XBT Probes The XBT is a probe which free falls through the water column at a more or less constant speed the probe is designed to fall at a known rate so that the depth can be inferred and measures the temperature as it passes through the water column Inside the probe is the thermogra...

Page 84: ... a temperature difference 8 5 3 Water Depth The sound velocity cast should always be made in the deepest part of the survey area The sound velocity profile cannot be extrapolated to deeper depths as there are too many possible variables 8 5 4 Distance If the survey area is large then it is quite possible that there will be differences across the range of the survey area even in open water 8 5 5 De...

Page 85: ...nd dry thoroughly 14 Download the cast and verify that it looks good 15 Load the cast into the data collection software 8 5 5 2 Deep Water Cast Deployment by mechanical means A cast in deeper water requires more preparation and planning A deep water cast can be considered to be any cast that is deployed via an A Frame winch or other mechanical means Even a shallow water cast can fall under this de...

Page 86: ...her major consideration when deploying a probe in deeper water is that the vessel must be stationary longer and will drift If there is a large variation in depths the depth when the probe went in may not be the same depth when the probe reaches the bottom It is essential that enough cable be deployed to ensure a full profile to the sea floor ...

Page 87: ... large overlap in swath coverage is required due to various factors One prime factor is roll As the vessel rolls the swath coverage will vary in relation to this roll If the vessel rolls to port port side down the swath coverage on the port side will be lessened whereas the swath coverage on the starboard side will increase If there is not sufficient overlap in swath coverage there could be gaps i...

Page 88: ...ing back on forth across the line trying to maintain zero offline Surveying into a beach may only allow very limited run in if the lines are also to be surveyed out from the beach In this case it may be better to design the lines so that they run parallel to the beach Of course if it shallows greatly towards the beach the lines should be run parallel to this slope anyway as detailed above 9 2 Reco...

Page 89: ...or a time of cast can be added to the file name Keep in mind that personnel who were not on board during the data collection may need to reference the information keeping it logical and chronological will help Ensure that many blank pages are kept for the various categories When a book is filled plainly mark on the cover the inclusive dates that the vessel log covers If possible also mark this inf...

Page 90: ...eters offsets vessel name etc The right hand page will include the start stop times line name direction and comments The left hand page as noted above is for additional information A further advantage to using a log book is the space available to sketch diagrams of the survey or other visual aids that might make the survey easier to understand The surveyor uses a log book to record the data as it ...

Page 91: ...Page 91 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 77 Rough log kept during survey operations does not need to be neat but must contain all pertinent information ...

Page 92: ...Figure 78 Smooth log information copied from real time survey log ...

Page 93: ... be the water line or other logical vertical reference Generally the CRP corresponds to the centre of gravity or rotation of the vessel All of the sensors must have their physical relationship to each other measured and entered into the data collection software or the processing software All offsets between sensors are defined by an X Y and Z offset from a reference CRP or VRP point The X axis run...

Page 94: ...ts One person will be the holder and the other will be the reader Starting at either the reference point or the sensor the distance will be measured When either the reference point or the sensor is reached the two people will reverse roles the holder is now the reader and the reader is the holder the transverse is made back to the point of beginning but not using the same path If reference marks w...

Page 95: ... the top of the hydrophone pole This is the total pole measurement At the start of a survey day the surveyor will go to the pole and measure from the top of the pole to the water line using the tape measure and plumb bob or similar weight this is called the dry measurement Taking the dry measurement from the total pole measurement yields the wet measurement which is the draft of the sonar head Due...

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Page 97: ...es of bottom terrain and processing the data through a set of patch test tools There are two primary methods of processing the data that are currently used an interactive graphical approach and an automatic iterative surface match Each of these techniques has strengths and weaknesses and the preferred approach is dependent on the types of terrain features available to the surveyor All modern multi...

Page 98: ...ue to a lack of resolution 11 2 1 Latency Test The vast majority of installations will incorporate GPS time synchronisation and as such no latency is expected in the GPS position However it is necessary to complete at least one or two latency tests to prove that the latency for all practical purposes is zero Most patch test programs will not yield zero latency but the derived value would be so sma...

Page 99: ...ermine when the difference between the two surfaces is the smallest and this is the roll offset Figure 84 Roll data collections Roll is perhaps the most critical value in the patch test routine as an error in roll will result in an error in sounding depths However the computation to determine the roll misalignment is usually the easiest and most consistent Graph 1 Depth errors due to incorrect rol...

Page 100: ...ns The patch test software goes through a series of iterations of pitch angle corrections until the difference between the two surfaces reaches a null Whatever the angle of correction which results in the minima or null that angle will be reported as the pitch misalignment A pitch error will result in a an along track position error which increases greatly with depth Graph 2 Position errors as a r...

Page 101: ...o the course of the vessel For the Yaw data collection two parallel lines are used with the vessel surveying in the same direction on those lines The lines are to be on either side of a sea floor feature or over a slope The lines should be approximately 2 3 times water depth in separation A yaw error will result in a depth position error which increase with the distance away from nadir Graph 3 Alo...

Page 102: ...common that a larger than expected error in one of the tests will make it necessary to go back and resolve for all previous values This can be the case with a large yaw offset as this will influence to a greater degree the accuracy of the latency and pitch computations if done using a slope The resultant patch test values are corrections that are entered in the data collection software and not in ...

Page 103: ... factors influence that energy s velocity and coherence The major influence is the velocity of sound in water 12 1 Sound Velocity The major influence on the propagation of acoustic energy is the sound velocity of the water column As the acoustic pulse passes through the water column the velocity and direction refraction of the wave front will vary based on the water column sound velocity If the so...

Page 104: ...e assumed that the velocity of sound in the water column remains constant over large areas or throughout the day in a more local area The main influences on sound velocity are Conductivity salinity Temperature and Depth pressure 1 C change in Temperature 4 0 m sec change in velocity 1 ppt change in Salinity 1 4 m sec change in velocity 100 m change in Depth 10 atm s pressure 1 7 m sec change in ve...

Page 105: ...sure becomes the more dominating influence on the velocity of sound which is approximately at 1000 metres The normal influences on the temperature component of sound velocity include 1 Solar heating 2 Night time cooling 3 Rain run off 4 Upwelling 12 1 3 Refraction Errors Refraction errors occur due to the wrong sound velocity profile being applied to the data The error increases away from nadir an...

Page 106: ...in the source level if there are no boundaries such as the water surface or sea floor to influence the acoustic energy all of the acoustic energy spreads out evenly in all directions from the source The loss in intensity is proportional to the surface area of the sphere The intensity decreases as the inverse square of the range for spherical spreading With Spherical spreading the transmission loss...

Page 107: ...ttenuation of the acoustic energy based on frequency the higher the frequency the greater the absorption The higher the sonar operating frequency the more rapid the vibration or excitement of the particles in the water and this leads to the greater transference of acoustic energy thus the attenuation of the acoustic wave This is the reason why lower frequencies are used to obtain deeper data At 40...

Page 108: ... 53 64 76 84 Mean Value 96 99 110 127 152 45 55 66 78 87 Freshwater Absorption Values Salinity 0 5ppt pH 7 dB km 400kHz 200kHz Temp C 5 10 15 20 25 5 10 15 20 25 Depth m 50 65 55 46 39 33 17 14 12 10 9 100 65 54 46 38 33 17 14 12 10 9 150 65 54 45 38 33 17 14 12 10 9 200 65 54 45 38 32 17 14 12 10 9 250 65 54 45 38 32 16 14 12 10 9 300 64 54 45 38 32 16 14 12 10 9 Mean Value 65 54 45 38 33 17 14 1...

Page 109: ... dB km Frequency and Temperature Influence on Seawater Absorption 400kHz 200kHz Degrees Celsuis Mean values for water depths from 50 metres to 300 metres 400 metres for 200 kHz 0 10 20 30 40 50 60 70 5 10 15 20 25 Absorption dB km Frequency and Temperature Influence on Freshwater Absorption 400 kHz 200 kHz Degrees Celsius Mean values for water depths from 50 metres to 300 metres ...

Page 110: ... 74 88 101 240 63 76 91 105 250 65 78 94 109 260 67 80 96 113 270 69 82 99 116 280 71 84 101 120 290 73 86 104 123 300 75 88 106 126 310 78 91 108 129 320 80 93 111 132 330 82 95 113 135 340 85 97 115 138 350 87 99 118 141 360 90 102 120 143 370 92 104 122 146 380 95 106 125 149 390 98 109 127 152 400 100 111 129 154 Table 11 Operating Frequency water temperature absorption ...

Page 111: ... the sonar and the angle of incidence Bottom absorption will be greater for a higher frequency and large angle of incidence It is more or less intuitive that a mud bottom will absorb more of the acoustic energy than a rocky bottom When the acoustic energy is absorbed it means there is less that will be reflected back to the Sonic 2024 2022 s receivers The surveyor must be aware of the bottom compo...

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Page 113: ... necessary use your compiler s packed directive 2 All values have big endian byte order Your compiler may provide conversion functions such as htonl htons ntohl ntohs however those assume integers so you ll need to be very careful with floats 3 u32 means unsigned integer 32 bits f32 means IEEE 754 32 bit floating point 4 All packets are UDP IP datagrams 5 It s recommended that all commands be sent...

Page 114: ...eous 4 slave alternating head sync mode single and dual head modes FILT u32 0 off 1 range 2 depth 3 range depth depth range filter enables use FILT or DGO0 not both FRQ0 f32 Hz 200000 to 400000 frequency GAN0 f32 dB 1 to 45 gain Δ1 2dB PRL0 f32 Hz 0 1 to 60 ping rate limit user value PRO0 u32 0 projector forward 1 projector aft projector orientation PROJ u32 0 none 1 narrow 1 2 wide 20 projector t...

Page 115: ...tandard baud rates 300 to 115200 motion baud BDS0 u32 bps standard baud rates 300 to 115200 SVP baud DBG0 u32 7 or 8 GPS data bits DBM0 u32 7 or 8 motion data bits DBS0 u32 7 or 8 SVP data bits DRG0 u32 0 auto GPS driver DRM0 u32 0 auto motion driver DRS0 u32 0 auto SVP driver ENG0 u32 0 off 1 on GPS serial port enable ENM0 u32 0 off 1 on motion serial port enable ENS0 u32 0 off 1 on SVP serial po...

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Page 117: ...otes 1 Each bathy or snippet section includes a name size mini header to allow the parser to easily skip unneeded or unrecognized sections These formats are designed for easy 4 byte alignment Be sure your compiler linker doesn t insert any extra padding between values If necessary use your compiler s packed directive 2 All values have big endian byte order Your compiler may provide conversion func...

Page 118: ...ber 12 example 100017 unused chars are nulls u32 H0_TimeSeconds seconds ping time relative to 0000 hours 1 Jan 1970 integer part u32 H0_TimeNanoseconds nanoseconds ping time relative to 0000 hours 1 Jan 1970 fraction part u32 H0_PingNumber pings since power up or reboot f32 H0_PingPeriod seconds time between most recent two pings f32 H0_SoundSpeed meters per second f32 H0_Frequency hertz sonar cen...

Page 119: ... AngleLast f32 A0_AngleLast radians angle of last starboard side bathy point f32 A0_MoreInfo 6 several to be determined values such as attitude info to assist the GUI display section A2 16 bit bathy point angles arbitrarily spaced present only during equi distant spacing mode u16 A2_SectionName A2 u16 A2_SectionSize bytes size of this entire section f32 A2_AngleFirst radians angle of first port si...

Page 120: ... description mode u16 G1_SectionName G1 u16 G1_SectionSize bytes size of this entire section f32 G1_ScalingFactor struct u8 RangeMin seconds two way RangeMin G1_ScalingFactor u8 RangeMax seconds two way RangeMax G1_ScalingFactor G1_Gate H0_Points u16 G1_unused H0_Points 1 ensure 32 bit section size section Q0 4 bit quality flags u16 Q0_SectionName Q0 quality 4 bit u16 Q0_SectionSize bytes size of ...

Page 121: ...pings since power up or reboot f32 H0_PingPeriod seconds time between most recent two pings f32 H0_SoundSpeed meters per second f32 H0_Frequency hertz sonar center frequency f32 H0_TxPower dB re 1 uPa at 1 meter f32 H0_TxPulseWidth seconds f32 H0_TxBeamwidthVert radians f32 H0_TxBeamwidthHoriz radians f32 H0_TxSteeringVert radians f32 H0_TxSteeringHoriz radians u32 H0_TxMiscInfo to be determined f...

Page 122: ...s number of samples in this snippet sample rate is H0_RxSampleRate u32 S1_FirstSample first sample of this snippet relative to zero range sample rate is H0_RxSampleRate f32 S1_Angle radians angle of this snippet relative to array centerline f32 S1_ScalingFactorFirst scaling factor at start of snippet 0 ignore use linear interpolation to get other values f32 S1_ScalingFactorLast scaling factor at e...

Page 123: ... 2022 Receive Module 126 Figure 92 Sonic 2024 Mounting Bracket Drawing 1 127 Figure 93 Sonic 2024 Mounting Bracket Drawing 2 128 Figure 94 Sonic 2022 Mounting Bracket Drawing 1 129 Figure 95 Sonic 2022 Mounting Bracket Drawing 2 130 Figure 96 Sonic 2024 2022 Mounting Bracket Flange 131 Figure 97 SIM Box Drawing 132 Figure 98 R2Sonic Deck lead minimum connector passage dimensions 133 ...

Page 124: ...Page 124 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 93 Sonic 2024 2022 Projector ...

Page 125: ...Page 125 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 94 Sonic 2024 Receive Module ...

Page 126: ...Page 126 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 95 Sonic 2022 Receive Module ...

Page 127: ...Page 127 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 96 Sonic 2024 Mounting Bracket Drawing 1 ...

Page 128: ...Page 128 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 97 Sonic 2024 Mounting Bracket Drawing 2 ...

Page 129: ...Page 129 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 98 Sonic 2022 Mounting Bracket Drawing 1 ...

Page 130: ...Page 130 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 99 Sonic 2022 Mounting Bracket Drawing 2 ...

Page 131: ...Page 131 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 100 Sonic 2024 2022 Mounting Bracket Flange ...

Page 132: ...Page 132 of 133 Version 3 0 Rev r000 Date 25 08 2010 Part No 96000001 Figure 101 SIM Box Drawing ...

Page 133: ...Page 133 of 133 Version 3 0 REV r000 Date 25 08 2010 Figure 102 R2Sonic Deck lead minimum connector passage dimensions ...

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