Sonic 2022 Operation Manual Download

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// section R0: 16-bit bathy point ranges

u16 R0_SectionName; // 'R0'

u16 R0_SectionSize; // [bytes] size of this entire section

f32 R0_ScalingFactor;

u16 R0_Range[H0_Points]; // [seconds two-way] = R0_Range * R0_ScalingFactor

u16 R0_unused[H0_Points & 1]; // ensure 32-bit section size

// section A0: bathy point angles, equally-spaced (present only during "equi-angle" spacing mode)

u16 A0_SectionName; // 'A0'

u16 A0_SectionSize; // [bytes] size of this entire section

f32 A0_AngleFirst; // [radians] angle of first (port side) bathy point, relative to array centerline, AngleFirst < AngleLast

f32 A0_AngleLast; // [radians] angle of last (starboard side) bathy point

f32 A0_MoreInfo[6]; // reserved for future use

// 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 side) bathy point, relative to array centerline, AngleFirst < AngleLast

f32 A2_ScalingFactor;

f32 A2_MoreInfo[6]; // reserved for future use

u16 A2_AngleStep[H0_Points]; // [radians] angle[n] = A2_Angl (32-bit sum of A2_AngleStep[0] through A2_AngleStep[n]) * A2_ScalingFactor

u16 A2_unused[H0_Points & 1]; // ensure 32-bit section size

// section I1: 16-bit bathy intensity (present only if enabled)

u16 I1_SectionName; // 'I1'

u16 I1_SectionSize; // [bytes] size of this entire section

f32 I1_ScalingFactor;

u16 I1_Intensity[H0_Points]; // [micropascals] intensity[n] = I1_Intensity[n]) * I1_ScalingFactor

u16 I1_unused[H0_Points & 1]; // ensure 32-bit section size

// section G0: simple straight-line depth gates

u16 G0_SectionName; // 'G0'

u16 G0_SectionSize; // [bytes] size of this entire section

f32 G0_DepthGateMin; // [seconds two-way]

f32 G0_DepthGateMax; // [seconds two-way]

f32 G0_DepthGateSlope; // [radians]

Page

178

210

Version

5.0

Rev

r002

Date

05-08-2014

Part No. 96000001

Summary of Contents for 2022

Page 1: ...SONIC 2024 2022 BROADBAND MULTIBEAM ECHOSOUNDERS Operation Manual V5 0 Revision 002 05Aug2014 Part No 96000001 ...

Page 2: ...Page 2 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 3: ...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 5307 Industrial Oaks Blvd Suite 120 Austin Texas 78735 USA Telephone 1 512 891 0000 Version Printing History June 2008 Version 1 1 1 2 July 2008 Version 1 3 Aug Sep 2008 Version 1 4 December 2008 Version 1 5 Ju...

Page 4: ...Page 4 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 5: ...essel 25 3 1 Sonic 2024 2022 Receive Module Installation 25 3 1 1 Mounting the Sonic 2024 2022 Receive Module 26 3 1 2 Receive Module 26 3 1 3 Mounting the Projector 27 3 1 4 Correct Orientation of the Sonic 2024 and Sonic 2022 29 3 1 5 Deck Test Prior to Deployment 29 3 2 Sonar Head Installation Guidelines 31 3 2 1 Introduction 31 3 2 2 Over the Side mount 31 3 2 3 Moon Pool Mount 32 3 2 4 Hull M...

Page 6: ...t Interfacing 47 5 4 1 GPS 47 5 4 2 Motion 47 5 4 3 Heading 47 5 4 4 SVP 48 5 4 5 Message displays 48 5 4 6 Trigger in Trigger out 48 5 5 Sonar Settings Hotkey F2 49 5 5 1 Frequency kHz 50 5 5 2 Ping Rate Limit 51 5 5 3 Sector Coverage 51 5 5 4 Sector Rotate 52 5 5 5 Minimum Range Gate m 53 5 5 6 Bottom Sampling 53 5 5 7 Mission Mode 54 5 5 8 IMAGERY 55 5 5 9 Roll Stabilize 57 5 5 10 Dual Head Mod...

Page 7: ...Topics 73 5 10 2 Options 73 5 10 3 Remote Assistance 73 5 10 4 About Sonic Control 74 5 11 Display settings 75 5 12 Imagery 76 5 12 1 TruePix and Water Column 76 5 13 Main Operation Parameters 77 5 13 1 Range 0 1200 metres 77 5 13 2 RangeTrac Sonic Control automatically sets correct range 79 5 13 3 Power 191 221 dB 79 5 13 4 Pulse Length 15µsec 1000µsec 79 5 13 5 Gain 1 45 80 5 13 6 Depth Gates Ga...

Page 8: ...ation 95 7 3 1 The IMU and GPS antennas 95 7 3 2 INS BNC TNC Connections 95 7 3 3 I2NS DB9 Connections 96 7 4 Setup in Sonic Control 97 7 4 1 Network Setup 97 7 4 2 Applanix Group 119 specific to R2Sonic SIMINS 98 7 4 3 Sensor Setup 99 7 4 4 INS Monitor Alt I 99 7 5 Measuring IMU Offsets 101 7 6 I2NS Physical Specifications 103 7 7 I2NS Drawings 105 7 7 1 I2NS IMU 105 7 7 2 I2NS Sonar Interface Mo...

Page 9: ...21 9 1 Introduction 121 9 2 Survey Design 121 9 2 1 Line Spacing 121 9 2 2 Line Direction 121 9 2 3 Line Run in 122 9 3 Record Keeping 122 9 3 1 Vessel Record 122 9 3 2 Daily Survey Log 123 10 APPENDIX IV Offset Measurements 127 10 1 Lever Arm Measurement Offsets 127 10 2 Vessel Reference System 127 10 3 Measuring Offsets 128 10 3 1 Sonic 2024 Acoustic Centre 128 10 3 2 Horizontal Measurement 128 ...

Page 10: ... 5 Speed 138 11 7 6 Vessel line up 138 11 7 7 Pole variability 138 11 8 Improving the Patch Test and Patch Test results 139 11 8 1 Need to collect sufficient data 139 11 8 2 Individuallysolvingvalues 140 11 9 Truthing the patch test 140 12 APPENDIX VI Basic Acoustic Theory 141 12 1 Introduction 141 12 2 Sound Velocity 141 12 2 1 Salinity 143 12 2 2 Temperature 143 12 2 3 Refraction Errors 143 12 3...

Page 11: ...ard Dimensional Information 162 13 8 2 SIM Board Images 163 13 9 Dual Sonar Head 165 13 9 1 Dual Head Installation 165 13 9 2 Operation 165 14 APPENDIX VIII R2Sonic Control Commands 167 14 1 Introduction 167 14 2 General Notes 167 14 2 1 Ethernet Port Numbers 167 14 2 2 Type Definitions 167 14 2 3 Command Packet Format 167 14 3 Head Commands Binary Format 168 14 4 SIM Commands Binary Format 171 14...

Page 12: ...ata Format 184 15 10 TruePix Data Format 186 15 11 Head Status Format 188 15 12 SIM Status Data Format 190 15 13 Device Status Format 192 15 14 Data Playback Using Bit Twist 193 15 14 1 Introduction 193 15 14 2 Capturing Data 193 15 14 3 Editing Data 194 15 14 4 Data Playback 195 16 APPENDIX X Drawings 197 Page 12 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 13: ...g protective fin 28 Figure 17 SV Probe mounted in block 28 Figure 18 Correct Orientation of the Sonic 2024 and the Sonic 2022 29 Figure 19 Typical over the side mount 31 Figure 20 Sonar Interface Module SIM 33 Figure 21 Removal of trim to expose securing holes 34 Figure 22 SIM Interfacing Physical Connections 35 Figure 23 SIM Interfacing Guide from label on top of the SIM 35 Figure 24 SIM IEC main...

Page 14: ... debris and sea grass 60 Figure 60 Ocean Characteristics 61 Figure 61 TVG Curve Concept 62 Figure 62 The angular acoustic wave front will strike each receive element at a different time 64 Figure 63 Installation Settings 65 Figure 64 Status Options 66 Figure 65 Status Message 66 Figure 66 Real time Status Window 67 Figure 67 Select Tools Firmware Update 69 Figure 68 The Browse button will open the...

Page 15: ...97 Transmit pattern 88 Figure 98 Receive pattern with Transmit pattern 89 Figure 99 Sonar Interface Module Block Diagram 91 Figure 100 R2Sonic I2NS Main Components not including antennas and cables 93 Figure 101 GNSS Antennas 93 Figure 102 INS connections 94 Figure 103 INS SIM block diagram 94 Figure 104 INS BNC TNC Connections 95 Figure 105 PPS Out PPS In 95 Figure 106 Com 1 and Com 2 on SIMINS f...

Page 16: ... Figure 138 Refraction Error indication 143 Figure 139 Concept of Spherical Spreading 144 Figure 140 Concept of Cylindrical Spreading 145 Figure 141 Single Head ROV Installation scheme A 153 Figure 142 Single Head ROV Installation scheme B Preferred 153 Figure 143 Dual Head ROV Installation scheme A 154 Figure 144 Dual Head ROV Installation scheme B Preferred 154 Figure 145 Sonic 2024 power supply...

Page 17: ... UDP defaults 165 Figure 164 Dual sonar head ping modes 166 Figure 165 Dual Head Dual SIM external interfacing 166 Figure 166 Wireshark Capture Options 194 Figure 167 Sonic 2024 2022 Projector 198 Figure 168 Sonic 2024 Receive Module 199 Figure 169 Sonic 2022 Receive Module 200 Figure 170 Sonic 2024 Mounting Bracket Drawing 1 201 Figure 171 Sonic 2024 Mounting Bracket Drawing 2 202 Figure 172 Soni...

Page 18: ...ues for Seawater and Freshwater at 400 kHz and 200 kHz 146 Table 13 Operating Frequency water temperature absorption 148 Table 14 Systems Power Requirements 155 Table 15 SIM Gigabit switch speed indicators 161 List of Graphs Graph 1 Depth errors due to incorrect roll alignment 133 Graph 2 Position errors as a result of pitch misalignment error can be either negative or positive 134 Graph 3 Along t...

Page 19: ...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 down the sonar system or change hardware or halt recor...

Page 20: ...ation 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 ounces 1000 grams 1 0 kilogram 2 2 pounds 10 C 50 F Table 1 Metric to Imperial conversion table Page 20 of 210 V...

Page 21: ...0kHz Beamwidth Across Track at nadir 1 0 400kHz 2 0 200kHz Beamwidth Along Track at nadir 1 0 400kHz 2 0 200kHz UHR Beamwidth at nadir 0 6 Across Track x 0 6 Along Track Number of Beams 256 Swath Sector 10 to 160 user selectable UHR Swath Sector 10 to 60 user selectable Maximum Slant Range 1200 metres Pulse Length 15µSec 1000µSec Pulse Type Shaped Continuous Wave CW Depth Rating 100 metres 3000 me...

Page 22: ...ation System I2NS 38 4W SIM and IMU with Antennas 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 Ethernet Deck Cable Length 15 metre optional to 50 metres Table 4 Electrical Interface 2 6 Sonic 2024 2022 Ping Rates SV 1500 00m sec RANGE PING RATE 2 7 60 0 10 55 4 15 39 4 20 30 6 25 25 0 30 21 1...

Page 23: ...re 2 Sonic 2024 Acoustic Centre Figure 3 Sonic 2024 Acoustic Centre as Mounted Centre of Flange to Alongship offset 0 182m 0 597ft Top of Flange to Z reference 0 327m 1 073ft Page 23 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 24: ...ustic Centre Figure 5 Sonic 2022 Acoustic Centre as Mounted Centre of Flange to Alongship offset 0 182m 0 597ft Top of Flange to Z reference 0 327m 1 073ft Page 24 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 25: ...on 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 face towards the projector see above The projector is...

Page 26: ...cant 3M Silicone Lubricant 3M ID 62 4678 4930 3 will aid in seating the connectors Silicone grease is never to be used The deck lead passes through the hydrophone pole and then through the flange opening Seat the deck lead after seating the projector cable ENSURE that all connections are tight with no visible gaps Figure 9 Seated connectors Sonic 2024 on left and Sonic 2022 on right Figure 10 Conn...

Page 27: ...ch or 12 5 pound foot Figure 13 Position the insulating bushing then wrap threads with Teflon tape then secure with flat washer locking washer and then nut 3 1 3 Mounting the Projector The projector is secured to the frame with two 35mm stand offs The stand offs allow room for the Projector to Receive Module cable to be run A 6mm drive hex screw secures the projector through the stand off The Proj...

Page 28: ...ure 15 Mounting the projector Figure 16 View of the mounted Projector NB Connector is facing protective fin Figure 17 SV Probe mounted in block Sonic 2024 Sonic 2022 Page 28 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 29: ...ications test The first test is to ensure that computer running Sonic Control can communicate with both the sonar head and the SIM Make sure that Sonic Control is installed in the root directory on the computer and not under ProgramFiles nor on the desktop Make sure all firewalls are off Make sure all virus checkers are disabled Verify the IP4 configuration for the network card being used for the ...

Page 30: ... pulse width to 100µsecs Slowly bring up Power A distinct click should be heard at the 2 Hz ping rate If no clicking is heard increase pulse width and power If no clicking is heard check the projector cable connection If no clicking is heard open the Status window and check TX voltage V voltage should increase decrease with increase decrease in Power 3 1 5 4 Problems with Deck Test If there are an...

Page 31: ...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 through the use of swivel flanges flanges or other means by which...

Page 32: ...hat 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 will also involve the fabrication of a fairing on the hull to ensure correct flow patterns over the sonar head 3...

Page 33: ...to the sonar head 4 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 in a dry temperature controlled environment The SIM is small and light eno...

Page 34: ...nnected Orange problems with communications or if the sonar head current draw is below expected limits 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 c...

Page 35: ... 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 at the sonar head and motion data but not heading information Page 35 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 36: ..._DB 8 D Black paired with Green Green White BI_DD 11 E Brown Brown BI_DD 12 F Black paired with Brown Brown White BI_DA 9 G Orange Orange BI_DA 10 H Black paired with Orange Orange White Data Shield 6 n c Drain Wire Power 1 J M Orange Yellow 18AWG Power Return 2 K L Black Blue 18 AWG Table 6 Deck Lead Pin Assignment Gigabit Ethernet and Power Figure 25 Impulse connector Page 36 of 210 Version 5 0 ...

Page 37: ...Figure 26 Projector cable configuration Page 37 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 38: ...the auxiliary sensor data The PPS is a TTL transistor transistor logic pulse The SIM box PPS input threshold is 1 35V with about 0 14V of hysteresis The PPS input rejects pulses narrower than about a microsecond to reject high frequency cable reflections and ringing but not all types of noise The input pulse timing needs to be stable within about 100ppm or the SIM box will reject the pulses and th...

Page 39: ...he roll component of the motion data is used for roll stabilisation Supported formats and connection are TSS1 Serial IXSea TAH Serial or Ethernet UDP PHOCT It is recommended to set the motion sensor to output the highest baud rate and highest update rate possible preferably 100 Hz or higher Connect the motion data to the DB 9 labelled Motion on the SIM or via Ethernet input to one of the RJ45 AUX ...

Page 40: ...parsed out of the messages and all other values are ignored SeaBird TTT TTTT CC CCCCC SSSS SSSS VVVV VVV CR LF 39 chars SeaBird P TTT TTTT CC CCCCC PPPPP PPP SSSS SSSS VVVV VVV CR LF 49 chars SVP C VVVVVDDDDDTTTBBCCCC CR LF 21 chars SmartSV VVVV VV CR LF 11 chars The last format VVVV VV is also accepted with a flexible width There is no setup to accept these other formats merely set the baud rate ...

Page 41: ...der in a root directory of the computer Send the R2Sonic exe to the desktop as a short cut right click on R2Sonic exe and choose Send to Desktop create shortcut The computer must have the Windows NET Framework installed This can be downloaded for free from the Microsoft web site dotnetfix35 exe NB Do not install Sonic Control under Windows Program Files or put all files on the Desktop Figure 28 So...

Page 42: ...e 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 and select properties Select Use the following IP address and enter IP ...

Page 43: ... 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 actual port 4000 Snippets 10 0 1 102 BasePort 4000 actual port 4006 TruePix 10 0 1 102 BasePort 4000 actual port 4001 Water Column 10 0 1 102 BasePort 4000 actual port 4005 INS 10 0 0 44 No BasePort Does not apply It is very important that the ...

Page 44: ...ll be entered correctly and verify Ethernet communication between devices 5 3 2 2 INS Addressing When using the I2NS system the INS default IP is 10 0 0 44 Initially the INS will not be ready to receive an IP address The Set IP becomes active when the INS is ready to accept an IP after one to two minutes When the time period to set the IP address is over the button changes to Set IP Expired Figure...

Page 45: ...etup run ipconfig all from the command line or command prompt Figure 35 Command prompt ipconfig all The Sonic Control program is required to send networking configuration to the sonar head and SIM whenever the sonar head and or SIM are powered up If the GUI IP number and subnet mask are set correctly the Discover button will list the R2Sonic devices attached to the network If the GUI IP number and...

Page 46: ...olumn data Water Column BasePort Base port number for Water Column data Water Column data will be output on the base port plus 5 The default base port is 4000 Water Column data will be on UDP 4005 Settings for Sonar 2 All entries must be zero Serial numbers are left blank Once networking is set up Sonic Control will automatically connect upon power up there is no need to go back into the Network S...

Page 47: ...eger 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 unstable or absent the SIM s internal trained clock runs with a high degree of accuracy The decoded time from the bathymetry packet is visible in the main display on the lower left along with the cursor position information If the displayed time is 01 01 1970 it indic...

Page 48: ...er than 1µsec The sonar will ping 10 025msecs 10µsecs after receiving the trigger 5 4 6 2 Trigger Out Output is 0 to 5V If Trigger Out is set to Rising Edge the output pulse is high during the receive period If the Trigger Out is set to Falling Edge the output pulse is low during the receive period In the lower portion of the GUI the colour indicator will indicate when the Trigger In is active by ...

Page 49: ...ovide the user with the versatility to tailor the system to any survey project many of these features can be controlled either through the Operation Settings or with the mouse cursor Figure 38 Sonar Operation Settings window Page 49 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 50: ... the drop down menu next to Frequency kHz Figure 39 Operating Frequency Selection 5 5 1 1 700 kHz UHR The optional UHR upgrade enables the sonar to operate at 700 kHz for Ultra High Resolution If this option is installed there will be the added 700 kHz frequency after 400 in the available frequency list If the upgrade is not installed there will be no listing of this frequency Figure 40 UHR freque...

Page 51: ... mode the sonar operating settings need to be increased to increase the total power going into the water and the higher gain needed to receive the attenuated signal As stated the UHR mode is for short range operation 5 5 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 r...

Page 52: ...ay Position the cursor on either of the straight sides of the wedge the cursor will change to a double arrow and the sector can be reduced or increased When using the cursor to change the sector coverage the change only takes place when the mouse button is released The sector angle will be numerically visible in the lower left hand corner of the wedge display while the mouse button is depressed Th...

Page 53: ...sea floor and with an opening angle Sector Coverage equal to or less than 130 Figure 44 Bottom Sampling Modes 5 5 6 1 Dual Quad Mode The Dual Quad bottom sampling modes can be used with both equiangular and equidistant sampling The modes work by spatially distributing the acrosstrack bottom sampling ping by ping The beam is slightly repositioned in the acrosstrack direction with each ping This mod...

Page 54: ... ed2 Equidistant dual ed4 Equidistant quad 5 5 7 Mission Mode The versatility built into the Sonic 2024 2022 is further enhanced with the ability to adapt the system to the nature of the survey task normal survey surveying a vertical feature or the optional Forward Looking Sonar mode If the FLS option is not installed the Mission Mode will only contain the Bathy functions Figure 47 Normal Mission ...

Page 55: ...ly The wedge can display acoustic intensity This will aid in setting the correct combination of operating parameters such as power pulse width and gain Enabling the Acoustic Intensity will increase the network load Enable the wedge Acoustic Intensity under the Display options The Brightness control in the main window is used to set the intensity in the display A good brightness setting to start wi...

Page 56: ...he angle markers from nadir are controlled by the Vertical Grid Line selection 5 5 8 2 2 Stealth Mode The FLS can be operated in a stealth mode where the only time the system transmits is when the user manually triggers the sonar using the Ping button In Sensor Settings the Trigger In option has to be put to Manual the TRG indicator colour will change to Yellow simultaneously the Ping button will ...

Page 57: ...nd identify the data as roll stabilised The R2Sonic roll stabilisation has been developed based on recommended 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 system to stop roll stabilisation As stated in the SIM interfac...

Page 58: ...54 Dual Head Mode Figure 55 Dual Head Mode active In dual head mode certain 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 5 5 10 1 Dual Head default settings To make it easi...

Page 59: ...e is loaded Sonic Control will be configured for dual head mode this includes the default network settings If using only one SIM the second SIM IP and BasePort must be set to zero Figure 58 Default dual head Network settings When only one SIM is used for a dual head system the Sonar 2 SIM IP and BasePort need to be set to 0 The Serial Number must be left blank This is the DefaultSettingsDualHead_S...

Page 60: ...s Suppress reverberation Report angle of centre of snippets record for better colocation of backscatter and bathymetry TruePix possesses all of the above advantages and more The TruePix operation processes all beams into a single continuous times series record for both the port and starboard regions This continuous record contains intensity and angle values for every point in the record approximat...

Page 61: ... 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 not a setting that normally needs to be changed except when surveying in deeper depths As spreading loss is not dependent on frequency the setting is unaffected by a change in operati...

Page 62: ...turns 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 gain corresponds to the later returns normally the weakest This...

Page 63: ... head To manually enter a sound velocity check the box for Use Custom velocity and enter a velocity The SVP indicator in the GUI will change from Green to Yellow 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 error If the sound velocity is...

Page 64: ...a slightly different phase The formed beam is steered in the direction of the acoustic wave by selectively adding delay to each receive element s data until the data is coherent and in phase In the figure above receive element 1 would have the most delay applied whereas receive element 8 would have no delay thus a virtual array will be formed Page 64 of 210 Version 5 0 Rev r002 Date 05 08 2014 Par...

Page 65: ...ed in the same vertical relationship to the receive array an offset can be entered here to compensate for that vertical offset The default Z offset value is 0 119m this is the physical distance between the receive array ceramic face and the centre point of the projector array these are the two acoustic centres as used with the standard R2Sonic mounting frame with 35mm projector standoffs Do not ch...

Page 66: ...rea reflects the SIM status In the SIM Status area the real time serial input data is shown In the Head Status area the received SIM message which contains the serial received serial data is shown The Head Status Response time µs reflects the time required for a message such as a time request to go from the head to the SIM and return The Response time can be very useful in ROV installations to det...

Page 67: ...It is quite normal that the SIM messages in the Head Status differ from the Serial port sensor data in the SIM Status The Head Status reflects what is received at the head from the SIM Page 67 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 68: ...Page 68 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 69: ...ad sonar head the extension will be bin Prior to updating firmware make sure that none of the computer s other Ethernet ports are in use it may be necessary to shut down other sensors that use the Ethernet for data transfer Connect the SIM directly to the computer s network interface card Place the update file in the Sonic Control directory on the computer hard drive Go to Tools Firmware Update th...

Page 70: ... file will automatically load the upgrade file Once the Update button is clicked on a batch file will automatically run and download the bin to the appropriate location Figure 71 The start of a firmware update A series of dots represents the update progress Page 70 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 71: ...ecker should not prompt again If a firewall or virus checker pop up window appears during the update Do Not Power Cycle the System The firmware must be re loaded 5 9 3 Saturation Monitor Figure 73 Tools Saturation Monitor The Saturation Monitor provides the user with the means of monitoring the sonar s receiver signal level The Saturation Monitor is a new development by R2Sonic based on the work a...

Page 72: ...b Absorption When the Saturation Monitor is opened the user can adjust the above parameters to maintain signal levels below the red 100 saturation line The TVG parameters can be changed directly in the monitor window without having to go to the Settings Ocean menu Page 72 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 73: ...led or disabled as required in the Sonar Settings except for the 3000m depth rating upgrade this display merely shows what is available for the system Enabling an installed option s output is done in Sonar Settings Figure 76 Installed Options 5 10 3 Remote Assistance R2Sonic support can assist in setting up the system or trouble shooting the system remotely by taking control of the customer s comp...

Page 74: ...ession is requested Figure 78 Remote Assistance window 5 10 4 About Sonic Control The About Sonic Control shows the version of Sonic Control that is being used This can be of importance if a GUI is used that does not match the features of the sonar firmware or the sonar firmware does not match the features of the GUI Figure 79 About provides the GUI version Remote Assistance uses TeamViewer softwa...

Page 75: ...optimal operation of the system The Brightness dB sets a base reference for the depiction of the acoustic return strength Bathy dot Size selection is either normal 1 pixel or large 3 pixel default is large Using the 1 pixel size is recommended when viewing the Acoustic Imagery in the wedge display Under Draggable Sector Outline the user can enable or disable the feature to use the mouse cursor to ...

Page 76: ...TruePix and Water Column The size of the TruePix and Water Column formats are given the user can select either of the formats this would depend on the users end product For TruePix if geolocated data is required the Magnitude Angle format must be used Data rates for Water Column and TruePix are also affected by pulse width Longer pulse widths will reduce data rate approximately 15 30us 1 1 data ra...

Page 77: ...ed from the bathymetry packet and the current cursor position relative to the sonar head The angular information is represented by theta Θ 5 13 1 Range 0 1200 metres The Range setting sets the maximum slant range of the Sonic 2024 2022 The maximum slant range determines how fast the Sonic 2024 2022 can transmit this is the Ping Rate What the range setting is doing is telling the Sonic 2024 2022 th...

Page 78: ...e Wedge Display Straight legs of the wedge represent the Range setting bottom detection dots should be within this area Straight legs of the wedge represent the Range setting bottom detection dots should be within this area Page 78 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 79: ...s 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 depth bottom composition and operating frequency In general higher power is better for getting decent bottom returns rather than using receiver gain to obtain the returns If the Power setting is too low more receiver g...

Page 80: ...er gain is in 2 dB steps from 1 to 45 This adjusts the gain of the sonar head receivers 5 13 6 Depth Gates GateTrac The depth gate allows the user to eliminate noise or other acoustic interference by the limits set in the Minimum and Maximum Depth There are manually selected gates GateTrac Depth and GateTrac Depth Slope Gates are enabled by selecting the check box next to Enable Gates Figure 87 En...

Page 81: ... Depth GateTrac Depth will automatically adjust the gates for water depth based on the tolerance that is selected by the control next to the gate drop down menu The tolerance is percentage of nadir depth Right click will increase the tolerance up to 90 left click reduces the tolerance Figure 90 Gate width tolerance toggle When GateTrac Depth is enabled the Gate Min and Gate Max buttons will be dis...

Page 82: ...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 possibly a tertiary return that arises from the ...

Page 83: ...ond return could be strong enough so as to influence the bottom detection process Again it must be borne in mind that if the depth gate is set such that true bottom detections are gated out those data are lost entirely and cannot be recovered 5 14 Ruler The ruler or measuring tool can be used to obtain range and bearing information within the GUI by using the mouse cursor Use Ctrl Left Mouse Butto...

Page 84: ...DP port to the sonar head and the SIM after this is done the IP and UDP ports can be changed 5 16 1 Two computer setup 1 Set the data collection computer s networking to IP address 10 0 1 102 as usual 2 Setup Sonic Control on the data collection computer as normal do Discover and apply the settings to establish communication with the system 3 Set the second computer s networking to IP address 10 0...

Page 85: ... back to 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 85 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 86: ...Page 86 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 87: ... 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 6 1 Sonic 2024 2022 Sonar Head Block Diagram Receive Module Receivers Wet Controller Beam Former Bottom Detection To SIM Gigabit Ethernet Transmitter Board Projector Transmit...

Page 88: ...ng 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 pattern is 1 The along track lengthens out to 2 at 200 kHz This is th...

Page 89: ...ss track The along track pattern depends on the frequency from 23 at 400 kHz to 40 at 200 kHz Figure 99 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 output as a Range and Bearing from the sonar head s ac...

Page 90: ...Page 90 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 91: ...nterfacing 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 6 4 1 4 SIM RS 232 Ethernet Interfacing The SIM receives the GPS PPS and time message NMEA ZDA the sound velocity from the probe near the s...

Page 92: ...Page 92 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 93: ...POSView software to set up the Applanix POS MV that information is found in the Applanix POS MV manual The information provided here covers the necessary setup of the R2Sonic I2NS components as relates to the R2Sonic SIM and Sonic Control Where necessary certain steps in the POSView software are detailed The R2Sonic INS will work on all R2Sonic systems with SIM firmware Simb 26 OCT 2013 15 58 27 b...

Page 94: ...ovided internally through the SIM s Gigabit switch The only serial connection is the sound velocity probe that is on the sonar head A PPS loop cable is required to go from the PPS out to the PPS in Figure 103 INS connections Figure 104 INS SIM block diagram Page 94 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 95: ...unted rigidly with respect to each other as well as the IMU with a separation of at least 1m between the GPS antennas The antennas should be mounted so that they have a clear view of the sky The standard cables provided with the INS option are 1x15m IMU cable 1xBNC jumper cable 2x8m GPS antenna cables 7 3 2 INS BNC TNC Connections Figure 105 INS BNC TNC Connections Figure 106 PPS Out PPS In There ...

Page 96: ... receive RTCM corrections or to output standard NMEA or binary serial data For full information on the serial ports please refer to the POSView documentation Figure 107 Com 1 and Com 2 on SIMINS for POS MV serial data In POSView in the Input Output Ports Set up only COM 1 and COM 2 are to be configured Figure 108 POSView Serial port setup Page 96 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No...

Page 97: ...sult in a warning that the SIM box must be rebooted before changing the INS IP Figure 109 Network Settings SIMINS Figure 110 Cannot Change IP waiting on msg 32 Figure 111 Set IP time expired cannot change IP 0 minutes turn on 0 to 1min Button label is Set IP wait and button text is greyed out The INS IP cannot be updated during this period The GUI is waiting for the INS to send out message 32 Afte...

Page 98: ...selLatitude 30 2391284856087 degrees VesselLongitude 97 838843091206 degrees VesselAltitude 198 64372053742 meters North position RMS error 0 922135 meters East position RMS error 0 698561 meters Down position RMS error 1 10037 meters VesselPitch 0 00230865 radians 0 132276 degrees VesselRoll 0 000915637 radians 0 052462 degrees VesselHeave 0 0256301 meters VesselHeading 0 115629 radians 6 625050 ...

Page 99: ...g to the data collection computer is on the same IP 10 0 1 102 as the sonar data and uses the standard POS MV UDP 5602 If the data collection software requires the IP address of the talker the POS MV stack outputs on IP 10 0 0 44 Figure 112 Sensor setup for SIMINS 7 4 4 INS Monitor Alt I INS data can be monitor through the INS monitor The INS monitor option is under Status Figure 113 INS Monitor T...

Page 100: ...Page 100 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 101: ... is no need to measure the offset of the second antenna the Applanix GAMS calibration will determine this X offset Measurement of the IMU COG is critical The IMU has two reference points On top of the IMU is the horizontal reference for the X and Y measurement The vertical Z reference is measured to the reference point on the rear part of the IMU After measuring the reference to IMU offsets input ...

Page 102: ... ref to the COG in the Ref to Centre of Rotation fields This step is extremely important for accurate heave information to be reported Use the View when entering offsets so that the correct sign is confirmed This figure represents the physical installation using the offsets that are seen in the above figure Page 102 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 103: ...le INS SIM 280mm x 170mm x 126 4mm top of cooling fins 4 17kg Inertial Measurements Unit IMU 161mm x 140mm x 110m 2 2kg GNSS Antenna Ø178mm x 73mm 0 45kg Table 10 Electrical Specifications Item Specification INS SIM IMU Antennas 38 4w INS Sonic 2024 88 4w INS Sonic 2022 73 4w Page 103 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 104: ...Page 104 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 105: ...7 7 I2NS Drawings 7 7 1 I2NS IMU Figure 117 IMU Drawing Page 105 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 106: ...7 7 2 I2NS Sonar Interface Module SIM Figure 118 I2NS SIM Drawing Page 106 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 107: ... all surveyors There was a period of time when the GPS position was intentionally 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 an...

Page 108: ...on the manufacturer s recommendations 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 ...

Page 109: ... 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 If no marking exists then measuring the fore and aft f...

Page 110: ... 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 readings will be considered to be not less than 30 sets a set being one re...

Page 111: ...libration 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 to gyrocompass reading taken at the same time as th...

Page 112: ...e 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 vessel secured alongside the quay the vessel baseline will be compared to...

Page 113: ...ion Method 2 computation Figure 122 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 subtracted from the azimuth of the quay i e 270 5 7 264...

Page 114: ...ly 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 motion of the sonar head based on the offsets that have been entered into ...

Page 115: ...ind 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 of the speed change a practical period of 2 minutes...

Page 116: ...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 probe be allowed to sit fully submerged in the water for a few minutes pr...

Page 117: ... time of flight probe Figure 124 Time of Flight SV probe 8 5 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 thermograph which is attached to a spool of very fine wire Tw...

Page 118: ...ould 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 6 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 6 5 Deploying and recovering the Sound Velocity Probe The guide lines for de...

Page 119: ...at it looks good 15 Load the cast into the data collection software 8 6 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 definition when mechanical means are used One of the m...

Page 120: ... the vessel must be stationary longer and will drift If there is a large variation in depths the depth where 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 120 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 121: ...tained and can design the line spacing accordingly A 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 suffic...

Page 122: ...er than fish tailing 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 detail...

Page 123: ... 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 information along the spine of the vessel log These log...

Page 124: ...t 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 occurs A daily survey log sheet can be created in any word processor or...

Page 125: ...Figure 126 Rough log kept during survey operations does not need to be neat but must contain all pertinent information Page 125 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 126: ...Figure 127 Smooth log information copied from real time survey log ...

Page 127: ...e 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 runs athw...

Page 128: ...ustic Centre Please refer to the drawings appendix to obtain measurements with reference to the system offsets when mounting on the Sonic mounting frame Figure 129 Sonic 2024 2022 Acoustic Centre 10 3 2 Horizontal Measurement All measurements should be made with a metal tape measure A cloth tape can stretch it can also be knotted or kinked unknown to the persons making the measurements At a minimu...

Page 129: ...r Possibly less people are on board causing the vessel to rise higher in the water The main concept here is that the draft of the sonar head changes All X and Y offsets remain the same as long as the sensors are not moved but the Z offset changes constantly depending on the draft of the vessel If possible the pole should be marked to show the depth of the head Measuring up from the sonar head s ac...

Page 130: ...ent can induce upwards or exceeding a 10cm error in depth readings during survey operation On some vessels it is advisable to take draft readings during the survey or immediately after completion of the survey as the draft will change that much All offset information should be recorded in the daily survey log and the vessel s permanent survey record Page 130 of 210 Version 5 0 Rev r002 Date 05 08 ...

Page 131: ...e 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 multibeam data collection software packages...

Page 132: ...stallations 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 small so as to constitute a practical zero For the latency test data is c...

Page 133: ...s the smallest and this is the roll offset Figure 133 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 roll alignment 0 60 0 40 0 20 0 00 0 20 0 40 0 60 80 60...

Page 134: ... 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 result of pitch misalignment error can be either negative or po...

Page 135: ...n 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 Along track position error caused by 0 5 error in yaw pa...

Page 136: ...r process data 11 5 History Since the advent of commercial multibeam echosounders there has been the need to measure the angular offsets between the multibeam sonar head and the auxiliary sensors that provide attitude and heading information Another measurement is made to determine the latency in the GPS receiver Multibeam data is collected that is used to determine 1 latency 2 roll offset 3 pitch...

Page 137: ...st data collection The error increases inversely with the water depth i e the shallower the water the larger the error that can be induced by using DGPS over more accurate positioning However many users do not have any better positioning capabilities than DGPS how can they still obtain valid patch test results without having centimetric accurate positioning This is in large part what this paper is...

Page 138: ...surements It does no good to have the vessel on the survey line if the sonar is mounted on the side of the vessel it is the sonar that should be on the survey line 11 7 5 Speed When doing the latency data collection the fast run should be at survey speed where if there is squat or settlement it should have been previously measured and can be applied Many times the fast run survey line is at a spee...

Page 139: ...data collections for each test ROLL PITCH YAW 0 73 0 73 1 02 0 73 0 99 0 90 0 76 2 16 0 81 0 76 1 07 2 26 0 74 0 83 0 94 Pitch mean with erroneous value 1 16 SD 0 58 without erroneous value of 2 16 0 91 SD 0 13 Yaw mean with erroneous value 1 19 SD 0 61 without erroneous value of 2 26 0 92 SD 0 08 Consider the above patch test and what the result would have been if only two collections were made a...

Page 140: ...st Determine if the standard deviation is within acceptable accuracy requirements then use that derived mean to solve for the next computation i e pitch As an example using the results on page 7 the first step would be to solve for Roll first derive a Roll mean and then use that mean in all of the Pitch computations Find the mean and standard deviation for Pitch Use the mean Roll and Pitch values ...

Page 141: ...velocity and coherence The major influence is the velocity of sound in water 12 2 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 sound velocity through the water co...

Page 142: ...ant 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 velocity Figure 138 Sound velocity profile Page 142 of 210 Version 5 0 R...

Page 143: ...city 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 2 3 Refraction Errors Refraction errors occur due to the wrong sound velocity profile being applied to the data The error increases away from nadir and as such is more apparent in the outer beams The visu...

Page 144: ...er 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 is given as TL 20log R where R is range Figure 140 Concept of...

Page 145: ...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 400 kHz the normal seawater absorption is approximately...

Page 146: ...sorption 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 12 10 9 Table 12 Absorption Values for Seawater and Freshwater at 400 k...

Page 147: ...r 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 147 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 148: ...00 75 88 106 126 143 310 78 91 108 129 148 320 80 93 111 132 152 330 82 95 113 135 156 340 85 97 115 138 160 350 87 99 118 141 164 360 90 102 120 143 168 370 92 104 122 146 171 380 95 106 125 149 175 390 98 109 127 152 179 400 100 111 129 154 182 700 213 2074 214 235 270 Table 13 Operating Frequency water temperature absorption 4 At 700 kHz there is an absorption dip in this temperature range Page...

Page 149: ...on 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 composition as adjustments can be made to the Sonic 2024 2...

Page 150: ...Page 150 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 151: ...e 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 Ethernet data pairs need to...

Page 152: ...ernet equipment as there may be surprises hidden in the equipment 100BASE T to 100BASE T You can use two pairs green and orange T568B When connecting to the SIM use either of the AUX Ethernet ports for the sonar head Ethernet connection 13 2 Data Rates Bathy 800 kb s max bathy data is sent twice to GUI and data acquisition computer Snippets 11Mb s max TruePix 5 5 Mb s magnitude angle max 3 5 Mb s ...

Page 153: ...13 3 ROV Installation Examples Figure 142 Single Head ROV Installation scheme A Figure 143 Single Head ROV Installation scheme B Preferred Page 153 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 154: ...Figure 144 Dual Head ROV Installation scheme A Figure 145 Dual Head ROV Installation scheme B Preferred Page 154 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 155: ... dB pulse width 50us 2022 with SIM 95 to 260VAC 54 W 2022 head connected to SIM equivalent to over the side installation Conditions 30m range Tx power 215 dB pulse width 50us SIM 95 to 260VAC 16 5 W No connections to SIM 2024 head at 48V 1 05 A average 1 77 A peak after transmit 30m range Tx power 215 dB pulse width 50us 2022 head at 48V 0 70 A average 1 34 A peak 30m range Tx power 215 dB pulse w...

Page 156: ...00us Tx Power 221dB Freq 400 kHz Figure 147 Sonic 2022 power supply current waveform Peak current is 1 340A at 48V Sonar setting pulse width 100us Tx Power 221dB Freq 400 kHz Figure 148 Inrush current to 2024 head during power up 20 ms window Page 156 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 157: ... a common mode choke on the power line to the sonar head If sonar head power is not supplied by the SIM Controller board install a common mode choke on the sonar head 48VDC power line A suitable common mode choke is JW Miller Bourns 8102 RC This is available from Digi Key See below figure for wiring details Figure 150 Power supply choke installation on 48VDC power Page 157 of 210 Version 5 0 Rev r...

Page 158: ... J4 Molex 43645 0800 8 way Micro FIT 3 0 Molex 43030 0009 socket contacts Molex 63819 0000 or 63811 2800 crimping tool for socket contacts The mating connector for J6 Amp 2 111623 4 Any 2mm 2x20 header connector may be used for this part 1mm pitch ribbon cable is also required Page 158 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 159: ...rmat but does not use the PC 104 bus Figure 153 ROV installation block diagram with the SIM top side Figure 154 ROV installation block diagram with the SIM controller board mounted in the vehicle electronics bottle and GPS ZDA or UTC formats and PPS signals are supplied by top side equipment Figure 155 ROV installation block diagram with the SIM controller board mounted in the vehicle electronics ...

Page 160: ...8 VDC power to the sonar head and the SIM Controller board can control power to sonar head If the customer uses their own custom data acquisition software a list of commands for the sonar head and SIM are in Appendix VIII The uplink data format is provided in Appendix IX Figure 156 Typical wiring GPS ZDA or UTC formats and PPS signals are supplied by the vehicle time system Figure 157 SIM Board St...

Page 161: ...rotection for small static events on J6 13 8 SIM Stack LED Status Indicators On the I O board top board with nothing connected except for power On power up all the LEDs will first glow red for 0 5 second then green for 0 5 second Then they will indicate the activity level of each input With no inputs PPS GPS Motion SVP LEDs will glow red Trigger sync out will glow green Heading and trigger sync in...

Page 162: ...ensional Information Dimensions are given are in inches millimetres Figure 159 SIM Controller Board installation dimensions Figure 160 SIM Stack Outline Page 162 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 163: ...13 8 2 SIM Board Images Figure 161 Assembled SIM Boards Figure 162 SIM Boards height Page 163 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 164: ...Page 164 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 165: ...r heads 13 9 2 Operation 13 9 2 1 Load Dual Head Factory Default Settings The factory default settings for dual head mode will populate the default IP addresses and UDP ports for all systems Go to File Load Settings there will be three ini files load the desired DefaultSettingsDualHead initialisation file Dual SIM or Single SIM Figure 163 Default ini settings file Go to Settings Network settings t...

Page 166: ...eads have been installed and to a lesser extent environmental factors Usually the maximum separation required is 40 80 kHz and can be less Figure 165 Dual sonar head ping modes 13 9 2 4 Dual Head with Two SIM Boxes If two SIM boxes are used only one is the master or primary SIM1 SIM1 will be the SIM to take in all of the serial data as well as the PPS SIM2 only provides power to the second sonar h...

Page 167: ...sume 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 periodically at a 1 to 0 5 Hz rate This ensures that the sonar head and SIM always have the proper settings should a power interruption occur 14 2 1 Ethernet Port Numbers Head SIM st...

Page 168: ... 0x00000000 gates off 0x00000001 manual gates 0x0000ww02 auto gates 0x0000ww03 auto gate slope where ww gate width in percent of depth 5 to 90 Depth gates control Manual gates mode require DGA0 DGB0 DGS0 to be set In auto gates mode a peak percentage value for gate width must be supplied in bits 15 8 in this command DGS0 f32 radians π 2 to π 2 depth gate slope DHM0 u32 0 single head 1 master simul...

Page 169: ...was BMAX Head default 999 RGO0 u32 0 range gates off 1 range gates on Range gate enable RNG0 f32 metres 2 to 1200 Range ROS0 u32 0 off 1 on Roll stabilization enable SER0 f32 radians 70 to 70 Sector rotate Wedge edges must not go beyond 80 SEW0 f32 radians 10 to 160 Sector width SNIP u32 0 off 1 on Snippets enable SPR0 f32 0 to 60 typically 20 Spreading loss STM0 U32 0 off 1 on normal mode Status ...

Page 170: ...s Description TXP0 f32 dB 1µPa 0 191 to 221 Transmitter power WCM0 u32 0 off 1 mag only 2 mag phase Water column data warning high speed data up to 70MB s Page 170 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 171: ...2 1 Ethernet not implemented SVP driver ENG0 u32 0 off 1 on GPS serial port enable ENH0 u32 0 off 1 on Heading serial port enable Heading data not used ENM0 u32 0 off 1 on Motion serial port enable ENS0 u32 0 off 1 on SVP serial port enable IPG0 u32 GPS IP Address IPM0 u32 Motion sensor IP Address PAG0 u32 0 none 1 odd 2 even GPS parity PAH0 u32 0 none 1 odd 2 even Heading parity PAM0 u32 0 none 1...

Page 172: ...GA0 f32 metres 0 to 1200 Depth gate minimum DGB0 f32 metres 0 to 1200 Depth gate maximum DGS0 f32 degrees 90 to 90 Depth gate slope GAN0 f32 1 to 45 Rcvr gain Gain in dB setting 2 PNG0 u32 1 emit one ping only Manual ping Each time this command is sent sonar emit one ping Sea TRG0 command RNG0 f32 metres 2 to 1200 Range SER0 f32 degrees 70 to 70 Sector rotate Wedge edges must not go beyond 80 SEW0...

Page 173: ...and AIH0 0x00000000 0 0 000000 Command AIB0 0x40c00000 1086324736 6 000000 Command WCM0 0x00000000 0 0 000000 Command TPM0 0x00000000 0 0 000000 Command TPG0 0x00000000 0 0 000000 Command TRG0 0x00000000 0 0 000000 Command STM0 0x00000002 2 0 000000 Example of commands sent to the SIM every two seconds Columns after the command are hex integer and floating point representations of the data sent fo...

Page 174: ...4d 30 00 00 00 00 54 50 B0 WCM0 TP 0130 4d 30 00 00 00 00 54 50 47 30 00 00 00 00 54 52 M0 TPG0 TR 0140 47 30 00 00 00 00 53 54 4d 30 00 00 00 02 G0 STM0 Example of UDP IP Ethernet packet of commands sent to the SIM First 42 characters are Ethernet header information Characters after 29h are commands 0000 00 50 c2 90 41 35 00 e0 81 2e be 88 08 00 45 00 P A5 E 0010 01 18 7b 74 40 00 80 11 00 00 0a ...

Page 175: ...tions 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 functions such as htonl htons ntohl ntohs however those assume integers so you ll need to be very careful with floats 3 u8 u16 u32 means ...

Page 176: ...UI and data acquisition computer TruePix 5 5 Mb s magnitude angle max 3 5 Mb s magnitude max Water Column 560 Mb s magnitude phase max 280 Mb s magnitude max Snippets 11 Mb s max Where Mb s megabits per second Page 176 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 177: ...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 u16 H0_TxMiscInfo reserved for future use s16 H0_VTX Offset hundredths of a dB transmit voltage offset at time of ping divide value by 100 to get dB f32 H0_RxBandwi...

Page 178: ...nSize bytes size of this entire section f32 A2_AngleFirst radians angle of first port side bathy point relative to array centerline AngleFirst AngleLast f32 A2_ScalingFactor f32 A2_MoreInfo 6 reserved for future use u16 A2_AngleStep H0_Points radians angle n A2_AngleFirst 32 bit sum of A2_AngleStep 0 through A2_AngleStep n A2_ScalingFactor u16 A2_unused H0_Points 1 ensure 32 bit section size secti...

Page 179: ...actor 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 this entire section u32 Q0_Quality H0_Points 7 8 8 groups of 4 flags bits phase detect magnitude detect reserved reserved packed left to right END PACKET BATHY FORMAT 0 ...

Page 180: ...reserved for future use s16 H0_VTX Offset hundredths of a dB transmit voltage offset at time of ping divide value by 100 to get dB f32 H0_RxBandwidth hertz f32 H0_RxSampleRate hertz sample rate of data acquisition and signal processing f32 H0_RxRange meters sonar range setting f32 H0_RxGain multiply by two for relative dB f32 H0_RxSpreading dB times log range in meters f32 H0_RxAbsorption dB per k...

Page 181: ...56 beams of 32768 samples and phase data enabled but max size may change in the future The number of beamformed data samples normally extends somewhat further than the user s range setting When the operator enables water column mode each sonar ping outputs numerous WCD0 packets containing one H0 header section one A1 beam angle section and many M1 or M2 data sections The section order may change i...

Page 182: ...RxGain multiply by two for relative dB f32 H0_RxSpreading dB times log range in meters f32 H0_RxAbsorption dB per kilometer f32 H0_RxMountTilt radians u32 H0_RxMiscInfo reserved for future use u16 H0_reserved reserved for future use u16 H0_Beams number of beams section A1 float beam angles arbitrarily spaced only one per ping u16 A1_SectionName A1 u16 A1_SectionSize bytes size of this entire secti...

Page 183: ...lSamples range samples in entire ping sample rate is H0_RxSampleRate u32 M2_FirstSample first sample of this section u16 M2_Samples number of samples in this section u16 M2_TotalBeams beams always a multiple of 2 typically columns in your memory buffer u16 M2_FirstBeam first beam of this section always a multiple of 2 u16 M2_Beams number of beams in this section always a multiple of 2 u32 M2_reser...

Page 184: ...on Each M0 section contains a subset of the ping data Its header indicates its size position to help you assemble the full ping array You may wish to detect missing M0 data sections perhaps a lost UDP packet and then fill the gap with zeros or perhaps data from the previous ping to reduce visual disturbances and then increment an error counter for network health monitoring purposes The acoustic im...

Page 185: ...enterline ordered from port to starboard first angle last angle section M0 8 bit magnitude data many per ping you assemble them into complete ping data u16 M0_SectionName M0 u16 M0_SectionSize bytes size of this entire section u32 M0_PingNumber pings since power up or reboot f32 M0_ScalingFactor reserved for future use u32 M0_TotalSamples range samples before compression in entire ping sample rate...

Page 186: ...ficients are zero You can convert the direction angles from 16 bit values to radians by multiplying by AngleScalingFactor u32 PacketName TPX0 u32 PacketSize may be zero in UDP otherwise bytes size of this entire packet u32 DataStreamID reserved for future use section H0 header present only in first packet of each ping u16 H0_SectionName H0 u16 H0_SectionSize bytes size of this entire section u8 H0...

Page 187: ...D0_MagnitudeScaling 8 to be determined 0 ignore struct u16 PortMagnitude micropascals PortMagnitude tbd function of sample number and D0_MagnitudeScaling 8 u16 StbdMagnitude similar but starboard side D0_Data D0_Samples section D1 16 bit magnitude and direction data present only during magnitude direction mode u16 D1_SectionName D1 u16 D1_SectionSize bytes size of this entire section u32 D1_PingNu...

Page 188: ...SER3_SectionName SER3 u32 serial_number 3 example 100117 unused chars are nuls section PRT3 part number u32 PRT3_SectionName PRT3 u32 part_number 3 example 15000001 unused chars are nuls section MDL3 model number u32 MDL3_SectionName MDL3 u32 model_number 3 example 2024 unused chars are nuls section FWV6 main controller firmware version u32 FWV6 main ctrl firmware version string u32 version i 6 ex...

Page 189: ...ers depth uncalibrated f32 sensor pdepth cal meters depth calibrated f32 sensor fpgatemp C FPGA temperature section ADC3 a d converter u32 ADC3_SectionName ADC3 f32 adc chan0 volts 48VDC power supply voltage f32 adc chan1 amperes 48V current f32 adc chan8 volts transmitter power supply voltage section ETH6 ethernet registers u32 ETH6_SectionName ETH6 u32 ethernet speed megabits sec link connect sp...

Page 190: ...ure use section SER3 serial number u32 SER3_SectionName SER3 u32 serial_number 3 example 100117 unused chars are nulls section PRT3 part number u32 PRT3_SectionName PRT3 u32 part_number 3 example 15000002 unused chars are nulls section MDL3 model number u32 MDL3_SectionName MDL3 u32 model_number 3 example 2024 unused chars are nulls section FWV6 firmware version u32 FWV6_SectionName FWV6 u32 versi...

Page 191: ... m s sound velocity section ADC2 a d converter u32 ADC2_SectonName ADC2 f32 adc chan0 volts 48VDC power supply voltage f32 adc chan1 amperes 48V current to head section ETH6 ethernet registers u32 ETH6_SectonName ETH6 u32 ethernet speed megabits sec link speed u32 erxpackets counts ethernet receive packets u32 etxpackets counts ethernet transmit packets u32 erxoverflows counts ethernet receive buf...

Page 192: ...us Ethernet packet example received from the sonar head Device status Ethernet packet example received from the SIM struct R2DS R2Sonic Device Status u32 PacketName R2DS u32 SerialNumber 3 up to 12 ASCII chars unused chars are zero u32 ConfigID from most recent R2DC packet u32 spare pkt 0000 00 e0 81 2e be 88 00 50 c2 90 40 58 08 00 45 00 P X E 0010 00 34 04 6c 00 00 32 11 6e 92 0a 00 00 56 0a 00 ...

Page 193: ...10 0 0 86 Data collection computer 10 0 1 102 The following programs are required To capture filter and save Ethernet data Wireshark http www wireshark org To playback and edit captured Ethernet data Bit Twist http bittwist sourceforge net Using a 32 bit version of Wireshark will allow you to use a packet decoder for the sonar data formats If you don t want or need to install Wireshark get Winpcap...

Page 194: ...atch the data acquisition computer s MAC and IP addresses assigned to the network interface card NIC The data acquisition computer s MAC and IP addresses can be determined using ipconfig all from the command line Editing the MAC and IP addresses must be done as separate operations using bittwiste exe The following examples show the syntax for editing the destination MAC and IP address in the pcap ...

Page 195: ...send data from a remote computer to the data acquisition computer You need to determine the Ethernet interface number Choose the interface that is connected to the sonar system To display Ethernet interfaces bittwist d To playback data bittwist i 2 l 0 out pcap This sends out pcap to Ethernet interface 2 i 2 and loops continuously l 0 Use Ctrl C to exit the program If you don t want to loop use bi...

Page 196: ...Page 196 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 197: ...024 Mounting Bracket Drawing 2 202 Figure 164 Sonic 2022 Mounting Bracket Drawing 1 203 Figure 165 Sonic 2022 Mounting Bracket Drawing 2 204 Figure 166 Sonic 2024 2022 Mounting Bracket Flange 205 Figure 167 SIM Box Drawing 206 Figure 168 SIM Stack Outline 207 Figure 169 R2Sonic Deck lead minimum connector passage dimensions 208 Figure 170 I2NS IMU Dimensions 209 Figure 171 I2NS SIM Dimensions 210 ...

Page 198: ...Figure 168 Sonic 2024 2022 Projector Page 198 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 199: ...Figure 169 Sonic 2024 Receive Module Page 199 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 200: ...Figure 170 Sonic 2022 Receive Module Page 200 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 201: ...Figure 171 Sonic 2024 Mounting Bracket Drawing 1 Page 201 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 202: ...Figure 172 Sonic 2024 Mounting Bracket Drawing 2 Page 202 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 203: ...Figure 173 Sonic 2022 Mounting Bracket Drawing 1 Page 203 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 204: ...Figure 174 Sonic 2022 Mounting Bracket Drawing 2 Page 204 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 205: ...Figure 175 Sonic 2024 2022 Mounting Bracket Flange Page 205 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 206: ...Figure 176 SIM Box Drawing Page 206 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 207: ...Figure 177 SIM Stack Outline Page 207 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 208: ...Figure 178 R2Sonic Deck lead minimum connector passage dimensions Page 208 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

Page 209: ...Figure 179 I2NS IMU Dimensions Page 209 of 210 Version 5 0 Rev r002 Date 05 08 2014 ...

Page 210: ...Figure 180 I2NS SIM Dimensions Page 210 of 210 Version 5 0 Rev r002 Date 05 08 2014 Part No 96000001 ...

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