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UUV SYSTEM OPERATION

SeaBat T-Series Subsea Operator's Manual

Page 28

January 31, 2019

Version 7

5.2

AUV System Operation

The system will normally be operated autonomously. All communications will be via the Ethernet 
to/from the Vehicle Control Computer (VCC).

Normal mission sequence will be:

1.

System installation, setup, and checkout – done through the Sonar UI
(see 

Appendix B Installation Instructions

, 

section 3 System Startup and Shutdown

, 

and 

section 4 System Configuration with User Interface

). Please also refer to the 

RESON Sonar UI User Manual (see 

Appendix E Reference Documentation

).

2.

Installation checkout – startup and diagnostics (BITE) performed by the VCC.

3.

Power down and transit to deployment site
(see 

section 3 System Startup and Shutdown

).

4.

Power up and repeat diagnostics (see step 2).

5.

Vehicle deployment – sonar operates under control of the VCC.

6.

Vehicle recovery – power down
(see 

section

 

3 System Startup and Shutdown

).

7.

Data download – data is extracted from the disk drives for external analysis.

If the SSP is run on deck, Deck mode should be enabled in the Sonar UI.

a. Click the Hardware tab 

 in the UI to open the Hardware pane.

b. Click the check box Enable Deck mode.

In this mode, no BITE will be available from the transmit module and receiver.

8.

Disable Deck mode (clear the check box) to reboot the SSP to resume normal 
operation.

5.3

ROV System Operation

NOTE

For information on system configuration and user interface navigation, refer to the RESON 
Sonar UI User Manual (see 

Appendix E Reference Documentation

).

For information on starting and stopping the SeaBat sonar system, see 

section 3 System 

Startup and Shutdown

.

For information on the practical use of the sonar, see 

section 6 Active Sonar Usage.

For information on installation and details on the various system components, see 

Appendix B 

Installation Instructions

.

Summary of Contents for SeaBat T Series

Page 1: ...SeaBat T Series Subsea T20 50 S Deep Shallow High Resolution Multibeam Sonar System OPERATOR S MANUAL Part Number 1009737 Version 7 January 2019 ...

Page 2: ...for incidental or consequential damages in connection with the furnishing performance or use of this material Copyright Release No part of this manual may be copied or distributed transmitted transcribed stored in a retrieval system or translated into any human or machine readable language in any form or by any means for disclosure to third parties without the express written consent of Teledyne R...

Page 3: ... particular order Bulleted list Indicates items of a list without any particular order Notes Cautions and Warnings Notes Cautions and Warnings are included to provide valuable information and to help the operator prevent damage to the sonar or to personnel These are the formats NOTE Note boxes provide explanatory information that may be useful to the operator but is not necessarily vital to the op...

Page 4: ...y spreading in the form of a cylinder DFD Data Format Definition DWG Drawing EA Equiangular ED Equidistant FM Frequency modulation FRDH Full Rate Dual Head LED light emitting diode N A not available or not applicable OM Operator s Manual PN Part Number RMA Return Material Authorization ROV Remotely Operated Vehicle Rx receiver SB SeaBat SNR signal to noise ratio Spherical loss The loss of sound by...

Page 5: ...rator s Manual Page v January 31 2019 Version 7 Entry Definition UUV Unmanned Underwater Vehicle VAC volts alternating current VCC Vehicle Control Computer VDC volts direct current WEEE Waste Electrical and Electronic Equipment ...

Page 6: ......

Page 7: ... Pre dive Checks 12 3 3 System Startup Instructions 12 3 3 1 AUV System 12 3 3 2 ROV System 12 3 4 System Shutdown Instructions 13 3 4 1 AUV System 13 3 4 2 ROV System 13 3 5 Post dive Checks 14 4 System Configuration with User Interface 15 4 1 Chapter Overview 15 4 2 Sonar User Interface SUI 16 4 3 Remote Operation 17 4 4 Remote Desktop Session 18 4 5 Folder Management 19 4 5 1 File Sharing on a ...

Page 8: ...5 6 Environment 51 7 System Performance and Data Types 52 7 1 System Components 54 7 1 1 Subsea Sonar Processor 54 7 1 2 EM7219 1 Receiver Unit T20 55 7 1 3 EM7218 1 Receiver Unit T50 55 7 1 4 TC2160 Projector Unit deep 55 7 1 5 TC2163 Projector Unit deep 56 7 1 6 TC2181 Projector Unit shallow 56 7 2 Selectable Beam Density 57 7 2 1 Beam Modes 57 7 2 2 Equi Distant Equi Angle and Intermediate Mode...

Page 9: ...ster List in Alphabetical Order 89 Appendix B Installation Instructions 94 B 1 Components Checklist 94 B 2 Installation Checklist 95 B 3 System Interfacing 96 B 3 1 AUV Installation 96 B 3 2 ROV Installation 96 B 3 3 Interfacing Diagrams 97 B 4 SeaBat T Series Subsea Cables 100 B 4 1 SeaBat T Series Subsea Transducer Cables 100 B 4 2 SeaBat T Series Subsea External Sensor Cable 100 B 4 3 UUV Inter...

Page 10: ...tware 137 F 8 Wet End Brackets customized 137 Appendix G Warranty Information 138 G 1 Three Year Limited Warranty 138 G 2 Exclusions 138 G 3 Warranty Limitations 138 G 4 Servicing During Warranty Period 139 G 5 Equipment Return Procedure 139 G 6 Service 139 LIST OF FIGURES Figure 1 SeaBat T Series Subsea System Configuration 2 Figure 2 Range Setting Diagrams 30 Figure 3 Range Setting Too Long 30 F...

Page 11: ...allow without Fairing Cross Section of Symmetry Plane68 Figure 45 T20 Dual Sonar Head Assembly in Bracket with Optional Front Fairing 69 Figure 46 Flow at 10 knots around Dual T20 with Fairings 69 Figure 47 Flow around Dual T20 with Fairings Cross Section of Symmetry Plane 69 Figure 48 Flow at 10 knots around Dual T20 without Fairings 70 Figure 49 Flow around Dual T20 without Fairings Cross Sectio...

Page 12: ...OF TABLES Table 1 SeaBat T Series Subsea Feature Pack 3 Table 2 SeaBat T Series Subsea Available Configurations 6 Table 3 Incorrect Range Settings Examples and Solutions 30 Table 4 TVG Formula 33 Table 5 SeaBat T Series Subsea System Performance 53 Table 6 Beam Modes with No of Beams and Swath Coverage 57 Table 7 Ping Rate Table 75 Table 8 SeaBat T Series Subsea Components 94 Table 9 Pin Designati...

Page 13: ...ith TC2181 projector SeaBat T50 S Combined with a Subsea Sonar Processor SSP the T50 S produces unprecedented clean data providing faster operational surveys and reduced processing time in a fully integrated sonar processing and data storage unit housed in a subsea pressure vessel o Deep operation with TC2160 and TC2163 optional projectors o Shallow operation alternative with TC2181 projector show...

Page 14: ...tor Sensor data may be interfaced to the SSP via dedicated ports EM7219 1 or EM7218 1 Receiver TC2181 Projector Optional TC2163 Projector SONAR HEAD ASSEMBLY TC2160 Projector Subsea Sonar Processor SSP Time Motion PPS Trigger Sound velocity Deep operation 6000m Shallow operation 400m AUX sensors Figure 1 SeaBat T Series Subsea System Configuration 1 3 System Operation The projector unit of the son...

Page 15: ... Base feature package can be upgraded after installation The main features of the SeaBat T Series Subsea system are summarized below 1PPS pulse handling and time stamping Data time stamping is referenced to an incoming 1PPS and associated time message Adaptive gating Three different gate settings are available to assist the bottom detection process No Gates Absolute Gates and Adaptive Gates thus m...

Page 16: ...e used simultaneously alongside a multitude of other acoustic systems Fast update The entire swath is illuminated with a single transmission at an update rate of up to 50Hz range selection dependent This allows compliance with IHO SP44Ed 5 coverage requirements even at high speed FlexMode FlexMode allows the operator to select an ultra high density sector and direct it anywhere in the swath while ...

Page 17: ...area Standard data output The SeaBat T Series Subsea system exports bathymetry side scan snippets backscatter and water column backscatter in a standard format for easy interfacing With multiple deliverables the system adheres to the survey once use many times philosophy thereby optimizing vessel time Steerable swath The swath sector may be electronically steered to focus on a particular region of...

Page 18: ...s Pre and post dredging and condition surveys Revetment surveys River surveys Search and recovery Site clearance surveys Underwater inspection and object location 1 6 Available SeaBat T Series Subsea Configurations Table 2 SeaBat T Series Subsea Available Configurations Configuration Frequency kHz Depth rating m T20 S 88017030 T20 S deep single head single 400 6000 OPT 3030 change of frequency sin...

Page 19: ...or and receiver units High powered ultrasonic energy can be hazardous to human physiology 2 2 Equipment Safety Each SeaBat T Series Subsea component is sufficiently robust for shipboard storage while in its own transit case or shipping box which may include handles and tie down rings Use appropriate discretion in lifting as the cases may be awkward and heavy 2 2 1 Safe Handling To ensure safe hand...

Page 20: ...ot exceed operating and storage temperature limits 2 2 2 Cleaning and Maintenance 2 2 2 1 Projector and Receiver The acoustic window molded over the front of the projector and receiver arrays is made of high density polyurethane These recommendations are made to protect the arrays while in use or in storage For cleaning use a mild nonabrasive soap fresh lukewarm water and a soft brush Rinse the so...

Page 21: ...rvals even if the connectors are not mated unmated in particular for UUVs where the dive tends to rub and wash out the lubricant o Lubricate twice a year when equipment is in storage DO NOT grease mating surface Avoid nicks and cuts around contacts as these are the sealing surfaces Elastomers can be seriously degraded if exposed to direct sunlight or high ozone levels for extended periods of time ...

Page 22: ... arrays with a bag In addition to furthering corrosive effects continued exposure to ultraviolet UV rays will damage the polyurethane array face 2 6 Safe Disposal of Waste WEEE Directive The use of the crossed out dustbin logo indicates that this product is subject to directive 2012 19 EU known as the Waste Electrical and Electronic Equipment Directive The WEEE Directive specifies that used electr...

Page 23: ...ping the system for both AUV and ROV systems Post dive Checks Consists of details on the procedure to follow once the system has been recovered to deck NOTE For information on installation including configuration of hardware see Appendix B Installation Instructions For a brief introduction to the Sonar UI details on remote operation and folder management see section 4 System Configuration with Use...

Page 24: ...vent accidental damage of the projector 3 Optional a Access the SSP operating system via remote control software and configure the system operating parameters as appropriate for the mission see section 4 System Configuration with User Interface b Close the remote control software connection 4 The system is ready to be deployed CAUTION The SSP is designed for operation under water Operation in air ...

Page 25: ...x E 1 SeaBat T Series Subsea Documentation 2 Wait at least 10 seconds and then remove power from the SSP To shut down the system via remote desktop 1 Access the SSP operating system via remote control software 2 Activate the 7k Center application window 3 Press Esc on the keyboard This will initiate shutdown of the sonar 4 Once the 7k Center application window has closed click Start In the Search ...

Page 26: ...llow Windows procedure 3 5 Post dive Checks Once the SeaBat T Series Subsea system is recovered to deck perform the following checks 1 Shut off all power to the SeaBat T Series Subsea system 2 Using fresh water wash down all system components to minimize salt accumulation and the development of localized corrosion pits CAUTION Do not use hot or cold pressure washers The high velocity water spray w...

Page 27: ...ubsea Documentation This chapter includes instructions of the following subjects click the emphasized hyperlink to be taken to the section Sonar User Interface SUI Consists of brief instructions on starting the Sonar User Interface Remote Operation Consists of instructions on how to control the sonar from a remote PC Remote Desktop Session Consists of instructions on how to establish a remote desk...

Page 28: ...tarted NOTE As per the nature of AUV systems during typical operations the Sonar UI will not be used however it may be used when monitoring or testing the system while the SSP is on deck 1 Double click the Sonar UI icon on the customer provided computer laptop to start the Sonar User Interface 2 Locate the Hardware tab on the right side of the user interface and click to open the Hardware pane Hov...

Page 29: ...et to an unused IP address within the 10 11 10 XXX subnet subnet mask 255 255 255 0 o Recommended is 10 11 10 3 for single head systems o Recommended is 10 11 10 5 for dual head systems For details on IP address configuration see Appendix C Network Configuration The laptop PC vehicle controller is now connected to a running sonar system 4 Select the settings appropriate for the present survey miss...

Page 30: ...ssion 1 Click the Application Settings button in the top right corner of the Sonar UI 2 Select the Remote desktop option in the Application Settings dialog to establish a remote desktop session 3 Click OK 4 Enter credentials when prompted o User reson o Password reppe 5 Click the arrow to accept your entry or press Enter on the keyboard ...

Page 31: ... a Folder on a Network This section describes how to create a shared folder on the SSP Shared folders allow users to access and move data off the SSP to another network connected PC NOTE A network switch is recommended for ease of file sharing and high speed data transfer reliability 1 Establish a remote desktop session as described in section 4 4 above 2 Once the remote desktop session has been e...

Page 32: ...l Page 20 January 31 2019 Version 7 3 Right click on the folder to be shared e g DATA and select Share with Specific people NOTE Data itself should only be saved to the D drive 4 In the File Sharing dialog enter a name and click add or click the arrow to find someone 5 Click Share ...

Page 33: ...D Drive on a Network 1 Establish a remote desktop session as described in section 4 4 above 2 Once the remote desktop session has been established go to My Computer on the SSP 3 Right click on the D drive and select Share with Advanced sharing 4 In the Data D Properties dialog go to the Sharing tab and click the Advanced Sharing button ...

Page 34: ...ubsea Operator s Manual Page 22 January 31 2019 Version 7 5 In the Advanced Sharing dialog select the Share this folder check box and click the Permissions button 6 In the Permissions dialog assign the required permissions per group or user name 7 Click Apply ...

Page 35: ...ght CAUTION Changing the computer name will prevent IP address configuration from the SUI see appendix C 2 Change IP Configuration For further information on system configuration and user interface navigation refer to the RESON Sonar UI User Manual see appendix E 1 SeaBat T Series Subsea Documentation The default workgroup name for the SSP is Workgroup and can be found on the network workgroups Us...

Page 36: ...rsion 7 4 In the System window towards the bottom Computer name Full computer name Computer description and the workgroup name are displayed Click Change settings to open the System Properties window o To change the computer description Enter the new description in the Computer description field and click OK ...

Page 37: ...kgroup Click the Change button and enter a new computer name or workgroup name and click OK Changing either of these names does not affect the IP address 5 To view current IP address information go to the Windows Start menu and enter CMD in the Search programs and files field and press Enter 5 Computer name is by default SN xxxxxxx 7 digit serial number ...

Page 38: ...to enter a single space before all and press Enter o The screen displays the connection status of all the network connections including IP Addresses as shown in the following command screen sample o If all connections are disconnected only the Media State and MAC address for each connection display The following command screen sample shows a typical disconnected SSP ...

Page 39: ...n Consists of brief information on typical AUV operation ROV System Operation Consists of brief information on ROV operation NOTE For information on system configuration and user interface navigation refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation For information on starting stopping and setting up the SeaBat sonar system see section 3 System Startup and Shutdown For...

Page 40: ...sonar operates under control of the VCC 6 Vehicle recovery power down see section 3 System Startup and Shutdown 7 Data download data is extracted from the disk drives for external analysis If the SSP is run on deck Deck mode should be enabled in the Sonar UI a Click the Hardware tab in the UI to open the Hardware pane b Click the check box Enable Deck mode In this mode no BITE will be available fr...

Page 41: ...n for Environmental Conditions Consists of a thorough introduction into the environmental parameters that may affect sonar operation Limitations Consists of examples on the various physical limitations that may affect sonar operation NOTE For information on starting stopping and setting up the SeaBat sonar system see section 3 System Startup and Shutdown For information on system configuration and...

Page 42: ...cts ping rate the longer the range the lower the ping rate and thus the fewer along track pings Higher range settings are required for tilted heads see also section 6 3 4 below NOTE The Range adjusts itself automatically when Tracker is selected see also section 6 3 2 below For additional examples on incorrect range settings and possible solutions see Table 3 Table 3 Incorrect Range Settings Examp...

Page 43: ...operation and the outer parts of the swath exceed the acoustic range of the sonar the user should reduce the swath coverage to cover the seabed that is visible only This will increase the ping rate and reduce noise picked up for these visible beams Refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 6 2 2 Transmit Power For instructions on how to adjust this setting refe...

Page 44: ...ange determined ping rate the sonar will ping at the rate specified by Max rate In some instances it may be beneficial to force a lower ping rate than the normal rate associated with a particular range Examples of this would be instances when too much data is being received at short ranges when the vessel is moving at a very slow rate and the operator wants to reduce the quantity of data generated...

Page 45: ...st this setting refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 6 2 5 Frequency Selection 400kHz for highest resolution at shorter ranges 200kHz for greater range performance For general hydrographic surveys the switch from 400kHz to 200kHz at either end of the scale in FM mode or 420kHz to 190kHz in CW mode may be necessary between depths of 80m and 120m depending o...

Page 46: ...ditional pulse type for multibeam survey o Shorter pulses result in high resolution but suffer in range performance o Longer pulses increase range performance at the expense of resolution FM Frequency modulation or X Range is selected for greater range performance FRDH operation and instances where an increase in noise immunity may be required o FM allows much longer pulses and thus more energy to...

Page 47: ...d sector The increased sounding density helps define small targets A reduced swath width allows an increase in ping rate for any given depth 6 2 8 2 Beam Reduction With beam reduction enabled only the beams necessary to fill the given swath are formed With beam reduction disabled all beams are compressed into the selected coverage angle Seafloor at 35m depth 64 Operating on 100m range scale Ping r...

Page 48: ...mitation is that the outer beam cannot be steered past 5 from the horizontal see Figure 7 When the swath is steered this way the individual beam widths increase with the steering angle A beam steered at 60 is twice the width of a beam steered at 0 60 90 85 5 25 120 swath Max steering 25 With a swath of 120 the maximum steering angle is 25 85 swath 2 30 90 85 5 55 60 swath Max steering 55 With a sw...

Page 49: ...beam cannot go higher Figure 8 provides a graphic illustration of the minimum grazing angle Minimum Grazing Angle Equi Angle Intermediate Equi Distant and Flex Figure 8 Outer Beams for the Different Beam Modes with a Tilted Sonar Head NOTE When you want to look up with a tilted sonar head you have to select Equi Angle beam mode 6 2 9 Use of Beam Modes The following beamforming modes are available ...

Page 50: ...ata recording or for minimizing the amount of data being recorded Provides an equiangular distribution with the fewest beams Intermediate Up to 140 150 coverage angle Designed for general purpose surveys tilted head modes or dual head operations Provides high density soundings over the entire swath In Equi Distant mode the spacing is modified to maintain an equal horizontal distance between soundi...

Page 51: ...uced density of soundings for the rest of the swath The low density spacing is defined by the operator with the slider for Constant seafloor spacing and the high density spacing is computed by optimization based on survey parameters For instructions on how to adjust this setting refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 6 2 10 Use of Gates Applying range and or...

Page 52: ...e depth gates with no input from a motion sensor will orient themselves parallel to the horizontal plane of the sonar head as shown by the Min and Max Depth lines in Figure 10 In this series of illustrations the bottom detect dots are shown as a horizontal line Line A or B with dashed lines representing depth gates above and below the bottom and no vessel roll present Visualize the bottom as being...

Page 53: ...nsor the depth gates will be parallel to the local horizontal plane of the earth even as the vessel rolls Figure 12 shows the same bottom image with dynamic depth gates applied MinDepth MaxDepth Sonar head Line A Figure 12 Depth Gates With Roll and Motion Sensor Input For instructions on how to adjust this setting refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation ...

Page 54: ...terms of generated result and safety Harbor surveys safer detection Offshore and renewables robust cable catenary determination Marine research fish school detection Dredging suspended sediment detection Energy industry submerged oil detection Control the sensitivity of the Multi detect feature with three controls Object Sensitivity Increase to yield more detections on smaller objects decrease to ...

Page 55: ...rmore Tracker will adjust the TVG settings of Absorption and Spreading to optimize the quality of the outer beams and open or close the swath angle accordingly thereby ensuring that maximum swath width is delivered with the highest quality result As there is a slight delay while tracker is being activated or deactivated enabling disabling the feature should not be done in the middle of the survey ...

Page 56: ...erably 100Hz Baud rate and protocol details can be set in Motion Stabilization but it should be ensured that the baud rate is sufficient to allow the desired update rate NOTE A warning will appear in the SUI if the motion sensor update rate is lower than 20Hz For instructions on motion sensor configuration refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 6 3 4 Head Ti...

Page 57: ...close to the waterline as possible Figure 19 Head Tilt for Harbor Inspection 6 3 4 2 Pipe Inspection with Dual Head Systems In this application each head is typically tilted up to 15 max setting is 45 from normal generally looking in Figure 20 Head Tilt for Pipe Inspection 6 4 Compensation for Environmental Conditions As sound propagates through the underwater environment the energy is absorbed by...

Page 58: ...rent salinities and three different temperatures at an average depth of 20 meters10 If the exact absorption loss value is not known these are the recommended approximate values 400kHz operation o 110dB km for salt water o 70dB km for fresh water 200kHz operation o 50dB km for salt water o 20dB km for fresh water The absorption loss value is part of the formula that the SeaBat system uses to calcul...

Page 59: ...ACTIVE SONAR USAGE SeaBat T Series Subsea Operator s Manual Page 47 January 31 2019 Version 7 Figure 21 Acoustic Absorption Reference ...

Page 60: ... formula that the SeaBat system uses to calculate the amount of gain to apply to the sonar return signal see section 6 2 4 above If the exact spreading loss value is not known an initial value of 30dB is recommended For instructions on how to adjust this setting refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 6 4 3 Sound Velocity For instructions on how to adjust thi...

Page 61: ...er data in the classical sense it still ignores readings outside the range 1350m s to 1800m s Use this filter if there is a requirement for immediate response to sound velocity changes When using this filter any false reading will cause distinct false output This filter may be preferred for certain scientific sonar work SVP Light Removes occasional false readings Use this filter if there is a need...

Page 62: ...urther quantified for particular bottom depths of proposed operational test sites 6 5 1 2 Appendage Cavitation Appendage cavitation can result from rough or unfaired edges on the hull and can even be present at lower speeds If the source is located near the sonar installation area it can be a significant noise deficiency It is difficult to predict the occurrence of appendage cavitation without und...

Page 63: ...his problem is associated with the noise generated as the bubbles cascade along the hull after being ingested in the bow wave of the ship and more importantly with the baffling produced by the entrained air layer between the face of the sonar sensor and the water environment If air bubbles are present between the sonar and the water the system will not function properly This phenomenon is transien...

Page 64: ...a sonar system produces four types of data bathymetry side scan snippets backscatter and water column backscatter suitable for the generation of high resolution hydrographic charts that exceed international standards A single transmission from the projector unit illuminates the entire swath on the seafloor The seabed return signal is received by the receiver unit digitized and transmitted to the S...

Page 65: ...s s Pulse lengths CW Single head 15 300µs Dual head 30 300µs Pulse lengths FM Single head 300µs 20ms14 Dual head 300µs 5ms Depth resolution 6mm Depth rating 6000m or 400m Temperature Operating 2ºC to 36ºC Storage 30ºC to 70ºC Receive center beam widths15 T20 1 07 at 400 2 14 at 200kHz T50 0 54 at 400 1 07 at 200kHz 11 Seabed will not be 100 insonified when exceeding approx 140 in equi distant mode...

Page 66: ...xternal Network Attached Storage NAS drive It is housed inside a 6000m depth rated titanium bottle For physical specifications see appendix B 5 1 Subsea Sonar Processor Figure 23 Subsea Sonar Processor The SSP performs the following functions Receives digitized sonar data from the receiver Receives operational settings from external control system Provides beamforming and initial processing of aco...

Page 67: ...er Unit 7 1 3 EM7218 1 Receiver Unit T50 The EM7218 1 receiver unit operates at multiple frequencies between 200kHz and 400kHz For physical specifications see appendix B 5 3 EM7218 1 Receiver Unit PN 85002538 T50 Figure 25 EM7218 Receiver Unit 7 1 4 TC2160 Projector Unit deep The TC2160 bathymetry projector unit operates at the frequency of 400kHz For physical specifications see appendix B 5 4 TC2...

Page 68: ...ation optional PN 85000327 Figure 27 TC2163 Projector Unit 7 1 6 TC2181 Projector Unit shallow The TC 2181 projector unit operates at multiple frequencies between 200kHz and 400kHz The entire swath is illuminated in one transmission with the maximum ping rate of 50Hz providing 100 bottom coverage even at high vessel speed For physical specifications see appendix B 5 6 TC2181 Projector Unit shallow...

Page 69: ...um and maximum number of beams Selectable beam density adds to the flexibility of the system with several benefits Optimized data volumes tailored to survey purpose specifications Save of up to 75 of data volume in very shallow water Faster processing Reduced time and costs from survey to deliverable 7 2 1 Beam Modes Beam mode selection is made on the fly via the sonar user interface For instructi...

Page 70: ...g Figure 29 Beam Density Figure 30 shows that the horizontal spacing of the Intermediate mode increases with beam angle unlike Equi distant mode where the spacing stays constant However the Intermediate mode increases the spacing much slower than the Equi angle mode so the outer beam density is still quite good Figure 30 Beam Spacing vs Beam Angle Assuming a flat bottom and using the beam footprin...

Page 71: ...to Center Spacing at Nadir Figure 31 Beam Spacing In order to achieve this uniform sounding spacing it is necessary to decrease the beam center to center spacing which requires a significant increase in the number of beams formed The beamformer is able to generate a receive beam centered on any angle within the available swath and with equidistant spacing a set of coefficients is selected that for...

Page 72: ...led picture of the seafloor This image can be used together with bathymetry to identify features and to ensure that you do not miss any small but significant targets 7 3 2 1 Side Scan Process The side scan process averages adjacent pairs of beams to eliminate noise and then carries out a peak detection over beams from the left and right sides of the swath The peak detection is done at the sample r...

Page 73: ...y the operator Seafloor A single beam receiver Bottom detection point Detect the bottom in each beam and then select a number of samples on each side of the bottom detection point Export this data as a snippet for each beam Samples in each beam Figure 33 Graphic Illustration of Snippets Data Each snippets data packet contains pertinent information such as time stamp sequential ping number sample r...

Page 74: ... sonar would detect either the anchor chain blue dots or the seabed red dots or flicker between the two features With multi detect the sonar can detect both the anchor chain and the seabed Figure 34 Standard Detection Figure 35 Multi Detect with Enhanced Detail on Quay Wall Figure 36 Multi Detect 7 5 X Range18 Performance X Range is a feature that provides extended range performance at the full ra...

Page 75: ...ar image refer to the RESON Sonar UI User Manual see Appendix E Reference Documentation 7 7 1 Brightness Test The brightness test measures the signal to noise ratio SNR of the signal strength magnitude near the bottom detection point as determined by the bottom detection algorithm versus the background noise in the rest of the beam The signal strength is the mean of the square of the sample intens...

Page 76: ...ts neighboring beams bottom detection points This is achieved using a moving polynomial fit of the points on either side of each point If a given point is within the window of the line fit it is marked colinear This process is done in stages that begin with the central beams and moving outward on each side of the wedge in turn For instructions on how to display the test results refer to the RESON ...

Page 77: ...TPU is used to aid the surveyor determine the sounding quality of the bottom detection point The calculation is done by statistical methods typically in the data acquisition software One of the inputs into the TPU calculation is the sounding measurement error as computed in the sonar system Other error sources include position draft squat load tide geodetic calculations lever arms calculations tim...

Page 78: ...g and evaluate water flow around the sonar heads and brackets NOTE Cable routing and accessory parts like a SVP or a motion sensor added to the bracket will influence drag 7 9 2 Drag Simulation Conclusions The front fairings help reduce drag and keep a steady and clean water flow around the receiver and projector arrays Need of fairing depends on survey and transit speed The hydrodynamic drag on t...

Page 79: ...nt fairing and bracket assure a steady water flow around the receiver and projector The same situation without front fairing is shown in Figure 44 Figure 42 Flow around Single T20 shallow with Fairing Cross Section of Symmetry Plane Figure 40 T20 Sonar Head shallow in Bracket with Optional Front Fairing Figure 41 illustrates the flow at 10 knots around the T20 single head shallow with front fairin...

Page 80: ... The same situation with front fairing is shown in Figure 41 Figure 43 Flow at 10 knots around Single T20 shallow without Fairing Figure 44 is a cross section of the symmetry plane of the T20 single head shallow Without the front fairing the flow is still reasonable but not as steady as with the fairing in front of the receiver The same situation with front fairing is shown in Figure 42 Figure 44 ...

Page 81: ...ure a steady water flow around the receivers and projectors The same situation without front fairings is shown in Figure 49 Figure 47 Flow around Dual T20 with Fairings Cross Section of Symmetry Plane Figure 45 T20 Dual Sonar Head Assembly in Bracket with Optional Front Fairing Figure 46 illustrates the flow at 10 knots around the T20 dual head with front fairings The drag on the pole sonar heads ...

Page 82: ...of 1550N The same situation with front fairings is shown in Figure 46 Figure 48 Flow at 10 knots around Dual T20 without Fairings Figure 49 is a cross section of the symmetry plane of the T20 dual head Without the front fairings the flow is still reasonable but not as steady as with the fairings in front of the receivers The same situation with front fairings is shown in Figure 47 Figure 49 Flow a...

Page 83: ...bracket assure a steady water flow around the receiver and projector The same situation without front fairing is shown in Figure 54 Figure 52 Flow around Single T50 shallow with Fairing Cross Section of Symmetry Plane Figure 50 T50 Sonar Head shallow in Bracket with Optional Front Fairing Figure 51 illustrates the flow at 10 knots around the T50 single head shallow with front fairing The drag on t...

Page 84: ...The same situation without front fairing is shown in Figure 51 Figure 53 Flow at 10 knots around Single T50 shallow without Fairing Figure 54 is a cross section of the symmetry plane of the T50 single head shallow Without the front fairing the flow is still reasonable but not as steady as with the fairing in front of the receiver The same situation with front fairing is shown in Figure 52 Figure 5...

Page 85: ...ure a steady water flow around the receivers and projectors The same situation without front fairings is shown in Figure 59 Figure 57 Flow around Dual T50 with Fairings Cross Section of Symmetry Plane Figure 55 T50 Dual Sonar Head Assembly in Bracket with Optional Front Fairing Figure 56 illustrates the flow at 10 knots around the T50 dual head with front fairings The drag on the pole sonar heads ...

Page 86: ...of 2250N The same situation with front fairings is shown in Figure 56 Figure 58 Flow at 10 knots around Dual T50 without Fairings Figure 59 is a cross section of the symmetry plane of the T50 dual head Without the front fairings the flow is still reasonable but not as steady as with the fairings in front of the receivers The same situation with front fairings is shown in Figure 57 Figure 59 Flow a...

Page 87: ...0 50 10 75 0 50 50 15 50 0 43 7 43 7 20 37 5 33 8 33 8 25 30 0 27 6 27 6 30 25 0 23 3 23 3 35 21 4 20 2 20 2 40 18 8 17 8 17 8 50 15 0 14 4 14 4 70 10 7 10 4 10 4 100 7 5 7 3 7 3 140 5 4 5 3 5 3 160 4 7 4 6 4 6 180 4 2 4 1 4 1 200 3 8 3 7 3 7 250 3 0 3 0 3 0 300 2 5 2 5 2 5 350 2 1 2 1 2 1 400 1 9 1 9 1 9 500 1 5 1 5 1 5 600 1 25 1 2 1 2 750 1 1 n a NOTE The table reflects the ping rate performanc...

Page 88: ...complete list of up to date error messages contact Teledyne RESON Customer Support reson support teledyne com Errors are marked with a red in the Messages pane A 2 1 General System Startup Errors Message Description Action ADMXRC configuration failed The software failed to detect or configure the primary processing card Check PCI bus drivers for ADMXRC card Could not create UDP server Could not cr...

Page 89: ...d MMF Outbound memory creation PC resources are inadequate Check RAM or virtual memory resources Required file 7k_0 xml or 7k xml Not found Required file 7k_Bite htm Not found SET UP FAILED TO LOAD BIT FILE XXX for Device x Enumerator x A critical startup configuration file was missing Reinstall the software Socket initialization failed error code x Windows has failed to allocate a network resourc...

Page 90: ..._1 ERROR A 2 3 Data Reading Errors Message Description Action DMA Transfer Timeout x of x bytes received This error generally indicates that the uplink from the receiver is interrupted at some point Check the BITE tab for receiver BITE values to try and localize the failure to a component Check uplink cable connections Check temperature of the SSP via BITE Restore factory defaults Reboot the PC FA...

Page 91: ...ption Action Calibration Failed Too much noise Calibration Failed Over 10 dead Rx channels Calibration Failed Magnitude Error Calibration Failed Phase Error Calibration Error Calibration might be invalid Repeat the calibration Calibration has failed Check BITE page and hardware and cable installation to the receiver Check environmental noise Contact Teledyne RESON Customer Support A 3 Warning Mess...

Page 92: ... One or more pings have been lost due to an error on the uplink between the receiver and the software The system is becoming unstable and data transfer is corrupted on the PCI bus Reboot Check sonar processor hardware A 3 4 Data Recording Warnings Message Description Action WARNING Critical Disk Level RDR Data recording stopped RDR Already in Playback Record mode RDR Record failed No Filename RDR ...

Page 93: ...e stamp error The internal clock may not be disciplined properly resulting in incorrect time stamp of data Check 1PPS connections and GPS output If uncorrected sonar data cannot be time stamped to 1 millisecond WARNING Reduce Ping Rate or Range DROPPING ping The system is overloaded processing data A ping has been lost because the processing queue is full Restart the software Reboot PC A 3 8 Data ...

Page 94: ...correct implementation of Teledyne RESON 7k Data Format TCP Server Warning max connections reached UDP Server Warning max connection reached The network module has become saturated with client connections and will refuse any further connections Close some of the connected clients A 3 10 External Trigger Warnings Message Description Action Trigger out length x is invalid Trigger out offset x is inv...

Page 95: ...ailed to initialize or is non functional within the sonar processor Reboot sonar processor and try again PCI Card Calibration Error Calibration might be invalid Repeat the calibration Calibration has failed Check BITE page and hardware and cable installation to the receiver Check environmental noise Contact Teledyne RESON Customer Support Calibration Calibration Failed Magnitude Error Calibration ...

Page 96: ...CP server Indicates a network resource was unavailable to the software from the operating system Check user permissions network drivers General System Startup Could not create UDP server Indicates a network resource was unavailable to the software from the operating system Check user permissions network drivers General System Startup Create TCP socket failed code Operating system did not allow cre...

Page 97: ...tallation External Trigger Firmware cannot be initialized or not supported Reboot the system Contact Teledyne RESON Customer Support if the problem persists Input Signal Timing and Triggers Failed to allocate memory for ADMXRC read The software could not allocate enough system memory to perform the operation Make sure no other software is running on the sonar processor Reboot the system General Sy...

Page 98: ... non functional within the sonar processor Reboot sonar processor and try again PCI Card Failed to get ADMXRC space info Card_1 ERROR One or more of the processing cards has failed to initialize or is non functional within the sonar processor Reboot sonar processor and try again PCI Card Failed to register external trigger ERROR External Trigger Firmware cannot be initialized or not supported Rebo...

Page 99: ...ing Input Signal Timing and Triggers FATAL DMA Read size limitation reached A general error occurred while transferring data to the software Reboot the system Data Reading FIRMWARE does not support External Trigger Pinging is OFF External Trigger Firmware cannot be initialized or not supported Reboot the system Contact Teledyne RESON Customer Support if the problem persists Input Signal Timing and...

Page 100: ...tartup configuration file was missing or too many were found Reinstall the software General System Startup Required file 7k_Bite htm Not found A critical startup configuration file was missing or too many were found Reinstall the software General System Startup SET UP FAILED TO LOAD BIT FILE x for Device x Enumerator x A critical startup configuration file was missing or too many were found Reinst...

Page 101: ...el Threshold X The hard drive is getting full One or more errors have occurred in conjunction with data recording Check user permissions and available disk space Check file names and recording directories Data Recording DMA Transfer Timeout x of x bytes received One or more pings have been lost due to an error on the uplink between the receiver and the software The system is becoming unstable and ...

Page 102: ...d on the PCI bus Reboot Check sonar processor hardware Data Processing Roll Compensation is not available The input data for motion is not available or the feature is not enabled Check device inputs and cabling Input Signal Pitch Compensation is not available The input data for motion is not available or the feature is not enabled Check device inputs and cabling Input Signal RDR x already in progr...

Page 103: ...ames and recording directories Data Recording RDR Set new file name failed The hard drive is getting full One or more errors have occurred in conjunction with data recording Check user permissions and available disk space Check file names and recording directories Data Recording RDR Data delete failed Filename not available The hard drive is getting full One or more errors have occurred in conjunc...

Page 104: ...uffer memory overwrite error The link to the user interface running on the sonar processor has detected a non critical error Check system resources shutdown all non critical software applications Reboot processor Data Subscription Subscribers outbound MMF buffer read error The link to the user interface running on the sonar processor has detected a non critical error Check system resources shutdow...

Page 105: ...oftware source code or definitions for correct implementation of Teledyne RESON 7k Data Format Network Components UDP Server Warning max connection reached The network module has become saturated with client connections and will refuse any further connections Close some of the connected clients Network Components WARNING Critical Disk Level RDR Data recording stopped The hard drive is getting full...

Page 106: ...merged Sonar Processor SSP 6000m Ti high performance dual head 85001850 5 S_ASSY CABLE HD PV TX 3m 7K deep 85001763 CABLE ASSY HD PV MCIL 6 FC TX 3m 7K shallow 85002393 Cable Conf GB ethernet POWER 3m DIL13F DIL13M Rx SSP 85002393 Cable Conf GB ethernet POWER 3m DIL13F DIL13M host 1007294 Cable Conf GB ethernet POWER 1m SUBCONN DBH13F RJ45 BRASS 1009794 Cable assy MHDG 12 CPP Ti with 5m 12xAWG20 P...

Page 107: ...irements this list may or may not apply Follow these basic steps to install and configure your new SeaBat sonar system Install the wet end components o Transducer arrays o SSP Install and connect cables o Projector to SSP cable s o Receiver to SSP cable s o Auxiliary sensor cables o SSP to UUV cable Power up the system Test the system For information on system configuration and operation refer to ...

Page 108: ...ion box CFE Fiber optic cable Survey laptop PC CFE 22 60VDC Fiber Data Fiber Power and data PN 85002393 Bulkhead cable PN 1007294 Data Data shielded Ethernet min Cat 5e Optical electrical Gb Ethernet Switch Optical electrical Gb Ethernet Switch LAN2 SVP AUX Auxiliary sensors Standard 1Gbit Ethernet TCP IP UDP IP Equipment furnished by Teledyne RESON customer furnished equipment CFE Figure 61 Typic...

Page 109: ...iate interfacing diagram Figure 63 T20 50 S AUV single dual head Interfacing Diagram Figure 64 T20 50 S ROV single dual head Interfacing Diagram For further details please refer to Appendix B 4 SeaBat T Series Subsea Cables incl o B 4 4 Pin Designations for Host AUX LAN2 and SVP Connectors Appendix B 5 SeaBat T Series Subsea Installation incl o B 5 7 Wet End Cable Connections o B 5 11 Hardware Set...

Page 110: ...INSTALLATION INSTRUCTIONS SeaBat T Series Subsea Operator s Manual Page 98 January 31 2019 Version 7 Figure 63 T20 50 S AUV single dual head Interfacing Diagram ...

Page 111: ...INSTALLATION INSTRUCTIONS SeaBat T Series Subsea Operator s Manual Page 99 January 31 2019 Version 7 Figure 64 T20 50 S ROV single dual head Interfacing Diagram ...

Page 112: ...s and a minimum bend radius of 100 0mm B 4 2 SeaBat T Series Subsea External Sensor Cable AUX pigtail cable This cable interfaces external sensors with the SSP It has a standard length of five meters and a minimum bend radius of 105 0mm B 4 3 UUV Interface Cable SSP to UUV host cable A host cable allows for power and data to be passed between the SSP and the UUV system This cable is three meters i...

Page 113: ... 4 11 5 7 6 1 2 9 3 8 12 Table 11 Pin Designations for LAN2 Connector25 TIA EIA 568B NETG Pin Wire Color RJ 45 Pin No Signal 1 White orange 1 BI_DA 2 Orange 2 BI_DA 3 White green 3 BI_DB 4 Green 6 BI_DB 5 White brown 7 BI_DD 6 Brown 8 BI_DD 7 White blue 5 BI_DC 8 Blue 4 BI_DC 4 5 7 6 1 2 3 8 Table 12 Pin Designations for SVP Connector26 Pin Signal 1 RS 232 RTN I O COM 3 2 RS 232 In I O COM 3 3 RS ...

Page 114: ...19 Version 7 Table 13 TIA EIA 568B Overview RJ 45 Pin TIA EIA Pair 1000BASE T Signal ID Color Coding Pin Nos on RJ 45 Plug 1 2 BI_DA White orange 2 2 BI_DA Orange 3 3 BI_DB White green 4 1 BI_DC Blue 5 1 BI_DC White blue 6 3 BI_DB Green 7 4 BI_DD White brown 8 4 BI_DD Brown 8 7 6 5 4 3 2 1 ...

Page 115: ...on of the SSP The SSP should be mounted horizontally with a free flow of water around the unit CAUTION DO NOT OPEN the pressure housing The SSP pressure housing is nitrogen filled and sealed B 5 2 EM7219 1 Receiver Unit PN 85002536 T20 Table 15 EM7219 1 Receiver Unit Technical Specifications Specification Value Material Titanium grade 2 lid Polyurethane acoustic window Dimensions Height 123 2mm Le...

Page 116: ... needed in the grooves For ease of mounting the ends of the housing are labeled P and S for Port and Starboard respectively The connector is placed on the port side CAUTION Ensure free access to water inlet holes on starboard side for pressure equalization B 5 4 TC2160 Projector Unit deep operation PN 85000328 Table 17 TC2160 Projector Unit Technical Specifications Specification Value Material Tit...

Page 117: ...h arranged in a rectangular pattern B 5 6 TC2181 Projector Unit shallow operation PN 85002319 Table 19 TC2181 Projector Unit Technical Specifications Specification Value Material Titanium grade 2 lid Epoxy acoustic window Dimensions Height 86 6mm Length 280 0mm Depth 93 1mm Weight Air 5 4kg Water 3 4kg Temperature Operating 5 to 40 C Storage 30 to 70 C The TC2181 projector unit mounts to the vesse...

Page 118: ... of the filter CAUTION Female connectors must be lubricated at least every 5 matings to avoid damaged male connectors as shown here Follow the instructions provided with the wet connector lubrication kit Noncompliance may affect warranty situation see Appendix G Warranty Information The cable connections from the receiver and projector units to the SPP should be made prior to immersing the units i...

Page 119: ...and TX2 2 identical projectors TC2160 400kHz projector or TC2163 200kHz projector or TC2181 200 400kHz projector RX1 and RX230 2 identical receivers EM7219 1 dual frequency receiver or EM7218 1 dual frequency receiver Figure 65 SSP Pressure Bottle Connections CAUTION To disconnect wet end cables from the SSP first unscrew the locking sleeves before pulling the cables out CAUTION Do not bend the ca...

Page 120: ...oss ship points to starboard Starboard Port Y along ship points forward Forward Aft Z vertical points up Up Down There is a single sonar reference point to which all output is related This point is normally defined in the data acquisition software as a node or offset point The point is in the center of the receiver face in both X and Z directions and in the center of the projector in the Y directi...

Page 121: ...andard bracket is not used the customer configuration should be used instead o Normal When the receiver is mounted with the connector to the port side the Configuration selection should be Normal o Reversed When the receiver is mounted with the connector to the starboard side the Configuration selection should be Reversed see appendix B 5 8 Sonar Head Assembly Orientation This option reverses the ...

Page 122: ...ps to verify that the system is operating correctly a Set the Range to 150 b Set Max Rate on the Advanced pane to 4 c Set the Gain to 30 d Select Blue Yellow from the Sonar Palette drop down menu on the Display pane e Perform a receiver check by vigorously rubbing the face of the receiver unit with fingertips while monitoring the display A noise pattern should be barely visible on the display f Gr...

Page 123: ...5 0 The CFE laptop PC which runs the Sonar User Interface SUI should in standard systems be configured in the IP range 10 11 10 3 10 11 10 255 in the same subnet as the SSP C 2 Change IP Configuration The IP configuration can be changed from the SUI installed on the CFE laptop PC 1 Click the Application Settings button in the top right corner of the Sonar UI 2 Unfold the Sonar network connections ...

Page 124: ...SP will request an IP from a DHCP on the network if none is given it will revert to alternative IP addresses 10 11 10 1 for LAN 1 and 10 11 10 2 for LAN 2 The timeout before reverting is up to 1m30s 2 After configuring the desired IP addresses click OK NOTE If you change the IP addresses within the same subnet the connection to the SSP will be lost Shut down the UI and restart to re establish the ...

Page 125: ...nal voltage 1 V Low voltage threshold 1 1 6 V High voltage threshold 1 6 1 8 V Input current high 2V 3V 5V 15V 7 8 10 20 mA mA mA mA Input current low33 0 Input delay 400 1000 ns Pulse 0V to 2V 50 Ohm D 2 Typical PPS In and Trigger Performance 50 Ohm 220 Ohm 470 Ohm 1k Ohm Required PPS pulse width PPS pulse width ns PPS source voltage V Figure 66 Required PPS Pulse Width 31 Measured at the BNC ter...

Page 126: ... of the BNC T adaptor Make sure the PPS source output is in accordance with the specifications listed in Table 21 Operation is ensured if the source resistance is less than 470 Ohm the drive voltage is greater than 3V and the pulse width is greater than 1µs The PPS trigger described is the externally available signal The signal is conditioned before it is internally distributed PPS Trigger conditi...

Page 127: ... or higher SeaBat T Series Subsea Quick Reference Guide QG16227 Version 2 or higher SeaBat UI for T Series Quick Installation Guide QG15552 Version 3 or higher SeaBat Updater Quick Installation Guide QG18505 Version 1 or higher Integration to ROV electronics pod Installation Quick Guide QG14468 Version 2 or higher Sonar UI User Manual OM14950 Version 1 4 7 or higher Data Format Definition 11542 Ve...

Page 128: ...line dimension 85002319M011 Subsea Sonar Processor Outline 85002507M011 Ethernet cable Subconn DIL13M w DIL13F Rx to SSP cable and host cable 85002393 0040360000 052 Cable Assembly Tx HD PV Water Blocked 7k deep 85001850B011 CABLE ASSY HD PV MCIL 6_FC TX 7K shallow 85001763B011 Ethernet cable Subconn DBH13F Brass w DDC13M Bulkhead connector 1007294 0040360000 053 Cable Assy MHDG 12 CPP 12c AWG 20 ...

Page 129: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 117 January 31 2019 Version 7 Figure 70 Receiver EM7219 1 Outline Dimensions ...

Page 130: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 118 January 31 2019 Version 7 Figure 71 Receiver EM7218 Outline Dimensions ...

Page 131: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 119 January 31 2019 Version 7 Figure 72 Projector TC2160 Outline Dimensions for deep installation ...

Page 132: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 120 January 31 2019 Version 7 Figure 73 Projector TC2163 Outline Dimensions for deep installation ...

Page 133: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 121 January 31 2019 Version 7 Figure 74 Projector TC2181 Outline Dimensions for shallow installation ...

Page 134: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 122 January 31 2019 Version 7 Figure 75 Subsea Sonar Processor Outline Dimensions ...

Page 135: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 123 January 31 2019 Version 7 Figure 76 Cable Assembly Receiver to SSP and Host Cable ...

Page 136: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 124 January 31 2019 Version 7 Figure 77 Cable36 Assembly TC 2163 60 Projector to SSP deep 36 Max cable length offered 5m ...

Page 137: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 125 January 31 2019 Version 7 Figure 78 Cable Assembly TC2181 Projector to SSP shallow ...

Page 138: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 126 January 31 2019 Version 7 Figure 79 Cable Assembly Bulkhead Connector for ROV ...

Page 139: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 127 January 31 2019 Version 7 Figure 80 Cable Assembly AUX Pigtail ...

Page 140: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 128 January 31 2019 Version 7 Figure 81 Cable Assembly SSP to SVP 70 optional ...

Page 141: ...REFERENCE DOCUMENTATION SeaBat T Series Subsea Operator s Manual Page 129 January 31 2019 Version 7 Figure 82 Sonar Reference Point Definition ...

Page 142: ...lders nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission The copyright holders provide no reassurances that the source code provided does not infringe any patent copyright or any other intellectual property rights of third parties The copyright holders disclaim any liability to any recipient for claims b...

Page 143: ...TY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE This product includes software developed by the University of California Lawrence Berkeley Laboratory and its contributors This product includes software developed by the Kungliga Tekniska Högskolan and its contributo...

Page 144: ...without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the dis...

Page 145: ...by granted provided that the above copyright notice and this permission notice appear in all copies and that the name of Digital Equipment Corporation not be used in advertising or publicity pertaining to distribution of the document or software without specific written prior permission THE SOFTWARE IS PROVIDED AS IS AND DIGITAL EQUIPMENT CORP DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE ...

Page 146: ...of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTOR AS IS AND ANY EXPRESS OR ...

Page 147: ...P to laptop PC cable lengths in excess of 25 meters a fiber optic link is required This bidirectional link can run over a single mode fiber where cable lengths in excess of 40km are possible The performance of a fiber optic link is highly dependent on the quality of the link the number of connections and the end to end optical loss Teledyne RESON offers a converter which resides in a customer prov...

Page 148: ...oper beam steering the sonar requires the input of the local sound velocity in the area of the transmitter and receiver arrays The sound velocity probe SVP is used to continuously report this value to the processor unit The unit described below may be purchased from Teledyne RESON as an option or a SVP of similar specifications may be supplied by the customer Table 25 SVP Technical Specifications ...

Page 149: ... operating personnel are available from Teledyne RESON F 7 Teledyne PDS Data Acquisition Software Teledyne PDS software provides a wealth of displays and data processing options Configure the software on a separate computer and postprocess your data there For further information please refer to the appropriate manual or http www teledyne pds com F 8 Wet End Brackets customized Customized wet end b...

Page 150: ... The three year warranty applies to these standard sonar systems SeaBat T20 S SeaBat T50 S The warranty does not apply to Peripheral equipment such as SVP 70 or 3rd party hardware G 2 Exclusions The warranty on your Teledyne RESON system shall not apply to defects resulting from Improper use Improper or inadequate installation or maintenance by the customer Unauthorized modifications alterations o...

Page 151: ...ledyne RESON representative to the applicable address 4 Ensure that the RMA number is included on all shipping documents and most importantly marked on the shipping container s address label 5 Include a note with a brief but thorough description of the problem G 6 Service If you are experiencing difficulty with your Teledyne RESON system please contact Teledyne RESON Service Department at one of t...

Page 152: ...SeaBat T Series Subsea Operator s Manual Produced by Teledyne RESON A S Fabriksvangen 13 3550 Slangerup Denmark Tel 45 47 38 00 22 Fax 45 47 38 00 66 Document Number OM16226 7 Part Number 1009737 ...

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