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Operation

SeaKing Profiling Sonar

0374-SOM-00002, Issue: 04

© Tritech International Ltd.

NMEA TRO

$-TRO,x.xx,a,y.yy,b*kk<CR><LF>

NMEA TRH

$-TRH,x.xx,a,y.yy,b,z.zz,c*kk<CR><LF>

CDL1

H123.4P+123.45R+123.45T00.0D00000.0B00.0FR<CR><LF>

MDL

H0750P-0019R-0022<CR><LF>

Digilog

H0750P-0019R-0022E<CR><LF>

CDL MicroTilt

P+12.34R+12.34<CR><LF>

A serial port can be configured by selecting

Com Setup

from the

Utilities

menu, and then enabling an

Attitude Sensor

device (it may be necessary

to select one from the

New

menu if it is not already listed). In the

Com Setup

dialog the correct COM port can be selected using the arrows in the

COM Port

column and the port configured using the ellipsis (...) button. Once correctly

configured the

Attitude Sensor

should be enabled by ticking the check-

box in the

Enabled

column.

The attitude data can also be brought in from a compass device which is

configured in exactly the same way as the attitude sensor except in

Com

Setup

the correct device will be either

Sub Compass

Ship Compass

Once a compass is configured and enabled it should be selected from the

Utilities

menu by clicking on

Compass

. The

Compass

pop-up will be

displayed on the screen and it will be necessary to tick the

Compass is

Global Attitude

check-box to globally pass the attitude data to the Profiler

application( the

Compass

pop-up does not need to be visible and can be

closed).

Uncorrected Roll

Corrected Roll

Figure 4.4. Profiler Roll Correction Example

Summary of Contents for SeaKing Profiling Sonar

Page 1: ...SeaKing Profiling Sonar 0374 SOM 00002 Issue 04 1 Tritech International Ltd SeaKing Profiling Sonar Product Manual 0374 SOM 00002 Issue 04 ...

Page 2: ...s supplied by Tritech International Ltd on the understanding that it may not be copied used or disclosed to others except as authorised in writing by Tritech International Ltd Tritech International Ltd reserves the right to change modify and update designs and specifications as part of their ongoing product development programme All product names are trademarks of their respective companies ...

Page 3: ...85 14 4 Operation 15 4 1 Basic Principles 15 4 2 Seanet Pro Software 15 4 2 1 Main Screen 15 4 2 2 Profiler Settings 17 4 2 3 Seanet Setup 19 4 2 4 Re Programming Nodes 21 4 2 5 Changing System Settings 24 4 2 6 Application Tools 26 5 Software Features 36 5 1 Mean Altitude 36 5 1 1 Overview 36 5 1 2 Mean Altitude Operation 38 5 1 3 Mean Altitude Setup and Operating Notes 38 5 2 Gate Alarm 41 5 2 1...

Page 4: ...SeaKing Profiling Sonar 0374 SOM 00002 Issue 04 4 Tritech International Ltd A ARCNET Termination 54 B SeaKing Sonar Profiler Connector Options 55 Glossary 56 ...

Page 5: ...ftware or firmware revision numbers 3 A clear fault description 4 Details of any remedial action implemented Contamination If the product has been used in a contaminated or hazardous environment you must de contaminate the product and report any hazards prior to returning the unit for repair Under no circumstances should a product be returned that is contaminated with radioactive material The name...

Page 6: ...current topic Important When this is shown there is potential to cause harm to the device due to static discharge The components should not be handled without appropriate protection to prevent such a discharge occurring Caution This highlights areas where extra care is needed to ensure that certain delicate components are not damaged Warning DANGER OF INJURY TO SELF OR OTHERS Where this symbol is ...

Page 7: ...lemetry protocol This is the standard protocol that is used in all SeaKing devices and provides a high bandwidth at a default communications rate of 156kbit s 1 It is also possible to reconfigure sensors to communicate at a lower rate or using serial protocols such as RS232 or RS485 The SeaKing DFP has the following features Scan rate The heads can achieve a very fast scan rate which gives faster ...

Page 8: ...s in mm 2 2 Acoustic Property High frequency Low frequency Operating frequency 1 1MHz 600kHz Beamwidth 1 conical 2 conical Maximum range 40m 80m Pulse length 20 200μs Minimum range 0 3m Scan resolutions 0 45 0 9 1 35 1 8 Source level 210dB re 1μPa at 1m Scanned sector Up to 360 Continuous 360 scan Yes Sector offset mode Yes Timing resolution 1mm ...

Page 9: ...atures Operating 10 to 35 C Storage 20 to 50 C 2 4 Electrical and Communication Electrical and Communications Power requirement 20 to 72V DC at 8W AUX port voltage equal to Main port supply Communication protocols ARCNET RS485 RS232 single head only Communication rate ARCNET 156kbit s 1 78kbit s 1 RS232 RS485 115 2kBd ARCNET line driver 1500m at 156kbit s 1 2500m at 78kbit s 1 ARCNET isolation Tra...

Page 10: ... the heads by unscrewing the four securing screws Note It is not necessary to remove the waterblock when removing the connector While the connector is removed from the head the blanking plugs supplied should be fitted to prevent the ingress of dirt or moisture 3 2 Seanet Pro Software The Seanet Pro Windows software will be provided either on an Installation CD ROM for SeaHub interface to user comp...

Page 11: ... as possible in relation to the trim position of the vehicle The front filling plug and red LED should be aligned at right angles to the natural direction of travel of the vehicle i e facing downward for a seabed profile Errors in the head alignment can give rise to unreliable results 3 3 1 SeaKing Communication Configuration Caution The power should be turned off before making a connection betwee...

Page 12: ... setup 3 3 2 Subsea Sensor Electrical Installation If using a rectified transformer PSU the output of the PSU must have a filter capacitor of not less than 470μF for each head being powered If an unregulated PSU is used then make sure that the voltage value measured at the head is in the range 20 36v DC in power on off and running conditions If powering the head s down a long lead or umbilical the...

Page 13: ...ote If operating in a Master Slave configuration pin 5 can be linked within the interconnect cable i e from the Master MAIN port to the Slave MAIN port This will allow the Master profiler to take control of the Slave profiler in order for the signals to the surface to be properly synchronised For a dual head installation the MAIN connector port on each profiler head should be connected to a common...

Page 14: ...U manual for further details Note Wire colours shown correspond to standard Tritech International Ltd 6 pin connector and cable 3 3 6 Using two Profilers with RS232 or RS485 When using RS232 or RS485 it is still possible to use two Profilers but each must have their own communications channel to the topside controller i e a dedicated COM Port for each unit Seanet Pro must then be set to use the Pr...

Page 15: ...physically connected an error status message will flash on screen to inform the operator that a profiler head has not been detected so unconnected heads should be disabled to prevent interruptions A synchronisation link is setup between a dual head pair on pin 5 line When pin 5 is linked the Master head is responsible for taking control of the pair and establishing Scan and Ping syncs if these hav...

Page 16: ...ofiler can be controlled and configured The settings bar is on top of every display window and includes a Tools Setup button Pause Go Indicator and mimic of the RAT dials and buttons 4 Status Bar This part of the screen is used to display system status information typically the AIF card interface status Logging status progress and Job specific information 5 Sensor Display Area This part of the scr...

Page 17: ...red typically this is around 25 40 but is varied according to water and target conditions and user preference Range C3 This sets the maximum range the sonar will scan Long ranges are scanned more slowly than short ranges due to the limit imposed by the velocity of sound in water Sector Scan Direction C4 This is used to set the centre of the scanned sector and is particularly useful when using a na...

Page 18: ...n Tools menu RES F4 Sonar Resolution Resolution toggles through preset step sizes for the Profiler with smaller angles giving a higher resolution scan but at slower speed For the available resolution refer to Chapter 2 Specification FREQ F5 Sonar Frequency This toggles between the channels available on the Profiler There are low and high frequency channels high frequency provides better resolution...

Page 19: ...ber even when they are operating in ARCNET mode These numbers are usually 3 to 7 on a SCU although this may vary depending on the hardware present on a SeaHub the port numbers will be automatically assigned when the SeaHub is connected and they could be any number Note To check the list of COM ports or to assign new numbers use the Windows Device Manager instructions for doing this should be inclu...

Page 20: ...tup application should now show the status of the Profiler and if any firmware update is required as shown in Figure 4 2 Seanet Setup with SeaKing Profiler Figure 4 2 Seanet Setup with SeaKing Profiler At this point Seanet Setup can be closed and the main Seanet Pro application can be started If the Profiler is Not Displayed The first thing to check is that the communication protocols match those ...

Page 21: ... In some cases it may be necessary to update the software program installed within a Profiler or to change its node number This may be the case particularly when subsea sensors are introduced from another system hired or taken from a spares pool After the node table is rebuilt in Seanet Setup the Status column of each node should appear as status OK This will confirm that whatever is programmed in...

Page 22: ... program and wait for a few seconds for the nodes to build 2 Click on the Action column for the node that has Status of Update and then select Program 3 Then click on OK to confirm the re program operation 4 The current software program will be downloaded into the node and this will be displayed on the download status bar indicator ...

Page 23: ...54 SKIM 100 Interface Box obsolete 255 ARCNET Interface Card ISA or PCI AIFV4 card in a PC Changing node numbers is useful for running a Profiler application when 2 heads are connected that originally have the same node number factory supplied pairs should already be set up as master and slave To reprogram a node the Profiler heads to have the node number re programmed should be connected by itsel...

Page 24: ...download status bar indicator 6 Wait until the download has completed and the table automatically rebuilds Press the Rebuild button to rebuild the list and confirm that the node is showing correctly 4 2 5 Changing System Settings General Setting Information Serial COM port settings or baud rates can be changed from several locations in the Seanet Setup program The AIF Interface settings can be vie...

Page 25: ...s This is also where the baud rates for SeaHub and other interface devices can be accessed and changed Configuring a COM Port for 3rd Party Devices To display and log available serial device data such as GPS data along with the sensor data a serial COM port must be enabled and configured for this purpose In the following example an NMEA 0183 type GPS message is to be received through COM1 1 Open t...

Page 26: ... other 4 Then click on the Settings ellipsis button to open the Communication Settings panel to configure the port The COM Port number and Baud rate can also be viewed or changed Only Comm Port and Baud Rate should need to be changed 4 2 6 Application Tools To get to the Application Tools menu either right click on the Profiler display or click on the menu icon next to the RAT mimic ...

Page 27: ...stance and relative bearing are shown To deploy a marker click on the symbol on the Markers panel and that marker symbol will be dropped at the origin 0 0 on the Profiler display Then pick up the marker using the left mouse button and drag it to the position required Note De selecting and then re selecting the marker symbol in the Markers panel will clear any positional data and move the marker ba...

Page 28: ...om display window The Factor shows the number of zoomed range bins for each normal range bin Position Used to move and size the profiler display origin and head indicators red for Master Profiler green for Slave Profiler For more information please refer to Section 5 4 Offsets Head Select the Profiler to be moved e g Pri Master from the drop down and then set the X Y and R position offsets for tha...

Page 29: ...irs to display I Delta Interpolate These controls will interpolate and add points between adjacent points in the profile to help outline the target object The I Delta value is a gating filter in mm which is applied to only add interpolated points when the 2 adjacent points are within range of each other Setup Invert Swaps the display from left to right Enable if Profiler mounted with boot towards ...

Page 30: ...o heads Scan Mode Right Left Alt Scan Right is anti clockwise from Left Limit looking into rear connector end of Profiler Scan Left is clockwise from Right Limit Both these Modes will produce a transducer flyback to Start Limit at end of each scan Scan Alt will alternate the Left and Right with no Transducer flyback thus producing faster scanning If Mirror control is enabled then the Slave head wi...

Page 31: ... input via TSS Pipetracker Lat Vert The Lateral and Vertical Position data from the Pipetracker serial message Alt The Altitude data from the Pipetracker serial message Bur The Burial data from the Pipetracker serial message The COM Port for the Pipetracker message input is configured using the Com Setup dialog which is launched from the Utilities menu In the dialog find the device labelled Pipetr...

Page 32: ...ckness of the simulated pipe overlay Enabled Tick this box to display the simulated pipe on the Profiler Cartesian display Roll Correction This will display and apply pitch roll data from the Tritech International Ltd Attitude Sensor Node 60 or can be configured to apply a compatible input string received through a serial port Roll angle corrections are applied relative to the pivot point or centr...

Page 33: ...lumn and the port configured using the ellipsis button Once correctly configured the Attitude Sensor should be enabled by ticking the check box in the Enabled column The attitude data can also be brought in from a compass device which is configured in exactly the same way as the attitude sensor except in Com Setup the correct device will be either Sub Compass or Ship Compass Once a compass is conf...

Page 34: ... Sensor is mounted off centre Show Position Indicator Toggles display of the Centre of Rotation position indicator O on the Profiler display Overlay This will display an overlay on the Profiler screen which can be used to mark highlight a particular area or object in the area The Overlay can also be used as a Gating Zone for the Gate Alarm function ID Up to 4 overlays are selectable IDs 1 2 3 4 St...

Page 35: ... to prevent inadvertent movement through accidental mouse operations Centre On Simply marks the centre of the Overlay which may be useful if lining up with any particular target or the Profiler position An example of the three different types of overlay is shown Mean Altitude Note For a full description of Mean Altitude refer to Section 5 1 Mean Altitude Gate Alarm Note For a full description of G...

Page 36: ...age the scan size and position can be adjusted using the direction and width controls on the RAT controller A typical dual head Profiler arrangement will be as shown in Figure 5 1 Dual Head Profiler Example Figure 5 1 Dual Head Profiler Example Note The Mirror Slave Profiler control is enabled in order to achieve the above direction and scan packet orientation This control will counter the scan di...

Page 37: ...option in the Environment menu is then applied to this time value to convert it into a slant range which is the distance to the seabed at the current angle of incidence Using this polar data value a range is calculated and if valid is applied in the final mean altitude calculation to be valid the range must be non zero and within the Filter Gating restrictions When the mean altitude facility is en...

Page 38: ...y determined by the value of a Filter Gating parameter The following rules apply Any null zero data points within the scan packet will not be included in the calculation If the current data point exceeds a calculated mean altitude by the Filter Gating value this current data point will not be included in the final calculation This will eliminate any spurious points and spikes from the final mean a...

Page 39: ...hat represent a trench or pipe outline The Filter Gating is applied above this to remove spurious points only Draw Reference Line Enable Disable the drawing of the reference line on the Profiler application main screen The colour of this line is configured in the Profiler Colour Setup dialog accessible from the Colour Setup in the Profiler menu The Overlay2 colour is used for the reference line Ma...

Page 40: ...cations The Top Profiler form has been configured to calculate a Mean Altitude value and then use this value as the Global Mean Altitude Make Global which other forms can pick up and apply The Bottom Profiler form has been configured to apply the Global value calculated from the Top form and draw a reference line The text box display will be automatic ...

Page 41: ...y Rotation offset value is set to 180 degrees then a Mean Altitude reference line will automatically be drawn 5 2 Gate Alarm 5 2 1 Overview The gate alarm function is a feature that can be used to monitor the position of the Profiler data points One or more overlays can be positioned on the Profiler display to act as a gating zone If any configured number of Profiler data points fall inside outsid...

Page 42: ... main Profiler display area and selecting Gate Alarm Enable Point Detection When selected this will enable the alarm function Point Threshold This sets the number of points that are allowed outside inside the gate before an alarm is triggered Inside Gate Outside Gate Choose which side of the boundary line of the overlay is set to trigger the alarm 5 2 3 Configuring the Remote Alarm RemV4 A remote ...

Page 43: ... Setup dialog which is accessed from the Settings menu in RemV4 In the Remote Channel Setup dialog select the correct COM port using the left right arrows in the COM Port column and then do any required configuration by clicking on the elipsis button Once the COM port is correctly configured click on the Enabled check box and close the dialog Next open the Remote SKV4 dialog from the Applications ...

Page 44: ...is also to be sent out on the same COM port as the alarm message 5 2 4 Remote Alarm String Format The transmitted Alarm message is a serial ASCII string with the following format M0026022530120707620000100008000012 CR LF M0026022530 Message Header M Fixed Header String 0026 Number of bytes in message in hexadecimal 02 RemV4 slot number 25 fixed device type of Profiler in hexadecimal 3 Ignore 0 Ign...

Page 45: ...o ensure they are always scanning at the same point along the trench This synchronisation mode will ensure accurate mean altitude readings being derived from the averaging of both Profiler scans Ping Sync This is a 2nd level of synchronisation that in addition to Scan Sync will force both Profilers to ping at interleaved intervals This control is normally enabled in cross profiling applications i ...

Page 46: ... should be corrected using the R offset These corrections will be accounted for in the calculation of mean altitude Vertical Y Offset It will be necessary to produce a mean altitude calculation that is relative to a particular point on the vehicle platform for example the skid If the Profiler s are mounted above this point then this height difference should be calculated and entered as the Y offse...

Page 47: ...Software Features SeaKing Profiling Sonar 0374 SOM 00002 Issue 04 47 Tritech International Ltd Note For the purposes of a mean altitude calculation only the R and Y offsets are relevant ...

Page 48: ...dry before stowing Pack into storage container along with several pouches of silica gel 6 3 SeaKing regular maintenance General Guidelines Caution It is essential to have a regular maintenance schedule so that any defects arising from corrosion or erosion can be spotted early and corrected before they cause severe damage to the unit It is recommended that the unit is annually serviced and can be r...

Page 49: ... Note Alternative configurations may have additional serviceable items if in doubt please contact Tritech International Ltd to establish the correct service routine The o ring seals should be regularly inspected cleaned and lubricates with the appropriate greasing compound The body of the unit should also be inspected for any obvious signs of corrosion especially in mating surfaces such as the wat...

Page 50: ...er or M2 5 spanner Procedure 1 Rinse the unit and connector in fresh water and dry with absorbent wipes 2 Using the M3 Allen key loosen each of the retaining screws of the Pressurised blanking cap if present 3 Using the M3 Allen key loosen each of the retaining screws of the MAIN and AUX if present waterblocks Each screw should be loosened by a quarter turn in order to prevent damage to the screw ...

Page 51: ...ted areas on the images above are the critical sealing areas that should have no signs of corrosion Corrosion in these areas will necessitate the replacement of the connector endcap 6 3 2 Reassembly of the SeaKing unit Important The steps outlined here will expose sensitive electronic equipment and so appropriate steps should be taken to prevent any static discharge occurring which may harm the eq...

Page 52: ...these locations 8 Using the short nose flush pliers fit the bullet post at the remaining points 9 Carefully insert the electronics block back into the Body tube ensuring that the dowel pin on the connector endcap lines up with the recess point on the Body tube 10 Fit the connector endcap locking ring 11 Using the M3 Allen key fit the MAIN and AUX if applicable waterblocks Each of the waterblock sc...

Page 53: ...ulation tested the sonar heads and Seanet SCU or SeaHub must be disconnected Status Centre Err 21 message In this case the message indicates a fault with Node 21 Slave Profiler The head has lost its bearing during the scan This may be a result of a sudden knock or collision that may have damaged the transducer and or stepper motor shaft The transducer will correct its bearing at the end of the sca...

Page 54: ... as from the cable itself The diagram below shows best practice to use when installing termination resistors on an ARCNET network of Tritech International Ltd sonar products Note A special yellow waterblock is available from Tritech International Ltd which contains an in line impedance of 39Ω which will enable quick and easy installation of the subsea termination resistor waterblock connectors Ear...

Page 55: ...4000m 325 675 Burton Seaconn 5506 1508 08540 SSK DFS V6 6800m 385 725 Burton Seaconn 5506 1508 07525B SSK DFS V6 4000m 325 675 Burton Seaconn 5506 1508 06756 SSK DFP V5 4000m 580 1210 Burton Seaconn 5506 1508 06731 SK DFP V5 6800m 580 1200 Burton Seaconn 5506 1508 08652 SSK DFS V6 4000m 325 675 Burton Seaconn 5506 1508 08803 SK DFS V6 6800m 385 725 Burton Seaconn 5506 1508 07578 SSK DFS V6 4000m 3...

Page 56: ... on the SCU and SeaHub DC Direct Current LAN Local Area Network LED Light Emitting Diode PC Personal Computer PCI Peripheral Component Interconnect used to refer to both the transfer bus and the socket for expansion cards within a computer RAT Remote Access Terminal the detachable front part of the Tritech Surface Control Unit SCU computer Provides an alternative to using a keyboard and mouse RS23...

Page 57: ...sing of the SeaKing SeaKing DST scanning and profiling sonars and the Hammerhead survey sonar Seanet Pro The software supplied by Tritech International Ltd which is capable of running all the sonar devices Seanet RemV4 A program developed by Tritech International Ltd that runs alongside Seanet Pro and provides remote survey or logging computers with access to data from various devices on the host ...

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