R2Sonic 2026 Operation Manual Download

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SONIC 2026/2024/2022

BROADBAND MULTIBEAM ECHOSOUNDERS

Operation Manual V6.3

Revision 012 (05NOV2022)

Part No. 96000001

Summary of Contents for 2026

Page 1: ...SONIC 2026 2024 2022 BROADBAND MULTIBEAM ECHOSOUNDERS Operation Manual V6 3 Revision 012 05NOV2022 Part No 96000001...

Page 2: ...Page 2 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 3: ...2sonic com Authorship This manual Sonic 2026 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...

Page 4: ...hen submerged to a depth greater than 100 metres A Standard Spectrum system when submerged to depths greater than 100 metres will be restricted to operating frequencies of no less than 350 kHz and ran...

Page 5: ...Electrical Interface 27 2 8 Sonic MBES Ping Rates SV 1500 00m sec 27 2 9 Acoustic Centre 29 3 SONIC MBES SONAR HEAD INSTALLATION Surface Vessel 33 3 1 Sonic MBES Receive Module Installation 33 3 1 1...

Page 6: ...Graphical User Interface 60 5 2 Hot Keys 60 5 3 Settings Menu 61 5 4 Network Setup 61 5 4 1 Initial Computer setup for Communication 61 5 4 2 Discover Function 62 5 4 3 Configuring Network Communicati...

Page 7: ...87 5 8 Ocean Setting 89 5 8 1 Absorption 0 200 dB km 89 5 8 2 Spreading Loss 0 60 dB 89 5 8 3 Time Variable Gain 90 5 9 Installation Settings 93 5 9 1 Projector Orientation 93 5 9 2 Projector Z Offset...

Page 8: ...5 109 5 16 6 Depth Gates GateTrac 109 5 17 GUI Rec ord 112 5 18 Ruler 112 5 19 Save Settings 113 5 19 1 Default setting ini file 113 5 20 Operating Sonic Control on a second computer 114 5 20 1 Two co...

Page 9: ...7 I2NS Drawings 135 7 7 1 I2NS Type 42 IMU 135 7 7 2 I2NS Type 82 IMU 136 7 7 3 I2NS Sonar Interface Module SIM 137 8 APPENDIX II Multibeam Survey Suite Components 139 8 1 Auxiliary Sensors and Compo...

Page 10: ...ements 159 10 1 Lever Arm Measurement Offsets 159 10 2 Vessel Reference System 159 10 3 Measuring Offsets 160 10 3 1 Sonic MBES Acoustic Centre 160 10 3 2 Horizontal Measurement 160 10 3 3 Vertical Me...

Page 11: ...troduction 173 12 2 Sound Velocity 173 12 2 1 Salinity 175 12 2 2 Temperature 175 12 2 3 Refraction Errors 175 12 3 Transmission Losses 176 12 3 1 Spreading Loss 176 12 3 2 Absorption 177 12 3 3 Sound...

Page 12: ...initions 201 14 2 3 Command Packet Format 201 14 3 Head Commands Binary Format 202 14 4 SIM Commands Binary Format 205 14 5 GUI Commands Binary Format 206 14 5 1 GUI Command Line Switches 207 14 6 Com...

Page 13: ...Rev r012 Date 05 11 2022 15 13 Device Status Format 230 15 14 Data Playback Using Bit Twist 231 15 14 1 Introduction 231 15 14 2 Capturing Data 231 15 14 3 Editing Data 232 15 14 4 Data Playback 233...

Page 14: ...Page 14 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 15: ...r decklead on bottom 36 Figure 18 Sonic 2024 Standard decklead on top Penetrator decklead on bottom 37 Figure 19 Updated Projector housing 37 Figure 20 Upper bracket for Projector cable clamp 38 Figur...

Page 16: ...Frequency Selection 70 Figure 58 90 100 kHz Low frequency option for Sonic 2026 71 Figure 59 Ping Rate Limit 71 Figure 60 Sector coverage 72 Figure 61 Asymmetric sector sizing 72 Figure 62 Sector Rot...

Page 17: ...Status Saturation Monitor 95 Figure 100 Saturation Monitor 95 Figure 101 TruePix Monitor 96 Figure 102 TruePix monitor palette 96 Figure 103 Select Tools Firmware Update 98 Figure 104 The Browse butto...

Page 18: ...ure 138 SONIC 2024 Sonar Head Block Diagram 117 Figure 139 Transmit pattern Sonic 2024 118 Figure 140 Receive pattern with Transmit pattern 119 Figure 141 Sonar Interface Module Block Diagram 121 Figu...

Page 19: ...ction due to different sound velocities in the water column 174 Figure 184 Sound velocity profile 174 Figure 185 Refraction Error indication 175 Figure 186 Concept of Spherical Spreading 176 Figure 18...

Page 20: ...24 2026 Receive Module 238 Figure 216 Receiver outline with penetrator 239 Figure 217 Sonic 2022 Receive Module 240 Figure 218 Sonic 2022 Receiver Projector horizontal offset 241 Figure 219 Sonic 2024...

Page 21: ...sions and Mass 134 Table 16 Electrical Specifications 134 Table 17 Gyro Calibration Method 2 computation 145 Table 18 Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz 178 Table 19...

Page 22: ...Page 22 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 23: ...s to the sonar head and routes the raw multibeam data to the customer s Data Collection Computer DCC The Sonic MBES work on a user selectable frequency range of 170 kHz to 450 kHz Type 1006 projector...

Page 24: ...ugh the entire Operation Manual before commencing the installation or use of the equipment 1 2 1 Standard of Measurement The Metric system of measurement is utilised throughout this manual this includ...

Page 25: ...emperature 10 C to 50 C Storage Temperature 30 C to 55 C Table 2 2026 System Specifications 2 2 Sonic 2024 System Specification System Feature Specification Frequency Type 1006 Projector 170kHz to 450...

Page 26: ...C Storage Temperature 30 C to 55 C Table 4 2020 System Specifications 2 4 Sonic 2026 Dimensions and Weights Component Dimensions L x W x D Dry Weight Receiver Module 480mm x 109mm x 190mm 12 9kg Proje...

Page 27: ...50W peak 2026 50W avg 90W Peak 2024 35W avg 70W Peak 2022 Integrated Inertial Navigation System I2NS 38 4W SIM and IMU with Antennas Uplink Downlink 10 100 1000Base T Ethernet Data Interface 10 100 10...

Page 28: ...Page 28 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 29: ...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 318m 1 043ft Alongship ref Athwartship ref Z Reference FORE AFT SONIC...

Page 30: ...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 318m 1 043ft Alongship ref Athwartship ref Z Reference FORE AFT SONIC...

Page 31: ...Figure 7 Sonic 2026 Acoustic Centre as mounted Centre of Flange to Alongship offset 0 288m 0 944ft Top of Flange to Z reference 0 318m 1 043ft Alongship ref Athwartship ref Z Reference FORE AFT SONIC...

Page 32: ...Page 32 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 33: ...MM 3 1 Sonic MBES Receive Module Installation The Sonic MBES sonar head is mounted on the standard R2Sonic mounting frame as shown below Figure 8 Sonic 2024 and Sonic 2022 on the mounting frame If the...

Page 34: ...9m projector cable first A light spray of silicone lubricant 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 thro...

Page 35: ...request the push on connector if desired to meet with specialised installations The receiver end of the cable is not removable as in previous versions it is permanently connected to the receiver Figu...

Page 36: ...both of the configurations There is a lower and upper bracket that comprises the clamp The lower bracket is positioned under the cables and aligned with the threaded holes along the top edge of the r...

Page 37: ...tors at the customer s request Figure 19 Updated Projector housing A small lower bracket is placed under the cable and then a larger block is placed over the top and secured to the housing The upper b...

Page 38: ...racket fits within the upper bracket and is placed under the cable but not bolted to the projector housing Figure 22 Projector cable clamp upper bracket Figure 23 Projector cable clamp in place Mounti...

Page 39: ...Page 39 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 24 Projector cable clamp bolt mounting arrangement...

Page 40: ...other material and then lowing the mounting frame down with the threaded bolts passing through the mounting frame The threads of the securing bolts after passing through the frame must be wrapped wit...

Page 41: ...secures the projector through the stand off The Projector s connector faces towards the protection fin Connect the 0 439m interconnect cable s female end to the Projector s male bulkhead connector Whe...

Page 42: ...cing protective fin Figure 31 SV Probe mounted in block 3 1 6 Mounting the Sonic 2026 Projector The 2026 Projector is mounted within the same style housing as the receiver and is thus mounted in the s...

Page 43: ...ge to the sonar the sonar will sense when it is being operated in air and will reduce power The sonar will determine from the sound velocity input whether it is immersed in water or operating in air T...

Page 44: ...e transmitter The sonar can be operated in the air for brief periods for testing Under no circumstances should the sonar head be powered up in the air other than for brief testing to last no more than...

Page 45: ...on connector on the receiver 3 1 8 3 Transmitter test This tests that the transmitter is transmitting Have someone position their ear close to the projector Set ping rate Settings Sonar settings to 2...

Page 46: ...A pole will be attached to the frame normally through the use of swivel flanges flanges or other means by which the head can be swung up when not in use and deployed when needed A similar mounting arr...

Page 47: ...ion of a fairing on the hull to ensure correct flow patterns over the sonar head 3 2 5 ROV Mounting The Sonic 2024 2022 is ideal for undersea operations due to its compact size and low power consumpti...

Page 48: ...Page 48 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 49: ...ed onto the sonar head The SIM is interchangeable it is not tied to a unique sonar head 4 1 1 Physical installation The 15 metre cable from the Sonic MBES Receive Module connects directly to the SIM v...

Page 50: ...ection indicator Green head on Red head power off or not connected Orange problems with communications or if the sonar head current draw is below expected limits On the second row up are three BNC con...

Page 51: ...gure 37 SIM Interfacing Physical Connections Figure 38 SIM Interfacing Guide from the label on top of the SIM NB Again at present the SIM only takes in the PPS NMEA Time message sound velocity at the...

Page 52: ...with Blue Blue White BI_DB 7 C Green Green BI_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...

Page 53: ...Blue Data1 5 B White Blue Data2 7 C White paired with Green Data2 8 D White Green Data3 11 E White paired with Brown Data3 12 F White Brown Data4 9 G White paired with Orange Data4 10 H White Orange...

Page 54: ...22 Part No 96000001 Figure 41 Projector cable configuration As of 17 March 2020 the projector cable has been standardised to part number 10228 with a diameter of 9 906mm 0 39 inches The older model in...

Page 55: ...Page 55 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 42 Projector cable as of 17 March 2022...

Page 56: ...Page 56 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 57: ...ime message to synchronise the computer clock and 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 T...

Page 58: ...this may cause some GPS receivers to stop sending data Use a cable with only pins 2 3 and 5 wired if possible 4 1 5 Motion Input The roll component of the motion data is used for roll stabilisation Su...

Page 59: ...Setting up the SVP input is done through the Sonic Control software detailed in Section 5 4 4 1 6 3 Other supported sound velocity formats The SIM can also accept sound velocity in the below listed f...

Page 60: ...ogram to a folder 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 to Send to Desktop create shortcut The computer must have...

Page 61: ...system is to establish the correct Ethernet parameters which include the IP Internet Protocol Subnet Mask and UDP User Datagram Protocol base port under Settings Network settings 5 4 1 Initial Comput...

Page 62: ...number of sonar head and the SIM are entered in the settings for Sonar 1 in the Sonic Control 2000 Network settings Use the Discover function to request the serial number information from all attached...

Page 63: ...ntil the correct serial numbers are entered there will be no communication Once the correct serial numbers are entered click Apply and dots will be visible in the wedge display signifying communicatio...

Page 64: ...t right are the Subnet Mask upper left corner of the Network settings dialogue and the GUI IP number If these numbers are wrong the Sonic Control program will not be able to configure the sonar head a...

Page 65: ...ta collection software requires TruePix Snippets IP IP number of the computer running snippets data collection software TruePix Snippets BasePort Base port number for Snippets Snippets will be output...

Page 66: ...guration The data must also utilise UDP The same UDP port can be used for all inputs but separate UDP ports are suggested Enter the sending sensor s IP In the dropdown for Interface select Ethernet Wh...

Page 67: ...e 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...

Page 68: ...ll ping 10 025msecs 10 secs after receiving the trigger 5 5 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...

Page 69: ...Sonic MBES have many features that provide 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 wi...

Page 70: ...f this frequency The UHR upgrade requires a Type 1006 projector which covers the normal 170 450 kHz frequency range but can also provide the necessary power to operate at 700 kHz The projector is spec...

Page 71: ...2026 5 6 2 Ping Rate Limit The Sonic MBES can transmit at a rate up to 60 Hz 60 pings per second this is called the Ping Rate At times it may be desirable to reduce the ping rate to reduce the data co...

Page 72: ...when the mouse button is released The sector will be symmetrically set about nadir The sector angle will be numerically visible in the lower left hand corner of the wedge display while the mouse butto...

Page 73: ...6 Bottom Sampling There are two main options Equiangular or Equidistant The equiangular and equidistant modes are further enhanced by the Dual Quad mode described below In the equidistant mode all be...

Page 74: ...work by spatially distributing the acrosstrack bottom sampling ping by ping The beam is slightly repositioned in the acrosstrack direction with each ping This mode was developed for ROV AUV survey op...

Page 75: ...Bottom Sampling Mode The BSM designations ea1 Equiangular normal ea2 Equiangular dual ea4 Equiangular quad ed1 Equidistant normal ed2 Equidistant dual ed4 Equidistant quad Figure 67 Highlighted indic...

Page 76: ...ndings When operating in UHD mode the data collection software storage files can become large with the additional soundings and it is recommended to use the data collection software file splitting rou...

Page 77: ...orward Looking Sonar mode No bathymetry output this setting is for imagery only Up Bathy Norm Up Bathy VFeature is the same as the above but orientates the wedge so it is pointing up used for hull ins...

Page 78: ...towards the target due to the 1 transmit pattern Figure 71 FLS Wide mode 5 6 9 2 1 FLS Mode adjustments In FLS mode the Brightness button adjusts the image gain up to 80dB The colour palette is selec...

Page 79: ...f the vertical beam is frequency dependent Because of these advanced features with the Sonic 2026 and Sonic 2020 FLS mode there is an additional FLS option in the Settings menu that allows the user to...

Page 80: ...ow 1 8 7 10 8 7 6 9 5 8 5 4 3 3 7 2 12 13 11 8 7 7 2 6 2 5 4 4 7 3 17 15 12 10 8 3 7 1 6 2 5 4 4 22 17 15 12 9 7 8 3 7 3 6 8 5 25 21 18 14 12 10 8 7 7 7 6 29 26 22 18 15 13 11 9 5 Wide 7 35 35 30 24 2...

Page 81: ...hat attempts to go beyond the 160 limit will cause the system to stop roll stabilisation As stated in the SIM interfacing it is recommended that the motion data be at the highest update rate possible...

Page 82: ...re sonar head to match the most current firmware sonar head Figure 77 Dual Head Mode Figure 78 Dual Head Mode active In dual head mode certain controls Range Power Pulse Length and Gain set both sonar...

Page 83: ...M or dual head single SIM Figure 80 Loading an ini file When the file is loaded Sonic Control will be configured for dual head mode this includes the default network settings If using only one SIM the...

Page 84: ...Nadir region Suitable for the pairing of highlights and targets Snippets records Suppress reverberation Report angle of the centre of snippets record for better colocation of backscatter and bathymetr...

Page 85: ...ws Registry settings that can be adjusted please contact r2support r2sonic com for details on changing Registry settings The NIC has to be Gigabit It is very important to increase the Receive Buffer s...

Page 86: ...Select the user can select the MultiSpectral mode or a specialised UHR feature Pipeline Mode 5 7 1 MultiSpectral Mode R2Sonic developed the MultiSpectral Mode to meet the growing demands of those inv...

Page 87: ...used the sonar starts over at Slot 0 s configuration When MultiMode is enabled the sector coverage and sector rotate will no longer be able to be adjusted via the computer mouse the only way to change...

Page 88: ...e it could be the Power setting may be too low for 700kHz and the result will be noise instead of a good bottom return For a dual head installation MultiMode will automatically go to a dual head confi...

Page 89: ...ss is the loss of intensity of a sound wave due to the dispersion of the wavefront It is a geometrical phenomenon and is independent of frequency The sound wave propagates in a spherical manner the ar...

Page 90: ...nt G Gain from Sonar Control setting TVG is employed in underwater acoustics to compensate for the nature of the reflected acoustic energy When an acoustic pulse is transmitted in a wide pattern the f...

Page 91: ...formation the phases can be aligned and the beam can be steered in the direction of the return In order to accurately apply the correct delay three factors have to be known or measured The physical di...

Page 92: ...und velocity profile The refraction error can be corrected by entering the correct water column sound velocity profile however erroneous beam steering cannot be corrected as it is part of the beam dat...

Page 93: ...2026 being the default If the projector is not mounted in the same vertical relationship to the receive array an offset can be entered here to compensate for that vertical offset If the box is checke...

Page 94: ...e 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 Re...

Page 95: ...ckscatter maintaining signal levels that keep the receivers within their linear region of response The Saturation Monitor allows the user to maintain consistent intensity levels When the Saturation Mo...

Page 96: ...data will only flow to the data collection software when Sonic Control is open If Sonic Control is closed the bathymetry as well as Snippet and water column data will still flow to the data collectio...

Page 97: ...also an option to update the transmitter firmware this is not the same as the sonar head firmware Before updating the firmware make sure that none of the computer s other Ethernet ports are in use it...

Page 98: ...Update Figure 105 The Browse button will open the current GUI s directory Figure 106 Select correct update bin file Figure 107 A batch file will automatically load the upgrade file Once the Update but...

Page 99: ...ries of r will appear to show the update procedure is trying to perform the update but is being prevented from doing so Once the firewall has been turned off or trained the r will change to the normal...

Page 100: ...is installed A snapshot can be taken by using Alt X With the ability to orientate the swath to port or starboard an easy way to return the swath to zero rotation is by using Alt Z 5 12 Help Figure 111...

Page 101: ...is notified via email R2Support r2sonic com or called SMS is fine at the above number to alert them that a Remote Assistance session is requested Please use UTC or GMT time Figure 114 Remote Assistanc...

Page 102: ...e length for 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 pixe...

Page 103: ...s 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...

Page 104: ...ay attention to the sonar As with all automatic features Robo operation is designed for a non challenging environment Robo operation Range Trac and Gate Trac can be used together for almost hands free...

Page 105: ...saturation to be maintained The Gate is the limit about the Target Saturation before a change is made Max Gain Steps determines how the gain should increase or decrease 5 15 1 2 Range Table The curre...

Page 106: ...displays the colour of the SIM communications LEDs time which is decoded from the bathymetry packet and the current cursor position relative to the sonar head The angular information is represented by...

Page 107: ...r012 Date 05 11 2022 Figure 125 Range setting represented in the wedge display Figure 126 Graphical concept of the Wedge Display Straight legs of the wedge represent the Range setting bottom detection...

Page 108: ...s is represented in the figure below The Sonic MBES should be operated with sufficient power to enable good acoustic returns from the seafloor The value will change based on water depth bottom composi...

Page 109: ...nd sample rate are closely related In order to reach the maximum pulse with for a given sample rate use Shift mouse click to increase decrease the pulse width in quarter octave steps Sample rate chang...

Page 110: ...se button and both gates will move keeping the same relationship In Manual mode the gate slope can be adjusted by using the Gate Slope button in the Operation area The gates can be tilted up to 90 Fig...

Page 111: ...ally adjust the gates for the depth and the slope of the bottom When GateTrac Depth Slope is enabled the Gate Min and Max as well as the Gate Slope buttons will be greyed out Figure 134 GateTrac Depth...

Page 112: ...ea where the true bottom is expected If the Maximum Depth gate was not in this location the second return could be strong enough so as to influence the bottom detection process Again it must be borne...

Page 113: ...fault configuration file to store local changes while operating the sonar This is equivalent to copying the default configuration file to a configuration file with another name When a user defined con...

Page 114: ...0 1 105 using this as an example 4 Load Sonic Control on the second computer but do not connect the second computer to the SIM until directed to below 5 Open Sonic Control on the second computer 6 Go...

Page 115: ...mputer 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 th...

Page 116: ...Page 116 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 117: ...beams are formed and the bottom detection process takes place The resultant bottom detections range and bearing are then sent via Ethernet through the deck lead to the Gigabit switch in the SIM and ou...

Page 118: ...tting in Sonic Control 2000 the Pulse Length setting in Sonic Control 2000 determines how long the pulse excites the ceramics The projector s transmit pattern ensonifies the seafloor in a very wide ac...

Page 119: ...130 normal bathymetry survey in the across track The along track pattern depends on the frequency from 23 at 400 kHz to 40 at 200 kHz Figure 141 Receive pattern with Transmit pattern The Wet Controll...

Page 120: ...Page 120 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 121: ...h RS 232 and BNC data 6 4 1 3 SIM Sonic Control 2000 interfacing Sonic Control 2000 communicates with the SIM over the Gigabit Ethernet DATA RJ 45 Commands from Sonic Control 2000 are transmitted to t...

Page 122: ...Page 122 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 123: ...The information contained here does not detail the 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 neces...

Page 124: ...1 7 1 1 Type 82 IMU In March 2021 R2Sonic updated the IMU portion of the I2NS The updated IMU housing has Type82 etched along one side The IMU offsets for the Type82 are the same horizontally but the...

Page 125: ...vide inputs for the motion or the time stamp as those are provided internally through the SIM s Gigabit switch The only serial connection is the sound velocity probe that is on the sonar head A PPS lo...

Page 126: ...ffsets are input into POSView The GNSS antennas should be mounted 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...

Page 127: ...cted directly to the GNSS board inside the SIMINS the port is used to update or directly access the GNSS receiver For full information on the serial ports please refer to the POSView documentation In...

Page 128: ...IP address outside of the 5 minute window will result in a warning that the SIM box must be rebooted before changing the INS IP Figure 153 Network Settings SIMINS Figure 154 Cannot Change IP waiting o...

Page 129: ...onds of the week Thu 03 32 50 000000 UTC 1395286370 Unix VesselLatitude 30 2391284856087 degrees VesselLongitude 97 838843091206 degrees VesselAltitude 198 64372053742 meters North position RMS error...

Page 130: ...nique for R2Sonic requirements The POS MV Ethernet data going 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 collectio...

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Page 132: ...in POSView in the ref to Primary GPS Lever Arm fields There is no need to measure the offset of the second antenna the Applanix GAMS calibration will determine this X offset Measurement of the IMU CO...

Page 133: ...ence point is NOT the COG of the vessel input the offsets from the ref to the COG in the Ref to Centre of Rotation fields This step is critical for accurate heave information to be reported Use the Vi...

Page 134: ...ype 82 IMU is easily recognised by the etched TYPE 82 along one edge on the IMU face with the decklead connector 7 6 I2NS Physical Specifications Table 15 I2NS Dimensions and Mass Component Dimensions...

Page 135: ...Page 135 of 254 Version 6 3 Rev r012 Date 05 11 2022 7 7 I2NS Drawings 7 7 1 I2NS Type 42 IMU Figure 163 Type 42 IMU Drawing...

Page 136: ...Page 136 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 7 7 2 I2NS Type 82 IMU Figure 164 Type 82 IMU Offsets...

Page 137: ...mm 1 926 in A A TOLERANCES DO NOT SCALE DRAWING DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE SPECIFIED X INTERNAL RADII BREAK CORNERS REMOVE ALL BURRS XX X TITLE DATE RELEASED DATE DATE CHECKED DRAW...

Page 138: ...Page 138 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 139: ...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...

Page 140: ...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...

Page 141: ...e 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 t...

Page 142: ...mmunication to assist in coordinating the measurements One round of readings will be considered to be not less than 30 sets a set being one reading each from the bow and stern reflectors Upon completi...

Page 143: ...and Bearing to reflectors determine a geodetic position for reflectors Calculate bearing from the stern reflector to bow reflector will give the true heading of the vessel The true heading of the vess...

Page 144: ...e of a length that will exceed the baseline that is established on the vessel A baseline is established on the vessel that is parallel to the centre line of the vessel It should not be assumed that th...

Page 145: ...7 Ship Azimuth 270 5 7 275 7 Table 17 Gyro Calibration Method 2 computation Figure 169 Idealised concept of Gyro Calibration Method 2 In this example the vessel heading for this set of readings is 27...

Page 146: ...is fashion can provide false attitude measurements This is particularly true when there is significant roll the motion sensor on the pole can interpret a portion of this roll as heave which is not tru...

Page 147: ...It is important to keep the motion sensor in mind when surveying A motion sensor takes time to settle down after a turn or a speed change and most of the settling down will depend on the heave bandwid...

Page 148: ...ormulae available that are based on the parameters that are recorded by the CTD The UNESCO algorithm is considered a universal standard and was put forth by C T Chen and F J Millero in 1977 The Chen M...

Page 149: ...is mounted close to the Sonic MBES sonar head is a time of flight probe Figure 171 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 le...

Page 150: ...a temperature difference 8 6 3 Water Depth The sound velocity cast should always be made in the deepest part of the survey area The sound velocity profile cannot be extrapolated to deeper depths as th...

Page 151: ...r and dry thoroughly 14 Download the cast and verify that 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...

Page 152: ...her major consideration when deploying a probe in deeper water is that the vessel must be stationary longer and will drift If there is a large variation in depths the depth where the probe went in may...

Page 153: ...be able to determine the swath width that will be obtained 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...

Page 154: ...off of the planned survey line but heading in a straight direction rather than fish tailing back on forth across the line trying to maintain zero offline Surveying into a beach may only allow very li...

Page 155: ...es or time of cast can be added to the file name Keep in mind that personnel who were not on board during the data collection may need to reference the information keeping it logical and chronological...

Page 156: ...offsets vessel name etc The right hand page will include the start stop times line name direction and comments The left hand page as noted above is for additional information A further advantage to u...

Page 157: ...Page 157 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 173 Rough log kept during survey operations Log does not need to be neat but must contain all pertinent information...

Page 158: ...Figure 174 Smooth log information copied from a real time survey log...

Page 159: ...ll define the horizontal relationship between all of the sensors The vertical or Z reference can be the water line or another logical vertical reference Generally the CRP corresponds to the centre of...

Page 160: ...s 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 minimum two people should be assigned to take t...

Page 161: ...ng 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 ch...

Page 162: ...take the draft measurement 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 immediatel...

Page 163: ...over certain types of bottom terrain and processing the data through a set of patch test tools There are two primary methods of processing the data that are currently used an interactive graphical ap...

Page 164: ...a lack of resolution 11 3 1 Latency Test The vast majority of installations will incorporate GPS time synchronisation and as such no latency is expected in the GPS position However it is necessary to...

Page 165: ...ne when the difference between the two surfaces is the smallest and this is the roll offset Figure 180 Roll data collections Roll is perhaps the most critical value in the patch test routine as an err...

Page 166: ...llections The patch test software goes through a series of iterations of pitch angle corrections until the difference between the two surfaces reaches a null Whatever the angle of correction which res...

Page 167: ...on to the course of the vessel For the Yaw data collection two parallel lines are used with the vessel surveying in the same direction on those lines The lines are to be on either side of a seafloor f...

Page 168: ...for 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 t...

Page 169: ...h 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...

Page 170: ...that the sonar head is the steered reference for all offline measurements 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...

Page 171: ...e of a multibeam calibration which included five 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 valu...

Page 172: ...only roll and derive a mean and standard deviation for that one test Determine if the standard deviation is within acceptable accuracy requirements then use that derived mean to solve for the next co...

Page 173: ...its the acoustic energy into the water many factors influence that energy s velocity and coherence The major influence is the velocity of sound in water 12 2 Sound Velocity The major influence on the...

Page 174: ...assumed that the velocity of sound in the water column remains constant over large areas or throughout the day in a more local area The main influences on sound velocity are Conductivity salinity Tem...

Page 175: ...becomes the more dominating influence on the velocity of sound which is approximately at 1000 metres The normal influences on the temperature component of sound velocity include 1 Solar heating 2 Nig...

Page 176: ...crease in the source level if there are no boundaries such as the water surface or seafloor to influence the acoustic energy all of the acoustic energy spreads out evenly in all directions from the so...

Page 177: ...enuation of the acoustic energy based on frequency the higher the frequency the greater the absorption The higher the sonar operating frequency the more rapid the vibration or excitement of the partic...

Page 178: ...53 64 76 84 Mean Value 96 99 110 127 152 45 55 66 78 87 Freshwater Absorption Values Salinity 0 5ppt pH 7 dB km 400kHz 200kHz Temp C 5 10 15 20 25 5 10 15 20 25 Depth m 50 65 55 46 39 33 17 14 12 10 9...

Page 179: ...dB km Frequency and Temperature Influence on Seawater Absorption 400kHz 200kHz Degrees Celsuis Mean values for water depths from 50 metres to 300 metres 400 metres for 200 kHz 0 10 20 30 40 50 60 70 5...

Page 180: ...00 kHz Sound Absorption 0 50 100 150 200 250 0 5 10 15 20 25 30 35 40 Absorption dB km Water Temperature C Sound Absorption Francois Garrison Fresh Water 5 ppt 40 ppt Frequency 200 kHz Depth 20m 0 50...

Page 181: ...250 0 5 10 15 20 25 30 35 40 Absorption dB km Water Temperature C Sound Absorption Francois Garrison Fresh Water 5 ppt 40 ppt Frequency 400 kHz Depth 20m 0 50 100 150 200 250 300 350 400 0 5 10 15 20...

Page 182: ...Page 182 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 183: ...5 270 69 82 99 116 130 280 71 84 101 120 134 290 73 86 104 123 139 300 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 3...

Page 184: ...equency of the sonar and the angle of incidence Bottom absorption will be greater for a higher frequency and a large angle of incidence It is more or less intuitive that a mud bottom will absorb more...

Page 185: ...vehicle electronic noise from getting into the sonar head A common mode choke on the 48V line is recommended The Bourns JW Miller PM3700 50 RC common mode choke works well surface mount part A Bourns...

Page 186: ...ch cable cut the brown and blue pairs before committing to the chosen Ethernet equipment as there may be surprises hidden in the equipment 100BASE T to 100BASE T You can use two pairs green and orange...

Page 187: ...Page 187 of 254 Version 6 3 Rev r012 Date 05 11 2022 13 3 ROV Installation Examples Figure 189 Single Head ROV Installation scheme A Figure 190 Single Head ROV Installation scheme B Preferred...

Page 188: ...Page 188 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 191 Dual Head ROV Installation scheme A Figure 192 Dual Head ROV Installation scheme B Preferred...

Page 189: ...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 c...

Page 190: ...e 05 11 2022 Part No 96000001 Figure 193 Sonic 2024 power supply current waveform Peak current is 1 770A at 48V Sonar settings pulse width 100us Tx Power 221dB Freq 400 kHz Figure 194 Inrush current t...

Page 191: ...d should be minimized The SIM Controller board has 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 o...

Page 192: ...8 J6 Connector on SIM Controller board The mating connector for 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 contact...

Page 193: ...or supplied as an additional item The SIM controller board uses a PC 104 size format but does not use the PC 104 bus Figure 199 ROV installation block diagram with the SIM top side Figure 200 ROV ins...

Page 194: ...ly power to the sonar head as the controller board has a common mode choke for the 48 VDC power to the sonar head and the SIM Controller board can control power to sonar head If the customer uses thei...

Page 195: ...the I O Board is not used however there is enough protection 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 po...

Page 196: ...on 6 3 Rev r012 Date 05 11 2022 Part No 96000001 13 8 1 SIM Board Dimensional Information Dimensions are given are in inches millimetres Figure 205 SIM Controller Board installation dimensions Figure...

Page 197: ...Page 197 of 254 Version 6 3 Rev r012 Date 05 11 2022 13 8 2 SIM Board Images Figure 207 Assembled SIM Boards Figure 208 SIM Boards height...

Page 198: ...Page 198 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 199: ...heads in order for Sonic Control to operate the sonar 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...

Page 200: ...ds have been installed and to a lesser extent environmental factors Usually the maximum separation required is 40 80 kHz and can be less Figure 211 Dual sonar head ping modes 13 9 2 4 Dual Head with T...

Page 201: ...ions such as htonl htons ntohl ntohs however those assume integers so you ll need to be very careful with floats 3 u32 means unsigned integer 32 bits f32 means IEEE 754 32 bit floating point 4 All pac...

Page 202: ...GA0 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 2 to 2 depth gate slope DHM0 u32 0 single head 1 master...

Page 203: ...0 RGB0 f32 metres 0 to 999 Max range filter 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...

Page 204: ...e n number of staves 1 to f Along track apodization and size of tx array 0xn0 command only works on 2020 and 2026 0xn0 proportional to number of staves see list in manual Only works if PROJ 2 UHD0 u32...

Page 205: ...H0 u32 0 RS232 1 Ethernet 2 off Heading interface not implemented DRM0 u32 0 RS 232 1 Ethernet 2 off Motion interface DRS0 u32 0 RS 232 1 Ethernet 2 off SVP interface ENG0 u32 0 off 1 on GPS enable EN...

Page 206: ...0 to PTM0 Added IPG0 IPS0 PTG0 PTS0 07 Apr 2014 Amended DRG0 DRH0 DRM0 DRS0 off value was omitted Update DGA0 DGB0 RNG0 values changed from 2 500 to 2 1200 14 5 GUI Commands Binary Format These comman...

Page 207: ...ch 2012 added GUI commands this section 31 Oct 2013 added ABS0 and SPR0 10 Jul 2015 added TXL0 14 5 1 GUI Command Line Switches custffmpeg Allows user to define video recording commands for ffmpeg The...

Page 208: ...00000000 0 0 000000 Command PTS0 0x00000000 0 0 000000 Command DHM0 0x00000000 0 0 000000 Command SNIP 0x00000000 0 0 000000 Command AIH0 0x00000118 280 0 000000 Command AIB0 0x41f00000 1106247680 30...

Page 209: ...0 DH 0110 4d 30 00 00 00 00 53 4e 49 50 00 00 00 00 41 49 M0 SNIP AI 0120 48 30 00 00 01 18 41 49 42 30 41 f0 00 00 57 43 H0 AIB0A WC 0130 4d 30 00 00 00 00 42 49 45 30 00 00 00 01 54 50 M0 BIE0 TP 01...

Page 210: ...Page 210 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 211: ...e parser to easily skip unneeded or unrecognized sections These formats are designed for easy 4 byte alignment Be sure your compiler linker doesn t insert any extra padding between values If necessary...

Page 212: ...rnet Data Rates Bathymetry 800 kb s max bathy data is sent twice to GUI 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...

Page 213: ...32 H0_SoundSpeed meters per second f32 H0_Frequency hertz sonar center frequency f32 H0_TxPower dB re 1 uPa at 1 meter f32 H0_TxPulseWidth seconds f32 H0_TxBeamwidthVert radians f32 H0_TxBeamwidthHori...

Page 214: ...use f32 A0_MoreInfo_5 0 reserved for future use section A2 16 bit bathy point angles arbitrarily spaced present only during equidistant spacing mode u16 A2_SectionName A2 u16 A2_SectionSize bytes siz...

Page 215: ...ption mode u16 G1_SectionName G1 u16 G1_SectionSize bytes size of this entire section f32 G1_ScalingFactor struct u8 RangeMin seconds two way RangeMin G1_ScalingFactor u8 RangeMax seconds two way Rang...

Page 216: ...equency 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 u1...

Page 217: ...r of samples in this snippet sample rate is H0_RxSampleRate u32 S1_FirstSample first sample of this snippet relative to zero range sample rate is H0_RxSampleRate f32 S1_Angle radians angle of this sni...

Page 218: ...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 c...

Page 219: ...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_RxS...

Page 220: ...mn data mode many per ping you assemble them into complete ping data u16 M2_SectionName M2 u16 M2_SectionSize bytes size of this entire section u32 M2_PingNumber pings since power up or reboot f32 M2_...

Page 221: ...e A1 beam angle section and many M0 data sections The section order may change in the future so plan for that in your data acquisition Each M0 section contains a subset of the ping data Its header ind...

Page 222: ...f32 A1_MoreInfo_1 Z offset proj metres f32 A1_MoreInfo_2 Y offset proj metres f32 A1_MoreInfo_3 X offset proj metres f32 A1_MoreInfo_4 0 reserved for future use f32 A1_MoreInfo_5 0 reserved for future...

Page 223: ...on 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_ModelNumber 12 example 2024 unused chars are nulls u8 H0_SerialN...

Page 224: ...ude 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...

Page 225: ...e 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...

Page 226: ...e0 spare f32 spare1 spare section OPR4 operational parameters so GUI can configure its menus u32 OPR4 SectionName OPR4 f32 opr_minfreq Hz current minimum selectable frequency zero means ignore me and...

Page 227: ...rnet transmit packets u32 erxoverflows counts ethernet receive buffer overflows u8 mac addr 8 mac address use last 6 bytes first 2 bytes are not used section TIM2 timers u32 TIM2_SectionName TIM2 f32...

Page 228: ...section may change at a later date Be sure your program can parse the number of words The order of the sections is not fixed u32 PacketName STS0 u32 PacketSize bytes size of this entire packet u32 Dat...

Page 229: ...u32 gps time nsec seconds gps time nsec 2 32 unix time f32 mru pitch radians mru pitch value f32 mru roll radians mru roll value f32 mru heave meters mru heave f32 0 0 heading not implemented f32 svp...

Page 230: ...to correct the issue C structure of Device Status packet Device status Ethernet packet example received from the sonar head Device status Ethernet packet example received from the SIM struct R2DS R2S...

Page 231: ...ples the following IP addresses are used Sonar head 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 wiresh...

Page 232: ...d 15 14 3 Editing Data The MAC and IP addresses in the packets must match the data acquisition computer s MAC and IP addresses assigned to the network interface card NIC The data acquisition computer...

Page 233: ...face 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...

Page 234: ...Page 234 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001...

Page 235: ...et 241 Figure 219 Sonic 2024 Mounting Bracket Drawing 242 Figure 220 Sonic 2022 Mounting Bracket Drawing 243 Figure 221 Sonic 2026 Mounting Bracket Drawing 244 Figure 222 Sonic 2024 2022 Mounting Brac...

Page 236: ...36 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 214 Sonic 2024 2022 Projector Measurements valid for all styles of projectors including older style projectors without the clamp...

Page 237: ...Page 237 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 215 Sonic 2026 Projector...

Page 238: ...Page 238 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 216 Sonic 2024 2026 Receive Module Cable tie down removed with new receivers with cable clamps...

Page 239: ...Page 239 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 217 Receiver outline with penetrator Cable tie down removed with new receivers with cable clamps...

Page 240: ...Page 240 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 218 Sonic 2022 Receive Module Cable tie down removed with new receivers...

Page 241: ...Page 241 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 219 Sonic 2022 Receiver Projector horizontal offset...

Page 242: ...Page 242 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 220 Sonic 2024 Mounting Bracket Drawing...

Page 243: ...Page 243 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 221 Sonic 2022 Mounting Bracket Drawing...

Page 244: ...Page 244 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 222 Sonic 2026 Mounting Bracket Drawing...

Page 245: ...Page 245 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 223 Sonic 2024 2022 Mounting Bracket Flange...

Page 246: ...Page 246 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 224 SIM Box Drawing...

Page 247: ...Page 247 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 225 SIM Stack Outline...

Page 248: ...Page 248 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 226 R2Sonic Deck lead minimum connector passage dimensions...

Page 249: ...Page 249 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 227 Locking Ring type Deck Lead...

Page 250: ...Page 250 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 228 I2NS Type 42 IMU Dimensions...

Page 251: ...Page 251 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 229 I2NS Type 82 IMU offsets...

Page 252: ...Page 252 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 230 I2NS IMU Cable...

Page 253: ...Page 253 of 254 Version 6 3 Rev r012 Date 05 11 2022 Figure 231 I2NS SIM Dimensions...

Page 254: ...Page 254 of 254 Version 6 3 Rev r012 Date 05 11 2022 Part No 96000001 Figure 232 Dual Head Mount Offsets...

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