- Teledyne Odom Hydrographic
Contents
1. Port Settings GGA SVRta HPR HDI Us al HPR L Use mema SVP Set configuration Port Monitor 2 2 1 3 Help The help button shows links to the quick start guide this manual the contact details of Teledyne Odom and the version number of the control software 2 2 2 Status Indicators Each sensor that is input to the RTA has a status indicator to the right of the main screen These will show with a red border when no data is input or if the data input is out of range When data is received and read correctly by the RTA no surround will be seen The SV sensor may also have a blue surround from time to time this indicates that a SV value that is out of the expected range has been passed to the system and the last known good value is used This Page 9 of 35 7 26 13 running filter is applied to prevent bubble wash passing through the Digibar V causing erroneous beam forming When a fixed user entered SV is used the surround on the SV is yellow If the user would rather turn off any of the status indicators right click on any of them and a pop up box shows those selected Uncheck any as required 2 3 Configuring the Input Sensors In the Connect menu we can set up the software to be aligned with the output baud rate of the other sensors that make up a complete multibeam system There are two main groups of data that are used by the Image software Serial Data and Network Ethernet Data 2 3 1 Serial Data2. serial Data encompasses all of the data brought into the RTA through the RS232 ports on the rear of the unit and when used the Digibar V and or internal GPS sensor To set up each sensor individually a Select the input format on the left menu ZDA GGA etc b Using the drop down menu select the Baud rate that the sensor is transmitting to the RTA c The destination for each sensor is fixed and are as follows e purum e drop down menu Real time SVP input through RTA SVRta Heave Pitch Roll TSS1 NMEA d Select the data bits for the sensor Default is 8 e Select the format for the ZDA message as per the table above f Select the Parity Default is None g Select the number of stop bits Default is 1 h Click the Set Configuration button to send these parameters to the RTA To ensure the data is being passed correctly to the RTA select the required port then check the Monitor On box The data will then be seen in the view box When using a Teledyne Odom Digibar V real time sound velocity probe that is directly attached to the sonar head check the box marked Use internal SVP As the baud rates are set for this sensor there are no other settings to configure 2 3 2 Network Data Network Data describes the data passing through the 3 Ethernet ports on the rear of the RTA and between the RTA and each sonar head The default addresses of each component are as follows IP Address Sonar Head 1 192 1
3. 1 The Upload program has two tabs Program Head and Program RTA Select the Program Head tab and highlight IP address 192 168 1 100 head under the COMM IP header by clicking on it Page 33 of 35 7 26 13 2 Under the RTA IP header highlight IP address 192 168 1 101 RTA by clicking on it Select the RTA Presen check box d Select the Read All button to read the current versions of software that are in the Head Program Head Program RTA COMM IP RTA IP m Address Serial Number prn Sen Number GAREN SG 192 168 1100 3506 152 168 1 101 3483 ior f RTA Present F New Image File For Zes ET1 FPGA Vergon CMa imbi _sestipga_vi110 b Borga 110 Lina be hew Femare File For Ze T1 ZestET1 Version cow lE pedit 1 42 bin Browse LA Lal Wodate Weve Leer Flach Pile C WMariestET FinshF e ForMEAD Lmem Brewese Update New DSF Femware For Head DE Version CAME Imb dspfpga vO275 bt Browse 17s Updali 4 Click on the button marked Browse next to the location of the file marked New Image File For ZestET1 Browse through your files to find the file listed in Table 1 above that corresponds to the FPGA 5 Repeat step 4 for the User Flash File and DSP 6 Click on the Update All button at the bottom right of the window The update will take approximately 5 6 minutes Follow the instructions from the program when prompted to power down the RTA Wait 40 seconds before clic
4. Max Beams Used 240 Applanix POS MV Network Hypack Navigation Applanix POS MV Serial T c Atlas Bomasweep PERON ESS Atlas Fansweep Use RTA Interface Atlas Fansweep Serial E Atlas Hydrosweep DS Use UTC Time Atlas Hydrosweep MD 30 Fl use Orientation Module Atlas Hydrosweep MD S50 Atlas Hydrosweep MD2 Benthas 162x Echoscan II Benthos C3D BlueView MB2250 e Collect Analog Side Scan C MAX CM Name Odom MBI Analog Input Specific Sonar Identification 3 National Instrument 6024 Odom MET Close Help About Odom MBI ac At this point the data input from the Image software to Hysweep can be checked Under the HYSWEEP Hardware Setup menu click on the tab Network Test and enter the IP address in the box marked Remote IP Address and in the box marked Port enter 56002 Click on UDP Connect and the data stream can be seen in the box below this button Page 28 of 35 7 26 13 El HVSWEEP Hardware Setup Odom MBL anm Fite Mnanufachsrar Modal Connect COM Tast Network Tat Otters Fratecal une Remote IF Address 18215814 Pon E Fahr Ready Ping Deca UDP Connac Screenshots courtesy of Hypack Page 29 of 35 7 26 13 ANNEX D COMMON ACRONYMS USED IN THIS MANUAL 1PPS A C AML BNC DC dGPS GGA GPS HPR I O LED NMEA PC Ping PPS RS232 RTA SVP TSPU TSS1 VTG ZDA One Pulse Per Second same as PPS Alternating Current Data format type f
5. box in this menu This feature allows the surveyor to steer the receive beams of the sonar using the roll component of the motion sensor to always be pointing normal to gravity This prevents the edges of the swath becoming wavy and the potential for gaps in the dataset from one line to the next When using roll compensation the system is still forming beams within the total available swath of 120 degrees therefore it is recommended that when roll compensation is turned on the overall swath width is reduced by the expected roll for example if roll in the survey area is around 3 degrees reduce the swath to 55 degrees either side 110 degrees total This will ensure quality data throughout the recorded swath Caution Roll correction does not increase the overall swath width of the system therefore it is advisable to reduce the swath width setting within Image when using roll correction to obtain quality data 3 2 Logging Data Data is output through the tdy format on the second Ethernet port of the RTA and then interpreted and logged through the 3rd party acquisition software In many cases this will be the only requirement for data logging lt is also possible to log data files from the Image software for post processing or conversion to another format at a later date This is achieved through the Data Management menu seen in the image below Page 20 of 35 7 26 13 3 2 1 Raw Data The 24 Channel raw acoustic data alo
6. the menu that appears click on the button marked Properties Select Internet Protocol Version 4 TCP Ipv4 then click Properties Check the radial button Use the following IP address then enter the IP address 192 168 1 102 The Subnet Mask will auto populate then click OK to close all the open windows DNDN Dn 2 Q O lt Nne T mE I g Local Area Connection Status 4 Local Area Connection Properties Internet Protocol Version 4 TCP IPv4 Properties e M General Networking General Connection Connect using You can get IP settings assigned automatically if your network i supports this capability Otherwise you need to ask your network IPv4 Connectivity Internet e Intel R 82577LM Gigabit Network Connection n E for the appropriate P suos IPv6 Connectivity No Internet access Media State Enabled Obtain an IP address automatically This connection uses the following items Duration 07 23 02 O Use the following IP address l i v 0 Client for Microsoft Networks l MN Speed 1 0 Gbps gt v 00s Packet Scheduler JP address 192 168 1 102 Details vi JS File and Printer Sharing for Microsoft Networks Sybnet mask 255 255 255 0 Y Intemet Protocol Version 6 TCP IPv6 MP V Internet Protocol Version 4 TCP IPv4 Default gateway v Link Layer Topology Discovery Mapper I O Driver I Y s Link Layer Topology Discovery Responder bta
7. used when auto range is turned on i e 2 times nadir 3 times nadir etc All of the settings can be changed whilst the sounder is pinging by either entering a numerical value clicking and dragging the slider marker or by clicking the marker and using the right and left arrow keys 3 1 1 2 Filter Menu YE f eL TT A V Configure ge m Sonar Filters BeamForm Processing Depth Filtering Range Filtering The filter menu allows the user to filter the backscatter data to prevent the bottom detection on areas where it is not required and reduce data cleaning time This can be completed by either range from the sonar or depth of water To set filters change the min or max value by entering the number in the text box slide the marker on the slider bar or click the marker and use the left and right arrow keys To enable these values click the check box next to the type of filtering required depth or range Page 17 of 35 7 26 13 Caution Setting the filter values outside of the seafloor return will result in no digitized depths being generated or passed to the acquisition software 3 1 1 3 BeamForm Menu Configure er 9 Equianglular Equidistant No Beams Port Angle deg 60 0 Erreger M part This menu allows the user to set the system to detect the sea floor and generate digitized depth values The sea floor can be detected in either beams spaced equiangular or equidistant Equiangular
8. 68 1 100 Sonar Head 2 192 168 1 110 RTA 192 168 1 101 Page 10 of 35 7 26 13 MB1 Controller computer primary 192 168 1 102 MB1 Controller computer secondary for dual head operation 192 168 1 112 TDY for output to Data Acquisition PC if used 192 168 1 4 The sonar heads and RTA have fixed IP addresses and both the MB1 controller and acquisition computer can be changed as long as the same IP is set in each computer To communicate with the data acquisition computer the TDY TCP port and TCP IP address must match the values set in the 3rd party software The default setting of Image is a UDP port of 56002 and IP output of 192 168 1 4 2 39 3 Using the MB1 with Two Sonar Heads Dual Head When using the MB1 with two sonar heads attached to the RTA two independent computers will be required one to run each sonar head This is configured in Image within the Network menu First select the check box Dual Sonars then identify whether this computer is operating as the Primary unit or the Secondary unit The Primary computer will control both of the sonars when this button is checked the secondary computer will simply act as a processing unit for the second sonar head Secondly check whether the sonars are to ping independently of each other Interleaved or both at the same time Simultaneous At the time of writing the firmware indicating whether each sonar head is a primary or secondary is encoded within the sona
9. ANS EET EO m T 20 3 2 1 RaW Dalaran e a e E 21 goo ox ONDE deux ve tee eee LM ceu uM uU ED EIE 21 3 3 Playback of Previously Collected Data ccccccccccccccseeceeseeseceeseeeeeeeseeeeeeesaaeeessaaeeeees 21 ANNEX ARIA DATAGRBAMSs ii tttistet uie iu Itu iate du ei E e HU ADM hotel data ert etude 23 ANNEXBSPATGEH TESTING THE MBJ1 u iiteti deo ome tree e EE peter etate tees 24 ANNEX C SETTING UP MB1 WITH HYPACK 20193 sss 27 ANNEX D COMMON ACRONYMS USED IN THIS MANUAL eene 30 ANNEX E THREE DIMENSIONAL SIGN CONVENTION USED FOR MB1 31 ANNEX F UPGRADING THE FIRMWARE WITHIN THE MB 1 eeeeeeee 32 Page 3 of 35 7 30 13 MB1 User Manual T INTRODUCTION The MB1 control software is an integral part of the MB1 multibeam echo sounder Unlike many other multibeam systems the software performs all of the processing of the raw acoustic data in real time which allows future upgrades of the system to be completed in software rather than the hardware It also allows the replaying of the raw data to re beam form when required To make learning about the features of MB1 easy to follow this document is structured as a step by step manual The first manual covers the MB1 as a product it provides instructions on how to install the hardware how cables are wired to their connectors and some simple troubleshooting tips The second manual this manual deta
10. GA ZestET1 Comms FPGA Ethernet Engine Comms FPGA Ethernet Engine User Flash DSP User Flash User settings DSP FPGA User settings The FPGA and ZestET1 are the same for both the Head and the RTA The User Flash files are different for the MB1 and RTA Files To Be Uploaded At the time of writing the current firmware files for each component are as follows Lo p as seen in Updater ae FPGA Mb1_zestfpga_V0110 bit ZestET1 Ethernet Engine GigExpedite1 42 bin CT Dad a ZestET1 FlashFile ForHEAD1 mem ZestET1 FlashFile ForRTA mem User Settings DSP si dspfpga v0275bin Table 1 Current Firmware versions for MB1 Upload Procedure Access the Firmware 1 Gather the MB1 sonar head RTA a computer that will be used for the update an Ethernet cable and the sonar cable Ensure that a reliable power source is available for the system and computer throughout the update 2 Obtain the new firmware files to be uploaded along with the installation files These should be provided by Teledyne Odom Hydrographic and consist of 3 installer files and then the above firmware files The installer files are as follows Page 32 of 35 7 26 13 e CPanel exe e DSPFrimware dll e Upload exe Place these files in a folder on the computer that will be used to perform the update to the firmware C MB1 3 Set the IP address of the computer which will be used for programming and which will be connected to th
11. INS server address automati V imm A Use the following ONS server addresses a Install Properties Preferred DNS server Bytes 15 031 718 63 107 445 Description Alternate DNS server Transmission Control Protocol Intemet Protocol The default wide area network protocol that provides communication across nterconn networ SP Properties y Disable Diagnose qund alae BRIT RM Validate settings upon exit 2 2 Software Overview To run the software ensure the link light is on and flashing on the front panel of the software and then either double click on the desktop shortcut or select the Image exe file from where it was written in step 2 1 1 Caution When running Image ensure that the computer does not go into sleep mode If the computer enters sleep mode whilst acquiring data it will cease to run and may crash The program will then run and the home screen will appear This is the main screen that will be used throughout the setup and operation of the sounder Page 7 of 35 7 26 13 J Connect to RTA 56h Log Settings Sonar Data Data AR d 2 a gt Views a Range and Power Status Indicators Main Display 2 2 1 Setup Menu The first step in configuring the software for use is under the Setup Menu Click this button once to reveal the 3 further sub menus Settings Connect and Help 2 2 1 1 Settings Se o EN Mr
12. MB Y MB1 IMAGE CONTROL SOFTWARE MANUAL Version 1 6 Teledyne Odom Hydrographic 1450 Seaboard Avenue Baton Rouge Louisiana 70810 United States of America Telephone 1 225 769 3051 Fax 1 225 766 5122 odom teledyne com www odomhydrographic com Number of pages 35 Date 30 August 2013 3 9 TELEDYNE ODOM HYDROGRAPHIC Everywhereyoulook Y Page 1 of 35 7 26 13 MB1 User Manual Revision History Version 0 Dae A Auho Remarks 17 May 12 M Redmayne Image Version 0 0 69 18 May 12 M Redmayne Image Version 1 0 0 1 1 18 Jun 12 M Redmayne Added 1 Installation of NET4 2 Description on pinging network 3 Minor edits 1 1 12 22 Augi2 MhRedmayne Image Version 1 0 10 Included Annex for Hypack Setup 30 Aug 13 J Hoffmann ANNEX F revision Changed Hypack 2012 to 2013 Image Version 1 1 11 ODOM HYDROGRAPHIC SYSTEMS INC 2013 All rights are reserved Reproduction in whole or in part is prohibited without the prior written consent of the copyright owner The information presented in this document does not form part of any quotation or contract is believed to be accurate and reliable and may be subject to change without notice The publisher will not accept any liability for any consequence of its use Publication thereof does not convey nor imply any license under patent or other industrial or intellectual property rights Page 2 of 35 7 30 13 MB1
13. User Manual Contents FO SONI Met SFO OY AT ET E ced oe aera D TET 2 Te INTRODUC TION cR 4 tel o Warnings and Caulle sssnsc sceunesttesusatisnesn nee ANENE EE REEE ERENER ENS 4 2 CONTROL SOFTWARE INSTALL AND CONFIGURATION ccccceeeeeeeeeeeeeeeeeeeeeeeeeees 5 2 1 Set Up Top Side Processing Unit TSPU PC cccccseseeeeeesseeeeseseeesseaseeessaaeees 5 2 1 1 Iristall SOMWANC aiani a a a e 5 22 GOnnect TISPUEPO TOR TA Core uc RR er cena uude loa teas aaa 6 22 SOMWANC OVOIVIGW i 5o ou tni ge oceanic Into Soe ae tee ce vinee UE Gal anoo esi ous Paden cet 7 2 2 1 SCUO MENU eR RE NTC LT MR EN 8 222 Olaus IrdiealOlSursuc tutelam end Let m a a 9 2 3 Configuring the Input Sensors essc ieesesese tengas E rrr ea DOSE Raus 10 2 3 1 I II M BITE RETE 10 232 JINOeDNVOIC DAI atto hoe ueste E etse eea E okna often SUDO Se 10 2 3 3 Using the MB1 with Two Sonar Heads Dual Head eeeeesesssesss 11 2 3 4 Using a Single Computer For Image amp Data Acquisition ssuuuss 11 2 4 Connect to the RTA and Start PINGING eese enne enne 11 2 4 1 Start PInall sesso ee a a a a UC 12 242 WALANG WS irasan eles cs a adanc tcc neck hd ein daha hal gu al Sean fi ae adalat 13 3 OBIE TING DATA wc a m 16 3 1 Operating the Sonar in Real Time cccceccccccsseeececeeseceeseeeeeeeseeeeseesaeeeeeesseeeeeesaanees 16 3 1 1 STeisilelEi Eoleg i e t c TT 16 3a LOJON D
14. Z 9 Settings Connect e c z ge c Help d H E a ND TI Rm v BI H E This menu enables the different types of output from the sounder depending on which have been checked within the Output tab The file formats are described in the following table File Description X Notes J TDY Raw Enabled 24 stave raw acoustic data Default is on TDY Proc Enabled Beamformed raw data Default is on TDY Angle Range Enabled Angles and Ranges of Default is on bathymetric points TDY Quality Enabled Bathymetric uncertainty values Page 8 of 35 7 26 13 TDY Snippets Enabled Snippet data TDY Snippets Sidescan Enabled Sidescan Snippet data Shiopet data sent as sidescan data sent as sidescan re TDY Sidescan Enabled TDY RTA Raw Serial Enabled Serial data GPS SVP Motion Soe is on etc TDY Full Watercolumn Enabled Full a TT data File Only Once all of the required formats have been checked click on the Save button to retain these settings 2 2 1 2 Connect The Connect menu is used to set interface settings of the sounder the RTA and the output ports for the data formats This menu is used to set up the sounder for use and is also where the input data is configured from other devices such as motion sensors and positioning systems This menu is described in more detail in section 2 3 of this manual Senal Network
15. aracte feed Character Space Characte Space If Positive Minus If Negativ Start Characte Space If Positive Minus If Negativ Horizontal Accelerati Vertical Accelerat Carriage Return Line TSS1 data format Page 23 of 35 7 30 13 ANNEX B PATCH TESTING THE MB1 In order for any multibeam system to be employed for precision surveying the user must complete a series of tests to determine the attitude and reference framework of the sonar in relation to the other sensors on the vessel The patch test determines the relationship between the sonar and the motion reference unit in Roll Pitch Yaw and Latency There are several ways of performing the patch test and the guide below is intended as an aide memoir of one method to perform this test 1 Normal horizontal Configuration This configuration is where the sonar is installed with the face of the transducer parallel to the horizon most commonly when the unit is installed on an over the side type mounting The following are the methods to evaluate each component of the patch test ROLL Two lines run over a flat sea floor in opposite directions same vessel speed Fixed Roll of 2 degrees in 10 5m of g ges hd water applied Fixed roll removed PITCH Two lines run over a conspicuous object in opposite directions Fixed Pitch of 5 degrees in 10 5m of water applied Fixed pitch removed Page 24 of 35 7 26 13 YAW Two lines run offs
16. as shown in the picture on the left below Once the sounder is pinging the button will show an animation of the same graphic P a fa Page 12 of 35 7 26 13 2 4 2 Data Views Once the sounder is pinging the user can select a view from the View menu button at the top right of the screen There are 3 views available from top of menu to bottom 2 4 2 1 Wedge View This is the classic sonar view indicating a plot of the intensities and bathymetric points constrained by the angular swath sector defined by the software s Backscatter EX Ag aS We E si Range m as r P Field of view of Sonar Nadir Depth UTCTime Nadir Depth Position Scale m The view settings may be changed by moving the mouse onto the main display screen then click the right mouse button This opens a menu that allows the settings of the view to be changed Wedge Settings Show Bathy Beams Show Range Scale Show Backscatter 360 Degree Display Color Palette Display Gain 42 2 Bathy Point pe Peeeerpereeeeee renee L The check boxes at the top of the menu allow the user to turn on or off the bathymetric points nadir depth scale backscatter and the 360 degree display mode instead of a wedge The backscatter color palette may also be changed depending on the user preference The default palette is RGB1 blue to red red showing the strongest return Page 13 of 35 7 26 13 The lower 3 boxes allow
17. ating system As a default it will select C Program Files Teledyne Odom Hydrographic lmage Click Next then on the next screen Next Once the software has been successfully installed click Close 2 1 2 Connect TSPU PC to RTA Once the steps outlined in section 2 1 1 have been followed connect the RTA to the TSPU PC using the supplied Ethernet cable One end of the cable should be inserted to the TSPU computer and the other end into any of the three Ethernet ports on the rear of the RTA It is important that this connection is direct and not through a network switch or hub as this can introduce data collision issues Once connected ensure that any firewalls in place to protect the network connection are disabled this may either slow or prevent data transfer Then change the IP address of the computer to a fixed 192 168 1 102 by following these steps for Windows 7 a Click Start gt Control Panel b Double click on Network and Sharing Center C Click on Change Adapter Settings at the top left of the screen A E 3E gt Control Panel All Control Panel Items Network and Sharing Center File Edit View Tools Help anel Home n View your basic network information and A J BTRSALTO3 tadroot teledyne com This computer W your active networks d tadroot teledync com Domain network Page 6 of 35 7 26 13 2S Double click on the network associated with your Ethernet port On
18. display and providing the connection settings have been followed in chapter 2 the system will show the backscatter with overlaid bathymetric points 3 1 1 Configure Sonar To change the settings of the sounder in real time click the Configure Sonar button as seen in the image below There are 4 sub menus within this menu 3 1 1 1 Sonar Menu t Configure Sonar Filters BeamForm Processing Auto Adjust Pulse Width I Auto Adjust Range Range m Power dB Pulse Width us 104 5 Frequency kHz 210 Max Ping Rate Hz 60 0 AutoRange scale 2 Within this menu the Range and Power settings are shown these are also on the main screen for convenience changing either will have the same effect Range is the total time and hence distance the sonar will listen for the return ping The greater the range the longer the wait time It is important in multibeam systems to have the range set sufficiently long as it must be considered that the outer edges of the swath will be clipped if an insufficient range is used It is normal to see the second return in the backscatter of the wedge display and as a rule of thumb it is appropriate to use a range scale of 3 times the nadir depth for a relatively flat sea floor The range may be selected to adjust automatically by selecting the Auto Adjust Range box this will change the range based on the nadir depth Page 16 of 35 7 30 13 The Power setting is the transmit powe
19. e MB1 to 192 168 1 102 This is the same IP address used when operating the MB1 4 Connect the Head to the RTA using the sonar cable and the computer to the RTA with an Ethernet cable Power up the RTA 5 After the RTA has initialized 40 seconds start the upload program by double clicking on the file marked Upload exe The firmware uploader window will then open showing the main interface Under the COMM IP box at the top left click on the button marked Refresh 6 In the COMM IP box you should see 2 devices on the network IP 192 168 1 101 is the RTA and 192 168 1 100 is the Head You are now ready to update the firmware for the system IP addresses of components tibeam FW updat e visible Click refresh button to update Program Head Program RTA COMM IP 182 168 1 101 3483 Refresh New TP Update RTA Present Ww New Image File For ZestET1 FPGA Version C MB 1b 1_zestipga_v0110 bit arse mel bi FPGAfile to program New Firmware File For ZestET1 ZestET1 Version C MB1VsigExpedite 1 42 bin Browse L32 1 Tm New User Flash File C MBIWVestET1 FlashF e ForHEAD 1 mem Browse Update New DSP Firmware For Head D5P Version c MB 1mb 1_dspfpga_v0275 bit owse 275 Update ZestET1 file to program Userfile to program DSP file to program Idle Read Al Update Al Uploader Program Overview Upload Procedure Upload the Firmware for the Sonar Head
20. e is located for playback Select Play to playback the file and Stop to stop playback It is also possible to loop an individual file by selecting the Loop File check box and increment by one file by selecting the Advance to Next File on Completion check box To log output files when replaying data ensure the Log Data button is turned on in the same manner as when files are logged when gathering data in real time Note When replaying large files the software will process much faster if the backscatter display is turned off in the main display window Page 22 of 35 7 26 13 MB1 User Manual ANNEX A RTA DATAGRAMS Senor X JJ Cabe Data Format Recommended Update Rates Notes Custom wet mateable pone Sonar 2 Custom wet mateable Positioning I O RS232 if internal GPS not fitted or used NEMA ZDA GGA VTG ZDA 1 Hz The RTA will accept any sentence beginning GGA 1 5 Hz with GP for optimal use ensure the GPS only VTG 1 5 Hz outputs 3 messages Heading l O NMEA HDG Spare I O Various Oo TBC Various TBC Heading Aided NMEA HDG GPS Aided NMEA GGA VTG AML format lt space gt 1477 40 lt CR gt lt LF gt oor siola E gt lt m HPR I O TSS1 String See format below TSPUPC_ Ethemet P 0O JO qp o O DataAcqPC Ethernet oo G o Spare PC Ethernet ADP XXAAAASMHHHHQMRRRRSMPPPPICRLF te XL pg ed Abl P o o 2 ion o Status Fla Space If Positive Minus If Negati Space Ch
21. e is to be used on a single computer a When a separate computer is to be used for acquisition Change the IP address of the Hypack Computer to 192 168 1 4 for a description of how to do this see section 2 1 2 of this manual Subnet mask remains 255 255 255 0 b When the same computer is to be used for both Hypack and Image Set the IP address in image to 127 0 0 1 see section 2 3 3 2 Open Hypack Click on Hypack Hardware The Hypack configuration should have two devices GPS NMEA 0183 and HYSWEEFP Interface a GPS NMEA 0183 Ensure the functions Position and Speed are checked Change the Connect drop down menu to Network Port and enter UDP Server Port 56004 Once complete the window should be the same as the following E HYPACK Hardware CAHYPACK 20 proe a SanDiego survey32 ini i t i 6 File Edit Options Help Devi Add Device Add Mobile es a Hypac ck Configuration Functians Comme Boat xz Offsets El oa Position n1 f HYSWEEP Interface Depth Starboard 0 00 m Yaw 0 00 deg amp GPS NMEA 0183 Heading vi Speed Forward p 00 m Roll 10 00 deg Tide Vertical 0 00 m Pitch 0 00 deg Vertical Pastive Downward HRUPA e a Latency p 000 sec Lise for matr update v Record raw messages Record device specific messages Connect Network Port bd Network Parameters Setup Test Protocol UDP v Role Server Mobile Assignment Installed on Boat Port 55004 Wr
22. ect the tab marked TDYOutput Using the button at the end of the TDY Logging Path select a suitable location where the files will be logged If required insert a header and footer for the files this may be a project or vessel name Enter a maximum file size if required for data management then check the box marked Log TDY When this box is checked and the Log Data button is clicked On the raw files will be generated and written to the specified location To output the TDY to the 3rd party data acquisition software also select the box marked TDY Port Enabled 3 3 Playback of Previously Collected Data Raw data files may be played back in the Image software much in the same way as if it were being gathered in real time with the exception that the range power pulse width and frequency cannot be changed The beam forming and generation of the tdy files can be reprocessed including number of Page 21 of 35 7 26 13 beams equiangular equidistant spacing and sound velocity correction and if the data acquisition PC is also connected it will appear as if the data is being gathered in real time To play back data files select the Playback tab of the Data Management menu em LJUE Data Management RawFileLogging TDYOutput Playback Stopped Emi A Teledyne Odom Work Systems M PlayBack Speed S a Loop File lll Advance To Next File on Completion Using the button at the end of the Raw File select where the raw fil
23. ed n NA LU SCR ad UR T iji a AINT Misure E DA LM y 1 I s Aa A ul wey ok r s C POMA A fh ili vn AA P Pe di LINT i es s Headl Good r Playing 023 063519 Li File DD fi iu i r dii n oen The view settings may be changed by moving the mouse onto the display screen then click the right mouse button This opens a menu that allows the settings of the view to be changed Page 14 of 35 7 26 13 i Heading Sidescan Settings 6 Snippets LO SideScan eerie E Yellow B x Se ne LET GE Yellow A x Snippet Max Amp SideScan Max Amp 12 0 Within this menu the user may select either a sidescan view or a snippet view and select the color palette to use depending on preference The display gain and maximum amplitude scale may be altered by either entering a number in the text box or moving the slider bar to the right 2 4 2 3 Wedge and Sidescan The wedge and sidescan view shows the wedge display above a smaller sidescan display allowing the user to see both the sonar return and the sidescan data on the same display Page 15 of 35 7 26 13 MB1 User Manual 3 COLLECTING DATA Once the system has been set up as per the steps in Chapter 2 the multibeam is ready to start sounding 3 1 Operating the Sonar in Real Time To start the sounder ensure the Connect to RTA button is selected then click on the Start Stop Sonar button The default display is the standard wedge
24. et to a conspicuous object in opposite directions LATENCY Two lines run over a conspicuous object in the same direction at different speeds 2 Tilt Configuration In certain water depths it may be advantageous to install the sonar head with a fixed roll offset to one side This typically increases the swath width on the sea floor however it must be patch tested slightly differently The calibration results are the same as the normal configuration and are therefore not repeated in this section ROLL PITCH Two lines run over a flat sea floor in Two lines run over a conspicuous object opposite directions same vessel speed in opposite directions ensuring object is in mid swath Page 25 of 35 7 26 13 YAW LATENCY Two lines run offset to a conspicuous Two lines run over a conspicuous object object in opposite directions in the same direction at different speeds ensuring object is mid swath 4 3 Dual Head Configuration For a dual head system each tilted sonar head should be treated as an individual head and calibrated as per the tilt configuration above Itis important to remember that in this case each head will have its own heave pitch and roll values and these should be used in processing Calibration screenshots courtesy of Caris HIPS Page 26 of 35 7 26 13 ANNEX C SETTING UP MB1 WITH HYPACK 2013 1 First determine if the system is to be used with Image on a separate computer or if both Hypack and Imag
25. ils the control software and how the system can be used operationally Both manuals should be used together to learn how to use the system 1 1 Warnings and Cautions Throughout this manual there are several points that may either result in damage and or loss of the system Warnings and other points that may result in improper use of the system Cautions These are annotated using the following format may result in damage to the unit Warning Example Applying DC electrical power greater than 30 Volts to the RTA Caution Example Ensure that the cable of the unit is facing aft toward the rear of the vessel during normal operation Page 4 of 35 7 30 13 MB1 User Manual 2 CONTROL SOFTWARE INSTALL AND CONFIGURATION 2 1 Set Up Top Side Processing Unit TSPU PC Before installing and configuring the control software the steps of configuration outlined in the MB1 hardware manual should be followed to physically interface the various components together Once this has been completed proceed with step 2 1 1 2 1 1 Install Software At the time of writing the minimum requirements for the personal computer that will run the control software are as follows Intel i7 quad core or better minimum 8GB RAM running Windows 7 Before installing the software ensure that the operating system is running version 4 of Microsoft NET To update this connect to Microsoft s web page at the following link http www microsoft com ne
26. ite Port fo Once this is complete click on the Setup button Click on the Advanced tab then select the User modified NMEA Messages check RTA Odom then click OK Page 27 of 35 7 26 13 F GPS Setup Used sentences m Use MSL height only NOT RECOMMENDED General Alarms GPS Status Codes Advanced User Modified NMEA Messages jv RTA Odom Use only for heading OTFGYRO Reportantenna elevation as depth USE AT YOUR OWN RISK Unless specifically instructed by HYPACK Technical Support leave these items UNCHECKED s fL p x ssr Pave D Hor POS CeeScope V Show debug messages v Ignore checksum cance b HYSWEEP Hardware Ensure the functions Depth Heading and Heave are checked Leave the Connect drop down as None Save and close the Hypack hardware menu 3 Click on the menu item HYSWEEP then HYSWEEP Hardware Under the Manufacturer Model tab add the devices Hypack Navigation and Odom MB1 With Odom MB1 highlighted click on the Setup button Ensure the check box Use RTA Interface is selected Click OK r I i Fr HYSWEEP Hardware Setup Odom MB1 J i ae x Odom Setup Et File MB1 Manufacturer Model Connect COM Test Network Test Offsets V Use RTA Interface J Log Snippets Manufacturer Model Installed Log 7 Ades
27. king on the OK button to continue T The Ethernet engine needs to be upgraded ZestET1 separately from the other modules If required this needs to be updated separately to the other Firmware files Browse to the correct file then click Update on the ZestET1 row This typically takes 3 4 minutes to complete RTA IP m Address Sera tamber 192 168 1100 3506 New Image Fie For ZestET1 CMS Tynb1 zestfpga v0110 bit New Firmware File For ZestET1 C MS 1T igExpedite 1 42 50 New User Flach Fle C WB1lZestET1 FlashFde ForHEAD 1 mem New DSP Firmware For Head C WB mibi dspfpga v0275 bit Updating the Zest firmware Page 34 of 35 7 26 13 Upload Procedure Upload the Firmware for the RTA 1 The Upload program has two tabs Program Head and Program RTA Select the Program RTA tab and highlight IP address 192 168 1 101 RTA by clicking on it New Image File For Zes siETI c e Ibl zest Dga O bt New Firmware Fie For ZestET1 C WBI VoigExpedte 1 42 bin New User Flash Fie c WMBIVesStETI FiachFle ForRTA mem 2 Select the Read All button to read the current versions of software that are in the RTA 3 Click on the button marked Browse next to the location of the file marked New Image File For ZestET1 Browse through your files to find the file listed in Table 1 above that corresponds to the FPGA 4 Repeat step 3 for the User Flash File 5 Click on the Update Al
28. l button at the bottom right of the window The update will take approximately 5 6 minutes Follow the instructions from the program when prompted to power down the RTA Wait 40 seconds before clicking on the OK button to continue 6 The Ethernet engine needs to be upgraded ZestET1 separately from the other modules If required this needs to be updated separately to the other Firmware files Browse to the correct file then click Update on the ZestET1 row This typically takes 3 4 minutes to complete Upload Procedure Confirm the Upload Once the upgrade has been completed 1 Power down the RTA and close the Upload program 2 Power the RTA back up and start the Upload program Click Refresh then gt Verify all firmware versions are correct as per table 1 Ensure the IP addresses show as 192 168 1 100 for the Sonar Head and 192 168 1 101 for the RTA gt Verify the version numbers for all the modules agrees with what was programmed Page 35 of 35 7 26 13
29. ng with all other data passed through the RTA is stored in the file format raw This is typically a large file that may be logged simultaneously as the tdy file and can be used for post processing or playback Data Management RawFileLogging TDYOutput Playback Raw Manual File Naming Raw Logging Path Raw Name Header Raw File Name Trailer Raw Max File Size MB 1000 ES Log Raw To log the raw file select the tab marked RawFileLogging Using the button at the end of the Raw Logging Path select a suitable location where the files will be logged If required insert a header and footer for the files this may be a project or vessel name Enter a maximum file size if required for data management then check the box marked Log Raw When this box is checked and the Log Data button is clicked On the raw files will be generated and written to the specified location 3 2 2 TDY Output The proprietary tdy format is the file that contains all of the processed beam data soundings and data that was passed through the RIA at the time of gathering This data is the same as the information passed to the data acquisition computer and may be logged simultaneously ad 4 Data Management RawFileLogging TDYOutput Playback W TDY Manual File Naming TDY Logging Path TDY Name Header TDY File Name Trailer PA ae oie LOC Log TDY TDYPort Enabled To log the tdy file sel
30. om Digibar V interfaced to the sonar head or another system interfaced to the RTA If either of these are used ensure the Use Constant SV box is unchecked Page 19 of 35 7 26 13 If a real time sound velocity probe is not available then the sound velocity at the head can be entered in this menu and the user should then select the Use constant SV box The sound velocity value at the status bar on the right of the screen will then turn yellow to indicate that a constant value is entered Caution Not using a real time sound velocity probe at the time of acquisition can result in poor quality data Signal stacking can be applied here for users that require a more robust dataset with a loss of along track resolution This feature takes the acoustic signal of several pings set in this menu and combines them when performing the bottom detection evaluation This is particularly useful in noisy environments such as near dredging apparatus Caution Signal stacking should not be used for standard hydrographic data acquisition especially in vessels experiencing any roll and or pitch This is due to the method of signal stacking and timing the soundings if stacking is used then a roll and or pitch artifact will be introduced to the data When Signal stacking is ON Roll compensation should be set to OFF Do not use stacking when range is set to maximum range 250m and maximum beams 185 Roll Compensation can be applied by checking the
31. or real time sound velocity Bayonet Neill Concelman type of connector Direct Current Differential Global Positioning System NMEA position data string Global Positioning System Heave Pitch Roll motion data Input Output Light Emitting Diode National Marine Electronics Association Personal Computer A sonar transmit pulse Pulse Per Second Type of serial data connector Real Time Appliance Sound Velocity Profiler or Sound Velocity Profile Top Side Processing Unit Computer used to control the multibeam Data format type for motion data NMEA velocity data string NMEA timing data string Page 30 of 35 7 26 13 ANNEX E THREE DIMENSIONAL SIGN CONVENTION USED FOR MB1 Forward positive Positive Roll Port UP Positive Yaw Clockwise Positive Pitch Positive Heave Bow UP Upward E Starboard positive Vertical positive downward Beams numbered from left to right Vessel Graphics Courtesy CARIS HIPS Page 31 of 35 7 26 13 ANNEX F UPGRADING THE FIRMWARE WITHIN THE MB1 Introduction It may be necessary on occasion for the firmware of the MB1 to be updated The firmware is small pieces of code that are embedded in both the RTA and the MB1 sonar head and performs critical functions of the system This Annex describes the process of upgrading the firmware for the system The MB1 has the following components with Firmware which might require updating Sonar Head FPGA ZestET1 FP
32. r head s firmware and cannot be changed though Image this procedure is described in the annex at the end of this manual 2 3 4 Using a Single Computer For Image amp Data Acquisition If the data acquisition software Hypack Qinsy etc is to be run on the same computer as Image set the Network Port in step 2 3 2 to 127 0 0 1 This will send the TDY data internally to the acquisition software allowing a single computer to be used for both Image and Acquisition 2 4 Connect to the RTA and Start Pinging Page 11 of 35 7 26 13 Once all of the RTA sensor configurations have been completed in the connect menu the software can connect to the RTA To do this ensure the RTA is powered on and click the Connect to RTA button Once the RTA is connected the icon shown below on the right will appear Caution Once connected to the RTA all of the output formats and connection network settings contained within the Setup menu will be set To change these settings disconnect from the RTA then reconnect after changes Note The network addresses of each device can be checked using the command window within Microsoft Windows To ping a device and be sure it is part of the MB1 s network open the command window and type lt ping gt followed by the IP address of the device to check IP addresses can be found in section 2 3 2 ES Command Prompt am ros soft Windows Version 6 1 7601 Copyright c gt 2009 Microsoft Corporation ALL rights re
33. r of the sonar It ranges from 0 system powered on but not transmitting to 4 system transmitting at maximum power The power should be adjusted so that the bathymetric points are representing the seafloor backscatter Note As the MB1 uses 24 bit analog to digital conversion it is advisable in most cases to have the power set higher than most multibeam systems This is because the system has such a broad range of receive values and therefore it cannot be saturated and an increased power improves the signal to noise ratio of the return ping The Pulse Width of the system is the total time of the transmit pulse per ping A short pulse length gives a more clear backscatter However as it is a smaller amount of acoustic energy in the water it is easily attenuated in the water column In most cases the pulse length is tied to the depth of water and this can be set by checking the Auto Adjust Pulse Width check box in this menu The Frequency setting allows the user to change the acoustic frequency the system transmits and receives The optimal setting of the multibeam is 200kHz however it can be configured from 170kHz to 220kHz in order to prevent interference with other sources of acoustic interference or to provide a required backscatter picture The Max Ping Rate can be set in cases where a lower rate of sounding is required for example when data storage is at a premium The Auto Range Scale is set to the multiple of the nadir depth to be
34. rees maximum This feature is used when surveying areas with a steep slope or areas of particular interest or when in dual head mode In dual head mode it is recommended that the overlap at nadir be limited to 5 10 degrees of overlap The reason is due to the difference in uncertainty between the outer beam detect of a system and a detect closer to nadir The outer beams of most flat faced array multibeam systems have a greater uncertainty and therefore when compared to beams from closer to nadir there may be a discrepancy This will look like a bow tie effect near nadir Subset Etor 2D View E Sample swath of dual head MB1 data as seen in Caris HIPS showing bow tie effect All of the settings can be changed whilst the sounder is pinging by either entering a numerical value clicking and dragging the slider marker or by clicking the marker and using the right and left arrow keys 3 1 1 4 Processing Menu Configure Sonar Filters BeamForm Processing ll Use constant SV li Use roll compensation Fixed Sound Velocity Stacking Value aw Head Tilt Angle The processing menu allows the user to change the sound velocity input apply roll correction beam steering and apply signal stacking to the system In most cases the optimal method of using the multibeam is to have a sound velocity probe mounted at the face of the transducer providing real time sound velocities to allow for beam forming This may either be a Teledyne Od
35. served C Users mredmayne TAD gt ping 192 168 1 1668 Pinging 192 168 1 146 with 32 bytes of da 168 1 100 bytes 32 time ine TIL 255 2 168 1 188 bytes 32 time ims TTL 255 168 1 100 bytes 32 time ims TTL 255 Reply from 192 168 1 188 bytes 32 time ims TTL 255 Ping statistics for 192 168 1 189 Packets Sent 4 Received 4 Lost B z loss gt Approximate round trip times in milli seconds Minimum ims Maximum ims Average ims C Users mredmayne TAD gt ping 192 168 1 161 Pinging 192 168 1 181 with 32 bytes of data 168 1 1 61 bytes 32 time SIL ITL 2 168 1 161 bytes 32 time ims TTL tt 168 1 161 bytes 32 time 1ms TTL 255 168 1 161 bytes 32 time ims TTL 255 Ping statistics for 192 168 1 181 Packets Sent 4 Received 4 Lost B iz loss gt dastcere round trip times in milli seconds Minimum ims Maximum 2ms Average ims N Users mredmayne TAD gt ping 192 168 1 4 Pinging 192 168 1 4 with 32 bytes of data 2 168 1 4 by time lt ims Reply From 192 1 1 4 es time lt ims Reply From 192 168 1 4 hytes 32 time lt ims TTL j Reply from 192 168 1 4 bytes 32 timetims T Ping statistics for 192 168 1 4 Packets Sent 4 Received 4 Lost Mipproxingte round bc times in milli inimum Gms Maximum Gms Average Bn o tsers wrednayme TAD gt s 2 4 1 Start Pinging The sounder can now be started by clicking on the button to the right of the connect to RTA button
36. simply means that each beam is generated at a fixed angle from nadir For example 120 beams over 120 degrees will result in a beam angle of 1 degree This gives a higher sounding density near nadir and less soundings toward the edges of the swath Setting the system to equidistant spaces the soundings at equal intervals on the sea floor giving a more even sounding coverage Caution If the sonar head has a fixed roll of greater than 30 degrees Equiangular beam spacing should be selected The number of beams is the total number of soundings generated across the swath in a single ping This can be set anywhere between 24 and 512 depending on the user requirement Caution When more than 240 beams are selected the processing demand on the control PC will increase and as a result the maximum ping rate may be reduced to compensate If the range is set to greater than 90m but less than 150m the number of beams will default to the maximum of 400 If the range is set to greater than 150m the number of beams will default to the maximum of 185 In playback of raw data setting the number of pings to over 250 in data gathered with a range of over 150m will cause the software to crash It is recommended that the beams be set to 240 or below for normal operation Page 18 of 35 7 26 13 The entire swath can be steered or reduced in size by determining the port and starboard angle in this menu up to a maximum of 60 degrees either side 120 deg
37. t And follow the steps to install NET version 4 Caution Failure to use a PC with these minimum specifications may cause the system to operate slowly and or freeze Note that the faster the performance of the computer that runs the control software the faster the system will sound resulting in a greater volume of data and along track coverage It is recommended that where possible a desktop PC is used as typically these offer faster processors and greater processor cooling power than laptop computers To install the software first uninstall any previous versions from your computer To complete this click on Start Control Panel Programs and Features On the Uninstall or change a program window select Image then click Uninstall When you are ready to install the software first extract the zip file if applicable Then double click the file setup exe The following window will appear Page 5 of 35 7 30 13 Welcome to the Image Setup Wizard The installer will quide you through the steps required to install Image on your computer WARNING This computer program is protected by copyright law and international treaties Unauthorized duplication or distribution of this program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum extent possible under the law Click Next then select a suitable folder for the software to reside in your oper
38. the display amplitude and gain to be changed and the size of the bathy points to be larger or smaller These can be altered by either entering a value into the text box or by moving the tab on the slider bar to the right Note that changing the display amplitude or gain will not affect the bottom detection algorithm of the system there is no user entered gain applied in the MB1 The buttons at the very bottom of the wedge settings menu also allow the user to position the UTC time and position to any of the 4 corners of the screen Note On playback the software will run much faster with the backscatter turned off This is particularly useful when replaying raw data to generate tdy files Note The MB1 can ping at up to 60Hz dependent on the depth of water the system is working in Due to the graphics limitations of many PCs the computer display cannot refresh this quickly therefore it may look slower than the actual ping rate of the system 2 4 2 2 Pseudo Sidescan View This view shows the sidescan or snippets view of the sea floor as gathered by the multibeam dia Jew Tul Range m Power PPS Good GPS HDOP Mi P SATS au hss Nestle SV ubi aru n Heading b AL AM ul M j ih M ud etm indi s 1i yt LM 1 J Hg CN m A bi p j i nl Ty at CP Psi ig Ms T W d Heave 01 t Pitch 18 at a Roll EI 9 Sonar A 7 vtm J Vert j 4 os J j x 1 t e a i i Fi n wi
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