imagenex model 881l digital multi
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1. Hxs Target Height h r s true only on Tlat level bottom USE SHADOW LENGTH TO CALCULATE TARGET HEIGHT ECHO STRENGTH ECHO STRENGTH VS TIME WHEN FAN SHAPED SONAR BEAM INTERSECTS WITH A FLAT BOTTOM AND TARGETS ECHO STRENGTH RANGE Apply Time varying Sain vO conection COR Dl ie ol RECTED Increase gain at long roni ECHO This corrects echo s erg fe STRENGTH athenuction anc spreading losses CORRECT ECHO STRENGTH FOR CHANGES DUE TO RANGE CORRECTED ECHO STRENGTH t RANGE COLOR TABLE _ A E AN COLOR noecho echo echo shadow UNE ROS krae CONVERT CORRECTED ECHO STRENGTH TO COLOR LINE FIGURE 4 Bright ings appear on botom as result of uneven vertical beam partem ACTUAL SONAR BEAM WITH WITH UNEVEN PATTERN Imagenex Technology Corp 2006 Imagenex Model 881L Care Guide and Operational Specifications This document describes the general care of the Model 881L sonar and it s operating environmental Specifications including depth and temperature General Care and Usage Model 881L sonar s are designed to be operated in many types of operating environments However to prolong the life of the equipment simple maintenance is required Routine Maintenance Fresh Water Rinse After each immersion of the underwater unit rin2. BLK BRN BLK VIN 1 VIN WHT GRN WHT RED TX 2 P VIN pum a RO RED BLU GRN WHT gt 3 RX ae 5 SUBCONN DC 4 GRN Jj GRN Jj GRN 6 RX RJ45 CAT 5e UTP F Ethernet Cable RX 5 gt ORG J ORG WHT J ORG WHT Led TD Se TEF BLU JJ ORG JJ ORG 2 T TG 7 WHT BLK if BLU WHT 1 VIO TRIGGER TG4 gt RED BLK BRN WHT GRY TRIGGER TG EXTERNAL TRIGGER TG eo nen een nnn eee eens TG IMAGENEX TECHNOLOGY CORP 5 0V Title 881L Test Cable With External Trigger R Document Number 881 200 209 TTL Pulse Minimum of 100us long Date Feb 09 2007 Sheet of 10 9 7 6 4 3 2 1 IMAGENEX TECHNOLOGY CORP 12MAR07 MODEL 881L ETHERNET SONAR HEAD Multi Frequency WINSSIL EXE c w External Trigger Option Special Notes Refer to Imagenex Drawing Number 881 200 209 for External Trigger information To enable the 8811 sonar head for external trigger mode the Win881L INI configuration file provides the following control Settings ExternalTriggerControl 0 Trigger Edge 0 NEG 1 POS Bit 1 Enable 0 Disable 1 Enable When enabled for external trigger the sonar head will transmit as soon as it detects the external trigger pulse If a trigger pulse has not been found after a period of 2 seconds the sonar will transmit as normal IMAGENEX TECHNOLOGY CORP 19JANO9 MODEL 881L
3. Digitization Source Detection Type Minimum Range Minimum Level Auto Profile allows the user to alter the detection scheme used to generate the digitized profile range points the profile range point for each ping is digitized in the sonar head and sent to the surface in the 12 byte header The data is sampled with a resolution of 2mm for the 1 2 3 and 4 meter operating ranges All other operating ranges have a 10mm sampling resolution The surface detection resolution 15 Operating Range 500 You could select Surface if you would like to alter the profile points during playback and record to a new file using the Copy Start function use Start of Pulse to display the profile points at the beginning of the echo pulse Use Center of Pulse to display the profile point in the middle of the pulse The Detection Type can only be changed when Surface Detection is used as the Sonar Head always uses Center of Pulse detection used to set the starting range for profile digitization Ranges less than this setting will not be digitized The minimum range can be adjusted from 0 to 25 meters in 0 1 meter increments used to set the detection level for profile digitization This level can be adjusted from 10 to 90 percent of the color scale Levels less than this setting will not be digitized The Minimum Level can only be changed when Surface Detection is used as the Sonar Head uses its own internal level threshold all
4. MODES Secto PolrandSideScan RANGE SCALES 1m 2m 3m 4m 5 10 m 20 30 m 40m 50 m 60 m 80 m 100 m 150 m 200 Continuous rotation 3 increments SECTOR SIZE SECTOR MODE 0 180 3 increments POLAR MODE 0 357 3 increments or Continuous rotation STEP SIZES Slow 0 3 Medium 0 6 Fast 0 9 Faster 1 2 Fastest 2 4 RECOMMENDED 100 MHz Pentium MINIMUM COMPUTER 16 MB RAM REQUIREMENTS 1 GB Hard Disk 800 x 600 x 256 colour graphics ORDERING INFORMATION 1000 m UNIT 3000 m UNIT End mount connector Option 009 Right angle connector IP Address Note Standard IP Address is 192 168 0 5 A different IP Address may be specified upon ordering Product and company names listed are trademarks or trade names of their respective companies 881L Imaging 3 445 039 www imagenex com 445 045 JUNE 2006 REVISED SEPTEMBER 2011 IMAGENEX MODEL 881L DIGITAL MULTI FREQUENCY PROFILING SONAR APPLICATIONS FEATURES e Profiling e Ethernet e ROV AUV amp UUV e Programmable e Offshore Oil amp Gas e Multi frequency e Surveying e High performance e Dam Face Inspection e Lower cost e Pipeline Inspection e Low power e Underwater Archaeology e Simple set up and installation e Scientific Research e Digital telemetry e Full scale range from 1 m to 100 m e Compact size e Communication format available to user Using Ethernet communications th
5. LEA CE NE x imaging 445 039 JANUARY 2006 REVISED SEPTEMBER 2011 IMAGENEX MODEL 881L DIGITAL MULTI FREQUENCY IMAGING SONAR APPLICATIONS FEATURES e ROV AUV amp UUV e Ethernet e Offshore Oil amp Gas e Programmable e Sunken Timber Recovery e Multi frequency e Diving Support e High performance e Surveying e Lower cost e Search amp Recovery e Low power e Inspection e Simple set up and installation e Underwater Archaeology e Digital telemetry e Scientific Research e Full scale range from 1 m to 200 e Compact size e Communication format available to user Using Ethernet communications this all in one high performance digital imaging sonar can exceed 100 shots per second on the 1 m range at a 2 mm range resolution producing near photographic image quality The 881L is a multi frequency system that can operate with customized configurations or revert to default settings to match appropriate operating range scales In addition to the benefits of low power a simple set up and installation procedure make this powerful sonar an ideal tool for remotely operated platforms ranging from large work ROV s to small inspection vehicles as well as AUV and UUV applications 4 Specifications subject to morc GC X Copyright 2006 2013 change without notice www imagenex com Imagenex Technology Corp HARDWARE SPECIFICATIONS FREQUENCY 310 kHz 675 kHz or 1 MHz standard default settings Othe
6. scan Page 12 of 23 MAIN MENU con t The XYZ ASCII file contains the following information YYYY YY M lt CR gt lt LF gt Chainage M meters F feet ZZLZZ ZZ lt CR gt lt LF gt Sonar Elevation XXXX XX lt CR gt lt LF gt Sonar X Offset VVVV VV lt CR gt lt LF gt Sound Velocity dd mmm yyyy hh mm ss hh rrr rrr bbb bbb xxx xxx yyy yyy zzz zzz lt CR gt lt LF gt 1 Point dd mmm yyyy hh mm ss hh rrr rrr bbb bbb ZZzZzzz CR LFe 2 Point dd mmm yyyy hh mmrss hh bbb bbb xxx xxx yyy yyy zzz zzz lt CR gt lt LF gt Last Point where dd mmm yyyy current system date hh mm ss hh current system time rrr rrr profile range 0 not used bbb bbb vertical scanning angle XXX XXX SOnar_offset profile_range sin vertical angle yyy yyy chainage ZZZ ZZZ sonar elevation profile range cos vertical angle The above fields are TAB delimited The Chainage Sonar Elevation Sonar Offset and Dredge Line numbers are saved in the WINSSIA INI file but are not saved the 81A data files The Auto Profile function is available only when DATA FROM is active Page 13 of 23 MAIN MENU con t Grid Menu Grid On Off to display the range rings on the sonar display About Menu About WIN881L displays an about box showing the software version and date of this program Contact informatio
7. Termination Byte OxFC Page 9 of 9 Imagenex Technology Corp IMAGENEX MODEL 8811 MULTI FREQUENCY DIGITAL SONAR HEAD Fan Beam 3 1 SCANNING SPEEDS Document Number 425 001 881L Scanning Speeds doc March 1 2006 Imagenex Technology Corp 2006 SCANNING SPEEDS NS M see wo sec _ s s0 MByte hr s l 27 54 7T9 03 189 60 35 A471 103 133 240 O een sq 200 3264 163 2 1096 828 429 f 1332 672 456 3481 19 1 f 10201 stof _27 0 _18 0 Using WIN881L EXE v1 01 on Pentium 4 2 8GHz 512 RAM running Windows XP Polar Mode 8 Bit Data Ethernet 10Mbps 10BaseT Step Sizes Slow 0 3 Medium 0 6 Fast 0 99 Faster 1 2 Fastest 2 4 Document Number 425 001 rev 02 Page 1 of 1 SONAR THEORY AND APPLICATIONS EXCERPT FROM IMAGENEX MODEL 55 COLOR IMAGING SONAR USER S MANUAL IMAGENEX TECHNOLOGY CORP 209 1875 BROADWAY ST PORT COQUITLAM 471 CANADA TEL 604 944 8248 FAX 604 944 8249 ABOUT YOUR SONAR TERMINOLOGY The following is an explanation of the basic terms used by Imagenex to describe their sonar techniques Color The different colors used to represent the varying echo return strengths Echo The reflected sound wave Echo Return The time required for the echo to return to the source of the sound Sonar The principle used to measure the distance be
8. 639 27 bytes Zero Fill Page 22 of 23 DATA STORAGE FILE FORMAT 81 con t EXTENDED BYTES starting at 1 0 11 GPS Ships Position Latitude null terminated text string 12 bytes dd mm xxx_N dd Degrees mm Minutes Decimal Minutes _ Space N North or S South 12 24 GPS Ships Position Longitude null terminated text string 13 bytes ddd mm xxx E ddd Degrees mm Minutes xxx Decimal Minutes _ Space East or W West Page 23 of 23 IMAGENEX TECHNOLOGY CORP 23JANO7 MODEL 881L DIGITAL SONAR HEAD 881 000 50x ETHERNET INTERFACE SPECIFICATION v1 00 OVERVIEW The Model 881L Digital Sonar Head communicates over an Ethernet communications link To receive echo data a command program must interrogate the sonar head by sending a Switch Data Command All Ethernet communications are via TCP IP at 10Mbps When the Switch Data command is accepted the sonar head transmits receives and sends its return data back to the command program Unless otherwise specified the 881L Sonar Head will have a statically assigned IP Address of 192 168 0 5 SWITCH DATA COMMAND The sonar head accepts 27 bytes of switch data from the command program and must see the switch data header 2 bytes OXFE and 0x44 HEX in order to process the switches The sonar head will stop accepting switch data when it sees the termination byte OxFD HEX The termination byte must be present for the son
9. angular surfaces may give a very strong reflection in one particular direction but almost none at all in other directions Some objects such as smooth plane surfaces may be difficult to see with a sonar They can act as a perfect mirror so called specular reflectors reflecting the sonar pulse off in unexpected directions never to return This happens to people visually when they see an object reflected in a window The human eye deals with such reflections daily but it is surprising to see the same thing occur with a sonar image As with normal vision it is often useful to scan targets from different positions to help identify them A target which is unrecognizable from one direction may be quite easy to identify from another It is very important to note that the ranges shown to the targets on the sonar image are slant ranges Usually the relative elevations of the targets are not known only the range from the transducer This means that two targets which are displayed in the same location on the screen may be at different elevations For example you might see a target on the bottom and a target floating on the surface in the same place By analyzing the shadows you can estimate the height of objects above the bottom An example of this calculation is shown in Figure 4 The diagrams following this chapter are examples of the sonar scanning process Studying the diagrams will help you to better understand the images that you see A basic
10. respective companies 881L Profiling 445 045 www imagenex com 10 9 8 7 6 5 4 3 2 1 RJ 45 Connector SUBCONN MCIL8F 2 Q5 r3 o On Wired as 568 i oN ORG WHT ORG GRN WHT GRN TD TD RX RX Socket View 2ft 18 SUBCONN MCIL8F lt i F VN 1 gt BLK BLK BLK 18 EY PCR WHT WHT RED 18 E VIN 3 gt RED GRN WHT D um dg a GRN GRN GRN S 6 RK S ORG BRN ORG WHT 1 iT RX 6 gt BLU BLU ORG 2 iT N C i7 gt WHER NIC 8 gt RED BLK T p 2ft a 50ft n 5ft 2ft Whip 6 Conductor Cable CAT 5e UTP Ethernet Cable IMAGENEX TECHNOLOGY CORP Title Model 881L Test Cable Re Document Number 881 200 187 SA Date Jan 11 2006 Sheet of 1 10 9 8 7 6 5 4 3 2 1 10 9 7 6 4 3 2 1 RJ 45 Connector SUBCONN MCILSF F p Wired as 568 ORG WHT ORG GRN WHT GRN Socket View CAT 5e TD TD RX RX 2ft Whip Cable 2ft fi 2ft P lt 208 gt a
11. 00 600 in meters or feet using the numeric keys and then press Enter to change to the new range If the entered range is not valid or the Esc key 1s pressed the current range will be used Available only when DATA FROM HEAD is active to reverse the current scanning direction Can also be used to reverse the file playback direction Page 17 of 23 ONE CURSOR MEASUREMENT One Cursor Measurement is used for measuring the distance and relative bearing to a target with respect to the transducer origin When the mouse 15 moved into the sonar image display area the cursor changes from an arrow to a square target cursor The range and bearing to the target cursor 1 displayed in the Range Bearing Display Box underneath the sonar image display The area about the target cursor is also displayed in the Pixel Zoom window Clicking the left mouse button while the cursor 1 in the sonar image display area captures freezes the zoom window image Clicking the left button a second time allows normal zoom window updating TWO CURSOR MEASUREMENT Two Cursor Measurement is used for measuring the distance and relative bearing between two targets To invoke two cursor measurement position the mouse cursor over a target in the sonar image display area and press the right mouse button A target origin cursor is placed at this location The range and bearing to this cursor becomes the new origin for future measurements When the mouse is moved a ru
12. ETHERNET SONAR HEAD Multi Frequency WINSSIL EXE Display Software For Win 95 98 Me NT 2000 XP VERSION 1 04 OVERVIEW WINSSIL is a Windows 95 98 Me NT 2000 XP program that controls displays and records data from the multi frequency Model 881L Ethernet Sonar Head The program communicates with the sonar head via a 10 Mbps Ethernet connection and uses an RS 232 COM port at 4800 N 8 1 for receiving GPS Lat Lng coordinates The head can be operated at different ranges gains speeds frequencies etc The Windows display mode must be at least 800 x 600 pixels with small fonts selected SCREEN LAYOUT The main screen of WIN881L comprises of a sonar data window on the left side with various sonar head controls and a sector size icon on the right side Other items include an operating frequency display a x2 Pixel Zoom window date time readout Lat Lng readout sonar head range bearing readout to one or two cursors and a control for displaying real time data from the head or playback data from a file A Pop up window is available for displaying sonar head diagnostics OPERATION To operate the sonar head connect the RJ45 ethernet connector from the sonar head cable into the LAN Local Area Network card on your PC The sonar head needs to run with a static IP Internet Protocol Address for both head and PC The IP Address of the PC must be set to 192 168 0 X where X is any number between 6 and 255 Also set the subnet mask to 255 255 255 0 In
13. Sonar Head Range 1 2 3 4 5 10 20 30 40 50 60 80 100 150 or 200 Meters Page 7 of 9 SONAR HEAD RETURN DATA con t Byte 8 9 Byte 10 11 Profile Range First digitized range value above threshold in sample units Prof Rng LO Prof Rng HI ES xs Prof Rng 07 9 Prot Rng Fm 1 Prof Rng High Byte Byte 9 amp 0x7E gt gt 1 Prof Rng Low Byte Byte 9 amp 0x01 lt lt 7 Byte 8 amp Ox7F Profile Range Prof Rng High lt lt 8 Prof Rng Low Byte Note sample units 2mm if Byte 7 lt 5m sample units 10mm if Byte 7 gt 5m assuming a sound velocity of 1500m s Data Bytes Number of Echo Data Bytes returned Data Bytes LO Data Bytes HI FEES ro Data Bytes 20 0 Data Byies T Data Bytes High Byte Byte 11 amp 0 7 gt gt 1 Data Bytes Low Byte Byte 11 amp 0x01 lt lt 7 Byte 10 amp Ox7F Data Bytes Data Bytes High Byte lt lt 8 Data Bytes Low Byte Page 8 of 9 SONAR HEAD RETURN DATA con t Byte 12 Start of Echo Data N 13 Bytes of data If Header is ASCII IGX If Data Bits was set to 8 N 513 500 Data Bytes Ist Range Point Byte 12 2nd Range Point Byte 13 3rd Range Point Byte 14 Ath Range Point Byte 15 etc If Header is ASCII IPX There is no echo data and this byte is the termination byte OxFC N 13 Use Profile Range Bytes from the Header Byte N 2 of Echo Data Byte N 1
14. Windows XP these settings can be found in the Network Connections menu under Settings in the Start menu then click on properties of the LAN adapter and properties of the TCP IP There is also a settings box for default gateway but it can be left blank The IP Address of the sonar head is fixed at 192 168 0 5 optional IP Address s can be specified at time of order Apply 20 to 36VDC to the sonar head power wires V to RED V to BLACK using a DC power supply capable of supplying a current of 0 5 Amps Run the program WIN881L EXE and select the button DATA FROM HEAD on the right hand side of the display Page of 23 MAIN MENU File Menu Record Start Stop Playback Copy Start Stop Save Screen Auto Frame Capture Exit opens a File Name Dialog Box so the user can input a filename for logging sonar data shot by shot complete with timestamp The file extension is always 81L The filename and current size kbytes of the file are displayed at the top of the screen File recording continues until Record Stop 1s selected Available only when DATA FROM HEAD is active opens a File Name Dialog Box so the user can select and playback a previously recorded 81L Sonar file Available only when DATA FROM FILE is active opens a File Name Dialog Box so the user can enter a filename for a new 81L file that can be used for making smaller data files from large pre recorded sonar fi
15. able are Slow 0 3 deg step Medium 0 6 deg step Fast 0 9 deg step Faster 1 2 deg step Fastest 2 4 deg step to change the sector size sweep angle Sector Mode 0 to 180 degrees in 3 degree increments Polar Mode 0 to 360 degrees in 3 degree increments Sidescan Mode 0 degrees to change the training angle relative to the sonar s zero or center angle Sector Mode 0 to 357 degrees in 3 degree increments Polar Mode 0 to 357 degrees in 3 degree increments Sidescan Mode 90 or 270 degrees Page 16 of 23 KEYBOARD SWITCHES The following switches are selected via keyboard entry case insensitive C G Space Bar to clear the sonar screen display to change the Start Gain of the sonar head When the G key 1s pressed the Key Command Entry Box displays the prompt Gain dB Type in a valid start gain number 0 40dB and press Enter to change to the new start gain value If the entered gain is not valid or the Esc key is pressed the current gain will be used Available only when DATA FROM HEAD is active to hold or freeze the display to change the operating range of the sonar head When the R key is pressed the Key Command Entry Box below the DATA FROM buttons is displayed with the following prompt Range M meters or Range FT feet Type in a valid range number 1 3 2 6 3 9 4 12 5 15 10 30 20 60 30 90 40 120 50 150 60 180 80 240 100 300 150 450 or 2
16. ades of grey White on Black 107 shades of grey Black on White 107 mixed shades of brown and yellow 107 mixed shades of green and blue 107 mixed shades of green and yellow 107 shades of blue to change the units of measurement from Meters to Feet to adjust the display of the sonar echo data relative to the physical mounting of the sonar head If the xdcr transducer 1s physically mounted down red side down this switch should be set to Down If the xdcr is mounted up red side up should be selected If this switch is set incorrectly the sonar display will appear as a mirror image targets which are actually on the right side will appear on the left and vice versa If Profile Grid is enabled via the Profile Menu the Xdcr Position names change to Fwd and Aft for profiling applications to change the speed of sound number used in range measurements This number can have a range of 750 m s 2461 ft s to 2250 m s 7381 ft s The default is 1500 m s 4921 3 ft s to enter a text string for display in the User Text Window to re calibrate the sonar head transducer to the center position Page 3 of 23 MAIN MENU con t Com Ports Menu GPS Input to select the serial communications port COM1 COM372 for receiving Lat Lng ships position coordinates from a GPS receiver This port accepts the NMEA 0183 GPGLL string or the GPGGA string at 4800 N 8 1 Enable select to initialize the serial
17. ar to process the switches Byte Description 0 0 0 ID 0 Hold 0 0 Gain tion Angle Width Size Length MinRange Trigger 0 0 Points Bits 0 Delay uency 0 Table 1 Model 881L Sonar Head Switch Data Command Page of 9 SWITCH DATA COMMAND con t BYTE DESCRIPTIONS Note Byte values are shown in decimal unless noted with a hexadecimal prefix Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Switch Data Header 1st Byte Always OxFE 254 decimal Switch Data Header 2nd Byte Always 0x44 68 decimal Head ID Always 0x10 Range 1 2 3 4 5 10 20 30 40 50 60 80 100 150 and 200 Meters Reserved Always 0 Hold 1 Hold or pause Head 0 Resume 0 Bit2 0 0 Bit4 0 Bit5 0 1 Reverse Step Direction 0 Normal Operation Bit7 0 Reserved Always 0 Reserved Always 0 Start Gain to 40dB in 1dB increments Page 2 of 9 SWITCH DATA COMMAND con t Byte 9 Byte 10 Byte 11 Byte 12 Byte 13 LOGF 1 20dB No other values available at this time Absorption 0 to 255 0 00dB m to 2 55dB m Byte 10 two way absorption_in_dB_per_m 100 Recommended values 330kHz 10 0 1dB m 675kHz 20 0 2dB m IMHz 60 0 6dB m Train Angle 0 to 120 180 Deg to 180 Deg 360 Deg Total in 3 Degree steps Byte 11 train angle in degrees 180 3
18. bber banded line 1 drawn from the target origin cursor to the target cursor The Range Bearing Display Box shows the range and bearing to the new origin Org the range and bearing to the target cursor Tar and the range and bearing difference Diff between the two cursors The displayed range and bearing between the two cursors is always relative to the target origin cursor Press the right mouse button again to return to One Cursor Measurement MESSAGES No Connection no power to the sonar head cable not connected PAddress Sonarl setting in the WINSSIL INI file is not the same as the sonar head IP Address GPS Not Available GPS receiver output not connected to serial port GPS receiver 1s not sending data GPS receiver not set for 4800 N 8 1 GPS Input COM port set to the wrong port number GPS receiver not sending SGPGLL or GPGGA Page 18 of 23 DATA STORAGE FILE FORMAT 81L When recording the sonar data to a 81L file the following bytes are appended and saved to the file every shot Byte File Header 100 Bytes 100 to Sonar Return Data Header 12 Bytes 112 to xxxx Sonar Return Echo Data 0 128 250 252 or 500 Bytes 112 above number Byte xxxx always 0 Termination Byte from sonar head Xxxx4l Zero Fill to yyyy 127 255 383 or 639 Extended Bytes yyyy l If Byte 34 in the File Header is greater than zero multiply Byte 34 to 7777 by 128 to der
19. both depth ratings 234mm 9 2 length WEIGHT In Air 1000 m unit 1 8 kg 4 Ibs 3000 m unit 2 2 kg 4 8 16 In Water 1000 m unit 0 6 kg 1 3 Ibs 3000 m unit 1 kg 2 2 16 MATERIALS 1000 m unit 6061 T6 Aluminum amp Polyurethane 3000 m unit Titanium Polyurethane amp 300 series stainless steel FINISH amp Hard Anodize 881L Profiling LIA rer X 2 445 045 www imagenex com SOFTWARE Win881L exe SPECIFICATIONS WINDOWS OPERATING SYSTEM Windows 95 98 Me NT 2000 XP MODES Side Scan Polar and Sector RANGE SCALES 1m 2m 3m 4m 5m 10 m 20 m 30 m 40 m 50m 60 m 80 m 100 m SECTOR SIZE SECTOR MODE 0 180 3 increments 0 357 3 increments or Continuous rotation POLAR MODE STEP SIZES Slow 0 3 Medium 0 6 Fast 0 9 Faster 1 2 Fastest 2 4 GRID TYPES Polar and rectangular FILE FORMAT filename 81L RECOMMENDED MINIMUM COMPUTER REQUIREMENTS 100 MHz Pentium 16 MB RAM 1 GB Hard Disk 800 x 600 x 256 colour graphics 234 mm 9 2 1 110 4 3 OPTIONAL E EN RIGHT ANGLE c1 CONNECTOR c1 zi Ca TRANSDUCER m CONNECTOR 3L E FLUID FILLED H i TOP VIEN SIDE WIE ORDERING INFORMATION Option OF Note Standard IP Address is 192 168 0 5 A different IP Address may be specified upon ordering Product and company names listed are trademarks or trade names of their
20. communications port for reception of Lat Lng coordinates Disable to close the serial communications port GLL to use Lat Lng coordinates from the GPGLL string GGA to use Lat Lng coordinates from the GPGGA string Page 4 of 23 MAIN MENU con t MULTI FREQUENCY OPERATION The default configuration for Win881L automatically adjusts the operating frequency absorption and pulse length with range The following Table describes this relationship Range Frequency Absorption Pulse Length Pulse Length m kHz dB m us us Polar Mode Sector Sidescan 1 10 i00 06 20 10 The frequencies in the above table are designed for use with the Fan Beam Imaging Sonar Model 881 000 500 501 only The Pencil Beam Profiling Sonar Model 881 000 520 521 has a frequency limit of 600 kHz to 1 MHz Page 5 of 23 MAIN MENU con t Settings Menu Allows the user to manually or automatically adjust the sonar head s operating frequency absorption and pulse length Manual Frequency Setup select Enable to adjust the following parameters for the current range Frequency 280 1100kHz in 5kHz increments Absorption 0 01 2 55dB m in 0 01 dB increments Pulse Length 10 1000us in 10us increments Settings Auto Frequency Setup Enable Edit Configuration Current Configuration D lmagenexsrov_sonar ctg Manual Frequency Setup Head ID 0x10 Frequency 65 kHz Absorption pa dB m P
21. de and Operational Specs doc Imagenex Technology Corp 2006 Safety Before each use inspect the red polyurethane dome for any damage from impact and for any air bubbles or oil leakage Inspect the cable connector on both the sonar head and cable for any damage such as bent or broken pins or cuts in the cable Ensure that the mating connection is secure and that the locking ring is in place Operational Environmental Specifications While the Model 881L is designed to operate in a wide variety of environments there are limitations Table 1 Model 881L 881 000 500 520 Specifications Minimum Maximum Units O0 100 m 3000m maximum operating depth available on model 881 000 501 521 only The operation specification on Salinity is for acoustic properties only i e the speed of sound in the medium Salinity has no effect on mechanical operations if the unit is thoroughly cleaned after use Created on 25 05 2006 Page 2 of 2 881L Care Guide and Operational Specs doc
22. i e 0 180 Degrees 30 90 Degrees 60 0 Degrees 90 90 Degrees 120 180 Degrees Sector Width 0 to 120 0 Deg to 360 Deg in 3 Degree steps Byte 12 2 sector width in degrees 3 1 8 0 0 Degrees 30 90 Degrees 60 2 180 Degrees 120 360 Degrees Step Size 0 to 8 in 0 3 Degree increments i e 0 No Step 2 0 3 Degrees Step 2 0 6 Degrees Step 3 0 9 Degrees Step 4 1 2 Degrees Step 8 2 4 Degrees Step Page 3 of 9 SWITCH DATA COMMAND con t Byte 14 Pulse Length Length of acoustic transmit pulse 1 100 gt 10 to 1000 usec in 10 usec increments Byte 14 pulse length in microseconds 10 Byte 15 Profile Minimum Range Minimum range for profile point digitization 0 250 gt 0 to 25 meters in 0 1 meter increments Byte 15 min range in meters 10 Note The following External Trigger Control byte is valid only for 8811 Sonar Heads supplied with the External Trigger Hardware Option Byte 16 External Trigger Control Edge 0 NEG POS Enable 0 Disable 1 Enable The sonar head will transmit as soon as it detects the external trigger pulse If a trigger pulse has not been found after a period of 2 seconds the sonar will transmit as normal Byte 17 Reserved Always 0 Byte 18 Reserved Always 0 Byte 19 Data Points 50 500 data points are returned by the sonar head The return data will have an ASCII IGX header No other values available at this time By
23. is all in one high performance digital i profiling sonar can exceed 1 100 shots per second on the 1 range at a 2 mm range resolution The 881L is a multi frequency system that can operate with customized configurations or revert to default settings to match appropriate operating range scales In addition to the benefits of low power a simple set up and installation procedure make this powerful sonar an ideal tool for remotely operated platforms ranging from large work ROV s to small inspection vehicles as well as AUV and UUV applications Specifications subject to morc CE 3 Copyright 2006 2013 change without notice www imagenex com Imagenex Technology Corp HARDWARE SPECIFICATIONS FREQUENCY 675 kHz Other frequencies can be selected through programmable software configurations Tunable from 600 kHz to 1 MHz in 5 kHz steps TRANSDUCER Profiling type fluid compensated TRANSDUCER BEAM WIDTH 600 kHz 2 4 675 kHz 2 1 1 MHz 1 4 om amp up 10 mm 0 4 MIN DETECTABLE RANGE 150 mm 6 3000m available Standard 100 m on CAT5e Cable length may be increased up to 9000 m using an Ethernet extender Please enquire for more information Standard 10 Mbps Ethernet 10 BASE T using TCP IP Bit rate may vary if an Ethernet extender is in use CONNECTOR Side mounted eight conductor wet mateable Subconn MCBH 8M SS Optional right angle or end mount connector DIMENSIONS 79 4 mm 3 125 diameter x for
24. ive the number of Extended Bytes for this shot i e if Byte 34 0x01 Extended Bytes 128 ZZZZ yyyy Number of Extended Bytes Pointer To Previous Shot 1 The last 2 bytes of this shot contain a 16 Bit number that is the sum of N 2 the number of bytes for this shot and the number of bytes for the previous shot This number is used for reverse playback synchronization 128 or 256 or 384 or 640 Extended Bytes Number of bytes to previos shot N 2 lt lt 8 N 1 FILE HEADER Bytes 0 through 99 contain the following File Header information ASCII 8 1 ASCII 1 2 ASCII L 3 nToReadIndex Index for Number of Data Bytes 0 0 Data Bytes 128 Data Bytes 2 250 or 252 Data Bytes 3 500 Data Bytes Page 19 of 23 DATA STORAGE FILE FORMAT 81L con t 4 5 6 7 20 28 29 32 33 36 37 38 39 40 Total Bytes number of bytes that are written to the disk for this shot e E EU 256 T or Number of Extended Bytes nToRead Number of Bytes from the sonar head x T ns 263 a or E Date null terminated date string 12 bytes DD MMM YYYY Time null terminated time string 9 bytes HH MM SS Hundredth of Seconds null terminated string 4 bytes hh Reserved always 0 Dir Xdcr Mode Step Step Size 0 2 0 3 Deg Slow 2 0 6 Deg Medium 2 Sidescan 2 0 9 Fast 3 1 2 Deg Faster 4 2 4 Deg Fastest Start Gain
25. knowledge of this process will help users to interpret what otherwise might be confusing images SHORT TRANSMIT PULSE ABOUT 1 7 DEGREES WIDE E ABOUT 30 DEGREES HIGH TYPICAL FAN SHAPED BEAM FAN SHAPED SONAR BEAM AS USED ON IMAGING SONARS INTERSECTS WITH A FLAT BOTIOM STRENGTH FAN SHAPED SONAR BEAM ECHO STRENGTH VS TIME WHEN INTERSECTS WITH A FLAT BOTTOM FAN SHAPED SONAR BEAM AND TARGETS INTERSECTS WITH A FLAT BOTTOM FIGURE 1 TRANSMIT PULSE ABOUT 1 7 DEGREES CONICAL BEAM TYPICAL PENCIL SHAPED BEAM AS USED ON PROFILING SONARS ECHO Profile Minimum Profile Level SIRENGIH Range only Only returns returns at range above this greater than level are this are digitized Cicitizeci ECHO RETURN FROM PENCIL BEAM PENCIL SHAPED SONAR BEAM SCANS IN A VERTICAL PLANE TO MEASURE BOTTOM PROFILE PLOT DIGITIZED ECHO RETURNS TO SHOW PROFILE CROSS SECTION OF BOTTOM FIGURE 2 botom target target SIDE SCAN SONAR SIDE SCAN SONAR ROTARY SCAN SONAR ROTARY SCAN SONAR FIGURE 3 ARGETS AT THE SAME SLANT BUT DIFFERENT ELEVATIONS PLOT A AT THE AME LOCATION ON THE DISP
26. les The filename and current size kbytes of the file are displayed at the top of the screen File copying continues until Copy Stop is selected Available when DATA FROM FILE 15 active opens a File Name Dialog Box so the user can enter a filename for saving the screen as a BMP Windows Bitmap file allows the user to automatically create screen captures for time lapsed movie file creation Whenever there is is scan direction change or whenever the sonar scans a full 360 degrees a BMP file of the screen 1 automatically generated An incrementing number is appended to the filename for each successive screen capture the format 1 filename nnnn bmp Select Auto Frame Capture Start to begin the capture process then select Auto from Capture Stop to finish Available when DATA FROM FILE is active writes current configuration to file WINSSIL INI closes the program and exits to Windows Page 2 of 23 MAIN MENU con t Color Table Menu Norm Hi Norm Lo Green Grey Rev Grey Brown Yellow Green Blue Green Yellow Blue Options Menu Units Xdcr Position Sound Velocity User Text Calibrate Sonar Head normal high intensity color table used for mapping the echo data amplitude to a color for display Color depth is 107 colors ranging from Black low level through Blue Green Orange Yellow White and Red max level normal low intensity color table 107 shades of green 107 sh
27. less noted with a prefix N total number of return bytes Byte 0 2 Imagenex Return Data Header ASCII IMX or IPX 0x49 G 0x47 0x50 X 0x58 ASCII IGX In response to a Switch Data Command with Data Points 50 If Data Bits was set to 8 N 513 500 Data Bytes ASCII In response to a Switch Data Command with Profile ON 13 0 Data Bytes Byte 3 Head ID 16 Head ID s allowed 0x10 to Ox1F Page 6 of 9 SONAR HEAD RETURN DATA con t Byte 4 Byte 5 6 Byte 7 Serial Status 1 0 Bit2 0 0 Bit4 0 5 0 Bit6 1 Switches Accepted Bit7 0 Head Position Byte 5 Byte 6 Bye5 eqs ers o 110 __10 1 0 L Head Pos LO Head Pos HI Step Direction D Head Pos High Byte Byte 6 amp gt gt 1 Head Pos Low Byte Byte 6 amp 0x01 7 Byte 5 amp Ox7F Head Position Head Pos High lt lt 8 Head Pos Low Byte Head Position 0 to 1200 180 to 180 Degrees in 0 3 Degree steps 0 180 Degrees 300 90 Degrees 600 0 Degrees Center Position 900 90 Degrees 1200 180 Degrees Example angle calculation Angle 0 3 Head Pos 600 Head Pos 900 Angle 0 3 900 600 Angle 490 Degrees Step Direction Byte 6 amp 0x40 gt gt 6 0 counter clockwise 2 clockwise Range
28. move to its counter clockwise position and begin scanning When the sonar reaches its clockwise position the following will occur A message box appears asking if you would like to save the current profile If you select Yes a screen capture is made and ASCH XYZ file is generated for the current scan with the profile points adjusted by the above x y and 2 offsets The Auto Profile Dialog Box is then displayed allowing you to change the offset numbers for the next scan When you want to stop the Auto Profile scanning simply disable the Auto Profile Enable check box and press Ok You can invoke the Auto Profile Dialog Box at any time during a scan When this dialog box is active the sonar head 1s put on hold until the Ok button 1 pressed It is recommended that you record all data to a 81A file via the Record Start function in the File menu as the XYZ ASCII file can not be displayed via this program you can customize the scanning process by enabling or disabling the XYZ and BMP file generation You can also omit the save scan confirmation and Auto Profile Dialog Box display in order to gain hands free operation The automatic filenames used for the ASCII file and the screen capture file are based on the current system date DDMMM Y Y Y Y nnnn BMP DDMMM Y Y Y Y nnnn X YZ DD day 1 31 month Jan Feb Mar YYYY year nnnn 0001 9999 this number automatically increments for each new file each new
29. n for Imagenex Technology Corp is also displayed Page 14 of 23 ON SCREEN SWITCHES DATA FROM HEAD DATA FROM FILE Hold Rev Reverse TrackBar Plot Speed to display data from the connected sonar head to display data from a previously recorded 81L Sonar file to hold or freeze the display to reverse the current scanning direction Available only when DATA FROM HEAD is active to reverse the file playback plotting direction Available only when DATA FROM FILE 1 active to re position the file pointer during file playback Available only when DATA FROM FILE is active to adjust plotting speed during file playback Available only when DATA FROM FILE is active The following switches are available only when DATA FROM HEAD is active Range to change the sonar operating range Ranges available are Im 3ft 2m Oft 3m Oft 4m 12ft 5m 15ft 10m 30ft 20m 60ft 30m 90ft 40m 120ft 50m 150ft 60m 180 0 80m 240ft 100m 300ft 150m 450ft 200m 600ft Page 15 of 23 ON SCREEN SWITCHES con t Mode Start Gain Speed Sector Train to change the sonar display mode Modes available are Sector Polar SideScan to change the starting gain of the head Increase to get higher return levels decrease to get lower return levels The Start Gain can be adjusted from OdB to 40dB in 1 increments to change the stepping speed of the sonar Speeds avail
30. n the sonar image window the zoom window will be captured held Pressing the button a second time releases the capture Clear Screen Now to clear all echo data from the sonar display Diagnostics displays the Diagnostics Pop Up Window This window displays the header information from the connected sonar head Page 8 of 23 MAIN MENU con t Profile Menu Profile Mode Profile Grid Zero Down to set the mode of operation for the display of the digitized profile range points The following modes are available Off No profile range point is plotted echo data is plotted normally Points Only Only the profile range points are plotted no echo data is sent from the head Low Mix The profile range point 1s plotted along with the echo data The echo data 1s plotted at 1 4 level so the profile point stands out This mode can be useful for making Start Gain adjustments to optimize the profile points before switching to Points Only mode Med Mix Same as Low but the echo data 1 plotted at 1 2 level High Mix Same as Low but the echo data 1 plotted at full level to display a rectangular grid for profiling applications to enable plotting of profile data with the zero reference of the sonar head pointing down rather than pointing up This allows plotting the seafloor in its correct orientation This item 15 available only if Profile Grid is enabled Page 9 of 23 MAIN MENU con t Profile Setup
31. o view With an imaging sonar instead of traveling it is more useful to spend some time with the vehicle sitting on the bottom while the sonar scans the surrounding area Scanning a large area takes only a short time and the vehicle pilot can quickly assess the nature of the surrounding area The ability to see a long distance underwater allows the pilot to use natural or man made features and targets as position references The combination of an imaging sonar and an ROV leads to fast and effective training in sonar interpretation If the ROV pilot is searching for a particular object recognition can take place directly from the sonar image In other cases a number of potential targets may be seen A pilot can sharpen his sonar interpretation skills by viewing these targets with the vehicle s video camera and correctly identify them INTERPRETATION OF SONAR IMAGES In many cases the sonar image of a target will closely resemble an optical image of the same object In other cases the sonar image may be difficult to interpret and quite unlike the expected optical image The scanning process used to create a sonar image is different from the process used by the human eye or a camera to produce optical images A sonar image will always have less resolution than an optical image due to the nature of the ultrasonic signals used to generate it Generally rough objects reflect sound well in many directions and are therefore good sonar targets Smooth
32. on a vertical plane Displays individual points or lines Accurately cross sections a surface Echo strength for each point higher than a set threshold Digitizes a data set for interfacing with external devices Data set is small enough to be manipulated in a small computer Primarily a measurement tool In Profiling a narrow pencil shaped sonar beam scans across the surface of a given area generating a single profile line on the display monitor see Figure 2 This line consisting of a few thousand points accurately describes the cross section of the targeted area A key to the Profiling process is the selection of the echo returns for plotting The sonar selects the echo returns typically one or two returns for each shot based on a given criterion for the echo return strength and the minimum profiling range The information gathered from the selection criteria forms a data set containing the range and bearing figures An external device such as a personal computer or data logger accesses the data set through an RS 232 interface with the sonar The profile data is useful for making pen plots of bottom profiles trench profiles internal and external pipeline profiles The primary purpose of the profiling sonar is as a quantitative measuring tool USING AN IMAGING SONAR ON AN ROV The imaging sonar is a useful substitute for a positioning system on an ROV Without an imaging sonar an ROV relies on traveling underwater to bring new targets int
33. ows the user to automatically command the sonar to do a scan and save the digitized profile points including offsets to two different files The first file is ASCII file with XYZ coordinates The second is a screen capture to a Windows bitmap file The scan limits are based on the current angles set via the Sector and Train switches and a new ASCII file and screen capture are automatically generated for each new scan Page 10 of 23 MAIN MENU con t Reference Elevation Baseline Chainage y Sonar Elevation 7 Sonar Offset x Dredge Line Offset Water Bottom Dredge Depth Elevation this number represents the horizontal down range distance along the Y Axis for the current profile cross section this number represents the height of the sonar head in relation to the Reference Elevation along the Z Axis this number represents the horizontal distance of the sonar head from the baseline along the X Axis this number is used to display a horizontal line on the display which represents the desired dredge depth distance below the reference elevation The number entered here 1s the depth below the sonar head Page 11 of 23 MAIN MENU con t Auto Profile Enable After each scan when the Auto Profile Enable is checked pressing the Ok button will invoke 1 scan using the current sonar settings 1 range gain sector size train angle sound velocity The sonar will automatically
34. r frequencies can be selected through programmable software configurations Tunable from 280 kHz to 1 1 MHz in 5 kHz steps TRANSDUCER Imaging type fluid compensated TRANSDUCER BEAM WIDTH 310 kHz 4 x40 675 kHz 1 8 x 20 1 MHz 0 9 x 10 5 amp 10 mm 0 4 MIN DETECTABLE RANGE 150 mm 6 3000 m available Standard 100 m on CAT5e Cable length may be increased up to 9000 m using an Ethernet extender Please enquire for more information Standard 10 Mbps Ethernet 10 BASE T using TCP IP Bit rate may vary if an Ethernet extender is in use Side mounted eight conductor wet mateable Subconn MCBH 8M SS Optional right angle or end mount connector POWER SUPPLY 20 32 VDC at less than 5 Watts DIMENSIONS for both depths 79 4 mm 3 125 diameter x 182 mm 7 125 length WEIGHT In Air 1000 m unit 1 5 kg 3 3 Ibs 3000 m unit 2 kg 4 4 lbs In Water 1000 m unit 0 6 kg 1 3 16 3000 m unit 1 1 kg 2 4 lbs MATERIALS 1000 m unit 6061 T6 Aluminum amp Polyurethane 3000 m unit Titanium Polyurethane amp 300 series stainless steel FINISH Anodize 182 mm 7 2 110 mm 4 3 z in ap OPTIONAL E El RIGHT ANGLE E in CONNECTOR zi Ca eat EE OPTIONALEND F4 HOUSING ei CONNECTOR 23 Lj E M r SIDE VIEW TOP VIEW 881L Imaging LIA rer X 2 445 039 www imagenex com SOFTWARE Win881L exe SPECIFICATIONS
35. se the sonar thoroughly in fresh water This will prevent the accumulation of salt or other contamination and help prevent corrosion of the aluminum and stainless steel parts Clean Transducer Dome The red polyurethane transducer dome should be cleaned with a detergent solution such as dishwashing liquid to remove any oil grease or other deposits which may reduce the acoustic performance of the unit Clean and Lubricate Connector The cable and connector should be washed and coated with a thin film of silicon grease to protect the rubber The connector should be protected from prolonged exposure to sunlight ozone solvents hydrocarbon greases and oils to avoid deterioration of the rubber Underwater Unit Storage After being thoroughly cleaned and dried the underwater unit should be stored in a dry stable location to prevent moisture corrosion and damage from impact Cable Storage The cable should be protected from prolonged exposure to sunlight ozone solvents hydrocarbon greases and oils to avoid deterioration of the rubber Do not use any solvents on the cable or underwater unit as they will compromise the physical integrity of the sonar Service There are no user serviceable components in the sonar and as such all repairs must be directed to Imagenex Technology Corp 209 1875 Broadway Street Port Coquitlam BC Canada V3C 471 Tel 604 944 8248 Fax 604 944 8249 Created on 25 05 2006 Page 1 of 2 881L Care Gui
36. te 20 Data Bits Resolution number of data bits of the returned echo data 8 Data width 8 Bits 1 data point per byte No other values available at this time Page 4 of 9 SWITCH DATA COMMAND con t Byte 21 Reserved Always 0 Byte 22 Profile 0 OFF 1 ON The return data will have an ASCII IPX header Byte 23 Calibrate 0 Normal Operation Calibrate sonar head transducer move to 0 degrees Byte 24 Switch Delay The sonar head can be commanded to pause from 0 to 500 msec before sending its return data to allow the commanding program enough time to setup for the return of the data to 250 in 2 msec increments Byte 24 delay in milliseconds 2 Byte 25 Frequency 675kHz 500kHz 0 200 gt 175kHz to 1175khz in 5kHz increments Byte 25 frequency in khz 675 5 100 Byte 26 Termination Byte The sonar head will stop looking for Switch Data when it sees this byte Always 0xFD 253 decimal Page 5 of 9 SONAR HEAD RETURN DATA Every shot the sonar head returns a 12 Byte header 0 or 500 bytes of echo data and a terminating byte value of OxFC The total number of bytes N returned will be 13 or 513 Byte G or P ID Status 6 to 11 I Range T Rng Prof Rng Data TET LO HI Bytes Bytes LO HI E to Echo Data 2 1 Term OxFC Table 2 Model 881L Sonar Head Return Data 0 or 500 Data Bytes BYTE DESCRIPTIONS Note All Byte values are shown in decimal un
37. to 40 in 1 dB increments Sector Size 3 0 to 120 0 to 360 Degrees in 3 degree increments Train Angle 3 0 to 119 2 0 to 357 Degrees 3 degree increments Page 20 of 23 DATA STORAGE FILE FORMAT 81L con t 4 42 43 44 45 46 47 48 79 80 81 82 99 Reserved always 0 Absorption 1 to 255 0 01 to 2 55dB m in 0 01 dB m increments Profile Grid Zero Data Bits LOGF 4 Data Bits 2 8 Data Bits 2 14 Data Bits Pulse Length 10 to 100 0 to 1000us in IOus increments Profile 0 Off Points Only 2 Low Mix 3 Medium Mix 4 High Mix Sound Velocity T EC in d S If V 0 Sound Velocity 2 1500 0 m s If V 1 Sound Velocity Byte 46 amp 0 7 lt lt 8 Byte 47 10 0 User Text null terminated text string 32 bytes Operating Frequency ES ES ae EE in us Reserved always 0 Page 21 of 23 DATA STORAGE FILE FORMAT 81L con t SONAR RETURN DATA HEADER SONAR RETURN ECHO DATA ZERO FILL The following bytes contain the Sonar Return Data that is acquired directly from the Ethernet port If Header is ASCII IPX Bytes 100 through 112 13 bytes Bytes 113 through 127 15 bytes Zero Fill If Header is ASCII IMX 8 Bit Bytes 100 through 364 265 bytes Bytes 365 through 383 19 bytes Zero Fill If Header is ASCII IGX 8 Bit Bytes 100 through 612 513 bytes Bytes 613 through
38. tween a source and a reflector target based on the echo return time Target The object that you wish to obtain information about IMAGING Fan shaped beam ocans surfaces at shallow angles usually through a horizontal angle Displays color images or pictures Complete echo strength information for each point Primarily for visual interpretation In Imaging a fan shaped sonar beam scans a given area by either rotating or moving in a straight line through a series of small steps see Figure 1 The beam s movement through the water generates points that form a sonar image of the given area The different colored points representing the time or slant range of each echo return plot a line on a video display screen The image consisting of the different colored lines depicts the various echo return strengths The following characteristics are necessary to produce a visual or video image of the sonar image the angle through which the beam is moved is small the fan shaped beam has a narrow angle the transmitted pulse is short the echo return information is accurately treated These visual images provide the viewer with enough data to draw conclusions about the environment being scanned The operator should be able to recognize sizes shapes and surface reflecting characteristics of the chosen target The primary purpose of the imaging sonar is as a viewing tool PROFILING Narrow pencil shaped beams Scans surfaces at a steep angle usually
39. ulse Length ion Defaults Cancel Auto Frequency Setup select Enable to use the pre programmed frequencies absorptions and pulse lengths from the displayed Current Configuration Page 6 of 23 MAIN MENU con t Edit Configuration to display the following User Configuration dialog box The following parameters can be modified for each range Frequency 280 1 100kHz in 5kHz increments Absorption 0 01 2 55dB m in 0 01 dB increments Pulse Length 10 1000us in 10us increments User Configuration Current Configuration D Imagenex rov_sonar cig Frequency kHz Absorption dB m Pulse Length us m 4 m m m 4 a 4 E m 4 m m hm Eo 5 Em 5 mo Es 200 M Note Pulse Length is multiplied by 2 in Polar Load Save As Default Cancel leleleleleleleletelelelelelele to load a previously saved user configuration from disk Save As to save the current user configuration to disk Default to load the factory default configuration The default values for each individual range can be selected by pressing the button labeled D beside each range row Page 7 of 23 MAIN MENU con t Misc Menu Pixel Zoom x2 displays a x2 pixel zoom window in the lower right hand corner of the screen A rectangular area about the cursor is displayed in this window If the left mouse button 1 pressed anywhere i
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