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1. BATLHMSWATH Bathyswath Getting Started OEM Supplement Bathyswath Email support bathyswath com Web www bathyswath com Issue 1 1 Dec 2013 Bathyswath This is an unpublished work the copyright in which vests in Bathyswath All rights reserved The information contained herein is the property of Bathyswath and is supplied without liability for errors or omissions No part may be reproduced or used except as authorized by contract or other written permission The copyright and the foregoing restriction on reproduction and use extend to all media in which this information may be embodied Bathyswath Getting Started OEM Supplement Contents This Page Intentionally Left Blank Issue 1 1 Dec 2013 Page ii Bathyswath Getting Started OEM Supplement Contents Contents Contents iii Preface v 1 General Description 1 1 1 1 System Description 1 1 1 2 OEM Version 1 2 1 3 Hardware 1 2 1 4 Software 1 4 2 Hardware Installation and Deployment 2 1 2 1 General Installation 2 1 2 2 Installing the TEMs 2 1 2 3 Installing Transducers 2 10 3 Reference 3 1 3 1 Glossary 3 1 3 2 Bathyswath Web Page 3 4 3 3 Bathyswath Support 3 4 Issue 1 1 Dec 2013 Page iii Bathyswath Getting Started OEM Supplement Preface Preface This document provides additional information to the main Bathyswath Getting Started manual for use with the OEM version of the product Refer to the main Getting Started document for informatio2. Section 2 Hardware Installation Fix a piece of electrician s tape to the body of the Master Plug to identify it LEMO body Pin Block Locators Cable clamp Backshell Figure 12 Sync Cable for 3 TEMs 2 2 8 Auxiliary Connector The connector to the right of the Synch connector is used for special purposes and is not normally connected in most systems 2 2 9 TEM Transducer Connector A Bathyswath transducer is connected to each TEM using the transducer connector By default the software assigns port 1 to the lowest numbered serial number transducer the software reads the serial number through the USB port port 2 to the next and so on Port 1 is assigned as the port transducer and port 2 as the starboard transducer Issue 1 1 Dec 2013 Page 2 6 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation The wiring of the Bathyswath transducer connectors in the standard TEM is shown in Figure 2 13 TIU Pin letter on 26 way Connector Function Description B Stave A Stave A SCREEN Stave A Stave B Stave B SCREEN Stave B Stave C Stave C SCREEN Stave C Stave D Stave D SCREEN Stave D O 0 mi N o FT N rl Z ov DvD gt SCREEN TX TX TX The different transducer frequency versions are encoded in pins W X Y c and b These codes are implemented in the transducer conn
3. a 4 pin Molex a mating connector is shown below Pin Colour Function 1_ _ Nellow 12 v 2 Black Ground 3 Black Ground 4 Rea _ 5v Figure 10 TEM Power Connector Mating Table 1 TEM Power Connector Power Pin Out Lead Each TEM takes less than 10W mostly on the 5V input 2 2 5 TEM USB Connector Each TEM board is fitted with a standard B type USB connector which connects to standard USB A B cables 2 2 6 PPS Connector If system timing is to use PPS signals see the main Getting Started manual for advice on system timing methods connect the PPS input signal to the TEM using a standard BNC connector 2 2 7 Synch Cable The connector next to the PPS BNC connector is used to synchronise two or three TEM boards together this is needed for synchronous transmit operations Bathyswath cable part 01320 is needed for this contact Bathyswath to supply one if needed Figure 6 shows the revision 2 board the later revision 5 boards use a Lemo connector in this location Note that one of the TEMs is set to be the master this is set by a special link in one of the connectors on the cable Fix a piece of electrician s tape to the body of the Master Plug to identify it LEMO body Pin Block Locators Cable damp Backshell Figure 11 Synch Cable for 2 TEMs Issue 1 1 Dec 2013 Page 2 5 Bathyswath Getting Started OEM Supplement
4. a human operator A commonly used format for serial data connections Real time kinematic GPS an accurate form of GPS measurement Recording the time of a data sample using a clock maintained inside the sensor itself Compare with PC Clock The file used by the Swath Processor application to store its settings Uses a sxs file extension Images of the seabed using the amplitude strength of the acoustic returns from the seabed These are usually represented as grey pixels in a waterfall display on the screen with the brightness of pixels representing the strength of the signal The maximum reach of the sonar measured in a direct line from the sonar transducers to the seabed compare with Horizontal range Reduction of the amplitude of the sonar signal as it passes through the water Change in height of a vessel in the water as the vessel moves An area of the seabed is usually surveyed by running a series of parallel straight lines across it The Swath Processor application A ribbon of seabed depth measurements made up of a series of profile measurements of depth as the sonar is moved forwards over the seabed Previous versions of the Bathyswath sonar were called SWATHplus Measuring the depth in a line extending outwards from the sonar transducer then moving forwards to build up swaths A data format used to transfer data over Ethernet UDP is another type TCP IP is a more reliable pr
5. ducers at the correct mounting angles For dedicated use on a small vessel or platform the user may prefer to Issue 1 1 Dec 2013 Page 1 1 Bathyswath Getting Started OEM Supplement Section 1 General Description 1 2 mount the transducers directly onto the platform The two transducers should be fixed facing downwards at an angle of approximately 30 from the horizontal with one facing port and the other starboard In this case the transducer mounting bracket is not required Transducer drawings and further advice are available from Bathyswath on request e Transducer pole this allows the mounting bracket to be mounted over the side of a vessel or similar It is provided in four easily separated sections for easy transport e Bow mounting kit fixes the transducer pole to the bow of a vessel includes an angle bracket which holds the transducers level on a sloping bow e Laptop computer configured for use with Bathyswath This can be used for preparing survey session plans and for post processing collected data It is provided complete with an Ethernet to serial unit for interfacing to auxiliary sensor systems Bathyswath is available in three sonar frequencies The 468 kHz version is most applicable to very small platforms due to the small size and light weight of the transducers and the higher spatial resolution of the imaging OEM Version In the OEM version only the main transducer electronics modules TEMs and
6. ectors as follows Implementation Pins W Y and b linked together 2 34 Pins X c and b linked together 468 Pins c and b linked together Issue 1 1 Dec 2013 Page 2 7 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation Transducer Select Figure 2 13 TIU Transducer Connector Layout Issue 1 1 Dec 2013 Page 2 8 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation 2 2 10 Transducer Connector The standard Bathyswath transducers are supplied with short cable tails fitted with an underwater connector as described below The AUV version of the transducers are not fitted with connectors because different vehicles need different termination arrangements Instead they are supplied with bare ended cable tails with the function of each wire described on labels attached to each cable core On the transducer 1 metre tail the connections are as follows Pin number on Function Description Colour 16 way con 15 Stave A White 14 Stave A Blue 4 SCREEN Stave A N A 13 Stave B White 12 Stave B Orange 3 SCREEN Stave B N A 10 Stave C White 9 Stave C Yellow 2 SCREEN Stave C N A 8 Stave D White 7 Stave D Green 1 SCREEN Stave D N A 6 TX White 16 TX Red 5 SCREEN TX N A 11 Overall Screen Overall Screen N A Issue 1 1 Dec 2013 Page 2 9 Bathyswath Getting Started OEM Supplemen
7. housings 1 3 2 Transducer Electronics Modules TEMs The Transducer Electronics Modules connect the sonar transducers to the PC computer One Transducer Electronics Module is used for each sonar transducer Each Transducer Electronics Module TEM contains a single printed circuit board PCB with flexible connections to the computer and sonar transducer It is thus extremely robust The TEM on board data processing is implemented in a large FPGA The TEM PCB has sub sections performing the following functions e Transmitter which sends an electrical pulse to the sonar transducers This makes the sonar pulse e Analogue Receiver which amplifies the returned echo signals and produces sidescan amplitude data The Bathyswath analogue circuits provide very high gain and low noise enabling signals below acoustic sea noise to be measured The limiting factor to performance is therefore determined only by the external environment e Phase Interface which receives the amplified sonar signals measures the phase differences between them and converts the sidescan data into digital form 1 3 3 USB system interface Each Transducer Electronics Module TEM is connected to the PC computer using an industry standard USB connection Up to 4 TEMs can be connected to one PC although two or three are the usual number If the sonar system needs to be mounted at a distance from the computer then the USB interface can be extended using a commercial USB e
8. m overlapping survey runs Personal Computer Recording the time of a data sample using the time of the computer s clock at the instant the sample is received in the software Compare with Sensor Clock Phase Differencing Bathymetric System see Interferometer A complete transmit receive cycle measuring depth and sidescan information over a profile of the seabed Also sometimes used to refer to just the transmitted acoustic signal Processing sonar data after it has been collected compare with real time Ping or pulse repetition frequency the number of pings emitted per second A 2D set of depth measurements usually taken sideways from a survey vessel Power Supply Unit Quality assessment Issue 1 1 Dec 2013 Page 3 2 Bathyswath Getting Started OEM Supplement Section 3 Reference Raw data file Real time RF RIB ROV RS232 RTK Sensor Clock Session file Sidescan Slant range Spreading loss Squat Survey line Swath swath SWATHplus Swath sounding TCP IP TEM Third party software TIU Transducer TVG The file used by the Swath Processor application to store raw data Uses an sxr file extension Data processing at the same time as data is collected compare with Post processing Radio frequency Rigid inflatable boat Remotely operated vehicle an unmanned underwater vehicle that is connected to a surface vessel by a cable and controlled by
9. n on how to set up the system and its software This document gives information on the interfaces that are not exposed in the standard version of Bathyswath This manual refers to Bathyswath V1 OEM Issue 1 1 Dec 2013 Page v Bathyswath Getting Started OEM Supplement Contents This Page Intentionally Left Blank Issue 1 1 Dec 2013 Page vi Bathyswath Getting Started OEM Supplement Section 1 General Description 1 General Description 1 1 System Description Bathyswath is a wide swath bathymetry and sidescan imaging system The standard basic sonar system consists of the following components e Transducer Interface Unit TIU This contains the main system electronics and connects the sonar transducers to a PC computer e Sonar transducers one facing port and one facing starboard In the base system the user mounts the transducers to a suitable location on their vessel Additional mounting hardware is optionally available see below e Bathyswath software suite for installation on the Customer s PC computer The Bathyswath software supports real time data acquisition post processing and interfaces to most third party software suites Figure 1 1 The Bathyswath base system comprises a Transducer Interface Unit left shows one type others are available and two sonar transducers Bathyswath H shown right Further optional components include e Transducer mounting bracket a V bracket which holds the two trans
10. otocol but is slightly slower Transducer Electronics Module provides the input and output electronics for one sonar transducer Software that is produced by organisations other than Bathyswath or its clients Transducer Interface Unit the blue box containg the TEMs The component that is placed in the water and converts sound energy into electrical signals and vice versa Time varying gain an adaptable gain correction applied to sidescan data to remove the gross changes in amplitude caused by range and transducer beam shape leaving an image of the seabed itself Issue 1 1 Dec 2013 Page 3 3 Bathyswath Getting Started OEM Supplement Section 3 Reference UDP UPS USB USV UTC UTM UUV V bracket XTF xyz xyza ZDA User Datagram Protocol see TCP IP Uninterruptible Power Supply a power supply that maintains a mains power supply from battery if the mains supply e g from a generator fails Universal Serial Bus A common computer peripheral interface Unmanned surface vehicle Coordinated Universal Time a time zone equivalent to GMT Universal Transverse Mercator a commonly used format for representing latitude and longitude positions in a plane representation as Easting and Northing Unmanned underwater vehicle usually synonymous with AUV The V shaped mechanical assembly that holds a pair of transducers An industry standard data format commonly used for sidescan data These files use a
11. re boards as required by the client 2 2 1 TEM Case Figure 3 TEM in Case The dimensions and fixing hole locations are identical to old style 5 25 computer disk drives and similar peripherals The power supply connection is also exactly the same as those devices Issue 1 1 Dec 2013 Page 2 1 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation Figure 4 TEM Case Side and Top View Page 2 2 Dec 2013 Issue 1 1 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation les g M3 0x0 5 240 M3 0x0 5 Figure 5 TEM Case Front View 2 2 2 TEM PCB The external interfaces of the TEM PCB are all exposed to the outside of the case The PCB is shown below installed in a case with the cover removed ae eatin oe eae Figure 6 TEM PCB Front View Issue 1 1 Dec 2013 Page 2 3 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation Figure 8 TEM PCB Digital amp Power Sections Si m Figure 7 TEM PCB Analogue Section 2 2 3 Mounting the PCB The TEM PCB has five mounting holes which take M3 screws See below and Figure 4 top view for the locations of these holes 137 0 EMC can Figure 9 TEM PCB Mounting Issue 1 1 Dec 2013 Page 2 4 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation 2 2 4 TEM Power Connector The TEMs are supplied power through
12. rocessing PRF Profile PSU QA The file used by the Grid Processor application to store its data Uses an sxg file extension The Grid Processor application The maximum reach of the sonar measured horizontally along the seabed compare with Slant range Measurement of physical characteristics of waters commonly used to refer to those measurements and descriptions of navigable waters necessary for safe navigation of vessels A sonar system that measures depths by comparing the phase of the signal received on a set of vertically separated transducer staves Also called Phase Differencing Bathymetric System PDBS A unit that provides mains 120 or 240V AC power supply from a DC supply usually from a battery The distance between survey lines run across the seabed Line Voltage Conditioner a unit that cleans a power supply to reduce the effects of noise or possibly damaging spikes in the supply See Beam former National Marine Electronics Association the NMEA 0183 format is commonly used to send data from marine electronics equipment such as compasses and positioning systems Unwanted signal Network Time Protocol a method for synchronising computer clocks over a network The electronic user manual that is accessed directly from the Swath software A method used to calibrate the relative locations and angles of the components of a survey system by comparing depth results fro
13. rs provide Ethernet interfaces but where they do they are preferable because they are faster and therefore the delay between sending and receiving is shorter and because they contain more information For example such interfaces generally attach the time at which the data was valid with the string This allows the Bathyswath user to opt to use the sensor time for processing rather than the PC time See section Error Reference source not found for details 1 3 6 Personal Computer PC The PC serves as the man machine interface Commands may be entered via the mouse and keyboard A wide range of displays is available which allow the operator to control and monitor the operation of the sonar system In OEM systems this computer could be a single board computer At present only Windows operating systems are supported by the Bathyswath software 1 4 Software The system software works the same way with Bathyswath OEM as it does with the standard product Refer to the main Getting Started manual and the Online Help for more details Issue 1 1 Dec 2013 Page 1 4 Bathyswath Getting Started OEM Supplement Section 2 Hardware Installation 2 Hardware Installation and Deployment 2 1 General Installation See the main Getting Started manual for information on mounting the sonar transducers and integrating to external systems 2 2 Installing the TEMs The Transducer Electronics Modules TEMs are supplied either in metal cases or as ba
14. sonar transducers are supplied together with the Bathyswath software The user is expected to install these components in their own system for example underwater vehicles or sonar systems integrated into custom built equipment cabinets The system options for mounting transducers etc are also available to OEM clients on request 1 3 Hardware 1 3 1 General description The main components of a standard Bathyswath system are sonar transducer s Transducer Electronics Module s TEMs in a Transducer Interface Unit TIU and a PC computer Data is recorded by the PC computer onto disk Data may be archived onto standard PC e g stored on an external USB disk drive Issue 1 1 Dec 2013 Page 1 2 Bathyswath Getting Started OEM Supplement Section 1 General Description PC Computer Auxiliary Sensors Position e Motion Sensor Compass e e e e e e e Electronics Transducer Electronics Modules TEMs in Transducer Interface Unit Sonar Transducers TIU Interface the sonar transducers to the Piezo electric elements PC and arranged in horizontal rows No Produce transmit signal active electronic components Amplify received signal Digitise signal and transmit it to PC Encased in nylon or polyurethane Figure 1 2 Bathyswath Hardware Block Diagram In the OEM version only the TEMs and transducers are supplied and users install the TEMs in their own electronics
15. t Section 2 Hardware Installation 6 di Transmit Stave 15 5 oe Stave A StaveC 9 Stave B gt am lt lt View 2 3 Installing Transducers 2 3 1 Mounting The mounting details for the standard transducers are given in the main Getting Started manual OEM systems may be supplied on request with AUV transducers AD 089 02 M6 MOUNTING SLOT PORT HOUSING 15 20 POLYEURETHANE ENCAPSULANT Figure 14 AUV Transducer Dimensions Issue 1 1 Dec 2013 Page 2 10 Bathyswath Getting Started OEM Supplement Section 3 Reference 3 Reference 3 1 Glossary Issue 1 1 PPS 3D AGDS ASCII Attitude AUV Bathymetry Bathyswath H Bathyswath L Bathyswath M Beam former CAD CD Chart datum COTS DC DGPS DTM DVD EMC Ethernet FPGA GMT GPS Grazing angle A system of electronic pulses for synchronising subsystem clocks Three dimensional Acoustic Ground Discrimination System a system that uses data from an echosounder to determine the type of the seabed A common computer format for human readable text data The angular orientation of the system Autonomous underwater vehicle Measuring depth High frequency Bathyswath variant working at 468kHz Low frequency Bathyswath variant working at 117kHz Medium frequency Bathyswath variant working at 234kHz A sonar system that generates discrete beams of angular measurement to the seabed Synonymo
16. us with multibeam Computer aided design computer software drawing packages Compact disk A nationally or internationally agreed baseline for height measurement Commercial off the shelf i e bought from a shop rather than specially built for a one off job Direct current Differential GPS improves the accuracy of basic GPS by comparing the position obtained by a GPS system with that obtained at a fixed GPS station at a known location Digital Terrain Model a digital map of the seabed where depth and sidescan data are stored with reference to their geographical position Digital versatile disk Electromagnetic compatibility robustness to external electrical noise signals and limiting transmission of such unwanted signals A commonly used method for connecting computers together in local networks Field Programmable Gate Array a digital electronic logic chip that can be programmed to carry out a set of tasks Greenwich Mean Time time zone the Bathyswath software works in GMT Global Positioning System the most commonly used satellite positioning system The angle that a sound beam makes with the seabed Dec 2013 Page 3 1 Bathyswath Getting Started OEM Supplement Section 3 Reference Grid file Gridproc Horizontal range Hydrography Interferometer Inverter Line spacing LVC Multibeam NMEA Noise NTP Online help Patch test PC PC Clock PDBS Ping Post p
17. xtender or USB to Ethernet converter Alternatively a remote compact computer unit can be installed close to the sonar system and auxiliary sensors Issue 1 1 Dec 2013 Page 1 3 Bathyswath Getting Started OEM Supplement Section 1 General Description which then acts as a data storage and control unit for the sonar This remote unit can then be operated over a network link either cable or Wireless using standard remote interface software This latter option is useful for remote systems such as USVs unmanned surface vehicles UUVs unmanned underwater vehicles and towed vehicles 1 3 4 Software The Bathyswath software operates in Windows 7 Vista XP and 2000 Commands may be entered via the mouse and keyboard A wide range of displays is available which allow the operator to monitor and control the operation of the sonar system 1 3 5 Auxiliary interfaces The operating software supports ports to allow real time interfaces to other survey suite sensors including Motion Measurement Position DGPS RTK DGPS and Heading NMEA 0183 format It also supports multiple information streams from integrated systems such as the CodaOctopus F180 Tide height information can be input manually either from a telemetry system or in post processing Water speed of sound profiles may be input manually after speed of sound dips or in post processing Interfaces are supported using RS232 serial ports and Ethernet UDP ports Not all attitude senso
18. xtf file extension A position in three dimensional space Three dimensional position plus amplitude An NMEA 0813 protocol message that is used with PPS signals to synchronise subsystem clocks 3 2 Bathyswath Web Page Latest information on Bathyswath and related products can be found on the Bathyswath web page www bathyswath com 3 3 Bathyswath Support Technical support is available from Bathyswath Time limited support may be provided with the sale after which yearly support packages can be purchased A convenient route to support is to email support bathyswath com Issue 1 1 Dec 2013 Page 3 4
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