Klein 5000 SERIES User manual

SERIES 5000 AUV V2 SONAR
SYSTEM
Operations and Maintenance Manual
P/N 11214513, Rev. 02
11 Klein Drive
Salem, NH 03079-1249
U.S.A.
Tel: [phone]
Fax: [phone]
www.KleinMarineSystems.com

ii
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
This document contains proprietary information, and such information may not be
disclosed to others for any purpose or used for any manufacturing purpose without
expressed written permission from Klein Marine Systems, Inc. (KMS). The
information provided is for informational purposes only and is subject to change
without notice. KMS assumes no responsibility or liability for any errors,
inaccuracies or omissions that may be present in this document.
The SonarPro software program may be used or copied only in accordance with the
terms of the Software License Agreement.
©Copyright 2008–2016 by Klein Marine Systems, Inc. All rights reserved.
SonarPro®is a registered trademark of Klein Marine Systems, Inc.
K-Wing®and K-Wing II®are a registered trademarks of Klein Marine Systems,
Inc.
Intel®and Pentium®are registered trademarks of Intel Corporation.
Windows®is a registered trademark of Microsoft Corporation.
vxWorks®is a registered trademark of Wind River Systems, Inc.
Kevlar®is a registered trademark of the DuPont Company.

iii
WARNING
Klein Marine Systems recommends all troubleshooting be done by
a trained technician. Some circuits in the Sonar Transceiver and
Processing Unit have voltages as high as 240 volts, and some
circuits in the sonar towfish have 1500 volts. You should
familiarize yourself with the location of these voltages before you
attempt any troubleshooting. Failure to observe these warnings
could result in injuries to personnel.
CAUTION
Serious damage to the sonar electronics may occur if the sonar
towfish is operated out of the water for periods longer than 15
minutes. Let the sonar cool 15 minutes or longer between
operations. Protect the sonar towfish from direct exposure to the
sun prior to and during operation in high temperature climates.
CAUTION
The depth rating on the transducers is 200 meters (656 feet).
Operations at depths greater than 200 meters may damage the
transducers.
STANDARDS
SAFETY: EN 60950
EMC: EN 60945

iv
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
Table of Contents
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
SONAR SYSTEM WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
WHAT IS COVERED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
CONDITIONS OF WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
CHANGES, ERRORS AND OMMISSIONS . . . . . . . . . . . . . . . . . . . . . x
Software License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
What’s in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Note, Warning, Caution, and Shock Hazard Notices . . . . . . . . . . . . . . xiv
Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
CHAPTER 1: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2.1 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2.2 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.3 Deck Cable and 24 VDC Power Supply . . . . . . . . . . . . . . . . . 1-3
1.3 Theory of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.2 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3.3 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
CHAPTER 2: Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Sonar System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2.1 Sonar Processor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2.2 Trigger Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.3 RS-232 COM 1 Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.4 RS-232 COM 2 Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.5 LAN Input/Output Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

v
2.2.6 Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.7 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.2 Transducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.3 Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.4 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.5 A/D Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.6 Multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.7 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3.8 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3.9 Heading Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3.10 Pitch and Roll Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3.11 Pressure Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
CHAPTER 3: Installation and Startup . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Unpacking and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Unpacking the Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Unpacking the Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Mechanical Installation of the Sonar Electronics and the Sonar . . .
Processor 3-1
3.2.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2.2 Isolating from Shock and Vibration . . . . . . . . . . . . . . . . . . . . 3-1
3.3 Connecting the System Components . . . . . . . . . . . . . . . . . . . . . 3-2
CHAPTER 4: Equipment Maintenance . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Maintenance General Comments . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Maintenance Checklists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2.1 Daily Maintenance Checklist . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2.2 Weekly Maintenance Checklist . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.3 Long Term Maintenance Checklist . . . . . . . . . . . . . . . . . . . . 4-2
APPENDIX A: Drawings and Parts Lists . . . . . . . . . . . . . . . . . . . . . A-1

vi
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
List of Figures
Figure 1-1: Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Figure 1-2: Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Figure 1-3: Transducer Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Figure 1-4: Sonar Electronics Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Figure 1-5: Sonar Processor Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Figure 3-1: Series 5000 AUV V2 Sonar System Component Interconnection
Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Figure 3-2: Sonar Electronics Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Figure 3-3: Sonar Processor Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Figure 3-4: Transducer Array Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

vii
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
List of Tables
Table A-1: List of Drawings and Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

viii
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
SONAR SYSTEM WARRANTY
WHAT IS COVERED
LIMITED WARRANTY Subject to the conditions set forth below, equipment
sold by Seller is warranted against defects in materials and workmanship, and
Seller will repair or exchange any parts proven to be malfunctioning under normal
use for one year (12 months) from the date of Delivery as follows:
a) SONAR and other associated manufactured products, with the following
exceptions:
b) All third party accessories, winches, magnetometers, Sonar Laptops or PCs, and
peripherals/accessories and third party software packages related to the Sonar
Product Line are limited to the warranty provided by original manufacturer.
c) This warranty does not apply to tow cables. If applicable, the manufacturer’s
warranty will be forwarded with the equipment.
EQUIPMENT NOT MANUFACTURED BY SELLER Carries only its
vendor’s warranty, which is hereby incorporated by reference.
SERVICE WORK BY SELLER Warrants that ALL service work performed by
Seller’s technical and engineering employees will be performed in a good and
workmanlike manner, but its liability under this warranty is limited to the
obligation to remedy at Seller’s expense any such service work not performed
satisfactorily, upon receipt of written notice within ninety (90) days of the date of
performance of the work.
For authorized onsite service (excluding Side Scan Sonar category referenced as a.
SONAR) in which Seller has to travel to the installed equipment, travel costs (auto
mileage and tolls) up to 100 round trip highway miles and travel time of 2 hours,
will be allowed by Seller. The Overtime premium labor portion of service of
normal working hours is not covered by this Warranty. On-site warranty service is
capped at (4) hours per failure. Travel costs other than auto mileage, tolls and two
(2) hours travel time are specifically excluded on all products and services.
Travel costs which are excluded from coverage of this warranty include, but are
not limited to: taxi, launch fees, aircraft rental, airfare, subsistence, customs,
shipping, communication charges, etc.
During the warranty period, Seller will repair or, at its option, replace any
equipment that proves to be defective. Such repair or replacement is Buyer’s
exclusive right and remedy, and our only obligation, with respect to any defective
equipment.

ix
CONDITIONS OF WARRANTY
a) Seller’s warranty policy does not apply to equipment which has been subjected to
accident, abuse, or misuse, shipping damage, alterations, incorrect and/or non-
authorized service or equipment on which the serial number plate has been
altered, mutilated or removed.
b) A suitable proof of purchase, such as, a paid commercial invoice, an installation
certificate signed by Seller or an authorized agent must be made available to
Seller or Seller’s authorized servicing agent at the time of the Warranty Service.
c) The warranties stated herein are in lieu of all other warranties, expressed or
implied, and of all other obligations or liabilities on the part of Seller. Seller
neither assumes nor authorizes any other person to assume for it any other
liability. The Buyer expressly waives any right, claim or cause of action that
might otherwise arise out of the purchase and use of Seller’s products or service.
d) Warranty is not transferable and only applies to the original Buyer.
e) Warranty does not cover equipment that has been repaired or modified other than
by Seller, or equipment that has been subjected to misuse or to negligent or
accidental mishandling.
f) Except where Seller has performed the installation of specific equipment, Seller
assumes no responsibility for damage incurred during installation of equipment or
by damage caused by no fault of the Seller.
g) This warranty does not cover routine system checkouts or alignment/calibration,
unless required by replacement of part(s) in the area being aligned.
h) Consumable items are specifically excluded from this Warranty.
i) Buyer is responsible for the prepayment of all freight charges, insurance,
customs, imposts, duties, etc., to return defective equipment to Seller and for
Seller to return the repaired or replaced equipment to buyer.
j) Equipment returned for warranty service must be packed to best commercial
standards to prevent shipping damage.
k) Warranty shall be void and Seller shall be released from all obligations under this
warranty if the equipment is operated with components other than those sold or
authorized by Seller.
l) This warranty is strictly limited to the terms and indicated herein, and no other
warranties or remedies shall be binding on Seller including, without limitation,
any warranties of merchantability or fitness for a particular purpose.
m) Repairs and replacements under warranty have the same warranty as the original
product for the remaining balance of the warranty period for the original product
existing prior to notice of the warranty claim.

x
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
Any failure to meet the foregoing conditions of warranty will automatically void
this limited warranty. This warranty gives Buyer specific legal rights, and Buyer
may also have other rights, which vary from State to State, Province to Province or
Country to Country.
DISPUTES Seller and Buyer agree that all disputes in any way relating to, arising
under, connected with, or incident to this agreement, and over which the federal
courts have subject matter jurisdiction, shall be litigated, if at all, exclusively in the
United States District Court for the State of Delaware, and if necessary, the
corresponding appellate courts. Seller and Buyer further agree that all disputes in
any way relating to, arising under, connected with or incident to this contract, and
over which the federal courts do not have subject matter jurisdiction, shall be
litigated, if at all, exclusively in the Courts of the State of Delaware, and if
necessary, the corresponding appellate courts. Seller and Buyers expressly submit
themselves to the personal jurisdiction of the State of Delaware. Before resorting
to litigation, Seller and Buyer agree to enter into negotiations to resolve the
dispute. If Seller and Buyer are unable to resolve the dispute by good faith
negotiation, either Seller or Buyer may refer the matter to litigation.
LIMITATION OF LIABILITY TO THE MAXIMUM EXTENT PERMITTED
BY APPLICABLE LAW, SELLER SHALL NOT BE LIABLE UNDER ANY
THEORY AT LAW, IN EQUITY OR OTHERWISE FOR ANY SPECIAL,
EXEMPLARY, PUNITIVE, INCIDENTAL, INDIRECT, OR CONSEQUENTIAL
DAMAGES (EVEN IF SELLER HAS BEEN ADVISED OF SAME)
INCLUDING, WITHOUT LIMITATION, LOST PROFITS OR REVENUES,
THE ENTIRE LIABILITY OF SELLER FOR ANY CLAIM, LOSS, OR
DAMAGES UNDER ANY THEORY AT LAW, IN EQUITY, OR OTHERWISE,
INCLUDING, BUT NOT LIMITED TO CONTRACT, TORT, (INCLUDING
INTELLECTUAL PROPERTY INFRINGEMENT, AND NEGLIGENCE), AND
STRICT LIABILITY, ARISING OUT OF THIS AGREEMENT OR ANY
INDEMNIFICATION OBLIGATION THEREOF, THE PERFORMANCE OR
BREACH THEREOF, OR THE SUBJECT MATTER SHALL NOT IN ANY
EVENT EXCEED THE SUM OF PAYMENTS ACTUALLY MADE BY BUYER
TO SELLER PURSUANT TO THIS AGREEMENT, ANY ACTION AGAINST
SELLER MUST BE BROUGHT WITHIN ONE (1) YEAR AFTER THE CLAIM
AROSE.
CHANGES, ERRORS AND OMMISSIONS
Klein Marine Systems, Inc. reserves the right to make changes to the design or
specifications at any time without incurring any obligation to modify previously
delivered sonar systems. In addition, while considerable effort has been made to
ensure that the information in this manual is accurate and complete, Klein Marine
Systems, Inc. assumes no liability for any errors or omissions.

xi
Software License Agreement
This Software License Agreement is provided by Klein Marine Systems, Inc.
(KMS) for end users of SonarPro©software for the KMS Series 3000, UUV-3500,
3900, 4900, 5000, 5000 V2, 5900, HydroChart 3500, HydroChart 5000, and
D3500TF Sonar Systems.
YOU SHOULD CAREFULLY READ THE FOLLOWING TERMS AND
CONDITIONS BEFORE USING THIS PRODUCT. IT CONTAINS
SOFTWARE, THE USE OF WHICH IS LICENSED BY KMS, TO ITS
CUSTOMERS FOR THEIR USE ONLY, AS SET FORTH BELOW. IF YOU DO
NOT AGREE TO THE TERMS AND CONDITIONS OF THIS AGREEMENT,
DO NOT USE THE SOFTWARE. USING ANY PART OF THE SOFTWARE
INDICATES THAT YOU ACCEPT THESE TERMS.
LICENSE: KMS grants you a nonexclusive license to use the accompanying
software programs(s) (the "Software") subject to the terms and restrictions set
forth in this License Agreement. You are not permitted to lease, rent, distribute or
sublicense the Software or to use the Software in a time-sharing arrangement or in
any other unauthorized manner. Further, no license is granted to you in the human
readable code of the Software (source code). Except as provided below, this
License Agreement does not grant you any rights to patents, copyrights, trade
secrets, trademarks, or any other rights in respect to the Software.
The Software is licensed to be used on any workstation or any network server
owned by or leased to you, provided that the Software is used only in connection
with one KMS Series 3000, UUV-3500, 3900, 4900, 5000, 5000 V2, 5900,
HydroChart 3500, HydroChart 5000, or D3500TF Sonar System. You may
reproduce and provide authorized copies only of the Software and supporting
documentation for each such workstation or network server for this equipment on
which the Software is used as permitted hereunder. Otherwise, the Software and
supporting documentation may be copied only as essential for backup or archive
purposes in support of your use of the Software as permitted hereunder. You must
reproduce and include all copyright notices and any other proprietary rights
notices appearing on the Software and the supporting documentation on any copies
that you make.
NO ASSIGNMENT; NO REVERSE ENGINEERING: You may not transfer
or assign the Software and/or this License Agreement to another party without the
prior written consent of KMS. If such consent is given and you transfer or assign
the Software and/or this License Agreement, then you must at the same time either
transfer all copies of the Software as well as the supporting documentation to the
same party or destroy any such materials not transferred. Except as set forth above,
you may not transfer or assign the Software or your rights under this License
Agreement.
Modification, reverse engineering, reverse compiling, or disassembly of the
Software is expressly prohibited. You may not translate or create derivative works
of the software or the supporting documentation.

xii
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
BATHYMETRIC PROCESSING ATTRIBUTION: Bathymetric processing
derived from DGA/GESMA publication in IEEE OCEAN'S 05 Europe
Conference Proceedings: "Bathymetric Sidescan Sonar: a System Dedicated to
Rapid Environment assessment, ref: 10.1109/OCEANSE.2005.1511695.
EXPORT RESTRICTIONS: You agree that you will not export or re-export the
Software or accompanying documentation (or any copies thereof) or any products
utilizing the Software or such documentation in violation of any applicable laws or
regulations of the United States or the country in which you obtained them.
TRADE SECRETS; TITLE: You acknowledge and agree that the structure,
sequence and organization of the Software are the valuable trade secrets of KMS.
You agree to hold such trade secrets in confidence. You further acknowledge and
agree that ownership of, and title to, the Software and all subsequent copies thereof
regardless of the form or media are held by KMS.
UNITED STATES GOVERNMENT LEGEND: All technical data and
Software are commercial in nature and developed solely at private expense. The
Software is delivered as Commercial Computer Software as defined in DFARS
252.227-7014 (June 1995) or as a commercial item as defined in FAR 2.101(a) and
as such is provided with only such rights as are provided in this License
Agreement, which is KMS's standard commercial license for Software. Technical
data is provided with limited rights only, as provided in DFAR 252.227-7015
(Nov. 1995) or FAR 52.227-14 (June 1987), whichever is applicable. You agree
not to remove or deface any portion of any legend provided on any licensed
program or documentation delivered to you under this License Agreement.
TERM AND TERMINATION: This license will terminate immediately if you
fail to comply with any term or condition of this License Agreement. Upon such
termination you agree to destroy the Software and documentation, together with all
copies and merged portions in any form. You may terminate it at any time by
destroying the Software and documentation together with all copies and merged
portions in any form.
GOVERNING LAW: This License Agreement shall be governed by the laws of
the State of New Hampshire, USA. You agree that the United Nations Convention
on Contracts for the International Sales of Goods (1980) is hereby excluded in its
entirety from application to this License Agreement.
LIMITED WARRANTY; LIMITATION OF LIABILITY: All warranties and
limitations of liability applicable to the Software are as stated in the product
manual accompanying the Software. Such warranties and limitations of liability
are incorporated herein in their entirety by this reference.
SEVERABILITY: In the event any provision of this License Agreement is found
to be invalid, illegal or unenforceable, the validity, legality and enforceability of
any of the remaining provisions shall not in any way be affected or impaired and a
valid, legal and enforceable provision of similar intent and economic impact shall
be substituted therefore.

xiii
ENTIRE AGREEMENT: This License Agreement sets forth the entire
understanding and agreement between you and KMS supersedes all prior
agreements, whether written or oral, with respect to the Software, and may be
amended only in a writing signed by both parties.
Preface
The Series 5000 AUV V2 Sonar System is a multibeam sonar comprising a Sonar
Electronics component and a Sonar Processor component and is designed for
installation on board an AUV.
What’s in This Manual
This operations and maintenance manual provides information pertaining to the
setup and deployment, operation, general maintenance, and troubleshooting of the
Series 5000 AUV V2 Sonar System. The manual is divided into the following four
main chapters and one appendix:
Chapter 1: Overview. Presents an overview of the Series 5000 AUV V2
Sonar System components, including both functional and physical descriptions
of the system.
Chapter 2: Specifications. Provides detailed physical and performance
specifications for the main components of the system.
Chapter 3: Preparation for Use. Provides instructions for unpacking and
setting up the Series 5000 AUV V2 Sonar System components. It also includes
a pre-survey checkout procedure.
Chapter 4: Equipment Maintenance. Provides checklists for daily,
weekly, and long term inspection and service.
Appendix A: Drawings and Parts Lists. Provides drawings and parts lists
for reference and troubleshooting purposes.

xiv
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
Note, Warning, Caution, and Shock Hazard Notices
Where applicable, note, warning, caution, and shock hazard notices are included
throughout this manual as follows:
Customer Service
KMS technical support can be contacted using any of the following means:
Mail
Klein Marine Systems, Inc.
11 Klein Drive
Salem, NH 03079
Email
[email protected]
Telephone
[phone]
Facsimile
[phone]
For more information about KMS and our products, please go to our Web site at
www.KleinMarineSystems.com.
NOTE Recommendations or general information that is particular to the
material being presented or a referral to another part of this manual or to
another manual.
WARNING Identifies a potential hazard that could cause personal injury
or death to yourself or to others.
CAUTION Identifies a potential hazard that could be damaging to
equipment or could result in the loss of data.
SHOCK HAZARD Identifies a potential electrical shock hazard that could
cause personal injury or death to yourself or to others.

1-1
CHAPTER 1: OVERVIEW
The Series 5000 AUV V2 Sonar System is a modified Series 5000 V2 Sonar
System that is designed to be installed and operated on board an AUV and
interfaced with a remote AUV host controller. And like the Series 5000 V2 Sonar
System, it provides high resolution side scan imagery.
1.1 Features
The Series 5000 AUV V2 Sonar System has the following capabilities:
• High speed, high resolution, multibeam side scan sonar.
• 14-bit digital multiplexer for transmission of sonar and control
data over a single coaxial cable.
• Data can be stored to local hard disk, if optionally equipped, or
remotely stored to a hard disk on the AUV host over a network file
system (NFS) protocol.
• Flexible and expandable system configurations.
1.2 Equipment
The Series 5000 AUV V2 Sonar System equipment consists of the Sonar
Electronics Sonar Electronics, which is shown in Figure 1-1; the Sonar Processor
Sonar Processor, which is shown in Figure 1-2; a deck cable; a power supply; and
various interconnect cables.
1.2.1 Sonar Electronics
The Sonar Electronics includes the electronics for operating the sonar, receiving
and demultiplexing the control signals from the Sonar Processor and multiplexing
and transmitting the sonar and auxiliary sensor signals to the Sonar Processor. The
Sonar Electronics connects to two transducer arrays which are included.
The Sonar Electronics performs all of the sonar data processing prior to digital
transmission to the Sonar Processor. This minimizes the system’s susceptibility to
externally induced electronic noise. Processing includes transmit/receive
functions, time varied gain (TVG) amplification, digitalization, and multiplexing
of the sonar uplink data. Timing and sonar data are bidirectionally multiplexed on
a single conductor coaxial cable. Use of a low noise preamplifier design ensures
maximum range performance.

1-2 CHAPTER 1 Overview
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
Figure 1-1: Sonar Electronics
Figure 1-2: Sonar Processor

Theory of Operation 1-3
1.2.2 Sonar Processor
The Sonar Processor includes the electronics for processing the sonar data,
multiplexing and transmitting the control signals to the Sonar Electronics, and
receiving and demultiplexing the sonar and auxiliary sensor signals from the Sonar
Electronics.
1.2.3 Deck Cable and 24 VDC Power Supply
A deck cable and a 24 VDC power supply is included with the 5000 AUV V2
Sonar System for operating and testing the system on deck.
1.3 Theory of Operation
This section provides a detailed functional description of the Series 5000 AUV V2
Sonar System operation.
1.3.1 Introduction
The Series 5000 AUV V2 Sonar System is a simultaneous multiple swath-forming,
side-looking sonar intended for high speed, high resolution survey use. The two
primary drawbacks of conventional side-looking sonars, along-track resolution
and towing speed limitation, have been addressed by simultaneously forming
multiple dynamically focused beams per side, per ping. This allows greater towing
speeds without the usual loss of bottom coverage, while maintaining high
resolution. Also, the formed swaths are focused dynamically with across-track
range, thereby offering an inherently improved along-track resolution over
unfocused systems.
The Series 5000 V2 departs from previous multibeam systems in that the swath
forming process is implemented digitally using digital signal processing (DSP),
rather than analog delay lines, phase shifters, or multipliers and adders. The
primary advantage of this technique is a reduction in the size and weight of the
towfish. This affords a concomitant reduction in the size of the required survey
vessel and ancillary equipment, such as a winch and crane. Other advantages
include more flexibility in the swath processing, allowing software control of
operating parameters. Previously this would have required hardware changes.
The Series 5000 AUV V2 architecture is composed of the Sonar Electronics and
the Sonar Processor. The Sonar Electronics contains the transducer arrays and
electronic subsystems for transmission, reception and data acquisition, and
telemetry. The Sonar Electronics also includes standard and optional sensors for
the monitoring of the AUV position and motion dynamics, pressure, depth and
altitude (acoustically measured), temperature, and other pertinent information. The
Sonar Processor processes the data from the Sonar Electronics. It also serves as a
control/data/power interface with the AUV host electronics over an Ethernet
connection.

1-4 CHAPTER 1 Overview
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
1.3.2 Sonar Electronics
The Sonar Electronics is composed of the Sonar Electronics housing and the
transducer arrays which are shown in Figure 1-3.
The two transducer arrays are each composed of 12 piezoelectric ceramic
sub-arrays, which operate as receive elements, and a single transmit array. Each set
of 12 sub-arrays is arranged into a continuous line array spanning an overall
aperture of 1.2 meters.
The Sonar Electronics is divided into five individual boards: a Transmitter board,
two Receiver boards, a Sensor Interface board, and a Multiplexer board. A block
diagram of the Sonar Electronics is shown in Figure 1-4.
Figure 1-3: Transducer Arrays
NOTE The transducers are side specific and are not interchangeable.

Theory of Operation 1-5
Transmitter board. The Transmitter board produces a transmit pulse, at the
start of a swath, that ensonifies the sea floor over a defined footprint. The
Transmitter board is composed of two individual transmitting channels, one
connected to the port array and the other connected to the starboard array. The
transmitters operate at a center frequency of 455 kHz and support both CW and
chirp waveform transmission. The Transmitter board also contains transmit
and receive circuitry for the downward looking altimeter.
Receiver boards. The Receiver boards process the backscatter information
by applying fixed gain, time varied gain (TVG) and frequency filtering to the
input voltage signals received from the individual sub-arrays in the transducer
arrays. There are two Receiver boards, one for the port array and one for the
starboard array.
Each of the receiver channels is bandpass filtered with tightly matched filters
providing a -3dB bandwidth of 20 kHz, centered at 455 kHz. The filtered
signal is then output to the Multiplexer board for subsequent sampling.
Sensor Interface board. The Sensor Interface board conditions sensor data
from the compass board, depth pressure sensor, altimeter, and optional devices
for subsequent multiplexing and transmission to the TPU.
Figure 1-4: Sonar Electronics Block Diagram

1-6 CHAPTER 1 Overview
Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02
Multiplexer board. The Multiplexer board digitizes the signals from each of
the transducer sub-array channels along with the signals from the sensors,
encodes the data, and transmits a high baud rate digital data stream to the TPU
via the tow cable. The Multiplexer board also receives the trigger signal and
command messages which instruct the Transmitter board to fire the arrays and
configure aspects of Sonar Electronics operation. The Multiplexer board also
acts as a motherboard for the other boards providing the connections and
distributing power.
The Multiplexer board uses a proprietary sampling scheme that preserves the
phase of the individual channel signals, but only requires a single A/D
converter, thereby reducing cost and power consumption while eliminating the
phase mismatch between converters of alternate dual converter schemes. The
output of the A/D is input to the data encoder and converted to serial data for
subsequent transmission up the tow cable.
A full duplex hybrid allows data transmission up the cable while
simultaneously receiving the FSK trigger signals and power. The downlink
signals are input to FSK demodulators, and the baseband outputs are routed to
the Transmitter board, indicating when to fire the main array, and to a micro
controller that handles Sonar Electronics configuration.
1.3.3 Sonar Processor
The Sonar Processor provides signal processing along with the system control and
data telemetry functions. The Sonar Processor is composed of an Intel based
processor in a PC-104 form-factor, a demultiplexer and 5 VDC and 3.3 VDC
power supplies. A block diagram of the Sonar Processor is shown in Figure 1-5.
Figure 1-5: Sonar Processor Block Diagram