Kongsberg 1007D User manual

Kongsberg Maritime
Operator manual
1007D
Altimeter series

974-72007001/1.0
1007D Altimeter Series
Operators manual

Document revisions
Version Date Written by Checked by Approved by
1.0 August 06, 2010 BK BC BC
Document history
Version 1.0 - First release
About this document
The information contained in this document is subject to change without prior notice.
Kongsberg Mesotech Ltd. shall not be liable for errors contained herein, or for incidental or
consequential damages in connection with the furnishing, performance, or use of this
document.
© 2008 Kongsberg Mesotech Ltd. All rights reserved. No part of this work covered by the
copyright hereon may be reproduced or otherwise copied without prior permission from
Kongsberg Mesotech Ltd.

1007D Altimeter Operators Manual 974-72007001/1.0
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Table of contents
1GENERALDESCRIPTION....................................................................................................................1
1.1FEATURES................................................................................................................................................1
1.2OPTIONS.................................................................................................................................................2
1.3INTRODUCTION.........................................................................................................................................2
2THEORYOFOPERATION...................................................................................................................5
2.1OPERATINGMODE....................................................................................................................................8
2.2RANGERESOLUTION..................................................................................................................................9
2.3OVER‐RANGECONDITION.........................................................................................................................10
2.4RECEIVERGAINADJUSTMENT....................................................................................................................11
2.5AUTO‐GAINADJUSTMENT.......................................................................................................................11
3INSTALLATION................................................................................................................................13
3.1MOUNTINGPOSITION..............................................................................................................................13
3.2ELECTRICALCONNECTION.........................................................................................................................14
3.3SYSTEMCHECKOUT.................................................................................................................................16
3.4DEPLOYMENT.........................................................................................................................................17
3.5MAINTENANCE.......................................................................................................................................17
4TELEMETRY....................................................................................................................................18
4.1808MODEMESSAGES............................................................................................................................19
4.1.1UplinkMessages.......................................................................................................................19
4.1.2DownlinkMessages..................................................................................................................20
4.2809MODEMESSAGES............................................................................................................................21
4.2.1UplinkMessages.......................................................................................................................21
4.2.2DownlinkMessages..................................................................................................................22
5OPTIONS........................................................................................................................................32
5.1HARDWAREHOLD‐OFF.............................................................................................................................32
5.2EXTERNALSYNCHRONIZATION....................................................................................................................32
5.3AUXILIARYSERIALOUTPUT........................................................................................................................33
5.4ANALOGOUTPUT....................................................................................................................................33
5.5ALTIMETERRECONFIGURATIONUTILITY........................................................................................................34
6TIPSFORSUCCESSFULALTIMETRY..................................................................................................36
7APPENDIX‐1007DALTIMETERALTITUDEDETECTIONALGORITHM.................................................38

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1007D Altimeter Operators Manual 974-72007001/1.0
General Description Page 1
Kongsberg Mesotech Ltd.
Port Coquitlam, BC - Canada
1GENERAL DESCRIPTION
The 1007D digital altimeters are small, rugged, light-weight
instruments for deep ocean applications, where dimensions
and weight are key equipment selection factors. The 1007D is
ideally suited for applications such as positioning, berthing,
measurement of above-seabed altitude or depth below the
water surface.
1.1 Features
200 kHz transmit frequency standard (120 kHz or 675
kHz optional)
Configurable settings for operating parameters (range,
resolution, firing rate, pulse width, etc.)
Configurable settings for detection parameters (threshold,
range, return pulse width, etc.)
First or peak-level return based obstacle/bottom detection
Adjustable threshold based range measurements
User selectable range windowing control
RS485 or RS232 serial interface standard
3 basic models available - standalone analog output,
standalone digital serial output, and MS1000 mode (for
use with MS1000 system)
808, 809, or NMEA output data formats
Adjustable manual gain or automatic gain offset modes
Compatible with Kongsberg Mesotech's MS1000 PC-
based sonar imaging / data-logging software. Scope-graph
and echo sounding available when operating with
MS1000 software.

974-72007001/1.0 1007D Altimeter Operators Manual
Page 2 General Description
Kongsberg Mesotech Ltd.
Port Coquitlam, BC - Canada
1.2 Options
RS422 serial interface
analog output
electrical hold-off control
multi-head ping synchronization
second serial output for vehicle servo control
connector options (contact factory)
1.3 Introduction
The Model 1007D acoustically measures underwater altitude
at high resolution, producing a digital and/or analog output
proportional to range.
It is primarily intended for remote operation where its output
will be connected to a remote PC or MS1000 host, or to other
instrumentation such as a data acquisition system or a
telemetry system. Consequently, the 1007D does not have any
operating controls nor does it have a display.
The 1007D’s processing features, flexibility, and performance
are designed to address the requirements of many applications
and deployment scenarios. Many of its sonar acquisition and
echo verification parameters such as pulse width, receiver
gain offset, range limits, and sensitivity are all programmable.
Altitude measurements can be output via a serial interface in a
number of selectable formats for various interfacing
requirements.

1007D Altimeter Operators Manual 974-72007001/1.0
General Description Page 3
Kongsberg Mesotech Ltd.
Port Coquitlam, BC - Canada
The 1007D is capable of measuring altitude at high resolution.
A resolution of better than 2.5 millimetres can be achieved for
distances up to 38 meters. The resolution is adjustable to
allow the operator to optimize the balance between resolution
and ping rate.
In its standard stand-alone configuration, the 1007D is
connected to a remote PC or computer terminal via an RS485
or RS232 interface. Range measurements are up-linked
directly to the host computer in a number of selectable ASCII
formats and range units. Legacy Model 808 or 809 Altimeter
output formats are also available. Range measurements can
also be output to a DC voltmeter from an optional analog
interface like that found in our Model 807 Altimeters. The
voltage output is directly proportional to the range (10 volts
corresponding to maximum range).
The 1007D's programmable gain receiver is controlled by a
"Time Varying Gain" (TVG) function to compensate for
acoustic return signal losses that increase with range. This
process is microprocessor controlled and is applied during
each ping, synchronized to the start of the transmit pulse. The
TVG function is therefore very stable and accurate, and
results in a very stable output signal.

974-72007001/1.0 1007D Altimeter Operators Manual
Page 4 General Description
Kongsberg Mesotech Ltd.
Port Coquitlam, BC - Canada
The 1007D is compatible with Kongsberg Mesotech’s
MS1000 PC software and related accessories such as the
MS1000 Power Supply Box. The MS1000 software can
support up to 255 devices (sonar heads and/or 1007D
Altimeters) over a single RS485 connection. The 1007D can
also be used with the ROV Hub option on the MS1000 that
allows several 1071/1171 scanning sonars and 1007D
altimeters to be operated and synchronized with a single
ethernet cable connection. The MS1000 software displays
altitude measurements in a directly readable format in a
moveable display window. An analog scope-graph window
provides the operator with a visual indication of the aggregate
acoustic signal received each ping, plotted as graph of signal-
strength vs. range.
The Model 1007D is packaged in a small rugged housing
rated for a maximum depth of 3000 meters. A single
underwater connector provides a simple cable connection to
an external DC power source, and either an external PC or a
voltmeter.