NORBIT WBMS User manual

User and Technical Manual
NORBIT GUI 10.4.3
TN-140075-9 WBMS Bathy Manual
April 2020

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Notice
We make every effort to provide the latest
technical documentation. There may be
updates. For this, please contact
[email protected] for the latest
information.
Copyright Statement
Copyright 2017 by NORBIT. All rights
reserved. This publication may not be copied,
translated, reproduced or transmitted in any
electronic form, without prior written consent
from NORBIT.
Disclaimer
While every effort is made to ensure the
information given is accurate, NORBIT does
not accept liability for any errors or omissions.
All non-metric weights and measurements are
approximate. Specifications, equipment, and
other information in this document are subject
to change without notice.
All performance metrics mentioned in this
document, such as attainable depths, was
derived from tests in Portland, Oregon and
Seattle/Tacoma, Washington, USA in May
2017. Acoustic conditions are described when
describing performance capabilities.
Sonar Kits
This manual covers the following NORBIT
products:
WBMS 12003
iWBMSe 12006
iWBMSc 12005
iWBMS/STX 12004
iWBMSh/STX 12007
Release Notice
This is the April 17, 2020 release of the
NORBIT WBMS user and technical manual.
Contact Information
NORBIT Subsea AS
Stiklestadveien 1
7041 Trondheim
Norway
Phone: [phone]
Email: [email protected]
Web: http://www.NORBIT.com

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Contents
Introduction .................................................................................................................................6
1.1 Terms & Abbreviations......................................................................................................6
1.2 Technical Overview...........................................................................................................7
1.3 Advantages of the Cylindrical Array..................................................................................8
1.4 Advantages of the INS Integrated System........................................................................8
1.5 How to Use this Manual....................................................................................................8
1.6 System Specifications.......................................................................................................9
1.7 Export, Shipping Weight & Dimensions............................................................................9
ITAR Restrictions...........................................................................................................9
Shipping.........................................................................................................................9
1.8 Caring for Your Investment...............................................................................................9
1.9 Maintenance Schedule .................................................................................................. 11
Before Each Survey.....................................................................................................11
After Each Survey........................................................................................................12
Monthly ........................................................................................................................12
Annually.......................................................................................................................12
Biennially .....................................................................................................................12
1.10 Hull mounted and bio-fouled systems cleaning procedure............................................ 13
1.11 Factory Calibration......................................................................................................... 14
1.12 Options & Upgrades....................................................................................................... 14
1.13 Support........................................................................................................................... 14
Hardware Installation .............................................................................................................. 15
2.1 Power Requirements ..................................................................................................... 15
Power Consumption ....................................................................................................16
2.2 Wet-End Overview......................................................................................................... 17
WBMS Sonar Head .....................................................................................................17
iWBMS, iWBMSh, iWBMSe & STX Sonar Head and IMU..........................................17
2.3 Dry-End Overview.......................................................................................................... 19
WBMS Sonar Interface Unit (SIU)...............................................................................19
iWBMS Sonar Interface Unit (SIU-I-NAV) ...................................................................20
LED Status Indicators & Description ...........................................................................21
SIU Aux Port................................................................................................................21
2.4 Mounting Considerations ............................................................................................... 22
Installation Planning ....................................................................................................22
Sonar Mounting Location.............................................................................................23
Acoustic Clearance Zones...........................................................................................23
2.5 Sensor Mounting............................................................................................................ 24
WBMS Sonar Head .....................................................................................................24
iWBMS Sonar Head & IMU .........................................................................................25
GNSS Antennas ..........................................................................................................26
Hull Mount....................................................................................................................26
2.6 Time Synchronization (for Non-Integrated Systems)..................................................... 27
Offsets & Reference Points..................................................................................................... 29
3.1 Reference Points............................................................................................................ 30
3.2 Sonar Offsets & Mounting Angles.................................................................................. 31
System Operation..................................................................................................................... 32
4.1 WBMS GUI Installation .................................................................................................. 32
PC System Requirements ...........................................................................................32
iWBMSc (Compact) INS GUI Installation ....................................................................33
Operation Without GUI (Headless/Passive Mode)......................................................33
4.2 Network Configuration ................................................................................................... 33
WBMS DHCP Connection...........................................................................................33

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4.3 Connect to Sonar........................................................................................................... 34
4.4 INS Tools for iWBMS, iWBMSh & iWBMSe .................................................................. 35
INS Setup Wizard........................................................................................................35
Heading Alignment Wizard..........................................................................................41
Sky Plot........................................................................................................................42
System Status..............................................................................................................43
Subscribing to Marinestar............................................................................................44
Logging........................................................................................................................45
TSS1............................................................................................................................45
4.5 Main WBMS GUI Display............................................................................................... 46
4.6 Sonar Settings Menus.................................................................................................... 46
View.............................................................................................................................47
Backscatter Controls ...................................................................................................48
Tx Pulse Settings.........................................................................................................49
Advanced.....................................................................................................................51
Connection...................................................................................................................54
Presets.........................................................................................................................56
4.7 Upper GUI Status Indicators.......................................................................................... 57
4.8 Lower GUI Viewer Bar ................................................................................................... 57
Optimizing Backscatter Display...................................................................................58
4.9 Data Formats, Recording & Output................................................................................ 58
Raw Data Recording ...................................................................................................58
Data Output via Network Subscription ........................................................................59
Data Rates...................................................................................................................60
4.10 Interfacing with Multiple Computers............................................................................... 60
Theory of Operation ................................................................................................................ 61
5.1 Range vs. Bandwidth..................................................................................................... 61
5.2 Bottom Detection........................................................................................................... 61
5.3 STX (Steerable Transmitter) Usage............................................................................... 62
Survey Calibrations & Checks ................................................................................................ 63
6.1Patch Test...................................................................................................................... 63
6.2 Bar Check ...................................................................................................................... 64
6.3 Surface Sound Speed Verification................................................................................. 64
6.4 GNSS Independent Plate Check ................................................................................... 65
Dual Head Configuration ........................................................................................................ 66
7.1 Installation Guide ........................................................................................................... 67
7.2 Frequency Separation.................................................................................................... 68
Optional Enhancements .......................................................................................................... 69
8.1 Obstacle Avoidance Forward Looking Sonar (FLS) ...................................................... 69
8.2 Integrated Topographic LiDAR (iLiDAR)........................................................................ 69
8.3 Carbon Fiber Mounting Pole (PORTUS) ....................................................................... 69
Troubleshooting....................................................................................................................... 69
9.1 Troubleshooting Tools ................................................................................................... 69
Configuring PuTTY for Serial Interrogation .................................................................70
Sonar Simulator...........................................................................................................71
9.2 Symptoms & Suggested Actions.................................................................................... 71
9.3 SIU Grounding ............................................................................................................... 74
9.4 Finding the Computer IP Address.................................................................................. 74
9.5 Change Sonar IP Address ............................................................................................. 75
9.6 Cable Covers ................................................................................................................. 75
9.7 Data Quality Control Checklist....................................................................................... 75
9.8 Sonar System Diagnosis................................................................................................ 76
9.9 Applanix INS Diagnosis ................................................................................................. 78
Basic Acquisition Software Setup .......................................................................................... 80

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10.1 HYPACK Setup for WBMS, iWBMS, iWBMSh, iWBMSe & iWBMSc............................ 80
Offsets .........................................................................................................................80
HYPACK Setup for WBMS, iWBMS, iWBMSh & iWBMSe .........................................81
HYPACK Setup for iWBMSc .......................................................................................88
10.2 Qinsy Setup for WBMS, iWBMS, iWBMSh, iWBMSe & iWBMSc ................................. 91
Offsets .........................................................................................................................91
Database Setup for WBMS, iWBMS, iWBMSh & iWBMSe.........................................92
Database Setup for iWBMSc.......................................................................................98
Known Issues ..............................................................................................................99
10.3 PDS Setup for WBMS, iWBMS, iWBMSh & iWBMSe................................................. 100
Offsets .......................................................................................................................100
Setup Project.............................................................................................................101
10.4 EIVA Setup for WBMS, iWBMS, iWBMSh & iWBMSe ................................................ 106
Offsets .......................................................................................................................106
NaviPac Setup...........................................................................................................107
NaviScan Setup.........................................................................................................108
Appendix A: Quick Start Guide......................................................................................................... 110
Appendix B: Advanced Applanix Setup .......................................................................................... 112
Appendix C: Sonar Hardware Dimensions...................................................................................... 116
C1. 12004 iWBMS / 12007 iWBMSh –Wet-end Dimensions (PN 24003-ACDB) ............. 116
C2. 12004 iWBMS / 12007 iWBMSh 0.95°Tx Wet-end Dimensions (PN 24003-ABDB)... 117
C3. 12005 iWBMSc / 12006 iWBMSe –Wet-end Dimensions –PN 24005/24018 ........... 118
C4. 12003 WBMS –Wet-end Dimensions (PN 24003-ACDB)........................................... 119
C5. 12003 WBMS with 0.95° Tx –Wet-end Dimensions (PN 24003-ABDB)..................... 120
C6. WBMS Sonar Interface Unit (SIU) Dimensions (PN 29024)........................................ 121
Appendix D: Cable Pinout Diagrams ............................................................................................... 122
D1. WBMS Sonar Interface Unit (SIU) Socket Pin Description (PN 29024) ...................... 122
D2. iWBMS Integrated Sonar Interface Unit (iSIU) Dimensions (PN 29028)..................... 123
D3. iWBMS Integrated Sonar Interface Unit Socket Pin Description (PN 29028).............. 124
D4. WBMS Interface Cable Pin Description (PN 33029).................................................... 125
D5. WBMS Interface Cable Pin Description (PN 33075).................................................... 126
D6. WBMS Interface Cable Pin Description (PN 33029).................................................... 127
D7.WBMS Interface Pigtail Deepsea Cable Pin Description (PN 33095-x-Lx-D)............. 128
D8. iWBMS Split Cable Pin Description (PN 33129).......................................................... 129
D9. WBMS Interface Pigtail Angled Pin Description (PN 33205)....................................... 130
D10. iWBMSc Interface Cable Pin Description (PN 33088)................................................. 131
D11. WBMS Bulkhead Pinout............................................................................................... 132
D12. iWBMSe Bulkhead Pinout (PN 33169) ........................................................................ 133
Appendix E: Mounting Bracket and Pole Dimensions .................................................................. 134
E1. Decoupled IMU Mounting Bracket (PN 45654)............................................................ 134
E2. Dual Head Bracket with iWBMSc / iWBMSe ............................................................... 135
E3. Dual Head Bracket with iWBMS / iWBMSh ................................................................. 136
E4. NORBIT Carbon Fiber PORTUS Pole......................................................................... 137
E5. NORBIT Mini Mount Outline with Laser Stand ............................................................ 138
E6. NORBIT Travel Mount ................................................................................................. 139

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Introduction
1.1 Terms & Abbreviations
AMPS
Amperes
Aux
Auxiliary
Bandwidth
Range of frequency sweep
CW
Continuous Wave (single frequency)
EA
Equal Angle beam distribution
ED
Equal Distance beam distribution
FM
Frequency Modulation (swept frequency)
GAMS
GNSS Azimuth Measurement Subsystem
GNSS
Global Navigation Satellite System
GPS
US Global Positioning Satellites (often describes all GNSS)
GUI
HAW
Graphical User Interface
Heading Alignment Wizard
IHO
International Hydrographic Organization
IMU
Inertial Motion Unit
INS
iSIUc
Inertial Navigation System
SIU - Compact
iSIU
Integrated SIU
iWBMSe
Integrated WBMS –Entry Level (SurfMaster)
iWBMSc
Integrated WBMS –Compact (pre-mid-grade with STIM300)
iWBMS
Integrated WBMS –Standard (mid-grade with WaveMaster)
iWBMSh
Integrated WBMS –Pro (with top level OceanMaster)
LED
Light Emitting Diode
MBES
Multibeam Echosounder Sonar
NTP
Network Time Protocol
POS
PPK
Positioning & Orientation System
Post Processed Kinematic
PPS
Pulse Per Second
PTP
Precise Time Protocol
RTK
Real Time Kinematic
Rx
Receive
SBAS
Satellite Based Augmentation System
SIU
Sonar Interface Unit
SNR
Signal to Noise Ratio
SONAR
Sound Navigation and Ranging
SOSP
SPAN
STX
Speed of Sound Profile
Synchronized Position Attitude Navigation
Steerable Transmission
Tx
Transmit
USACE
USA Army Corps of Engineers
VDC
Volts –Direct Current
WBMS
Wideband Multibeam System

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1.2 Technical Overview
The NORBIT Wide Band Multibeam Sonar (WBMS) is the most compact, high resolution, wide swath
multibeam sonar available. With a dry-weight of less than 4.5kg (10lbs), beam widths of only 0.9° at
400kHz, and low power consumption, the stand-alone multibeam sonar easily mounts to a survey
platform of any size and may be powered by a small battery (e.g. laptop extension battery pack) or
standard AC plug.
The WBMS is optimized to transmit a frequency modulated (FM) sound wave centered at either
200kHz (for deep waters) or 400kHz. From the returning signal, 256 or 512 beams are formed within
a user-selectable 5° to 210° fan-shaped swath, utilizing the integrated sound speed probe. The
curved receiver arrays of the NORBIT systems allow for narrow beams over a wide swath with
significantly reduced beam spreading compared to flat arrays. The curved array allows for a more
forgiving sonar in areas of surface sound speed variations. NORBIT has implemented cutting edge
signal gain compensation, adaptive gating/thresholding, and proprietary amplitude and phase
detection algorithms to achieve accurate and repeatable bottom detections.
For projects requiring maximum sounding coverage, NORBIT has developed a steerable
transmission sonar called the STX. The STX can sweep through a 20°along-track sector in scanning
mode, providing a 3D scan of the environment. The STX can be operated as a forward-looking sonar
or as a conventional multibeam, making this one of the most versatile systems developed by
NORBIT. The STX is ideal for complex surveys where coverage gaps must be minimal, structural
detections must be accurate and the survey
completed in as little time as possible.
All processing and export of time-stamped bottom
detection occurs within the sonar head. The system
requires very little user intervention to achieve clean
and repeatable bathymetry. Hardware installation is
similarly very easy and quick. A single cable powers
and connects the sonar to a small Sonar Interface Unit
(SIU). The SIU similarly connects to a data
acquisition/sonar control PC by a single ethernet
cable.
The NORBIT WBMS is unique to the industry as the
first platform designed as a cylindrical array wideband
system with frequency modulated (FM) transmission
signals. With latest FPGA circuits, integrated surface
sound speed probe, and 21st century engineering, the system provides the resolution and
capabilities of much bulkier systems. Efficiency savings begin with installation: the compact (and
lightweight) form-factor enables for simpler, less robust, mounting infrastructure than earlier
generation box-shaped multibeam sonar systems. Low power requirements allow added flexibility
on very small survey vessels as well as any vessel of opportunity.
NORBIT offers many options for a tightly integrated bathymetric mapping solution that combines all
sensors required to carry-out high-grade bathymetric surveys. The integrated system, with a
complete GNSS/INS system, drastically streamlines the setup process and reduces measurement
uncertainties. NORBIT offers a range of integrated systems and peripherals to suit varying survey
demands and budgets.

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1.3 Advantages of the Cylindrical Array
The WBMS broke the industry mold by bringing a low cost and compact yet highly accurate
cylindrical receiver array with highest signal bandwidth to the market. Below are some of the
advantages a cylindrical array offers.
•Unlike a flat array, bottom detections from a cylindrical array are much less susceptible to
surface sound speed errors.
•The WBMS does not begin to beam steer until ± 30° from nadir. This results in lower incidence
of depth error from the reduced beam width spreading as steering increases (flat receiver arrays
steer all beams but nadir).
•At all frequencies, the WBMS provides increased swath coverage with a smaller beam footprint
for a fixed aperture.
•The cylindrical array of the WBMS can cover a full 210°. Flat array systems would lose data
fidelity at much lower swath angles (± 80°) and would necessitate mounting two or three sonars
at angles to achieve higher swath coverage.
•The cylindrical array presents a more hydrodynamic profile allowing for faster transit, less
vibration, and use of lighter mounting hardware. Sturdier mounting, such as hull mounts, enables
a maximum transit speed of >20 knots.
1.4 Advantages of the INS Integrated System
Factory integration of critical sensors yields a forgiving acquisition experience for the onboard
surveyor. Offsets between sonar measurement reference and inertial motion unit reference centers
are fixed and predefined within the system setup. The user need only measure from top center of
sonar bracket to bottom of primary antenna mount.
Cabling and software integration between sonar, positioning, heading, attitude and sound speed
probe is handled internally. The onboard surveyor need only connect the wet end to the topside via
a single cable and then connect the primary and secondary GNSS cables (which are each labelled
on both ends of the cable to remove installation uncertainty).
1.5 How to Use this Manual
This manual describes the complete installation and operation of all the NORBIT bathymetric Wide
Band Multibeam Systems (WBMS). This may be the WBMS, iWBMSe, iWBMSc, iWBMS, iWBMSh
or any of these in dual head configuration.
The reader is strongly encouraged to read this manual thoroughly. Doing so will encourage safe and
efficient operation in the collection of high quality beamformed bottom detections.
NORBIT makes every effort to ensure that the information contained in this manual is accurate and
fully updated to correspond with the latest sonar firmware and software releases. The sonar firmware
version being employed must correspond with the version listed at the bottom of each page in this
manual.
This manual is optimized for digital viewing using PDF viewing software. If a suitable browser is not
available then any web GUI (Firefox, Chrome, etc.) would work. The table of contents section will
link directly to each section listed. At the bottom of each page is a link to return to Table of Contents.

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1.6 System Specifications
While continual improvements are being implemented, specifications may change. To obtain the
most current specification sheets please visit https://www.NORBIT.com/subsea/
1.7 Export, Shipping Weight & Dimensions
The compact size of the WBMS systems allows for simplified shipping and handling. The lightest
NORBIT system wet-end is the 0.9° x 1.9ºWBMS at 4.5kg in air while the heaviest system is the
0.9° x 0.95ºiWBMSh which has an integrated IMU and provides the highest resolution data and is
11kg in air and 7kg in water.
ITAR Restrictions
Except for the iWBMSc, all others in the iWBMS(x) family contain an Applanix POS MV. All systems
are free of Canadian and EU export controls.
When exported from the U.S., the U.S. Department of Commerce ECCN 7A994 reference number
needs to be quoted on all shipping documentation.
⚠
CAUTION: For US-Based Systems
For shipping internationally, all shipping documents should quote ECCN
7A994. This number is the same for all Applanix & NovAtel systems.
NORBIT strongly recommends DHL as a preferred shipper when shipping
internationally.
Due to system configuration and selected components, there are no import or export restrictions on
the WBMS sonar which facilitates unimpeded global operations.
Shipping
Each NORBIT system (including all components) are shipped in a single, lightweight Pelican case
that meets airline baggage guidelines.
Airline Checked Luggage: Despite the rugged freight case construction with dense form-cut foam
shock absorption, it is prudent to handle the full cases with care. Please ensure an airline “Fragile”
label is prominently displayed.
Airline Carry-On Baggage: The WBMS case may be hand-carried onto many airplanes but when
checking through airport security it is often required to remove the sonar from the case for x-ray.
1.8 Caring for Your Investment
To protect the sonar from undue damage, please follow these reasonable minimum guidelines,
especially while operating in harsh environments.
Never support the WBMS by the sound speed probe or strictly by the projector. For the stand-alone
WBMS when shipping in a non-foam cut case, remove the sound speed probe and replace it with
blue dust cap. Ensure all connectors are protected with provided caps/covers when not in use.

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For the integrated versions, especially the larger iWBMSh 1°, take extra precaution against drops or
rough handling, especially when shipping via courier. Use “Fragile” labels where/when possible to
add further protection for the system suite.
Replace connector caps on sonar, SIU and cables when not in use to keep out debris and moisture.
Choose a dry location at room temperature for prolonged storage. Never wet store system in sealed
environment; dry the system before returning to the case. When returning to office, open the case.
⚠
CAUTION: Sonar Protection
When submerged for long periods, the sonar is at risk of becoming fouled by
barnacles etc. (especially in warm salty water) or may be subjected to stray
electric currents. NORBIT offers both titanium housing, additional anodes
and factory applied bio-fouling paint that is approved and tested against
acoustical losses. Contact [e-mail] for info.
Do not leave system in the sun for long durations. Prolonged exposure to UV rays may cause
degradation of the polyurethane coating on the transducers; potential damage includes drying and
crack formation which would permanently expose and damage sensitive sonar electronics.
Never allow wet end to rest on the polyurethane as this may scratch or wear this sensitive area.
Always use a sturdy padding (foam) under the sonar when mounting it.
To clean the WBMS, only use mild, nonabrasive soap, fresh water, and a soft brush to gently scrub
the sonar. Using any other method may damage the sonar. Do not use a power washer to clean the
sonar. This can damage the housing and cause the sonar to improperly beam form.
To protect the system from corrosion, take extra care when handling to not scratch the anodized
aluminum housing (not a concern for titanium housing). It is also a good practice to rinse off the
sonar after use, especially if used in saltwater, and allow it to dry completely prior
to storage. As an added layer of corrosion protection, it is recommended that the
vessel anodes be checked on a regular basis. This will further protect the WBMS.
If the WBMS is hull mounted, NORBIT provides an option for performance neutral
antifouling paint application. Painting of the sonar outside of NORBIT may cause
negative impacts to system performance and pushes the system outside of
warranty.
If the sonar will be in the water for extended periods, it is recommended that
sacrificial anodes be used to protect against electrolysis. Anodes can be collared
around the cable connection and the inserted into the receiver frame, as shown in the adjacent
images. Care must be taken to not scratch the anodizing on the aluminum housing during
installation. Spare anodes can be purchased directly from NORBIT.
NORBIT offers antifouling paint service. If your system is protected with antifouling paint then
additional care is required to ensure the paint is not scraped or rubbed off during mobilization,
shipping or handling. After retrieving the sonar from the water wipe down the system with a clean
towel to clear off dirt, grime, marine growth, etc. that may otherwise compromise the sonar body.
⚠
CAUTION: Do Not Connect/Disconnect Cables with Power On
To prevent damage to system electronics always turn off power before
disconnecting or swapping cables.

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1.9 Maintenance Schedule
It is good practice to perform periodic inspections or checks of the sonar system. The table below
lists several checks, recommended by NORBIT, to guide users in performing maintenance checks.
Before Each Survey
Component
Inspection
Additional Notes
Receiver
Array
Inspect polyurethane for gouges, nicks or
separation from housing. The array face
should be smooth and uniform.
Water intrusion will result in excessive
damage and be costly to repair. Contact
NORBIT Support for further information.
Always store sonar away from sun.
Projector
Array
Inspect the projector array for gouges or nicks
and check the attachment area of the projector
with the sonar housing. The projector surface
should be smooth and uniform. A delamination
protection ring should be tightly fitted to
projector at the housing attachment point.
Water intrusion will result in excessive
damage and be costly to repair. Contact
NORBIT Support for further information.
Always store sonar away from sun.
O-Rings on
wet end
cable
connections
Check O-rings for damage and particulates
that may interfere with O-ring operation and
keep it lightly lubricated. Use Silicone Grease
that is min 90% pure.
If missing a spare O-ring, please remove
and borrow one from the cable wet-end
protective cap. But be sure to get the
appropriate one replaced from NORBIT
support.
Sound
Speed
Probe
Remove sound speed probe and check
connector for corrosion. Probe O-ring should
be in good condition. Replace probe and
ensure a tight fit. Apply light coating of silicone
grease to O-ring prior to re-attaching probe.
Compare value with value from profiler at
same depth. Difference should not be greater
than 1m/s
Bad or missing surface sound speed will
create beam steering errors and affect
outer swath data performance. It is
recommended that the probe be
calibrated every 18-24 months.
Sonar
Housing
Inspect housing for scratches and corrosion.
Ensure anode is in good condition (for
aluminum housing).
Small scratches compromise the galvanic
barrier of the aluminum housing. Contact
NORBIT for further information.
Sonar Cable
Connector
Check for debris and clean out with
compressed air. Cable connector must be dry
and clean. Use protective cap when not in-use.
Sonar connection is not wet-mateable.
Do not disconnect or connect when sonar
is submerged or in wet areas.
Sonar Cable
Check connectors and clean out with
compressed air. Run cable through hand and
check that cable is smooth, without kinks and
without tears. Check that pins are shiny and
not bent. Check O-rings for wear and replace
as necessary. Use small amount of silicone
lubricant.
A bad connection or bad cable will
corrupt survey data. Treat the cable with
great care (do not walk on it).
Sonar
Mounting
Bolts
Check that threads on plastic sleeves are in-
tack and not de-threaded. Vibration over long
term can loosen bolts and compromise data
quality or loss of wet-end.
Use only stainless-steel bolts and
washers. Contact NORBIT for spare
parts. Use Loctite 242 Blue, lock washers
and/or nylon nuts.
Mounting
Bracket
Check that all hardware for the mounting
bracket is tight. Care must be taken when
checking the mounting screws for the sonar as
over tightening may damage the connections
The bracket is very robust and provides
electrical isolation from the vessel.
Electrical &
Galvanic
Isolation
Shield
Check that plate is included in shipping case
and used between sonar and sonar bracket
when mounted. For the WBMS (non-integrated
systems), it is imperative to use the included
electrical isolation shield.
This protects the aluminum sonar
housing from galvanic corrosion.

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WBMS
Firmware &
GUI
Versions
Ensure that both firmware and GUI versions
match and are latest.
Prior to each new survey. Contact
NORBIT support for details.
Integrated
INS
Firmware &
GUI Version
Ensure that both firmware and GUI versions
match and are latest. This may require an
annual maintenance cost.
Prior to each new survey. At least once
each year. Contact NORBIT support for
details.
After Each Survey
Component
Inspection
Additional Notes
Complete Kit
Perform all inspections in the previous section.
Ensures that users are ready
for the next survey.
Wet-End
The complete wet end should be rinsed with fresh
water. Clean off any marine growth with soft rag. If
barnacles have taken refuge on the sonar, then
remove these very carefully so as not to pit or nick the
polyurethane. If any damage occurs to the anodized
aluminum or polyurethane, then take a high-resolution
picture and send to NORBIT support for help.
Allow the kit to dry before locking down the lid. Once
back at the office, store with lid open.
Ensure that the kit is ready to
provide long lasting operation.
Monthly
Component
Inspection
Additional Notes
Complete Kit
Perform all inspections in the previous sections.
Ensures that users are ready
for the next survey.
Sound Speed
Probe
Compare surface sound speed probe with another
sensor. If it is not within 1m/s difference and the
comparison conditions are similar, then determine
which sensor is bad and return for calibration.
The surface sound speed
sensor should provide reliable
data for an 18-24-month
period.
Annually
Component
Inspection
Additional Notes
Complete Kit
Perform all inspections in the previous sections.
Ensures that users are ready
for the next survey.
INS Annual
Warranty
The integrated INS require its own annual maintenance.
The latest INS firmware versions necessitate an active
maintenance warranty that must be kept up to date and
without lapse. Please contact NORBIT support prior to
any INS FW update.
Applanix releases important
performance updates via
NORBIT tested and approved
firmware version. Contact
NORBIT for more information.
Biennially
Component
Inspection
Additional Notes
Complete Kit
Perform all inspections in the previous sections.
Ensures that users are ready
for the next survey.
WBMS
Calibration
Services
Long term use requires preventative maintenance and
calibration service for the sonar. It is recommended to
send purchased system once every two years for a
calibration service. The first bathymetric WBMS systems
are still in operation as they have been cared for and
returned to the factory for increased longevity.
Calibration service includes
surface sound speed
calibration.

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1.10 Hull mounted and bio-fouled systems cleaning procedure
The procedures below outline the safe way to clean hull mounted systems or those with extreme
biofouling. Please ensure that these steps are followed exactly as outlined, as failure to do so could
result in damage to your system. If there are any questions or doubts about these procedures contact
NORBIT support.
⚠
CAUTION: Do NOT use Power Washer
If cleaning a hull mounted system, a power washer must not be used. This
will irreparably damage the system. If hauling out the vessel for hull cleaning,
ensure that those cleaning the hull are informed about not putting any part of
the power washer stream on the NORBIT system.
⚠
CAUTION: Superfine Abrasives Only
When using scrubbing pads on the NORBIT, ensure that you are using a
super fine abrasive pad such as 3M™Scotch-Brite™ Light Cleansing Hand
Pad 7445. A very abrasive scrubbing pad will damage the polyurethane on
the sonar.
1. Remove the system from the vessel and place water and
dust resistant caps on the sonar bulkhead as well as the end
of the cable.
2. Manually remove as much fouling from the sonar as
possible.
3. Obtain a bucket large enough to fit the entirety of the sonar.
In the container, mix in a 50/50 ratio of CLR® (Calcium,
Lime, Rust cleaner) to water.
4. With the bulkhead cap tightened, completely submerge the
system in the 50/50 solution for approximately 2 hours.
5. Remove the sonar from the solution and scrub the sonar
using a super fine abrasive pad and water.
6. If the system still has fouling, repeat the soaking process.
This process can be repeated until all biofouling has been
removed from the system.
7. Allow the system to dry fully prior to storage.
Cleaning of system with a
power washer, causing
exposure of the ceramics.

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1.11 Factory Calibration
NORBIT recommends that the WBMS and SIU be sent back to NORBIT for factory calibration every
two years. The calibration will examine the WBMS and the SIU. In addition, the sound speed sensor
will be calibrated. The factory calibration will ensure that the WBMS maintains high data quality and
repeatability.
The Calibration turnaround is typically one week, if scheduled ahead through NORBIT support. It is
the responsibility of the user to schedule the calibration. NORBIT will not recall systems for
calibration.
For integrated INS kits, it may be necessary to update the INS firmware. INS firmware upgrade may
incur additional cost as deemed appropriate by Applanix. Please contact NORBIT Support to find
out if this applies to your system. Keeping up to date is important to take advantage of rapidly
changing latest positioning techniques.
1.12 Options & Upgrades
If necessary, NORBIT offers the following affordable upgrades:
•Custom cable lengths. Please specify length with order. Maximum is 50m.
•NORBIT acquisition software –DCT (Data Collection Tool)
•3rd party Bathymetric/Hydrographic survey data acquisition & processing software
▪HYPACK & HYSWEEP
▪QINSy, Qimera & Fledermaus
▪EIVA
▪CARIS
▪BeamworX
•GNSS RTK Base Station Kit. Simple to use RTK base station with/without FCC license
free radios.
•Post Processed Kinematic Software. Offers centimeter positioning even with GNSS
outages.
▪For Compact: Waypoint Inertial Explorer (NovAtel)
▪For iWBMS: Applanix POSPac MMS (Trimble)
▪GNSS Base for PPK
•High-Resolution Forward-Looking Sonar. Visualization, navigation and or obstacle
avoidance.
•Deep mode (200kHz center frequency) for 550m depths
•Integrated LiDAR utilizing the same SIU as the integrated WBMS
•Dual-Head WBMS
•1° Transmit array
•100, 4500 & 6000m Depth Ratings (WBMS only)
•Performance neutral antifouling paint.
•Diagnostic/Preventative Service
•Onsite Support and Training. From classroom instruction to on-project support service
1.13 Support
For basic troubleshooting, please refer to the Troubleshooting section in this document. For further
support please contact NORBIT Subsea Support:
NORBIT Subsea AS
Stiklestadveien 1
7041 Trondheim
Norway
Phone: [phone] (UTC+2) *
Email: [e-mail]
*UTC time offsets above may be ±1hr off due to
daylight savings time

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Hardware Installation
For well-seasoned multibeam users, a quick setup plan is found in Quick Start. All first-time NORBIT
WBMS operators, however, are strongly encouraged to fully review this manual prior to commencing
a survey project. The warning boxes may not cover all critical notices.
⚠
CAUTION: Properly Seal Wet-End Connection
Inspect O-Ring each time before connecting wet-cable and replace as
needed. Apply a thin coat of synthetic grease (e.g. Molykote 55) to the O-
Rings. Strongly hand-tighten wet-connector (push in and tighten repeatedly
until firmly connected). If connector sticks when tightening, apply a very thin
coat of grease to the threads.
⚠
CAUTION: Voltage Limitation on DB9
The DB9 connection on the SIU is not rated for voltages higher than 5V.
Application of voltages on any pin of the connector over 5V will damage the
system. Check all potential connections for unexpected voltages.
2.1 Power Requirements
The WBMS family of systems requires clean power for proper operation. As most vessels utilize an
inverter for this purpose it is important that it be a true sine wave inverter. A modified sine wave
inverter may cause unexplained issues even when using the included power brick. In general,
inexpensive inverters are likely modified sine wave. Use high quality inverters for providing power to
the WBMS family of systems. If dirty power is assumed, connect the system directly to a 12-24VDC
battery and test.
Additionally, power can be provided directly from a 12V deep cycle battery using the included pigtail
that plugs into the power port on the SIU.

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Power Consumption
The following table outlines the expected power draw for NORBIT multibeam systems. This list does
not cover all configurations but covers most current configurations. Contact NORBIT support if your
power requirements dictate a lower power consumption. There are several ways in which lower
consumption can be achieved.
System
Average
Maximum
WBMS-bathy_Pn_12003-AACDB4
40W
55W
WBMS_STX_Pn_12003-APBDD4
50W
65W
WBMS-bathy_Long Range_Pn_12003-AACDB2
40W
60W
iWBMSc_Compact_Pn_12005-AACDB4
45W
65W
iWBMSe_Pn_12006-AACDB4
55W
70W
iWBMSe_Long Range_Pn_12006-AACCB2
55W
70W
iWBMS_Pn_12004__AACDB4
60W
75W
iWBMS-Long Range_Pn_12004-AACDB2
60W
75W
iWBMSh_Pn_12007-AACDB4
60W
75W
iWBMSh STX_12007-APBDD4
70W
80W
iWBMSh_Dual Head_Pn_12007-DACDB4
100W
160W

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2.2 Wet-End Overview
WBMS Sonar Head
The WBMS sonar is comprised of a cylindrical receiver array and a cylindrical projector array. The
receiver housing contains latest FPGA boards where all sonar processing occurs. Data leaving the
WBMS wet-end is ready for survey data acquisition via Ethernet protocol.
iWBMS, iWBMSh, iWBMSe & STX Sonar Head and IMU
iWBMS, iWBMSh, iWBMSe and STX models contain the well-known Applanix GNSS/INS systems.
The systems are equipped with either a MEMS-based or one of two FOG IMUs. The systems are
optionally available with POSPac MMS for full positioning and attitude PPP or PPK solutions. The
IMU is housed inside the ballistic grade front fairing of the wet-end assembly.
iWBMS with standard 1.9°projector. The 0.95° projector adds only 10cm to the length.
Projector Array
Cylindrical Receiver Array
Sonar Cable Connector
(always inspect the O-ring,
lubricate and replace as
necessary)
Sound Speed Probe
Anodized Aluminum
Housing
IMU Cable
IMU Inside
Front Fairing
Sonar Cable
Delrin Mounting Bracket
Projector Array
Sound Speed Probe

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The iWBMSe has the Applanix SurfMaster (AP-18) while the iWBMSc comes with the Sensor
STIM300 IMU and NovAtel antennas for a complete GNSS/INS system. These MEMS-based IMU’s
are housed inside the projector of the wet end assembly for both systems resulting in a very compact
form factor. Some customers request the iWBMSe IMU to be mounted on the front nose (like the
iWBMS/iWBMSh) so that they may be easily upgraded later. The systems are optionally available
with POSPac MMS or Waypoint Inertial Explorer for full positioning and attitude PPP or PPK
solutions.
⚠
CAUTION: Voltage Ratings
The DB9 and PPS connections on the SIU are not rated for voltages higher
than 5V. Application of voltages on any pin of the connector over 5V could
damage the system. Check all potential connections for unexpected
voltages. Do not input a PPS pulse into the BNC connection of the
integrated SIU as this could damage the GNSS boards inside the system.
The newly introduced STX comes in two models: 200kHz and 400kHz, with up to a 1x1°beam width
transmission capability. The lower frequency system is optimum for deeper water applications. Like
the iWBMS systems, the STX may be integrated with an inertial measurement unit (Applanix
WaveMaster II or OceanMaster) for a complete bathymetric solution. The dimensions of the STX
with 1x1°projector will be nearly identical to that of the iWBMS. The STX provides a versatile
bathymetric tool –it can be used as a forward-looking sonar or operated as a conventional multibeam
bathymetric sonar. The topside interface unit is identical to the SIU-I-NAV described earlier. To
provide yet another option, the STX, in bathy mode, may be coupled to another NORBIT sonar to
form a dual-head system for increased coverage and faster results. However, due to the STX’s
higher power requirements a dual-head system compromising of at least one STX will require two
topside units. The STX, like other WBMS systems, can be controlled via the WBMS GUI 10.4.0.
Detailed descriptions of the GUI and STX offsets will be in later sections. and the related offsets will
be outlined in a later section.
Delrin Mounting Bracket
IMU Inside Projector

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2.3 Dry-End Overview
All WBMS systems include a compact topside Sonar Interface Unit (SIU) which distributes power,
time information and data between the sonar wet-end and the survey acquisition system. This
environmentally sealed fan-less topside is dust-proof and splash resistant, facilitating worry-free use
on vessels with little to no protection from the elements.
⚠
CAUTION: Cover Connection Ports
When operating in open environments, all connection ports on the SIU
should be tightly sealed either with the NORBIT supplied cables or, if the
port is unused, with the port covers provided with the system.
WBMS Sonar Interface Unit (SIU)
PN: 29024
*Please note that SIU-I model 29024-5 and newer will not have the 6A fuse in the rear. Instead there will
be an internal 20A fuse
This SIU works with all WBMS Bathy, STX and FLS systems. The iWBMSe and iWBMSc require an
18-pin to 10-pin adaptor.
The SIU will shut down automatically at 70°C to prevent damage to electronics due to overheating.
Connector
Description
Sonar LEMO
Interface cable to the sonar
GPS RS-232
ZDA Timing input
PPS BNC
1 PPS input for external sensor
Ethernet RJ45
For communication between topside PC and sonar
SAMTEC Part# RCE-01-G-05.00-D
AUX LEMO
For communication with auxiliary devices
Power LEMO
FUSE SOCKET*
Input DC voltage
Rear; 6A slow-blow

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iWBMS Sonar Interface Unit (SIU-I-NAV)
PN: 29028
* Please note that NORBIT has a split serial option. This option allows for ASCII/Binary output of
GNSS/INS information to 3 serial connections. Please contact NORBIT support for more information.
**Please note that SIU-I-NAV and SIU-I-Compact-NAV models 29028-5, 29029-3 and newer will not
have the 12A fuse in the rear. Instead there will be an internal 20A fuse.
The SIU will shut down automatically at 70°C to prevent damage to electronics due to overheating.
Connector
Description
Sonar LEMO
18-pin interface to sonar and IMU
Ant 1 TNC
Primary GNSS antenna. Antenna closest to WBMS
Ant 2 TNC
Secondary GNSS antenna
GPS RS-232*
GNSS corrections input (RTK/DGPS)
PPS BNC
1 PPS output for external sensor (not typically used)
Ethernet RJ45
For communication between topside PC and sonar
SAMTEC Part# RCE-01-G-05.00-D
AUX LEMO
10-pin interface for communication with auxiliary devices
Power LEMO
Fuse Socket**
Input DC voltage
Rear; 12A slow blow