R2Sonic 2022 User manual

SONIC 2024/2022
BROADBAND MULTIBEAM ECHOSOUNDERS
Operation Manual V3.0
Part No. 96000001

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Part No. 96000001

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COPYRIGHT NOTICE
Copyright © 2008, R2Sonic LLC. All rights reserved
Ownership of copyright
The copyright in this manual and the material in this manual (including without limitation the text, artwork, photographs,
images, or any other material in this manual) is owned by R2Sonic LLC. The copyright includes both the print and
electronic version of this manual.
Copyright license
R2Sonic LLC is solely responsible for the content of this manual. Neither this manual, nor any part of this manual, may be
copied, translated, distributed or modified in any manner without the express written approval of R2Sonic LLC.
Permissions
You may request permission to use the copyright materials in this manual by writing to [email protected]
Authorship
This manual (Sonic 2024/2022 Operation Manual), and all of the content therein, written by:
R2Sonic LLC
1503-A Cook Place
Santa Barbara, California 93117
USA
Telephone: [phone]
Facsimile: [phone]
Version Printing History
•June 2008 Version 1.1/1.2
•July 2008 Version 1.3
•Aug/Sep 2008 Version 1.4
•December 2008 Version 1.5
•June 2009 Version 1.6
•April 2010 Version 2.0
•August 2010 Version 3.0
R2Sonic LLC reserves the right to amend or edit this manual at any time. R2Sonic LLC offers no implied warranty
concerning the information in this manual. R2Sonic LLC shall not be held liable for any errors within the manual.

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Table of Contents
1INTRODUCTION.....................................................................................................................15
1.1 Outline of Equipment............................................................................................................ 15
1.2 How to use this Manual........................................................................................................ 16
1.2.1 Standard of Measurement ........................................................................................... 16
2SONIC SPECIFICATIONS..........................................................................................................17
2.1 Sonic 2024 System Specification........................................................................................... 17
2.2 Sonic 2022 System Specification........................................................................................... 17
2.3 Sonic 2024 Dimensions and Weights.................................................................................... 17
2.4 Sonic 2022 Dimensions and Weights.................................................................................... 18
2.5 Sonic 2024/Sonic 2022 Electrical Interface........................................................................... 18
2.6 Sonic 2024/2022 Ping Rates ................................................................................................. 18
2.7 Acoustic Centre..................................................................................................................... 19
3SONIC 2024/2022 SONAR HEAD INSTALLATION – Surface Vessel ...........................................21
3.1 Sonic 2024/2022 Receive Module Installation ..................................................................... 21
3.1.1 Mounting the Sonic 2024/2022 Receive Module......................................................... 22
3.1.2 Receive Module ............................................................................................................ 22
3.1.3 Mounting the Projector................................................................................................ 24
3.1.4 Correct Orientation of the Sonic 2024 and Sonic 2022................................................ 25
3.2 Sonar Head Installation Guidelines ...................................................................................... 26
3.2.1 Introduction.................................................................................................................. 26
3.2.2 Over-the-Side mount.................................................................................................... 26
3.2.3 Moon Pool Mount ........................................................................................................ 27
3.2.4 Hull Mount.................................................................................................................... 27
3.2.5 ROV Mounting .............................................................................................................. 27
4Sonic 2024/2022 Mounting: Sub-Surface (ROV/AUV) ............................................................29
4.1 Installation Considerations ................................................................................................... 29
4.1.1 Ethernet wiring considerations .................................................................................... 30
4.2 ROV Installation Examples.................................................................................................... 31
5SONIC 2024/2022 SONAR INTERFACE MODULE (SIM) INSTALLATION and INTERFACING ........33
5.1 Sonar Interface Module (SIM) .............................................................................................. 33

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5.1.1 Physical installation.......................................................................................................33
5.1.2 Electrical and Interfacing .............................................................................................. 34
5.1.3 Serial Communication ................................................................................................... 37
5.1.4 Time and PPS input .......................................................................................................37
5.1.5 Motion Input .................................................................................................................38
5.1.6 SVP input.......................................................................................................................38
6OPERATION OF THE SONIC 2024/2022 VIA SONIC CONTROL ..................................................39
6.1 Installing Sonic Control Graphical User Interface .................................................................39
6.2 Network Setup.......................................................................................................................40
6.2.1 Initial Computer setup for Communication ..................................................................40
6.2.2 Discover Function..........................................................................................................41
6.2.3 Configuring Network Communication ..........................................................................42
6.3 Sensor Setup (Serial Interfacing) ...........................................................................................44
6.3.1 GPS ................................................................................................................................44
6.3.2 Motion...........................................................................................................................45
6.3.3 Heading .........................................................................................................................45
6.3.4 SVP ................................................................................................................................45
6.3.5 Message displays ..........................................................................................................45
6.3.6 Synch In / Synch out......................................................................................................45
6.4 Sonar Settings .......................................................................................................................45
6.4.1 Frequency......................................................................................................................46
6.4.2 Ping Rate Limit ..............................................................................................................46
6.4.3 Sector Coverage ............................................................................................................47
6.4.4 Sector Rotate ................................................................................................................47
6.4.5 Bottom Sampling...........................................................................................................48
6.4.6 Mission Mode ...............................................................................................................48
6.4.7 Roll Stabilize ..................................................................................................................49
6.4.8 Dual Head Mode ...........................................................................................................50
6.4.9 Snippets Enable.............................................................................................................52
6.4.10 Mount ...........................................................................................................................52
6.5 Ocean Setting ........................................................................................................................54

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6.5.1 Absorption: 0 – 120dB/km ........................................................................................... 54
6.5.2 Spreading Loss: 0 – 60 dB ............................................................................................. 54
6.5.3 Time Variable Gain ....................................................................................................... 55
6.6 Tools | Firmware Upgrade ................................................................................................... 57
6.7 Display settings..................................................................................................................... 60
6.8 Main Operation Parameters................................................................................................. 60
6.8.1 Range: 0 – 500 metres.................................................................................................. 61
6.8.2 Power: 0 – 221 dB......................................................................................................... 61
6.8.3 Pulse Length: 15µsec – 500µsec................................................................................... 62
6.8.4 Gain: 1 – 45................................................................................................................... 62
6.8.5 Depth Gates.................................................................................................................. 62
6.9 Save Settings......................................................................................................................... 64
6.10 Operating Sonic Control on a second computer ................................................................... 65
6.10.1 Two computer setup .................................................................................................... 65
6.10.2 Changing back to one computer .................................................................................. 66
7SONIC 2024/2022 THEORY OF OPERATION ............................................................................67
7.1 Sonic 2024/2022 Sonar Head Block Diagram....................................................................... 67
7.2 Sonic 2024/2022 Transmit (Normal Operation Mode)......................................................... 68
7.3 Sonic 2024/2022 Receive (Normal Operation Mode)........................................................... 69
7.4 Sonic 2024/2022 Sonar Interface Module (SIM) Block Diagram .......................................... 71
7.4.1 Sonar Interface Module (SIM) Block Diagram .............................................................. 71

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Appendices
Appendix I: Multibeam Survey Suite Components
8Auxiliary Sensors and Components........................................................................................73
8.1 Differential Global Positioning System..................................................................................73
8.1.1 Installation ....................................................................................................................73
8.1.2 GPS Calibration..............................................................................................................74
8.2 Gyrocompass......................................................................................................................... 75
8.2.1 Gyrocompass Calibration Methods...............................................................................75
8.3 The Motion Sensor ................................................................................................................80
8.4 Sound Velocity Probes ...........................................................................................................81
8.4.1 CTD Probes....................................................................................................................82
8.4.2 Time of Flight Probe......................................................................................................83
8.4.3 XBT Probes ....................................................................................................................83
8.5 The sound velocity cast .........................................................................................................84
8.5.1 Time of Day ...................................................................................................................84
8.5.2 Fresh water influx .........................................................................................................84
8.5.3 Water Depth .................................................................................................................84
8.5.4 Distance.........................................................................................................................84
8.5.5 Deploying and recovering the Sound Velocity Probe ...................................................84
Appendix II: Multibeam Surveying
9Introduction ..........................................................................................................................87
9.1 Survey Design ........................................................................................................................87
9.1.1 Line Spacing...................................................................................................................87
9.1.2 Line Direction ................................................................................................................87
9.1.3 Line Run-in ....................................................................................................................88
9.2 Record Keeping .....................................................................................................................88
9.2.1 Vessel Record ................................................................................................................88
9.2.2 Daily Survey Log ............................................................................................................89

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Appendix III: Offset Measurement
10 Lever Arm Measurement – Offsets ........................................................................................93
10.1 Vessel Reference System ...................................................................................................... 93
10.2 Measuring Offsets ................................................................................................................ 94
10.2.1 Sonic 2024 Acoustic Centre .......................................................................................... 94
10.2.2 Horizontal Measurement ............................................................................................. 94
10.2.3 Vertical Measurement.................................................................................................. 94
Appendix IV: The Patch Test
11 Introduction ..........................................................................................................................97
11.1 Orientation of the Sonic 2024/2022 Sonar Head ................................................................. 97
11.2 Patch Test Criteria ................................................................................................................ 98
11.2.1 Latency Test.................................................................................................................. 98
11.2.2 Roll Test ........................................................................................................................ 99
11.2.3 Pitch Test .................................................................................................................... 100
11.2.4 Yaw Test...................................................................................................................... 101
11.3 Solving for the Patch Test ................................................................................................... 102
Appendix V: Sound in Water
12 Introduction ........................................................................................................................103
12.1 Sound Velocity .................................................................................................................... 103
12.1.1 Salinity ........................................................................................................................ 105
12.1.2 Temperature............................................................................................................... 105
12.1.3 Refraction Errors......................................................................................................... 105
12.2 Transmission Losses............................................................................................................ 106
12.2.1 Spreading Loss ............................................................................................................ 106
12.2.2 Absorption .................................................................................................................. 107
12.2.3 Reverberation and Scattering..................................................................................... 111

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Appendix VI: Sonic Control Commands
13 R2Sonic Control Commands.................................................................................................113
13.1 Introduction.........................................................................................................................113
13.2 General Notes .....................................................................................................................113
13.2.1 Port Number ...............................................................................................................113
13.2.2 Type Definitions ..........................................................................................................113
13.2.3 Command Packet Format ...........................................................................................113
13.3 R2Sonic Head Commands – Binary Format.........................................................................114
13.4 R2Sonic SIM Commands – Binary Format...........................................................................115
Appendix VI: R2Sonic Data Formats
14 R2Sonic Uplink Data Formats...............................................................................................117
14.1 . Introduction......................................................................................................................117
14.2 . General Notes...................................................................................................................117
14.3 . Port Numbers ...................................................................................................................117
14.4 . Type Definitions................................................................................................................118
14.5 . Bathymetry Packet Format ..............................................................................................118
14.6 . Snippet Format.................................................................................................................121
Appendix VII
Drawings…………………………………….……………………………………………………..……….….……………123

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List of Figures
Figure 1: Sonic 2024/2022 Block Diagram............................................................................................ 15
Figure 2: Sonic 2024 Acoustic Centre ................................................................................................... 19
Figure 3: Sonic 2024 Acoustic Centre as Mounted............................................................................... 19
Figure 4: Sonic 2022 Acoustic Centre ................................................................................................... 20
Figure 5: Sonic 2022 Acoustic Centre as Mounted............................................................................... 20
Figure 6: Sonic 2024 and Sonic 2022 on the mounting frame .............................................................21
Figure 7: Top side of Receive Module ..................................................................................................22
Figure 8: Receive Module Face............................................................................................................. 22
Figure 9: Receive Module securing bolt ............................................................................................... 22
Figure 10: Insert short threaded side of bolt in pass-through and tighten to receiver face................ 22
Figure 11: Seated connectors (Sonic 2024 on left and Sonic 2022 on right) ...................................... 23
Figure 12: Receive Module with cables connected.............................................................................. 23
Figure 13: Position the insulating bushing, then wrap threads with Teflon tape, then secure with flat
washer, locking washer and then nut .................................................................................................. 23
Figure 14: Sonic 2024 Projector ........................................................................................................... 24
Figure 15: Projector Stand-off .............................................................................................................. 24
Figure 16: Mounting the projector.......................................................................................................24
Figure 17: View of the mounted Projector; NB. Connector is facing protective fin............................. 25
Figure 18: Correct Orientation of the Sonic 2024 and the Sonic 2022 ................................................25
Figure 19: Typical over-the-side mount ............................................................................................... 26
Figure 20: Single Head ROV Installation scheme A .............................................................................. 31
Figure 21: Single Head ROV Installation scheme B (Preferred)............................................................31
Figure 22: Dual Head ROV Installation scheme A................................................................................. 32
Figure 23: Dual Head ROV Installation scheme B (Preferred) ..............................................................32
Figure 24: Sonar Interface Module (SIM) ............................................................................................. 33
Figure 25: Removal of trim to expose securing holes .......................................................................... 34
Figure 26: SIM Interfacing Physical Connections .................................................................................35
Figure 27: SIM Interfacing Guide (from label on top of the SIM)......................................................... 35
Figure 28: SIM IEC mains connection and deck lead Amphenol connector......................................... 36
Figure 29: Impulse connector............................................................................................................... 36
Figure 30: Sonic Control Icon on desktop............................................................................................. 39
Figure 31: Sonic Control 2000 .............................................................................................................. 39
Figure 32: Windows XP Internet Properties.........................................................................................40
Figure 33: IP and Subnet mask setup ...................................................................................................41
Figure 34: Sonic Control Network setup ..............................................................................................42
Figure 35: Command prompt-ipconfig/all............................................................................................43
Figure 36: Sensor communication settings .......................................................................................... 44
Figure 37: Sonar Operation Settings window....................................................................................... 45
Figure 38: Operating Frequency Selection ........................................................................................... 46

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Figure 39: Ping Rate Limit .................................................................................................................... 46
Figure 40: Sector Coverage .................................................................................................................. 47
Figure 41: Sector Rotate ...................................................................................................................... 48
Figure 42: Mission Mode ..................................................................................................................... 49
Figure 43: Roll Stabilize ........................................................................................................................ 49
Figure 44: Dual Head Mode ................................................................................................................. 50
Figure 45: Dual Head Mode active....................................................................................................... 50
Figure 46: Load Settings menu selection ............................................................................................. 51
Figure 47: Selecting Factory default settings file for dual head operation.......................................... 51
Figure 48: Default dual head network settings.................................................................................... 52
Figure 49: Ocean Characteristics ......................................................................................................... 54
Figure 50: TVG Curve Concept ............................................................................................................. 55
Figure 51: The angular acoustic wave front will strike each receive element at a different time ...... 57
Figure 52: Select Tools; Firmware Upgrade ......................................................................................... 57
Figure 53: Select correct upgrade .bin file........................................................................................... 58
Figure 54: A batch file will automatically load the upgrade file .......................................................... 58
Figure 55: Message displayed when the upgrade process is complete .............................................. 58
Figure 56: Error if wrong file chosen for upgrade................................................................................ 59
Figure 57: Error if component cannot be found .................................................................................. 59
Figure 58: Display Settings ................................................................................................................... 60
Figure 59: Operating parameter buttons............................................................................................. 60
Figure 60: Range setting represented in the wedge display................................................................ 61
Figure 61: Transmit Pulse..................................................................................................................... 62
Figure 62: Depth Gates on and off control .......................................................................................... 63
Figure 63: Dragging depth gates to new location................................................................................ 63
Figure 64: Graphical representation of depth gate ............................................................................. 64
Figure 65: Change in GUI IP ................................................................................................................. 66
Figure 66: SONIC 2024 Sonar Head Block Diagram.............................................................................. 67
Figure 67: Transmit pattern ................................................................................................................. 68
Figure 68: Receive pattern with Transmit pattern............................................................................... 69
Figure 69: Sonar Interface Module Block Diagram .............................................................................. 71
Figure 70: Gyrocompass Calibration method 1 ................................................................................... 77
Figure 71: Gyro Calibration Method 2 ................................................................................................. 78
Figure 72: Gyro Calibration Method 2 example .................................................................................. 79
Figure 73: Idealised concept of Gyro Calibration Method 2................................................................ 79
Figure 74: CTD Probe ........................................................................................................................... 82
Figure 75: Time of Flight SV probe....................................................................................................... 83
Figure 76: Deploying a sound velocity probe via a winch or A - Frame............................................... 86
Figure 77: Rough log, kept during survey operations...does not need to be neat, but must contain all
pertinent information .......................................................................................................................... 91
Figure 78: Smooth log; information copied from real-time survey log ............................................... 92

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Figure 79: Vessel Horizontal and Vertical reference system................................................................ 93
Figure 80: Sonic 2024/2022 Acoustic Centre ....................................................................................... 94
Figure 81: Sonic 2024/2022 axes of rotation ....................................................................................... 97
Figure 82: Latency Data collection ....................................................................................................... 98
Figure 83: Roll data collection .............................................................................................................. 99
Figure 84: Roll data collections ............................................................................................................99
Figure 85: Pitch data collections ........................................................................................................100
Figure 86: Yaw data collection ........................................................................................................... 101
Figure 87: In 1822 Daniel Colloden used an underwater bell to calculate the speed of sound under
water in Lake Geneva, Switzerland at 1435 m/Sec, which is very close to recent measurements. ..103
Figure 88: Concept of refraction due to different sound velocities in the water column .................104
Figure 89: Sound velocity profile........................................................................................................104
Figure 90: Refraction Error indication ................................................................................................105
Figure 91: Concept of Spherical Spreading ........................................................................................ 106
Figure 92: Concept of Cylindrical Spreading.......................................................................................107
Figure 93: Sonic 2024/2022 Projector................................................................................................124
Figure 94: Sonic 2024 Receive Module .............................................................................................. 125
Figure 95: Sonic 2022 Receive Module .............................................................................................. 126
Figure 96: Sonic 2024 Mounting Bracket Drawing 1 ..........................................................................127
Figure 97: Sonic 2024 Mounting Bracket Drawing 2 ..........................................................................128
Figure 98: Sonic 2022 Mounting Bracket Drawing 1 ..........................................................................129
Figure 99: Sonic 2022 Mounting Bracket Drawing 2 ..........................................................................130
Figure 100: Sonic 2024/2022 Mounting Bracket Flange .................................................................... 131
Figure 101: SIM Box Drawing .............................................................................................................132
Figure 102: R2Sonic Deck lead minimum connector passage dimensions ........................................133

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List of Tables
Table 1: Metric to Imperial conversion table....................................................................................... 16
Table 2: System Specification .............................................................................................................. 17
Table 3: Component Dimensions and Mass......................................................................................... 17
Table 4: Electrical Interface................................................................................................................. 18
Table 5: Ping Rate table ....................................................................................................................... 18
Table 6: Deck Lead Pin Assignment (Gigabit Ethernet and Power) ..................................................... 36
Table 7: DB-9M RS-232 Standard Protocol .......................................................................................... 37
Table 8: SIM DB-9M Serial pin assignment .......................................................................................... 37
Table 9: Gyro Calibration Method 2 computation............................................................................... 79
Table 10: Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz........................ 108
Table 11: Operating Frequency - water temperature - absorption................................................... 110
List of Graphs
Graph 1: Depth errors due to incorrect roll alignment....................................................................... 99
Graph 2: Position errors as a result of pitch misalignment; error can be either negative or positive
........................................................................................................................................................... 100
Graph 3: Along track position error caused by 0.5° error in yaw patch test ..................................... 101
Graph 4: Along-track position error caused by 1.0° error in yaw patch test error............................ 102
Graph 5: Seawater Absorption (Salinity 35ppt) ................................................................................. 109
Graph 6: Freshwater Absorption ....................................................................................................... 109

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1INTRODUCTION
1.1 Outline of Equipment
The R2Sonic Sonic 2024 and Sonic 2022 Multibeam Echosounder (MBES) is based on fifth generation
Sonar Architecture that networks all of the modules and embeds the processor and controller in the
sonar head’s Receive Module to make for a very simple installation. The Sonic Control Graphical
User Interface (GUI) is a simple program that can be installed on any Windows based computer and
allows the surveyor to control the operating parameters of the Sonic 2024/2022. Sonic Control
communicates with the Sonar Interface Module (SIM) via Ethernet. The SIM supplies power to the
sonar head, synchronises multiple heads, time tags sensor data, relays commands to the sonar head,
and routes the raw multibeam data to the customer’s Data Collection Computer (DCC).
The Sonic 2024 and Sonic 2022 work on a user selectable frequency range of 200 kHz to 400 kHz so
it is adaptable to a wide range of survey depths and conditions. The user can adjust the operating
frequency, via the Sonic Control GUI, on the fly, without having to shut down the sonar system or
change hardware or halt recording data. The Sonic 2024/2022 has a user selectable opening angle,
from 10° to 160°, using all 256 beams; the desired opening angle can be selected on the fly without
a halt to data recording. The selected swath angle can also be rotated port or starboard, whilst
recording, to direct the highly concentrated beams towards the desired target. Both the opening
angle and swath rotation can be controlled via the mouse cursor.
Figure 1: Sonic 2024/2022 Block Diagram

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1.2 How to use this Manual
This manual is designed to cover all aspects of the installation and operation of the Sonic 2024 and
Sonic 2022. It is, therefore, recommended that the user read through the entire Operation Manual
before commencing the installation or use of the equipment.
1.2.1 Standard of Measurement
The Metric system of measurement is utilised throughout this manual; this includes temperature in
degrees Celsius.
METRIC IMPERIAL
10mm (0.010m) 0.39 inches
100mm (0.100m) 3.9 inches
1000mm (1.0 metre) 39.4 inches
100 grams (0.100kg) 3.5 oz
1000 grams (1.0 kilogram) 2.2 pounds
10° C 50°F
Table 1: Metric to Imperial conversion table

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2SONIC SPECIFICATIONS
2.1 Sonic 2024 System Specification
System Feature Specification
Frequency 400kHz / 200kHz
Beamwidth – Across Track 0.5°@ 400kHz / 1.0° @ 200kHz
Beamwidth – Along Track 1.0° @ 400kHz / 2.0° @ 200kHz
Number of Beams 256
Swath Sector 10° to 160° (user selectable)
Maximum Slant Range 500 metres
Pulse Length 15µSec – 500µSec
Pulse Type Shaped Continuous Wave (CW)
Depth Rating 100 metres (3000 metres optional)
Operating Temperature 0° C to 40° C
Storage Temperature 0° C to 55° C
Table 2: System Specification
2.2 Sonic 2022 System Specification
System Feature Specification
Frequency 400kHz / 200kHz
Beamwidth – Across Track 1.0°@ 400kHz / 2.0° @ 200kHz
Beamwidth – Along Track 1.0° @ 400kHz / 2.0° @ 200kHz
Number of Beams 256
Swath Sector 10° to 160° (user selectable)
Maximum Slant Range 500 metres
Pulse Length 15µSec – 500µSec
Pulse Type Shaped Continuous Wave (CW)
Depth Rating 100 metres (3000 metres optional)
Operating Temperature 0° C to 40° C
Storage Temperature 0° C to 55° C
2.3 Sonic 2024 Dimensions and Weights
Component Dimensions (L x W x D) / Dry Weight
Receiver Module 480mm x 109mm x 190mm / 12.9kg
Projector 273mm x 108mm x 86mm / 3.3kg
Sonar Interface Module (SIM) 280mm x 170mm x 60mm / 2.4kg
Receive module and Projector mass in water 5.9kg (Fresh)
Table 3: Component Dimensions and Mass

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2.4 Sonic 2022 Dimensions and Weights
Component Dimensions (L x W x D) / Dry Weight
Receiver Module 276mm x 109mm x 190mm / 7.7kg
Projector 273mm x 108mm x 86mm / 3.3kg
Sonar Interface Module (SIM) 280mm x 170mm x 60mm / 2.4kg
Receive module and Projector mass in water 4.0kg (Fresh)
2.5 Sonic 2024/Sonic 2022 Electrical Interface
Item Specification
Mains Power 90 – 260 VAC; 45 – 65 Hz
Power Consumption (SIM and Sonar Head) 75 Watt (Sonic 2022: 54 Watt)
Power Consumption (Sonar Head Only) 50W avg.; 90W Peak (Sonic 2022: 35W avg.;
70W Peak)
Uplink/Downlink 10/100/1000Base-T Ethernet
Data Interface 10/100/1000Base-T Ethernet
Sync IN/OUT TTL
GPS Timing 1PPS; RS232 NMEA
Auxiliary Sensors RS232
Deck Cable Length 15 metre (optional to 50 metres)
Table 4: Electrical Interface
2.6 Sonic 2024/2022 Ping Rates
RANGE PING RATE
2 - 7 60.0
10 48.4
15 34.3
20 26.6
25 21.7
30 18.3
35 15.9
40 14.0
50 11.3
70 8.2
100 5.8
150 3.9
200 2.9
250 2.3
300 1.9
400 1.7
450 1.3
500 1.2
Table 5: Ping Rate table
WARNING
THE RECEIVE MODULE IS FILLED WITH
OIL THAT WILL FREEZE TO A SOLID AT
-10°C. DO NOT STORE OR USE THE
SYSTEM BELOW 0°C.

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2.7 Acoustic Centre
Figure 2: Sonic 2024 Acoustic Centre
Figure 3: Sonic 2024 Acoustic Centre as Mounted
Centre of Flange to Alongship offset = 181.6mm
Top of Flange to Z reference = 327.3mm

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Figure 4: Sonic 2022 Acoustic Centre
Figure 5: Sonic 2022 Acoustic Centre as Mounted
Centre of Flange to Alongship offset = 181.6mm
Top of Flange to Z reference = 327.3mm