Reson SeaBat 7125 ROV User manual

SeaBat 7125 ROV
High-Resolution Multibeam
Sonar System
OPERATOR’S MANUAL
Part Number 86000162
Version 3
May 2011

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SeaBat 7125 ROV Operator‟s Manual
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Version 3
Notice
The information contained in this document is subject to change
without notice. RESON makes no warranty of any kind with regard to
this material, including (but not limited to) the implied warranties of
merchant liability and fitness for a particular purpose. RESON shall
not be liable for errors contained herein or for incidental or
consequential damages in connection with the furnishing,
performance, or use of this material.
Copyright
Statement
Copyright RESON A/S 2010. All rights reserved. Reproduction,
adaptation, or translation without prior written permission is
prohibited, as per the copyright laws of Denmark.
SeaBat 7125 ROV Operator’s Manual written by:
RESON A/S
Fabriksvangen 35
3550 Slangerup
Telephone: [phone]
Facsimile: [phone]
Web: http://www.reson.com
E-mail: [email protected]m
[email protected]
Copyright
Release
No part of this manual may be copied or distributed, transmitted,
transcribed, stored in a retrieval system, or translated into any
human or machine readable language, in any form or by any means
for disclosure to third parties without the express written consent of
RESON A/S.
Version
May 2011
Version 3
RESON strives to maintain up-to-date information and may, as
necessary, review and revise this manual. If the information
contained in this manual is unclear, please contact your nearest
RESON office for clarification.
Maintenance
Release
Release FP1
This manual is consistent with the indicated software and firmware
maintenance release.
Electronic File
Version
This manual is available from RESON in the Adobe® Acrobat®
Portable Document Format (PDF). The selected PDF process
preserves the interactive index and cross-reference features of the
original Microsoft Word document.

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TABLE OF CONTENTS
1Introduction................................................................................1
1.1 System Overview.............................................................................................1
1.2 System Architecture.........................................................................................1
1.3 System Operation............................................................................................2
1.4 System Features..............................................................................................3
1.5 Typical Applications.........................................................................................4
2Safety Precautions.....................................................................5
2.1 Operator Safety ...............................................................................................5
2.2 Equipment Safety ............................................................................................5
2.2.1 Safe Handling ..........................................................................................5
2.2.2 Cleaning and Maintenance.......................................................................6
2.3 Electrical Isolation............................................................................................8
2.4 Exposure to Sunlight........................................................................................8
2.5 Safe Disposal of Waste (WEEE Directive).......................................................8
2.6 CE Marking......................................................................................................9
3System Startup and Shutdown...............................................10
3.1 Chapter Overview..........................................................................................10
3.2 System Startup Instructions...........................................................................10
3.3 Starting the 7k Control Center and Sonar ......................................................11
3.4 System Shutdown Instructions.......................................................................13
3.5 Installing a License........................................................................................14
4System Configuration..............................................................15
4.1 Chapter Overview..........................................................................................15
4.2 Configuration Menu Options..........................................................................16
4.2.1 Data Display & Format...........................................................................16
4.2.2 UDP Broadcasting..................................................................................17
4.2.3 Hardware Configuration .........................................................................22
4.2.4 Advanced Ping Settings.........................................................................24
4.2.5 Triggering...............................................................................................25
4.2.6 Motion....................................................................................................26
4.2.7 Load.......................................................................................................28
4.2.8 Save Current..........................................................................................28

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4.2.9 Edit Auto Pilot Settings...........................................................................29
4.3 Channel Normalization...................................................................................31
4.4 I/O Module Configuration...............................................................................32
4.4.1 Device Types.........................................................................................33
4.4.2 Adding a Device.....................................................................................33
4.4.3 I/O Module Setup Check........................................................................34
4.5 Remote Operation .........................................................................................38
4.6 Folder Management.......................................................................................38
4.6.1 Sharing a Folder on a Network...............................................................38
4.6.2 Verifying or Changing the Computer Name and/or Workgroup Name ....43
5System Operation....................................................................48
5.1 Chapter Overview..........................................................................................48
5.2 User Interface................................................................................................49
5.3 Primary Display Tab ......................................................................................50
5.3.1 Sonar Image ..........................................................................................52
5.3.2 A-Scan Display ......................................................................................53
5.3.3 Event Messages ....................................................................................56
5.3.4 1PPS Input Indicator..............................................................................57
5.3.5 Normalization Indicator ..........................................................................57
5.3.6 Freeze the Sonar Image.........................................................................58
5.3.7 Maximize the Sonar Image.....................................................................58
5.3.8 Change Modes.......................................................................................58
5.3.9 Identify Beam Track, Depth, and Range (or Channel and Sample) ........58
5.3.10 Automatic Update of Auto Pilot Settings.................................................59
5.4 Motion Tab.....................................................................................................59
5.5 Snippets and Side Scan Tabs........................................................................61
5.6 Built-In Test Environment (BITE) ...................................................................62
5.6.1 BITE.......................................................................................................62
5.6.2 BITE Tabs..............................................................................................63
5.7 Sonar Control Tabs........................................................................................67
5.7.1 Main Sonar Settings...............................................................................67
5.7.2 Detection Settings..................................................................................69
5.7.3 Ocean Settings ......................................................................................71
5.7.4 Primary Display Settings........................................................................72
5.7.5 Data Recording......................................................................................74

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5.7.6 Screen Recording (Video Recording).....................................................76
5.7.7 I/O Module Setup...................................................................................77
5.7.8 Data Playback........................................................................................77
5.8 7k Center Console Window ...........................................................................82
5.9 Software Release Information........................................................................83
6Active Sonar Usage.................................................................84
6.1 Chapter Overview..........................................................................................84
6.2 Enhancing the Sonar Image ..........................................................................85
6.2.1 Pulse Length and Image Resolution.......................................................85
6.2.2 Transmit Power OFF..............................................................................85
6.2.3 Lower Ping Rate ....................................................................................85
6.2.4 Receiver Gain........................................................................................86
6.2.5 Variable Swath.......................................................................................86
6.2.6 Correct Range Setting............................................................................88
6.2.7 Use of Gates..........................................................................................89
6.3 System Efficiency ..........................................................................................91
6.3.1 Auto Pilot ...............................................................................................91
6.3.2 Roll Stabilization ....................................................................................92
6.4 Use of Displays..............................................................................................94
6.4.1 Equidistant versus Equiangular Beam Mode..........................................94
6.4.2 Wedge versus B-Scan Display...............................................................94
6.4.3 A-Scan, Phase and Magnitude Displays ................................................94
6.5 Compensation for Environmental Conditions.................................................94
6.5.1 Loss of Sound by Absorption .................................................................95
6.5.2 Loss of Sound by Spreading..................................................................96
6.5.3 Sound Velocity.......................................................................................97
6.6 Limitations .....................................................................................................98
6.6.1 Cavitation...............................................................................................98
6.6.2 Machinery Noise ....................................................................................98
6.6.3 Speed ....................................................................................................99
6.6.4 Air Bubbles.............................................................................................99
6.6.5 Environment.........................................................................................100
7System Performance and Data Types..................................101
7.1 Data Types..................................................................................................102
7.1.1 Bathymetry Data ..................................................................................102

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7.1.2 Side-Scan Data....................................................................................103
7.1.3 Snippets Data ......................................................................................104
7.2 Equidistant Beamforming.............................................................................105
7.3 Quality.........................................................................................................106
7.3.1 Brightness Test....................................................................................106
7.3.2 Colinearity Test....................................................................................107
7.3.3 Quality Filter.........................................................................................108
7.4 Uncertainty Estimation.................................................................................108
7.5 Ping Rate Table...........................................................................................109
Appendix A Troubleshooting ..................................................110
A.1 System Warnings and Alarm Messages ......................................................110
A.2 Responding to Errors and Alarms................................................................110
A.3 Alarm Messages..........................................................................................111
A.3.1 General System Startup Alarms...........................................................111
A.3.2 PCI Card Related (ADMXRC) Alarms ..................................................113
A.3.3 Data Reading Alarms...........................................................................114
A.3.4 System Resource Alarms.....................................................................114
A.3.5 Input Signal (Timing and Triggers) Alarms ...........................................114
A.3.6 Calibration Alarms................................................................................115
A.4 Warning Messages......................................................................................115
A.4.1 Configuration Warnings........................................................................116
A.4.2 Startup Warnings .................................................................................116
A.4.3 Data Processing Warnings...................................................................116
A.4.4 Data Recording Warnings....................................................................117
A.4.5 BITE Data Warnings ............................................................................117
A.4.6 Input Signal Warnings..........................................................................117
A.4.7 System Stability Warnings....................................................................118
A.4.8 Data Subscription Warnings.................................................................118
A.4.9 Network Components Warnings...........................................................118
A.4.10 External Trigger Warnings....................................................................119
A.5 Alarm Messages –Master List in Alphabetical Order...................................120
A.6 Warning Messages –Master List in Alphabetical Order...............................126
Appendix B Installation Instructions ......................................132
B.1 Components Checklist.................................................................................132
B.2 Installation Checklist....................................................................................133

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B.3 Dry-End Installation .....................................................................................134
B.3.1 7125 Processor Installation..................................................................134
B.3.2 7125 Processor Mounting ....................................................................136
B.3.3 7125 Processor Cable Connections.....................................................136
B.3.4 Monitor Connections............................................................................139
B.3.5 Simple Monitor Setup...........................................................................140
B.3.6 Advanced Monitor Setup (Cloning Monitors)........................................141
B.4 Auxiliary Sensors.........................................................................................146
B.4.1 Sound Velocity Input............................................................................146
B.4.2 Motion Sensor Input.............................................................................147
B.4.3 Time Input............................................................................................147
B.4.4 Standard Serial Ports...........................................................................148
B.4.5 RJ-45 to D-SUB9 Adaptor....................................................................148
B.5 SeaBat 7125 ROV Cables...........................................................................149
B.6 Wet-End Installation.....................................................................................151
B.6.1 Link Control Unit Installation.................................................................151
B.6.2 EM 7216 Receiver Unit ........................................................................153
B.6.3 TC 2160 Projector Unit.........................................................................154
B.6.4 TC 2163 Projector Unit (Optional)........................................................155
B.6.5 Wet-End Mounting ...............................................................................156
B.6.6 Sonar Head Assembly Orientation.......................................................156
B.6.7 Sonar Reference Point.........................................................................158
B.6.8 Wet-End Cable Connections................................................................159
B.7 System Check .............................................................................................160
Appendix C Reference Documentation ..................................161
C.1 SeaBat 7125 ROV Documentation ..............................................................161
C.2 SeaBat 7125 ROV Design Documents ........................................................162
Appendix D SeaBat 7125 System Options .............................171
D.1 Extended Warranty Contract........................................................................171
D.2 External RAID Drive.....................................................................................171
D.3 Fiber-Optic Converter (for ROV Installations)...............................................172
D.4 7125 Mounting Bracket –PN 85160019 ......................................................173
D.5 PDS2000 Data Acquisition Software............................................................174
D.6 SeaBat Cables.............................................................................................174
D.7 Sound Velocity Probe..................................................................................174

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D.8 System Integration and Training..................................................................175
D.9 Yearly Inspection and Servicing...................................................................175
D.10 Yearly Upgrades for SeaBat Firmware.........................................................176
Appendix E Available SeaBat 7125 Configurations...............177
E.1 Configurations .............................................................................................177
E.1.1 7125 SV Configuration.........................................................................177
E.1.2 7125 ROV Configuration......................................................................177
E.1.3 7125 AUV Configuration.......................................................................177
E.2 Feature Packages........................................................................................178
Appendix F Warranty Information ..........................................179
F.1 One Year Limited Warranty .........................................................................179
F.2 Exclusions ...................................................................................................179
F.3 Warranty Limitations....................................................................................179
F.4 Servicing During Warranty Period................................................................180
F.5 Equipment Return Procedure.......................................................................180
F.6 Service ........................................................................................................180
Appendix G Glossary of Terms...............................................181
LIST OF FIGURES
Figure 1: SeaBat 7125 ROV Sonar System.....................................................................1
Figure 2: SeaBat 7125 ROV System Configuration.........................................................2
Figure 3: 7125 Processor Filter Location.........................................................................7
Figure 4: Example of Trigger Output: Delay = 0, Pulse Width = 1..................................25
Figure 5: Sample of I/O Module Setup Tab ...................................................................32
Figure 6: 7k External I/O Window..................................................................................35
Figure 7: User Interface with Display and Control Areas ...............................................49
Figure 8: Primary Display Tab.......................................................................................50
Figure 9: A-Scan and Sonar Wedge Display.................................................................52
Figure 10: B-Scan Display.............................................................................................53
Figure 11: Motion Tab...................................................................................................60
Figure 12: Typical Side-Scan Display............................................................................61
Figure 13: BITE Tab......................................................................................................62