Teledyne SeaBat T Series User manual

SeaBat T-Series Subsea
T20/50-S Deep/Shallow High-Resolution
Multibeam Sonar System
OPERATOR'S MANUAL
Part Number 1009737
Version 7
January 2019

SeaBat T-Series Subsea Operator's Manual
Page ii
January 31, 2019
Version 7
Copyright Teledyne RESON A/S 2015
Copyright
Statement
All rights reserved. Reproduction, adaptation, or translation without prior written permission is
prohibited, as per the copyright laws of Denmark.
SeaBat T-Series Subsea Operator's Manual written by:
Teledyne RESON A/S
Fabriksvangen 35
3550 Slangerup
Telephone: [phone]
Facsimile: [phone]
Web: http://www.teledynemarine.com/reson
E-mail: [email protected]
Notice
The information contained in this document is subject to change without notice. Teledyne 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. Teledyne 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
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 Teledyne RESON A/S.
Version
January 2019
Version 7
Teledyne 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 Teledyne RESON office for clarification.
Software
Release
1.5 or higher (T50-S)
1.5 or higher (T20-S)
This manual is consistent with the indicated release versions.
Electronic
File Version
This manual is available from Teledyne 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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PREFACE – ABOUT THIS MANUAL
This manual is designed to give detailed procedures for the correct installation, operation, and
maintenance of the SeaBat T-Series Subsea sonar system and is equally useful for both the first
time user and the experienced technician.
Read this manual thoroughly and follow the steps provided to maintain optimal safety standards
and to obtain the best system performance.
If you require additional information or need clarification of any part of this document, please
contact Teledyne RESON Customer Support for assistance at [email protected].
Document Conventions
The following information will make it easier for the reader to interpret the document content.
Convention
Definition
Hyperlink
Indicates a cross-reference to Ctrl+Click to reach the specified item.
Numbered list
Indicates stepwise instructions to be followed in a particular order.
Bulleted list
Indicates items of a list without any particular order.
Notes, Cautions, and Warnings
Notes, Cautions, and Warnings are included to provide valuable information and to help the
operator prevent damage to the sonar or to personnel. These are the formats:
NOTE
Note boxes provide explanatory information that may be useful to the operator, but is not
necessarily vital to the operation of your Teledyne RESON system.
CAUTION
Caution boxes provide important information regarding your Teledyne RESON system.
Disregarding Cautions may result in accidental misuse or damage to the system.
WARNING!
Warning boxes provide important information regarding your Teledyne RESON system.
Disregarding Warnings may prove harmful to personnel working with or near the system.
Conversion of Units of Measurement
Metric Conversion
All measurements in this manual are
referenced in metric terms.
Use this reference table to convert between
metric (e.g. cm, m, and km) and imperial (e.g.
in, ft, and yd) measurements.
Metric Unit
Imperial Unit
Millimeter (mm)
0.0394in
Centimeter (cm)
0.3937in
Meter (m)
1.0936yd
Kilometer (km)
0.6214mi
Kilogram (kg)
2.2046lb

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Temperature Conversion
All temperatures in this manual are referenced
in degrees Celsius.
This is the formula for converting Celsius (C)
to Fahrenheit (F).
Formula: F =
1.8 x C + 32
Example:
If Temperature =
30C, then:
F =
1.8 x 30+ 32
F =
86
Glossary of Terms
Entry
Definition
7k
SeaBat 7000 series of multibeam sonars
AUV
Autonomous Underwater Vehicle
BITE
Built-In Test Environment
CE
Conformité Européenne
CFE
customer-furnished equipment
CW
Continuous wave
Cylindrical loss
The loss of sound by spreading in the form of a cylinder
DFD
Data Format Definition
DWG
Drawing
EA
Equiangular
ED
Equidistant
FM
Frequency modulation
FRDH
Full Rate Dual Head
LED
light-emitting diode
N/A
not available or not applicable
OM
Operator’s Manual
PN
Part Number
RMA
Return Material Authorization
ROV
Remotely Operated Vehicle
Rx
receiver
SB
SeaBat
SNR
signal-to-noise ratio
Spherical loss
The loss of sound by spreading in the form of a sphere
SSP
Subsea Sonar Processor
SV
sound velocity (or surface vessel)
SVP
Sound Velocity Probe
TBD
To Be Defined
TPU
Total Propagated Uncertainty
TVG
Time-Varied Gain is a control intended to vary the gain of an amplifier over
a predetermined time period (usually from a low to a high gain state)
Tx
transmitter
UI
user interface

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Entry
Definition
UUV
Unmanned Underwater Vehicle
VAC
volts alternating current
VCC
Vehicle Control Computer
VDC
volts direct current
WEEE
Waste Electrical and Electronic Equipment

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TABLE OF CONTENTS
1 Introduction...................................................................................................1
1.1 System Overview..............................................................................................................1
1.2 System Architecture .........................................................................................................2
1.3 System Operation.............................................................................................................2
1.4 System Features ..............................................................................................................3
1.5 Typical Applications..........................................................................................................6
1.6 Available SeaBat T-Series Subsea Configurations ..........................................................6
2 Safety Precautions .......................................................................................7
2.1 Operator Safety ................................................................................................................7
2.2 Equipment Safety .............................................................................................................7
2.2.1 Safe Handling ...........................................................................................................7
2.2.2 Cleaning and Maintenance .......................................................................................8
2.3 Corrosion Avoidance ........................................................................................................9
2.4 Electrical Isolation ..........................................................................................................10
2.5 Exposure to Sunlight ......................................................................................................10
2.6 Safe Disposal of Waste (WEEE Directive) .....................................................................10
3 System Startup and Shutdown..................................................................11
3.1 Chapter Overview...........................................................................................................11
3.2 Pre-dive Checks .............................................................................................................12
3.3 System Startup Instructions ...........................................................................................12
3.3.1 AUV System ...........................................................................................................12
3.3.2 ROV System ...........................................................................................................12
3.4 System Shutdown Instructions .......................................................................................13
3.4.1 AUV System ...........................................................................................................13
3.4.2 ROV System ...........................................................................................................13
3.5 Post-dive Checks ...........................................................................................................14
4 System Configuration with User Interface ...............................................15
4.1 Chapter Overview...........................................................................................................15
4.2 Sonar User Interface (SUI).............................................................................................16
4.3 Remote Operation ..........................................................................................................17
4.4 Remote Desktop Session...............................................................................................18
4.5 Folder Management .......................................................................................................19
4.5.1 File Sharing on a Network ......................................................................................19
4.5.2 Verifying or Changing the Computer Name and/or Workgroup Name ...................23
5 UUV System Operation ..............................................................................27
5.1 Chapter Overview...........................................................................................................27
5.2 AUV System Operation ..................................................................................................28
5.3 ROV System Operation..................................................................................................28
6 Active Sonar Usage ....................................................................................29
6.1 Chapter Overview...........................................................................................................29
6.2 Enhancing Sonar Performance ......................................................................................30
6.2.1 Correct Range Setting ............................................................................................30
6.2.2 Transmit Power.......................................................................................................31
6.2.3 Ping Rate ................................................................................................................32
6.2.4 Receiver Gain .........................................................................................................32
6.2.5 Frequency Selection ...............................................................................................33

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6.2.6 Pulse Length...........................................................................................................33
6.2.7 Pulse Type..............................................................................................................34
6.2.8 Vari-Swath ..............................................................................................................34
6.2.9 Use of Beam Modes ...............................................................................................37
6.2.10 Use of Gates...........................................................................................................39
6.3 Enhancing System Efficiency .........................................................................................42
6.3.1 Multi-Detect Operation............................................................................................42
6.3.2 Tracker Autopilot.....................................................................................................43
6.3.3 Roll Stabilization .....................................................................................................43
6.3.4 Head Tilt .................................................................................................................44
6.4 Compensation for Environmental Conditions .................................................................45
6.4.1 Loss of Sound by Absorption..................................................................................46
6.4.2 Loss of Sound by Spreading...................................................................................48
6.4.3 Sound Velocity........................................................................................................48
6.5 Limitations ......................................................................................................................50
6.5.1 Cavitation................................................................................................................50
6.5.2 Machinery Noise .....................................................................................................50
6.5.3 Interference from Other Sonar Systems .................................................................51
6.5.4 Speed .....................................................................................................................51
6.5.5 Air Bubbles .............................................................................................................51
6.5.6 Environment............................................................................................................51
7 System Performance and Data Types ......................................................52
7.1 System Components ......................................................................................................54
7.1.1 Subsea Sonar Processor........................................................................................54
7.1.2 EM7219-1 Receiver Unit (T20) ...............................................................................55
7.1.3 EM7218-1 Receiver Unit (T50) ...............................................................................55
7.1.4 TC2160 Projector Unit (deep).................................................................................55
7.1.5 TC2163 Projector Unit (deep).................................................................................56
7.1.6 TC2181 Projector Unit (shallow).............................................................................56
7.2 Selectable Beam Density ...............................................................................................57
7.2.1 Beam Modes...........................................................................................................57
7.2.2 Equi-Distant, Equi-Angle, and Intermediate Modes................................................58
7.3 Data Types .....................................................................................................................60
7.3.1 Bathymetry Data .....................................................................................................60
7.3.2 Side-Scan Data.......................................................................................................60
7.3.3 Snippets Backscatter Data .....................................................................................60
7.4 Multi-Detect ....................................................................................................................62
7.5 X-Range Performance....................................................................................................62
7.6 Full Rate Dual Head .......................................................................................................62
7.7 Quality ............................................................................................................................63
7.7.1 Brightness Test.......................................................................................................63
7.7.2 Colinearity Test.......................................................................................................64
7.7.3 Quality Filter............................................................................................................65
7.8 Uncertainty Estimation ...................................................................................................65
7.9 Hydrodynamic Drag........................................................................................................66
7.9.1 Drag Simulation Setup............................................................................................66
7.9.2 Drag Simulation Conclusions..................................................................................66
7.9.3 Drag Simulation Results .........................................................................................67

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7.10 Ping Rate Table..............................................................................................................75
Appendix A Troubleshooting.....................................................................76
A.1 System Error and Warning Messages............................................................................76
A.2 Error Messages ..............................................................................................................76
A.2.1 General System Startup Errors...............................................................................76
A.2.2 PCI Card Related (ADMXRC) Errors ......................................................................77
A.2.3 Data Reading Errors ...............................................................................................78
A.2.4 System Resource Errors.........................................................................................78
A.2.5 Input Signal (Timing and Triggers) Errors...............................................................79
A.2.6 Calibration Errors ....................................................................................................79
A.3 Warning Messages.........................................................................................................79
A.3.1 Configuration Warnings ..........................................................................................79
A.3.2 Startup Warnings ....................................................................................................80
A.3.3 Data Processing Warnings .....................................................................................80
A.3.4 Data Recording Warnings.......................................................................................80
A.3.5 BITE Data Warnings ...............................................................................................81
A.3.6 Input Signal Warnings.............................................................................................81
A.3.7 System Stability Warnings ......................................................................................81
A.3.8 Data Subscription Warnings ...................................................................................81
A.3.9 Network Components Warnings .............................................................................82
A.3.10 External Trigger Warnings ......................................................................................82
A.4 Error Messages – Master List in Alphabetical Order......................................................83
A.5 Warning Messages – Master List in Alphabetical Order ................................................89
Appendix B Installation Instructions.........................................................94
B.1 Components Checklist ...................................................................................................94
B.2 Installation Checklist.......................................................................................................95
B.3 System Interfacing..........................................................................................................96
B.3.1 AUV Installation ......................................................................................................96
B.3.2 ROV Installation......................................................................................................96
B.3.3 Interfacing Diagrams...............................................................................................97
B.4 SeaBat T-Series Subsea Cables..................................................................................100
B.4.1 SeaBat T-Series Subsea Transducer Cables.......................................................100
B.4.2 SeaBat T-Series Subsea External Sensor Cable .................................................100
B.4.3 UUV Interface Cable.............................................................................................100
B.4.4 Pin Designations for Host, AUX, LAN2, and SVP Connectors .............................100
B.5 SeaBat T-Series Subsea Installation............................................................................103
B.5.1 Subsea Sonar Processor (PN 1009483) ..............................................................103
B.5.2 EM7219-1 Receiver Unit (PN 85002536) – T20 ...................................................103
B.5.3 EM7218-1 Receiver Unit (PN 85002538) – T50 ...................................................104
B.5.4 TC2160 Projector Unit (deep operation) (PN 85000328) .....................................104
B.5.5 TC2163 Projector Unit (deep operation, optional) (PN 85000327).......................105
B.5.6 TC2181 Projector Unit (shallow operation) (PN 85002319) .................................105
B.5.7 Wet-End Cable Connections ................................................................................106
B.5.8 Sonar Head Assembly Orientation .......................................................................108
B.5.9 Sonar Reference Point .........................................................................................108
B.5.10 Wet-End Mounting ................................................................................................108
B.5.11 Hardware Settings ................................................................................................109
B.6 System Check ..............................................................................................................110

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Appendix C Network Configuration ........................................................111
C.1 Single-Head System Network Configuration ................................................................111
C.2 Change IP Configuration ..............................................................................................111
Appendix D PPS In and Trigger In...........................................................113
D.1 Electrical Specifications for PPS In and Trigger In.......................................................113
D.2 Typical PPS In and Trigger Performance.....................................................................113
D.3 Hints and Advice ..........................................................................................................114
Appendix E Reference Documentation...................................................115
E.1 SeaBat T-Series Subsea Documentation.....................................................................115
E.2 SeaBat T-Series Subsea Design Documents ..............................................................116
E.3 7kCenter Licenses – Copyright Information .................................................................130
Appendix F SeaBat T-Series Subsea System Options..........................135
F.1 Extended Warranty Contract ........................................................................................135
F.2 Fiber-Optic Converter (for ROV Installations) ..............................................................135
F.3 SeaBat Cables .............................................................................................................136
F.4 Service Level Agreement .............................................................................................136
F.5 Sound Velocity Probe...................................................................................................136
F.6 System Integration and Training ..................................................................................137
F.7 Teledyne PDS Data Acquisition Software ....................................................................137
F.8 Wet-End Brackets (customized)...................................................................................137
Appendix G Warranty Information...........................................................138
G.1 Three-Year Limited Warranty .......................................................................................138
G.2 Exclusions ....................................................................................................................138
G.3 Warranty Limitations.....................................................................................................138
G.4 Servicing During Warranty Period ................................................................................139
G.5 Equipment Return Procedure.......................................................................................139
G.6 Service..........................................................................................................................139
LIST OF FIGURES
Figure 1: SeaBat T-Series Subsea System Configuration...............................................................2
Figure 2: Range Setting Diagrams ................................................................................................30
Figure 3: Range Setting – Too Long..............................................................................................30
Figure 4: Range Setting – Too Short .............................................................................................31
Figure 5: Range Setting – The Exception......................................................................................31
Figure 6: Example of Reduced Swath Width .................................................................................35
Figure 7: Horizontal Swath Steering ..............................................................................................36
Figure 8: Outer Beams for the Different Beam Modes with a Tilted Sonar Head ..........................37
Figure 9: Graphic Illustration of FlexMode.....................................................................................39
Figure 10: Depth Gates, With No Roll ...........................................................................................40
Figure 11: Depth Gates, With Roll .................................................................................................41
Figure 12: Depth Gates, With Roll and Motion Sensor Input.........................................................41
Figure 13: Depth Gate Tilt .............................................................................................................42
Figure 14: Submerged Oil Detected by Multi-Detect .....................................................................42
Figure 15: Swath under Zero Roll Conditions................................................................................43
Figure 16: Laterally Displaced Swaths under Roll Conditions .......................................................44
Figure 17: Swath under Roll Stabilization......................................................................................44