Teledyne SeaBat T-Series User manual

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SeaBat T-Series Rackmount
SeaBat T20-R and T50-R High-Resolution
Multibeam Sonar System
OPERATOR'S MANUAL
Part Number 1008754
Version 9
December 2021

SeaBat T-Series Rackmount Operator's Manual
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Uncontrolled Technology Subject to Restrictions Contained on the Cover Page.
Copyright Teledyne RESON A/S 2016-2021
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 Rackmount 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
December 2021
Version 9
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
2.0 or higher
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 Rackmount 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
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
ER
Extended Range (TC2187 projector)
FM
Frequency modulation
FRDH
Full Rate Dual Head
INS
Inertial Navigation System
LED
light-emitting diode
N/A
not available or not applicable
OM
Operator’s Manual
PN
Part Number
RH
relative humidity
RMA
Return Material Authorization
ROV
Remotely Operated Vehicle
RSP
Rack-mounted Sonar Processor
Rx
receiver
SNR
signal-to-noise ratio
Spherical loss
The loss of sound by spreading in the form of a sphere
SV
sound velocity (or surface vessel as in SB 7125 SV)
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
WEEE
Waste Electrical and Electronic Equipment
ZDA
Time and date identifier

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TABLE OF CONTENTS
1 Introduction...................................................................................................1
1.1 System Overview..............................................................................................................1
1.2 System Architecture .........................................................................................................2
1.3 System Operation.............................................................................................................3
1.4 System Features ..............................................................................................................3
1.5 Typical Applications..........................................................................................................6
1.6 Available SeaBat T-Series Rackmount Configurations ....................................................7
2 Safety Precautions .......................................................................................8
2.1 Operator Safety ................................................................................................................8
2.2 Equipment Safety .............................................................................................................8
2.2.1 Safe Handling ...........................................................................................................8
2.2.2 Cleaning and Maintenance .......................................................................................9
2.3 Corrosion Avoidance ......................................................................................................11
2.4 Electrical Isolation ..........................................................................................................12
2.5 Exposure to Sunlight ......................................................................................................12
2.6 Safe Disposal of Waste (WEEE Directive) .....................................................................12
2.7 CE Marking.....................................................................................................................13
3 System Startup and Shutdown..................................................................14
3.1 Chapter Overview...........................................................................................................14
3.2 System Startup Instructions ...........................................................................................15
3.3 Starting the Sonar User Interface...................................................................................15
3.4 System Shutdown Instructions .......................................................................................17
3.5 System Wake Up............................................................................................................18
4 System Configuration and Operation .......................................................19
4.1 Chapter Overview...........................................................................................................19
4.2 Remote Operation ..........................................................................................................19
5 Active Sonar Usage ....................................................................................20
5.1 Chapter Overview...........................................................................................................20
5.2 Enhancing Sonar Performance ......................................................................................21
5.2.1 Correct Range Setting ............................................................................................21
5.2.2 Transmit Power.......................................................................................................22
5.2.3 Ping Rate ................................................................................................................23
5.2.4 Receiver Gain .........................................................................................................23
5.2.5 Frequency Selection ...............................................................................................24
5.2.6 Pulse Length...........................................................................................................24
5.2.7 Pulse Type..............................................................................................................25
5.2.8 Vari-Swath ..............................................................................................................25
5.2.9 Use of Beam Mode .................................................................................................28
5.2.10 Use of Gates...........................................................................................................30
5.2.11 Maximizing Quality of Backscatter for Snippets Data .............................................33
5.3 Enhancing System Efficiency .........................................................................................33
5.3.1 Multi-Detect Operation............................................................................................33
5.3.2 Tracker Autopilot.....................................................................................................34
5.3.3 Roll Stabilization .....................................................................................................34
5.3.4 Head Tilt .................................................................................................................35
5.4 Compensation for Environmental Conditions .................................................................37
5.4.1 Loss of Sound by Absorption..................................................................................37

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5.4.2 Loss of Sound by Spreading...................................................................................38
5.4.3 Sound Velocity........................................................................................................39
5.5 Limitations ......................................................................................................................40
5.5.1 Cavitation................................................................................................................40
5.5.2 Machinery Noise .....................................................................................................41
5.5.3 Interference from Other Sonar Systems .................................................................41
5.5.4 Speed .....................................................................................................................41
5.5.5 Air Bubbles .............................................................................................................42
5.5.6 Environment............................................................................................................42
6 System Performance and Data Types ......................................................43
6.1 System Components ......................................................................................................45
6.1.1 Rack-mounted Sonar Processor (RSP)..................................................................45
6.1.2 EM7218 Receiver Unit............................................................................................46
6.1.3 EM7219 Receiver Unit (alternative)........................................................................46
6.1.4 TC2181 Projector Unit ............................................................................................46
6.2 Selectable Beam Density ...............................................................................................47
6.2.1 Beam Modes...........................................................................................................47
6.2.2 Equi-Distant, Equi-Angle, and Intermediate Modes................................................48
6.3 Data Types .....................................................................................................................50
6.3.1 Bathymetry Data .....................................................................................................50
6.3.2 Side-Scan Data.......................................................................................................50
6.3.3 Snippets Backscatter ..............................................................................................50
6.4 Real-Time Pipe Detection and Tracking.........................................................................52
6.5 Multi-Detect ....................................................................................................................53
6.6 X-Range Performance....................................................................................................53
6.7 Full Rate Dual Head .......................................................................................................53
6.8 Quality ............................................................................................................................54
6.8.1 Brightness Test.......................................................................................................54
6.8.2 Colinearity Test.......................................................................................................55
6.8.3 Quality Filter............................................................................................................55
6.9 Uncertainty Estimation ...................................................................................................55
6.10 Hydrodynamic Drag........................................................................................................56
6.10.1 Drag Simulation Setup............................................................................................56
6.10.2 Drag Simulation Conclusions..................................................................................56
6.10.3 Drag Simulation Results .........................................................................................57
6.11 Ping Rate Table..............................................................................................................65
Appendix A Troubleshooting.....................................................................66
A.1 System Error and Warning Messages............................................................................66
A.2 Error Messages ..............................................................................................................66
A.2.1 General System Startup Errors...............................................................................66
A.2.2 Data Reading Errors ...............................................................................................67
A.2.3 System Resource Errors.........................................................................................67
A.2.4 Input Signal (Timing and Triggers) Errors...............................................................67
A.2.5 Normalization Errors ...............................................................................................68
A.3 Warning Messages.........................................................................................................68
A.3.1 Configuration Warnings ..........................................................................................68
A.3.2 Data Processing Warnings .....................................................................................68
A.3.3 Data Recording Warnings.......................................................................................69
A.3.4 BITE Data Warnings ...............................................................................................69
A.3.5 Input Signal Warnings.............................................................................................69

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A.3.6 System Stability Warnings ......................................................................................69
A.3.7 Data Subscription Warnings ...................................................................................70
A.3.8 Network Components Warnings .............................................................................70
A.3.9 External Trigger Warnings ......................................................................................70
A.4 Error Messages – Master List in Alphabetical Order......................................................71
A.5 Warning Messages – Master List in Alphabetical Order ................................................74
Appendix B Installation Instructions.........................................................78
B.1 Components List ............................................................................................................78
B.2 Installation Checklist.......................................................................................................80
B.3 System Interfacing..........................................................................................................81
B.3.1 Interfacing Diagram for Standard Configurations ...................................................81
B.3.2 Interfacing Diagram for Configurations with Integrated INS ...................................83
B.4 Dry-End Installation ........................................................................................................85
B.4.1 Rack-mounted Sonar Processor (RSP)..................................................................85
B.4.2 Sonar Processor Mounting .....................................................................................85
B.4.3 Sonar Processor Cable Connections......................................................................86
B.4.4 Rack-mounted Sonar Processor Power Button and BITE LED ..............................87
B.5 Auxiliary Sensors............................................................................................................88
B.5.1 Standard SeaBat T20/50-R Configurations ............................................................88
B.5.2 SeaBat T20/50-R Configurations with Integrated INS ............................................89
B.5.3 Sound Velocity Input...............................................................................................89
B.5.4 Time Input...............................................................................................................89
B.5.5 Time Output (for optional INS configurations) ........................................................90
B.5.6 Motion Input ............................................................................................................90
B.5.7 Motion Output (for optional INS configurations)......................................................90
B.5.8 Standard Serial Ports..............................................................................................90
B.6 SeaBat T-Series Rackmount Cables..............................................................................91
B.7 Wet-End Installation .......................................................................................................92
B.7.1 EM7218 Receiver Unit (PN 85002409) ..................................................................92
B.7.2 EM7219 Receiver Unit (PN 85002436) ..................................................................92
B.7.3 TC2181 Projector Unit (PN 85002319)...................................................................93
B.7.4 Wet-End Cable Connections ..................................................................................93
B.7.5 Sonar Head Assembly Orientation .........................................................................94
B.7.6 Sonar Reference Point ...........................................................................................94
B.7.7 Wet-End Mounting ..................................................................................................95
B.7.8 Hardware ................................................................................................................96
B.8 System Check ................................................................................................................97
Appendix C PPS In and Trigger In.............................................................98
C.1 Electrical Specifications for PPS In and Trigger In.........................................................98
C.2 Typical PPS In and Trigger Performance.......................................................................98
C.3 Hints and Advice ............................................................................................................99
Appendix D Data Rates.............................................................................100
Appendix E Network Configuration ........................................................101
E.1 System Network Configuration.....................................................................................101
E.2 Change IP Configuration ..............................................................................................101
Appendix F Configuration of Integrated INS (optional).........................103
F.1 POS MV – How to Perform a GAMS Calibration..........................................................103
F.1.1 MV-POSView – Standby Mode.............................................................................103
F.1.2 GAMS Parameter Setup .......................................................................................103

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F.1.3 Positioning Quality ................................................................................................104
F.1.4 GAMS Calibration – Procedure ............................................................................105
F.2 POS MV – How to Set Up for a Multibeam Survey ......................................................109
F.2.1 Conventions..........................................................................................................109
F.2.2 Coordinate Frames ...............................................................................................109
F.2.3 Offsets – Example ................................................................................................110
F.2.4 Alignments – Example ..........................................................................................111
F.2.5 MV-POSView Software.........................................................................................111
F.2.6 Installation Parameters – Lever Arms & Mounting Angles ...................................112
F.2.7 Installation Parameters – Sensor Mounting..........................................................113
F.2.8 Installation Parameters – Tags, Multipath & AutoStart ........................................114
F.2.9 Installation Parameters – Heave Filter..................................................................114
F.2.10 POS MV Output– Serial Data ...............................................................................115
F.2.11 POS MV Output– Ethernet Realtime ....................................................................117
F.2.12 Acquisition Software .............................................................................................117
F.2.13 Patch Test Results................................................................................................117
F.2.14 POS Statistics.......................................................................................................118
Appendix G Interfacing Sensors To Teledyne PDS ...............................119
G.1 Establishing a Connection to the RSP .........................................................................119
G.2 Interfacing to Teledyne PDS ........................................................................................121
G.2.1 Configuring the Sonar UI to Output Data..............................................................121
G.2.2 Configuring Teledyne PDS ...................................................................................122
Appendix H Reference Documentation...................................................125
H.1 SeaBat T-Series Rackmount Documentation...............................................................125
H.2 SeaBat T-Series Rackmount Design Documents ........................................................126
H.2.1 Receiver, EM7219 Outline....................................................................................128
H.2.2 Receiver, EM7218 Outline....................................................................................129
H.2.3 Projector, TC2181 Outline ....................................................................................130
H.2.4 T20: Receiver EM7219 and Projector TC2181, Bracket Installation ....................131
H.2.5 T20 Bracket Installation: Sonar Reference Point..................................................132
H.2.6 T20 Bracket Installation with IMU Reference Point ..............................................133
H.2.7 T20 Bracket Installation with Fairing (optional).....................................................134
H.2.8 T50: Receiver EM7218 and Projector TC2181, Bracket Installation ....................135
H.2.9 T50 Bracket Installation: Sonar Reference Point..................................................136
H.2.10 T50 Bracket Installation with IMU Reference Point ..............................................137
H.2.11 T50 Bracket Installation with Fairing (optional).....................................................138
H.2.12 T20 Dual Head Bracket Installation (optional) ......................................................139
H.2.13 T20 Dual Head Bracket Installation (optional): Sonar Reference Point................140
H.2.14 T20 Dual Head Bracket Installation with Fairing (optional)...................................141
H.2.15 T20 Dual Head Bracket Installation with IMU Reference Points (optional)...........142
H.2.16 Narrow Head Adaptor (optional) for T20 Dual Head. Outline Assembly Drawing 143
H.2.17 Narrow Head Adaptor (optional) for T20 Dual Head. Outline ...............................144
H.2.18 Narrow Head Adaptor (optional) for T20 Dual Head. Outline with Fairing............145
H.2.19 Narrow Head Adaptor (optional) for T20 Dual Head. Sonar Reference Point ......146
H.2.20 Narrow Head Adaptor (optional) for T20 Dual Head with IMU. Sonar Reference
Point 147
H.2.21 T50 Dual Head Bracket Installation (optional) ......................................................148
H.2.22 T50 Dual Head Bracket Installation (optional): Sonar Reference Point................149
H.2.23 T50 Dual Head Bracket Installation with Fairing (optional)...................................150
H.2.24 T50 Dual Head Bracket Installation with IMU Reference Points (optional)...........151

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H.2.25 T50: Receiver EM7218 and Projector TC2187 (optional), Bracket Installation with
SVP 70 152
H.2.26 T50: Receiver EM7218 and Projector TC2187 (optional), Bracket Installation with
SVP 70 and Fairing .............................................................................................................153
H.2.27 T50: Receiver EM7218 and Projector TC2187 (optional), Bracket Installation,
Sonar Reference Point........................................................................................................154
H.2.28 T50: Receiver EM7218 and Projector TC2187 (optional), Bracket Installation, IMU
Reference Point ..................................................................................................................155
H.2.29 Cable Assembly, Rack-mounted Sonar Processor to Receiver ...........................156
H.2.30 Cable Assembly, Rack-mounted Sonar Processor to Projector ...........................157
H.2.31 Cable Assembly, Rack-mounted Sonar Processor to Projector ...........................158
H.2.32 Rack-mounted Sonar Processor with INS (optional) ............................................159
H.2.33 IMU Outline (optional)...........................................................................................160
H.2.34 IMU Motion Reference Points on T-Series Brackets (optional) ............................161
H.2.35 IMU Cable.............................................................................................................162
H.2.36 Antenna Outline ....................................................................................................163
H.2.37 Antenna Cable ......................................................................................................164
H.2.38 Cable Assembly, Sonar Processor to SVP 70 (optional)......................................165
H.2.39 Cable Assembly, Sonar Processor to SVP 71 (optional)......................................166
H.3 7kCenter Licenses – Copyright Information .................................................................167
Appendix I SeaBat T-Series Rackmount System Options...................172
I.1 Dual-Head Brackets .....................................................................................................172
I.2 Extended Range Projector ...........................................................................................172
I.2.1 System Performance ............................................................................................172
I.2.2 Mounting Bracket..................................................................................................173
I.3 Extended Warranty Contract ........................................................................................173
I.4 Fairings.........................................................................................................................173
I.5 Integrated Inertial Navigation System ..........................................................................173
I.6 SeaBat Cables .............................................................................................................173
I.7 Service Level Agreement .............................................................................................173
I.8 Sound Velocity Probe...................................................................................................174
I.9 System Integration and Training ..................................................................................174
I.10 Teledyne PDS Data Acquisition Software ....................................................................174
Appendix J Standard Warranty Information ..........................................175
J.1 One-Year Limited Warranty..........................................................................................175
J.2 Warranty Exclusions.....................................................................................................175
J.3 Warranty Disclaimer .....................................................................................................175
J.4 Servicing During Warranty Period ................................................................................175
J.5 Equipment Return Procedure.......................................................................................176
J.6 Teledyne RESON Support ...........................................................................................176
LIST OF FIGURES
Figure 1: SeaBat T-Series Rackmount System Configuration.........................................................2
Figure 2: SeaBat T-Series Rackmount System Configuration with Integrated INS (optional) .........2
Figure 3: Processor Filter Location................................................................................................11
Figure 4: Range Setting Diagrams ................................................................................................21
Figure 5: Range Setting – Too Long..............................................................................................21
Figure 6: Range Setting – Too Short .............................................................................................22

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Figure 7: Range Setting – The Exception......................................................................................22
Figure 8: Example of Reduced Swath Width .................................................................................26
Figure 9: Horizontal Swath Steering ..............................................................................................27
Figure 10: Outer Beams for the Different Beam Modes with a Tilted Sonar Head ........................28
Figure 11: Graphic Illustration of FlexMode...................................................................................30
Figure 12: Depth Gates, With No Roll ...........................................................................................31
Figure 13: Depth Gates, With Roll .................................................................................................31
Figure 14: Depth Gates, With Roll and Motion Sensor Input.........................................................32
Figure 15: Depth Gate Tilt .............................................................................................................32
Figure 16: Submerged Oil Detected by Multi-Detect .....................................................................33
Figure 17: Swath under Zero Roll Conditions................................................................................34
Figure 18: Laterally Displaced Swaths under Roll Conditions .......................................................35
Figure 19: Swath under Roll Stabilization......................................................................................35
Figure 20: Head Tilt Functionality ..................................................................................................36
Figure 21: Head Tilt for Harbor Inspection.....................................................................................36
Figure 22: Head Tilt for Pipe Inspection ........................................................................................36
Figure 23: Acoustic Absorption Reference ....................................................................................38
Figure 24: Typical Sound Velocity Values .....................................................................................39
Figure 25: Rack-mounted Sonar Processor ..................................................................................45
Figure 26: EM7218 Receiver Unit..................................................................................................46
Figure 27: EM7219 Receiver Unit..................................................................................................46
Figure 28: TC2181 Projector Unit ..................................................................................................46
Figure 29: Beam Density ...............................................................................................................48
Figure 30: Beam Spacing vs. Beam Angle ....................................................................................48
Figure 31: Beam Spacing ..............................................................................................................49
Figure 32: Across-Track Sounding Location on a Flat Bottom ......................................................49
Figure 33: Graphic Illustration of Snippets Data ............................................................................51
Figure 34: SeaBat Real-Time Pipe Detection and Tracking ..........................................................52
Figure 35: SeaBat FlexMode .........................................................................................................52
Figure 36: Standard Detection.......................................................................................................53
Figure 37: Multi-Detect with enhanced detail on Quay Wall ..........................................................53
Figure 38: Multi-Detect ..................................................................................................................53
Figure 39: Dual Head Synchronization of Pings ............................................................................54
Figure 40: Brightness Test.............................................................................................................54
Figure 41: Colinearity Flags...........................................................................................................55
Figure 42: T20 Sonar Head Assembly in Bracket with Optional Front Fairing ..............................57
Figure 43: Flow at 10 knots around Single T20 with Fairing..........................................................57
Figure 44: Flow around Single T20 with Fairing, Cross Section of Symmetry Plane ....................57
Figure 45: Flow at 10 knots around Single T20 without Fairing.....................................................58
Figure 46: Flow around Single T20 without Fairing, Cross Section of Symmetry Plane ...............58
Figure 47: T20 Dual Sonar Head Assembly in Bracket with Optional Front Fairing ......................59
Figure 48: Flow at 10 knots around Dual T20 with Fairings ..........................................................59
Figure 49: Flow around Dual T20 with Fairings, Cross Section of Symmetry Plane .....................59
Figure 50: Flow at 10 knots around Dual T20 without Fairings .....................................................60
Figure 51: Flow around Dual T20 without Fairings, Cross Section of Symmetry Plane ................60
Figure 52: T50 Sonar Head Assembly in Bracket with Optional Front Fairing ..............................61
Figure 53: Flow at 10 knots around Single T50 with Fairing..........................................................61
Figure 54: Flow around Single T50 with Fairing, Cross Section of Symmetry Plane ....................61
Figure 55: Flow at 10 knots around Single T50 without Fairing.....................................................62
Figure 56: Flow around Single T50 without Fairing, Cross Section of Symmetry Plane ...............62