Tritech PA200 User manual

Altimeter Product Manual
0286-SOM-00001, Issue: 09 1 © Tritech International Ltd.
Altimeter Product Manual
Covering PA200, PA500, LRPA
and Dual Frequency Echosounder
0286-SOM-00001, Issue: 09

Altimeter Product Manual
0286-SOM-00001, Issue: 09 2 © Tritech International Ltd.
© Tritech International Ltd
The copyright in this document is the property of Tritech International Ltd. The document is supplied by Tritech International Ltd on
the understanding that it may not be copied, used, or disclosed to others except as authorised in writing by Tritech International Ltd.
Tritech International Ltd reserves the right to change, modify and update designs and specifications as part of their ongoing
product development programme.
All product names are trademarks of their respective companies.

Altimeter Product Manual
0286-SOM-00001, Issue: 09 3 © Tritech International Ltd.
Table of Contents
Help & Support ........................................................................................................... 4
Warning Symbols ........................................................................................................ 5
1. Specification ........................................................................................................... 6
1.1. Notes on Specifications ................................................................................ 6
1.2. Dimensions .................................................................................................. 6
1.3. PA200/PA500 Electrical & Acoustic ............................................................. 12
1.4. PA200/PA500 Physical & Environmental ..................................................... 12
1.5. LRPA Electrical & Acoustic ......................................................................... 13
1.6. LRPA Physical & Environmental .................................................................. 13
1.7. Dual Frequency Echosounder Electrical & Acoustic ...................................... 14
1.8. Dual Frequency Echosounder Physical & Environmental .............................. 14
2. Introduction ........................................................................................................... 15
3. Installation ............................................................................................................ 16
3.1. Optimal Orientation ..................................................................................... 16
3.2. Mounting Material and Suitable Brackets ..................................................... 16
3.3. Dual Frequency Altimeter ........................................................................... 16
3.3.1. Orientation ...................................................................................... 16
3.3.2. AHRS Sensor Axes ......................................................................... 17
3.3.3. Mounting ......................................................................................... 17
3.4. Long Term Use .......................................................................................... 18
3.5. Standard Pin-Out Diagrams ........................................................................ 18
3.6. Example Test Cables ................................................................................. 21
4. Operation .............................................................................................................. 23
4.1. General Guidelines ..................................................................................... 23
4.2. Dual Frequency Echosounder ..................................................................... 25
4.2.1. Echosounder Output ........................................................................ 25
4.2.2. AHRS Output .................................................................................. 25
4.3. Seanet Pro & SeaKing or Super SeaPrince DST AUX Port ........................... 26
4.4. Using with SeaKing 700 Series (Bathy) ....................................................... 30
4.5. AltTest Software ......................................................................................... 30
5. Maintenance ......................................................................................................... 35
5.1. General Guidelines ..................................................................................... 35
5.2. Ordering Parts ............................................................................................ 36
5.3. Disassembly of the Altimeter ....................................................................... 37
6. Configuration ........................................................................................................ 38
6.1. Non-configurable Parts ............................................................................... 38
6.2. Dip Switch Settings .................................................................................... 38
A. Jumper Settings for SeaKing with Altimeter on AUX Port ........................................ 41
Glossary ................................................................................................................... 45

Altimeter Product Manual
0286-SOM-00001, Issue: 09 4 © Tritech International Ltd.
Help & Support
First please read this manual thoroughly (particularly the Troubleshooting section, if present).
If a warranty is applicable, further details can be found in the Warranty Statement, 0080-
STF-00139, available upon request.
Tritech International Ltd can be contacted as follows:
Mail Tritech International Ltd
Peregrine Road
Westhill Business Park
Westhill, Aberdeenshire
AB32 6JL, UK
Telephone ++44(0)1224 744 111
Email [email protected]
Website www.moog.com/tritech
Prior to contacting Tritech International Ltd please ensure that the following is available:
1. The Serial Numbers of the product and any Tritech International Ltd equipment connected
directly or indirectly to it
2. Software or firmware revision numbers
3. A clear fault description
4. Details of any remedial action implemented
Contamination
If the product has been used in a contaminated or hazardous environment you
must de-contaminate the product and report any hazards prior to returning the
unit for repair. Under no circumstances should a product be returned that is
contaminated with radioactive material.
The name of the organisation which purchased the system is held on record at Tritech
International Ltd and details of new software or hardware packages will be announced at
regular intervals. This manual may not detail every aspect of operation and for the latest
revision of the manual please refer to www.moog.com/tritech
Tritech International Ltd can only undertake to provide software support of systems loaded
with the software in accordance with the instructions given in this manual. It is the customer's
responsibility to ensure the compatibility of any other package they choose to use.

Altimeter Product Manual
0286-SOM-00001, Issue: 09 5 © Tritech International Ltd.
Warning Symbols
Throughout this manual the following symbols may be used where applicable to denote any
particular hazards or areas which should be given special attention:
Note
This symbol highlights anything which would be of particular interest to the reader
or provides extra information outside of the current topic.
Important
When this is shown there is potential to cause harm to the device due to
static discharge. The components should not be handled without appropriate
protection to prevent such a discharge occurring.
Caution
This highlights areas where extra care is needed to ensure that certain delicate
components are not damaged.
Warning
DANGER OF INJURY TO SELF OR OTHERS
Where this symbol is present there is a serious risk of injury or loss of life. Care
should be taken to follow the instructions correctly and also conduct a separate
Risk Assessment prior to commencing work.

Altimeter Product Manual
0286-SOM-00001, Issue: 09 6 © Tritech International Ltd.
1. Specification
1.1. Notes on Specifications
The specifications outlined below are for standard altimeters fitted with Tritech International
Ltd 6-pin connectors and are the most common variant of altimeter supplied by Tritech
International Ltd. There are a large variety of options available in terms of connectors and it
is outwith the scope of this manual to cover every configuration possible.
Other connectors that have been supplied include:
• Burton Seaconn 1508
• Branter SeaCon XSG-4/XSG-5
• Subconn:
• BH4-F
• BH6-M
• BH8-M
• IL6-FS
• MCBH4-M SS
• MCBH5-M
• MCBH6-F
For each of the above a variety of wiring schemes has been used and so it will be necessary
to contact Tritech International Ltd for a detailed description of the product supplied (provided
serial numbers are available). Additionally, the list is not exhaustive and there may be special
items or other connectors that are not included.
1.2. Dimensions
Note
Tritech International Ltd reserve the right to change, modify and update designs
and specifications as part of their ongoing product development program.

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 7 © Tritech International Ltd.
PA200/PA500 Straight Delrin, Aluminium & Stainless Steel
143
Ø47
172
A B C
Not to scale, dimensions in mm.
Note
The standard Tritech International Ltd 6-pin connector is rated to a maximum
depth of 4000m, so any deep rated altimeters (up to 6800m) will be fitted with
different connectors, the Burton 5506 shown here is a representation only.
PA200/PA500 Straight Stainless Steel
72
Ø43
160
Ø47
40
A B C
Not to scale, dimensions in mm.

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 8 © Tritech International Ltd.
PA200/PA500 Right Angle Delrin, Aluminium & Stainless Steel
196
Ø47
225
A B C
Not to scale, dimensions in mm.
Note
The transducer endcap (part C in the image) is made out of ABS regardless of
the body material.
Note
The standard Tritech International Ltd 6-pin connector is rated to a maximum
depth of 4000m, so any deep rated altimeters (up to 6800m) will be fitted with
different connectors, the Burton 5506 shown here is a representation only.
PA200/PA500 Right Angle Stainless Steel
196
213
Ø43
Ø47
A B C
Not to scale, dimensions in mm.
Note
The transducer endcap (part C in the image) is made out of ABS regardless of
the body material.

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 9 © Tritech International Ltd.
LRPA 4000m
All dimensions are in mm. Not to scale.
193.5
210.5
Ø72
Ø65
63
46

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 10 © Tritech International Ltd.
LRPA 6000m
Note
The 6000m rated units have a Subconn MCBH6F-SS series connector as
standard but other connectors are also used.

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 11 © Tritech International Ltd.
Dual Frequency Echosounder

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 12 © Tritech International Ltd.
1.3. PA200/PA500 Electrical & Acoustic
Acoustic
PA200 PA500
Operating frequency 200kHz 500kHz
Beamwidth 20° conical 6° conical
Peak Source 187dB re 1µPa @ 1m 197dB re 1µPa @ 1m
Pulse Length 300µs 100µs
Range 0.7 to 100m 0.3 to 50m (0.1
to 10m optional)
Digital resolution 1mm
Analogue resolution 0.025% of range
Electrical and Communication
Power supply 24V DC at 80mA or 12V DC at 160mA
Analogue output 0 to 10V DC (with 24V power supply), 0 to 5V DC or 4 to
20mA
Data communications RS232 or RS485
Output modes Free running, interrogated or part of multidrop network
Note
For current loop output of 4-20mA the power supply must be at least 15V DC.
1.4. PA200/PA500 Physical & Environmental
Physical
Materials Delrin™
S02133/
S02135
Aluminium
S05303/
S04678
Aluminium R/A
S04807/
S03447
Stainless Steel
S02125/
S02127
Titanium
Grade 6Al-4V
Weights 0.42kg in
air, 0.15kg
in water
0.57kg in air,
0.3kg in water
0.67kg in
air, 0.29kg
in water
1.15kg in air,
0.8kg in water
See Tritech
for information
Depth
rating
700m with
Delrin™
housing
(aluminium
alloy endcap)
4000m
All right-angle transducers are
ABS (part C in the diagrams)
4000m
standard
(6800m
available)
6800m
Operating
temperature -10 to 35°C
Storage
temperature -20 to 50°C

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 13 © Tritech International Ltd.
1.5. LRPA Electrical & Acoustic
Acoustic
Operating frequency 200kHz
Beamwidth 10° conical
Range 2 to 200m
Digital timing resolution 1mm
Analogue resolution 0.025% of range
Electrical and Communication
Power supply 24V DC at 90mA (12V DC optional)
Analogue output 0 to 10V DC (with 24V power supply)
0 to 5V DC
4 to 20mA
Communication protocols RS232 or RS485
Output modes Free running, interrogated
or part of multidrop network
1.6. LRPA Physical & Environmental
Physical
Standard model Deep rated model
Weight in air 1.3kg 4.33kg
Weight in water 0.95kg 2.93kg
Depth rating 4000m 6000m
Materials Aluminium alloy housing
Stainless Steel housing
Stainless Steel housing
Operating temperature -10 to 35°C
Storage temperature -20 to 50°C

Specification Altimeter Product Manual
0286-SOM-00001, Issue: 09 14 © Tritech International Ltd.
1.7. Dual Frequency Echosounder Electrical & Acoustic
Acoustic (Altimeter)
Operating frequency 200kHz 500kHz
Beamwidth
Peak Source
Pulse Length
Range
Digital timing resolution
Refer to Section 1.3, “PA200/PA500 Electrical & Acoustic”
AHRS-1 (Accuracy)
Roll/Pitch (static) 0.5°
Roll/Pitch (dynamic) 0.8° RMS
Yaw (dynamic) 2° RMS
Electrical and Communication
Altimeter AHRS
Power supply 10.5-21VDC or 21-28VDC (internally set)
Analogue output None (Pin 5 used for AHRS RS232
output in free-running mode)
Communication protocols RS232 or RS485
Serial output format
Yxx.xxxm only
(where Y is the LAN
interrogation character)
$HCHDM
$HEHDT
$PASHR
$PHTRH
$PHTRO
$PHDID
TSS1
TSS2
Topside control Serial interrogate only Free running (Pin 5 only) or
Interrogate (Pins 1 + 2)
Max interrogation rate Altimeter = 8Hz
Altimeter + AHRS = 4Hz
1.8. Dual Frequency Echosounder Physical & Environmental
Physical
Weight in air 3.4kg
Weight in water 1.7kg
Depth rating 100m
Materials Aluminium alloy housing
Acetal sleeve
Operating temperature -10 to 35°C
Storage temperature -20 to 50°C

Altimeter Product Manual
0286-SOM-00001, Issue: 09 15 © Tritech International Ltd.
2. Introduction
The PA200, PA500,LRPA and Dual Frequency Echosounder are sonar ranging devices
which when mounted vertically give the height above the sea bed or in any other orientation
provides a method for measuring subsea distances. The PA200, PA500 and LRPA can be
configured to operate on their own or under control from an external unit.
The altimeters incorporate a fixed crystal transducer which is matched to the range and
resolution required. The altimeter data output signals can be transmitted as both digital and
analogue signals and can communicate using RS232 or RS485 protocols.
The dual Frequency Echosounder combines the current PA200 and PA500 whist
incorporating an X-Sens MTi-3 AHRS pitch and roll sensor.
This manual covers the generic aspects of altimeters and shows the specifications for the
standard setup with the Tritech International Ltd 6 pin connector. There are a wide range of
different configurations available for Tritech altimeters so it is important to use this manual
in conjunction with the original purchase order which should detail the exact configuration
of the product in hand.
If the details from the original order are not available please try contacting Tritech International
Ltd to retrieve the information. It will be necessary to supply all the serial numbers off the
altimeter body and/or label.

Altimeter Product Manual
0286-SOM-00001, Issue: 09 16 © Tritech International Ltd.
3. Installation
3.1. Optimal Orientation
For ROV installation always mount the altimeter so that it is as close to the true vertical as
possible in relation to the trim position of the vehicle. The transducer head should be clear
of any obstruction and away from possible sources of interference, such as the wake from
thrusters or from electrical devices that may have high electromagnetic emissions. Errors in
the head alignment can give rise to unreliable results.
3.2. Mounting Material and Suitable Brackets
Caution
Avoid any metal alloys containing copper such as brass or bronze.
Non-metallic clamps should always be used where possible to prolong the life of the unit and
prevent any galvanic corrosion effects. If metallic clamps are used they should be electrically
insulated from the sonar body by means of rubber or plastic strips or mount brackets of at
least 3mm thickness and extending at least 3mm beyond the clamp boundary. They should
also be painted or lacquered with at least three coatings.
3.3. Dual Frequency Altimeter
3.3.1. Orientation
The shape of the echosounder is designed
with hydrodynamics in mind. The front of
the echosounder is at the opposite side
to the Tritech connector which is provided
protection from water flow by the mounting
bracket.

Installation Altimeter Product Manual
0286-SOM-00001, Issue: 09 17 © Tritech International Ltd.
3.3.2. AHRS Sensor Axes
The axes for the AHRS within the echosounder are shown below.
3.3.3. Mounting
The mounting point on the Dual Frequency Altimeter utilises as 1⅛"-14 BSW (Whitworth)
thread. This interface is shared with the mounting system for the Tritech MicronNav and
Gemini products.
Tritech adapters are listed below:

Installation Altimeter Product Manual
0286-SOM-00001, Issue: 09 18 © Tritech International Ltd.
Items from left to right
Item No Description Qty
S11836 Gemini DB - Ø22mm Pole Assembly 0.5m 1
S11744 29mm ID x 40mm OD x 1mm Washer 1
S11743 Gemini DB - Pole Adapter Blank 1
S11904 Gemini DB - 1⅛"-18 UNEF Pole Adapter 1
S11741 Gemini DB - Reach & Rescue Pole Adapter 1
Common Interface thread: 1⅛"-14 BSW (Whitworth)
S11836: Utilises coupling on Ø22mm carbon pole as per USBL system
S11904: Supplied for US customers
S11743: A blank adapter for customer adaption
S11741: Configured to accommodate "sprung" pin engagement common to a range of
'Reach & Rescue' telescopic pole systems
S11836 & S11744 are supplied with all deployment pole mount brackets
3.4. Long Term Use
Caution
The stainless steel altimeters are not designed for long-term submersion and
may suffer from corrosion if left underwater or in a splash zone for extended
periods. Refer to the maintenance section for appropriate care.
3.5. Standard Pin-Out Diagrams
Caution
The power should be turned off before making a connection between the sonar
head and surface controller (SCU or SeaHub).

Installation Altimeter Product Manual
0286-SOM-00001, Issue: 09 19 © Tritech International Ltd.
The altimeter can operate in RS232 serial mode, RS485 serial mode, in analogue mode and
as a current loop device. Analogue and serial modes can run on the same device with the
analogue output signal on Pin 5. The pin out configurations are shown below for each type.
Note that the different types require different communications boards so it is not generally
possible to change from one type to another without returning the unit to Tritech.
RS232 Configuration
1
4
6
2
35
Tritech Waterblock
Pin Function Wire colour
1 RS232 Tx Yellow
2 RS232 Rx Blue
3 +V DC Red
4 0V, RS232 Ground,
Analogue Ground
Black
5 Analogue
Output (optional)
Green
6 Chassis Ground cable screen
RS485 Configuration
1
4
6
2
35
Tritech Waterblock
Pin Function Wire colour
1 RS485 A Yellow
2 RS485 B Blue
3 +V DC Red
4 0V, Analogue Ground Black
5 Analogue
Output (optional)
Green
6 Chassis Ground cable screen
Current Loop Configuration
1
4
6
2
35
Tritech Waterblock
Pin Function Wire colour
1 + Current Loop Yellow
2 - Current Loop Blue
3 +V DC Red
4 0V, Analogue Ground Black
5 Analogue
Output (optional)
Green
6 Chassis Ground cable screen

Installation Altimeter Product Manual
0286-SOM-00001, Issue: 09 20 © Tritech International Ltd.
Analogue Only Configuration
1
4
6
2
35
Tritech Waterblock
Pin Function Wire colour
1 (not used) Yellow
2 (not used) Blue
3 +V DC Red
4 0V, Analogue Ground Black
5 Analogue Output Green
6 Chassis Ground cable screen
Dual Frequency Echosounder Configuration
1
4
6
2
35
Tritech Waterblock
Pin Function Wire colour
1 RS232 Tx/RS485A Yellow
2 RS232 Rx/RS485B Blue
3 +V DC Red
4 0V, RS232 GND,
AHRS ground
Black
5 AHRS RS232 free
running output
Green
6 Chassis Ground cable screen
Note
The Dual Frequency Echosounder does not have an analogue output. This
function is used for the AHRS output.
Note
The AHRS output on pin 5 is RS232 ONLY