R2Sonic 2022 - 4.2 ROV Installation Examples

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Version 3.0 REV r000

Date 25-08-2010

4.2 ROV Installation Examples

Figure 20: Single Head ROV Installation scheme A

Figure 21: Single Head ROV Installation scheme B (Preferred)

Main Page

Default Chapter5
- Table of Contents5
1 Introduction15
- Outline of Equipment15
- Figure 1: Sonic 2024/2022 Block Diagram15
- How to Use this Manual16
  - Standard of Measurement16
  - Table 1: Metric to Imperial Conversion Table16
2 Sonic Specifications17
- Sonic 2024 System Specification17
- Sonic 2022 System Specification17
- Sonic 2024 Dimensions and Weights17
- Table 2: System Specification17
- Table 3: Component Dimensions and Mass17
- Sonic 2022 Dimensions and Weights18
- Sonic 2024/Sonic 2022 Electrical Interface18
- Sonic 2024/2022 Ping Rates18
- Table 4: Electrical Interface18
- Table 5: Ping Rate Table18
- Acoustic Centre19
- Figure 2: Sonic 2024 Acoustic Centre19
- Figure 3: Sonic 2024 Acoustic Centre as Mounted19
- Figure 4: Sonic 2022 Acoustic Centre20
- Figure 5: Sonic 2022 Acoustic Centre as Mounted20
3 SONIC 2024/2022 SONAR HEAD INSTALLATION - Surface Vessel21
- Sonic 2024/2022 Receive Module Installation21
- Sonar Head Installation Guidelines26
4 Sonic 2024/2022 Mounting: Sub-Surface (ROV/AUV)29
- Installation Considerations29
  - Ethernet Wiring Considerations30
- ROV Installation Examples31
- Figure 20: Single Head ROV Installation Scheme a31
- Figure 21: Single Head ROV Installation Scheme B (Preferred)31
- Figure 22: Dual Head ROV Installation Scheme a32
- Figure 23: Dual Head ROV Installation Scheme B (Preferred)32
5 SONIC 2024/2022 SONAR INTERFACE MODULE (SIM) INSTALLATION and INTERFACING33
- Sonar Interface Module (SIM)33
6 Operation of the Sonic 2024/2022 Via Sonic Control39
- Installing Sonic Control Graphical User Interface39
- Figure 30: Sonic Control Icon on Desktop39
- Figure 31: Sonic Control 200039
- Network Setup40
  - Initial Computer Setup for Communication40
  - Figure 32: Windows XP Internet Properties40
  - Discover Function41
  - Figure 33: IP and Subnet Mask Setup41
  - Configuring Network Communication42
  - Figure 34: Sonic Control Network Setup42
  - Figure 35: Command Prompt-Ipconfig/All43
- Sensor Setup (Serial Interfacing)44
  - Gps44
  - Figure 36: Sensor Communication Settings44
  - Motion45
  - Heading45
  - Svp45
  - Message Displays45
  - Synch in / Synch out45
- Sonar Settings45
  - Figure 37: Sonar Operation Settings Window45
  - Figure 38: Operating Frequency Selection46
  - Figure 39: Ping Rate Limit46
  - Frequency46
  - Ping Rate Limit46
  - Figure 40: Sector Coverage47
  - Sector Coverage47
  - Sector Rotate47
  - Bottom Sampling48
  - Figure 41: Sector Rotate48
  - Mission Mode48
  - Figure 42: Mission Mode49
  - Figure 43: Roll Stabilize49
  - Roll Stabilize49
  - Dual Head Mode50
  - Figure 44: Dual Head Mode50
  - Figure 45: Dual Head Mode Active50
  - Figure 46: Load Settings Menu Selection51
  - Figure 47: Selecting Factory Default Settings File for Dual Head Operation51
  - Figure 48: Default Dual Head Network Settings52
  - Mount52
  - Snippets Enable52
- Ocean Setting54
  - Absorption: 0 - 120Db/Km54
  - Spreading Loss: 0 - 60 Db54
  - Figure 49: Ocean Characteristics54
  - Time Variable Gain55
  - Figure 50: TVG Curve Concept55
- Tools | Firmware Upgrade57
- Figure 51: the Angular Acoustic Wave Front will Strike each Receive Element at a Different Time57
- Figure 52: Select Tools; Firmware Upgrade57
- Figure 53: Select Correct Upgrade .Bin File58
- Figure 54: a Batch File will Automatically Load the Upgrade File58
- Figure 55: Message Displayed When the Upgrade Process Is Complete58
- Figure 56: Error if Wrong File Chosen for Upgrade59
- Figure 57: Error if Component Cannot be Found59
- Display Settings60
- Main Operation Parameters60
  - Figure 58: Display Settings60
  - Figure 59: Operating Parameter Buttons60
  - Figure 60: Range Setting Represented in the Wedge Display61
  - Power: 0 - 221 Db61
  - Range: 0 - 500 Metres61
  - Depth Gates62
  - Figure 61: Transmit Pulse62
  - Gain: 1 - 4562
  - Pulse Length: 15Μsec - 500Μsec62
  - Figure 62: Depth Gates on and off Control63
  - Figure 63: Dragging Depth Gates to New Location63
- Save Settings64
- Figure 64: Graphical Representation of Depth Gate64
- Operating Sonic Control on a Second Computer65
  - Two Computer Setup65
  - Changing Back to One Computer66
  - Figure 65: Change in GUI IP66
7 Sonic 2024/2022 Theory of Operation67
- Sonic 2024/2022 Sonar Head Block Diagram67
- Figure 66: SONIC 2024 Sonar Head Block Diagram67
- Sonic 2024/2022 Transmit (Normal Operation Mode)68
- Figure 67: Transmit Pattern68
- Sonic 2024/2022 Receive (Normal Operation Mode)69
- Figure 68: Receive Pattern with Transmit Pattern69
- Sonic 2024/2022 Sonar Interface Module (SIM) Block Diagram71
  - Sonar Interface Module (SIM) Block Diagram71
  - Figure 69: Sonar Interface Module Block Diagram71
Appendix I: Multibeam Survey Suite Components73
8 Auxiliary Sensors and Components73
- Differential Global Positioning System73
  - Installation73
  - GPS Calibration74
- Gyrocompass75
- The Motion Sensor80
- Sound Velocity Probes81
- The Sound Velocity Cast84
Appendix II: Multibeam Surveying87
9 Introduction87
- Survey Design87
- Record Keeping88
Appendix III: Offset Measurement93
10 Lever Arm Measurement - Offsets93
- Vessel Reference System93
- Figure 79: Vessel Horizontal and Vertical Reference System93
- Measuring Offsets94
Appendix IV: the Patch Test97
11 Introduction97
- Orientation of the Sonic 2024/2022 Sonar Head97
- Figure 81: Sonic 2024/2022 Axes of Rotation97
- Patch Test Criteria98
- Graph 1: Depth Errors Due to Incorrect Roll Alignment99
  - Pitch Test100
  - Figure 85: Pitch Data Collections100
- Graph 2: Position Errors as a Result of Pitch Misalignment; Error Can be Either Negative or Positive100
  - Yaw Test101
  - Figure 86: Yaw Data Collection101
- Graph 3: Along Track Position Error Caused by 0.5° Error in Yaw Patch Test101
  - Solving for the Patch Test102
- Graph 4: Along-Track Position Error Caused by 1.0° Error in Yaw Patch Test Error102
Appendix V: Sound in Water103
12 Introduction103
- Sound Velocity103
- Transmission Losses106
- Graph 5: Seawater Absorption (Salinity 35Ppt)109
- Graph 6: Freshwater Absorption109
  - Table 11: Operating Frequency - Water Temperature - Absorption110
  - Reverberation and Scattering111
Appendix VI: Sonic Control Commands113
13 R2Sonic Control Commands113
- Introduction113
- General Notes113
- R2Sonic Head Commands - Binary Format114
- R2Sonic SIM Commands - Binary Format115
Appendix VI: R2Sonic Data Formats117
14 R2Sonic Uplink Data Formats117
- Introduction117
- General Notes117
- Port Numbers117
- Type Definitions118
- Bathymetry Packet Format118
- Snippet Format121
Appendix VII123
- Drawings123
- Figure 93: Sonic 2024/2022 Projector124
- Date 25-08-2010 Part no124
- Figure 94: Sonic 2024 Receive Module125
- Figure 95: Sonic 2022 Receive Module126
- Figure 96: Sonic 2024 Mounting Bracket Drawing 1127
- Figure 97: Sonic 2024 Mounting Bracket Drawing 2128
- Rev R000129
- Date 25-08-2010129
- Figure 98: Sonic 2022 Mounting Bracket Drawing 1129
- Figure 99: Sonic 2022 Mounting Bracket Drawing 2130
- Figure 100: Sonic 2024/2022 Mounting Bracket Flange131
- Figure 101: SIM Box Drawing132
- Figure 102: R2Sonic Deck Lead Minimum Connector Passage Dimensions133

R2Sonic 2022 - 4.2 ROV Installation Examples

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