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Sonic 2024 User Manual

Sonic 2024
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Appendix IX: R2Sonic Data Format
15 APPENDIX IX: R2Sonic Uplink Data Formats
15.1 Introduction
This describes the data formats sent from the sonar head and SIM. Unless noted, the data packets
are sent from the sonar head. The formats are given in pseudo C.
Head firmware versions 13-Dec-2011, and newer, utilise the data formats in this document.
Previous head firmware versions back to 25-Mar-2010 only utilise data formats from sections 15.5
and 15.6 in this document. Future versions of firmware will adhere to this format and may include
additional information.
The data format, in older versions of sonar head firmware, is different than the format described in
this document and is unsupported.
15.2 General Notes
1. Each info or data section includes a name/size mini-header to allow the parser to easily skip
unneeded or unrecognized sections. These formats are designed for easy 4-byte alignment. Be
sure your compiler/linker doesn't insert any extra padding between values. If necessary, use
your compiler's "packed" directive.
2. All values have big-endian byte order. Your compiler may provide conversion functions such as
htonl, htons, ntohl, ntohs, however those assume integers so you'll need to be very careful with
floats.
3. u8, u16, u32 means unsigned integers of 8, 16, 32 bits.
s8, s16, s32 means signed integers of 8, 16, 32 bits.
f32 means IEEE-754 32-bit floating point.
4. All packets are UDP/IP datagrams
15.3 Port Numbers
Bathymetry data port = gui.Baseport + 0
TruePix data port = tpd.Baseport + 1
Device status port = gui.Baseport + 2
Acoustic Image data port = gui.Baseport + 3
Water Column data port = wcd.Baseport + 5
Snippets data port = tpd.Baseport + 6
15.4 Type Definitions
typedef unsigned char u8;
typedef unsigned short u16;
typedef unsigned int u32;
typedef signed char s8;
typedef signed short s16;
typedef signed int s32;
typedef float f32;
Page 175 of 210
Version 5.0 Rev r002
Date 05-08-2014

Table of Contents

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Sonic 2024 Specifications

General IconGeneral
BrandSonic
Model2024
CategoryMarine Equipment
LanguageEnglish

Summary

Sonar Head Installation

Sonic 2024/2022 Receive Module Installation

Covers the mounting procedures for the Sonic 2024/2022 sonar head's receive module.

Mounting the Sonic 2024/2022 Receive Module

Step-by-step guide for mounting the receive module, including connector handling.

Mounting the Projector

Instructions for mounting the sonar projector using stand-offs and connecting cables.

Deck Test Prior to Deployment

Recommends a deck test to verify sonar operation before deployment.

Sonar Head Installation Guidelines

Provides general guidelines for installing the sonar head for optimal data quality.

Sonar Interface Module (SIM) Installation and Interfacing

Sonar Interface Module (SIM) Overview

Introduces the SIM as the communication centre for the Sonic 2024/2022 system.

Physical Installation of SIM

Details the physical installation requirements for the SIM, emphasizing environmental controls.

Electrical and Interfacing for SIM

Explains the SIM's electrical connections, including DB-9 and BNC ports, and Ethernet connections.

Operating the Sonic 2024/2022 with Sonic Control

Network Setup for Communication

Details the network configuration, including IP and Subnet Mask, for establishing communication.

Sensor Setup Configuration

Guides the user through setting up communication parameters for GPS, Motion, and SVP sensors.

Sonar Settings Configuration

Explains various sonar settings, including frequency, ping rate, sector coverage, and bottom sampling.

Stealth Mode Operation

Explains how to operate the sonar in stealth mode using manual triggering.

Roll Stabilize Configuration

Details how to enable and configure roll stabilization using motion sensor data.

Dual Head Mode Setup

Covers the setup and configuration for operating the system with dual sonar heads.

TruePix, Snippets, Water Column, and Intensity Enable

Explains how to enable and configure advanced data features like TruePix and Water Column.

System Status Monitoring

Explains how to view system status, including sonar head and SIM status, and response times.

Main Operation Parameters Control

Details the main operating parameters controlled by buttons in the Sonic Control window.

RangeTrac™ Automatic Range Setting

Explains how RangeTrac™ automatically sets the correct range for water depth.

Depth Gates Configuration

Covers manual and GateTrac depth gates for eliminating noise and interference.

GateTrac: Depth Configuration

Explains automatic depth gate adjustment based on selected tolerance.

GateTrac: Depth + Slope Configuration

Describes automatic adjustment of gates for depth and bottom slope.

Sonic 2024/2022 Theory of Operation

Sonic 2024/2022 Transmit Mode

Explains the normal operation mode of the sonar projector and its transmit pattern.

Sonic 2024/2022 Receive Mode

Details the normal receive mode, including beamforming and data output.

SIM Block Diagram and Interfacing

Shows the block diagram of the Sonar Interface Module (SIM) and its interfacing.

Appendix I: R2Sonic I2NS Components and Operation

Setup in Sonic Control for I2NS

Guides the setup of network and sensor configurations for the I2NS system in Sonic Control.

Sensor Setup for I2NS

Explains sensor setup within Sonic Control for receiving I2NS data.

INS Monitor Functionality

Describes how to use the INS Monitor to view real-time values from the Inertial Navigation System.

Measuring IMU Offsets

Provides guidance on measuring IMU offsets relative to the vessel's center of gravity.

Appendix II: Multibeam Survey Suite Components

Differential Global Positioning System (DGPS)

Explains the DGPS system, its historical context, and the need for differential corrections.

The Motion Sensor

Explains the function of the motion sensor and considerations for its placement and alignment.

Appendix IV: Offset Measurements

Lever Arm Measurement – Offsets

Explains the concept of lever arm measurements and offsets for system components.

Vessel Reference System Definition

Defines the Vessel Reference Point (VRP) and its role in establishing sensor offsets.

Measuring Component Offsets

Provides detailed procedures for accurately measuring physical offsets of system components.

Appendix V: The Patch Test

Orientation of the Sonic 2024/2022 Sonar Head

Discusses the importance of sonar head orientation for depth and position accuracy.

Patch Test Criteria

Outlines the criteria for collecting data for latency, pitch, and yaw tests.

Solving for Patch Test Values

Explains the order and process for solving patch test values using data collection software.

Patch Test Data Collection Error Areas

Identifies common errors and mistakes made during patch test data collection.

Improving Patch Test Results

Provides methods to improve patch test results, including collecting sufficient data.

Appendix VII: Sonic 2024/2022 Mounting: Sub-Surface (ROV/AUV)

Installation Considerations for ROV/AUV

Covers Ethernet wiring, data rates, and power requirements for ROV/AUV installations.

Ethernet Wiring Considerations

Details rules for Ethernet wiring, including Gigabit and 100BASE-T connections.

ROV Installation Examples

Provides example installation schemes for single and dual head ROV configurations.

Power Requirements for Systems

Details power requirements for the Sonic 2024/2022 systems, including average and peak loads.

SIM Installation Methods (ROV)

Covers SIM installation options for ROVs, either top-side or within the vehicle.

SIM Installation Methods (AUV)

Details SIM installation procedures for Autonomous Underwater Vehicles (AUVs).

Dual Sonar Head Configuration

Details the installation and operation of dual sonar heads, including firmware and network settings.

Appendix VIII: R2Sonic Control Commands

Head Commands: Binary Format

Details the binary format for commands sent to the sonar head.

SIM Commands: Binary Format

Details the binary format for commands sent to the SIM.

Appendix IX: R2Sonic Uplink Data Formats

Bathymetry Packet Format Structure

Details the structure and fields of the Bathymetry data packet.

Snippet Format Structure

Details the structure and fields of the Snippet data packet.

Water Column (WC) Data Format

Describes the data format for water column information.

Acoustic Image (AI) Data Format

Details the data format for acoustic image information.

TruePix™ Data Format Structure

Explains the data format for TruePix data, including magnitude and direction.

Data Playback Using Bit-Twist

Guides the user on testing data collection systems using Wireshark and Bit-Twist.

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