Name: Teledyne SeaBat T20-R
Brand: Teledyne
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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

Table of Contents5
Introduction13
System Overview13
System Architecture14
Figure 1: Seabat T-Series Rackmount System Configuration14
Figure 2: Seabat T-Series Rackmount System Configuration with Integrated ins (Optional)14
System Operation15
System Features15
Table 1: Seabat T-Series Rackmount Feature Pack15
Typical Applications18
Available Seabat T-Series Rackmount Configurations19
Table 2: Seabat T-Series Rackmount Available Configurations19
Safety Precautions20
Operator Safety20
Equipment Safety20
Safe Handling20
Cleaning and Maintenance21
Corrosion Avoidance23
Figure 3: Processor Filter Location23
Electrical Isolation24
Exposure to Sunlight24
Safe Disposal of Waste (WEEE Directive)24
CE Marking25
System Startup and Shutdown26
Chapter Overview26
System Startup Instructions27
Starting the Sonar User Interface27
System Shutdown Instructions29
System Wake up30
System Configuration and Operation31
Chapter Overview31
Remote Operation31
Active Sonar Usage32
Chapter Overview32
Enhancing Sonar Performance33
Correct Range Setting33
Figure 4: Range Setting Diagrams33
Figure 5: Range Setting - too Long33
Table 3: Incorrect Range Settings - Examples and Solutions33
Transmit Power34
Figure 6: Range Setting - too Short34
Figure 7: Range Setting - the Exception34
Ping Rate35
Receiver Gain35
Frequency Selection36
Pulse Length36
Table 4: TVG Formula36
Pulse Type37
Vari-Swath37
Figure 8: Example of Reduced Swath Width38
Figure 9: Horizontal Swath Steering39
Use of Beam Mode40
Figure 10: Outer Beams for the Different Beam Modes with a Tilted Sonar Head40
Use of Gates42
Figure 11: Graphic Illustration of Flexmode42
Figure 12: Depth Gates, with no Roll43
Figure 13: Depth Gates, with Roll43
Figure 14: Depth Gates, with Roll and Motion Sensor Input44
Figure 15: Depth Gate Tilt44
Maximizing Quality of Backscatter for Snippets Data45
Enhancing System Efficiency45
Multi-Detect Operation45
Figure 16: Submerged Oil Detected by Multi-Detect45
Tracker Autopilot46
Roll Stabilization46
Figure 17: Swath under Zero Roll Conditions46
Head Tilt47
Figure 18: Laterally Displaced Swaths under Roll Conditions47
Figure 19: Swath under Roll Stabilization47
Figure 20: Head Tilt Functionality48
Figure 21: Head Tilt for Harbor Inspection48
Figure 22: Head Tilt for Pipe Inspection48
Compensation for Environmental Conditions49
Loss of Sound by Absorption49
Loss of Sound by Spreading50
Figure 23: Acoustic Absorption Reference50
Sound Velocity51
Figure 24: Typical Sound Velocity Values51
Limitations52
Cavitation52
Machinery Noise53
Interference from Other Sonar Systems53
Speed53
Air Bubbles54
Environment54
System Performance and Data Types55
Table 5: Seabat T-Series Rackmount System Performance56
System Components57
Rack-Mounted Sonar Processor (RSP)57
Figure 25: Rack-Mounted Sonar Processor57
EM7218 Receiver Unit58
EM7219 Receiver Unit (Alternative)58
TC2181 Projector Unit58
Figure 26: EM7218 Receiver Unit58
Figure 27: EM7219 Receiver Unit58
Figure 28: TC2181 Projector Unit58
Selectable Beam Density59
Beam Modes59
Table 6: Beam Modes with No. of Beams and Swath Coverage59
Equi-Distant, Equi-Angle, and Intermediate Modes60
Figure 29: Beam Density60
Figure 30: Beam Spacing Vs. Beam Angle60
Figure 31: Beam Spacing61
Figure 32: Across-Track Sounding Location on a Flat Bottom61
Data Types62
Bathymetry Data62
Side-Scan Data62
Snippets Backscatter62
Figure 33: Graphic Illustration of Snippets Data63
Real-Time Pipe Detection and Tracking64
Figure 34: Seabat Real-Time Pipe Detection and Tracking64
Figure 35: Seabat Flexmode64
Multi-Detect65
X-Range Performance65
Full Rate Dual Head65
Figure 36: Standard Detection65
Figure 37: Multi-Detect with Enhanced Detail on Quay Wall65
Figure 38: Multi-Detect65
Quality66
Brightness Test66
Figure 39: Dual Head Synchronization of Pings66
Figure 40: Brightness Test66
Colinearity Test67
Quality Filter67
Uncertainty Estimation67
Figure 41: Colinearity Flags67
Hydrodynamic Drag68
Drag Simulation Setup68
Drag Simulation Conclusions68
Drag Simulation Results69
Figure 42: T20 Sonar Head Assembly in Bracket with Optional Front Fairing69
Figure 43: Flow at 10 Knots Around Single T20 with Fairing69
Figure 44: Flow Around Single T20 with Fairing, Cross Section of Symmetry Plane69
Figure 45: Flow at 10 Knots Around Single T20 Without Fairing70
Figure 46: Flow Around Single T20 Without Fairing, Cross Section of Symmetry Plane70
Figure 47: T20 Dual Sonar Head Assembly in Bracket with Optional Front Fairing71
Figure 48: Flow at 10 Knots Around Dual T20 with Fairings71
Figure 49: Flow Around Dual T20 with Fairings, Cross Section of Symmetry Plane71
Figure 50: Flow at 10 Knots Around Dual T20 Without Fairings72
Figure 51: Flow Around Dual T20 Without Fairings, Cross Section of Symmetry Plane72
Figure 52: T50 Sonar Head Assembly in Bracket with Optional Front Fairing73
Figure 53: Flow at 10 Knots Around Single T50 with Fairing73
Figure 54: Flow Around Single T50 with Fairing, Cross Section of Symmetry Plane73
Figure 55: Flow at 10 Knots Around Single T50 Without Fairing74
Figure 56: Flow Around Single T50 Without Fairing, Cross Section of Symmetry Plane74
Figure 57: T50 Dual Sonar Head Assembly in Bracket with Optional Front Fairing75
Figure 58: Flow at 10 Knots Around Dual T50 with Fairings75
Figure 59: Flow Around Dual T50 with Fairings, Cross Section of Symmetry Plane75
Figure 60: Flow at 10 Knots Around Dual T50 Without Fairings76
Figure 61: Flow Around Dual T50 Without Fairings, Cross Section of Symmetry Plane76
Ping Rate Table77
Table 7: Ping Rate Table77
Appendix A Troubleshooting78
System Error and Warning Messages78
Error Messages78
General System Startup Errors78
Data Reading Errors79
System Resource Errors79
Input Signal (Timing and Triggers) Errors79
Normalization Errors80
Warning Messages80
Configuration Warnings80
Data Processing Warnings80
Data Recording Warnings81
BITE Data Warnings81
Input Signal Warnings81
System Stability Warnings81
Data Subscription Warnings82
Network Components Warnings82
External Trigger Warnings82
Error Messages - Master List in Alphabetical Order83
Warning Messages - Master List in Alphabetical Order86
Appendix Binstallation Instructions90
Components List90
Table 8: Seabat T-Series Rackmount Components90
Installation Checklist92
System Interfacing93
Interfacing Diagram for Standard Configurations93
Figure 62: T20/50-R, Single/Dual-Head Interfacing Diagram94
Interfacing Diagram for Configurations with Integrated ins95
Figure 63: T20/50-R with Integrated INS, Single/Dual-Head Interfacing Diagram96
Dry-End Installation97
Rack-Mounted Sonar Processor (RSP)97
Sonar Processor Mounting97
Table 9: RSP Technical Specifications97
Sonar Processor Cable Connections98
Figure 64: RSP Standard Configuration - Cable Connections98
Figure 65: RSP ins Configuration (Optional) - Cable Connections98
Rack-Mounted Sonar Processor Power Button and BITE LED99
Auxiliary Sensors100
Standard Seabat T20/50-R Configurations100
Figure 66: SVP, Motion, and Time Standard Connections100
Seabat T20/50-R Configurations with Integrated ins101
Sound Velocity Input101
Time Input101
Figure 67: SVP, Motion, and Time Connections with Integrated ins (Optional)101
Table 10: RSP Port "SVP Com 3101
Table 11: RSP Port "Time in Com 1101
Time Output (for Optional ins Configurations)102
Motion Input102
Motion Output (for Optional ins Configurations)102
Standard Serial Ports102
Table 12: RSP Port "Time out Com 1" for Optional ins102
Table 13: RSP Port "Motion in Com 2102
Table 14: RSP Port "Motion out Com 2" for Optional ins102
Table 15: RSP Ports "Com 4", "Com 3-5" for Optional ins102
Seabat T-Series Rackmount Cables103
Figure 68: Seabat T-Series Rackmount System Cables103
Wet-End Installation104
EM7218 Receiver Unit (PN 85002409)104
EM7219 Receiver Unit (PN 85002436)104
Table 16: EM7218 Receiver Unit Technical Specifications104
Table 17: EM7219 Receiver Unit Technical Specifications104
TC2181 Projector Unit (PN 85002319)105
Wet-End Cable Connections105
Table 18: TC2181 Projector Unit Technical Specifications105
Sonar Head Assembly Orientation106
Sonar Reference Point106
Wet-End Mounting107
Hardware108
System Check109
Appendix Cpps in and Trigger in110
Electrical Specifications for PPS in and Trigger in110
Typical PPS in and Trigger Performance110
Figure 69: Required PPS Pulse Width110
Table 19: PPS in and Trigger in Signals110
Hints and Advice111
Figure 70: PPS in Delay111
Figure 71: Pps/Trigger Signal111
Appendix Ddata Rates112
Table 20: Theoretical Max. Data Rates - Seabat T-Series Rackmount Single and Dual Head112
Appendix Enetwork Configuration113
System Network Configuration113
Change IP Configuration113
Table 21: IP Configuration for RSP113
Appendix F Configuration of Integrated ins (Optional)115
POS MV - How to Perform a GAMS Calibration115
MV-Posview - Standby Mode115
GAMS Parameter Setup115
Positioning Quality116
GAMS Calibration - Procedure117
POS MV - How to Set up for a Multibeam Survey121
Conventions121
Coordinate Frames121
Figure 72: Tate/Bryant Co-Ordinate/Rotation System121
Offsets - Example122
Figure 73: Vessel Outline - Example122
Table 22: Sensor Offsets122
Alignments - Example123
MV-Posview Software123
Table 23: Sensor Alignments123
Installation Parameters - Lever Arms & Mounting Angles124
Reference Point124
Installation Parameters - Sensor Mounting125
Figure 74: IMU Misalignment - Example125
Installation Parameters - Tags, Multipath & Autostart126
Installation Parameters - Heave Filter126
POS MV Output- Serial Data127
Table 24: POS MV Output Serial Data - COM Ports 1-2127
POS MV Output- Ethernet Realtime129
Acquisition Software129
Patch Test Results129
POS Statistics130
Appendix Ginterfacing Sensors to Teledyne Pds131
Establishing a Connection to the RSP131
Interfacing to Teledyne PDS133
Configuring the Sonar UI to Output Data133
Configuring Teledyne PDS134
Appendix H Reference Documentation137
Seabat T-Series Rackmount Documentation137
Figure 75: System Documentation Link (Example Only)137
Seabat T-Series Rackmount Design Documents138
Table 25: Seabat T-Series Rackmount Design Documents138
Receiver, EM7219 Outline140
Figure 76: Receiver, EM7219 Outline140
Receiver, EM7218 Outline141
Figure 77: Receiver, EM7218 Outline141
Projector, TC2181 Outline142
Figure 78: Projector, TC2181 Outline142
T20: Receiver EM7219 and Projector TC2181, Bracket Installation143
Figure 79: T20: Receiver EM7219 and Projector TC2181, Bracket Installation143
T20 Bracket Installation: Sonar Reference Point144
Figure 80: T20 Bracket Installation: Sonar Reference Point144
T20 Bracket Installation with IMU Reference Point145
Figure 81: T20 Bracket Installation with IMU Reference Point145
T20 Bracket Installation with Fairing (Optional)146
Figure 82: T20 Bracket Installation with Fairing (Optional)146
T50: Receiver EM7218 and Projector TC2181, Bracket Installation147
Figure 83: T50: Receiver EM7218 and Projector TC2181, Bracket Installation147
T50 Bracket Installation: Sonar Reference Point148
Figure 84: T50 Bracket Installation: Sonar Reference Point148
T50 Bracket Installation with IMU Reference Point149
Figure 85: T50 Bracket Installation with IMU Reference Point149
T50 Bracket Installation with Fairing (Optional)150
Figure 86: T50 Bracket Installation with Fairing (Optional)150
T20 Dual Head Bracket Installation (Optional)151
Figure 87: T20 Dual Head Bracket Installation (Optional)151
T20 Dual Head Bracket Installation (Optional): Sonar Reference Point152
Figure 88: T20 Dual Head Bracket Installation (Optional): Sonar Reference Point152
T20 Dual Head Bracket Installation with Fairing (Optional)153
Figure 89: T20 Dual Head Bracket Installation with Fairing (Optional)153
T20 Dual Head Bracket Installation with IMU Reference Points (Optional)154
Figure 90: T20 Dual Head Bracket Installation with IMU Reference Points (Optional)154
Narrow Head Adaptor (Optional) for T20 Dual Head. Outline Assembly Drawing155
Figure 91: Narrow Head Adaptor (Optional) for T20 Dual Head. Outline Assembly Drawing155
Narrow Head Adaptor (Optional) for T20 Dual Head. Outline156
Figure 92: Narrow Head Adaptor (Optional) for T20 Dual Head. Outline156
Narrow Head Adaptor (Optional) for T20 Dual Head. Outline with Fairing157
Figure 93: Narrow Head Adaptor (Optional) for T20 Dual Head. Outline with Fairing157
Narrow Head Adaptor (Optional) for T20 Dual Head. Sonar Reference Point158
Figure 94: Narrow Head Adaptor (Optional) for T20 Dual Head. Sonar Reference Point158
Narrow Head Adaptor (Optional) for T20 Dual Head with IMU. Sonar Reference Point159
T50 Dual Head Bracket Installation (Optional)160
Figure 96: T50 Dual Head Bracket Installation (Optional)160
T50 Dual Head Bracket Installation (Optional): Sonar Reference Point161
Figure 97: T50 Dual Head Bracket Installation (Optional): Sonar Reference Point161
T50 Dual Head Bracket Installation with Fairing (Optional)162
Figure 98: T50 Dual Head Bracket Installation with Fairing (Optional)162
T50 Dual Head Bracket Installation with IMU Reference Points (Optional)163
Seabat T-Series Rackmount Operator's Manual163
Figure 99: T50 Dual Head Bracket Installation with IMU Reference Points (Optional)163
T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation with164
Svp 70164
Figure 100: T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation with164
T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation with SVP 70 and Fairing165
Figure 101: T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation with165
T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation, Sonar Reference Point166
Figure 102: T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation, Sonar166
T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation, IMU Reference Point167
Figure 103: T50: Receiver EM7218 and Projector TC2187 (Optional), Bracket Installation, IMU167
Cable Assembly, Rack-Mounted Sonar Processor to Receiver168
Figure 104: Cable Assembly, Rack-Mounted Sonar Processor to Receiver168
Cable Assembly, Rack-Mounted Sonar Processor to Projector169
Figure 105: Cable Assembly, Rack-Mounted Sonar Processor to Projector169
Cable Assembly, Rack-Mounted Sonar Processor to Projector170
Figure 106: Rack-Mounted Sonar Processor170
Rack-Mounted Sonar Processor with ins (Optional)171
Figure 107: Rack-Mounted Sonar Processor with ins (Optional)171
IMU Outline (Optional)172
Figure 108: IMU Outline (Optional)172
IMU Motion Reference Points on T-Series Brackets (Optional)173
Figure 109: IMU Motion Reference Points on T-Series Brackets (Optional)173
IMU Cable174
Figure 110: IMU Cable174
Antenna Outline175
Figure 111: Antenna Outline175
Antenna Cable176
Figure 112: Antenna Cable176
Cable Assembly, Sonar Processor to SVP 70 (Optional)177
Figure 113: Cable Assembly, Sonar Processor to SVP 70 (Optional)177
Cable Assembly, Sonar Processor to SVP 71 (Optional)178
Figure 114: Cable Assembly, Sonar Processor to SVP 71 (Optional)178
7Kcenter Licenses - Copyright Information179
Table 26: LAPACK - Copyright Information179
Table 27: Winpcap - Copyright Information180
Appendix Iseabat T-Series Rackmount System Options184
Dual-Head Brackets184
Extended Range Projector184
System Performance184
Figure 115: TC2187 Projector184
Table 28: TC2187 Projector184
Table 29: Seabat T50 Extended Range - System Performance184
Mounting Bracket185
Extended Warranty Contract185
Fairings185
Integrated Inertial Navigation System185
Seabat Cables185
Service Level Agreement185
Sound Velocity Probe186
System Integration and Training186
Teledyne PDS Data Acquisition Software186
Table 30: SVP Technical Specifications186
Appendix Jstandard Warranty Information187
One-Year Limited Warranty187
Warranty Exclusions187
Warranty Disclaimer187
Servicing During Warranty Period187
Equipment Return Procedure188
Teledyne RESON Support188

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Brand	Teledyne
Model	SeaBat T20-R
Category	Sonar
Language	English

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