1 4125 SIDE SCAN SONAR SYSTEM USER HARDWARE MANUAL 4823_REV_C EdgeTech 4 Little Brook Road West Wareham, MA 2576 Tel: (58) Fax: (58)
2 ii The information, figures, and specifications in this manual are proprietary and are issued in strict confidence on condition that they not be copied, reprinted, or disclosed to a third party, either wholly or in part, without the prior, written consent of EdgeTech. Any reproduction of EdgeTech supplied software or file sharing is strictly prohibited. Copyright 214 by EdgeTech. All rights reserved. Microsoft and Windows are registered trademarks of Microsoft Corporation. Kevlar is a registered trademark of the DuPont Company. Intel and Pentium are registered trademarks of Intel Corporation. Novagard G624 is a trademark of Novagard Solutions, Inc. Storm Case is a trademark of Pelican, Inc. Centrino TM is a trademark of Intel Corporation. Kellems is a registered trademark of Hubbell Incorporated SIDE SCAN SONAR SYSTEM 4823_REV_C
3 iii WARNING READ THIS FIRST! All personnel involved with the installation, operation, or maintenance of the equipment described in this manual should read and understand the warnings and recommendations provided below. Static Sensitive Devices This equipment contains devices that are extremely sensitive to static electrical charges. Therefore extreme care should be taken when handling them, as static electricity may be present on the body and clothing. Normal handling precautions involve the use of anti-static protection materials and grounding straps for personnel. Radiation This equipment generates, uses, and can radiate radio frequency energy. Therefore if the equipment is not installed properly, it may cause interference with radio communications. The equipment has not been tested for compliance with the appropriate FCC rules designed to provide reasonable protection against such interference when operated in a commercial environment. Therefore when operating the equipment in a residential area, the user may be required to take whatever measures are needed and incur any expenses necessary to eliminate interference; it is the user's responsibility to verify that the system complies with the applicable FCC emission limits. High Voltages High Voltage may be present in all parts of the system. Use caution when the electronics are removed from their containers for servicing. Improper Line Voltage Operation with improper line voltage may cause serious damage to the equipment. Always ensure that the proper line voltage is used.
4 iv HARDWARE VARIATIONS AND COMPATIBILITY The 4125 SIDE SCAN SONAR SYSTEM contains both standard PC and proprietary hardware. At times EdgeTech may change the standard components due to their availability or performance improvements. Although the component manufacturers, along with their models and styles may change from unit to unit, replacement components will generally be interchangeable. EdgeTech will make every effort to see that replacement components are interchangeable and use the same software drivers. At times, however, direct replacements may not exist. When this happens, EdgeTech will provide the necessary drivers with the replacement part. EdgeTech may also change certain hardware per customer requirements. Therefore, portions of this manual, such as parts lists and test features, are subject to change. These sections should be used for reference only. When changes are made that affect system operation, they will be explicitly noted. Also, some options and features may not be active in the customer s unit at time of delivery. Upgrades will be made available when these features are implemented SIDE SCAN SONAR SYSTEM 4823_REV_C
5 v PREFACE We, the employees at EdgeTech, would like to thank you for purchasing 4125 SIDE SCAN SONAR SYSTEM. At EdgeTech, it is our policy to provide high quality, cost effective products and support services that meet or exceed your requirements. We also strive to deliver them on time and to continuously look for ways to improve them. We take pride in the products we manufacture and want you to be entirely satisfied with your equipment. Purpose of this Manual The purpose of this manual is to provide the user with information on the installation and use of EdgeTech s 4125 SIDE SCAN SONAR SYSTEM. For detailed information relating to software that came with this device, refer to the appropriate user software manual. Although this manual encompasses the latest operational features of 4125 SIDE SCAN SONAR SYSTEM, some features may be periodically upgraded. Therefore the information in this manual is subject to change and should be used for reference only. Summary of Sections This manual is divided into the following five sections and three appendices: SECTION 1: Overview. Describes the 4125 system, its applications, major components, and available options. Also includes a section about EdgeTech s role as the leader in underwater technology over the past few decades. SECTION 2: Specifications. Details the topside processor, tow vehicle, cables, and options. Also includes technical descriptions for some of the major computer components within the system. SECTION 3: Set-up & Activation. Explains how to properly unpack, set-up, test, deploy, and recover the 4125 system. SECTION 4: Maintenance. Describes the basic maintenance procedures required for different parts of the system. SECTION 5: Troubleshooting. Explains how to disassemble and reassemble the tow vehicle chassis. Describes the procedure for recalibrating the compass. And provides basic troubleshooting techniques. APPENDIX A: Backup & Restore. Provides the instructions for making a copy of the hard drive onto a provided USB drive and then using this same drive to restore the system in the unlikely event of its failure. APPENDIX B: Printers. Describes the various printers that may be used with the 4125 Series system. APPENDIX C: Tow Characteristics. Includes graphical representations of the tow vehicle and cable at various lengths, depths, and weights.
6 vi Warnings, Cautions, and Notes Where applicable, warnings, cautions, and notes are provided in this manual as follows: WARNING! Identifies a potential hazard that could cause personal injury or death to yourself or to others. CAUTION! Identifies a potential hazard that could be damaging to equipment or could result in the loss of data. NOTE: Recommendations or general information that is particular to the material being presented. It may also refer to another part of this manual or to another manual. Liability EdgeTech has made every effort to document 4125 SIDE SCAN SONAR SYSTEM in this manual accurately and completely. However, EdgeTech assumes no liability for errors or for any damages that result from the use of this manual or the equipment it documents. EdgeTech reserves the right to upgrade features of this software and to make changes to this manual without notice at any time SIDE SCAN SONAR SYSTEM 4823_REV_C
7 vii WARRANTY STATEMENT All equipment manufactured by EdgeTech is warranted against defective components and workmanship for a period of one year after shipment. Warranty repair will be done by EdgeTech free of charge. Shipping costs are to be borne by the customer. Malfunction due to improper use is not covered in the warranty, and EdgeTech disclaims any liability for consequential damage resulting from defects in the performance of the equipment. No product is warranted as being fit for a particular purpose, and there is no warranty of merchantability. This warranty applies only if: i. The items are used solely under the operating conditions and in the manner recommended in Seller's instruction manual, specifications, or other literature. ii. iii. iv. The items have not been misused or abused in any manner, nor have repairs been attempted thereon without the approval of EdgeTech Customer Service. Written notice of the failure within the warranty period is forwarded to Seller and the directions received for properly identifying items returned under warranty are followed. The return notice authorizes Seller to examine and disassemble returned products to the extent Seller deems necessary to ascertain the cause for failure. The warranties expressed herein are exclusive. There are no other warranties, either expressed or implied, beyond those set forth herein, and Seller does not assume any other obligation or liability in connection with the sale or use of said products. Any product or service repaired under this warranty shall be warranted for the remaining portion of the original warranty period only. Equipment not manufactured by EdgeTech is supported only to the extent of the original manufacturer's warranties.
8 viii SOFTWARE SERVICE OVERVIEW EdgeTech provides software services free of charge. The SSA does not address customer-specified modifications or enhancements. These services may be ordered separately. Furthermore, EdgeTech software upgrades are meant for the sole use of EdgeTech customer. Any reproduction of EdgeTech supplied software or file sharing is strictly prohibited. Software Updates and Enhancements EdgeTech customers can download new software releases with all modifications and enhancements along with user's manual changes from the EdgeTech ftp site. Major software issues, should they occur, will be reported directly to the customer. New software releases consist of the following: Software enhancements that are not on the price list Software fixes and changes Product integration Documentation updates to on-line help Tests for compatibility with other modules Software patches consist of software that has undergone the following: Minor software enhancements Software fixes and changes Software Telephone, Facsimile, and Support The SSA entitles EdgeTech customers to contact EdgeTech Customer Service by telephone, facsimile, or to report a difficulty, to discuss a problem or to receive advice on the best way to perform a task. When contacted, EdgeTech Customer Service will do the following: Respond within 24 hours Immediately attend to serious problems affecting operations Attempt to find an immediate work-around 4125 SIDE SCAN SONAR SYSTEM 4823_REV_C
9 ix RETURNED MATERIAL AUTHORIZATION Prior to returning any equipment to EdgeTech, a Returned Material Authorization (RMA) number must be obtained. The RMA will help us identify your equipment when it arrives at our receiving dock and track the equipment while it is at our facility. The material should be shipped to the address provided in the EdgeTech Customer Service section. Please refer to the RMA number on all documents and correspondences as well. All returned materials must be shipped prepaid. Freight collect shipments will not be accepted. EdgeTech will pay freight charges on materials going back to the customer after they have been evaluated and/or repaired. CAUTION! Never attempt to ship portable topside units in their Storm Case alone. Although rugged, these cases are not intended to be used as shipping containers, and the delicate internal components could be damaged if used in this manner. The following steps apply only to material being returned from outside the Continental United States. Follow them carefully to prevent delays and additional costs. 1. All shipments must be accompanied by three copies of your proforma invoice, showing the value of the material and the reason for its return. If the reason is for repair, it must be clearly stated in order to move through customs quickly and without duties being charged. Whenever possible, please send copies of original export shipping documents with the consignment. 2. If the value of the equipment is over $1, the following Shipper's oath must be sent with the invoice. This oath can be typed on the invoice, or on a separate letterhead: "I,, declare that the articles herein specified are the growth, produce, or manufacture of the United States; that they were exported from the United States from the port of, on or about ; that they are returned without having been advanced in value or improved in condition by any process of manufacture or any other means; and that no drawback, or allowance has been paid or admitted hereof." Signed 3. If there is more than one item per consignment, a packing list must accompany the shipment. It is acceptable to combine the proforma invoice and packing list as long as the contents of each carton are clearly numbered and identified on the invoice. 4. Small items can be shipped prepaid directly to EdgeTech by FedEx, DHL, UPS, Airborne, etc.
10 x 5. If the equipment is the property of EdgeTech (formerly EG&G Marine Instruments Division), please insure for full value. 6. Fax one invoice, packing list, and a copy of the airway bill to EdgeTech upon shipment SIDE SCAN SONAR SYSTEM 4823_REV_C
11 xi CUSTOMER SERVICE Customer service personnel at EdgeTech are always eager to hear from users of our products. Your feedback is welcome, and is a valuable source of information which we use to continually improve these products. Therefore we encourage you to contact EdgeTech Customer Service to offer any suggestions or to request technical support: Mail: 4 Little Brook Road West Wareham, MA 2576 Telephone: (58) Facsimile: (58) Hour Emergency Technical Support Line: (58) For more information please go to
12 xii COMPANY BACKGROUND EdgeTech (formerly EG&G Marine Instruments) traces its history in underwater data acquisition and processing back to EdgeTech has designed, developed and manufactured products, instruments and systems for the acquisition of underwater data, including marine, estuarine, and coastal applications for over 45 years. The company has responded to the needs of the scientific, Naval and offshore communities by providing equipment, such as sub-bottom profilers, side scan sonar, acoustic releases, USBL positioning systems and bathymetric systems that have become standards in the industry. EdgeTech has also consistently anticipated and responded to future needs through an active research and development program. Current efforts are focused on the application of cutting edge CHIRP, DS, and acoustic technology SIDE SCAN SONAR SYSTEM 4823_REV_C
13 xiii TABLE OF CONTENTS WARNING READ THIS FIRST!... iii Radiation... iii High Voltages... iii Improper Line Voltage... iii HARDWARE VARIATIONS AND COMPATIBILITY... iv PREFACE... v Purpose of this Manual... v Summary of Sections... v Warnings, Cautions, and Notes... vi Liability... vi WARRANTY STATEMENT... vii SOFTWARE SERVICE OVERVIEW... viii Software Updates and Enhancements... viii RETURNED MATERIAL AUTHORIZATION... ix CUSTOMER SERVICE... xi COMPANY BACKGROUND... xii TABLE OF CONTENTS...xiii LIST OF FIGURES... xix LIST OF TABLES... xx SECTION 1: OVERVIEW Series Applications Main System Components P Portable Topside Processor Tow Vehicle Tow Cable Optional Equipment Additional Telemetry Depressor Wing Keel Weight HullScan W/O and W/ Telemetry Kits
14 xiv Over the Side Option SECTION 2: SPECIFICATIONS P Portable Topside Processor Technical Descriptions of Internal Components Tow Vehicle Over the Side Mounting Option Cables SECTION 3: SETUP AND ACTIVATION Unpacking and Inspection Power Requirements Use of an Uninterrupted Power Supply Changing a Non-US Power Plug Navigation Interface Placement of the 4125-P Portable Topside Processor Topside Controls and Indicators P Portable Topside Processor Connections TCP/IP Address Settings Assembling the 4125 Tow Vehicle Connecting the System Components Connecting and Attaching the Tow Cable to the Tow Vehicle Connecting the 4125-P Portable Topside Processor System Activation and Test Preparing a Wired ETHERNET LAN Connection Preparing a Wireless ETHERNET LAN Connection Activating the 4125 Series System Performing Pre-deployment Checks Tow Vehicle Deployment Tow Vehicle Recovery SECTION 4: MAINTENANCE Cleaning the 4125-P Portable Topside Processor Inspecting and Cleaning the Connections Re-arming the Tow Vehicle SIDE SCAN SONAR SYSTEM 4823_REV_C
15 xv SECTION 5: TROUBLESHOOTING Restoring the Operating System to the Hard Drive Disassembling and Reassembling the Tow Vehicle Disassembly Reassembly Calibrating the Compass Entering the Known Magnetic Deviation Hard Iron Calibration Soft Iron Calibration General Troubleshooting P Portable Topside Processor Troubleshooting Tow Vehicle Troubleshooting Tow Cable Inspection Locating a Shorted Conductor Locating an Open Conductor Locating a Resistance Breakdown Damaged Tow Cable Connector Part Numbers for Major Topside Components Part Numbers for Major Tow Vehicle Components APPENDIX A: BACKUP AND RESTORE... A-1 A.1 Backing up the System Drive... A-1 A.2 Restoring the System Drive... A-1 APPENDIX B: PRINTERS... B-1 APPENDIX C: TOWING CHARACTERISTICS... C-1 C Standard Towfish Cable Layback Plots... C-1 C.1.1 Config. 1: 4125, Cable - 5m Long... C-3 C.1.2 Config. 2: 4125, Cable - 1m Long... C-4 C.1.3 Config. 3: 4125, Cable - 15m Long... C-5 C.1.4 Config. 4: lb. Keel Weight, Cable - 5m Long... C-6 C.1.5 Config. 5: lb. Keel Weight, Cable - 1m Long... C-7 C.1.6 Config. 6: lb. Keel Weight, Cable - 15m Long... C-8 C.1.7 Config. 7: Depressor Wing, Cable - 5m Long... C-9
19 xix LIST OF FIGURES Figure 1-1: Readying the Towfish for Deployment Figure 1-2: 4125 Series Towfish, Topside, and Tow Cable Figure 1-3: Depressor Wing Figure 2-1: 4125 Series Dual Frequency Side Scan Sonar System Overall Block Diagram Figure 2-2: 4125-P Portable Topside Processor Wiring Diagram Figure 2-3: 4125 Portable Topside Processor Chassis Figure 2-4: Kevlar Reinforced Tow Cable Figure 2-5: Kevlar Reinforced Tow Cable, Telemetry Figure 2-6: AC Power Cable Figure 2-7: DC Power Cable Figure 2-8: ETHERNET Cable Figure 3-1: 4125-P Portable Topside Processor Side Panel Figure 3-2: 4125 Tow Vehicle Tail Fins Assembly Figure 3-3: AC Power, DC Power, and ETHERNET Cables Figure 3-4: Tow Vehicle with Tow Cable Connected and Attached Figure 3-5: DISCOVER 4125 Towfish Control Tab Figure 3-6: Rub Test being Performed Figure 3-7: Rub Test Screen Shot Figure 3-8: 4125 Tow Vehicle being Deployed Figure 3-9: Bottom Track Tab Figure 5-1: Tow Vehicle Parts of Note Figure 5-2: Electronics Bottle and Transducer Array Sections Separated Figure 5-3: Cables Disconnected from the Electronics Bottle Figure 5-4: Removing the Phillips Head Screws from the Electronics Bottle Figure 5-5: Removing the Electronics Chassis from the Electronics Bottle Figure 5-6: The COM3 Window in Hyper Terminal Figure 5-7: Hard Iron X Y Calibration Complete Figure 5-8: Hard Iron Z Calibration Complete Figure 5-9: Soft Iron Calibration Screen Prompts
20 xx LIST OF TABLES Table 2-1: 4125-P Portable Topside Processor Table 2-2: Tow Vehicle Specifications Table 3-1: AC Power Cord Wiring Table 3-2: Topside Processor or ETHERNET Devices TCP/IP Addresses Table 3-3: Tow Vehicle ETHERNET Devices IP Addresses Table 5-1: Topside Processor System Troubleshooting Guide Table 5-2: 4125 Tow Vehicle Troubleshooting Guide Table 5-3: Part Numbers for Major 4125-P Topside Processor Components Table 5-4: Part Numbers for Major 4125 Tow Vehicle Components SIDE SCAN SONAR SYSTEM 4823_REV_C
21 1-1 SECTION 1: OVERVIEW The EdgeTech 4125 Series Dual-frequency Side Scan Sonar System is a frequency-modulated (FM), dualfrequency, side scan sonar that uses EdgeTech s proprietary Full Spectrum chirp technology to generate high-resolution, side scan imagery at longer ranges than conventional continuous-wave (CW) systems. The system is designed primarily for search and recovery operations, along with surveys in shallow water. The 4125 Series is available in two, dual simultaneous frequency configurations depending on the application: 4/9 khz and 6/16 khz. For shallow water survey applications, the 4/9-kHz frequency set is the best choice, as it provides an ideal combination of range and resolution. For ultrahigh resolution imagery at shorter ranges, the 6/16 khz set is the recommended choice. In both configurations, the frequencies are transmitted as linearly-swept, wide-band, high energy acoustic pulses, and the received echoes are processed into high signal-to-noise (SNR) images that can be directly displayed as shades of gray or color on a computer monitor. The SNR images can also be printed on a continuous feed thermal printer, or stored in real time onto a large capacity hard drive and archived onto a DVD Series Applications Applications for the 4125 Series Dual-frequency Side Scan Sonar System are many, including: Hydrographic surveys Geological surveys Search and recovery Channel conditioning/clearance surveys Bridge, pier, and harbor wall inspections Hull inspections Port security Archaeological surveys
22 1-2 Figure 1-1: Readying the Towfish for Deployment 1.2 Main System Components The 4125 Series Dual-frequency Side Scan Sonar System is composed a 4125-P Portable Topside Processor, a 4125 Tow Vehicle (commonly called a Towfish), and a tow cable. These components are shown in Figure 1 2. In addition, the tow vehicle is available with or without the additional telemetry option, which enables the use of longer tow cables. Without the additional telemetry option, tow cables up to 15 meters in length can be used. With the additional telemetry option, the system will perform with cable lengths up to 6 meters. Contact EdgeTech Customer Service for the specific cable types P Portable Topside Processor The 4125-P Portable Topside Processor is shown in Figure 1-2. It provides power and downlink telemetry to the tow vehicle for sonar control and receives uplink side scan data, sensor data, and status information from the tow vehicle for processing, storage, and display. The topside unit includes a laptop computer with Windows 7 and the EdgeTech DISCOVER 4125 Side Scan Sonar software preinstalled. DISCOVER 4125 provides control, storage, and display of the sonar data. The data can be stored in XTF and JSF formats SIDE SCAN SONAR SYSTEM 4823_REV_C
23 1-3 The 4125-P Portable Topside Processor interfaces with the tow vehicle either over a direct 1/1BaseT connection or, with the additional telemetry option, over a 1BaseT connection that uses very high bit rate digital subscriber line (VDSL) modems. The topside unit also interfaces with a global positioning system (GPS) over a USB to serial or RS-232 serial interface. The topside processor integrates tow vehicle and DC power supplies, an ETHERNET switch, a wireless router, and, with the additional telemetry option, an VDSL modem, all housed within a single, compact, rugged, water-tight (when closed) Pelican Storm Case. It runs on either AC or DC power, and interfaces with the laptop computer over a wired or wireless 1/1BaseT ETHERNET connection. The computer can be stored inside the enclosure when not in use. CAUTION! Never attempt to use the portable topside s storm case as a shipping container. Doing so could void warranties and/or result in system damage. 1.4 Tow Vehicle The 4125 Tow Vehicle is available with a choice of 4/9 khz or 6/16 khz operating frequencies, and with or without the additional telemetry option. It contains the sonar transducer arrays and the electronics required to transmit and receive the sonar signals; to receive the downlink commands from the topside processor; and to provide the uplink side scan data, sensor data, and status information to the topside processor. The electronics are contained inside a single, lightweight stainless steel, 2-meter depth-rated housing, comprising the aft section of the tow vehicle. The forward section is flooded and includes both the port and starboard transducer arrays. A single O-ring sealed end cap is attached to each end of the housing to seal it, and the forward end cap contains bulkhead connectors for connecting to the transducer arrays. An adapter cable also connects to this end cap. The cable snakes through a hole in the transducer array section and includes an inline connector for connecting to the tow cable. The tow vehicle interfaces with the topside processor either over a 1/1BaseT ETHERNET connection, or (with the additional telemetry option only) over a 1BaseT connection that uses VDSL modems in both the tow vehicle and the topside processor. The tow vehicle is also equipped with four stabilizer fins, a stainless steel nose for hydrodynamic balance, and two convenient carrying handles. A towing arm is rigidly mounted to a tow point on the top of the tow vehicle housing adjacent to the tow cable connector. The tow cable attaches to a shackle on the towing arm. Additional mounting holes are provided on the tow point should it be necessary to reposition the towing arm forward or aft to adjust the balance of the tow vehicle. The towing arm also includes a safety release
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