Tritech SeaKing Product Manual
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Tritech SeaKing Product Manual

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SeaKing & SeaPrince Imaging Sonars
SeaKing & SeaPrince
Imaging Sonars
Product Manual
0374-SOM-00001, Issue: 08
1
© Tritech International Ltd.

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  • Page 1 SeaKing & SeaPrince Imaging Sonars SeaKing & SeaPrince Imaging Sonars Product Manual 0374-SOM-00001, Issue: 08 0374-SOM-00001, Issue: 08 © Tritech International Ltd.
  • Page 2 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.

  • Page 3: Table Of Contents

    4.3. Changing Configuration for Ethernet ............15 5. Operation ......................17 5.1. Basic Principles ..................17 5.2. Operating the SeaKing & SeaPrince in Seanet Pro ........18 5.2.1. Main Screen ..................18 5.2.2. Sonar Settings ................. 19 5.2.3. Main Menu ..................20 5.2.4.

  • Page 4: Warning Symbols

    SeaKing & SeaPrince Imaging Sonars 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.

  • Page 5: Introduction

    The SeaKing and SeaPrince sonar head is typically configured to communicate with the SCU or SeaHub using the ARCNET LAN telemetry protocol. This is the standard protocol that is used in all SeaKing devices and provides a high bandwidth at a default communications rate of 156kbit·s .

  • Page 6: Getting Started

    SeaKing & SeaPrince Imaging Sonars 2. Getting Started This section will detail the basic steps required in order to connect up your Tritech Sonar for the first time to your surface controller (typically a Tritech SCU, PC or Laptop). A standard Sonar system will comprise of the following elements: •...
  • Page 7 Getting Started SeaKing & SeaPrince Imaging Sonars RS232 or RS485 Note: The wiring detailed above is for the SCU, SeaHub or MicronNav Hub. If using a third party RS485 adapter please check the pin outs required as the RS485 A and RS485 B pins may be configured differently.
  • Page 8 The data screen will report a centering message, as part of the Sonar boot up, then will start to scan. It is recommended that the Super SeaKing Sonar is only run in air for short periods (1 hour maximum) as the unit will become hot to the touch without a body of water to help dissipate the heat.

  • Page 9: Installation

    3. Installation 3.1. General Overview The SeaKing and SeaPrince heads are supplied with a waterblock fitted to the device and as standard a proprietary connector usually referred to as the "Tritech 6-Way Connector". Other connectors are available (see Appendix E, SeaKing Sonar & Profiler Connector Options) and various lengths of test cable can be supplied with the connector.

  • Page 10: Installing The Sonar Head

    For an ARCNET connection termination resistors need to be fitted at each end of the umbilical. Refer to Appendix C, ARCNET Termination The Seanet SCU and SeaKing heads cannot be used with RS232 or RS485 AIF Cards as used in earlier WINSON based SCU-3 systems. They must be used with SeaKing AIF 0374-SOM-00001, Issue: 08 ©...

  • Page 11: Subsea Sensor Electrical Installation

    ARCNET cards (AIFV3/V4). Conversely, Series 2 Sonar, Profiler and other heads cannot be directly used with SeaKing and Seanet systems. Note that the SCUv5 units do not have a dedicated AIF ARCNET card but instead process the ARCNET data through the SCU main board.

  • Page 12: Waterblock Pin-Out Diagram

    Installation SeaKing & SeaPrince Imaging Sonars 3.4. Waterblock Pin-out Diagram MAIN port AUX port Cable colour RS232 TX RS232 RX Yellow ARCNET A ARCNET A RS485 A RS485 A RS232 Rx RS232 TX Blue ARCNET B ARCNET B RS485 B RS485 B Figure 3.1.

  • Page 13: Setup

    SeaKing V5 or older SeaKing Sonars that are V5 or older models need to be opened in order to change their configuration. Additionally these Sonars may, or may not have a V6 COMS PCB installed and so will use physical jumpers to set up the communications options. Please see 0374- SOM-00003 for jumper configurations as well as V6 COMS PCB DIP switch settings for these units.

  • Page 14: Changing Configuration For Serial Or Arcnet

    Section 4.1, “Identifying the Model” or contact Tritech International Ltd for assistance. To change the configuration of the SeaKing or SeaPrince Sonar, the following steps should be undertaken: 1. Place the Sonar on a short test cable and connect to your controlling computer (either directly or via SeaHub / MicronNav Hub / SCU) 2.

  • Page 15: Changing Configuration For Ethernet

    4.3. Changing Configuration for Ethernet Note Currently only the SeaKing V7 supports Ethernet communications, with the label showing this option instead of ARCNET. To change the setup of an Ethernet enabled sonar the following steps should be undertaken: 1.
  • Page 16 Setup SeaKing & SeaPrince Imaging Sonars Note The SeaKing Sonar uses a set Subnet Mask of 255.255.255.0. 0374-SOM-00001, Issue: 08 © Tritech International Ltd.

  • Page 17: Operation

    LED illuminates as the head scans through the ahead direction. As with any active sonar, the SeaKing and SeaPrince sonar heads only show echoes of objects that reflect sound back to the sonar transducer, such that hard shiny surfaces are sometimes only seen when they are at right angles to the sonar beam.

  • Page 18: Operating The Seaking & Seaprince In Seanet Pro

    The Seanet Pro screen display shown below is a Gemini, SeaKing & Bathymetric application, although the view will vary depending on the applications chosen, each application will have a similar layout.

  • Page 19: Sonar Settings

    Operation SeaKing & SeaPrince Imaging Sonars pertaining to the Sensor may also be displayed within this area - Refer to the manual section provided with each Sensor for further details of its display area. 6. Sidebar This is where Serial input data and user text can be displayed. This bar can be placed on the Left or Right hand side with RHS the default setting.

  • Page 20: Main Menu

    Operation SeaKing & SeaPrince Imaging Sonars It is normal to keep this at a low setting of no more than 5dB to remove low level ‘noise’. CYC (F1) - Cycle Window This can be used when one of the display windows is maximised using the Expand (F2) button and will cycle between the Sonar display windows.
  • Page 21 Operation SeaKing & SeaPrince Imaging Sonars 2. Screen Capture Screen to AVI or save screen to Bitmap/Tiff. 3. Exit Used to exit program. Figure 5.4. 1. Load/Save Settings Save and Load the current display and device settings (up to 8 can be saved).
  • Page 22 Operation SeaKing & SeaPrince Imaging Sonars 1. GPS Pop-up Form to display GPS data received through a COM port. 2. Compass Pop-up Form to display Compass data received through a COM port. 3. Auxiliary Device Pop-up Form to display Aux Device data (i.e. Digiquartz Pressure Sensor or PA/NMEA Altimeter data) received through a COM port.
  • Page 23 Operation SeaKing & SeaPrince Imaging Sonars Sonar (this will be renamed for other devices, e.g., Sidescan, Profiler, Bathy) 1. Colours Use to select a saved colour scheme. 2. Colour Setup Use to configure the existing colour scheme or create a new colour scheme.

  • Page 24: Measurement Tool

    Operation SeaKing & SeaPrince Imaging Sonars Figure 5.13. 1. About Seanet Gives details of program and version number. 2. Seanet Guide Seanet Help file. 3. System Information Gives information of computer resources in use. 5.2.4. Measurement Tool By left button clicking and dragging on the Sonar display window (or Acoustic Zoom window) an elastic band is laid for range and position measuring of targets.

  • Page 25: Dynamic Range And Sonar Rx Indicator

    Operation SeaKing & SeaPrince Imaging Sonars 5.2.5. Dynamic Range and Sonar Rx Indicator The dynamic range bar is the A/D sample window (with 64-colour mapping) for the Sonar receive signal (which extends from 0 to 80dB). To the right of the dynamic range bar is the Sonar receive signal strength indicator (Yellow = Average amplitude over scan-line, Red = Maximum amplitude echo for scan-line).

  • Page 26: Application Tools

    Operation SeaKing & SeaPrince Imaging Sonars Figure 5.15. 5.2.6. Application Tools Markers Figure 5.16. Adds A and B markers onto the sonar display, the range and bearing to each marker & separation and relative bearing are shown. Click on the symbol to deploy on the Marker panel and that marker symbol will be dropped at the Origin (0, 0) on the Sonar display.
  • Page 27 Operation SeaKing & SeaPrince Imaging Sonars There are 4 sets of Markers that can be implemented; A-B, C-D, E-F, G-H. The operation of each set is the same as A-B described above. Acoustic Zoom Figure 5.18. True Sonar Zoom mode draws a zoom box on the display positioned by cursor. The sonar will take more samples in the area of the zoom box for target magnification.
  • Page 28 Operation SeaKing & SeaPrince Imaging Sonars Rng Cross, Rings On, Rings, Grid On - Display Grid line options. Sector On, Sector – Display a Sector overlay with left and right angular limit adjustment (in degrees). Rotation – Rotational offset to correct Sonar heading – (Disabled for Gemini Sonar).
  • Page 29 Operation SeaKing & SeaPrince Imaging Sonars updates are the position of a sub/vehicle then this offset may apply for the separation between a beacon/transponder and the sonar. Heading Use this option to select the source of the heading data. If using...
  • Page 30 Operation SeaKing & SeaPrince Imaging Sonars Lockout Sets a minimum range for the Detects (always in metres). Bins This is the number of samples taken over the current scan-line. Units Select the display range units. Options are Metres, Feet, Fathoms &...
  • Page 31 Operation SeaKing & SeaPrince Imaging Sonars Style Select the type of shape from; Circle, Rectangle. Triangle. Size Set the Width and Height of the shape. Move the Shape with X, Y position offset from display origin. Line Width Line width.

  • Page 32: Maintenance

    Competent, trained, personnel can perform regular preventative maintenance on these units. Contact Tritech International Ltd for more details on the training courses available. Servicable Items The standard Tritech SeaKing unit has several user serviceable items, all located on the connector endcap. 0374-SOM-00001, Issue: 08...

  • Page 33: Disassembly Of The Seaking Unit

    Note Alternative configurations may have additional serviceable items, if in doubt please contact Tritech International Ltd to establish the correct service routine. The o-ring seals should be regularly inspected, cleaned and lubricates with the appropriate greasing compound. The body of the unit should also be inspected for any obvious signs of corrosion, especially in mating surfaces (such as the waterblock).
  • Page 34 Caution Servicing of the SeaKing unit should only be carried out by competent personnel in a dry, clean environment with full ESD precautions. Service tools required •...

  • Page 35: Reassembly Of The Seaking Unit

    Caution Servicing of the SeaKing unit should only be carried out by competent personnel in a dry, clean environment with full ESD precautions. Service tools required •...

  • Page 36: Super Seaprince Regular Maintenance

    Tritech International Ltd for this purpose Competent, trained, personnel can perform regular preventative maintenance on these units. Contact Tritech International Ltd for more details on the training courses available. Servicable Items The standard Super SeaPrince has very few user servicable parts.

  • Page 37: Disassembly Of The Super Seaprince Unit

    Caution Servicing of the SeaKing unit should only be carried out by competent personnel in a dry, clean environment with full ESD precautions. Service tools required •...

  • Page 38: Reassembly Of The Super Seaprince Unit

    The highlighted areas on the image above are the critical sealing areas that should have no signs of corrosion. If corrosion is present within either of these areas, please contact Tritech International Ltd to arrange for immediate servicing of your Super SeaPrince unit.

  • Page 39: Troubleshooting

    No seabed sonar targets Sonar at incorrect height above seabed. observed SeaKing sonars have a vertical beam width of 20 - 40° about a centre line (plus and minus 10 - 20°) so ensure that the head is positioned sufficiently close to the seabed.

  • Page 40: Help & Support

    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.

  • Page 41: Specification

    4000m Rating (standard) Ø110 Not to scale, dimensions in mm. Shown with Tritech International Ltd waterblock and 6 pin connector but others are available. See Appendix E, SeaKing Sonar & Profiler Connector Options for more details and part numbers. 6800m Rating Ø110 Not to scale, dimensions in mm.

  • Page 42: Seaking Physical Properties

    Specification SeaKing & SeaPrince Imaging Sonars B.1.2. SeaKing Physical Properties Depth rating 4000m standard 6800m optional Weight in air 3kg (aluminium) Weight in water 1.4kg (aluminium) Materials Anodised aluminium alloy (6Al4V Titanium alloy optional) Operating temperature -10 to 35°C Storage temperature -20 to 50°C...

  • Page 43: Seaprince

    DST SeaPrince units manufactured prior to 2011 have an overall length of 146mm and a maximum diameter of 74.5mm (Single Port) or 86mm (Dual Port model). If you are unsure which sonar you have please contact Tritech International Ltd support.

  • Page 44: Seaprince Acoustic Properties

    Specification SeaKing & SeaPrince Imaging Sonars B.2.3. SeaPrince Acoustic Properties Operating frequency Maximum bandwidth 500kHz to 900kHz (default of 675kHz) Beamwidth 38° vertical, 2.3° horizontal Maximum range 100m Minimum range B.2.4. SeaPrince Display Characteristics Mechanical resolutions 0.45°, 0.9°, 1.8°, 3.6°...

  • Page 45: Arcnet Termination

    The diagram below shows best practice to use when installing termination resistors on an ARCNET network of Tritech International Ltd sonar products. Note A special yellow waterblock is available from Tritech International Ltd which contains an in-line impedance of 39Ω which will enable quick and easy installation of the subsea termination resistor.

  • Page 46: Chirp Signal Processing

    SeaKing & SeaPrince Imaging Sonars Appendix D. CHIRP Signal Processing There are several advantages of Tritech International Ltd Digital Sonar Technology (DST) which allows the use of CHIRP signal processing technology to improve the images generated by the sonar. In monotonic (single frequency burst) sonar, the range resolution is determined by the length of the transmitted pulse.
  • Page 47 CHIRP Signal Processing SeaKing & SeaPrince Imaging Sonars Target Transmitted Pulse Seperation Sonar range resolution Target 1 echo Target seperation Target 2 echo Both targets are visible. Combined echo Time The response from the pattern-matching algorithms in the sonar means that the length of the acoustic pulse no longer affects the amplitude of the echo on the sonar display.

  • Page 48: Seaking Sonar & Profiler Connector Options

    Appendix E. SeaKing Sonar & Profiler Connector Options The SeaKing sonar can be fitted at the factory with a variety of connector options to allow quick and easy integration into an existing network or sonars or other ROV equipment. For more details contact Tritech International Ltd.

  • Page 49: Super Seaprince External Reset

    Note In the event of other items, such as the operating frequencies, being changed contact Tritech International Ltd for further advice and instruction. In order to complete the reset process, the following steps will apply: 1. Ensure an RS232 COM Port is available, has been enabled within Seanet Pro and is set for 115200 Baud.
  • Page 50 Super SeaPrince External Reset SeaKing & SeaPrince Imaging Sonars Note The internal reset hall effect is south sensitive. This means that the magnet should be orientated as per the image above with the SE side of the ECLIPSE logo over the dimple on the body tube.

  • Page 51: V6 Com Pcb Reset

    In the unlikely event that communication to a SeaKing becomes impossible, units fitted with a V6 COM PCB can be reset to a pre-determined standard using the magnetic reset function The default values that will be applied to the SeaKing unit for the magnetic reset are as follows:...
  • Page 52 V6 COM PCB Reset SeaKing & SeaPrince Imaging Sonars In order to complete the reset process, the following steps will apply: 1. Ensure an RS232 COM Port is available, has been enabled within Seanet Pro and is set for 115200 Baud.

  • Page 53: Glossary

    Seanet Pro The software supplied by Tritech International Ltd which is capable of running all the sonar devices. SeaPrince A more compact sonar than the SeaKing which operates at a single fixed frequency 0374-SOM-00001, Issue: 08 © Tritech International Ltd.
  • Page 54 Glossary SeaKing & SeaPrince Imaging Sonars Tritech waterblock The 4000m depth rated connector developed by Tritech International Ltd for their subsea equipment. Transmit (data) USBL Ultra Short Base Line (positioning system) 0374-SOM-00001, Issue: 08 © Tritech International Ltd.

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