Edgetech 6205S2 User Hardware Manual
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Edgetech 6205S2 User Hardware Manual

Bathymetry & side scan system
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6205S2 BATHYMETRY & SIDE SCAN SYSTEM
U S E R H A R D W A R E M A N U A L
0025262_REV_C
12/19/2023
EdgeTech
4 Little Brook Road
West Wareham, MA 02576
Tel: (508) 291-0057
Fax: (508) 291-2491
www.EdgeTech.com

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  • Page 1 6205S2 BATHYMETRY & SIDE SCAN SYSTEM U S E R H A R D W A R E M A N U A L 0025262_REV_C 12/19/2023 EdgeTech 4 Little Brook Road West Wareham, MA 02576 Tel: (508) 291-0057 Fax: (508) 291-2491...
  • Page 2 The information, figures, and specifications in this manual are proprietary. They are issued in strict confidence on the 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.

  • Page 3: Attention - Read This First

    A TT ENTI ON – RE AD T HIS FI RST ! 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 injury or death. CAUTION! Identifies a potential hazard that could damage equipment or data.

  • Page 4: Hardware Variations And Compatibility

    HA R DWA RE V AR IA TI ONS AN D CO MPA TI BIL IT Y The 6205s2 Bathymetry & Side Scan System contains both standard and proprietary hardware. At times, EdgeTech may change the standard components due to their availability or performance improvements.

  • Page 5: About This Document

    Purpose of this Manual The purpose of this manual is to provide the user with information on the setup and use of EdgeTech's 6205s2 Bathymetry & Side Scan System. Although this manual encompasses the latest operational features of the 6205s2, some features may be periodically upgraded. Therefore, the information in this manual is subject to change and should be used for reference only.

  • Page 6: 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 equipment's performance.

  • Page 7: Software Service Overview

    EdgeTech provides software services free of charge. This software agreement 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 customers. Any reproduction of EdgeTech-supplied software or file sharing is strictly prohibited.

  • Page 8: Returned Material Authorization

    R ET URN ED M A TER IA L AU T HOR I ZA TIO N Prior to returning any equipment to EdgeTech, a Returned Material Authorization (RMA) Number must be obtained from USTOMER ERVICE RMA Purpose The RMA number identifies returned equipment when it arrives at our receiving dock and enables tracking while at our facility.

  • Page 9: Customer Service

    CU ST O MER SE RVI CE 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 that we use to improve these products.

  • Page 10: Company Background

    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 and acoustic technology.

  • Page 11: Table Of Contents

    1.2.3 Discover Software Bathymetric Gap-Fill Option ..............1-22 1.3 Main System Components ......................1-23 1.3.1 6205s2 Swath Bathymetry and Side Scan Sonar Head ............1-23 1.3.2 6205S2-R Rack Mounted Topside Sonar Interface Box ............1-24 1.3.3 Discover Software ........................1-24 1.3.4 Third-Party Software ......................
  • Page 12 4.0 CONNECTIONS AND FORMATS ....................4-53 4.1 Data Formats ..........................4-53 4.2 System Connections and Data Flow .................... 4-54 4.2.1 Ethernet LAN Connections ..................... 4-55 4.2.2 Connecting The 6205s2 To Devices On Another Network ............. 4-56 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...
  • Page 13 6.1 Connecting to Sonar via Windows Remote Desktop to Diagnose Connection Issues ....6-47 6.1.1 Connecting to the 6205s2 using Windows Remote Desktop On Your Computer ....6-48 6.1.2 Windows Partition Lock / Unlock For Sonar Head Processors With A Windows 10 IoT Operating System ..............................
  • Page 14 A.1 Discover Bathymetric ........................ 9-102 A.2 Third-Party Software ......................... 9-102 A.2.1 HYPACK .......................... 9-102 A.2.2 SonarWiz ........................9-102 A.2.3 Qinsy ..........................9-103 A.2.4 CARIS..........................9-103 A.2.5 EIVA NaviSuite ....................... 9-103 A.2.6 BEAMWORX Suite ......................9-103 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 15: List Of Figures

    Figure 3-2: 6205s2 Aft View ........................3-40 Figure 3-3: 6205S2 Forward View ......................3-40 Figure 3-4: 6205s2 With Nosecone Removed- AML SVT OEM Probe Is Visible. Optional Adaptor Flange Installed On Top Of 6205s2 Housing ......................3-40 Figure 3-5: 6205s2 Forward Endcap ......................3-42 Figure 3-6: 6205s2 Aft End Cap ........................
  • Page 16 Figure 3-12: The Optional Adaptor Flange Installed onto the Mounting Plate ........3-46 Figure 3-13: Acoustic Center Location in X, Y, and Z and Bolt Pattern of Standard 6205s2 ....3-47 Figure 3-14: Acoustic Center Location in X, Y, Z Dimensions and Bolt Pattern with Adaptor Flange ..3-48 Figure 3-15: 6205s2-R Topside Interface ....................
  • Page 17 xvii Figure 6-9: System Locker Display when System is Locked..............6-51 Figure 6-10: System Locker Display when System is Unlocked ............... 6-51 Figure 6-11: Sonar 192.9.0.101 Remote Desktop Connection Window ..........6-52 Figure 6-12: Serial Port Information Window ..................6-53 Figure 6-13: Sensor Usage Percentage Check ..................
  • Page 18 Figure 8-47: Restoration- Add Search Path Confirmation Buttons ............8-91 Figure 8-48: Restoration Restore Button ....................8-92 Figure 8-49: Restoration-Confirm Overwrite Continue Button ............... 8-92 Figure 9-1: 6205s2 Adaptor Flange Installation ..................9-99 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...
  • Page 19 Table 9-1: 6205s2 Topside and Sonar Head Spare Kits ................9-93 Table 9-2: 6205s2 Topside Sparse Kit ...................... 9-93 Table 9-3: 6205S2 540/1600 kHz Side Scan /540 kHz Bathy Spares Kit ........... 9-94 Table 9-4: 6205S2 540/850 kHz Side Scan/540 kHz Bathy Spares Kit ............9-95 Table 9-5: 6205S2 540/850 kHz Side Scan /850 kHz Bathy Spares Kit .............

  • Page 20: Overview

    USACE specifications for feature detection and bathymetric point data uncertainty. EdgeTech’s MPES technology enables the 6205s2 to produce a wider and cleaner swath (over 200°) than current technologies, resulting in superior coverage enabling faster and safer survey completion. In addition, the 6205s2 concurrently rejects multipath effects, reverberation, and acoustic noise commonly encountered in shallow water environments.

  • Page 21: Applications

    COTS (commercial off-the-shelf). The sensor can be integrated as separate components to the 6205s2, or it can be an OEM unit where the GNSS processor is integrated inside the rackmount topside, and the IMU is integrated inside the sonar head unit.

  • Page 22: Discover Software Bathymetric Gap-Fill Option

    RIMBLE 1.2.3 Discover Software Bathymetric Gap-Fill Option EdgeTech’s Discover Bathymetry with Gap-Fill software option allows surveyors to fill in the nadir gap with imagery in three dimensions from both the left and right sides and provide shadows from either direction.

  • Page 23: Main System Components

    A sound velocity sensor is housed in the nose cone. Power/data deck cable and optional GNSS/INS Cable connectors are located on the top aft section of the sonar head. The system is delivered in a hardened traveling case. Further technical details on the 6205s2 Sonar Head are found in the 6205 section of this manual.

  • Page 24: 6205S2-R Rack Mounted Topside Sonar Interface Box

    Figure 1-4: 6205s2 Topside Interface Box on Hardened SKB® Case 1.3.3 Discover Software EdgeTech’s Discover Bathymetric Software Acquisition package provides a way to control, store, and display the Bathymetry and Dual Frequency Side Scan Sonar data. For more information, refer to the...

  • Page 25: Third-Party Software

    Several third-party topside software applications are capable of acquiring and processing Bathymetry and Side Scan data from EdgeTech systems. Currently, Hypack, SonarWiz, Beamworx, and Qinsy software packages have been approved, and work continues to expand the number of compatible topsides. CARIS HIPS/SIPS and SonarWiz support our native JSF files for post-processing.

  • Page 26: Optional Equipment

    Sound Velocity Profiler unit 1.4.1 Adaptor Flange Kit An adaptor flange kit is available if the standard 6205s2 three- hole pattern will not mate with a customer’s static pole mount or flange. The kit includes a durable adaptor flange plate designed to be attached to the 6205s2 mounting plate using the kit’s included hardware.

  • Page 27: Edgetech Ruggedized Getac Laptop

    1 Mini Display Port1 HDMI Port Figure 1-9: GETAC Laptop Computer 1.4.3 Integrated OEM RTK GNSS/INS Kit EdgeTech offers the SBG Ekinox 3 Inertial system with a Septentrio Asterx-M4 RTK GNSS Kit or the Trimble Applanix AP+18 RTK GNSS Kit. Both systems are MEMS-based inertial systems that include an internal measurement unit (IMU) and an extended Kalman filter (EKF).

  • Page 28: Gnss/Ins Unit Deck Cable

    Figure 1-11: Example 6205s2 System with OEM RTK GNSS/INS Kit 1.4.4 GNSS/INS Unit Deck Cable A GNSS/INS deck cable is required for the 6205s2 OEM Integrated GNSS/INS unit option. EdgeTech’s GNSS/INS cable is a 20-meter (65 ft) underwater, high-speed network data and power cable that links the processing module to the IMU.

  • Page 29: Specifications

    2-29 2.0 S PE CI FI CATIO NS This section details the 6205s2 system specifications. 2.1 Acoustic Specifications SONAR HEAD MODEL 520/850/1600 KHZ SS – 520/820 BATHYMETRY SIDE SCAN SONAR Center Frequency 520/850/1600 kHz Range (per Side) 150/75/35 m (490/245/115 ft)

  • Page 30: Sonar Head Physical Specifications

    2.4 Environmental Specifications ENVIRONMENT Operating Temperature 0°C to 40°C (32°F to 104°F) Storage Temperature -20°C to 60°C (-4°F to 140°F) Operating 0 to 80%, Relative Humidity Non-Operating 0 to 100% Table 2-4: Environmental Specifications 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 31: Topside Specifications

    (1) 1 PPS (out) via BNC (2) GNSS antenna via TNC (1) Serial RS-232 Port for RTK (2) Serial RS-232 Ports Input Power Supply 115/230 VAC Auto-Sensing Output Power Supply 60VDC Current Draw 1.40A Table 2-5: 6205s2 Topside Interface Specifications...

  • Page 32: Mechanical Drawings

    2-32 2.6 Mechanical Drawings This section contains supporting drawings for the 6205s2 Swath Bathymetry and Dual Frequency Side Scan Sonar System: 2.6.1 6205s2 Sonar Head Drawing Figure 2-1: 6205s2 Sonar Head ICD...

  • Page 33: Figure 2-2: 6205S2 Sonar Head With Adaptor Flange Icd

    2-33 Figure 2-2: 6205s2 Sonar Head with Adaptor Flange ICD...

  • Page 34: Figure 2-3: 6205S2 Side Scan Transducer

    2-34 Figure 2-3: 6205s2 Side Scan Transducer...

  • Page 35: Figure 2-4: 6205S2 Side Scan Transducer Details

    2-35 Figure 2-4: 6205s2 Side Scan Transducer Details...

  • Page 36: Figure 2-5: 6205S2 Deck Cable Wiring Diagram

    2-36 Figure 2-5: 6205s2 Deck Cable Wiring Diagram...

  • Page 37: Figure 2-6: 6205S2 Gnss/Ins Deck Cable Wiring Diagram

    2-37 Figure 2-6: 6205s2 GNSS/INS Deck Cable Wiring Diagram...

  • Page 38: 6205S2 Topside

    2-38 2.6.2 6205s2 Topside Figure 2-7: 6205s2 Rack-Mounted Topside...

  • Page 39: Figure 2-8: 6205S2 Rack Mount In Case

    2-39 Figure 2-8: 6205s2 Rack Mount in Case...

  • Page 40: Technical Description

    3-40 3.0 T ECHNI CAL DES CRI PTI ON The complete 6205s2 system consists of a sonar head, a topside interface box, and an attached topside computer. This section describes the 6205s2 System's main components and provides drawings for system integration and operations.

  • Page 41: Sonar Arrays

    The frequency sets listed above were chosen to provide optimum results for any water depth up to 50m (165ft) below the transducer. The 6205s2 is pressure-rated for water depths between 1m – 50m (3ft – 164ft). The optimal frequency depends on survey requirements.

  • Page 42: Sonar Processor Endcap And Pinout Drawings

    3-42 3.1.2.2 Sonar Processor Endcap and Pinout Drawings Figure 3-5: 6205s2 Forward Endcap 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 43: Figure 3-6: 6205S2 Aft End Cap

    3-43 Figure 3-6: 6205s2 Aft End Cap...

  • Page 44: Sound Velocity Sensor

    3-44 Figure 3-7: 6205s2 Pinout Drawing 3.1.2.3 Sound Velocity Sensor The 6205s2 Sonar Head nose cone is a flooded section that houses an AML Sound Velocity Sensor (SVT), which provides a response time of 47 μs, a resolution of 0.001 m/s, and a theoretical accuracy of ±0.025 m/s.

  • Page 45: Anodes

    3-45 3.1.2.4 Anodes The 6205s2 Sonar Head has three sacrificial anodes, with one fitted to the front endcap and two fitted to the aft endcap. EdgeTech has taken every reasonable precaution to ensure electrical isolation; however, anodes slowly deteriorate when exposed to the environment. Inspecting them frequently for deterioration and replacing them when necessary is a good practice.

  • Page 46: Acoustic Center

    The individual acoustic centers of each array (port and starboard) converge at a single point along the centerline of the 6205s2 Sonar Head. Therefore, when entering sonar head offsets into the third-party acquisition and processing software, the port and starboard array offsets (sometimes called Sonar Head 1 and Sonar Head 2) are identical in all dimensions.

  • Page 47: Figure 3-13: Acoustic Center Location In X, Y, And Z And Bolt Pattern Of Standard 6205S2

    3-47 Figure 3-13: Acoustic Center Location in X, Y, and Z and Bolt Pattern of Standard 6205s2...

  • Page 48: Figure 3-14: Acoustic Center Location In X, Y, Z Dimensions And Bolt Pattern With Adaptor Flange

    3-48 Figure 3-14: Acoustic Center Location in X, Y, Z Dimensions and Bolt Pattern with Adaptor Flange...

  • Page 49: The 6205S2 Topside Sonar Interface Box

    Always connect the cable to the sonar head first. The 6205s2 Topside Sonar Interface Box serial ports are configured to meet specific requirements. The first two RS232 serial ports are configured for high speed and high accuracy, while the third RS232 serial port is configured for standard serial connections.

  • Page 50: 6205S2-R Rack Mount Topside Interface Box

    CONNECTIONS AND FORMATS section of the manual for system configuration instructions. 3.2.1.1 6205s2-R Topside Connectors, Switches, and Indicator Lights Figure 3-16: Rack Mount Topside, Front Panel Figure 3-17: Rack Mount Topside, Rear Panel 6205s2 BATHYMETRIC AND SIDE SCAN SONAR...

  • Page 51: Table 3-1: 6205S2-R Topside Connectors, Switches, And Indicator Lights

    GNSS Antenna ANT 1 TNC integrated, the connector is disconnected internally. TNC connection for GNSS antenna. If a GNSS/INS system isn’t GNSS Antenna ANT 2 TNC integrated, the connector is disconnected internally. Table 3-1: 6205s2-R Topside Connectors, Switches, and Indicator Lights...

  • Page 52: 6205S2-S Stack Topside Interface

    Minimum computer requirements are found in sub-section 3.6.3 of this manual. If the 6205s2-R Rack Mount Topside Interface Box does not turn on, check the on/off switch on the back panel. It is located next to the power plug. CAUTION!

  • Page 53: Connections And Formats

    4.0 CO NNE CT I ONS A ND F O RM A TS The 6205s2 system relies on specific data formats and connections to produce high-quality images and measurements. This section describes these data formats and connections and provides diagrams to better understand the system's hardware and data flow.

  • Page 54: System Connections And Data Flow

    EdgeTech sonar system. 4.2 System Connections and Data Flow The following manual subsections describe the connections and data flow for the 6205s2 System. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR...

  • Page 55: Ethernet Lan Connections

    4.2.1 Ethernet LAN Connections The Ethernet LAN connection from the sonar head to the 6205s2 topside interface is wired via a standard 20m (65 ft) Deck Cable. The 6205s2 sonar interface connects to a topside computer via a standard RJ-45 ethernet plug.

  • Page 56: Connecting The 6205S2 To Devices On Another Network

    The 6505s2 can be integrated into another network by modifying the 6205s2 sonar head’s Windows IoT network card configuration. A good example of integration is when you would like to configure the 6205s2 to be able to receive data from a GNSS Aided INS unit. This is accomplished by remotely logging into the sonar head, unlocking the operating system to make changes, adding another IP and subnet to the network connection (Ethernet Card/NIC), and then relocking the operating system.

  • Page 57: Figure 4-2: Sonar Exe Is Active, And System Status Is Locked

    4-57 Figure 4-2: Sonar Exe is Active, and System Status Is Locked 3. Allow the system to reboot for a minute or two. Log in to the sonar head using Windows Remote Desktop. Notice that System Status Dialog now notes that the system is unlocked. You can now make changes to the Windows IoT Operating System.

  • Page 58: Figure 4-4: Windows Run Dialog With Ncap.cpl Command Entered

    5. The Windows Network Connection Dialog will appear and is populated with icons representing network connections. Figure 4-5: Network Connections Dialog 6. Right-click on the Ethernet Connection you would like to modify. A drop-down list will appear. Select Properties. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 59: Figure 4-6: Network Connection Right-Click Drop-Down Dialog

    4-59 Figure 4-6: Network Connection Right-Click Drop-Down Dialog 7. The Ethernet Properties dialog will appear, listing numerous connection protocols. Select Internet Protocol Version 4 (TCP/IPv4). Figure 4-7: Ethernet Connection Properties Window-Internet Protocol Version 4 (TPC/IPv4) Selected...

  • Page 60: Figure 4-8: Internet Protocol Version 4 (Tcp/Ipv4) Properties Windows- Click Advanced Button

    Discover Bathymetric Software Package. You are going to add numbers, not replace them. Figure 4-8: Internet Protocol Version 4 (TCP/IPv4) Properties Windows- Click Advanced Button 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 61: Figure 4-9: Advanced Tcp/Ip Dialog-Tcp/Ip Address Input Dialog After Add Button Pushed

    4-61 9. When the Advanced TCP/IP Settings Dialog appears, press the Add button. A TCP/IP Address Dialog will appear. Enter the IP address and Subnet Mask of the network you want added and press Add. Figure 4-9: Advanced TCP/IP Dialog-TCP/IP Address Input Dialog After Add Button Pushed...

  • Page 62: Figure 4-10: Advanced Tcp/Ip Settings Dialog

    4-62 10. Notice the Advanced TCP/IP Settings dialog has been updated with your new network addresses and the 6205s2 system addresses. If correct, press the OK button on each dialog to save settings and exit network connection settings. Figure 4-10: Advanced TCP/IP Settings Dialog 11.

  • Page 63: Serial Port Connections

    4-63 4.2.3 Serial Port Connections There are three RS-232 serial ports provided on the 6205s2 Sonar Interface box. COM1 and COM2 have been configured for high speed and high accuracy). COM3 is configured for standard RS-232 serial connections. Typical latencies for the high speed/high accuracy ports are less than 100us, whereas the standard serial port has up to 100ms.

  • Page 64: Serial Port Configuration Examples

    The processed navigation and attitude data are transmitted (along with the raw side-scan data) with a common timestamp up the deck cable to the 6205s2 sonar interface. Together, they are then passed to the topside computer through an Ethernet cable and via the 100Mbps link on an Ethernet port (IP Address: 192.9.0.99).

  • Page 65: Ethernet Port Configuration Examples

    The sensors allocated to COM1 and COM2 may be interchanged for the same reason stated in the second example. GNSS data, or latitude, longitude, and height data, must be allotted to COM3 because position messages include a valid timestamp. In contrast, attitude and heading messages accepted by 6205s2 do not have a valid time tag.

  • Page 66: Integrated Gnss/Ins Port Configuration Example

    4-66 The 6205s2 can receive navigation and altitude data from supporting sensors via the Ethernet connection utilizing UDP. Refer to 8.3.4 UDP C for more information on configuring 6205s2 for UDP ECTION ONNECTIONS data transfer. 4-13 depicts a sensor interface to the 6205s2 topside interface that provides a time and 1PPS...

  • Page 67: One Pps Port Configuration

    The EdgeTech 6205s2-R rack-mounted topside provides a 1PPS port to physically connect to a PPS-capable unit. The 6205s2-R is depicted in The logical configuration is done in the attached GNSS configuration and activating the 1PPS option in ’...

  • Page 68: Sonar Data Flow

    However, a latency equivalent to the input trigger’s pulse width will be generated. As a result, EdgeTech recommends using a pulse width (duration) of no longer than 1ms if a rising edge trigger must be used. Static latency correction occurs during the patch test process in third- party software packages.

  • Page 69: Figure 4-16: Sonar Data Flowchart

    The flow chart demonstrates the following: 1. The auxiliary sensors provide time, heading, position (latitude/longitude), and motion (roll, pitch, and heave) data to the 6205s2 Topside Interface Box via the provided RS-232 serial ports or UDP connections over the ethernet link.
  • Page 70 8. Finally, the third-party software saves native data files that contain every piece of information to post-process the data and generate final hydrographic products. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 71: Topside Provided Isolation

    The two most common sources of electrical noise (interference) are power supplies and poor grounding on survey vessels. EdgeTech’s proprietary signal conditioning and isolation board is shipped with every topside to protect against the noise fluctuations on the ground line of the subsea electronics. This board isolates the sensitive subsea electronics from potentially noisy grounds provided by the trigger and serial port inputs.

  • Page 72: Installation

    5.2.1 Pole Mounting The 6205s2 is designed to be pole mounted to a pole flange using the 3-bolt plate provided on the top of the sonar head. Customers can manufacture their own, or EdgeTech offers a kit with a flange adaptor plate and the necessary hardware to attach it to a customer-supplied pole.

  • Page 73: Over-The-Bow Deployment

    Figure 5-1: 6205s2 Deployment, Option 1 – Over-the-Bow 5.2.1.2 Over-the-Side Deployment An alternative to the bow mount is to secure the 6205s2 sonar head over the survey vessel's side via a pole. An example of an over-the-side deployment is illustrated in the images in 5-2.

  • Page 74: Usv Deployment

    5-46 5.2.2 USV Deployment An alternative to the ship-mounted sonar is to secure the 6205s2 system to an uncrewed survey vessel. 5-3. An example of an Unmanned Surface Vehicle (USV) deployment is illustrated in the image in IGURE Contact for assistance with any USV installation.

  • Page 75: Connect To Sonar

    Discover Bathymetric software typically displays a diagnostic window and shows which serial port is causing the error if the 6205s2 is not connecting correctly. The first troubleshooting step is to check the cabling and device settings in Discover. If the problem isn’t discovered, the next step is to access the sonar head’s internal computer and check the Sonar application displays.

  • Page 76: Connecting To The 6205S2 Using Windows Remote Desktop On Your Computer

    6-48 6.1.1 Connecting to the 6205s2 using Windows Remote Desktop On Your Computer 1. Launch the Windows Desktop Remote Application. There are two ways to find the application on your computer. a. Navigate to the Remote Desktop Connection Launch Shortcut by pressing the Windows start button and...

  • Page 77: Figure 6-4: Manual Remote Desktop Credentials For Customer-Supplied Computer

    2. The application should now launch. You must enter specific computer and user names to connect. The 6205s2 sonar head processor will use the Computer Name: 192.9.0.101 and the User name: Administrator. Press the Connect Button after each name is populated. When prompted, the password is admin.

  • Page 78: Windows Partition Lock / Unlock For Sonar Head Processors With A Windows 10 Iot Operating System

    6.1.2.1 Verifying System’s Current Partition Lock State To verify if the system is currently Locked or unlocked, the user must first access the 6205s2 sonar head’s embedded CPU with Windows Remote Desktop with the Windows login credentials detailed in this manual’s...

  • Page 79: Changing The System State From Locked To Unlocked

    6-51 6.1.2.3 Changing the System State from Locked to Unlocked The system locker EdgeTech Win10Locker application window displays SYSTEM LOCKED text and provides an UNLOCK button if the system’s partition is locked. The Win Locker application can be closed by clicking the X in the upper right corner of the application window.

  • Page 80: Confirming Supporting Data Is Present

    NOTE: This section assumes all auxiliary sensors have been connected to the 6205s2 Interface Box (whether this is the 6205s2-R or 6205s2-S), the sonar head is installed on a survey vessel (or reasonably set up in a suitable workshop environment), and it is submerged in water.

  • Page 81: Figure 6-12: Serial Port Information Window

    6-53 NOTE: GNSS and MRU are interchangeable on COM1 and COM2 as long as the appropriate baud rate is set in the dropdown menu next to channel assignment in the Serial Port Information Window, as shown in Figure 6-12, red arrow. More information on how to configure the COM ports is presented in COM P ONFIGURING...

  • Page 82: Figure 6-13: Sensor Usage Percentage Check

    8. If they are not, increase the baud rates of the sensors until these percentages drop. Make sure to change the baud rate accordingly in Sonar. 9. When satisfied with the incoming data, press OK in the System Status window and close the Sonar - 192.9.0.101 - Remote Desktop Connection window. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 83: Maintenance

    7-55 7.0 M A INTEN ANCE The 6205s2 is designed to be rugged and resilient, and EdgeTech has some suggestions to ensure a long operational life. • The 6205s2 Sonar Head is not designed for long-term deployments, and it is not recommended to keep the system in the water for more than two weeks at a time, especially in warm, salty waters.

  • Page 84: Figure 7-1: Anode Replacement: Nose Cone Removal

    [1] Tube of Aqualube Replacing the Two Forward Anodes 1) Remove the 6205s2 forward nose cone by unthreading the [5] screws using the 5/32 Allen Key and sliding the cone from the vehicle exposing the forward endcap and [2] anodes.

  • Page 85: Figure 7-4: Anode Replacement- Unthreading [1] Aft Anode

    7-57 Replacing the One Aft Anode 4) Unthread the bolt securing the aft anode and plastic washer to the endcap using a 3/16” Allen Key. 5) Assemble by threading the bolt through a new 0.75 inch 1-5/8 inch small aluminum anode and plastic washer.

  • Page 86: Troubleshooting

    3. In the sonar.exe application window, select Misc from the top menu and Serial Port Information from the drop-down menu. 4. Check Chan 4 on Com 4 from the dropdown list to see if any data is being reported by port. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 87: Figure 8-3: Closing The Sonar.exe Application

    8. Closeout of Sonar.exe by clicking on the ‘X’ in the top right corner, as shown in 8-3. IGURE Figure 8-3: Closing the Sonar.exe Application 9. Double-click the “EdgeTech Shortcut” and navigate to the Utilities/Teraterm folder. Launch ttermpro.exe. 10. Select Serial, choose COM4 from the dropdown menu, as shown in 8-4, and click OK.

  • Page 88: Figure 8-5: Com4 Port Settings

    10 seconds before turning it back on. 15. Reconnect to the sonar via the Remote Desktop and check COM4 using the Sonar application as before in steps 3 and 4 above. SV data should not be scrolling as in: 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 89: Configuring Auxiliary Sensors For Redundant Information

    ERVICE 8.2 Configuring Auxiliary Sensors for Redundant Information Auxiliary sensors can input redundant auxiliary information into the 6205s2. This will cause a significant data alignment problem as the sequential sonar data packets will be inconsistently stuffed from multiple sources. This section defines redundant auxiliary information as multiple sources of the same class of auxiliary information (e.g., roll, pitch, heading).

  • Page 90: Figure 8-7: Configuration Menu

    8-62 1. Open the Auxiliary Sensors control dialog box by selecting Auxiliary Sensors in Discover 8-8. Bathymetric’s configuration drop-down menu, as shown in IGURE IGURE Figure 8-7: Configuration Menu Figure 8-8: Auxiliary Sensors 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 91: Two Sensors Output Same Information With Different Messages

    8-8, IGURE COM1 feeds GGA, VTG, and GGK (red boxes) to the 6205s2 Sonar Head, while COM 2 feeds in HDT (green boxes). 3. When satisfied with the serial port setup, click on the X at the top right of the dialog box.

  • Page 92: Figure 8-10: Sonarserial.ini

    Heading and heave are currently the only fields that can be enabled/disabled in the SonarSerial.ini file. To disable heave: ParserParameters=DISABLEHEAVE 5. Save the file and exit. 6. Power cycle the 6205s2 Sonar Head, allowing at least 15 seconds between switching off and on. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 93: Configuring Com Ports

    1. Turn on Topside PC and connect the 6205s2 via the deck cable to the 6205s2 Topside Interface Box. Turn on the 6205s2 Sonar Head and run the sonar application if it is not running. Sonar.exe is the firmware that controls the system.

  • Page 94: Figure 8-12: Finding The Sonarserial.ini File

    5. Under [Serial2] and [Serial3], set the create values to zero by editing the line to Create = 0. Save the file by selecting File and Save from the top menu. Close the file when done. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 95: Figure 8-14: Diagnostic Window, Reporting Ports Inactive Error

    8-67 CAUTION! Do not alter the file in any way other than what has been specified. This will deactivate COM ports 2 and 3. By deactivating these ports, Sonar will report to Discover that only one sensor will be used on COM1 to parse the necessary sensor information. Therefore, Discover will not display any errors if a sensor is not connected to COM2 or COM3.

  • Page 96: Figure 8-16: Checking Serial Port Information

    8-68 Figure 8-16: Checking Serial Port Information 10. Click File and then Show Status in the sonar window, as shown circled in red in 8-17. FIGURE Figure 8-17: Checking Sensor Status 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 97: Figure 8-18: Closing The System Status Window

    8-69 Figure 8-18: Closing the System Status Window 11. At the bottom of the window, make sure the item dropdown is Serial. Click the config button. 12. Check to ensure the sensor's usage percentage is well below 80% (marked by a purple box). a.

  • Page 98: Two Sensors

    4. Now, plug in the devices into COM 1 and COM 2. Which device is connected to which COM port does not matter as long as their respective ports and baud rates are set in Sonar. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 99: Figure 8-20: Checking Sensors' Usages

    8-71 5. Click on Misc. at the top of the Sonar screen, as shown in 8-16, then Serial Port FIGURE Information. 6. Check COM1 and set the correct baud rate for that device using the dropdown menu shown in 8-16. When the correct baud rate is set, the State should say OK, and blue, as shown in IGURE Errors should not be increasing, as shown in...

  • Page 100: Three Sensors

    1. Follow steps (1.) through (6.) as stated previously under the section. ENSOR 2. Ensure each Create=1 under each [Serial#], as shown in 8-21. IGURE Figure 8-21: All Sensors Set 3. Select File and Save from the top menu and close the file. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...
  • Page 101 8-73 CAUTION! Do not touch anything else, or the system’s configuration files could be seriously compromised, and functionality may suffer. 4. Close the SonarSerial.ini file and reboot the Sonar Firmware by double-clicking on the Sonar icon in the main Sonar Remote Desktop Screen, as shown in 8-15, designated by the green IGURE...

  • Page 102: Figure 8-22: Checking All Com Ports

    So it is always good to close the remote desktop application when finished with the configurations. Figure 8-22: Checking all COM Ports 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 103: Udp Connections

    ANUAL information on completing this process in Discover. The 6205s2 is compatible with data sent over the Ethernet connection via UDP. The SonarSerial.ini file is utilized to configure the system to accept these messages. 1PPS functionality must be utilized when operating with attitude / NAV being transferred with UDP messages.

  • Page 104: Applanix Pos-Mv Configuration

    1. Set the ethernet real-time output data to groups 3,7,10, and 102. The output rate of the POSMV data should be set to 50Hz. 2. The POS-MV must also be set to Falling (Negative) Edge or Active Low for the 1PPS, as the 6205s2 defaults to sync on the falling edge.

  • Page 105: Figure 8-25: Posmv Udp Configuration

    8-77 3. Under [Serial5], set Create = 3 and remove the semicolon from the beginning of each line in the [Serial5] section. 4. When the command Parserparameters=HEAVESCALE -1.0 is present in the [Serial5] section, add or ensure a semicolon at the beginning of the line to disable the command. When the command is not present, leave it as is, as the command is not required.

  • Page 106: Figure 8-26: Sonarconfig.ini Example

    This configuration sets the software to utilize the time and date reference received from the POS-MV data string. It also activates the 1PPS port on the topside module. Due to the inherent added latency, a 1PPS sync must be utilized when data is received via UDP. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 107: Sbg Ekinox/Apogee Configuration

    Sonar.exe shortcut on the embedded CPU desktop. Once the configuration of both the 6205s2 and the POS-MV is completed, the Sonar Serial Port Viewer can be utilized to confirm data is being accepted correctly. To access this, select the Misc. tab in the Sonar.exe GUI (as shown in...

  • Page 108: Figure 8-29: Ekinox/Apogee Sonar.ini File Timesyncsource Keyword Adjustments

    • Required: EKF Euler (Provides Pitch, Roll, Heading) Required: EKF Nav (for Ekinox or Apogee if you want Edgetech GGK and VTG generated) • • Required: UTC Time •...

  • Page 109: Figure 8-31: Udp Broadcast Settings Example

    8-81 Figure 8-31: UDP broadcast settings example Figure 8-32: Data packets required, set using the recommended SBG's "Hydro-Hypack”...

  • Page 110: Oem Integrated Sbg Ekinox Configuration

    8.3.7 OEM Integrated SBG Ekinox Configuration Figure 8-34: SBG Systems OEM GNSS and INS units 1. The 6205s2 is compatible with an OEM Integrated SBG Ekinox system. EdgeTech integrates and configures the systems when purchased. The only configurations required of the customer are setting lever arm and GNSS antenna positions in the SBG software, which are unique to each host platform.

  • Page 111: Lever Arm And Gnss Antenna Position Configuration

    CAUTION! Please do not change any Monitoring Points values unless you’re sure they should be changed. EdgeTech has set a Monitoring Point that is valid for the Ethernet data output to be the Sonar Acoustic Center, so only change these values when you do not want this and instead want the SBG data to be valid at an alternative location.

  • Page 112: Figure 8-36: Aiding Setting Gps1 Gnss Lever Arm Values

    SBG for communication over the Ethernet interface via UDP. EdgeTech preconfigures the sensor for the Hydro – Hypack preset output at 40 Hz. We do not recommend changing this setting. However, the following should be kept in mind if a change is unavoidable: •...

  • Page 113: Oem Integrated Trimble Ap+ (Applanix Oem) Configuration

    8.3.8 OEM Integrated Trimble AP+ (Applanix OEM) Configuration Figure 8-37: Trimble Applanix OEM GNSS and INS units The 6205s2 is compatible with an OEM Integrated Trimble Applanix AP+18 system. EdgeTech integrates and configures the systems when purchased. The only configurations that should be required of the customer are setting lever arm and GNSS antenna positions in the Trimble software, as such settings are unique to each host platform.

  • Page 114: Figure 8-38: Primary Antenna Type Configuration

    (non-survey grade) embedded IMU, but the Trimble AP+ unit, as intended for use with the Sonar Head unit, is required to activate and use the INS Remote feature (because the survey grade IMU is remotely installed inside the Sonar Head). 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 115: Figure 8-40: Ins Remote Settings And Ant#1 And Ant#2 Antenna Separation Values

    8-87 The Primary to Secondary GNSS Baseline Vector (X,Y,Z) meter values should be entered. These are the distances from the primary (ANT#1) antenna to the secondary (ANT#2) antenna. These distances should only be entered when the values have been independently and accurately obtained (for example- from robust land survey measurements).

  • Page 116: Figure 8-41: Ins Remote Settings And The Reference To Ant#1 Distance Values

    6. Next, select INS Remote under the Receiver Configuration Menu and then the Sensor 1 menu in the UI. The distances Reference To Sensor 1 can be entered in this menu. By default, EdgeTech has entered the distances from the IMU to the Sonar Acoustic Center location. This means that...

  • Page 117: Figure 8-43: Example Rtk / Rtx Correction Controls

    9. Next, make sure that by default, the 1PPS Output is active in the General section under Receiver Configuration. Figure 8-44: 1PPS configuration 10. Lastly, notice that in the Security Configuration section, EdgeTech has disabled the security feature that might be required in some countries or states in the event that the unit is “internet- connected”.

  • Page 118: Computer System Restoration

    8-90 Figure 8-45: Example Security Configuration settings 8.4 Computer System Restoration The following section outlines the procedures for backing up and restoring the system drive. EdgeTech currently uses Macrium Reflect as system restoration software. CAUTION! All data will be lost upon restoring the system to factory settings.

  • Page 119: Figure 8-46: Restoration Edit Image Selection

    8-91 5. Under the Image tab, select Edit Figure 8-46: Restoration Edit Image Selection 6. Browse for the backup folder located on the 0020475_Rev_” drive. The folder should have the following format XXXX_SNSSSSS. Once the folder has been selected, click OK and then OK.

  • Page 120: Figure 8-48: Restoration Restore Button

    , select Shutdown, and then OK. 11. Remove the USB3 flash drive and turn the power to the topside back on to verify the image has been restored successfully. 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_C...

  • Page 121: Kits

    9-93 9.0 K I TS EdgeTech offers spare, tool, and option kits to upgrade and maintain your 6205s2 system components. Please contact before any repair to maintain the warranty and receive the USTOMER ERVICE most up-to-date kit and instructions. 9.1 Spare Kits...

  • Page 122: Table 9-3: 6205S2 540/1600 Khz Side Scan /540 Khz Bathy Spares Kit

    9-94 0024485 Rev C KIT SPARES 6205S2 ELECTRONICS 540 / 1600 KHZ SIDESCAN/ 540 KHZ BATHY PART DESCRIPTION 0005949 O-RING BUNA-N 70 2-249 STANDARD ROUND BLACK 0022587 PCB ASSY TOP SONAR INTERFACE MODULE 2 SIM2 2205 540 / 1600 / 230RX KHZ...

  • Page 123: Table 9-4: 6205S2 540/850 Khz Side Scan/540 Khz Bathy Spares Kit

    PCB ASSY TOP SONAR ACQUISITION INTERFACE BOARD PCIEX SAIBX 0013614 PCB ASSY TOP INPUT PSU 2205 AUV 36-60V ISOLATED FROM CHASSIS AT 44V 0024272 ASSY TOP BOARDSET 6205S2 CPU COMX ATOM MBT10 PASSIVE HEATSINK ON PCIEX 0020560 PCB ASSY TOP 2205 HCCA 20 CHANNEL PREAMP 520kHz 0012536...

  • Page 124: Table 9-5: 6205S2 540/850 Khz Side Scan /850 Khz Bathy Spares Kit

    PCB ASSY TOP SONAR ACQUISITION INTERFACE BOARD PCIEX SAIBX 0013614 PCB ASSY TOP INPUT PSU 2205 AUV 36-60V ISOLATED FROM CHASSIS AT 44V 0024272 ASSY TOP BOARDSET 6205S2 CPU COMX ATOM MBT10 PASSIVE HEATSINK ON PCIEX 0025407 PCB ASSY TOP 2205 HCCA 20 CHANNEL PREAMP 850 KHZ 0012536...

  • Page 125: Table 9-6: 6205S2 850/1600 Khz Side Scan/850 Khz Bathy Spares Kit

    PCB ASSY TOP SONAR ACQUISITION INTERFACE BOARD PCIEX SAIBX 0013614 PCB ASSY TOP INPUT PSU 2205 AUV 36-60V ISOLATED FROM CHASSIS AT 44V 0024272 ASSY TOP BOARDSET 6205S2 CPU COMX ATOM MBT10 PASSIVE HEATSINK ON PCIEX 0025407 PCB ASSY TOP 2205 HCCA 20 CHANNEL PREAMP 850 KHZ 0012536...

  • Page 126: Tool Kit

    9-98 9.2 Tool Kit 0024448 Rev A ASSY TOP KIT 6205S2 SYSTEM TOOLS PART DESCRIPTION 0003246 BAG TOOL 4200 CANVAS 0005517 HAT MARINE 0015475 CABLE RG58 / AU COAXIAL BNC MALE / MALE 6FT 0003485 CABLE EXTENSION / SERIAL DB9M-DB9F 2M ROHS...

  • Page 127: Adaptor Flange Installation Kit

    9-99 9.3 Adaptor Flange Installation Kit EdgeTech offers an Adaptor Flange Kit that includes a high-quality flange and necessary hardware to mount the 6205s2 to a customer’s manufactured pole. 0024489 ASSY TOP KIT 6205S2 ADAPTOR FLANGE PART DESCRIPTION 0020405 MOUNT FLANGE 6205S MOUNTING POLE ADAPTER SS...

  • Page 128: Sensor Sbg Imu And Gnss Installation Kit

    ASSY TOP SENSOR IMU GNSS PROCESSOR SBG NAVSIGHT-S OEM SEPTENTRIO 0024540 DOC WORK INSTRUCTION 6205S2 SBG OEM INTEGRATION TOPSIDE AND SUBSEA 0024327 ASSY TOP CABLE 6205S2 OEM IMU 08 POS SUBCONN CABLE 20M 0012668 HARDWARE SCREW METRIC MACHINE PAN HD PHILLIPS M2.5 0.45MM 16MM 316 0018765 HARDWARE WASHER METRIC FLAT M2.5 316 SS...

  • Page 129: Table 9-10: Sensor Applanix Surfmaster Imu & Gnss Kit

    0013594 HARDWARE STANDOFF STD HEX FEMALE / FEMALE 4-40 0.1875 INCH 0.25 INCH LENGTH 18-8 SS 0025739 BRACKET 6205S2 APPLANIX IMU 69 TO CHASSIS DELRIN 0003860 CONN DUMMY PLUG WETMATE 08 POS FEMALE CIRCULAR MCDC8F 0003861 CONN DUMMY PLUG WETMATE 08POS MALE CIRCULAR MCDC8M...

  • Page 130: Compatible Software

    Dual-Frequency Side Scan Sonar data. Data is presented in a color waterfall display and stored in the binary EdgeTech JSF file format on the hard disk of the topside processor. The JSF file format has been in use for 10+ years and has new public extensions to support the additional Bathymetry data messages. Refer to (0014678) for detailed information on the software.

  • Page 131: Qinsy

    CARIS HIPS and SIPS are comprehensive bathymetric, seafloor imagery, and water column data-processing software. The HIPS and SIPS software enables the user to simultaneously process multibeam, backscatter, side-scan sonar, LiDAR, and single-beam data. In addition, its data importer supports EdgeTech’s bathymetry and side-scan data formats.

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