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Summary of Contents for Tritech SeaKing Sidecan
- Page 1 SeaKing Sidecan Sonars Towfish, SK150 and ROV Sidescan 0374-SOM-00013, Issue: 01...
- Page 2 © Tritech International Ltd 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.
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Page 3: Table Of Contents
SeaKing Sidecan Sonars Table of Contents Help & Support ......................5 Warning Symbols ..................... 6 1. Introduction ......................7 I. Specification ......................8 2. SeaKing ROV Sidescan ................9 2.1. Dimensions of Electronics Pod ............9 2.2. Dimensions of Transducers .............. 9 2.3. - Page 4 SeaKing Sidecan Sonars 12. Introduction ....................40 13. Installation ....................41 14. SeaKing Sidescan Image Capture ............42 15. Software Functions .................. 44 15.1. Toolbar ..................44 15.1.1. Project Controls ..............44 15.1.2. Tile Controls ..............46 15.1.3. Zoom .................. 47 15.1.4.
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Page 5: Help & Support
Prior to contacting Tritech International Ltd please ensure that the following is available: 1. The Serial Numbers of the product and any Tritech International Ltd equipment connected directly or indirectly to it. 2. Software or firmware revision numbers. 3. A clear fault description. -
Page 6: Warning Symbols
SeaKing Sidecan 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 7: Introduction
It is also possible to use the data in the Tritech International Ltd Sonar Image Tiler program in order to build up a complete picture of a survey site. -
Page 8: Specification
SeaKing Sidecan Sonars Part I Specification 0374-SOM-00013, Issue: 01 © Tritech International Ltd. -
Page 9: Seaking Rov Sidescan
SeaKing Sidecan Sonars 2. SeaKing ROV Sidescan 2.1. Dimensions of Electronics Pod Ø110 Power & Communications Transducer 1 and 2 Not to scale, dimensions in mm. 2.2. Dimensions of Transducers top mounting holes (x4) to suit M6x1 6.3mm through counterbored 10mm to 7mm side mounting holes suit M6x1 screw 6.3mm through... -
Page 10: Electrical, Communication & Software
ARCNET, RS232 Communication rates ARCNET: 156kbit·s , 78kbit·s RS232: 115.2kBd Software Tritech Seanet Pro or low level direct command control Data log format Tritech V4Log as standard Export to XTF, TIFF, GeoTIFF and Google Earth KMZ via converter 2.5. Acoustic Properties... -
Page 11: Seaking Towfish
SeaKing Sidecan Sonars 3. SeaKing Towfish 3.1. Dimensions Ø63 Not to scale, dimensions in mm. 3.2. Physical Properties Weight in air Weight in water 4.1kg Depth rating Materials Alumnium body tube and stainless steel nose cone Operating temperature -10°C to 35°C Storage temperature -20°C to 50°C... -
Page 12: Acoustic Properties
SeaKing Towfish SeaKing Sidecan Sonars 3.4. Acoustic Properties Operating frequency 325kHz 675kHz Beamwidth 30° vertical, 1.7° horizontal 30° vertical, 1° horizontal Pulse length 400μs 30° vertical, 1° horizontal Range 200m 100m Source level 200dB re 1μPa at 1m Gain control range... -
Page 13: Seaking Towfish Sk150
Connector Tritech standard 6-pin waterblock Cable Wire armoured Software Tritech Seanet Pro or low level direct access and control Data log format Tritech V4Log as standard Export to XTF, TIFF, GeoTIFF and Google Earth KMZ via converter 0374-SOM-00013, Issue: 01... -
Page 14: Acoustic Properties
SeaKing Towfish SK150 SeaKing Sidecan Sonars 4.4. Acoustic Properties Operating frequency 150kHz Beamwidth 60° vertical, 1.4° horizontal Maximum range 350m Minimum range 0.4m Range resolution 5 - 300mm Source level 210dB re 1μPa at 1m Pulse length 400μs Bandwidth 40kHz 0374-SOM-00013, Issue: 01 ©... -
Page 15: Installation
SeaKing Sidecan Sonars Part II Installation 0374-SOM-00013, Issue: 01 © Tritech International Ltd. -
Page 16: Installing The Rov Sidescan
SeaKing Sidecan Sonars 5. Installing the ROV Sidescan 5.1. Transducer Orientation Caution Although the sonar is rugged, it should be handled with care, particularly the connector and transducers. The SeaKing ROV Sidescan sonar comprises two separate transducers which are connected wit interconnect leads to a dual channel electronics pod. -
Page 17: Communications
The SeaKing ROV Sidescan electronics pod is fitted with a maximum of four standard Tritech waterblock connectors. Two of these will be labelled PORT and STARBOARD and these should be used to connect to the transducers using a cable that is wired straight through (with a 1 to 1 wiring). - Page 18 Installing the ROV Sidescan SeaKing Sidecan Sonars If using a rectified transformer PSU the output must have a filter capacitor of at least 470μF for each head that is being powered. The use of unregulated power supplies is not recommended.
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Page 19: Installing The Towfish
6.2. Communications The SeaKing Towfish is fitted with a standard Tritech waterblock connector. This is a 6 pin connector and is wired as follows: 0374-SOM-00013, Issue: 01... -
Page 20: Power
Installing the Towfish SeaKing Sidecan Sonars Function Cable colour ARCNET A Yellow RS232 TX ARCNET B Blue RS232 RX DC + DC - Black Tritech Waterblock RS232 Ground Green Earth/cable shield cable screen Note If communicating using the ARCNET protocol it will be necessary to have resistors fitted at each end of the cable. -
Page 21: Installing The Sk150
If the fins hit a hard object they will break off and can be easily replaced on recovery of the SK150. 7.2. Communications The SeaKing Towfish is fitted with a standard Tritech waterblock connector. This is a 6 pin connector and is wired as follows: Function... -
Page 22: Power
Installing the SK150 SeaKing Sidecan Sonars 7.3. Power The SeaKing Towfish range of sensors are designed to work over a smoothed DC power supply over the range specified in Chapter 4, SeaKing Towfish SK150. Caution Never try to make the Towfish work over a longer cable by increasing the voltage above the maximum specified, doing so may cause permanent damage. -
Page 23: Seanet Pro Software Suite
SeaKing Sidecan Sonars Part III Seanet Pro Software Suite 0374-SOM-00013, Issue: 01 © Tritech International Ltd. -
Page 24: Overview Of The Seanet Software Suite
SeaKing Sidecan Sonars 8. Overview of the Seanet Software Suite The Seanet Pro software suite is a set of programs which enables complete control of all the Tritech International Ltd sonar equipment. The programs are available individually from www.tritech.co.uk. Seanet Pro This is the main program for controlling and displaying the sonar data. -
Page 25: Installing Seanet Pro
SeaKing Sidecan Sonars 9. Installing Seanet Pro Note The hardware must not be connected to the PC prior to or during software installation. If any Seanet software is already installed on the PC this must be removed correctly using Windows Control Panel - Add or Remove Programs (or Programs and Features in Windows 7) prior to starting the software installation. -
Page 26: Seanet Pro
SeaKing Sidecan Sonars 10. Seanet Pro 10.1. Basic Operation The SeaKing Sidescan sonars have 2 transducers fitted in a port and starboard arrangement. The display software can display both or either one of these channels. The transducers are fired in a "ping-pong" mode, i.e., the port transducer fires and... -
Page 27: Settings Bar
Seanet Pro SeaKing Sidecan Sonars Figure 10.1. Sidescan Sonar Data in Seanet Pro The main areas of the display are: 1. Display Header - this part of the screen is used for system/software identification. 2. Menu Bar - this is where system set-up functions can be accessed. - Page 28 Seanet Pro SeaKing Sidecan Sonars Note On the RAT, F1 - F3 and F5 - F7 are not used. Sonar Gain (C1, C4) This sets the sonar receive gain as required - typically this is around 20% but can be varied according to water and target conditions.
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Page 29: Application Tools
Seanet Pro SeaKing Sidecan Sonars 10.3. Application Tools Cursor Adds the cursor position panel to the sonar display, displays the Range and Time. Move the mouse pointer over the Sidescan waterfall display to update the cursor position giving Range to pointer and Time of scan-line that the pointer is positioned over. - Page 30 Seanet Pro SeaKing Sidecan Sonars Display the set number of range lines. Grid Zoom the waterfall plot on the time axis (i.e., accommodates different Scroll vehicle speeds). Auto auto-adjust scroll from incoming vehicle speed data. NDetects Number of detects. Toggle display event on/off.
- Page 31 Seanet Pro SeaKing Sidecan Sonars Position Sets the lay-back offset (in metres) which is the distance between the Sidescan sonar and reference datum (i.e., GPS receiver). Note This is only applicable to towed Sidescan sonars, the Towfish and SK150. Setup Sets various options to control the display of the Sidescan data.
- Page 32 Seanet Pro SeaKing Sidecan Sonars Select the desired printer and then tick the Enabled tick-box to open EPC/ the parallel port connection. Alden When Alden is selected this button will become active. Click this Alden button to setup the Alden interface.
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Page 33: Dynamic Range And Sonar Rx Indicator
Seanet Pro SeaKing Sidecan Sonars Note When the Interleaved Scan mode is enabled, the DST Sidescan reverts to "ping-ping" operation as opposed to "ping-pong". This doubles the quantity of data being transmitted to the surface with a larger overhead on the Sidescan plotting function. To run in this mode a modern computer (at least a Pentium 4) is required to cop with the increase in data. - Page 34 Seanet Pro SeaKing Sidecan Sonars background noise and low level returns seen at the receiver The sonar receiver will accept a return signal in the region of 0 - 80dB. The dynamic range controls are used to adjust the position of a sampling window within the 0-80dB dynamic range band of the receive signal.
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Page 35: Seanet Dumplog
This section applies to version 2.20 of the software. 11.1. Overview of Process Seanet Dumplog is a tool for converting Tritech International Ltd standard Seanet log files with the filename extension of .v4log into other industry standard formats. The process of conversion is as follows: 1. -
Page 36: Options Dialog
Seanet Dumplog SeaKing Sidecan Sonars 11.3. Options Dialog For advanced configuration and control of the output it is sometimes necessary to use the Options dialog. This is split into six tabs with each tab relating to the different output formats available. - Page 37 Seanet Dumplog SeaKing Sidecan Sonars This tab is not relevant to Sidescan data. The GPS Format drop-down list can be used to configure GPS data (if it is present in the log file). In the list Raw Data outputs the GPS data as it was recorded and UTC, E, N outputs in UTC format with Easting and Northing position.
- Page 38 Seanet Dumplog SeaKing Sidecan Sonars For output to Google Earth KMZ format use the TIFF/GEOTIFF tab to control the image background colour and palette. Use this tab to choose the image resolution. 0374-SOM-00013, Issue: 01 © Tritech International Ltd.
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Page 39: Image Tiler Software
SeaKing Sidecan Sonars Part IV Image Tiler Software 0374-SOM-00013, Issue: 01 © Tritech International Ltd. -
Page 40: Introduction
SeaKing Sidecan Sonars 12. Introduction The Tritech Sonar Image Tiler is designed to allow sonar images to be stitched together into a single larger image or mosaic. This allows mapping or surveying work to build up a complete picture of the seafloor in important areas such as harbour floors, wreck sites or around underwater structures such as bridge and platform supports. -
Page 41: Installation
Run this file and follow the on-screen instructions. Upon installation a program icon will be created on the Windows desktop and a Tritech Image Tiler folder will be added to the Windows Start menu. 0374-SOM-00013, Issue: 01... -
Page 42: Seaking Sidescan Image Capture
SeaKing Sidecan Sonars 14. SeaKing Sidescan Image Capture The Sidescan and GPS data first has to be recorded into a log file (.v4log) using Seanet Pro. This log file is then opened in the DumpLog offline utility program and a GeoTiff output is created. This GeoTiff output will also contain a World File assuming that there is valid GPS data within the log file. - Page 43 SeaKing Sidescan Image Capture SeaKing Sidecan Sonars Note If the indicators next to the Sidescan or GPS boxes are not illuminated red after opening the log file it indicates that there is no matching data. If this is the case it will not be possible to create a GeoTiff and World File output for use with the Image Tiler.
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Page 44: Software Functions
SeaKing Sidecan Sonars 15. Software Functions 15.1. Toolbar Import chart Export as image Save project Load project Clear project Add tile Delete all tiles Reset all tiles Resize tile Create mosaic Save mosaic Zoom in Fit to screen Zoom out... - Page 45 Software Functions SeaKing Sidecan Sonars Export As Image If an area is selected this button will export the selected area. If no area is selected the whole chart will be exported. For details of the supported file format please refer to: Section 17.2, “Saving Images or Mosaics”.
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Page 46: Tile Controls
Software Functions SeaKing Sidecan Sonars Removes any loaded data and clears the workspace. Any unsaved data will be lost. 15.1.2. Tile Controls Add Tile Opens a dialog to load an image tile. Image tiles must be in the correct format and have an associated world file. -
Page 47: Zoom
Software Functions SeaKing Sidecan Sonars mouse pointer will change to arrows indicating the available resize direction when it is positioned above the resize points. Click, hold and drag to resize the tile. The corner anchors maintain aspect ratio while it is resized whereas the side anchors allow the image to be stretched. -
Page 48: Markers
Software Functions SeaKing Sidecan Sonars For more detail on the functionality of the dialogs refer to Section 15.5, “Information Dialogs” and Section 15.6, “Tile List Dialog”. 15.1.5. Markers Using these buttons the markers can be shown, hidden or moved. For a full description of the use of markers see Section 15.7, “Using Markers”... -
Page 49: Image Export Area
Software Functions SeaKing Sidecan Sonars Area Erase Tool Note This action cannot be undone. To restore the original tile the tile has to be deleted and then added afresh. This tool erases polygonal-shaped sections from the sonar image tile. To use it select the tool then click (and release) on the sonar tile, move the mouse and click again to add another point (the points will be joined by a red line). -
Page 50: Moving Tiles
Software Functions SeaKing Sidecan Sonars Note Only when this button is enabled will the selection be used as the export area, otherwise the entire chart will be used. 15.2. Moving tiles The Pan Tool button has to be selected for this function to work. -
Page 51: Mosaic Of Tiles
Software Functions SeaKing Sidecan Sonars The colour of the rotate handle can be changed by navigating to the Tools menu and selecting Options 15.4. Mosaic of Tiles To create a mosaic of tiles it will be necessary to have multiple tiles together within a single geographic region. -
Page 52: Information Dialogs
Software Functions SeaKing Sidecan Sonars Note If Save Mosaic is pressed instead the output will not be on the screen but to a file so a file chooser dialog will present itself. 15.5. Information Dialogs There are also three information panels accessible from the toolbar or the View menu: the tile list;... - Page 53 Software Functions SeaKing Sidecan Sonars Saving the tile will only work on one tile at a time. Layering tiles Layering the tiles determines the order in which they are displayed, i.e., tile 1 is displayed in front of tile 2. The order can be changed by moving tiles up and down in this list, either as individual tiles or in groups.
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Page 54: Using Markers
Software Functions SeaKing Sidecan Sonars Reset Selected Tiles Resetting a tile changes the tile location, orientation and size to the coordinates and rotation value contained in the world file that was originally used to load the tile. Any subsequent movements or rotations that have been made are lost. - Page 55 Software Functions SeaKing Sidecan Sonars The positions of the markers is shown next to the location. Markers can be hidden using the button on the toolbar: To move a marker first select the move marker button ( ) and then click on the marker and drag it to the new location.
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Page 56: Creating The Mosaic Image
SeaKing Sidecan Sonars 16. Creating the Mosaic Image Figure 16.1. Completed Mosaic A mosaic as shown in Figure Figure 16.1, “Completed Mosaic” can be created with the Sonar Image Tiler using a background chart, and sonar image tiles with their associated world files. -
Page 57: Create The Background Chart
Creating the Mosaic Image SeaKing Sidecan Sonars • An image with GPS data in an associated world file to use as a background. Or appropriate GPS coordinates and geographical dimensions sufficient to encompass all of the sonar image tiles if creating the chart manually. -
Page 58: Image With World File
Creating the Mosaic Image SeaKing Sidecan Sonars entered position and scale; or a blank chart with manually entered position data. These options are explained further in the following sections. 16.2.1. Image with World File Select Import World File for the Open World File dialog and select the appropriate world file. -
Page 59: Image With Manual Positional Data
Creating the Mosaic Image SeaKing Sidecan Sonars 16.2.2. Image with Manual Positional Data First, select Open Image button to bring up the Open Chart dialog and select the required chart image. The image format can either be .bmp (bitmap), .jpg (jpeg) or .tif (tiff). -
Page 60: Blank Chart
Creating the Mosaic Image SeaKing Sidecan Sonars Next, enter the Point of Origin co-ordinates and the chart Dimensions. If the Universal Transverse Mercator (UTM) coordinate system is used a reference Ellipsoid will also have to be selected at this point (the default is WGS84 (World Geodetic System 1984)). -
Page 61: Add Image Tiles
Creating the Mosaic Image SeaKing Sidecan Sonars 16.3. Add Image Tiles Once the chart background has been loaded sonar image tiles can be added. Tiles must be within the same geographic area of the chart background. Either click on the Add Tile icon, or add the tile through the Tools menu and Add Tile option. -
Page 62: Exporting The Completed Mosaic As An Image
Creating the Mosaic Image SeaKing Sidecan Sonars 16.6. Exporting the completed mosaic as an image Charts can either be exported whole or areas can be selected and saved. To export the entire image simply select Export as Image from the Files menu. This will then display a dialog prompting for the desired location and name of the file. - Page 63 Creating the Mosaic Image SeaKing Sidecan Sonars Selection area within dotted line Output image Note It is also possible to output just the tiles (i.e., without the background chart) by clicking on the Save Mosaic button: 0374-SOM-00013, Issue: 01 © Tritech International Ltd.
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Page 64: Supported File Formats
SeaKing Sidecan Sonars 17. Supported File Formats 17.1. For Loading Tiles In order to correctly position the images each image tile file should be accompanied by an equivalent "world file" which contains positional data. This data should come from a GPS linked into Seanet Pro. If a GPS is available Seanet Pro will automatically create a world file with the correct data when a Snapshot is taken. -
Page 65: Project Files
Supported File Formats SeaKing Sidecan Sonars 17.3. Project Files The Sonar Image Tiler uses a customised XML format for saving and loading projects. These project files will preserve any tile data or marker data so that they can be manipulated again at a later stage or transferred to another computer for editing. -
Page 66: Example: Using Sidescan Image Tiles
SeaKing Sidecan Sonars 18. Example: Using Sidescan Image Tiles Several .v4log files have been created in Seanet Pro that contain SeaKing Sidescan and GPS NMEA data. Each file contains the sidescan data for one track from a lawnmower style survey. GeoTiff files (and corresponding world files) were created using the DumpLog utility and these file-sets were added/imported into the Image Tiler application as sonar image tiles. - Page 67 Example: Using Sidescan Image Tiles SeaKing Sidecan Sonars With the image tiles added an area was highlighted using the Selection Tool and the area was saved to file using the Export Chart as Image button. The saved image mosaic appears as follows:...
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Page 68: Service And Maintenance
SeaKing Sidecan Sonars Part V Service and Maintenance 0374-SOM-00013, Issue: 01 © Tritech International Ltd. -
Page 69: Maintenance
If the system is in regular use, or submerged routinely for extended periods, it is advisable to arrange for an annual service to be carried out by Tritech International Ltd. This service will enable the equipment to be checked thoroughly or for any worn parts to be replaced and will enable long-term trouble free operation of the sonar. -
Page 70: Software Maintenance
(such as anti-virus software) is installed on the computer. If the sonar has been supplied with a Tritech SCU then the operating system can be re-initialised using the provided USB memory stick. Please refer to the SCU manual for more details (document reference: 0581-SOM-00002). -
Page 71: Troubleshooting
If internal damage is suspected, contact Tritech International Ltd for service and repair options. -
Page 72: 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 39ohm which will enable quick and easy installation of the subsea termination resistor. -
Page 73: Chirp Signal Processing
CHIRP pulse which means the range resolution is given by: velocity of sound Range resolution = 2 x bandwidth The bandwidth of a typical Tritech International Ltd CHIRP system is 50kHz 0374-SOM-00013, Issue: 01 © Tritech International Ltd. - Page 74 CHIRP Signal Processing SeaKing Sidecan Sonars With velocity of sound in water of 1500m/s this gives a new range resolution of 15mm. This time, when two acoustic echoes overlap, the signature CHIRP pulses do not merge into a single return. The frequency at each point of the pulse is different, and the sonar is able to resolve the two targets independently.
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Page 75: Networking Comv6 Devices
Manually Setting Comms Note Unless it has been specified differently at time of purchase the factory default settings of all Tritech International Ltd sonars are RS232 serial at 115.2kBd so if AutoComms has previously been disabled these settings could be tried first. - Page 76 Networking COMv6 Devices SeaKing Sidecan Sonars A warning should appear to show that the settings are going to be changed, acknowledge this and then select the appropriate setting from the dialog box which presents itself. The example below shows the setting for port C of a SeaHub being changed to RS232 from RS485.
- Page 77 Networking COMv6 Devices SeaKing Sidecan Sonars First make sure that the Disable AutoComms option is checked and then change the Comms Mode settings in the bottom right corner. If working on an ARCNET network the baud rates should be changed by clicking on Baud Rates (in the bottom left of the above screenshot).
- Page 78 Networking COMv6 Devices SeaKing Sidecan Sonars Hard Reset To perform a "hard reset" and force the sonar back to factory settings first turn it off and then put a strong magnet over the case in the location indicated below. Power the unit up with the magnet held in place and factory settings should be restored.
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Page 79: Marker Files
SeaKing Sidecan Sonars Appendix D. Marker Files Seanet Pro includes the facility to lay a series of markers to label and track objects, points of interest and way positions. These markers can be saved to file for the purpose to re-load at a later date, to form part of a report or for use with the Sonar Image Tiler program. - Page 80 Marker Files SeaKing Sidecan Sonars IndexValue Description Shape Colour Applies to Circle, Square and Triangle shape types only, otherwise set to 00000000 (32 bit RGBA). Font Inner Colour Applies to Comment Text (32 bit RGBA). Font Outer Colour Applies to Comment Text (32 bit RGBA).
- Page 81 Marker Files SeaKing Sidecan Sonars IndexValue Description This is a unique string ID. It comprises a 2 letter header ("mk") followed by a DateTime code. Any unique string value is acceptable. X Coordinate For the .csv file, will be in coordinate system used in Seanet (either Longitude or UTM Easting).
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Page 82: Glossary
American Standard Code for Information Interchange - a character encoding scheme originally based on the English alphabet. Hardware developed by Tritech International Ltd for use in sonar AutoComms heads which enables the sonar to automatically switch to the correct communication protocol to match that of the surface controller. - Page 83 Association in 2012). Personal Computer Printed Circuit Board Power Supply Unit Remote Access Terminal - the detachable front part of the Tritech Surface Control Unit (SCU) computer. Provides an alternative to using a keyboard and mouse. Remotely Operated Vehicle RS232 Traditional name for a series of standards for serial binary data control signals.
- Page 84 GPS devices. world file A file used by the Tritech Sonar Image Tiler program which is designed to accompany an image file and contains geo- referencing data. The file format will have different extensions...
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