Klein Marine Systems, Inc. HydroChart 5000 Operation And Maintenance Manual
HYDROCHART 5000 SONAR
SYSTEM
Operations and Maintenance Manual
P/N 11210080, Rev. 02
11 Klein Drive
Salem, NH 03079-1249
U.S.A.
Tel: (603) 893-6131
Fax: (603) 893-8807
www.KleinMarineSystems.com
ii
This document contains proprietary information, and such information may not be
disclosed to others for any purpose or used for any manufacturing purpose without
expressed written permission from Klein Marine Systems, Inc. (KMS). The
information provided is for informational purposes only and is subject to change
without notice. KMS assumes no responsibility or liability for any errors,
inaccuracies or omissions that may be present in this document.
The SonarPro software program may be used or copied only in accordance with
the terms of the Software License Agreement.
©
Copyright 2010–2019 by Klein Marine Systems, Inc. All rights reserved.
SonarPro® is a registered trademark of Klein Marine Systems, Inc.
Intel® and Pentium®are registered trademarks of Intel Corporation.
Windows® is a registered trademark of Microsoft Corporation.
vxWorks® is a registered trademark of Wind River Systems, Inc.
Kevlar® is a registered trademark of the DuPont Company.
\HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
WARNING
Klein Marine Systems recommends all troubleshooting be done by
a trained technician. Some circuits in the Transceiver and
Processing Unit (TPU) have voltages as high as 240 volts, and
some circuits in the sonar Sonar Head Unit have 1500 volts. You
should familiarize yourself with the location of these voltages
before you attempt any troubleshooting. Failure to observe these
warnings could result in injuries to personnel.
CAUTION
Serious damage to the sonar electronics may occur if the Sonar
Head Unit is operated out of the water for periods longer than
15 minutes. Let the sonar cool 15 minutes or longer between
operations. Protect the Sonar Head Unit from direct exposure to the
sun prior to and during operation in high temperature climates.
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CAUTION
The depth rating on the transducers is 200 meters (656 feet).
Operations at depths greater than 200 meters may damage the
transducers.
iv
Table of Contents
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
Sonar System Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
What Is Covered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Conditions Of Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Changes, Errors And Omissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Software License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
What’s in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
Note, Warning, Caution, and Shock Hazard Notices . . . . . . . . . . . . . xvii
Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
CHAPTER 1: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.1 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.2 TPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.3 SonarPro Workstation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.4 Deck Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Surface Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4 Subsurface Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.5 Technical Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.5.1 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.5.2 TPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
CHAPTER 2: Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Sonar System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Topside System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.1 System Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.2 TPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.3 SonarPro Workstation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
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2.3 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.2 Transducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.3 Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.4 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.5 A/D Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.6 Multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.7 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3.8 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4 SonarPro Workstation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 Deck Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.6 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.6.1 Sound Velocity Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
v
2.6.2 Motion Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
CHAPTER 3: Preparation for Deployment . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Unpacking and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Unpacking the TPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Unpacking the SonarPro Workstation . . . . . . . . . . . . . . . . . . 3-2
3.1.3 Unpacking the Sonar Head Unit and Deck Cable . . . . . . . . . 3-2
3.2 Locating the Topside System Components . . . . . . . . . . . . . . . . 3-2
3.3 Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3.2 TPU and SonarPro Workstation Circuit Breakers . . . . . . . . . 3-3
3.4 Sonar Head Unit Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.5 Motion Reference Unit Installation . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6 Topside System Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6.1 TPU Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6.2 SonarPro Workstation Connections . . . . . . . . . . . . . . . . . . . . 3-8
3.7 Connecting the Topside System Components . . . . . . . . . . . . . . 3-8
3.8 Topside System Controls and Indicators . . . . . . . . . . . . . . . . . 3-11
3.8.1 TPU Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.8.2 SonarPro Workstation Controls and Indicators . . . . . . . . . . 3-13
vi
3.9 Predeployment Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.10 Bathymetric System Calibration and Patch Test . . . . . . . . . . . 3-15
3.10.1 Static Position Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.10.2 Latency Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.10.3 Pitch Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.10.4 Yaw Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.10.5 Roll Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
CHAPTER 4: Equipment Maintenance . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Maintenance General Comments . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Maintenance Checklists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2.1 Daily Maintenance Checklist . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2.2 Weekly Maintenance Checklist . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.3 Long Term Maintenance Checklist . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Disassembling and Reassembling the Sonar Head Unit . . . . . . 4-3
4.3.1 Disassembling the Sonar Head Unit . . . . . . . . . . . . . . . . . . . . 4-3
4.3.2 Reassembling the Sonar Head Unit . . . . . . . . . . . . . . . . . . . 4-10
APPENDIX A: General Setup, Configuration and
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Basic System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.2 Basic System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.3 Installing SonarPro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.4 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
A.4.1 Checking the Telemetry Link to the Sonar Head Unit . . . . . A-4
A.4.2 Checking the Transmitters before Deployment . . . . . . . . . . A-4
A.4.3 Checking the Receivers before Deployment . . . . . . . . . . . . A-5
A.4.4 Setting up for Testing the Electronics . . . . . . . . . . . . . . . . . A-5
A.4.5 Checking the Multiplexer Board . . . . . . . . . . . . . . . . . . . . . A-5
A.4.6 Checking the Transmitter Board . . . . . . . . . . . . . . . . . . . . . A-7
A.4.7 Checking the Receiver Boards . . . . . . . . . . . . . . . . . . . . . . . A-8
A.4.8 Sonar Head Unit Power Supply Pinouts . . . . . . . . . . . . . . . . A-8
A.5 Spare Boards and Components . . . . . . . . . . . . . . . . . . . . . . . . A-9
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A.6 Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
A.7 NMEA 0183 Formats and Information . . . . . . . . . . . . . . . . . A-10
APPENDIX B: Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
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List of Figures
Figure 1-1: HydroChart 5000 Sonar System Topside System Main Components . . . . . . 1-4
Figure 1-2: HydroChart 5000 Sonar System Sonar Head Unit . . . . . . . . . . . . . . . . . . . . 1-5
Figure 1-3: HydroChart 5000 Sonar System Sonar Head Unit Block Diagram . . . . . . . 1-7
Figure 1-4: Deck Cable Connector—at Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . 1-8
Figure 1-5: HydroChart 5000 Sonar System TPU Electronics Block Diagram . . . . . . . 1-9
Figure 1-6: HydroChart 5000 Sonar System TPU Electronics Chassis . . . . . . . . . . . . 1-10
Figure 3-1: Sonar Head Unit Mounting Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Figure 3-2: FWD and Arrow Labels on the Sonar Head Unit Mounting Flange . . . . . . 3-4
Figure 3-3: Sonar Head Unit Eye Rings and Handles . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Figure 3-4: TPU Back Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Figure 3-5: SonarPro Workstation Back Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Figure 3-6: TPU Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Figure 3-7: SonarPro Workstation Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Figure 4-1: Removing the Phillips Head Screws from the Top of the Fairing . . . . . . . . 4-3
Figure 4-2: Removing the Skid Plates from the Frame . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Figure 4-3: Removing the Phillips Head Screws from the Bottom of the Fairing . . . . . . 4-4
Figure 4-4: Removing the Socket Head Cap Screws that Secure the Transducers to the
Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Figure 4-5: Fairing Halves Separated from the Frame . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Figure 4-6: Disconnecting the Cables from the Sonar Electronics End Cap . . . . . . . . . 4-6
Figure 4-7: Sonar Electronics Housing with all the Cables Disconnected . . . . . . . . . . . 4-6
Figure 4-8: Removing the Altimeter Transducer from the Frame . . . . . . . . . . . . . . . . . . 4-7
Figure 4-9: Removing the Socket Head Cap Screw that Secures the Sonar Electronics
Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Figure 4-10: Sliding the Sonar Electronics Housing out of the Frame . . . . . . . . . . . . . . . 4-8
Figure 4-11: Sonar Head Unit Fully Disassembled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Figure 4-12: Tightening the Socket Head Cap Screws in the Electronics Housing
Connector End Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
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Figure 4-13: Inserting the 7-inch, 1/2 x 13 threaded rod into the Connector End cap . . . 4-9
Figure 4-14: Pulling the Sonar Electronics Chassis out of the Sonar Electronics
Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Figure 4-15: Aligning and Installing the Connector End Cap . . . . . . . . . . . . . . . . . . . . 4-10
Figure 4-16: Sonar Electronics Chassis Installed in Frame with the Jumper and
Altimeter Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Figure 4-17: Sonar Electronics Housing Connector End Cap Connectors . . . . . . . . . . 4-12
Figure 4-18: Sonar Head Unit Fully Assembled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Figure A-1: HydroChart 5000 Sonar System Basic System Setup Diagram . . . . . . . . . . A-3
Figure A-2: Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
Figure A-3: Transmit Waveform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
Figure A-4: Image in Sonar Viewer Window During a Rub Test . . . . . . . . . . . . . . . . . . A-6
Figure A-5: Multiplexer Board Waveforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Figure A-6: Sample Transmit Waveform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
Figure A-7: The Sonar Head Unit Power Supply Pinouts . . . . . . . . . . . . . . . . . . . . . . . . A-8
Figure A-8: Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
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List of Tables
Table 1-1: Deck Cable Connector—Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Table 3-1: TPU Power Cable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Table A-1: TPU Spares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Table A-2: Sonar Head Unit Spares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Table B-1: List of Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
Sonar System Warranty
What Is Covered
LIMITED WARRANTY Subject to the conditions set forth below, equipment
sold by Seller is warranted against defects in materials and workmanship, and
Seller will repair or exchange any parts proven to be malfunctioning under normal
use for one year (12 months) from the date of Delivery as follows:
a) SONAR and other associated manufactured products, with the following
exceptions:
b) All third party accessories, winches, magnetometers, Sonar Laptops or PCs, and
peripherals/accessories and third party software packages related to the Sonar
Product Line are limited to the warranty provided by original manufacturer.
c) This warranty does not apply to tow cables. If applicable, the manufacturer’s
warranty will be forwarded with the equipment.
EQUIPMENT NOT MANUFACTURED BY SELLER Carries only its
vendor’s warranty, which is hereby incorporated by reference.
xi
SERVICE WORK BY SELLER Warrants that ALL service work performed by
Seller’s technical and engineering employees will be performed in a good and
workmanlike manner, but its liability under this warranty is limited to the
obligation to remedy at Seller’s expense any such service work not performed
satisfactorily, upon receipt of written notice within ninety (90) days of the date of
performance of the work.
For authorized onsite service (excluding Side Scan Sonar category referenced as a.
SONAR) in which Seller has to travel to the installed equipment, travel costs (auto
mileage and tolls) up to 100 round trip highway miles and travel time of 2 hours,
will be allowed by Seller. The Overtime premium labor portion of service of
normal working hours is not covered by this Warranty. On-site warranty service is
capped at (4) hours per failure. Travel costs other than auto mileage, tolls and two
(2) hours travel time are specifically excluded on all products and services.
Travel costs which are excluded from coverage of this warranty include, but are
not limited to: taxi, launch fees, aircraft rental, airfare, subsistence, customs,
shipping, communication charges, etc.
During the warranty period, Seller will repair or, at its option, replace any
equipment that proves to be defective. Such repair or replacement is Buyer’s
exclusive right and remedy, and our only obligation, with respect to any defective
equipment.
xii
Conditions Of Warranty
a) Seller’s warranty policy does not apply to equipment which has been subjected to
accident, abuse, or misuse, shipping damage, alterations, incorrect and/or nonauthorized service or equipment on which the serial number plate has been
altered, mutilated or removed.
b) A suitable proof of purchase, such as, a paid commercial invoice, an installation
certificate signed by Seller or an authorized agent must be made available to
Seller or Seller’s authorized servicing agent at the time of the Warranty Service.
c) The warranties stated herein are in lieu of all other warranties, expressed or
implied, and of all other obligations or liabilities on the part of Seller. Seller
neither assumes nor authorizes any other person to assume for it any other
liability. The Buyer expressly waives any right, claim or cause of action that
might otherwise arise out of the purchase and use of Seller’s products or service.
d) Warranty is not transferable and only applies to the original Buyer.
e) Warranty does not cover equipment that has been repaired or modified other than
by Seller, or equipment that has been subjected to misuse or to negligent or
accidental mishandling.
f) Except where Seller has performed the installation of specific equipment, Seller
assumes no responsibility for damage incurred during installation of equipment or
by damage caused by no fault of the Seller.
g) This warranty does not cover routine system checkouts or alignment/calibration,
unless required by replacement of part(s) in the area being aligned.
h) Consumable items are specifically excluded from this Warranty.
i) Buyer is responsible for the prepayment of all freight charges, insurance,
customs, imposts, duties, etc., to return defective equipment to Seller and for
Seller to return the repaired or replaced equipment to buyer.
j) Equipment returned for warranty service must be packed to best commercial
standards to prevent shipping damage.
k) Warranty shall be void and Seller shall be released from all obligations u nder this
warranty if the equipment is operated with components other than those sold or
authorized by Seller.
l) This warranty is strictly limited to the terms and indicated herein, and no other
warranties or remedies shall be binding on Seller including, without limitation,
any warranties of merchantability or fitness for a particular purpose.
m) Repairs and replacements under warranty have the same warranty as the original
product for the remaining balance of the warranty period for the original product
existing prior to notice of the warranty claim.
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xiii
Any failure to meet the foregoing conditions of warranty will automatically void
this limited warranty. This warranty gives Buyer specific legal rights, and Buyer
may also have other rights, which vary from State to State, Province to Province or
Country to Country.
DISPUTES Seller and Buyer agree that all disputes in any way relating to, arising
under, connected with, or incident to this agreement, and over which the federal
courts have subject matter jurisdiction, shall be litigated, if at all, exclusively in the
United States District Court for the State of Delaware, and if necessary, the
corresponding appellate courts. Seller and Buyer further agree that all disputes in
any way relating to, arising under, connected with or incident to this contract, and
over which the federal courts do not have subject matter jurisdiction, shall be
litigated, if at all, exclusively in the Courts of the State of Delaware, and if
necessary, the corresponding appellate courts. Seller and Buyers expressly submit
themselves to the personal jurisdiction of the State of Delaware. Before resorting
to litigation, Seller and Buyer agree to enter into negotiations to resolve the
dispute. If Seller and Buyer are unable to resolve the dispute by good faith
negotiation, either Seller or Buyer may refer the matter to litigation.
LIMITATION OF LIABILITY TO THE MAXIMUM EXTENT PERMITTED
BY APPLICABLE LAW, SELLER SHALL NOT BE LIABLE UNDER ANY
THEORY AT LAW, IN EQUITY OR OTHERWISE FOR ANY SPECIAL,
EXEMPLAR Y, PUNITIVE, INCIDENT AL, INDIRECT , OR CONSEQUENTIAL
DAMAGES (EVEN IF SELLER HAS BEEN ADVISED OF SAME)
INCLUDING, WITHOUT LIMITATION, LOST PROFITS OR REVENUES,
THE ENTIRE LIABILITY OF SELLER FOR ANY CLAIM, LOSS, OR
DAMAGES UNDER ANY THEORY AT LAW, IN EQUITY, OR OTHERWISE,
INCLUDING, BUT NOT LIMITED TO CONTRACT, TORT, (INCLUDING
INTELLECTUAL PROPERTY INFRINGEMENT , AND NEGLIGENCE), AND
STRICT LIABILITY, ARISING OUT OF THIS AGREEMENT OR ANY
INDEMNIFICATION OBLIGATION THEREOF, THE PERFORMANCE OR
BREACH THEREOF, OR THE SUBJECT MATTER SHALL NOT IN ANY
EVENT EXCEED THE SUM OF PAYMENTS ACTUALLY MADE BY BUYER
TO SELLER PURSUANT TO THIS AGREEMENT , ANY ACTION AGAINST
SELLER MUST BE BROUGHT WITHIN ONE (1) YEAR AFTER THE CLAIM
AROSE.
Changes, Errors And Omissions
Klein Marine Systems, Inc. reserves the right to make changes to the design or
specifications at any time without incurring any obligation to modify previously
delivered sonar systems. In addition, while considerable effort has been made to
ensure that the information in this manual is accurate and complete, Klein Marine
Systems, Inc. assumes no liability for any errors or omissions.
xiv
Software License Agreement
This Software License Agreement is provided by Klein Marine Systems, Inc.
(KMS) for end users of SonarPro© software for the KMS Series 3000, UUV-3500,
3900, 4900, 5000, 5000 V2, 5900, HydroChart 3500, HydroChart 5000, and
D3500TF Sonar Systems.
YOU SHOULD CAREFULLY READ THE FOLLOWING TERMS AND
CONDITIONS BEFORE USING THIS PRODUCT. IT CONTAINS
SOFTWARE, THE USE OF WHICH IS LICENSED BY KMS, TO ITS
CUSTOMERS FOR THEIR USE ONLY, AS SET FORTH BELOW. IF YOU DO
NOT AGREE TO THE TERMS AND CONDITIONS OF THIS AGREEMENT ,
DO NOT USE THE SOFTWARE. USING ANY PART OF THE SOFTWARE
INDICATES THA T YOU ACCEPT THESE TERMS.
LICENSE: KMS grants you a nonexclusive license to use the accompanying
software programs(s) (the "Software") subject to the terms and restrictions set
forth in this License Agreement. You are not permitted to lease, rent, distribute or
sublicense the Software or to use the Software in a time-sharing arrangement or in
any other unauthorized manner. Further, no license is granted to you in the human
readable code of the Software (source code). Except as provided below, this
License Agreement does not grant you any rights to patents, copyrights, trade
secrets, trademarks, or any other rights in respect to the Software.
The Software is licensed to be used on any workstation or any network server
owned by or leased to you, provided that the Software is used only in connection
with one KMS Series 3000, UUV-3500, 3900, 4900, 5000, 5000 V2, 5900,
HydroChart 3500, HydroChart 5000, or D3500TF Sonar System. You may
reproduce and provide authorized copies only of the Software and supporting
documentation for each such workstation or network server for this equipment on
which the Software is used as permitted hereunder. Otherwise, the Software and
supporting documentation may be copied only as essential for backup or archive
purposes in support of your use of the Software as permitted hereunder. You must
reproduce and include all copyright notices and any other proprietary rights
notices appearing on the Software and the supporting documentation on any copies
that you make.
NO ASSIGNMENT; NO REVERSE ENGINEERING: You may not transfer
or assign the Software and/or this License Agreement to another party without the
prior written consent of KMS. If such consent is given and you transfer or assign
the Software and/or this License Agreement, then you must at the same time either
transfer all copies of the Software as well as the supporting documentation to the
same party or destroy any such materials not transferred. Except as set forth above,
you may not transfer or assign the Software or your rights under this License
Agreement.
Modification, reverse engineering, reverse compiling, or disassembly of the
Software is expressly prohibited. You may not translate or create derivative works
of the software or the supporting documentation.
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
xv
BATHYMETRIC PROCESSING A TTRIBUTION: Bathymetric processing
derived from DGA/GESMA publication in IEEE OCEAN'S 05 Europe
Conference Proceedings: "Bathymetric Sidescan Sonar: a System Dedicated to
Rapid Environment assessment, ref: 10.1109/OCEANSE.2005.1511695.
EXPORT RESTRICTIONS: You agree that you will not export or re-export the
Software or accompanying documentation (or any copies thereof) or any products
utilizing the Software or such documentation in violation of any applicable laws or
regulations of the United States or the country in which you obtained them.
TRADE SECRETS; TITLE: You acknowledge and agree that the structure,
sequence and organization of the Software are the valuable trade secrets of KMS.
You agree to hold such trade secrets in confidence. You further acknowledge and
agree that ownership of, and title to, the Software and all subsequent copies thereof
regardless of the form or media are held by KMS.
UNITED STATES GOVERNMENT LEGEND: All technical data and
Software are commercial in nature and developed solely at private expense. The
Software is delivered as Commercial Computer Software as defined in DFARS
252.227-7014 (June 1995) or as a commercial item as defined in F AR 2.101(a) and
as such is provided with only such rights as are provided in this License
Agreement, which is KMS's standard commercial license for Software. Technical
data is provided with limited rights only, as provided in DFAR 252.227-7015
(Nov. 1995) or FAR 52.227-14 (June 1987), whichever is applicable. You agree
not to remove or deface any portion of any legend provided on any licensed
program or documentation delivered to you under this License Agreement.
TERM AND TERMINATION: This license will terminate immediately if you
fail to comply with any term or condition of this License Agreement. Upon such
termination you agree to destroy the Software and documentation, together with all
copies and merged portions in any form. You may terminate it at any time by
destroying the Software and documentation together with all copies and merged
portions in any form.
GOVERNING LAW: This License Agreement shall be governed by the laws of
the State of New Hampshire, USA. You agree that the United Nations Convention
on Contracts for the International Sales of Goods (1980) is hereby excluded in its
entirety from application to this License Agreement.
LIMITED WARRANTY; LIMITATION OF LIABILITY: All warranties and
limitations of liability applicable to the Software are as stated in the product
manual accompanying the Software. Such warranties and limitations of liability
are incorporated herein in their entirety by this reference.
SEVERABILITY: In the event any provision of this License Agreement is found
to be invalid, illegal or unenforceable, the validity, legality and enforceability of
any of the remaining provisions shall not in any way be affected or impaired and a
valid, legal and enforceable provision of similar intent and economic impact shall
be substituted therefore.
xvi
Preface
ENTIRE AGREEMENT : This License Agreement sets forth the entire
understanding and agreement between you and KMS supersedes all prior
agreements, whether written or oral, with respect to the Software, and may be
amended only in a writing signed by both parties.
The HydroChart 5000 Sonar System is a portable, high speed hydrographic survey
system comprising an over-the-side mounted sonar and a topside system.
What’s in This Manual
This operations and maintenance manual provides information pertaining to the
setup and deployment, operation, general maintenance, and troubleshooting of the
HydroChart 5000 Sonar System. The manual is divided into the following four
main chapters and two appendices:
Chapter 1: Overview. Presents an overview of the HydroChart 5000 Sonar
System components, including both functional and physical descriptions of the
system.
Chapter 2: Specifications. Provides detailed physical and performance
specifications for the main components of the system, including the acoustic
transducers, the environmental and navigation sensors, and the available tow
cables.
Chapter 3: Preparation for Use. Provides instructions for unpacking and
setting up the HydroChart 5000 Sonar System components. It also includes a
predeployment checkout procedure and information on how to perform a
system calibration and patch test.
Chapter 4: Equipment Maintenance. Provides checklists for daily,
weekly , and long term inspection and service, and includes instructions on how
to disassemble and reassemble the Sonar Head Unit.
Appendix A: General Setup, Configuration and Troubleshooting.
Includes basic setup and configuration information and information that is
useful for system troubleshooting.
Appendix B: Drawings. Provides drawings applicable to the HydroChart
5000 Sonar System.
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
xvii
Note, Warning, Caution, and Shock Hazard Notices
Where applicable, note, warning, caution, and shock hazard notices are included
throughout this manual as follows:
NOTE Recommendations or general information that is particular to the
material being presented or a referral to another part of this manual or to
another manual.
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.
SHOCK HAZARD Identifies a potential electrical shock hazard that could
cause personal injury or death to yourself or to others.
Customer Service
KMS technical support can be contacted using any of the following means:
Mail
Klein Marine Systems, Inc.
11 Klein Drive
Salem, NH 03079
Email
TechSupport@KleinMarineSystems.com
Telephone
(603) 893-6131
Facsimile
(603) 893-8807
For more information about KMS and our products, please go to our Web site at
www.KleinMarineSystems.com.
CHAPTER 1: OVERVIEW
The HydroChart 5000 Sonar System is a portable, high speed hydrographic survey
system which has the ability to simultaneously collect IHO-quality bathymetry and
co-registered, high resolution multibeam side scan sonar data.
1.1 Equipment
The HydroChart 5000 Sonar System equipment consists of an instrumented Sonar
Head Unit, a Transceiver and Processing Unit (TPU) and a SonarPro Workstation,
along with a deck cable and various interconnect cables.
1.1.1 Sonar Head Unit
The Sonar Head unit has all of the necessary electronics and acoustic
instrumentation to perform all of the sonar data acquisition and processing prior to
digital transmission to the TPU. Processing includes transmit and receive
functions, time varied gain (TVG) amplification, digitalization, and multiplexing
of the sonar uplink data. Timing and sonar data are bidirectionally multiplexed on
a single conductor coaxial cable, and the use of a low noise preamplifier design
ensures maximum range performance. The Sonar Head Unit has a flange assembly
which easily mates with typical customer provided over-the-side mount pole or
ram configurations. A jumper cable connects from the sonar electronics in the
Sonar Head Unit to the deck cable, and the deck cable connects to the TPU to
provide the electrical power and data connections.
1-1
1.1.2 TPU
The TPU is housed in a 19-inch rack mountable 2U chassis and connects to the
Sonar Head Unit directly using a deck cable. The TPU receives and demultiplexes
the sonar and sensor data from the Sonar Head Unit and transfers the data to the
SonarPro Workstation over an Ethernet connection. The TPU can also input
standard National Marine Electronics Association (NMEA) 0183 message
sentence formats from a connected GPS, and a 1 PPS input is provided which
inputs 1 PPS (one pulse per second) signals from the GPS. This signal is used in
conjunction with a NMEA $ZDA message input to add an accurate time stamp to
the data. The TPU provides power and downlink commands to the Sonar Head
Unit by combining 200 VDC with FSK control signals for transmission over the
coaxial conductor in the tow cable. In addition, the TPU initiates each ping cycle
to the side scan sonar and provides a trigger signal simultaneously with the
responder trigger generated in the Sonar Head Unit for use with an acoustic
positioning system.
1-2 CHAPTER 1 Overview
1.1.3 SonarPro Workstation
The SonarPro Workstation is an industrial grade Intel Pentium Dual Core
based computer housed in a 19-inch rack mountable 2U chassis that inputs
processed and time tagged sonar and sensor data from the TPU over an Ethernet
10/100/1000baseT connection. A SATA hard drive is included with the Microsoft
Windows 7 operating system and SonarPro installed. SonarPro is a comprehensive
Windows based software program that provides multiple displays of real-time or
saved sonar and sensor data and Sonar Head Unit status. SonarPro also allows you
to record all acquired sonar and sensor data. The SonarPro Workstation also
includes a high resolution 27-inch 2560 x 1440 monitor, a keyboard and a mouse.
1.1.4 Deck Cable
The deck cable is a Kevlar reinforced, polyurethane jacketed, coaxial cable that
provides power and data communication between the Sonar Head Unit and the
TPU.
1.2 Features
The HydroChart 5000 Sonar System has the following features and capabilities:
• High resolution multibeam side scan imagery
• High resolution IHO-quality swath bathymetry
• Co-registered geo-referenced swath bathymetry and side scan data
• Bathymetry coverage up to 12 times water depth
• 14-bit digital multiplexer for transmission of sonar and control
data over a single coaxial cable
• Easy to use graphical user interface (GUI)
• Flexible and expandable system configurations
• Altimeter
• Support for an optional sound velocity sensor to provide surface
sound velocity measurements
• Support for a motion reference unit (MRU), gyro heading sensor,
GPS, and CTD
• Operates with Klein Marine Systems SonarPro for operator
control, data acquisition and display
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
1.3 Surface Equipment
The surface subsystem comprises the TPU and the SonarPro Workstation. In
addition, an optional motion reference unit can be connected for measurement of
pitch, roll, yaw , and heave, as well as GPS for location, a heading sensor for ship’s
heading, and a CTD.
Transceiver and Processing Unit (TPU). The TPU is shown in Figure 1-1.
The main power switch is located on the lower right corner of the front panel.
The TPU is rack mountable in a standard 48.26 cm (19 inch) rack and contains
electronics for receiving sonar data, downlink multiplexing of control signals
to the Sonar Head Unit, and uplink demultiplexing of sonar and auxiliary
sensor signals.
SonarPro Workstation. The SonarPro Workstation is shown in Figure 1-1.
Most operator functions are accomplished through the use of the SonarPro
Workstation which supports the PC based Windows operating system and runs
SonarPro. SonarPro provides the operator interface to the HydroChart 5000
Sonar System. SonarPro is a comprehensive software package developed to
support survey planning; data visualization and quality control; target
management and data recording; and playback. SonarPro also performs the
side scan and bathymetry data processing. Data can be logged in SDF, GSF or
XYZ format. These formats are supported by most third party post-processing
software applications. In addition to processed data, raw stave data can be
logged together with all motion, navigation, and heading and sound velocity
data. This permits reprocessing of both side scan and bathymetry data in a
post-processing environment. For more information on the computer, refer to
the manufacturer's manual.
Surface Equipment 1-3
1.4 Subsurface Equipment
The subsurface equipment comprises the Sonar Head Unit, as shown in Figure 1-2
on page 1-5, and a deck cable. In addition, an optional sound velocity sensor can
be included for measurement of surface sound velocity.
Sonar Head Unit. The Sonar Head Unit is shown in Figure 1-2. It consists of
the sonar electronics, the transducers, the sonar altimeter, a support frame,
interconnect cables, and fairings. An optional sound velocity sensor and cable
can also be installed in the Sonar Head Unit.
Deck cable. The deck cable is a complete assembly consisting of a coaxial
cable in a Kevlar reinforced light weight Polyurethane jacket.
1-4 CHAPTER 1 Overview
SonarPro Workstation
Transceiver and Processing Unit (TPU)
Figure 1-1: HydroChart 5000 Sonar System Topside System Main Components
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
Technical Description 1-5
Figure 1-2: HydroChart 5000 Sonar System Sonar Head Unit
1.5 Technical Description
The HydroChart 5000 Sonar System is a multiple swath forming, frequency
modulated (FM) chirp side looking sonar that provides high speed, high resolution,
extended range imagery and bathymetry. The two primary drawbacks of
conventional side-looking sonars, along-track resolution and towing speed
limitation, have been addressed by simultaneously forming multiple dynamically
focused beams per side, per ping. This allows greater side scan survey speeds
without the usual loss of bottom coverage while maintaining high resolution. In
addition, the formed swaths are focused dynamically with across-track range,
thereby offering an inherently improved along-track resolution over unfocused
systems. The interferometric bathymetry (also referred to as Phase Differencing)
component of the HydroChart 5000 Sonar System is not a multibeam sonar and
requires that speed and range settings be considered when operating the system for
100% bottom coverage.
1.5.1 Sonar Head Unit
The Sonar Head Unit consists of the sonar arrays together with the sonar
electronics in a lightweight frame assembly. The sonar electronics, which is
contained inside a waterproof housing, includes transmitters, receivers and digital
circuits that combine time-synchronized complex stave samples, ping trigger
timing and optional time-synchronized motion data from the vessel’s sensors. An
altimeter is included, and the system accommodates an optional sound velocity
sensor or a CTD. For hull mount configurations, the electronics bottle is located
inside the vessel’s hull, and an optional transducer mounting bracket is required.
The two transducer arrays are each composed of 12 piezoelectric ceramic
1-6 CHAPTER 1 Overview
sub-arrays and three bathymetry sub-arrays that operate as receive elements. There
is also a separate transmit line array included that projects acoustic energy to the
seabed.
NOTE The transducers are side specific and are not interchangeable.
The Sonar Head Unit sonar electronics includes a T ransmitter board, two Receiver
boards and a Multiplexer board. A block diagram of the Sonar Head Unit is shown
in Figure 1-3.
Transmitter board. The Transmitter board produces a transmit pulse, at the
start of a swath, that ensonifies the sea floor over a defined footprint. The
Transmitter board is composed of two individual transmitting channels, one
connected to the port array and the other connected to the starboard array. The
transmitters operate at a center frequency of 455 kHz and support both CW and
chirp waveform transmission. The Transmitter board also contains transmit
and receive circuitry for the altimeter.
Receiver boards. The Receiver boards process the backscatter information by
applying fixed gain, time varied gain (TVG) and frequency filtering to the
input voltage signals received from the individual sub-arrays in the transducer
arrays. There are two Receiver boards, one for the port array and one for the
starboard array. Each of the receiver channels is bandpass filtered with tightly
matched filters providing a -3dB bandwidth of 20 kHz, centered at 455 kHz.
The filtered signal is then output to the Multiplexer board for sampling.
Multiplexer board. The Multiplexer board digitizes the signals from each of
the transducer sub-array channels along with the signals from the sensors,
encodes the data, and transmits a high baud rate digital data stream to the TPU
over the deck cable. The Multiplexer board also receives the trigger signal and
command messages which instruct the T ransmitter board to fire the arrays and
configure aspects of the sonar operation. In addition, the Multiplexer board
functions as a motherboard for the other boards providing the connections and
distributing power . The Multiplexer board uses a proprietary sampling scheme
that preserves the phase of the individual channel signals, but only requires a
single A/D converter, thereby reducing cost and power consumption while
eliminating the phase mismatch between converters of alternate dual converter
schemes. The output of the A/D is input to the data encoder and converted to
serial data for subsequent transmission over the deck cable. A full duplex
hybrid allows data transmission up the cable while simultaneously receiving
the FSK trigger signals and power. The downlink signals are input to FSK
demodulators, and the baseband outputs are routed to the Transmitter board,
indicating when to fire the main array, and to a micro controller that handles
the sonar configuration.
HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02
Port Side Scan Transducer Array
Stbd Side Scan Transducer Array
Altimeter
Sound Velocity
Sensor
(Optional)
Receiver (port)
Transmitter
Receiver (starboard)
Power
Interface
Power
Supply
Transmitter
Control and
TVG Interface
Multiplexer,
ADC and
Telemetry
Deck Cable
to TPU
SVP Cable
Multiplexer
to TPU
Figure 1-3: HydroChart 5000 Sonar System Sonar Head Unit Block Diagram
Technical Description 1-7
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