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SERIES 5000 AUV V2 SONARSYSTEM

Operations and Maintenance ManualP/N 11214513, Rev. 02

11 Klein DriveSalem, NH 03079-1249

U.S.A.Tel: (603) 893-6131Fax: (603) 893-8807

www.KleinMarineSystems.com

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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 2008–2016 by Klein Marine Systems, Inc. All rights reserved..

SonarPro® is a registered trademark of Klein Marine Systems, Inc.

K-Wing® and K-Wing II® are a registered trademarks 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.

Series 5000 AUV V2 Sonar System Operations and Maintenance Manual P/N 11214513, Rev. 02

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WARNINGKlein Marine Systems recommends all troubleshooting be done bya trained technician. Some circuits in the Sonar Transceiver andProcessing Unit have voltages as high as 240 volts, and somecircuits in the sonar towfish have 1500 volts. You shouldfamiliarize yourself with the location of these voltages before youattempt any troubleshooting. Failure to observe these warningscould result in injuries to personnel.

CAUTIONSerious damage to the sonar electronics may occur if the sonartowfish is operated out of the water for periods longer than 15minutes. Let the sonar cool 15 minutes or longer betweenoperations. Protect the sonar towfish from direct exposure to thesun prior to and during operation in high temperature climates.

CAUTIONThe depth rating on the transducers is 200 meters (656 feet).Operations at depths greater than 200 meters may damage thetransducers.

STANDARDSSAFETY: EN 60950

EMC: EN 60945

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Table of ContentsTable of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi

List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Series 5000 AUV V2 Sonar System Warranty . . . . . . . . . . . . . . . . . . . . . viii

What Is Covered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Conditions of Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Limitations and Exclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

What’s in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

Note, Warning, Caution, and Shock Hazard Notices . . . . . . . . . . . . . . . . x

Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x

CHAPTER 1: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2 Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2.1 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2.2 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.3 Deck Cable and 24 VDC Power Supply . . . . . . . . . . . . . . . . . 1-3

1.3 Theory of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.2 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.3.3 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

CHAPTER 2: Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Sonar System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2.1 Sonar Processor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2.2 Trigger Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2.3 RS-232 COM 1 Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2.4 RS-232 COM 2 Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2.5 LAN Input/Output Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2.6 Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2


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2.2.7 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.3 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

2.3.9 Heading Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3.10 Pitch and Roll Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3.11 Pressure Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

CHAPTER 3: Installation and Startup . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1 Unpacking and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.1 Unpacking the Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.2 Unpacking the Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.2 Mechanical Installation of the Sonar Electronicsand the Sonar Processor 3-1

3.2.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.2.2 Isolating from Shock and Vibration . . . . . . . . . . . . . . . . . . . . 3-1

3.3 Connecting the System Components . . . . . . . . . . . . . . . . . . . . . 3-2

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

APPENDIX A: Drawings and Parts Lists . . . . . . . . . . . . . . . . . . . . . A-1

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List of FiguresFigure 1-2: Sonar Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Figure 1-1: Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Figure 1-3: Transducer Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Figure 1-4: Sonar Electronics Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Figure 1-5: Sonar Processor Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Figure 3-1: Series 5000 AUV V2 Sonar System Component InterconnectionBlock Diagram 3-2

Figure 3-3: Sonar Processor Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Figure 3-2: Sonar Electronics Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Figure 3-4: Transducer Array Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

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List of TablesTable A-1: List of Drawings and Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

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Series 5000 AUV V2 Sonar System WarrantyWhat Is CoveredSubject to the conditions set forth below, equipment sold by Klein Marine Systems, Inc., ("we", "us", or "our") is warranted against defects in materials and workmanship for one year from the date of original purchase with the following exceptions: (a) all video products are warranted for 6 months from the date of original purchase, and (b) this warranty does not apply to tow cables. During the warranty period we will repair or, at our option, replace any equipment that proves to be defective. Such repair or replacement is your exclusive right and remedy, and our only obligation, with respect to any defective equipment.

This warranty gives you specific legal rights, and you may also have other rights which vary from state to state, province to province, or country to country. Some states, provinces, or countries do not allow limitations on how long an implied warranty lasts, so the limitations may not apply to you.

Conditions of Warrantya) This limited warranty is transferable from the original buyer upon approval by

Klein Marine Systems, Inc.

b) Warranty does not cover equipment that has been repaired or modified other than by us, nor equipment that has been subjected to misuse or to negligent or accidental mishandling.

c) Buyer is responsible for the prepayment of all freight charges, insurance, customs, imposts, duties, etc., to return defective equipment to us and for the charges for us to return the repaired or replaced equipment to buyer.

d) Equipment returned for warranty service must be packed to best commercial standards to prevent shipping damage.

e) Warranty shall be void and we shall be released from all obligations under this warranty if the equipment is operated with system components including, but not limited to, components in the signal path such as circuit boards, cable, cable terminations, connectors, etc., that are other than those sold or authorized by us.

Any failure to meet the foregoing conditions will automatically void this limited warranty.

Limitations and ExclusionsIN NO EVENT SHALL WE BE LIABLE FOR ANY INCIDENTAL OR CONSEQUENTIAL LOSSES OR DAMAGES (INCLUDING, BUT NOT LIMITED TO, LOST PROFITS) ARISING OUT OF ANY WARRANTY CLAIM OR DUE TO ANY OTHER CAUSE WHATSOEVER, EVEN IF WE HAVE BEEN ADVISED OR MADE AWARE OF THE POSSIBILITY OF ANY SUCH LOSSES OR DAMAGES.


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Some states, provinces, or countries do not allow the exclusion or limitation of incidental or consequential damages, so the above limitation or exclusion may not apply to you.

No suit or action may be brought against us more than one (1) year after the related cause of action has accrued.

Representations and warranties made by any sales representative or other person which are inconsistent or in conflict with the terms of this limited warranty shall not be binding upon us unless made in writing and signed by an authorized officer of Marine Systems, Inc.

THIS LIMITED WARRANTY SHALL BE GOVERNED BY THE LAWS OF THE STATE OF NEW HAMPSHIRE, UNITED STATES OF AMERICA.

PrefaceThe Series 5000 AUV V2 Sonar System is a multibeam sonar comprising a Sonar Electronics component and a Sonar Processor component and is designed for installation on board an AUV.

What’s in This ManualThis operations and maintenance manual provides information pertaining to the setup and deployment, operation, general maintenance, and troubleshooting of the Series 5000 AUV V2 Sonar System. The manual is divided into the following four main chapters and one appendix:

Chapter 1: Overview. Presents an overview of the Series 5000 AUV V2 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.

Chapter 3: Preparation for Use. Provides instructions for unpacking and setting up the Series 5000 AUV V2 Sonar System components. It also includes a pre-survey checkout procedure.

Chapter 4: Equipment Maintenance. Provides checklists for daily, weekly, and long term inspection and service.

Appendix A: Drawings and Parts Lists. Provides drawings and parts lists for reference and troubleshooting purposes.

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Note, Warning, Caution, and Shock Hazard NoticesWhere applicable, note, warning, caution, and shock hazard notices are included throughout this manual as follows:

Customer ServiceKMS technical support can be contacted using any of the following means:

Mail

Klein Marine Systems, Inc.11 Klein DriveSalem, NH 03079

Email

[email protected]

Telephone

(603) 893-6131

Facsimile

(603) 893-8807

For more information about KMS and our products, please go to our Web site atwww.KleinMarineSystems.com.

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.


http://www.KleinMarineSystems.com

1-1

CHAPTER 1: OVERVIEW

The Series 5000 AUV V2 Sonar System is a modified Series 5000 V2 Sonar System that is designed to be installed and operated on board an AUV and interfaced with a remote AUV host controller. And like the Series 5000 V2 Sonar System, it provides high resolution side scan imagery.

1.1 FeaturesThe Series 5000 AUV V2 Sonar System has the following capabilities:

• High speed, high resolution, multibeam side scan sonar.

• 14-bit digital multiplexer for transmission of sonar and control data over a single coaxial cable.

• Data can be stored to local hard disk, if optionally equipped, or remotely stored to a hard disk on the AUV host over a network file system (NFS) protocol.

• Flexible and expandable system configurations.

1.2 EquipmentThe Series 5000 AUV V2 Sonar System equipment consists of the Sonar Electronics Sonar Electronics, which is shown in Figure 1-1; the Sonar Processor Sonar Processor, which is shown in Figure 1-2; a deck cable; a power supply; and various interconnect cables.

1.2.1 Sonar ElectronicsThe Sonar Electronics includes the electronics for operating the sonar, receiving and demultiplexing the control signals from the Sonar Processor and multiplexing and transmitting the sonar and auxiliary sensor signals to the Sonar Processor. The Sonar Electronics connects to two transducer arrays which are included.

The Sonar Electronics performs all of the sonar data processing prior to digital transmission to the Sonar Processor. This minimizes the system’s susceptibility to externally induced electronic noise. Processing includes transmit/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. Use of a low noise preamplifier design ensures maximum range performance.

1-2 CHAPTER 1 Overview

Figure 1-1: Sonar Electronics

Figure 1-2: Sonar Processor


Theory of Operation 1-3

1.2.2 Sonar ProcessorThe Sonar Processor includes the electronics for processing the sonar data, multiplexing and transmitting the control signals to the Sonar Electronics, and receiving and demultiplexing the sonar and auxiliary sensor signals from the Sonar Electronics.

1.2.3 Deck Cable and 24 VDC Power SupplyA deck cable and a 24 VDC power supply is included with the 5000 AUV V2 Sonar System for operating and testing the system on deck.

1.3 Theory of OperationThis section provides a detailed functional description of the Series 5000 AUV V2 Sonar System operation.

1.3.1 IntroductionThe Series 5000 AUV V2 Sonar System is a simultaneous multiple swath-forming, side-looking sonar intended for high speed, high resolution survey use. 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 towing speeds without the usual loss of bottom coverage, while maintaining high resolution. Also, the formed swaths are focused dynamically with across-track range, thereby offering an inherently improved along-track resolution over unfocused systems.

The Series 5000 V2 departs from previous multibeam systems in that the swath forming process is implemented digitally using digital signal processing (DSP), rather than analog delay lines, phase shifters, or multipliers and adders. The primary advantage of this technique is a reduction in the size and weight of the towfish. This affords a concomitant reduction in the size of the required survey vessel and ancillary equipment, such as a winch and crane. Other advantages include more flexibility in the swath processing, allowing software control of operating parameters. Previously this would have required hardware changes.

The Series 5000 AUV V2 architecture is composed of the Sonar Electronics and the Sonar Processor. The Sonar Electronics contains the transducer arrays and electronic subsystems for transmission, reception and data acquisition, and telemetry. The Sonar Electronics also includes standard and optional sensors for the monitoring of the AUV position and motion dynamics, pressure, depth and altitude (acoustically measured), temperature, and other pertinent information. The Sonar Processor processes the data from the Sonar Electronics. It also serves as a control/data/power interface with the AUV host electronics over an Ethernet connection.


1.3.2 Sonar ElectronicsThe Sonar Electronics is composed of the Sonar Electronics housing and the transducer arrays which are shown in Figure 1-3.

The two transducer arrays are each composed of 12 piezoelectric ceramic sub-arrays, which operate as receive elements, and a single transmit array. Each set of 12 sub-arrays is arranged into a continuous line array spanning an overall aperture of 1.2 meters.

The Sonar Electronics is divided into five individual boards: a Transmitter board, two Receiver boards, a Sensor Interface board, and a Multiplexer board. A block diagram of the Sonar Electronics is shown in Figure 1-4.

Figure 1-3: Transducer Arrays

NOTE The transducers are side specific and are not interchangeable.



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 downward looking 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 subsequent sampling.

Sensor Interface board. The Sensor Interface board conditions sensor data from the compass board, depth pressure sensor, altimeter, and optional devices for subsequent multiplexing and transmission to the TPU.

Figure 1-4: Sonar Electronics Block Diagram


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 via the tow cable. The Multiplexer board also receives the trigger signal and command messages which instruct the Transmitter board to fire the arrays and configure aspects of Sonar Electronics operation. The Multiplexer board also acts 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 up the tow 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 Sonar Electronics configuration.

1.3.3 Sonar ProcessorThe Sonar Processor provides signal processing along with the system control and data telemetry functions. The Sonar Processor is composed of an Intel based processor in a PC-104 form-factor, a demultiplexer and 5 VDC and 3.3 VDC power supplies. A block diagram of the Sonar Processor is shown in Figure 1-5.

Figure 1-5: Sonar Processor Block Diagram



Processor. The Intel based processor enables external control of the Sonar Processor by a PC connected over an Ethernet 100BaseT local area network (LAN), providing control over system functions.

Demultiplexer board. The Demultiplexer board receives the encoded digital data telemetered from the Sonar Electronics, recovers the clock and data, and then decodes the data and routes it to the processor for storage.

2-1

CHAPTER 2: SPECIFICATIONS

This chapter includes the physical and performance specifications for the main components of the Series 5000 AUV V2 Sonar System.

2.1 Sonar SystemSonar channels: Multiple side scan sonar channels and

6 sensor/auxiliary channels

Sonar frequencies: 500 kHz nominal (455 kHz actual)

Sonar data processing: Uncorrected

Range scale: 50, 75, 100, and 150 m; 50 and 75 m are either low or high resolution, depending on the setup

Sonar drive: Tone burst and chirp

Maximum range: Up to 150 m per side (actual range varies with environmental conditions and operating frequency)

Number of beams: 10 (5 per side)

Swath width: 100 to 300 m (usable swath width varies with environmental conditions and operating frequency)

Depth limit: Up to 200 m

Operating temperature: -10–35°C (14–95°F)

2.2 Sonar Processor

2.2.1 Sonar Processor OperationOperator interface: Accepts $PKLA commands

NOTE Specifications are typical and subject to change without notice.

2-2 CHAPTER 2 Specifications

2.2.2 Trigger OutputThe trigger output is used to slave external processors or other equipment such as locators. By default the trigger output runs synchronous with the sonar transmit trigger.

Quantity: 1

Output level: CMOS/TTL compatible

Pulse width: 1 ms nominal

Connector: Bulkhead, Impulse

2.2.3 RS-232 COM 1 PortQuantity: 1

Baud rate: 115200 baud


2.2.4 RS-232 COM 2 PortQuantity: 1

Baud rate: 38400 baud (default), programmable


2.2.5 LAN Input/Output PortQuantity: 1


Default IP address: 192.168.0.81

2.2.6 Power InputPower consumption: 250 VA (nominal)

Input voltage: 18–36 VDC (24 VDC nominal)

2.2.7 Physical CharacteristicsSize: 12.7 cm (5 in.) diameter

40.6 cm (16 in.) long

Weight in air: 12.7 kg (27.9 lb)

Weight in water: 7.4 kg (16.3 lb)


Sonar Electronics 2-3

2.3 Sonar Electronics

2.3.1 GeneralElectronics boards: Modular

2.3.2 TransducersType: Proprietary line array

Vertical beam angle: 40°

Depth limit: 200 m

2.3.3 TransmitterType: Toneburst

Pulse width: 50 µscw, 4 ms chirp, 8 ms chirp, and 16 ms chirp

2.3.4 ReceiverType: High gain, tuned preamplifier with TVG

Noise figure: 1 dB nominal

TVG range: 80 dB

2.3.5 A/D ConverterType: Pipeline

Resolution: 14 bits

Quantization: Linear

Sample rate: Proprietary

2.3.6 MultiplexerModulation format: Pulse code modulation (PCM)

Multiplexing format: Time division multiplexing (TDM)

Number of channels: 32

Data rate: 29.12 Mbaud

Data format: NRZ

Bit error rate: Better than 1x10-8 (before correction)

2-4 CHAPTER 2 Specifications

2.3.7 PowerInput power: Powered from the Sonar Processor; no

additional power required

2.3.8 Physical CharacteristicsBody material: Type 316 stainless steel

Size: 11.4 (4.5 in.) diameter91.4 cm (36 in.) long

Weight in air: 19.8 kg (43.6 lb)

Weight in water: 11.0 kg (24.2 lb)

2.3.9 Heading SensorAccuracy level: ±0.5° RMS

Accuracy tilted: ±1.0° RMS

Resolution: 0.1°

Repeatability: ±0.1°

2.3.10 Pitch and Roll SensorAccuracy: ±0.2° RMS

Resolution: 0.1°

Repeatability: ±0.2°

2.3.11 Pressure SensorPressure range: 0–300 psig or 0–750 psig

Accuracy: ±0.10%


3-1

CHAPTER 3: INSTALLATION AND STARTUP

This chapter provides instructions for unpacking, installing and connecting the components of the Series 5000 AUV V2 Sonar System. In addition, a startup procedure is provided for getting the system up and running.

3.1 Unpacking and Inspection

3.1.1 Unpacking the Sonar ElectronicsRemove the Sonar Electronics from the shipping container and set it on a sturdy, flat surface. Inspect it for signs of damage. If there is any damage to the Sonar Electronics or if any items are missing, immediately contact Klein Marine Systems or your sales representative.

3.1.2 Unpacking the Sonar ProcessorRemove the Sonar Processor from the shipping container and set it on a sturdy, flat surface. Inspect it for signs of damage. If there is any damage to the Sonar Processor or if any items are missing, immediately contact Klein Marine Systems or your sales representative.

3.2 Mechanical Installation of the Sonar Electronicsand the Sonar Processor

3.2.1 MountingThe Sonar Electronics and the Sonar Processor are each enclosed in a pressure case suitable for operation under hydrostatic pressure. Mounting of the pressure cases should be such that as to minimize strain due to cable bending and pulling.

3.2.2 Isolating from Shock and VibrationThe Sonar Electronics and the Sonar Processor should not be subjected to excessive vibration or shock loading.

3-2 CHAPTER 3 Installation and Startup

3.3 Connecting the System ComponentsThe Series 5000 AUV V2 requires DC power to operate. The power source requirement is 18–36 VDC (24 VDC nominal).

A block diagram of the Series 5000 AUV V2 Sonar System components is shown in Figure 3-1. The Sonar Processor contains the electronics for supplying power and communications to the Sonar Electronics over a jumper cable connection. The jumper cable is included. It also serves as a control/data/power interface with the AUV host electronics over an Ethernet connection. The Sonar Electronics contains the sonar transmitters, receivers and data acquisition electronics to produce high resolution side scan backscatter data. These data are then stored to the AUV host hard disk over the Ethernet connection with the Sonar Processor. The Sonar Electronics also connects to the two transducer arrays.

CAUTION Application of improper DC power may damage the Series 5000 AUV V2 Sonar System. Do not turn the equipment on until you have checked the supply voltage.

Figure 3-1: Series 5000 AUV V2 Sonar System Component InterconnectionBlock Diagram


Connecting the System Components 3-3

Connectors are provided on the connector end cap of the Sonar Electronics and the Sonar Processor as shown in Figure 3-2 and Figure 3-3.

The connections on the Sonar Electronics connector end cap are the following:

RX-PORT: Connects to the port side transducer array receiver interconnect cable.

TX-PORT: Connects to the port side transducer array transmitter interconnect cable.

RX-STBD: Connects to the starboard side transducer array receiver interconnect cable.

TX-STBD: Connects to the starboard side transducer array transmitter interconnect cable.

T/C: Connects to the Sonar Processor using the jumper cable.

ALT: Connects to an optional altimeter transducer.

The connections on the Sonar Processor connector end cap are the following:

Sonar Electronics Interface: Connects to the Sonar Electronics using the jumper cable.

AUV Host and Deck CableInterconnect: Connects directly to the AUV host using

a user supplied cable, or to a deck cable which connects to the AUV host when it is at the surface. The deck cable has individual breakout connections for power and communications.

Test Cable Interconnect: Used for factory test and service. A dummy plug is provided which mates with this connector during normal operations. The dummy plug should remain installed at all times.

Each of the two transducer arrays includes two interconnect cables, one that connects to a receiver (RX-PORT or RX-STBD) of the Sonar Electronics, and the other that connects to the corresponding transmitter (TX-PORT or TX-STBD) of the Sonar Electronics. These interconnect cables are shown in Figure 3-4.

3-4 CHAPTER 3 Installation and Startup

Figure 3-2: Sonar Electronics Connectors

Figure 3-3: Sonar Processor Connectors

RX-PORT

TX-PORT

TX-STBD

T/C

ALT

RX-STBD

SonarElectronicsInterface

Test CableInterconnect

AUV Host and DeckCable Interconnect


Connecting the System Components 3-5

To connect the Series 5000 AUV V2 Sonar System components:

1. Verify that the connector internal O-ring seals are in place, and then connect the TRANSMITTER interconnect cable of the port transducer array to the TX-PORT connector on the Sonar Electronics; connect the RECEIVER interconnect cable to the RX-PORT connector.

2. Verify that the connector internal O-ring seals are in place, and then connect the TRANSMITTER interconnect cable of the starboard transducer array to the TX-STBD connector on the Sonar Electronics; connect the RECEIVER interconnect cable to the RX-STBD connector.

3. Connect the jumper cable (p/n 12900916-01) to the T/C connector on the Sonar Electronics and to the Sonar Electronics Interface connector on the Sonar Processor.

4. Connect a user supplied cable to the AUV Host and Deck Cable Interconnect connector on the Sonar Processor and to the AUV host. Refer to Drawing 15104595 in APPENDIX A: “Drawings and Parts Lists,” for the connector pinout information.

Figure 3-4: Transducer Array Connectors

TRANSMITTER

RECEIVER

4-1

CHAPTER 4: EQUIPMENT MAINTENANCE

This chapter provides some recommendations for equipment maintenance and includes guides for taking care of the equipment on a daily, weekly, and long term basis.

4.1 Maintenance General CommentsEquipment used at sea is subjected to severe environmental and handling conditions. While the Series 5000 AUV V2 Sonar System is designed to operate in such conditions, a certain amount of routine maintenance is necessary to ensure trouble free, long term operation.

Keep a maintenance log. This provides assistance in tracking what has or has not been done with the system. A log is useful when tracking problems, if they do occur, and is especially important if more than one system is used in a large survey operation. Inventory the system, related spares and accessories carefully. Store the shipping boxes in a safe place so they can be reused when needed. A small amount of regular maintenance and care makes the critical difference in a successful field operation. The following pages contain the recommended routine checking and maintenance schedules for a daily, weekly, and long term basis.

4.2 Maintenance Checklists

4.2.1 Daily Maintenance ChecklistPerform the following maintenance steps at the end of each day’s operation:

1. Turn off the power to the Sonar Processor.

2. Verify that all cables and connectors are secure and tightened.

3. If fresh water is available, wash the Sonar Electronics and the Sonar Processor. If they are exposed, cover them while not in use to protect against salt water spray and to minimize corrosion.

4-2 CHAPTER 4 Equipment Maintenance

4.2.2 Weekly Maintenance ChecklistPerform the following maintenance steps at the end of each week’s operation:


2. Check all cables for abrasion and damage. If any wear spots are noticed, clean them with fresh water, dry them, and wrap them carefully with electrical tape, such as Scotch #88 or #33. If there is wear or fraying in any of the cables in an area subject to high tension, repair or replace the cable.

3. Inspect the Sonar Electronics and the Sonar Processor for signs of corrosion or other damage.

4. Check the connectors on the Sonar Electronics and the Sonar Processor. The contacts should be clean and shiny. They may be cleaned with a rubber pencil eraser or very fine emery paper.

4.2.3 Long Term Maintenance ChecklistPerform the following maintenance steps at six month intervals, or more frequently when continued long term usage is occurring.


2. Check all the connections to the Sonar Electronics and the Sonar Processor and verify that the connectors are firmly seated. Use a thin film of silicone grease on all external connectors. Make sure that the transducer leads are free from cuts or abrasions.


A-1

APPENDIX A: DRAWINGS AND PARTS LISTS

Listed in Table A-1 are the drawings and parts lists included in this appendix. They are provided for reference and troubleshooting purposes. Each assembly drawing is followed by its corresponding parts list.

Table A-1: List of Drawings and Parts Lists

DRAWING NO.

PARTS LIST NO.

TITLE

14314568 Wiring Diagram, Sonar Electronics, 5000 AUV V2

14314577 Wiring Diagram, Sonar Processor, 5000 AUV V2

14604568 Outline Drawing, Sonar Electronics, 5000 AUV V2

14604577 Outline Drawing, Sonar Processor, 5000 AUV V2

14604606 Outline Drawing, Transducer, 5000 AUV V2

15104568Assembly Drawing, Sonar Electronics Bottle, 5000 AUV V2, Sheets 1 and 2

14104568 Assembly, Sonar Electronics Bottle, 5000 AUV V2

15104577 Assembly Drawing, Sonar Processor Bottle, 5000 AUV V2

14104577 Assembly, Sonar Processor Bottle, 5000 AUV V2

15104595 Assembly Drawing, Deck Cable, 5000 AUV V2

14104595 Assembly, Deck Cable, 5000 AUV V2

A-2

AP

PE

ND

IX A

Draw

ings and Parts Lists

Series 5000 A

UV

V2 S

onar System

Operations and M

aintenance Manual

P/N

11214513, Rev. 02

A-4

AP

PE

ND

IX A

Draw


Series 5000 A

UV

V2 S

onar System

Operations and M

aintenance Manual

P/N

11214513, Rev. 02

A-6

AP

PE

ND

IX A

Draw


Series 5000 A

UV

V2 S

onar System

Operations and M

aintenance Manual

P/N

11214513, Rev. 02

A-8

AP

PE

ND

IX A

Draw


Series 5000 A

UV

V2 S

onar System

Operations and M

aintenance Manual

P/N

11214513, Rev. 02

A-10

AP

PE

ND

IX A

Draw


Series 5000 A

UV

V2 S

onar System

Operations and M

aintenance Manual

P/N

11214513, Rev. 02

A-12 APPENDIX A Drawings and Parts Lists


A-14 APPENDIX A Drawings and Parts Lists


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