R2Sonic 2022-2024-2026 Technical User Manual

SONIC 2026/2024/2022
BROADBAND MULTIBEAM ECHOSOUNDERS
Operation Manual V6.3

Revision 003 (28Feb2019)
Part No. 96000001

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Version 6.3 Rev r003
Date 28-02-2019
Part No. 96000001
COPYRIGHT NOTICE
Copyright © 2019, R2Sonic LLC. All rights reserved
Ownership of copyright
The copyright in this manual and the material in this manual (including without limitation the text, artwork, photographs,
images, or any other material in this manual) is owned by R2Sonic LLC. The copyright includes both the print and electronic
version of this manual.
Copyright license
R2Sonic LLC is solely responsible for the content of this manual. Neither this manual nor any part of this manual, may be
copied, translated, distributed or modified in any manner without the express written approval of R2Sonic LLC.
Permissions
You may request permission to use the copyright materials in this manual by writing to [email protected]
Authorship
This manual (Sonic 2026/2024/2022 Operation Manual), and all of the content therein, written by:
R2Sonic LLC
5307 Industrial Oaks Blvd, Suite 120
Austin, Texas 78735
USA
Telephone: +1 (512) 891.0000
Version Printing History
• June 2008 Version 1.1/1.2

• July 2008 Version 1.3
• Aug/Sep 2008 Version 1.4
• December 2008 Version 1.5
• June 2009 Version 1.6
• April 2010 Version 2.0
• August 2010 Version 3.0
• January 2012 Version 4.0
• February 2014 Version 5.0
• July 2015 Version 6.0 (First version with Sonic 2026)
• June 2016 Version 6.1 (Extended frequency capability and ROBO operation)
• November 2016 Version 6.2 (MultiSpectral Mode™ feature)
• April 2017 Version 6.3 (UHD, MultiMode with PipeTrac™ feature)
R2Sonic LLC reserves the right to amend or edit this manual at any time. R2Sonic LLC offers no implied warranty concerning
the information in this manual. R2Sonic LLC shall not be held liable for any errors within the manual.
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IMPORTANT NOTICE
Pursuant to the United States Department of Commerce Bureau of Industry and Security Export
rules and regulations, under Export Control Classification Number (ECCN) 6A991 and 6A001, a minor
modification has been made in the range and frequencies available in the R2Sonic Multibeam
Echosounder family only for those systems that are submerged to 100 metres depth or greater.
R2Sonic Multibeam Echosounders now come in either a Standard Spectrum (with the restriction) or
a Full Spectrum (no restriction) version.
The Standard Spectrum system will have the restrictions above applied only when submerged to a
depth greater than 100 metres. A Standard Spectrum system, when submerged to depths greater
than 100 metres, will be restricted to operating frequencies of no less than 350 kHz and ranges no
greater than 200 metres. There are no such restrictions for submerged depths of less than 100
metres or for a Full Spectrum system.
All systems with the Ultra High Density (UHD) feature are considered to be under the same export
restrictions as stated for a Full Spectrum system.
The R2Sonic Multibeam Echosounders Full Spectrum version have no such modifications but are
subject to possible export control restrictions (please see the local R2Sonic representative for a
clarification of the rules and laws that apply to the country of interest).
The rules and regulations, under which this notice applies, are subject to change at any time and without notice.
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Table of Contents
1 INTRODUCTION .................................................................................................................... 23
1.1 Outline of Equipment ............................................................................................................ 23
1.2 How to use this Manual ........................................................................................................ 24
1.2.1 Standard of Measurement ........................................................................................... 24
2 SONIC SPECIFICATIONS ......................................................................................................... 25
2.1 Sonic 2026 System Specification ........................................................................................... 25
2.4 Sonic 2026 Dimensions and Weights .................................................................................... 26
2.7 Sonic 2026/2024/Sonic 2022 Electrical Interface ................................................................. 27
2.8 Sonic MBES Ping Rates (SV = 1500.00m/sec) ....................................................................... 27
2.9 Acoustic Centre ..................................................................................................................... 29
3 SONIC MBES SONAR HEAD INSTALLATION – Surface Vessel .................................................. 33
3.1 Sonic MBES Receive Module Installation .............................................................................. 33
3.1.1 Mounting the Sonic MBES Receive Module ................................................................. 34
3.1.2 Receive Module ............................................................................................................ 34
3.1.3 New Deck Lead connector ............................................................................................ 35
3.1.4 New Cable Clamping Arrangement .............................................................................. 36
3.1.5 Mounting the Sonic 2024/2022 Projector .................................................................... 40
3.1.6 Mounting the Sonic 2026 Projector ............................................................................. 41
3.1.7 Correct Orientation of the Sonic MBES ........................................................................ 43
3.1.8 Deck Test Prior to Deployment .................................................................................... 43
3.2 Sonar Head Installation Guidelines ...................................................................................... 45
3.2.1 Introduction .................................................................................................................. 45
3.2.2 Over-the-Side mount .................................................................................................... 45
3.2.3 Moon Pool Mount ........................................................................................................ 45
3.2.4 Hull Mount .................................................................................................................... 45
3.2.5 ROV Mounting .............................................................................................................. 46
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4 SONAR INTERFACE MODULE (SIM) INSTALLATION and INTERFACING ................................... 47
4.1 Sonar Interface Module (SIM) ............................................................................................... 47
4.1.1 Physical installation ....................................................................................................... 47
4.1.2 Electrical and Interfacing .............................................................................................. 48
4.1.3 Serial Communication ................................................................................................... 53
4.1.4 Time and PPS input ....................................................................................................... 53
4.1.5 Motion Input ................................................................................................................. 54
4.1.6 SVP input ....................................................................................................................... 54
5 OPERATION OF THE SONIC MBES VIA SONIC CONTROL ......................................................... 57
5.1 Installing Sonic Control Graphical User Interface ................................................................. 57
5.2 Hot Keys ................................................................................................................................ 57
5.3 Settings Menu ....................................................................................................................... 58
5.4 Network Setup....................................................................................................................... 58
5.4.1 Initial Computer setup for Communication .................................................................. 58
5.4.2 Discover Function.......................................................................................................... 59
5.4.3 Configuring Network Communication .......................................................................... 61
5.5 Sensor Setup (Serial and Ethernet Interfacing) ..................................................................... 63
5.5.1 Ethernet Interfacing ...................................................................................................... 63
5.5.2 GPS ................................................................................................................................ 64
5.5.3 Motion........................................................................................................................... 64
5.5.4 Heading ......................................................................................................................... 64
5.5.5 SVP ................................................................................................................................ 64
5.5.6 Trigger in / Trigger out .................................................................................................. 65
5.6 Sonar Settings (Hotkey: F2) ................................................................................................... 66
5.6.1 Frequency (kHz) 170 kHz – 450 kHz .............................................................................. 67
5.6.2 Ping Rate Limit .............................................................................................................. 68
5.6.3 Sector Coverage ............................................................................................................ 68
5.6.4 Sector Rotate ................................................................................................................ 70
5.6.5 Minimum Range Gate (m) ............................................................................................. 70
5.6.6 Bottom Sampling........................................................................................................... 70
5.6.7 Ultra High Density (UHD™) ........................................................................................... 72
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5.6.8 Mission Mode ............................................................................................................... 74
5.6.9 Imagery ......................................................................................................................... 74
5.6.10 Roll Stabilize and Pitch Stabilize ................................................................................... 78
5.6.11 Dual Head Mode (Also see Appendix VII, Section 13.9) ............................................... 79
5.6.12 TruePix™, Snippets, Water Column Enable and Intensity Enable ................................ 81
5.6.13 Water Column Data Collection ..................................................................................... 82
5.7 MultiMode ............................................................................................................................ 83
5.7.1 MultiSpectral Mode™ ................................................................................................... 83
5.7.2 Pipeline Mode............................................................................................................... 84
5.8 Ocean Setting ....................................................................................................................... 87
5.8.1 Absorption: 0 – 200 dB/km .......................................................................................... 87
5.8.2 Spreading Loss: 0 – 60 dB ............................................................................................. 87
5.8.3 Time Variable Gain ....................................................................................................... 88
5.9 Installation Settings .............................................................................................................. 91
5.9.1 Projector Orientation ................................................................................................... 91
5.9.2 Projector Z Offset (m) ................................................................................................... 91
5.9.3 Head Tilt........................................................................................................................ 91
5.10 Status .................................................................................................................................... 92
5.10.1 System Status ............................................................................................................... 92
5.10.2 Saturation Monitor ....................................................................................................... 93
5.10.3 TruePix™ Monitor ......................................................................................................... 94
5.11 Tools ..................................................................................................................................... 95
5.11.1 Engineering ................................................................................................................... 95
5.11.2 Firmware Update .......................................................................................................... 95
5.11.3 Snapshot and Reset Sector Rotate ............................................................................... 98
5.12 Help ....................................................................................................................................... 98
5.12.1 Help Topics ................................................................................................................... 98
5.12.2 Options ......................................................................................................................... 98
5.12.3 Remote Assistance ....................................................................................................... 99
5.12.4 About Sonic Control...................................................................................................... 99
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5.13 Display settings ................................................................................................................... 100
5.13.1 US Survey Feet Unit (Display Only) ............................................................................. 100
5.14 Imagery ............................................................................................................................... 101
5.14.1 TruePix™ and Water Column ...................................................................................... 101
5.14.2 Video Capture ............................................................................................................. 101
5.15 ROBO Automatic Sonar Operation ...................................................................................... 102
5.15.1 Robo Settings .............................................................................................................. 103
5.16 Main Operation Parameters ............................................................................................... 104
5.16.1 Range: 0 – 1200 metres .............................................................................................. 104
5.16.2 RangeTrac™ – Sonic Control automatically sets correct range...................................106
5.16.3 Power: 191 – 221 dB ................................................................................................... 106
5.16.4 Pulse Width: 15µsec – 1115µsec (Sonic 2026 max is 2000µsec) ................................106
5.16.5 Gain: 1 – 45 ................................................................................................................. 107
5.16.6 Depth Gates: GateTrac™ ............................................................................................. 107
5.17 GUI Rec(ord) ........................................................................................................................ 110
5.18 Ruler .................................................................................................................................... 110
5.19 Save Settings ....................................................................................................................... 111
5.19.1 Default setting ini file .................................................................................................. 111
5.20 Operating Sonic Control on a second computer.................................................................. 112
5.20.1 Two computer setup ................................................................................................... 112
5.20.2 Changing back to one computer ................................................................................. 113
6 SONIC MBES THEORY OF OPERATION ................................................................................. 114
6.1 Sonic MBES Sonar Head Block Diagram .............................................................................. 114
6.2 Sonic MBES Transmit (Normal Operation Mode)................................................................ 115
6.3 Sonic MBES Receive (Normal Operation Mode) .................................................................. 116
6.4 Sonic 2024/2022 Sonar Interface Module (SIM) Block Diagram.........................................117
6.4.1 Sonar Interface Module (SIM) Block Diagram............................................................. 117
7 Appendix I: R2Sonic I2NS Components and Operation ........................................................ 119
7.1 Components ........................................................................................................................ 119
7.2 Connection diagram ............................................................................................................ 120
7.3 Installation .......................................................................................................................... 121
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7.3.1 The IMU and GPS antennas ........................................................................................ 121
7.3.2 INS BNC – TNC Connections ....................................................................................... 121
7.3.3 I2NS DB9 Connections ................................................................................................ 122
7.4 Setup in Sonic Control ......................................................................................................... 123
7.4.1 Network Setup ............................................................................................................ 123
7.4.2 Applanix Group 119 specific to R2Sonic SIMINS ........................................................ 124
7.4.3 Sensor Setup ............................................................................................................... 125
7.4.4 INS Monitor (Alt+I) ..................................................................................................... 125
7.5 Measuring IMU Offsets ...................................................................................................... 127
7.6 I2NS Physical Specifications ................................................................................................ 129
7.7 I2NS Drawings .................................................................................................................... 130
7.7.1 I2NS IMU ..................................................................................................................... 130
7.7.2 I2NS Sonar Interface Module (SIM) ............................................................................ 131
8 APPENDIX II: Multibeam Survey Suite Components ............................................................ 133
8.1 Auxiliary Sensors and Components..................................................................................... 133
8.2 Differential Global Positioning System ............................................................................... 133
8.2.1 Installation .................................................................................................................. 133
8.2.2 GPS Calibration ........................................................................................................... 134
8.3 Gyrocompass ...................................................................................................................... 135
8.3.1 Gyrocompass Calibration Methods ............................................................................ 135
8.4 The Motion Sensor .............................................................................................................. 140
8.5 Sound Velocity Probes ........................................................................................................ 141
8.5.1 CTD Probes ................................................................................................................. 142
8.5.2 Time of Flight Probe ................................................................................................... 143
8.5.3 XBT Probes .................................................................................................................. 143
8.6 The sound velocity cast ....................................................................................................... 144
8.6.1 Time of Day ................................................................................................................. 144
8.6.2 Fresh water influx ....................................................................................................... 144
8.6.3 Water Depth ............................................................................................................... 144
8.6.4 Distance ...................................................................................................................... 144
8.6.5 Deploying and recovering the Sound Velocity Probe ................................................. 144
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9 APPENDIX III: Multibeam Surveying.................................................................................... 147
9.1 Introduction......................................................................................................................... 147
9.2 Survey Design ...................................................................................................................... 147
9.2.1 Line Spacing................................................................................................................. 147
9.2.2 Line Direction .............................................................................................................. 147
9.2.3 Line Run-in .................................................................................................................. 148
9.3 Record Keeping ................................................................................................................... 148
9.3.1 Vessel Record .............................................................................................................. 148
9.3.2 Daily Survey Log .......................................................................................................... 149
10 APPENDIX IV: Offset Measurements ................................................................................... 153
10.1 Lever Arm Measurement – Offsets ..................................................................................... 153
10.2 Vessel Reference System ..................................................................................................... 153
10.3 Measuring Offsets ............................................................................................................... 154
10.3.1 Sonic MBES Acoustic Centre ....................................................................................... 154
10.3.2 Horizontal Measurement ............................................................................................ 154
10.3.3 Vertical Measurement ................................................................................................ 155
11 APPENDIX V: The Patch Test ............................................................................................... 157
11.1 Introduction......................................................................................................................... 157
11.2 Orientation of the Sonic MBES Sonar Head ........................................................................ 157
11.3 Patch Test Criteria ............................................................................................................... 158
11.3.1 Latency Test ................................................................................................................ 158
11.3.2 Roll Test ....................................................................................................................... 159
11.3.3 Pitch Test ..................................................................................................................... 160
11.3.4 Yaw Test ...................................................................................................................... 161
11.4 Solving for the Patch Test.................................................................................................... 162
11.5 History ................................................................................................................................. 162
11.6 Basic data collection criteria ............................................................................................... 163
11.7 Patch Test data collection error areas ............................................................................... 163
11.7.1 Positioning .................................................................................................................. 163
11.7.2 Feature chosen for test .............................................................................................. 163
11.7.3 Water depth ............................................................................................................... 164
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11.7.4 Use predefined survey lines ...................................................................................... 164
11.7.5 Speed.......................................................................................................................... 164
11.7.6 Vessel line up ............................................................................................................. 164
11.7.7 Pole variability ........................................................................................................... 164
11.8 Improving the Patch Test and Patch Test results .............................................................. 165
11.8.1 Need to collect sufficient data .................................................................................. 165
11.8.2 Individually solving values ......................................................................................... 166
11.9 Truthing the patch test ...................................................................................................... 166
12 APPENDIX VI: Basic Acoustic Theory ................................................................................... 167
12.1 Introduction ........................................................................................................................ 167
12.2 Sound Velocity .................................................................................................................... 167
12.2.1 Salinity ........................................................................................................................ 169
12.2.2 Temperature ............................................................................................................... 169
12.2.3 Refraction Errors......................................................................................................... 169
12.3 Transmission Losses ............................................................................................................ 170
12.3.1 Spreading Loss ............................................................................................................ 170
12.3.2 Absorption .................................................................................................................. 171
12.3.3 Sound Absorption Graphs at Select Frequencies ....................................................... 174
12.3.4 Reverberation and Scattering..................................................................................... 178
13 APPENDIX VII: Sonic MBES Mounting: Sub-Surface (ROV/AUV) .......................................... 179
13.1 Installation Considerations ................................................................................................. 179
13.1.1 Ethernet wiring considerations .................................................................................. 180
13.2 Data Rates .......................................................................................................................... 180
13.3 ROV Installation Examples .................................................................................................. 181
13.4 Power Requirements........................................................................................................... 183
13.4.1 Common mode noise rejection .................................................................................. 185
13.4.2 SIM Power connections .............................................................................................. 186
13.5 SIM Installation – ROV ........................................................................................................ 187
13.6 SIM Installation – AUV ........................................................................................................ 188
13.7 SIM Board Physical Installation .......................................................................................... 189
13.8 SIM Stack LED Status Indicators ......................................................................................... 189
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13.8.1 SIM Board Dimensional Information .......................................................................... 190
13.8.2 SIM Board Images ....................................................................................................... 191
13.9 Dual Sonar Head ................................................................................................................. 193
13.9.1 Dual Head Installation ................................................................................................. 193
13.9.2 Operation .................................................................................................................... 193
14 APPENDIX VIII: R2Sonic Control Commands ........................................................................ 195
14.1 Introduction......................................................................................................................... 195
14.2 General Notes ..................................................................................................................... 195
14.2.1 Ethernet Port Numbers ............................................................................................... 195
14.2.2 Type Definitions .......................................................................................................... 195
14.2.3 Command Packet Format ........................................................................................... 195
14.3 Head Commands, Binary Format ........................................................................................ 196
14.4 SIM Commands, Binary Format .......................................................................................... 199
14.5 GUI Commands, Binary Format .......................................................................................... 200
14.5.1 GUI Command Line Switches ...................................................................................... 201
14.6 Command Examples Sent to the Sonar Head and SIM ....................................................... 202
15 APPENDIX IX: R2Sonic Uplink Data Formats ........................................................................ 205
15.1 Introduction......................................................................................................................... 205
15.2 General Notes ..................................................................................................................... 205
15.3 Port Numbers ...................................................................................................................... 205
15.4 Type Definitions................................................................................................................... 205
15.5 Ethernet Data Rates ............................................................................................................ 206
15.6 Bathymetry Packet Format ................................................................................................. 207
15.7 Snippet Format .................................................................................................................... 210
15.8 Water Column (WC) Data Format ....................................................................................... 212
15.9 Acoustic Image (AI) Data Format ........................................................................................ 215
15.10 TruePix™ Data Format ........................................................................................................ 217
15.11 Head Status Format ............................................................................................................ 219
15.12 SIM Status Data Format ...................................................................................................... 222
15.13 Device Status Format .......................................................................................................... 224
15.14 Data Playback Using Bit-Twist ............................................................................................ 225
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15.14.1 Introduction ................................................................................................................ 225
15.14.2 Capturing Data ............................................................................................................ 225
15.14.3 Editing Data ................................................................................................................ 226
15.14.4 Data Playback ............................................................................................................. 227
16 APPENDIX X: Drawings ....................................................................................................... 229
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List of Figures
Figure 1: Sonic MBES Block Diagram .................................................................................................... 23

Figure 2: Sonic 2024 Acoustic Centre ................................................................................................... 29
Figure 3: Sonic 2024 Acoustic Centre, as Mounted.............................................................................. 29
Figure 5: Sonic 2022 Acoustic Centre, as Mounted.............................................................................. 30
Figure 7: Sonic 2026 Acoustic Centre, as mounted .............................................................................. 31
Figure 8: Sonic 2024 and Sonic 2022 on the mounting frame ............................................................. 33
Figure 9: Top side of Receive Module .................................................................................................. 34
Figure 10: Receive Module Face........................................................................................................... 34
Figure 11: Seated connectors (Sonic 2024 on the left and Sonic 2022 on the right) .......................... 34
Figure 12: Connector wiggle - back and forth NOT up and down ........................................................ 34
Figure 13: New cable penetrator with locking ring .............................................................................. 35
Figure 14: Deck lead to penetrator connection ................................................................................... 35
Figure 16: Upper bracket secured ........................................................................................................ 36
Figure 15: Lower bracket positioned .................................................................................................... 36
Figure 17: Updated Projector housing ................................................................................................. 36
Figure 18: Upper bracket for Projector cable clamp ............................................................................ 37
Figure 19: Projector cable clamp lower bracket .................................................................................. 37
Figure 20: Projector cable clamp upper bracket .................................................................................. 37
Figure 21: Projector cable clamp in place ............................................................................................ 37
Figure 22: Projector cable clamp bolt / mounting arrangement ......................................................... 38
Figure 23: Receive Module with cables connected .............................................................................. 39
Figure 24: Position the insulating bushing ........................................................................................... 39
Figure 25: Sonic 2024 Projector ........................................................................................................... 40
Figure 26: Projector Stand-off .............................................................................................................. 40
Figure 27: Mounting the projector ....................................................................................................... 40
Figure 28: View of the mounted Projector; NB. The connector is facing protective fin ...................... 41
Figure 29: SV Probe mounted in block ................................................................................................. 41
Figure 30: Mounting the Sonic 2026 Projector .................................................................................... 41
Figure 31: Sonic 2026 in the mounting frame ...................................................................................... 42
Figure 32: Correct Orientation of the Sonic MBES ............................................................................... 43
Figure 33: Sonar Interface Module (SIM) ............................................................................................. 47
Figure 34: Removal of trim to expose securing holes .......................................................................... 48
Figure 35: SIM Interfacing Physical Connections ................................................................................. 49
Figure 36: SIM Interfacing Guide (from the label on top of the SIM) .................................................. 49
Figure 37: SIM IEC mains connection and deck lead Amphenol MS connector ................................... 50
Figure 38: Wet end connectors ............................................................................................................ 50
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Figure 39: Projector cable configuration ............................................................................................. 51
Figure 40: TTL input/output (PPS and Sync In/Out) schematic ........................................................... 53
Figure 41: Sonic Control Icon on desktop ............................................................................................ 57
Figure 42: Sonic Control 2000 .............................................................................................................. 57
Figure 43: Settings Menu ..................................................................................................................... 58
Figure 44: Windows Internet Adaptor Properties ............................................................................... 59
Figure 45: IP and Subnet mask setup ................................................................................................... 59
Figure 46: Sonic Control Network setup .............................................................................................. 60
Figure 47: Set INS IP Figure 48: Set IP Time Expired.................................................................... 61
Figure 49: Command prompt-ipconfig/all ........................................................................................... 61
Figure 50: Sensor serial communication settings ................................................................................ 63
Figure 51: Sensor Ethernet communications settings ......................................................................... 64
Figure 52: Trigger In/Out Options ........................................................................................................ 65
Figure 53: Settings Menu ..................................................................................................................... 66
Figure 54: Sonar Operation Settings window ...................................................................................... 66
Figure 55: Operating Frequency Selection........................................................................................... 67
Figure 56: 90 – 100 kHz Low frequency option for Sonic 2026 ........................................................... 68
Figure 57: Ping Rate Limit .................................................................................................................... 68
Figure 58: Sector coverage .................................................................................................................. 69
Figure 59: Asymmetric sector sizing .................................................................................................... 69
Figure 60: Sector Rotate ...................................................................................................................... 70
Figure 61: Bottom Sampling Modes .................................................................................................... 71
Figure 62: Example of going from normal to Quad mode ................................................................... 72
Figure 63: Indication of Bottom Sampling Mode ................................................................................. 72
Figure 64: Highlighted indicator for equiangular operation when in equidistant mode..................... 72
Figure 65: Normal Mission Mode selections ....................................................................................... 74
Figure 66: Mission Mode with the FLS Option installed ...................................................................... 74
Figure 67: Enable Acoustic Image in the wedge display ...................................................................... 75
Figure 68: FLS Wide mode ................................................................................................................... 75
Figure 69: Imagery palette selection in Display Options ..................................................................... 75
Figure 70: Stealth mode single Ping button ......................................................................................... 76
Figure 71: Settings menu FLS settings option ...................................................................................... 76
Figure 72: Sonic 2020/2026 FLS Options ............................................................................................. 76
Figure 73: Roll and Pitch Stabilize ........................................................................................................ 78
Figure 74: Dual Head Mode ................................................................................................................. 79
Figure 75: Dual Head Mode active ....................................................................................................... 79
Figure 76: Load Settings menu selection ............................................................................................. 80
Figure 77: Loading an .ini file ............................................................................................................... 80
Figure 78: Default dual head Network settings ................................................................................... 80
Figure 79: TruePix™ image of wreck debris and seagrass ................................................................... 81
Figure 80: Network Card Properties .................................................................................................... 82
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Figure 81: Intel NIC Properties ............................................................................................................. 82
Figure 82: MultiMode Window ............................................................................................................ 83
Figure 83: Settings | MultiMode .......................................................................................................... 83
Figure 84: MultiMode Selections ......................................................................................................... 83
Figure 85: MultiMode Preset Settings.................................................................................................. 83
Figure 86: Preset warning..................................................................................................................... 84
Figure 87: Capture settings prompt ..................................................................................................... 84
Figure 88: Dual Head Multimode ......................................................................................................... 85
Figure 89: Pipeline Mode (courtesy of Swathe Services) ..................................................................... 85
Figure 90: Pipeline Mode (image courtesy of DOF Subsea) ................................................................. 85
Figure 91: Ocean Characteristics .......................................................................................................... 87
Figure 92: TVG Curve Concept.............................................................................................................. 89
Figure 93: The angular acoustic wavefront will strike each receive element at a different time ........ 90
Figure 94: Installation Settings ............................................................................................................. 91
Figure 95: Status Options ..................................................................................................................... 92
Figure 96: Status Message .................................................................................................................... 92
Figure 97: Status | Saturation Monitor ............................................................................................... 93
Figure 98: Saturation Monitor .............................................................................................................. 93
Figure 99: TruePix Monitor................................................................................................................... 94
Figure 100: TruePix monitor palette .................................................................................................... 94
Figure 101: Select Tools; Firmware Update ......................................................................................... 96
Figure 102: The Browse button will open the current GUI's directory ................................................ 96
Figure 103: Select correct update .bin file ........................................................................................... 96
Figure 104: A batch file will automatically load the upgrade file ......................................................... 96
Figure 105: The start of a firmware update. A series of dots represents the update progress. ......... 97
Figure 106: Firmware update completed. ............................................................................................ 97
Figure 107: Indication of attempts to update the firmware ................................................................ 97
Figure 108: The Help Menu .................................................................................................................. 98
Figure 109: Installed Options ............................................................................................................... 98
Figure 110: Remote Assistance ............................................................................................................ 99
Figure 111: Remote Assistance window............................................................................................... 99
Figure 112: About, provides the GUI version ....................................................................................... 99
Figure 113: Display Settings ............................................................................................................... 100
Figure 114: US Survey Feet display .................................................................................................... 100
Figure 115: Imagery Settings .............................................................................................................. 101
Figure 116: Enabling Robo Operation ................................................................................................ 102
Figure 117: Operational settings with Robo active ............................................................................ 102
Figure 118: Robo Settings ................................................................................................................... 103
Figure 119: Robo Settings Table ......................................................................................................... 103
Figure 120: In Robo Settings, View link to the ini file ......................................................................... 103
Figure 121: Operating parameter buttons ......................................................................................... 104
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Figure 122: Range setting represented in the wedge display............................................................ 105
Figure 123: Graphical concept of the Wedge Display ........................................................................ 105
Figure 124: RangeTrac enabled ......................................................................................................... 106
Figure 125: Transmit Pulse................................................................................................................. 107
Figure 126: Enable Gates ................................................................................................................... 107
Figure 127: Manual and GateTrac selections .................................................................................... 108
Figure 128: Manually adjust the gate slope ....................................................................................... 108
Figure 129: Gate width tolerance toggle ........................................................................................... 108
Figure 130: GateTrac enabled; Gate min and max control is disabled .............................................. 108
Figure 131: GateTrac: Depth + Slope enabled, manual gate controls are disabled. ......................... 109
Figure 132: GateTrac: Depth + Slope enabled and tracking a steep slope ........................................ 109
Figure 133: Graphical representation of depth gate ......................................................................... 110
Figure 134: Ruler Function ................................................................................................................. 111
Figure 135: Change in GUI IP ............................................................................................................. 113
Figure 136: SONIC 2024 Sonar Head Block Diagram.......................................................................... 114
Figure 137: Transmit pattern; Sonic 2024 ......................................................................................... 115
Figure 138: Receive pattern with Transmit pattern .......................................................................... 116
Figure 139: Sonar Interface Module Block Diagram .......................................................................... 117
Figure 140: R2Sonic I2NS Main Components (not including antennas and cables) .......................... 119
Figure 141: GNSS Antennas ............................................................................................................... 119
Figure 142: INS connections .............................................................................................................. 120
Figure 143: INS SIM block diagram .................................................................................................... 120
Figure 144: INS BNC & TNC Connections ........................................................................................... 121
Figure 145: PPS Out - PPS In............................................................................................................... 121
Figure 146: SIMINS Serial Ports.......................................................................................................... 122
Figure 147: POSView Serial port setup .............................................................................................. 122
Figure 148: GNSS1 Port setup ............................................................................................................ 122
Figure 149: Network Settings SIMINS ................................................................................................ 123
Figure 150: Cannot Change IP, waiting on msg 32 ............................................................................ 123
Figure 151: Set IP time expired, cannot change IP ............................................................................ 123
Figure 152: Sensor setup for SIMINS ................................................................................................. 125
Figure 153: INS Monitor ..................................................................................................................... 125
Figure 154: IMU Reference indicators ............................................................................................... 127
Figure 155: POSView Lever Arm setup .............................................................................................. 128
Figure 156: View of installation with the entered offsets ................................................................. 128
Figure 157: IMU Drawing ................................................................................................................... 130
Figure 158: I2NS SIM Drawing ........................................................................................................... 131
Figure 159: Gyrocompass Calibration method 1 ............................................................................... 137
Figure 160: Gyro Calibration Method 2 ............................................................................................. 138
Figure 161: Gyro Calibration Method 2 example .............................................................................. 139
Figure 162: Idealised concept of Gyro Calibration Method 2 ............................................................ 139
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Figure 163: CTD Probe ........................................................................................................................ 142
Figure 164: Time of Flight SV probe ................................................................................................... 143
Figure 165: Deploying a sound velocity probe via a winch or A-Frame ............................................. 146
Figure 166: Rough log, kept during survey operations. ..................................................................... 151
Figure 167: Smooth log; information copied from a real-time survey log ......................................... 152
Figure 168: Vessel Horizontal and Vertical reference system ............................................................ 153
Figure 169: Sonic 2026/2024/2022 Acoustic Centre .......................................................................... 154
Figure 170: Sonic MBES axes of rotation ............................................................................................ 157
Figure 171: Latency Data collection ................................................................................................... 158
Figure 172: Roll data collection .......................................................................................................... 159
Figure 173: Roll data collections ........................................................................................................ 159
Figure 174: Pitch data collections ...................................................................................................... 160
Figure 175: Yaw data collection ......................................................................................................... 161
Figure 176: In 1822 Daniel Colloden measuring velocity in Lake Geneva .......................................... 167
Figure 177: Concept of refraction due to different sound velocities in the water column ............... 168
Figure 178: Sound velocity profile ...................................................................................................... 168
Figure 179: Refraction Error indication .............................................................................................. 169
Figure 180: Concept of Spherical Spreading ...................................................................................... 170
Figure 181: Concept of Cylindrical Spreading..................................................................................... 171
Figure 182: Single Head ROV Installation scheme A .......................................................................... 181
Figure 183: Single Head ROV Installation scheme B (Preferred) ........................................................ 181
Figure 184: Dual Head ROV Installation scheme A............................................................................. 182
Figure 185: Dual Head ROV Installation scheme B (Preferred) .......................................................... 182
Figure 186: Sonic 2024 power supply current waveform. ................................................................. 184
Figure 187: Inrush current to 2024 head during power-up, 20 ms window. ..................................... 184
Figure 188: Inrush current to the 2024 head during power-up, 1-second window........................... 185
Figure 189: Power supply choke installation on 48VDC power ......................................................... 185
Figure 190: SIM Controller Board ....................................................................................................... 186
Figure 191: J6 Connector on SIM Controller board ............................................................................ 186
Figure 192: ROV installation block diagram with the SIM top-side ................................................... 187
Figure 193: ROV installation block diagram with the SIM Stack time from a top-side source. ......... 187
Figure 194: ROV installation block diagram with the SIM Stack time from vehicle time................... 187
Figure 195: GPS (ZDA or UTC formats) and PPS signals supplied by the vehicle time system ........... 188
Figure 196: SIM Board Stack............................................................................................................... 188
Figure 197: SIM Stack height .............................................................................................................. 188
Figure 198: SIM Controller Board installation dimensions................................................................. 190
Figure 199: SIM Stack Outline ............................................................................................................ 190
Figure 200: Assembled SIM Boards .................................................................................................... 191
Figure 201: SIM Boards height ........................................................................................................... 191
Figure 202: Default .ini settings file .................................................................................................... 193
Figure 203: Dual head IP and UDP defaults........................................................................................ 193
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Figure 204: Dual-sonar head ping modes .......................................................................................... 194
Figure 205: Dual Head - Dual SIM external interfacing...................................................................... 194
Figure 206: Wireshark Capture Options ............................................................................................ 226
Figure 207: Sonic 2024/2022 Projector ............................................................................................. 230
Figure 208: Cable clamp projector dimensions ................................................................................. 231
Figure 209: Sonic 2026 Projector ....................................................................................................... 232
Figure 210: Sonic 2024/2026 Receive Module .................................................................................. 233
Figure 211: Receiver outline with penetrator.................................................................................... 234
Figure 212: Sonic 2022 Receive Module ............................................................................................ 235
Figure 213: Sonic 2022 Receiver / Projector horizontal offset .......................................................... 236
Figure 214: Sonic 2024 Mounting Bracket Drawing .......................................................................... 237
Figure 217: Sonic 2024/2022 Mounting Bracket Flange .................................................................... 240
Figure 218: SIM Box Drawing ............................................................................................................. 241
Figure 220: R2Sonic Deck lead minimum connector passage dimensions ........................................ 243
Figure 221: Locking Ring type Deck Lead ........................................................................................... 244
Figure 222: I2NS IMU Dimensions ..................................................................................................... 245
Figure 223: I2NS IMU Cable ............................................................................................................... 246
Figure 224: I2NS SIM Dimensions ...................................................................................................... 247
Figure 225: Dual Head Mount Offsets ............................................................................................... 248
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List of Tables
Table 1: Metric to Imperial conversion table ....................................................................................... 24

Table 2 2026 System Specifications ..................................................................................................... 25
Table 3: 2024 System Specifications .................................................................................................... 25
Table 4: 2020 System Specifications .................................................................................................... 26
Table 5: 2026 Dimensions and Mass .................................................................................................... 26
Table 8: Electrical Interface ................................................................................................................. 27
Table 9: Ping Rate table ........................................................................................................................ 27
Table 10: Deck Lead Pin Assignment (Gigabit Ethernet and Power) .................................................... 50
Table 11: DB-9M RS-232 Standard Protocol......................................................................................... 53
Table 12: SIM DB-9M Serial pin assignment ........................................................................................ 53
Table 13: Sonic 2020/2026 FLS Vertical Beamwidth ............................................................................ 77
Table 14: I2NS Dimensions and Mass ................................................................................................. 129
Table 15: Electrical Specifications ...................................................................................................... 129
Table 16: Gyro Calibration Method 2 computation ........................................................................... 139
Table 17: Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz ........................ 172
Table 18: Operating Frequency - water temperature – absorption (@50m)..................................... 177
Table 19: Systems Power Requirements ............................................................................................ 183
Table 20: SIM Gigabit switch speed indicators................................................................................... 189
List of Graphs
Graph 1: Depth errors due to incorrect roll alignment ..................................................................... 159

Graph 2: Position errors as a result of pitch misalignment ................................................................ 160
Graph 3: Along track position error caused by 0.5° error in yaw patch test...................................... 161
Graph 4: Along-track position error caused by 1.0° error in yaw patch test error ............................ 162
Graph 5: Seawater Absorption (Salinity 35ppt) ................................................................................. 173
Graph 6: Freshwater Absorption ........................................................................................................ 173
Graph 7: 200 kHz Sound Absorption .................................................................................................. 174
Graph 10: 700 kHz Sound Absorption ................................................................................................ 175
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Part No. 96000001
1 INTRODUCTION
1.1 Outline of Equipment

The R2Sonic Sonic Multibeam Echosounders (MBES) are based on fifth generation Sonar
Architecture that networks all of the modules and embeds the processor and controller in the sonar
head’s Receive Module to make for a very simple installation. The Sonic Control Graphical User
Interface (GUI) is a simple program that can be installed on any Windows-based computer and
allows the surveyor to control the operating parameters of the Sonic MBES. Sonic Control
communicates with the Sonar Interface Module (SIM) via Ethernet. The SIM supplies power to the
sonar head, synchronises multiple heads, time tags sensor data, relays commands to the sonar head,
and routes the raw multibeam data to the customer’s Data Collection Computer (DCC).
The Sonic MBES work on a user selectable frequency range of 170 kHz to 450 kHz (Type 1006
projector; older Type 1004 projectors: 200 kHz to 400 kHz), so it is adaptable to a wide range of
survey depths and conditions. The user can adjust the operating frequency, via the Sonic Control
GUI, on the fly, without having to shut down the sonar system or change hardware or halt recording
data. The Sonic MBES have a user selectable sector angle, from 10° to 160°, using all 256 beams; the
desired sector angle can be selected on the fly without a halt to data recording. The selected swath
angle can also be rotated port or starboard, while recording, to direct the highly concentrated
beams towards the desired target. Both the opening angle and swath rotation can be controlled via
the mouse cursor.
Figure 1: Sonic MBES Block Diagram
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1.2 How to use this Manual
This manual is designed to cover all aspects of the installation and operation of the Sonic MBES. It
is, therefore, recommended that the user read through the entire Operation Manual before
commencing the installation or use of the equipment.
1.2.1 Standard of Measurement

The Metric system of measurement is utilised throughout this manual; this includes temperature in
degrees Celsius.
METRIC IMPERIAL
10mm (0.010m) 0.39 inches
100mm (0.100m) 3.9 inches
1000mm (1.0 metre) 39.4 inches
100 grams (0.100kg) 3.5 ounces
1000 grams (1.0 kilogram) 2.2 pounds
10° C 50°F
Table 1: Metric to Imperial conversion table
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2 SONIC SPECIFICATIONS
2.1 Sonic 2026 System Specification

System Feature Specification
Frequency 170kHz to 450kHz (90kHz - 100kHz optional)
Beamwidth – Across Track (at nadir) 0.5°@ 400kHz / 1.0° @ 200kHz / 2.0° @ 100kHz
Beamwidth – Along Track (at nadir) 0.5° @ 400kHz / 1.0° @ 200kHz / 2.0° @
100kHz
Number of Beams 256
Swath Sector 10° to 160° (user selectable)
Maximum Slant Range 1200 metres
Pulse Length 170 kHz – 450 kHz: 15µSec – 2000µSec
90 kHz – 100 kHz: 275µsec - 2000µsec)
Pulse Type Shaped Continuous Wave (CW)
Depth Rating 100 metres (4000 metres optional)
Operating Temperature -10° C to 40° C
Storage Temperature -30° C to 55° C
Table 2 2026 System Specifications

Frequency (Type 1006 Projector) 170kHz to 450kHz (700kHz optional)
Frequency (Type 1004 Projector) 200kHz to 400kHz
Beamwidth – Across Track (at nadir) 0.5°@ 400kHz / 1.0° @ 200kHz
Beamwidth – Along Track (at nadir) 0.9° @ 450kHz / 2.0° @ 200kHz
UHR Beamwidth (at nadir) 0.3° Across Track x 0.6° Along Track
Number of Beams 256
UHR Swath Sector 10° to 70° (user selectable)
Pulse Length 15µSec – 1115µSec
Table 3: 2024 System Specifications
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Frequency (Type 1006 Projector) 170kHz to 450kHz (700kHz optional)
Frequency (Type 1004 Projector) 200kHz to 400kHz
Beamwidth – Across Track (at nadir) 1.0°@ 400kHz / 2.0° @ 200kHz
Beamwidth – Along Track (at nadir) 0.9° @ 450kHz / 2.0° @ 200kHz
UHR Beamwidth (at nadir) 0.6° Across Track x 0.6° Along Track
Number of Beams 256
UHR Swath Sector 10° to 70° (user selectable)
Pulse Length 15µSec – 1115µSec
Table 4: 2020 System Specifications
2.4 Sonic 2026 Dimensions and Weights

Component Dimensions (L x W x D) / Dry Weight
Receiver Module 480mm x 109mm x 190mm / 12.9kg
Projector 480mm x 109mm x 196mm /13.4kg
Sonar Interface Module (SIM) 280mm x 170mm x 60mm / 2.4kg
I2NS Sonar Interface Module (SIM) 280mm x 170mm x 126.4mm / 4.2kg
Projector mass in air / Rcvr and Proj. in Air 13.4kg (29.4lbs) / 26.3kg (57.2lbs)
Receive module and Projector mass in water 10.6kg (22.4lbs) Fresh
Table 5: 2026 Dimensions and Mass

Projector 273mm x 108mm x 86mm / 3.3kg
Receive module and Projector mass in water 5.9kg (Fresh)
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Projector 273mm x 108mm x 86mm / 3.3kg
Receive module and Projector mass in water 4.0kg (Fresh)
2.7 Sonic 2026/2024/Sonic 2022 Electrical Interface

Item Specification
Mains Power 90 – 260 VAC; 45 – 65 Hz
Power Consumption (SIM and Sonar Head) 125 Watt (2026); 75 Watt (2024); 54 Watt (2022)
Power Consumption (Sonar Head Only) 100W avg.; 150W peak (2026); 50W avg. 90W Peak
(2024); 35W avg.; 70W Peak (2022)
Integrated Inertial Navigation System (I2NS) 38.4W (SIM and IMU with Antennas)
Uplink/Downlink 10/100/1000Base-T Ethernet
Data Interface 10/100/1000Base-T Ethernet
Sync IN/OUT TTL
GPS Timing 1PPS and RS232 NMEA or Ethernet time message
Auxiliary Sensors RS232 / Ethernet
Deck Cable Length 15 metre (optional: 25m or 50 metres)
Table 8: Electrical Interface
2.8 Sonic MBES Ping Rates (SV = 1500.00m/sec)

RANGE PING RATE
2-7 60.0
10 55.4
15 39.4
20 30.6
25 25.0
30
35
21.1
18.3
WARNING
40 16.1 THE RECEIVE MODULE IS FILLED WITH
50 13.0
70 9.4 OIL THAT WILL FREEZE TO A SOLID AT
100
150
6.7
4.5
-10°C. STORAGE BELOW THIS
200 3.4 TEMPERATURE (TO -30°C) IS POSSIBLE
250 2.7
300 2.3 IF THE HEAD IS SLOWLY THAWED OUT
400
450
1.7
1.5
PRIOR TO OPERATION.
500 1.4
700 1.0
1000 0.7
1200 0.6
Table 9: Ping Rate table
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2.9 Acoustic Centre
SONIC 2024 Side View
35mm
standoffs
187mm
Z
AFT Acoustic Centre Reference FORE
SONIC 2024 Plan View
Alongship ref Connector under
240mm
120mm
Athwartship
ref
39mm
Figure 2: Sonic 2024 Acoustic Centre
Figure 3: Sonic 2024 Acoustic Centre, as Mounted
Centre of Flange to Alongship offset = 0.182m (0.597ft)
Top of Flange to Z reference = 0.318m (1.043ft)
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35mm
standoffs
187mm
Z
Reference
Acoustic Centre
AFT FORE
120mm
138mm
Athwartship
ref
39mm
Figure 5: Sonic 2022 Acoustic Centre, as Mounted
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187mm
Z
Acoustic Centre Reference
AFT SONIC 2026 Plan View FORE
240mm Athwartship
ref
240mm
Figure 7: Sonic 2026 Acoustic Centre, as mounted

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3 SONIC MBES SONAR HEAD INSTALLATION – Surface Vessel
The Sonic MBES can be installed on an over-the-side pole, through a moon pool, or as a permanent
hull mount. The lightweight, small size, and low power consumption make the Sonic MBES ideal for
underwater vehicle (ROV and AUV) installations.
WARNING
DECK LEAD MINIMUM BEND RADIUS =
150MM
3.1 Sonic MBES Receive Module Installation
The Sonic MBES sonar head is mounted on the standard R2Sonic mounting frame as shown below.
Figure 8: Sonic 2024 and Sonic 2022 on the mounting frame
If the Sonic 2024/2022 sonar head is not pre-mounted, the following guidelines must be followed
for proper operation of the system.
• The Receive Module is orientated with the narrow part of the face towards the projector
(see above).
• The projector is orientated with the connector towards the end with the protective fin.
• The Projector must be mounted with the correct 35mm standoffs in place.
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3.1.1 Mounting the Sonic MBES Receive Module
Sonic 2024/2026 Sonic 2022

Figure 9: Top side of Receive Module
Sonic 2024/2026 Sonic 2022

Figure 10: Receive Module Face
3.1.2 Receive Module

The Receive Module has two connectors; the female connector is for the Projector cable, the male
connector is for the deck lead that goes to the SIM. There is a securing ‘ear’ on top of the Receive
Module to secure the cables with a cable tie or other similar securing methods. Seat the 0.439m
projector cable first. A light spray of silicone lubricant (3M Silicone Lubricant, 3M ID: 62-4678-4930-
3) will aid in seating the connectors. Silicone grease is never to be used. The deck lead passes
through the hydrophone pole and then through the flange opening. Seat the deck lead after seating
the projector cable. ENSURE that all connections are tight with no visible gaps.
Figure 11: Seated connectors (Sonic 2024 on the left and Sonic 2022 on the right)
When inserting or removing

the connector, use a left to
right or back and forth
movement and never an up
and down movement.
Figure 12: Connector wiggle - back and forth NOT up and down
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3.1.3 New Deck Lead connector
Commencing August 2016, the receiver deck lead connection is being changed from the push-on
type to a locking ring design on a short lead (penetrator). Customers can request the push-on
connector, if desired, to meet with specialised installations. The receiver end of the cable is not
removable as in previous versions; it is permanently attached to the receiver.
Figure 13: New cable penetrator with locking ring
The new penetrator cable is run either up, through the flange, or through the access in the neck of
the mount. The decklead will connect to the penetrator.
Figure 14: Deck lead to penetrator connection
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3.1.4 New Cable Clamping Arrangement
New decklead and projector cable clamping arrangements were introduced in 2017. The cable
clamps are designed to further enhance the robustness of the installed sonar head
3.1.4.1 Receiver cable clamp

There are two configurations for the decklead connection to the receiver. The standard, which is
comprised of a single cable with a push-on connector and the penetrator style, where there is a
pigtail cable from a moulded connection on the sonar housing. The receiver cable clamp is the same
for both of the configurations. There is a lower and upper bracket that comprises the clamp. The
lower bracket is positioned under the cables and aligned with the threaded holes along the top edge
of the receiver. The upper bracket is then positioned over the cables to mate to the lower bracket;
the brackets are secured with 6 M4 pan head Phillips screws. The M4 x 30mm screws secure the
edge of the bracket to the housing; the M4 x 16mm is used to secure the upper bracket to the lower
bracket and do not attach to the receiver housing.
In that there are different cable thicknesses, there are three available clamps depending on the
cable thickness.
Figure 15: Lower bracket Figure 16: Upper bracket secured

positioned
3.1.4.2 Projector cable clamp

The clamp, for the projector cable, is also in two parts. The projector cable clamp replaces one of
the projector’s standard standoffs. The projector cable clamp requires an updated projector
housing, but can be retrofitted to previous projectors at the customer’s request.
Figure 17: Updated Projector housing
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A small, lower, bracket is placed under the cable and then a larger block is placed over the top and
secured to the housing. The upper bracket replaces the stand-off that would normally be positioned
at this end of the projector. The mounting bracket bolts that secure the projector to the mounting
bracket pass through the two smaller holes on the edge of the large upper bracket.
Mounting bracket securing

bolts pass through the two
holes on the edge of the
upper block.
Figure 18: Upper bracket for Projector cable clamp
The lower bracket fits within the upper bracket and is placed under the cable, but not bolted to the
projector housing.
Figure 19: Projector cable clamp lower

bracket
Figure 20: Projector cable clamp upper bracket
Figure 21: Projector cable clamp in place
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Figure 22: Projector cable clamp bolt / mounting arrangement
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Sonic 2024/2026 Sonic 2022
Figure 23: Receive Module with cables connected
SV Probe block is secured, via screws, though the underside of the mounting frame
Prior to mounting the Receive Module, the block that holds the sound velocity probe must be
secured through the underside of the mounting bracket. Next, mount the Receive Module in the
mounting frame. This can be most easily done by putting the receive module face on a piece of
cardboard or other material and then lowing the mounting frame down with the threaded bolts
passing through the mounting frame. The threads, of the securing bolts, after passing through the
frame, must be wrapped with 2 wraps of Teflon™ tape. This is to prevent galling where the nut will
freeze on the bolt. Do not tighten beyond 17Newton metre (150 pound-inch or 12.5 pound-foot).
Figure 24: Position the insulating bushing
(Wrap threads with Teflon™ tape, then secure with a flat washer, locking washer and then the nut.)
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3.1.5 Mounting the Sonic 2024/2022 Projector
The projector is secured to the frame with two, 35mm Figure 25: Sonic 2024 Projector
standoffs. The stand-offs allow room for the Projector to
Receive Module cable to be run. A 6mm drive hex screw secures the
projector through the stand-off. The Projector’s connector faces
towards the protection fin. Connect the 0.439m interconnect cable’s
female end to the Projector’s male bulkhead connector. When the
connectors are mated, there should be no visible gap between them. A
very light spray of silicone lubricant will aid seating the connector.
Figure 26: Projector Stand-off
Sonic 2024 Figure 27: Mounting the projector
Sonic 2022
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Figure 28: View of the mounted Projector; NB. The connector is facing protective fin
Figure 29: SV Probe mounted in the block
3.1.6 Mounting the Sonic 2026 Projector

The 2026 Projector is mounted within the same style housing as the receiver and is thus mounted in
the same way that the receiver is mounted using the same isolation collars, washers and nuts.
Figure 30: Mounting the Sonic 2026 Projector
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Figure 31: Sonic 2026 in the mounting frame
WARNING – Pre-Deployment Test Mode

The Sonic family of multibeam echosounders is designed to be operated
whist deployed in water (fresh or sea) and should not be operated in air
except for brief periods for the deck test detailed within this manual. The
sonars use water as a means to dissipate heat. Operating the sonar, in air,
can do damage to the sonar; to prevent damage, R2Sonic now has a pre-
deployment test mode.
To avoid damage to the sonar, the sonar will sense when it is being
operated in air and will reduce power. The sonar will determine, from the
sound velocity input, whether it is immersed in water or operating in air.
The sonar allows full Tx Power if either of the following conditions is true:
1. The operator selects manual sound velocity.
2. The SVP reported 1300 to 1600 m/sec somewhere within the past 30 seconds
Otherwise it limits the requested Tx Power to 206.666 dB. During power limiting,
the sonar puts 206.666 into the H0_TxPower field of the various data headers.
The GUI will recognize this and flag the power setting with a red indicator light to
alert the user.
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3.1.7 Correct Orientation of the Sonic MBES
The Sonic MBES is designed to be installed with the projector facing forward, or towards the bow.
However, if the installation requires the projector to face aft, in Sonic Control, the user can select
the orientation to projector aft and this will re-orientate the data output to reflect the projector
orientation.
Figure 32: Correct Orientation of the Sonic MBES
3.1.8 Deck Test Before Deployment

It is highly recommended that the operation of the sonar be verified before putting the sonar or
vessel into the water. The deck test will test both the receiver and the transmitter. The sonar can
be operated, in the air, for brief periods for testing. Under no circumstances should the sonar head
be powered up in the air other than for brief testing to last no more than five minutes. The sonar
uses water to dissipate heat and, if left powered up in the air, will eventually suffer catastrophic
failure.
3.1.8.1 Communications test

The first test is to ensure that computer, running Sonic Control, can communicate with both the
sonar head and the SIM.
• Make sure that Sonic Control is installed in the root directory on the computer and not
under ProgramFiles nor on the desktop
• Make sure all firewalls are off
• Make sure all virus checkers are disabled
• Verify the IP4 configuration for the network card being used for the sonar
• Make sure that the files, in the Sonic Control directory, are not Read-only, or otherwise
protected by the operating system
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3.1.8.2 Receiver rub test
This tests the receiver and the receive elements
• Turn transmit power off by positioning the cursor over the Power button, then Shift + left
mouse button; this will set transmit power to 0
• Reduce the range
• Turn Acoustic Imagery on (under Settings | Displays)
• Increase Gain to 30
• Have someone rub the receiver face, slowly, with their hand, along the face of the receiver.
Noise will be seen, in the display, that will correspond to the rubbing
• If noise is not seen, try adjusting range or gain
• If noise is not seen, check the connector, on the receiver
3.1.8.3 Transmitter test

This tests that the transmitter is transmitting
• Have someone position their ear close to the projector

• Set ping rate (Settings | Sonar settings) to 2 Hz
• Set pulse width to 100µsecs
• Slowly bring up Power
• A distinct ‘click’ should be heard at the 2 Hz ping rate
• If no clicking is heard, increase pulse width and power
• If no clicking is heard, check the projector cable connection
• If no clicking is heard, open the Status window and check TX voltage (V); voltage should
increase / decrease with increase / decrease in Power
3.1.8.4 Problems with Deck Test

If there are any issues, with the Deck Test, please contact R2Sonic Support immediately. R2Sonic
Support can be contacted via email: [email protected]; telephone/SMS: +1.805.259.8142;
Skype: chaswbrennan
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3.2 Sonar Head Installation Guidelines
3.2.1 Introduction
The proper installation of the Sonic MBES sonar head is critical to the quality of data that will be
realised from the system. No matter the type of installation (hull mount, moon pool, or over-the-
side pole); the head must be in an area of laminar flow over the array. Any vibration or movement
of the sonar head, independent of vessel motion, will result in reduced swath coverage and noise in
the data. To this end, the head must be installed on as sturdy a mounting arrangement as possible;
fore and aft guys are NOT recommended as a means to obtain this stability.
The initial investigation of where to mount the sonar head should take into account any engines,
pumps, or other mechanical equipment that may not be operating at the time, but may be a cause
of vibration or noise when operating under normal survey conditions.
The structural stability of any decks, bulkheads, or superstructure, which will be employed when
mounting the sonar head, must be taken into account and strengthened if necessary.
3.2.2 Over-the-Side mount

The over-the-side mount is normally employed for shallow water survey vessels and/or temporary
survey requirements. The over-the-side mount consists of a frame structure that is attached to the
vessel’s hull or superstructure. A pole will be attached to the frame, normally through the use of
swivel flanges, flanges, or other means by which the head can be swung up when not in use and
deployed when needed. A similar mounting arrangement is the bow – mount, which is a specialised
form of an over-the-side mount.
To ensure the stability of the pole, it should have a securing arrangement as close to the water line
as possible. As stated above, the use of guy wires is strongly discouraged.
When the pole is in the ‘up’ position it should be secured so that there is no or little movement that
would be a strain on the flanges or mount. The head should be washed with fresh water as soon as
possible and inspected for any damage or marine growth. If the head is to remain in the ‘up’
position; a covering should be put over the head that will protect it from the sun.
3.2.3 Moon Pool Mount

Deploying the sonar head through a moon pool is usually a more stable mounting arrangement than
an over-the-side pole. A moon pool is an area, within a vessel, that is open to the water. The sonar
head is normally mounted in such a way that it can be deployed and recovered through the moon
pool. The pole or structure that the sonar head is mounted on is normally shorter and sturdier than
an over-the-side mount; this can allow for higher survey speeds.
3.2.4 Hull Mount

The hull mount is the sturdiest of all possible ways to mount a sonar head. With a hull mount, the
sonar head is physically attached to the vessel’s hull. With this way of securing the sonar head,
there is no possibility of movement, outside that of the movement of the vessel.
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There are disadvantages to the hull mount: the head cannot be inspected easily for marine growth
or damage; the vessel may be restricted in the depth of waters that can be surveyed, due to the
head being permanently attached to the hull.
A normal hull mount will also involve the fabrication of a fairing, on the hull, to ensure correct flow
patterns over the sonar head.
3.2.5 ROV Mounting

The Sonic 2024/2022 is ideal for undersea operations due to its compact size and low power
consumption. With all processing being done in the Receive Module, all that is required is to
provide Ethernet over single mode fibre optic communication, between the SIM and the Receive
Module. The 48VDC is supplied via the ROV’s power distribution.
Please refer to Appendix VII for full details on ROV and AUV installation, interfacing and operation.
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4 SONAR INTERFACE MODULE (SIM) INSTALLATION and
INTERFACING
4.1 Sonar Interface Module (SIM) 1
Figure 33: Sonar Interface Module (SIM)
The Sonar Interface Module is the communication centre for the Sonic MBES. The SIM receives
commands from Sonic Control 2000 and passes the commands to the sonar head. The SIM also
receives the PPS and timing information, which is transferred to the sonar head to accurately time
stamp all bathymetry data in the sonar head. The data, from the sonar head, passes through the
SIM’s Gigabit switch and onto the data collection computer. Sound velocity, from the probe located
near the sonar head, and motion data are also interfaced to the SIM to be passed onto the sonar
head. The SIM is interchangeable; it is not tied to a unique sonar head.
4.1.1 Physical installation

The 15 metre cable, from the Sonic MBES Receive Module, connects directly to the SIM via an
Amphenol ™ style connector. Therefore, the SIM must be located within 15 metres of the sonar
head (a 50 metre cable is an option). The SIM is not water or splash proof, so it must be installed in
a dry, temperature- controlled environment.
The SIM is small and light enough to be unobtrusive, but care needs to be taken that it is secured in
such a manner so that it will not fall or move while the vessel is at sea. The SIM can be secured to a
surface (horizontal or vertical) through the pass-through holes that are under the corner trim pieces.
The holes accept #8-32 pan head, M4 pan head or M5 socket head cap screws. The trim piece can
be removed by hand to expose the securing holes.
1
For the I2NS SIM, please refer to Appendix I
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Pass through holes
Figure 34: Removal of trim to expose securing holes
4.1.2 Electrical and Interfacing

The SIM has four DB-9 male connectors on the front. The label, on the top, clearly shows all
connections. Beginning on the left front, the connections are: GPS, Motion, Heading, and Sound
Velocity. At the present time the GPS time message (for time stamping), sound velocity, and motion
(for roll stabilisation) inputs are enabled. Next to each DB-9 are two vertical LEDs; the top LED
responds to the input data: Green – receiving data that is being decoded; Red – no connection;
Orange – receiving data that cannot be decoded (wrong baud rate or format setting in the Sonic
Control Sensor Settings menu). There is also a LED next to the on/off rocker switch, which is the
head connection indicator: Green – head on, Red – head power off or not connected, Orange –
problems with communications or if the sonar head current draw is below expected limits.
On the second row up are three BNC connections as well as three Ethernet connections. The BNC,
which is above the GPS DB-9, receives the one Pulse Per Second (PPS is for clock synchronisation)
from the GPS receiver. The PPS, along with the GPS time information is used to time stamp and
synchronise all data.
The two BNC connections, to the right of the Ethernet connectors, are used to receive and send
synchronisation triggers to and from other systems.
Mains voltage (90 – 260VAC) is input via the IEC connector. Above the connector is a rocker switch
which turns on the system.
The SIM outputs the data (from the sonar head), via Ethernet, on any of the three RJ45 connections.
The front panel RJ45 jacks are routed to the SIM’s internal Gigabit Ethernet switch. The Gigabit
switch is self-sensing; Ethernet cross-over cables are not required.
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Figure 35: SIM Interfacing Physical Connections
Figure 36: SIM Interfacing Guide (from the label on top of the SIM)
NB. Again, at present, the SIM only takes in the PPS, NMEA Time message, sound velocity (at the
sonar head) and motion data, but not heading information.
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Figure 37: SIM IEC mains connection and deck lead Amphenol MS connector
Figure 38: Wet end connectors
Wet Non-Pressure
Amphenol Pressure Rated Cable
End Rated Cable
Function Pin (14mm/0.55”)
Pin (10.2mm/0.40”)
Number Wire Colour
Number Wire Colour
BI_DC+ 4 A Blue Blue
BI_DC- 5 B Black paired with Blue Blue/White
BI_DB- 7 C Green Green
BI_DB+ 8 D Black paired with Green Green/White
BI_DD- 11 E Brown Brown
BI_DD+ 12 F Black paired with Brown Brown/White
BI_DA- 9 G Orange Orange
BI_DA+ 10 H Black paired with Orange Orange/White
Data 6 n/c Drain Wire N/A
Shield
Power + 1 J,M Orange, Yellow (#18AWG) Orange (#18AWG)
Power 2 K,L Black, Blue (#18 AWG) Black (#18AWG)
Return
Table 10: Deck Lead Pin Assignment (Gigabit Ethernet and Power)
NB. The wet end pin assignment is the same for both types of connections.
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Figure 39: Projector cable configuration
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4.1.3 Serial Communication
All serial interfacing is standard RS-232 protocol.
Pin Data
2 Receive
3 Transmit
5 Ground
Table 11: DB-9M RS-232 Standard Protocol
Pin Data Function

1 Receive2 Secondary Serial Port
2 Receive Primary Serial Input
3 Transmit Primary Serial Output
4 +12VDC +12VDC Power
5 Ground Data and Power Common
6 N/C Not Connected
7 +12VDC +12VDC Power
8 N/C Not Connected
9 Transmit2 Secondary Serial Output
Table 12: SIM DB-9M Serial pin assignment
4.1.4 Time and PPS input
4.1.4.1 Connecting PPS and Time to the SIM

To provide the most accurate multibeam data possible, the Sonic MBES requires the GPS Pulse Per
Second (PPS) and NMEA ZDA time message or an ASCII UTC message, which is associated with the
pulse, to accurately time stamp the Sonic MBES data. The data collection software may take in the
same PPS and time message to synchronise the computer clock and the auxiliary sensor data.
The PPS is a TTL (transistor-transistor logic) pulse. The SIM box PPS input threshold is ≈ +1.35V with
about 0.14V of hysteresis. The PPS input rejects pulses narrower than about a microsecond to reject
high-frequency cable reflections and ringing, but not all types of noise. The input pulse timing needs
to be stable, within about 100ppm, or the SIM box will reject the pulses, and the LED will flash red
instead of green. The pulse is transmitted to the SIM, and the data collection computer via a coaxial
cable (such as RG-58); the cable is terminated with BNC connectors so that it is easy to use a ‘T’
adaptor to parallel the PPS to different locations. Connect one end of the coaxial cable to the GPS
receiver’s PPS output (via a ‘T’ adaptor, if required) and the other end to the SIM BNC labelled PPS.
When a pulse is received, the LED next to the BNC connector will flash green at 1 Hz.
D31 provides ESD

(electrostatic discharge)
protection; it trips at
about +/- 35V
Figure 40: TTL input/output (PPS and Sync In/Out) schematic
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The standard time message is an NMEA sentence identified as $GPZDA and is expected to arrive
after the PPS. The time message will also, usually, go to the data collection computer, so the ZDA
message must either be split or output on two of the GPS receiver’s RS-232 ports. The $GPZDA and
UTC message can be input to the SIM either via serial or Ethernet.
4.1.4.2 Trimble UTC: UTC yy.mm.dd hh:mm:ss ab<CR><LF>"

Trimble GPS receivers provide the PPS time synchronisation message with an ASCII UTC string and
not the ZDA string. The SIM expects the UTC to arrive 0.5 seconds before the PPS. When interfacing
a Trimble GPS, use the UTC message and not the ZDA for timing information. If both the ZDA and
UTC are input, the UTC will take priority; the SIM will automatically ignore ZDA while receiving UTC.
The UTC status code (‘ab’) is ignored.
Setting up the time synchronisation is done through the Sonic Control software detailed in Section
5.4.
In that each of the SIM serial ports provides 12VDC on selected pins, it is not recommended to use a
fully wired serial interface cable as this may cause some GPS receivers to stop sending data. Use a
cable with only pins 2, 3 and 5 wired, if possible.
4.1.5 Motion Input

The roll component, of the motion data, is used for roll stabilisation. Supported formats and
connection are:
• TSS1 Serial or Ethernet

• IXSea TAH Serial or Ethernet ($PHOCT)
• MiniPOS3 Serial or Ethernet
When using serial communication, it is recommended to set the motion sensor to output the
highest baud rate and highest update rate possible, preferably 100 Hz or higher.
Connect the motion data to the DB-9 labelled Motion, on the SIM, or via Ethernet input to one of
the RJ45 AUX receptacles. Setting up the serial port or Ethernet parameters is done through Sonic
Control, which is covered in Section 5.4.
4.1.6 SVP input
4.1.6.1 Connecting the sound velocity probe

The sound velocity probe is used to provide the sound velocity at the sonar head, which is used for
the receive beam steering. It is not used for refraction correction; that must be accomplished in the
data collection software employing a full water depth sound velocity cast. The SVP data can be
interfaced either by serial or Ethernet.
4.1.6.2 Valeport miniSVS

The miniSVS comes with a 15 metre cable. The cable carries both the DC power (8 – 29V DC) to the
probe and the data from the probe to the SIM. The miniSVS is set for a baud rate of 9600 and will
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start outputting sound velocity (Format: <sp> xxxx.xxx m/sec) as soon as power is applied and it is in
the water. The miniSVS cable is terminated with a female DB-9 RS-232 connector; this is attached to
the male DB-9 RS-232 connector, on the SIM, marked SVP. The probe is powered through the SIM’s
serial port 12VDC supply. The sound velocity can be input either via serial (with power provided) or
on the Ethernet (external power required).
Setting up the SVP input is done through the Sonic Control software detailed in Section 5.4.
4.1.6.3 Other supported sound velocity formats

The SIM can also accept sound velocity in the below-listed formats. Velocity (V) is parsed out of the
messages, and all other values are ignored.
SeaBird: "TTT.TTTT,CC.CCCCC,SSSS.SSSS, VVVV.VVV (CR/LF)" (39 chars)

SeaBird + P:"TTT.TTTT,CC.CCCCC,PPPPP.PPP,SSSS.SSSS, VVVV.VVV (CR/LF)" (49 chars)
SVP-C: "VVVVVDDDDDTTTBBCCCC (CR/LF)" (21 chars)
SmartSV: " VVVV.VV (CR/LF)" (11 chars)
The last format (“VVVV.VV) is also accepted with a flexible width.
There is no setup to accept these other formats, merely set the baud rate and the SIM will automatically
parse the sound velocity.
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5 OPERATION OF THE SONIC MBES VIA SONIC CONTROL
All Sonic MBES are controlled by the same Sonic Control software. The Sonic Control GUI does not
require a dedicated computer and is usually installed on the user’s data collection computer.
5.1 Installing Sonic Control Graphical User Interface

Sonic Control is supplied on a CD or as an attached file. There is no installation program, merely
decompress the program to a folder in a root directory of the computer. Send the R2Sonic.exe to
the desktop as a short cut (right click on R2Sonic.exe and choose Send to -> Desktop (create
shortcut)). The computer must have the Windows .NET Framework installed. This can be
downloaded, for free, from the Microsoft web site (dotnetfix35.exe). NB. Do not install Sonic
Control under Windows’ Program Files or put all of the files, in a folder, on the Desktop.
Figure 41: Sonic Control Icon on desktop
Figure 42: Sonic Control 2000
5.2 Hot Keys

• F2 – Brings up the Sonar Settings
• F3 – Brings up the Sonic 2026 FLS settings
• Alt+Z – Returns sector to 0 rotation
• Alt+X – Takes a snapshot of the GUI
• Alt+I – Display INS Monitor
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5.3 Settings Menu
The Settings Menu provides access to the sonar setup and configuration. Each selection will be
detailed. The order of the menu selections is not the order of setup. The initial sonar setup involves
establishing communications between the sonar head, Sonic Control and the SIM.
Figure 43: Settings Menu
5.4 Network Setup

All communication, between the Sonic MBES and the SIM and data collection computer, is via
Ethernet. The first step in setting up the sonar system is to establish the correct Ethernet
parameters, which include the IP (Internet Protocol), Subnet Mask and UDP (User Datagram
Protocol) base port under Settings | Network settings.
5.4.1 Initial Computer setup for Communication

Before starting Sonic Control 2000 for the first time, the computer’s network parameters must be
set correctly to establish the first communication.
Open the computer’s network connections. Identify the NIC (Network Interface Card) that is being
used for the Sonic system and select Properties (usually by using the right mouse button context
menu, highlight the Internet Protocol (TCP/IP) and select properties. Select ‘Use the following IP
address’ and enter:
IP address: 10.0.1.102
Subnet mask: 255.0.0.0
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Figure 44: Windows Internet Adaptor Properties
Select Internet Protocol and then select Properties to enter the correct IP and Subnet mask.
It is very important that the exact

settings, as shown in adjacent image,
are entered. This will allow initial
communications to be established
with the Sonic system; once
communication is established, the IP
address can be user configured.
WARNING
ALL COMPUTER
FIREWALLS MUST BE
DISABLED TO INSURE
Figure 45: IP and Subnet mask setup COMMUNICATION.
5.4.2 Discover Function

The sonar head and the SIM have initial IP and UDP ports to establish communication (see below).
Communication will not be established until the serial number of sonar head and the SIM are
entered in the settings for Sonar 1, in the Sonic Control 2000 Network settings.
Use the Discover function to request the serial number information from all attached R2Sonic
equipment. The Discover function will automatically transfer the serial numbers to the correct field.
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5.4.2.1 Default Network Configuration
Head IP: 10.0.0.86 BasePort: 65500
SIM: 10.0.0.99 BasePort: 65500
GUI: 10.0.1.102 BasePort: 65500
Bathy: 10.0.1.102 BasePort: 4000 (actual port 4000)
Snippets: 10.0.1.102 BasePort: 4000 (actual port 4006)
TruePix™: 10.0.1.102 BasePort: 4000 (actual port 4001)
Water Column: 10.0.1.102 BasePort: 4000 (actual port 4005)
INS: 10.0.0.44 No BasePort – Does not apply
Figure 46: Sonic Control Network setup
Until the correct serial numbers are entered, there will be no communication. Once the correct
serial numbers are entered, click Apply and dots will be visible in the wedge display signifying
communication is established. Using Discover will guarantee that the serial numbers will be entered
correctly and verify Ethernet communication between devices.
5.4.2.2 INS Addressing

When using the I2NS system, the INS default IP is 10.0.0.44. Initially, the INS will not be ready to
receive an IP address. The ‘Set IP’ becomes active when the INS is ready to accept an IP (after one to
two minutes). When the time period, to set the IP address is over the button changes to ‘Set IP
Expired’.
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Figure 47: Set INS IP Figure 48: Set IP Time Expired
5.4.2.1 Network Broadcast to more than one computer

It is possible to send the bathymetry, TruePix and Water Column data to more than one computer
via a broadcast. The Subnet Mask will dictate the correct IP address to be used to broadcast. Using
the default Subnet Mask of 255.0.0.0, the Bathy, TruePix and Water Column IP would be
10.255.255.255. If the user sets a Subnet Mask of 255.255.0.0, the output IP would be
10.0.255.255.
5.4.3 Configuring Network Communication

• The network settings allow freedom in selecting IP numbers for various pieces of
equipment.
• The most important settings to get right are the Subnet Mask (upper left corner of the
Network settings dialogue) and the GUI IP number. If these numbers are wrong, the Sonic
Control program will not be able to configure the sonar head and SIM. The GUI IP number
and subnet mask, entered in the Network Settings dialogue, is the IP address and subnet
mask assigned to the computer that is running the Sonic Control program.
• To verify computer network setup run ipconfig/all from the command line or command
prompt.
Figure 49: Command prompt-ipconfig/all
• The Sonic Control program is required to send networking configuration to the sonar head
and SIM whenever the sonar head and/or SIM are powered up.
• If the GUI IP number and subnet mask are set correctly, the Discover button will list the
R2Sonic devices attached to the network. If the GUI IP number and/or subnet mask is set
wrong, Discover will not work and the sonar head and SIM will not configure.
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• Settings for Sonar 1:
Head IP: Any unique IP number within the network subnet.
Head BasePort: Any number between 49152 and 65535. Preferred is 65500.
SIM IP: Any unique IP number within the network subnet.
SIM BasePort: Any number between 49152 and 65535. Preferred is 65500.
GUI IP: Same IP number of the computer running the Sonic Control software.
GUI BasePort: Any number between 49152 and 65535. Preferred is 65500.
Bathy IP: IP number of the computer running bathymetry data collection software.
Bathy BasePort: Base port number that the bathymetry data collection software requires.
TruePix™/Snippets IP: IP number of the computer running snippets data collection
software.
TruePix™/Snippets BasePort: Base port number for Snippets, Snippets will be output on
a port, which is the base port plus 6. With a base port of 4000, Snippets will be on port
4006; TruePix™ will be on port 4001
Water Column IP: IP address of the computer to receive water column data
Water Column BasePort: Base port number for Water Column data; Water Column data
will be output on the base port plus 5. The default base port is 4000; Water Column data
will be on UDP 4005.
• Settings for Sonar 2:

All entries must be zero. Serial numbers are left blank.
• Once networking is set up, Sonic Control will automatically connect upon power-up; there
is no need to go back into the Network Settings
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5.5 Sensor Setup (Serial and Ethernet Interfacing)
The Sonar system receives various data on the SIM serial ports or via the Ethernet. Select Settings |
Sensor setting to setup the communications parameters.
Figure 50: Sensor serial communication settings
5.5.1 Ethernet Interfacing

The system will accept the GPS time message, Motion and SVP over Ethernet as well as the normal
serial connection. When setting up the Ethernet interfacing, the IP and Subnet Mask settings, for
the auxiliary sensor, must agree with the sonar’s Ethernet configuration. The data must also utilise
UDP. The same UDP port can be used for all inputs, but separate UDP ports are suggested. Enter the
sending sensor’s IP.
In the dropdown for Interface, select Ethernet. When selected, the IP and Port fields will become
active. Set an IP that agrees with the rules of the subnet mask (default subnet is 255.0.0.0) and the
UDP port. The LED’s, on the SIM, will turn green when data is received the same as with serial data.
Using the default sonar Ethernet configuration, with a Subnet mask of 255.0.0.0 and the sonar’s IP
set to 10.xxx.xxx.xxx, the auxiliary sensor’s network configuration has to be set up with the same
Subnet mask (255.0.0.0) and use similar IP addressing (10.xxx.xxx.xxx). The illustration, below,
shows the IP address based on the default sonar network configuration.
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Figure 51: Sensor Ethernet communications settings
5.5.2 GPS
The GPS input is for the ZDA time message ($GPZDA) or Trimble UTC message; other NMEA
messages may be in the same string; it is not necessary to isolate the ZDA or UTC. In the GPS
receiver’s operation manual, there will be an entry that will detail which edge of the PPS pulse is
used for synchronisation; this will be either synch on the rising edge or synch on the falling edge.
Selecting the correct polarity is vital for correct timing.
The firmware supports the ZDA integer part (HHMMSS) and accepts PPS pulses if they pass a basic
stability test: the last two pulses must be within 200ppm. If the PPS is unstable or absent, the SIM's
internal trained clock runs with a high degree of accuracy.
The decoded time, from the bathymetry packet, is visible in the main display on the lower left along
with the cursor position information. If the displayed time and date is 01/01/1970, it indicates that
timing is not set up correctly.
5.5.3 Motion
The motion data is used for roll stabilisation. There are three accepted formats: TSS1, iXSea $PHOCT
or CDL’s MiniPOS3. All formats are accepted on serial or Ethernet.
For serial input, the motion data should be at the highest possible baud rate, with the motion sensor
configured for the highest output possible; at a minimum 100Hz update.
5.5.4 Heading
Not currently enabled.
5.5.5 SVP
This is used to set the communication for the sound velocity probe mounted on the sonar head.
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5.5.6 Trigger in / Trigger out
Used to receive or send synchronisation TTL pulses. Output goes high when transmitter pings, goes
low after the receiver has collected data.
Figure 52: Trigger In/Out Options
5.5.6.1 Trigger In
• The SIM Synch In input requires a TTL signal (0 to +5V)
• The minimum high-level trigger point is +2.4V
• The trigger pulse width must be longer than 1µsec
• The sonar will ping 10.025msecs (±10µsecs) after receiving the trigger
5.5.6.2 Trigger Out

• The output is 0 to +5V
• If Trigger Out is set to Rising Edge, the output pulse is high during the receive period. If the
Trigger Out is set to Falling Edge, the output pulse is low during the receive period.
In the lower portion, of the GUI, the colour indicator will indicate when the Trigger In is active by
turning from grey to green . When the Trigger In mode is set to Manual, the colour
indicator will change to yellow . Manual mode allows the sonar to ping every time an
external Ethernet command (PNGØ, 1) is sent to the sonar head or the GUI or, if in FLS mode, the
Ping button is used.
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5.6 Sonar Settings (Hotkey: F2)
The Sonic MBES have many features that provide the user with the versatility to tailor the system to
any survey project; many of these features can be controlled either through the Operation Settings
or with the mouse cursor.
Figure 53: Settings Menu
Figure 54: Sonar Operation Settings window
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5.6.1 Frequency (kHz) 170 kHz – 450 kHz
The Sonic MBES operates on a user selectable frequency, from 170 kHz to 450 kHz (standard with
Type 1006 projectors; the Type 1004 projector is limited to 200 kHz to 400 kHz), in 10 kHz steps.
The operating frequency can be changed on the fly; there is no need to stop recording data, go
offline, or load any firmware. The operating frequency is selected via the drop-down menu next to
Frequency (kHz) or can be typed in (within the 170 kHz to 450 kHz restrictions).
Figure 55: Operating Frequency Selection
5.6.1.1 700 kHz UHR (Sonic 2024/2022)

The optional UHR upgrade enables the sonar to operate at 700 kHz for Ultra High Resolution. If this
option is installed, there will be the added 700 kHz frequency, after 450, in the available frequency
list (as seen above). If the upgrade is not installed there will be no listing of this frequency.
The UHR upgrade requires a Type 1006 projector, which covers the normal 170 – 450 kHz frequency
range, but can also provide the necessary power to operate at 700 kHz. The projector is specially
labelled with a blue indicator on the end of the projector.
When 700 kHz is selected, the swath sector will automatically be reduced to 70°. The UHR upgrade
is intended for short range operation. In the UHR mode of operation, the across track beamwidth is
0.3° (0.6° for the Sonic 2022) and the along track beamwidth is 0.6°: true Ultra High Resolution
sonar.
5.6.1.2 UHR Operation Suggestions

When operating at the high 700 kHz frequency, it will be necessary to increase Power and
Absorption significantly (Absorption set to 200dB/km). Along with this will be a possible increase in
Pulse Length, Gain and Spreading Loss. As frequency increases so do the effect of attenuation and
this is why, when in UHR mode, the sonar operating settings need to be increased to increase the
total power going into the water and the higher gain needed to receive the attenuated signal. As
stated the UHR mode is for short range operation.
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5.6.1.3 Sonic 2026 Low Frequency Option
The Sonic 2026 has a low frequency option, which enables the Sonic 2026 to operate at 90 – 100 kHz
for deeper area surveys. The Sonic 2026 uses a completely new projector that is larger than the
standard Sonic 2024/2022 projector. This projector has other features that are detailed in the
appropriate sections. If the 2026 Extended Range option is installed, the Frequency drop-down will
include the operational frequencies of 90 kHz and 100 kHz.
Figure 56: 90 – 100 kHz Low frequency option for Sonic 2026
5.6.2 Ping Rate Limit

The Sonic MBES can transmit at a rate up to 60 Hz (60 pings per second), this is called the Ping Rate.
At times, it may be desirable to reduce the ping rate to reduce the data collection software file size
or for other reasons. Highlight the box next to Ping Rate Limit and the ping rate limit drop down box
will be activated; select a predefined ping rate or enter a manual rate.
Figure 57: Ping Rate Limit
5.6.3 Sector Coverage

The Sonic MBES allows the user to select the swath sector from 10° to 160°. All 256 beams are used,
no matter what the selected sector coverage that is chosen. The smaller the sector, the higher the
sounding density is within that sector. Changing the Sector Coverage can be done on the fly, with
no need to stop recording data or to go offline.
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Figure 58: Sector coverage
The Sector Coverage can also be controlled via the mouse cursor, inside the wedge display.
5.6.3.1 Symmetric sector sizing

Position the cursor on either of the straight sides of the wedge; the cursor will change to a double
arrow, and the sector can be reduced or increased. When using the cursor to change the sector
coverage, the change only takes place when the mouse button is released. The sector will be
symmetrically set about nadir. The sector angle will be numerically visible in the lower left-hand
corner of the wedge display while the mouse button is depressed.
5.6.3.2 Asymmetric sector sizing

The Shift button can be used to move only one side of the wedge in and out. Position the cursor on
either the right or left leg of the wedge. Hold down the keyboard Shift button and left mouse
button (LMB) to only move that leg of the wedge. Asymmetrical sector sizing can only be done with
the Shift and LMB; there is no menu selection for this type of sector sizing.
Figure 59: Asymmetric sector sizing
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5.6.4 Sector Rotate
The Sonic MBES has the capability to direct the selected sector to either port or starboard, allowing
the user to map vertical features, or areas of interest, with a high concentration of soundings
resulting from the compressed sector.
First, change the sector coverage to the desired opening angle; this will concentrate the 256 beams
within the sector, and then increase the Range setting.
Second, rotate the swath towards the feature to be mapped with high definition. This is done on
the fly, with no need to stop data recording or to go offline. When rotating, make sure to keep the
bottom detections within the confines of the range.
The sector can also be rotated using the mouse cursor, in

the wedge display. Position the cursor on the curved
bottom of the wedge; the cursor will change to a
horizontal double arrow, the wedge can now be rotated to
port or starboard. The angle of rotation is numerically
visible in the lower left hand corner of the wedge display
during rotation. A clockwise rotation is positive, an anti-
clockwise rotation is negative.
The change only takes place when the mouse button is

released. To return to a 0 rotation, use the Hotkey: Alt+Z.
Figure 60: Sector Rotate
5.6.5 Minimum Range Gate (m)

This provides a means to block out noise or interference close to the sonar head. Enter the range, in
metres, from the sonar head to establish the gate; anything within that range will be blocked. This
gate is an arc, from the sonar head, with the entered distance. As a safety precaution: This gate
should not be used when working in very shallow water.
5.6.6 Bottom Sampling

There are two main options: Equiangular or Equidistant. The equiangular and equidistant modes are
further enhanced by the Dual/Quad mode, described below. In the equidistant mode, all beams are
equally distributed, within the sector. There are limits to what the equidistant can do, based on the
opening angle and bottom topography; it is best on the flat seafloor and with an opening angle
(Sector Coverage) equal to, or less than, 130°. When in the equidistant mode the conditions, such as
excessive vessel roll, may cause the system to change from equidistant mode to equiangular mode;
this is normal operation. The GUI will indicate that the system that is supposed to be in equidistant
mode is now operating in equiangular mode by changing the BSM indicator to yellow.
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A more technical way to look at this is the change over from equidistant to equiangular occurs when
the outer beam grazing angle is 80° or greater. This is based on the below equation:
(Swath Width / 2) + Head tilt + Sector rotate = grazing angle of outermost beam
Figure 61: Bottom Sampling Modes
5.6.6.1 Dual/Quad Mode

The Dual/Quad bottom sampling modes can be used with both equiangular and equidistant
sampling. The modes work by spatially distributing the acrosstrack bottom sampling, ping by ping.
The beam is slightly repositioned, in the acrosstrack direction, with each ping. This mode was
developed for ROV/AUV survey operations.
The Dual/Quad mode will work at all speeds; however, it is at slower speeds, that the Dual or Quad
modes will be more evident.
Beam Repositioning Angle = [SectorCoverage / (256-1)] / n
Where:
n = 1 for Normal Mode
n = 2 for Double (or Dual) Mode
n = 4 for Quad Mode
The Dual/Quad mode requires 16-May-2013 head firmware and 17-Oct-2013 GUI or more recent.
All firmware from Head$16-may-2013-03-58-29 will have this feature available. All GUIs, from
17Oct2013 and newer, will support the Dual/Quad mode.
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Figure 62: Example of going from normal to Quad mode
5.6.6.2 Current Mode Display

The current Bottom Sampling Mode is shown in the main GUI window, in the lower right,
information area. If operating in equidistant mode and conditions, such as heavy roll, force the
system into the equiangular mode, the BSM indicator will be highlighted in yellow to indicate that
equidistant mode is temporarily suspended and the system is operating in equiangular mode. When
conditions change, the operation will go back to equidistant mode automatically.
Figure 63: Indication of Bottom Sampling Mode
The BSM designations:
• ea1 = Equiangular normal

• ea2 = Equiangular dual
• ea4 = Equiangular quad
• ed1 = Equidistant normal
• ed2 = Equidistant dual
• ed4 = Equidistant quad
Figure 64: Highlighted indicator for equiangular operation when in equidistant mode
5.6.7 Ultra High Density (UHD™)

Introduced in 2017, the Ultra High Density mode is an entirely new
technology developed by R2Sonic to provide the highest possible density of
soundings in one ping: up to 1024 soundings per ping. As opposed to producing pseudo beams by
interpolating data to create the appearance of double the beams; R2Sonic searches across each
beam footprint for additional soundings, using the extra-fine angular resolution that results from
R2Sonic’s advanced signal processing to precisely locate each point. This provides much higher
density and detail based on the acoustical properties of the bottom return acoustic signal = up to
1024 real bottom soundings.
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When operating in UHD mode, the data collection software storage files can become large with the
additional soundings, and it is recommended to use the data collection software file splitting
routines.
UHD uses equidistant spacing by default.
The user should be careful when using the UHD to do vertical mapping; some vertical surfaces may
not be represented as well as in normal mode.
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5.6.8 Mission Mode
The versatility, built into the Sonic 2026/2024/2022 systems, is further enhanced with the ability to
adapt the system to the nature of the survey task: normal survey, surveying a vertical feature or the
optional Forward Looking Sonar mode.
If the FLS option is not installed, the Mission Mode will only contain the Bathy functions.
Figure 65: Normal Mission Mode selections
Figure 66: Mission Mode

with the FLS Option installed
• Down, Bathy Norm: Normal bathymetry survey

• Down, Bathy VFeature: With the ability to map vertical surfaces, without physically rotating
the sonar head, this Mission Mode provides improved detection methods tailored to
mapping vertical features. This specialised mode greatly reduces the corner ‘ringing’ seen in
older technology systems. When using Bathy VFeature, please use Equiangular bottom
sampling and not Equidistant.
• Down, FLS Narrow/Wide (Type 1004 Projector): One Forward Looking Sonar mode. No
bathymetry output; this setting is for imagery only.
• Up, Bathy Norm; Up, Bathy VFeature: is the same as the above, but orientates the wedge
so it is pointing up (used primarily hull inspection type survey).
• Up, FLS Narrow/Wide (Type 1004 Projector): Most common setting when using the
optional FLS feature
• NB. Sonic 2026/2020 FLS mode has separate controls covered below
The Mission Mode can be changed on the fly, with no need to stop recording data.
5.6.9 Imagery
5.6.9.1 Acoustic Image (Display only)

The wedge can display acoustic intensity. This will aid in setting the correct combination of
operating parameters (such as power, pulse width and gain). Enabling the Acoustic Intensity will
increase the network load.
Enable the wedge Acoustic Intensity under the Display options. The Brightness control, in the main
window, is used to set the intensity in the display. A good brightness setting, to start with, is 30dB.
Most users also prefer the 1 pixel bathy dot option (on the Display tab), when viewing the Acoustic
Image, in the display.
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Figure 67: Enable Acoustic Image in the wedge display
5.6.9.2 Forward Looking Sonar (Sonic 2024/2022-Requires Type 1004 projector)

Forward looking mode can be in one of two configurations. FLS Wide uses the 20° projector within
the Type 1004 projector. FLS Narrow uses the 1° standard projector. The wide mode, using the 20°
projector, will have a lower source level, but is very good for near field use. The narrow mode
allows for full source level to be used (221dB) but is more critical in aiming towards the target due to
the 1° transmit pattern.
Figure 68: FLS Wide mode
5.6.9.2.1 FLS Mode adjustments

In FLS mode, the Brightness button adjusts the image ‘gain’ up to 80dB. The colour palette is
selected in the Display options, under Acoustic Image.
Figure 69: Imagery palette selection in Display Options
The FLS grid visibility is set in the Display | Grid settings. When in FLS mode, the range rings are
turned on and off, by the Horizontal Grid Line selection. The angle markers (from nadir) are
controlled by the Vertical Grid Line selection.
5.6.9.2.2 Stealth Mode

The FLS can be operated in a stealth mode, where the only time the system transmits is when the
user manually triggers the sonar using the Ping button. In Sensor Settings, the ‘Trigger In’ option has
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to be put to Manual (the TRG indicator colour will change to Yellow); simultaneously, the Ping
button will appear in the GUI. The only time an image will be updated, is when the user selects the
Ping button.
Figure 70: Stealth mode single Ping button
5.6.9.3 Forward Looking Sonar (2026/2020)

The Sonic 2026 and Sonic 2020 both have steerable projectors (required for pitch stabilization),
which also provides the sonars with greater flexibility when used in FLS mode. In FLS mode, the
vertical beamwidth can be changed and the transmit beam can also be vertically steered. The
degree of steering ability and width of the vertical beam is frequency dependent.
Because of these advanced features, with the Sonic 2026 and Sonic 2020 FLS mode, there is an
additional FLS option in the Settings menu that allows the user to set the Vertical Beamwidth and
the degree of Vertical Steering.
Figure 71: Settings menu FLS settings option
When FLS settings (or F3) is selected and one of the FLS options, in Mission Mode, is selected
another window will be visible to select the beamwidth and steering angle.
Figure 72: Sonic 2020/2026 FLS Options
The lower the frequency, the wider the vertical beamwidth and the greater the degree of vertical
steering allowed. V Beamwidth and V Steering are used to alter the beamwidth and steering angle
by using the left mouse button to decrease the value and the right mouse button to increase the
value, up to the limits set by the operating frequency.
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Approximate Vertical Beamwidth in Degrees
100 170 200 250 300 350 400 450

Setting kHz kHz kHz kHz kHz kHz kHz kHz
Narrow 1 8.7 10 8.7 6.9 5.8 5 4.3 3.7
2 12 13 11 8.7 7.2 6.2 5.4 4.7
3 17 15 12 10 8.3 7.1 6.2 5.4
4 22 17 15 12 9.7 8.3 7.3 6.8
5 25 21 18 14 12 10 8.7 7.7
6 29 26 22 18 15 13 11 9.5
Wide 7 35 35 30 24 20 17 15 14
Default 29 26 22 18 15 13 11 9.5
Table 13: Sonic 2020/2026 FLS Vertical Beamwidth
As an example of the vertical steering: 400 kHz, the steering is ±10°. At 200 kHz, the steering is
± 20°.
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5.6.10 Roll Stabilize and Pitch Stabilize
When a motion sensor is interfaced to the SIM, the data can be stabilised for the roll motion of the
vessel. With the advanced roll stabilisation, in the Sonic 2026/2024/2022, there is no need to stop
recording or go offline to change between roll stabilised and non-stabilised mode, nor is there a
need to go into the data collection software and identify the data as roll stabilised. The R2Sonic roll
stabilisation has been developed based on recommended methods from various data collection
software companies.
Roll stabilisation only works within the 160° maximum sector, any swath rotation or large sector size
(opening angle) that attempts to go beyond the 160° limit will cause the system to stop roll
stabilisation.
As stated in the SIM interfacing, it is recommended that the motion data be at the highest update
rate possible.
Pitch Stabilize is only available in the Sonic 2026 (and Sonic 2020). Enabling Pitch Stabilize will steer
the transmit pulse in such a way as to counteract the pitching of the vessel. This feature can be
enabled at any time, but it is intended for deeper water survey applications. The operating
frequency determines the range within which pitch stabilisation will be able to work.
The maximum steering angles for the 2020/2026, with pitch stabilization enabled, is given by the
following equation:
maxsteer = (10 degrees) * 400000 / frequency in Hertz
At 400kHz, the system can compensate for ± 10° of pitch. At 200kHz, it can compensate for ± 20°of
pitch. At 700kHz, this will decrease to about ± 5.7°of pitch.
Figure 73: Roll and Pitch Stabilize
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5.6.11 Dual Head Mode (Also see Appendix VII, Section 13.9)
The selections are Single Head, Simultaneous Ping or Alternating Ping. When the dual head mode is
selected, a second wedge display will be available in Sonic Control 2000.
When using dual heads, the sonar heads have to have exactly the same firmware installed. Use
the Status display to verify that both heads have the same firmware; if not, update the oldest
firmware sonar head to match the most current firmware sonar head.
Figure 74: Dual Head Mode
Figure 75: Dual Head Mode active
In dual head mode, certain controls: Range, Power, Pulse Length, and Gain set both sonar heads.
NB. For a dual head system, the Discover function will only list the systems. Discover does not auto-
fill the serial numbers for a dual head system. Correct serial numbers must be entered manually for
both systems.
5.6.11.1 Dual Head default settings

There is a specific ‘settings’ file that can be loaded that will set all of the defaults for a dual head
configuration. Under the File menu selection, select Load Settings.
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Figure 76: Load Settings menu selection
The available settings files will be shown. There are three Factory Default initialisation files; two for
single head: standard systems and I2NS systems and two for dual head: dual head – dual SIM or dual
head – single SIM.
Figure 77: Loading an .ini file
When the file is loaded, Sonic Control will be configured for dual head mode; this includes the
default network settings. If using only one SIM, the second SIM IP and BasePort must be set to zero.
When only one SIM is used for a dual

head system, the Sonar 2 SIM IP and
BasePort need to be set to 0. The Serial
Number must be left blank. This is the
DefaultSettingsDualHead_SingleSIM.ini
Figure 78: Default dual head Network settings
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5.6.12 TruePix™, Snippets, Water Column Enable and Intensity Enable
If the options TruePix™, Snippets or Water Column are installed (installed options are shown in Help
| Options), those features can be turned on and off by ticking the box next to appropriate option
enable. Intensity Enable will output the bottom detection intensity value in the bathymetry packet;
this is a standard feature.
5.6.12.1 TruePix™ Explained

TruePix™ is a new backscatter imagery process developed by R2Sonic to combine the advantages of
the traditional side scan record and Snippets while eliminating their respective disadvantages.
Side scan records are:
• Formed independently from Bottom detection

• Compact
• Inclusive of water column data in the Nadir region
• Suitable for the pairing of highlights and targets
Snippets records:
• Suppress reverberation
• Report angle of the centre of snippets record for better colocation of backscatter and
bathymetry
TruePix™ possesses all of the above advantages and more.
The TruePix™ operation processes all beams into a single continuous times series record for both
the port and starboard regions. This continuous record contains intensity and angle values for every
point in the record (approximately 10,000). The range corresponds to the sample number times the
sample interval, (which is 1/sample rate) like a regular side scan; along with the angular information,
the point’s elevation and distance from nadir can be calculated.
On the Imagery tab, the user can select to store the Magnitude or the Magnitude + Angle data. The
Magnitude + Angle data option will provide the geolocated information (preferred); storing
Magnitude data provides only imagery.
Figure 79: TruePix™ image of wreck debris and seagrass

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5.6.13 Water Column Data Collection
Water column data takes a considerable amount of the uplink bandwidth. The network interface
card (NIC) settings are very important to allow the computer to work with water column data
collection. There are also Windows Registry settings that can be adjusted; please contact
[email protected] for details on changing Registry settings.
The NIC has to be Gigabit. It is very important to increase the Receive Buffer size, for the NIC, so
that the NIC can handle the flow of the data. Increase the value to the highest number possible.
Depending on the NIC; there is more than one way to accesses the Receive Buffer setting on the
Advanced Tab, under Configure.
Figure 80: Network Card Properties
Figure 81: Intel NIC Properties
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5.7 MultiMode
First introduced in 2016, the MultiSpectral mode provides a means to ping at different frequencies
with each subsequent ping.
R2Sonic has greatly enhanced the ability to tune the sonar on a ping to ping basis beyond just the
frequency. The MultiSpectral mode is now a selection in a more enhanced MultiMode function.
Figure 82: MultiMode Window

Figure 83: Settings | MultiMode
Where the MultiSpectral mode allowed the user to select a Frequency, Gain, Absorption and
Spreading loss, MultiMode allows for also setting Sector Coverage and Sector Rotate.
From Mode Select, the user can select the MultiSpectral mode or a specialised UHR feature:
Pipeline Mode.
Figure 84: MultiMode Selections
5.7.1 MultiSpectral Mode™

R2Sonic developed the MultiSpectral Mode™ to meet the growing demands of those involved in
extending the use and capabilities of multibeam backscatter. To a much lesser extent, this mode
may provide benefits in some bathymetric surveys.
When enabled, this mode is used to sequentially shift the operating frequency on a ping-to-ping
basis. Up to five different frequencies can be set to be shifted between. There are four preset,
MultiSpectral modes; three of which are selectable under Presets, but the user can enter any values
that they wish
Figure 85: MultiMode Preset Settings
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When loading a configuration, from the Presets, the user will be notified that the current settings
are about to overwritten.
Figure 86: Preset warning
Under ‘Mission Mode’ there are preset options that can be used as a starting point or two Custom
settings, which can be renamed by selecting the ‘Rename Mode’ option.
The number of frequencies, which are required, can be manually set by the ‘# (number) of Slots’
drop-down menu. Each Slot can be set up manually by either entering the desired parameters or
using the drop-down menu. An alternative is that if Sonic Control is currently using the desired
configuration, the user merely clicks on the associated Slot column heading and those settings will
be automatically transferred.
Figure 87: Capture settings prompt
When ‘Enable MultiMode’ is selected, by clicking on the associated box, the sonar will ping with Slot
0’s configuration and, on the next ping, use Slot 1’s configuration, then Slot 2’s configuration and
etc. When the last Slot is used, the sonar starts over at Slot 0’s configuration.
When MultiMode is enabled, the sector coverage and sector rotate will no longer be able to be
adjusted via the computer mouse; the only way to change the sector coverage and the sector
rotate is through the MultiMode settings.
5.7.2 Pipeline Mode

Pipeline mode is designed for UHR capable systems. When enabled, the sonar will switch, ping by
ping, between UHR mode and standard mode. This capability means that the pipeline or other
linear feature is mapped with UHR and the full resolution of the surrounding natural bottom is
mapped at the same time. This is opposed to systems that sacrifice beams to concentrate on a
linear feature and sacrifice beams for the surrounding seafloor; pipeline mode provides full
resolution of the feature as well as the seafloor on either side. Both the pipeline and the corridor
receive full resolution coverage.
When enabled, the sonar will ping at 700kHz and then 400kHz (or other selectable frequency). The
default sector size for UHR is 70°; the default for 400kHz is 125°. Pipeline mode can also benefit
from using UHD bottom sampling. It is recommended that prior to entering pipeline mode, the
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sonar is put to 700kHz and the power adjusted for that frequency. If this is not done, it could be the
Power setting may be too low for 700kHz and the result will be noise instead of a good bottom
return.
For a dual head installation, MultiMode will automatically go to a dual head configurable condition.
Figure 88: Dual Head Multimode
Figure 89: Pipeline Mode (courtesy of Swathe Services)
Figure 90: Pipeline Mode (image courtesy of DOF

Subsea)
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5.8 Ocean Setting
Figure 91: Ocean Characteristics
Ocean Characteristics include Absorption and Spreading loss, which are the main components of the
Time Variable Gain (TVG) computation, and manual Sound Velocity (for receive beam steering).
5.8.1 Absorption: 0 – 200 dB/km

Absorption is influenced primarily by frequency and the chemical compounds of boric acid B(OH)3
and magnesium sulphate MgSO4 in the water column.
It is highly recommended that the local absorption value is entered. The button, next to the
absorption input, will call up a calculator that will allow setting the correct parameters to derive the
proper value to be entered.
Either manually enter the values for each

variable or use the dropdown selection to
choose a value.
Enter the resultant value into Absorption; it is

not automatically updated from the calculator.
Appendix VI provides a table of absorption values based on operating frequency.
5.8.2 Spreading Loss: 0 – 60 dB

Spreading loss is the loss of intensity of a sound wave, due to the dispersion of the wavefront. It is a
geometrical phenomenon and is independent of frequency. The sound wave propagates in a
spherical manner, the area of the wavefront increases as the square of the distance from the source.
Therefore, the sound intensity decreases with the square of the distance from the projector.
Spreading loss is not dependent on frequency.
Spreading loss is not a setting that normally needs to be changed except when surveying in deeper
depths. As spreading loss is not dependent on frequency, the setting is unaffected by a change in
operating frequency. A general default value of 20 – 30 is normally sufficient for most survey
conditions. The standard default is 20dB. The value should be increased when surveying into deeper
depths (>100 metres).
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NB. In very shallow water (2m or less) it may be more advantageous to use Fixed Gain. To put the
system into Fixed Gain enter zero (0) for both Spreading Loss and Absorption.
For more detailed information on absorption and spreading loss, please refer to Appendix VI Basic
Acoustic Theory.
5.8.3 Time Variable Gain

Absorption and spreading loss are the main components of the Time Variable Gain (TVG)
computation.
TVG Equation
TVG = 2*R* α/1000 + Sp*log(R) + G
α = Absorption Loss db/km

R = Range in metres
Sp = Spreading loss coefficient
G = Gain from Sonar Control setting
TVG is employed in underwater acoustics to compensate for the nature of the reflected acoustic
energy. When an acoustic pulse is transmitted in a wide pattern, the first returns will generally be
from the nadir region and very strong. As the receive window time lengthens, the weaker returns
are received. Using a fixed gain would apply either too much gain for the early returns or
insufficient gain for the later returns. The solution is to use TVG. The function of TVG is to increase
gain continuously throughout the receive cycle. Therefore, smaller gain corresponds with the first
returns (normally the strongest) and higher gain corresponds to the later returns (normally the
weakest). This function is represented in, what is called, the TVG curve.
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5.8.3.1 TVG Curve
The TVG curve can be either shallow or steep depending mostly on the Absorption value to define
the shape of the curve. The Spreading Loss will determine the amplitude of the gain.
Figure 92: TVG Curve Concept
5.8.3.2 Sound Velocity

The speed of sound, at the receiver’s face, is required to do the receive beam steering, which is
required for all flat array sonars. The angular acoustic wavefront strikes each receive element, but
at a different time and phase depending on the angle of the return. By introducing a variable delay
to each receive element’s information, the phases can be aligned, and the beam can be ‘steered’ in
the direction of the return. In order to accurately apply the correct delay, three factors have to be
known or measured: The physical distance between each receive element is known, the time of
reception at each receive element is measured, the speed of sound at the receiver face must be
known or measured (for this reason there is a sound velocity probe attached to the mounting
frame).
In case of emergency (SV probe becomes fouled or is erratic) the beam steering can be
accomplished, without a sound velocity probe, by entering in the correct sound velocity for the area
around the sonar head. To manually enter a sound velocity, check the box in the Sound Velocity
row, in the Ocean Settings, and enter a velocity. The SVP indicator, in the GUI, will change to Yellow.
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WARNING
The wrong sound velocity, at the sonar
head, will cause erroneous data. There are
currently no known post-processing tools
to correct for this.
If the sound velocity is wrong, the beam steering will be in error. If the sound velocity is greater than
what it really is at the face of the receiver, the ranges will be shorter, and thus the bottom will curve
up or ‘smile’. If the sound velocity is less than what it really is at the face of the receiver, the ranges
will be longer, and the bottom will curve down or ‘frown’. This error can be confused with a
refraction error caused by the wrong water column sound velocity profile. The refraction error can
be corrected by entering the correct water column sound velocity profile, however; erroneous beam
steering cannot be corrected as it is part of the beam data.
Therefore, for accurate beam steering to take place, an accurate sound velocity must be provided to
the Sonic MBES.
Figure 93: The angular acoustic wavefront will strike each receive element at a different time
As the wave progresses across the face, each receive element will see the wave at a slightly different
time and thus a slightly different phase. The formed beam is steered in the direction of the acoustic
wave by selectively adding delay to each receive element’s data until the data is coherent and in
phase. In the figure, above, receive element 1 would have the most delay applied, whereas receive
element 8 would have no delay; thus a ‘virtual array’ will be formed.
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5.9 Installation Settings
Figure 94: Installation Settings
5.9.1 Projector Orientation

The preferred orientation is with the projector facing forward. This configuration has been tested at
speeds up to 12 knots, with excellent results (hull and moon pool mounting). However, if the
installation requires the projector to face aft, this setting is used to renumber the beams to reflect
the aft orientation.
5.9.2 Projector Z Offset (m)

Sonic Control automatically senses which sonar is attached and will set the correct Projector Z
offset. If an alternative Projector Z offset is required (such as a system that is installed on an ROV),
the checkbox needs to be deselected in order to enter a new value for the Projector Z offset.
Using the standard R2Sonic mounting frame, the projector is mounted at a precise distance, relative
to the receive array, with a Z offset of 0.119m for the Sonic 2024 and 2022 and 0.045m for the Sonic
2026 being the default. If the projector is not mounted in the same vertical relationship to the
receive array, an offset can be entered here to compensate for that vertical offset. If the box is
checked, Sonic Control will automatically choose the correct Projector Z offset for the system. If a
non-standard offset is used, deselect the box to type in the correct Projector Z offset.
The default Z offset value is 0.119m (0.045m for the Sonic 2026); this is the physical distance
(vertical) between the receive array ceramic face and the acoustic centre of the projector array), as
used with the standard R2Sonic mounting frame (with 35mm projector standoffs for the Sonic
2024/2022). Do not change this value unless the projector is mounted with a different vertical offset
relative to the receive array. Please contact R2Sonic for further guidance on mounting the projector
with a different vertical offset.
5.9.3 Head Tilt

If the sonar head is physically tilted to port or starboard, the tilt angle is entered here to rotate the
wedge and depth gates. The head tilt limits are ±45°. If the head needs to be tilted more than 45°,
please contact [email protected] for instructions.
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5.10 Status
Figure 95: Status Options
The INS monitor is covered in Appendix I
5.10.1 System Status

The Status report provides a detailed list of the current system parameters in both the sonar head
and the SIM, including the current version of installed firmware and serial input messages.
It is quite normal that the SIM messages, in

the Head Status, differ slightly from the
Serial port sensor data (in the SIM Status).
The Head Status reflects what is received at
the head, from the SIM.
Figure 96: Status Message
The upper area reflects the sonar head status; the lower area reflects the SIM status. In the SIM
Status area, the real-time serial input data is shown. In the Head Status area, the received SIM
message, which contains the serial received serial data, is shown. The Head Status Response time
(µs) reflects the time required for a message (such as a time request) to go from the head to the SIM
and return. The Response time can be very useful in ROV installations to determine any latency
issues with the communication between the ROV and the SIM.
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5.10.2 Saturation Monitor
Figure 97: Status | Saturation Monitor
The Saturation Monitor provides the user with the means of monitoring the sonar’s receiver signal
level. The Saturation Monitor is was developed by R2Sonic based on the work and input of Dr
Jonathan Beaudoin (then with Centre for Coastal Mapping, University of New Hampshire).
The Saturation Monitor enables the user to set sonar parameters to collect meaningful backscatter;
maintaining signal levels that keep the receivers within their linear region of response. The
Saturation Monitor allows the user to maintain consistent intensity levels. When the Saturation
Monitor is enabled, the Intensity Enable (Sonar Settings) will be automatically enabled.
Figure 98: Saturation Monitor
The factors that control intensity are:
• Power
• Pulse Width
• Gain
• TVG Parameters
o Spreading Loss
o Absorption
When the Saturation Monitor is opened, the user can adjust the above parameters to maintain
signal levels below the red 100% saturation line. The TVG parameters can be changed, directly in
the monitor window, without having to go to the Settings | Ocean menu.
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5.10.3 TruePix™ Monitor
The TruePix monitor has been added to Sonic Control to provide users with a means to visualise the
real-time imagery. It is important to note that with the addition of the TruePix monitor the manner
in which TruePix are transmitted, from the head, has changed. TruePix data will only flow to the
data collection software when Sonic Control is open. If Sonic Control is closed, the bathymetry (as
well as Snippet and water column) data will still flow to the data collection software, but the TruePix
data will not.
Figure 99: TruePix Monitor
There are multiple palettes available and can be changed and, when change, will take immediate
effect on the displayed data. The Brightness and Contrast can be toggle up and down using the
mouse buttons after first clicking on either Brightness or Contrast.
Figure 100: TruePix

monitor palette
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5.11 Tools
5.11.1 Engineering
This area is for engineering commands to be sent to either the head or SIM for either
troubleshooting or system analysis. This area should not be used except by the direction of R2Sonic
engineers.
5.11.2 Firmware Update
WARNING
ALL COMPUTER
FIREWALLS MUST BE
DISABLED. ALL VIRUS
CHECKERS MUST BE
DISABLED.
When R2Sonic issues a firmware update, it will be made available to the customer, allowing the
customer to update their system by themselves. There are two firmware updates possible: SIM
update and/or sonar head update. The update file will be designated either Simb$ (SIM) or Head$
(sonar head); the extension will be *.bin. There is also an option to update the transmitter
firmware; this is not the same as the sonar head firmware.
Before updating the firmware, make sure that none of the computer’s other Ethernet ports are in
use; it may be necessary to shut down other sensors that use the Ethernet for data transfer.
Connect the SIM directly to the computer’s network interface card.
Place the update file in the Sonic Control directory, on the computer hard drive. Go to Tools |
Firmware Update; the files will be shown, if not use the browse button to search for the correct
upgrade file to download to either the SIM or the sonar head. If there is an upgrade for both the
sonar head and the SIM, it is recommended to upgrade the SIM first. Updates are not fully installed
until the system has been power cycled.
In Dual Head systems, the firmware update can only be applied to Sonar 1. To update Sonar 2, it
must be temporarily connected as Sonar 1.
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Figure 101: Select Tools; Firmware Update
Figure 102: The Browse button will open the current GUI's directory
Figure 103: Select correct update .bin file
Figure 104: A batch file will automatically load the upgrade file
Once the Update button is clicked on, a batch file will automatically run and download the .bin to
the appropriate location.
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Figure 105: The start of a firmware update. A series of dots represents the update progress.
Figure 106: Firmware update completed.
5.11.2.1 Firewall and Virus Checker Issues

A major problem can arise from having a firewall turned on (either Windows or third party) and
virus checkers. Having a firewall on will cause a window to pop up, from the firewall, during the
upgrade procedure requesting permission to run the upgrade; selecting yes (to allow) it proceeds. In
the CMD window, a series of ‘r’ will appear to show the update procedure is trying to perform the
update but is being prevented from doing so. Once the firewall has been turned off or trained, the
‘r’ will change to the normal update dots.
Attempting to
update
firmware
Sending
firmware
Figure 107: Indication of attempts to update the firmware
5.11.2.2 Transmitter Firmware Update

When the transmitter firmware is to be updated, it is a special update. Being a special update, more
steps have to be taken, which is why a series of keys and mouse clicks have to be used to activate
the update. The transmitter firmware is embedded with the normal sonar head firmware. If the
transmitter firmware is to be updated, click the transmitter firmware update button (with
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associated keystrokes and LMB). The head will stop uplinking data (spinner stops) while the transmit
firmware is being loaded. When the firmware is updated, the sonar will start pinging normally.
5.11.3 Snapshot and Reset Sector Rotate

Both of these features can be activated using hotkeys. Snapshot will capture a single image of the
GUI. Unless a folder is selected, on the Imagery Tab, the captured image will be stored within the
GUI files. The Snapshot also requires that ffmpeg is installed. A snapshot can be taken by using Alt
X. With the ability to orientate the swath to port or starboard, an easy way to return the swath to
zero rotation is by using Alt Z.
5.12 Help
Figure 108: The Help Menu
5.12.1 Help Topics

Selecting Help Topics will bring up an electronic copy of the Operation Manual. This is the same as
the paper version of the Operation Manual.
5.12.2 Options
The Options display shows the upgrades that have been installed in the system. The installed
options are enabled or disabled, as required, in the Sonar Settings (except for the 3000m depth
rating upgrade); this display merely shows what is available for the system. Enabling an installed
option’s output is done in Sonar Settings.
Figure 109: Installed Options
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5.12.3 Remote Assistance
R2Sonic support can assist in setting up the system or troubleshooting the system, remotely, by
taking control of the customer’s computer. An internet connection is required.
Figure 110: Remote Assistance
When Remote Assistance is selected, a separate program will be launched that will allow R2Sonic
Support to control the computer on which Sonic Control is installed remotely. The Remote
Assistance window will contain an ID and Password. Contact R2 Support (+1.805.259.8142) and
provide the ID number and Password (SMS is preferred), this will allow support to connect to the
computer and take control of it to assist in setup up or troubleshooting. It is preferred that before
starting the Remote Assistance program that R2Sonic Support is notified via email:
[email protected] or called (SMS is fine), at the above number, to alert them that a Remote
Assistance session is requested. Please use UTC or GMT time.
Remote Assistance uses TeamViewer™ software
licensed to R2Sonic. When contacting R2Sonic,
requesting Remote Assistance, a mutually agreed
upon time will be established for the session. When it
is time for the session, run Remote Assistance. In the
Remote Assistance window, there will be the unique
ID, which identifies the computer and the password,
which allows R2Sonic Support to take remote control
of the computer. This information has to be sent to
the R2Sonic personnel that will be assisting.
Figure 111: Remote Assistance window
5.12.4 About Sonic Control

The About Sonic Control shows the version of Sonic Control that is being used. This can be of
importance if a GUI is used that does not match the features of the sonar firmware or the sonar
firmware does not match the features of the GUI.
Figure 112: About, provides the GUI version

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5.13 Display settings
The user can customise the measurement units and colour
scheme of Sonic Control’s main window.
The Units dropdown allows for either metres or US Survey

Feet. Whichever is selected will determine the labelling of
the axes, the sound velocity and the nadir depth. NB. this is
only for display purposes; the output remains in metric.
Dot Colors provides a means to view instantaneous

information by colouring the bottom detections dots for the
detection algorithm being employed when Sounding Type is
selected.
Selecting Intensity provides a grey scale representation of the

return data’s acoustic strength. This Dot Color mode can be
very helpful in balancing the power, gain and pulse length for
Figure 113: Display Settings optimal operation of the system. The Brightness (dB) sets a
base reference for the depiction of the acoustic return
strength.
Bathy-dot Size selection is either normal (1-pixel) or large (3-pixel); default is large. Using the 1-
pixel size is recommended when viewing the Acoustic Imagery, in the wedge display.
Under Draggable Sector Outline, the user can enable or disable the feature to use the mouse cursor
to change the opening angle and swath rotation.
Acoustic Image the Image Enable box turns the wedge’s acoustic imagery on and off. The drop
down, under Image Enable, allows the user to select the colour palette for wedge’s acoustic imagery
5.13.1 US Survey Feet Unit (Display Only)

The default display units are metric. Selecting US Survey Feet will change the display to that
measurement system. This is only for display purposes. There will be a prompt to alert the user
when the units are changed.
Figure 114: US Survey Feet display
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5.14 Imagery
On the Imagery Tab, the user can select the imagery data (TruePix™ and Water Column) formats for
logging. The maximum data size is shown to provide the user with an idea of what to expect when
storing imagery data. The user can also select to apply the bathy gate settings to the TruePix™ data.
Figure 115: Imagery Settings
5.14.1 TruePix™ and Water Column

The size of the TruePix™ and Water Column formats are given; the user can select either of the
formats (this would depend on the users’ end product). For TruePix™, if geolocated data is required,
the Magnitude+Angle format must be used.
Data rates for Water Column and TruePix are also affected by pulse width. Longer pulse widths will
reduce data rate approximately:
15-30us: 1/1 data rate

>= 140us: 1/8 data rate
5.14.2 Video Capture

The GUI Record button, in the main window, will capture the entire GUI image in a video file. The
format is *.mkv; further details are in Section 5.16. Select a folder location to store videos; if no
folder is selected, the video file will be stored within the GUI files.
To maintain a useable video file size, select the appropriate frame rate for the video.
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5.15 ROBO Automatic Sonar Operation
The sonar can be set up to automatically change Power, Pulse Width and Gain based on the Range
setting and the percentage of receiver saturation. This feature is designed for ease of use, but the
user must be aware that environmental factors play a very large part as to how successful the Robo
settings control the sonar. Robo operation does not negate the need for a user to pay attention to
the sonar. As with all automatic features, Robo operation is designed for a non-challenging
environment.
Robo operation, Range Trac and Gate Trac can be used together for almost hands-free operation of
the sonar (within environmental limits).
Robo operation relies on a look-up table, which can be easily modified by the user. Enabling Robo
operation is initiated by selecting Robo in the control line.
Figure 116: Enabling Robo Operation
When Robo mode is enabled, Power, Pulse Width and Gain will be greyed out. The Saturation value
will be added, on the left side, to show the value being used for the automatic change of gain.
Figure 117: Operational settings with Robo active
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5.15.1 Robo Settings
Figure 118: Robo Settings
5.15.1.1 Auto Gain Adjustment

The Robo feature uses the Range setting and the percentage of receiver saturation to determine
when to change the Power, Pulse Width and Gain.
The Range setting will determine the Power and Pulse Width. Receiver saturation percentage will
set the Gain. The Saturation Monitor is covered in Section 5.10.4
Target Saturation is the level of receiver saturation to be maintained. The Gate is the limit, about
the Target Saturation, before a change is made. Max Gain Steps determines how the gain should
increase or decrease.
5.15.1.2 Range Table

The current settings are shown in the Range Table; the values cannot be edited within this window.
Selecting View will link directly to the RoboSettingsTable.ini file location. The ini file can be opened
in Notepad or any text editor and modified to suit local survey conditions.
Figure 119: Robo Settings Table
Figure 120: In Robo Settings, View link to the ini file

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5.16 Main Operation Parameters
The main operating parameters of the Sonic MBES are controlled by the buttons in the lower
portion of the window.
Figure 121: Operating parameter buttons
To change a value, position the mouse cursor on the button then use the left mouse button to
decrease the value and the right mouse button to increase the value.
The right hand side of the panel provides system information:
• W: Wedge sector (opening angle)

• T: Sector Tilt angle
• f: Operating frequency
• c: Sound velocity at the sonar head
• PR: Ping rate
• BSM: Bottom Sampling Mode
• D: Nadir depth
The lower left area displays the colour of the SIM communications LEDs, time, which is decoded
from the bathymetry packet and the current cursor position, relative to the sonar head. The angular
information is represented by theta Θ.
5.16.1 Range: 0 – 1200 metres

The Range setting sets the maximum slant range of the Sonic MBES. The maximum slant range
determines how fast the Sonic MBES can transmit; this is the Ping Rate. What the range setting is
doing is telling the MBES the length of time that the receivers should be ‘listening’ for the reflected
acoustic energy. If the Range setting is too short, some of the returning energy will be received
during the subsequent receive period, i.e. out of sync, and will be seen as noise.
It is easy for the operator to maintain the correct Range setting by noting the bottom detection dots
relationship to the straight legs of the wedge display.
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Straight legs of the wedge represent
the Range setting; bottom detection
dots must be above the corners.
Figure 122: Range setting represented in the wedge display
Figure 123: Graphical concept of the Wedge Display
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5.16.2 RangeTrac™ – Sonic Control automatically sets correct range
RangeTrac™ removes the need to set the correct range manually; Sonic Control will determine the
correct range and maintain the range setting, no matter how rapidly the depth may change.
RangeTrac is enabled by selecting the box, next to RangeTrac, in Sonic Control.
Figure 124: RangeTrac enabled
The Range button will change to reflect that Sonic Control is operating in RangeTrac mode.
Sonic Control will continue to operate in RangeTrac mode until the user manually changes range or
RangeTrac is deselected.
When using RangeTrac, the user manually sets the range first and then turns on RangeTrac; from
that point on, there is no need for the user to adjust the Range setting. RangeTrac will automatically
set the correct Range for the water depth. RangeTrac will also optimise the ping rate for the
determined range.
There are no limits to RangeTrac as far as the steepness of slope or amount of variability. RangeTrac
can be used simultaneously with GateTrac, in both the Depth and the Depth + Slope modes.
5.16.3 Power: 191 – 221 dB

The Power setting sets the source level of the transmit pulse; this is represented in the figure below.
The Sonic MBES should be operated with sufficient power to enable good acoustic returns from the
sea floor. The value will change based on water depth, bottom composition, and operating
frequency. In general, higher power is better for getting decent bottom returns rather than using
receiver gain to obtain the returns. If the Power setting is too low, more receiver gain will need to
be used to capture the bottom returns; this can mean extraneous noise will also be received. The
increase in noise will require more processing time; it is better to slightly increase the Power to
increase the strength of the bottom returns and, thus, allow for a lower receiver gain setting. If too
much power is used, the receivers can be over-driven (saturated); this will result in noisy data
and/or erroneous nadir depth readings. A good balance of source level (Power) and receiver gain is
the desired end. Shift – left click will turn transmitter power off (Power 0).
5.16.4 Pulse Width: 15µsec – 1115µsec (Sonic 2026 max is 2000µsec)

Pulse width determines the transmit pulse duration time. The Sonic 2024/2022 pulse width range is
from 15µsec to 1115µsec. The Sonic 2026 pulse width range is from 15µsec to 2000µsec in normal
mode. If the Extended Range option is installed in the Sonic 2026 and the sonar is operated at 90
kHz or 100 kHz, the minimum Pulse Width is 140µsec. The pulse width does not affect the pulse
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amplitude, which is determined by the Power setting. The general guideline is to maintain as short a
pulse width as possible to optimise the resolution, but not so short as to weaken the transmit pulse.
It is suggested that 20µsec pulse width is considered the minimum to use. Generally, as the water
gets deeper, the pulse width will have to be increased to get more ‘total’ power in the water. The
default pulse width will depend on the chosen operating frequency.
Figure 125: Transmit Pulse
The Pulse Width and sample rate are closely related. In order to reach the maximum pulse with, for
a given sample rate, use Shift + mouse click to increase/decrease the pulse width in quarter octave
steps. Sample rate change at 35, 70, 140, 280…µsecs.
Shift+RMB = Increase in quarter octave steps
Shift+LMB = Decrease in quarter octave steps
5.16.5 Gain: 1 – 45
Receiver gain is in 2 dB steps from 1 to 45. This adjusts the receive gain of the sonar head receivers.
5.16.6 Depth Gates: GateTrac™

The depth gate allows the user to eliminate noise or other acoustic interference by the limits set in
the Minimum and Maximum Depth. There are manually selected gates, GateTrac: Depth and
GateTrac: Depth + Slope.
Gates are enabled by selecting the checkbox next to Enable Gates.
Figure 126: Enable Gates
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Figure 127: Manual and GateTrac selections
5.16.6.1 Gates Manual

The depth gates can also be changed using the mouse in the wedge display. Click and drag on either
depth gate; the cursor will change to a double arrow , drag the gate to the new depth and release
the mouse button. The depth gate position is visible in the lower left-hand section of the display.
When the mouse button is released, the gate will be updated in the Operation Parameters area.
To move both gates, simultaneously, use the right mouse button, and both gates will move, keeping
the same relationship.
In Manual mode, the gate slope can be adjusted by using the Gate Slope button in the Operation
area. The gates can be tilted up to ±90°.
Figure 128: Manually adjust the gate slope
5.16.6.2 GateTrac: Depth

GateTrac: Depth will automatically adjust the gates, for water depth, based on the tolerance that is
selected by the control next to the gate drop-down menu. The tolerance is a ± percentage of nadir
depth. Right-click will increase the tolerance (up to ±90%); left click reduces the tolerance.
Figure 129: Gate width tolerance toggle
When GateTrac: Depth is enabled, the Gate Min and Gate Max buttons will be disabled, but the
Gate Slope button will still be active.
Figure 130: GateTrac enabled; Gate min and max control is disabled
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If the soundings are visible, in the display then, when ‘GateTrac: Depth’ is enabled, the gates will
automatically jump to the soundings, with the selected tolerance. The user can use the Gate Slope
button to change the tilt of the gates, they will still automatically track the bottom, and the gate
slope will not change from what the user has selected.
5.16.6.3 GateTrac: Depth + Slope

Depth and Slope GateTrac will automatically adjust the gates for the depth and the slope of the
bottom. When ‘GateTrac: Depth + Slope’ is enabled, the Gate Min and Max, as well as the Gate
Slope buttons, will be greyed out.
Figure 131: GateTrac: Depth + Slope enabled, manual gate controls are disabled.
Figure 132: GateTrac: Depth + Slope enabled and tracking a steep slope
5.16.6.4 Using Gates

If the minimum or maximum depth gate eliminates good data, the data are lost as it will not be
included in the Sonic MBES output. In the data collection software, there will also be a form of
depth gates. If the data are eliminated there, it is more than likely that the data is flagged and not
really deleted so that it can be recovered.
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The main reason to use the Sonic MBES depth gates is to eliminate interference of the bottom
detection process. Depending on the bottom composition, multiple returns can occur. There will be
a secondary and possibly a tertiary return that arises from the initial bottom returns being reflected
by the water surface and then back up again to the receiver. These second and third returns can be
strong enough to influence the bottom detection process. Using the Sonic MBES depth gate will
enable the Sonic MBES to search only a small area of the entire beam for the bottom detection.
Therefore, only the area around where the energy from the actual bottom returns are, will be
searched to derive the bottom detection. Although the user enters a depth for the gate setting, to
the Sonic MBES this is a time to start searching and a time to stop searching.
Figure 133: Graphical representation of depth gate
The above representation illustrates how the depth gate narrows down the bottom detection search
area (in time) to only the area where the true bottom is expected. If the Maximum Depth gate was
not in this location, the second return could be strong enough so as to influence the bottom
detection process.
Again, it must be borne in mind that if the depth gate is set such that true bottom detections are
‘gated out’; those data are lost entirely and cannot be recovered.
5.17 GUI Rec(ord)

This feature allows the user to record the entire GUI in x.264 format (extension is .mkv). Due to
licensing, R2Sonic cannot redistribute the required executables for this format, and it is left to the
customer to download ffmpeg.exe from http://ffmpeg.zeranoe.com/builds/. The ffmpeg.exe file
needs to be in the Sonic Control directory or in the Windows search path. To play back the recorded
videos, there are several free programs that work. MPC-HC https://mpc-hc.org/ is light-weight (16
MB), supports many formats, excellent scrubbing and launches videos quickly. VLC
http://www.videolan.org/vlc/index.html is also good but may take a long time to open a video.
5.18 Ruler
The ruler or measuring tool can be used to obtain range and bearing information, within the GUI, by
using the mouse cursor. Use Ctrl + Left Mouse Button (LMB), the cursor will change to a cross and
can be dragged to the target (once the range and bearing are initiated, the Ctrl button can be
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released. The Range and Bearing information is along the bottom of the Sonic Control window. To
remove, the Ruler use Ctrl + Double Click LMB.
Figure 134: Ruler Function
5.19 Save Settings

When Sonic Control is launched, it will always load the default settings configuration file located in
the Sonic Control installation directory (CurrentSettings.ini). The default configuration file will save
any local configuration changes during operation of the system.
When a user-defined configuration is saved, like dualhead.ini, Sonic Control will still use the default
configuration file to store local changes while operating the sonar. This is equivalent to copying the
default configuration file to a configuration file with another name.
When a user-defined configuration is loaded, Sonic Control will use the default configuration file to
store local changes while operating the sonar. This is equivalent to copying the loaded configuration
file to the default configuration file.
5.19.1 Default setting ini file

Within the GUI files, there are factory default ini files, which can be loaded to reset the GUI to
factory default status. Loading a default settings file has been known to clear some operational
issues. When the correct default settings file is loaded, the GUI will need to be set up again by doing
Discover and Apply and setting up the Sensor settings.
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5.20 Operating Sonic Control on a second computer
There may be circumstances where it is preferred to run Sonic Control on a different computer than
the computer where the data collection software is running. The user can change IP addresses as
well as UDP ports. By doing Discover (in Settings | Network Settings), the system looks for all
attached R2Sonic equipment, which will be identified by model and serial number. Once the serial
number is discovered, it is used to assign an IP and UDP port to the sonar head and the SIM, after
this is done, the IP and UDP ports can be changed.
5.20.1 Two computer setup

1) Set the data collection computer’s networking to IP address 10.0.1.102 as usual
2) Setup Sonic Control, on the data collection computer, as normal: do Discover and apply the
settings to establish communication with the system
3) Set the second computer’s networking to IP address 10.0.1.105 (using this as an example)
4) Load Sonic Control on the second computer, but do not connect the second computer to the
SIM until directed to below
5) Open Sonic Control on the second computer
6) Go to Settings | Network settings and change only the GUI IP address to 10.0.1.105 (see
illustration below)
7) Connect a LAN cable from the second computer to one of the free RJ45 ports on the SIM
(there will now be 2 Ethernet cables connected to the SIM)
8) On the data collection computer’s Sonic Control, go to Settings | Network Settings and
change only the GUI IP to the IP of the second computer: 10.0.1.105 (see illustration below)
9) Do not change any other IP or Port, only the IP for the GUI is to be changed
10) Select Apply: the GUI, on the data collection computer, will no longer update nor will it be
able to control the multibeam
11) On the second computer, open Sonic Control
12) Under Network settings, use Discover to obtain the serial numbers of the SIM and sonar
head and Apply; this computer now controls the Sonic system.
13) This example used IP address 10.0.1.105, but any IP can be entered as long as it adheres to
the restrictions set by the subnet mask
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Figure 135: Change in GUI IP
5.20.2 Changing back to one computer

1) Open Sonic Control on the data collection computer.
2) Change the GUI address to 10.0.1.102
3) On the second computer, change the GUI IP address back to 10.0.1.102 and Apply.
4) Sonic Control, on the data collection computer now controls the system.
Disconnect the second computer’s Ethernet cable from the SIM.
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6 SONIC MBES THEORY OF OPERATION
The Sonic MBES transmits a shaped continuous wave pulse at the user-selected frequency. The
transmit pulse is narrow in the alongtrack direction, but very wide in the across-track direction. The
reflected acoustic energy is received via the Sonic MBES receivers; within the Receive Module the
beams are formed and the bottom detection process takes place. The resultant bottom detections
(range and bearing) are then sent, via Ethernet, through the deck lead, to the Gigabit switch in the
SIM and out of the RJ45 connections to Sonic Control and the data collection software.
6.1 Sonic MBES Sonar Head Block Diagram

Receive Module
Wet Controller
Receivers
Beam Former To SIM

Gigabit Ethernet
Bottom Detection
Projector
Transmitter Board
Transmitter Power
Supply
48 DCV from
SIM
Low Voltage Power Med. Voltage Power
Supply Supply
Figure 136: SONIC 2024 Sonar Head Block Diagram
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6.2 Sonic MBES Transmit (Normal Operation Mode)
The projector is comprised of a precisely arranged set of composite ceramics. The projector, itself,
can transmit over a wide frequency range, which makes it unique amongst multibeam
echosounders. A pulse, at the chosen operating frequency, excites the ceramics which converts the
electrical energy to acoustic energy. The pulse originates from the Wet Controller board in the
Receive Module, which is then passed onto the Transmitters and out to the Projector. The
amplitude of the pulse is set by the transmit Power setting in Sonic Control 2000; the Pulse Length
setting in Sonic Control 2000 determines how long the pulse excites the ceramics.
The projector’s transmit pattern ensonifies the seafloor in a very wide across-track, but narrow
along-track pattern as the vessel moves along the survey line. The across-track angle is 160°; the
along-track angle depends on frequency. The 450 kHz along-track pattern is 0.9° (0.5° for the Sonic
2026). The along-track lengthens out to 2° at 200 kHz. This is the Normal Operating Mode and not
extended Vertical Mapping Mode.
Figure 137: Transmit pattern; Sonic 2024
Depending on the water conditions, seafloor composition and other factors, a portion of the
acoustic energy that strikes the seafloor will be reflected back towards the surface. The return
acoustic energy will strike the Sonic MBES receiver’s ceramics.
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6.3 Sonic MBES Receive (Normal Operation Mode)
The Projector is comprised of composite ceramics that convert electrical energy to acoustic energy.
The composite ceramics, in the Receive Module, convert the reflected acoustic energy back to
electrical energy. The small electrical voltage, generated by the ceramics, is amplified and then
passed onto the receivers. The output of the receivers goes directly to the Wet Controller board in
the Receive Module.
In general, the receive pattern is 130° (normal bathymetry survey) in the across-track. The along-
track pattern depends on the frequency; from 23° at 400 kHz to 40° at 200 kHz.
Figure 138: Receive pattern with Transmit pattern
The Wet Controller board contains the FPGA that performs the beam forming and bottom detection
operation; time tags the data; and formats the sonar data for output back up to the SIM. The
bathymetry data is output as a Range and Bearing (from the sonar head’s acoustic centre) for each
beam. Other outputs include TruePix™ / Snippets, beamformed imagery and water column data.
The output of the Wet Controller board is sent through the deck lead, to the SIM’s Gigabit switch
and onto the data collection computer through one of the SIM’s external RJ45 connections.
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6.4 Sonic 2024/2022 Sonar Interface Module (SIM) Block Diagram
SIM
RS-232
Controller
I/O Board
TTL - BNC
48VDC
Gigabit Ethernet
Gigabit Switch
Ethernet
Power Supply
90 – 260 VAC
To/From
Sonar Head
48VDC
Sonar
Connector
Figure 139: Sonar Interface Module Block Diagram
6.4.1 Sonar Interface Module (SIM) Block Diagram
6.4.1.1 SIM Power Requirement

The SIM operates within a voltage range of 90 to 260 VAC. The mains voltage is converted in the
various DC voltages required for the operation of the Sonic MBES. Primarily, 48 VDC is sent to the
Receive Module to power the sonar head.
6.4.1.2 SIM Controller

The SIM Controller card primarily does time stamping of sensor data and deals with RS-232 and BNC
data.
6.4.1.3 SIM – Sonic Control 2000 interfacing

Sonic Control 2000 communicates with the SIM over the Gigabit Ethernet DATA RJ-45. Commands,
from Sonic Control 2000 are transmitted to the SIM and then to the Sonic MBES. The Sonic MBES
data passes through SIM to the data collection software.
6.4.1.4 SIM – RS-232 / Ethernet Interfacing

The SIM receives the GPS PPS and time message (NMEA ZDA), the sound velocity from the probe
near the sonar head and the motion sensor data (for roll stabilisation only). These data are routed
through the SIM Controller to the Ethernet switch for transmission to the sonar head.
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Appendix I R2Sonic I2NS™
7 Appendix I: R2Sonic I2NS Components and Operation
The R2Sonic I2NS (Inertial Navigation System) option integrates the Applanix Position and
Orientation System (POS/MV)’s POS Computing System (PCS) and Sonar topside units saving both
power and space while simplifying vessel mobilization. The setup of the R2Sonic INS is identical to
the setup of the Applanix POS/MV system; POSView (Version 7.60 or more recent) is necessary for
inputting offsets and configuring outputs. All of the data, both sonar and POS/MV are sent over the
one Ethernet cable to the data collection computer; eliminating the need for two network cards.
The information contained here does not detail the POSView software to set up the Applanix
POS/MV; that information is found in the Applanix POS/MV manual. The information provided here
covers the necessary setup of the R2Sonic I2NS components as relates to the R2Sonic SIM and Sonic
Control. Where necessary, certain steps in the POSView software are detailed.
The R2Sonic INS will work on all R2Sonic systems with SIM firmware: Simb$26-OCT-2013-15-58-
27.bin and head firmware: Head$16-Nov-2013-04-35-57.bin or more recent.
7.1 Components
The R2Sonic I2NS is comprised of the enhanced Sonar Interface Module (SIM), which contains the
Applanix boards and connections for the antennas and Inertial Measurement Unit (IMU). Two
antennas (and cables) and one IMU (and cable) complete the physical INS components.
Figure 140: R2Sonic I2NS Main Components (not including antennas and cables)
Figure 141: GNSS Antennas
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7.2 Connection diagram
When using the INS, there is no need to provide inputs for the motion or the time stamp, as those
are provided internally, through the SIM’s Gigabit switch. The only serial connection is the sound
velocity probe that is on the sonar head. A PPS loop cable is required to go from the PPS out to the
PPS in.
Figure 142: INS connections
Figure 143: INS SIM block diagram
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7.3 Installation
7.3.1 The IMU and GPS antennas
The IMU (Inertial Measurement Unit) housing should be secured by 4 M8 (5/16” in Imperial units)
screws. The IMU housing is depth rated to 15m. The IMU can be mounted close to or on the
Multibeam transducer itself. It is not necessary to mount the IMU at the vessel’s CoG (centre of
gravity), but if it is not mounted on the CoG, it is vitally important that very accurate IMU to CoG
offsets are input into POSView.
The GNSS antennas should be mounted rigidly with respect to each other as well as the IMU, with a
separation of at least 1m between the GPS antennas. The antennas should be mounted so that they
have a clear view of the sky.
The standard cables provided with the INS option are:
1x15m IMU cable

1xBNC jumper cable
2x8m GPS antenna cables
7.3.2 INS BNC – TNC Connections
There is one BNC connection for the

PPS out. The TNC connection next to it
is for the Primary Antenna. The
Secondary antenna connects to the
TNC connection on the end.
Figure 144: INS BNC & TNC Connections
The PPS Out is connected to the SIM PPS In, with a short
length of cable
Figure 145: PPS Out - PPS In
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7.3.3 I2NS DB9 Connections
The I2NS has two serial communication ports and one dedicated to the internal GNSS board. The
two com ports are standard DB9M serial connections that are set up in the POSView software. Both
ports are bi-directional and can be configured to receive RTCM corrections or to output standard
NMEA or binary serial data. The DB9M dedicated to the GNSS board is connected directly to the
GNSS board, inside the SIMINS; the port is used to update or directly access the GNSS receiver. For
full information on the serial ports, please refer to the POSView documentation.
Standard usage is to input GPS

corrections or Aux GPS data using
COM1 or COM2. The GNSS1 port is
not configurable, as to input, like
COM1 and COM2
Figure 146: SIMINS Serial Ports
In POSView, in the Input/Output Ports Set-up, only COM 1 and COM 2 are to be configured.
Figure 147: POSView Serial port setup
The GNSS1 port communication parameters are set up under Settings | Installation Settings | GNSS
Receiver Configuration.
Figure 148: GNSS1 Port setup
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7.4 Setup in Sonic Control
7.4.1 Network Setup
If the Applanix IP address is lost and no connection can be made through POSView it can be reset
through the R2Sonic GUI. To change the IP address of the POS/MV, reboot the SIM box, open the
R2Sonic GUI and go to Settings>Network Settings and under “INS IP” enter the desired IP. The
POS/MV takes approximately 2 minutes to power on; once the POS is fully booted, the IP can be set
in the R2Sonic GUI. Once the POS is fully booted, the user has 5 minutes to change the IP address of
the POS/MV. Attempting to change the IP address, outside of the 5-minute window, will result in a
warning that the SIM box must be rebooted before changing the INS IP.
0 minutes: turn on
0 to 1min: Button label is "Set IP wait" and button text is

greyed out. The INS IP cannot be updated during this
period. The GUI is waiting for the INS to send out
message 32.
After ≈ 1 - 2 mins: the GUI will allow changes to the INS IP

address. The actual time depends on when the GUI starts
receiving message 32 from the INS.
From ≈1min (2min) to 7min: INS IP address can be

changed. Button text turns from greyed out to black text
and says "Set IP".
After 7 min: INS won't accept change in IP address.

Button text color is greyed out and label says "Set IP
expired".
Figure 149: Network Settings SIMINS
Figure 150: Cannot Change IP, waiting on msg 32
Figure 151: Set IP time expired, cannot change IP
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7.4.2 Applanix Group 119 specific to R2Sonic SIMINS
Src: 10.0.0.44:65533
Dst: 10.255.255.255:5606
Applanix POS, Customer data

Group 119 (MV customer defined group)
Group start: $GRP
Group ID: 119 (MV customer defined group)
Byte count: 132
Time/Distance Fields:
Time 1: 358370.467027857 (UTC seconds of the week) (Thu 03:32:50.467028 UTC)
Time 2: 1091.53761465444 (POS seconds since power-on) (0.303205 hours)
Distance tag: 0 (POS distance)
Time types: 0x02
Distance type: 0x01
User ID: 1
Reserved: 00
PacketName: R2A0
PacketSize: 100
Reserved0: 0000
PpsTime: 358386 (GPS seconds of the week) (Thu 03:32:50.000000 UTC) (1395286370 Unix)
VesselLatitude: 30.2391284856087 (degrees)
VesselLongitude: -97.838843091206 (degrees)
VesselAltitude: 198.64372053742 (meters)
North position RMS error: 0.922135 (meters)
East position RMS error: 0.698561 (meters)
Down position RMS error: 1.10037 (meters)
VesselPitch: 0.00230865 (radians) (0.132276 degrees)
VesselRoll: 0.000915637 (radians) (0.052462 degrees)
VesselHeave: 0.0256301 (meters)
VesselHeading: 0.115629 (radians) (6.625050 degrees)
RmsErrorPitch: 0.0292523 (degrees)
RmsErrorRoll: 0.0292523 (degrees)
VesselSpeed: 0.063469 (meters/second)
RmsErrorHeading: 10.2586 (degrees)
GpsWeekNumber: 1784 (GPS weeks)
UTCTimeOffset: 16 (GPS-UTC seconds)
StatusB: 0x0189200d
StatusC: 0x00001000
StatusExtended: 0x00000100
Satellites: 9
Reserved1: 00
Reserved2: 0000
Checksum: 23896 (Good)
Group end: $#
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7.4.3 Sensor Setup
All of the required information (time message and motion data) from the INS stack, except for the
PPS, is transferred internally. However, in the Sensor setup, the Interface type and Ethernet
configuration has to be set up to receive the internal information. The GPS and Motion interface
type is set to Ethernet. The IP that the POS/MV stack sends data out is 10.0.0.44 and uses UDP port
5606, which is unique for R2Sonic requirements. The POS/MV Ethernet data, going to the data
collection computer, is on the same IP (10.0.1.102), as the sonar data and uses the standard
POS/MV UDP 5602. If the data collection software requires the IP address of the ‘talker’, the
POS/MV stack outputs on IP 10.0.0.44.
Figure 152: Sensor setup for SIMINS
7.4.4 INS Monitor (Alt+I)

INS data can be monitor through the INS monitor. The INS monitor option is under Status.
The INS Monitor allows the user to

constantly monitor the values from the
INS.
The accuracy limits are preset and

independent of the settings in POSView:
Roll & Pitch: 0.050°
Heading: 0.050°
Latitude/Longitude: 2.000m
Altitude: 2.000m
Figure 153: INS Monitor
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7.5 Measuring IMU Offsets
Horizontal
Reference
Vertical
Reference
Figure 154: IMU Reference indicators
Identify the COG of the vessel that point becomes the reference point of the INS offsets. The
POS/MV uses a right-hand Cartesian coordinate system, therefore, the lever arm offsets should be
measured as
+X = To Bow
+Y = To Starboard
+Z = Down
When using DGPS offsets should be measured to 5cm accuracy. When using RTK offsets should be
measured to 5mm accuracy.
Measure the offset from the reference point to the primary GPS antenna and record it in POSView in
the “ref. to Primary GPS Lever Arm” fields. There is no need to measure the offset of the second
antenna; the Applanix GAMS calibration will determine this X offset.
Measurement of the IMU COG is critical. The IMU has two reference points. On top of the IMU is
the horizontal reference for the X and Y measurement. The vertical Z reference is measured to the
reference point on the rear part of the IMU. After measuring the reference to IMU offsets, input the
values in the “Ref. to IMU Target” fields in POSView Be sure to check the box by “Enable Bare
IMU”, as seen below. NOTE: Some older versions of POSView will not have this option. If not, please
install the version preloaded on the R2Sonic CD that shipped with the Sonar.
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Figure 155: POSView Lever Arm setup
Use the View, when entering offsets, so that the

correct sign is confirmed. This figure represents
the physical installation, using the offsets that
are seen in the above figure.
Figure 156: View of installation with the entered offsets
If the Reference point chosen is NOT the COG of the vessel input the offsets from the ref to the COG
in the “Ref. to Centre of Rotation” fields. This step is extremely important for accurate heave
information to be reported.
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7.6 I2NS Physical Specifications
Table 14: I2NS Dimensions and Mass
Component Dimensions (L x W x H) / Mass

I2NS Sonar Interface Module (INS- 280mm x 170mm x 126.4mm (top of cooling fins) /
SIM) 4.17kg
Inertial Measurements Unit (IMU) 161mm x 140mm x 110m / 2.2kg
GNSS Antenna Ø178mm x 73mm / 0.45kg
Table 15: Electrical Specifications
Item Specification
INS (SIM, IMU & Antennas) 38.4w
INS + Sonic 2024 88.4w
INS + Sonic 2022 73.4w
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7.7 I2NS Drawings
7.7.1 I2NS IMU
FIRST ANGLE
PROJECTION
65.10
64.40 30.00
110.00
Z Z
Y X
25.60
30.60
5.00
16.50
6.00
153.00
81.60
161.0
0.00
8.00
140.0
132.00
69.60 Y
THIS DOCUMENT CONTAINS PROPRIETARY

Ø 9.5mm [3/8"] INFORMATION. IT MAY NOT BE
REPRODUCED
8.00 OR TRANSFERRED TO OTHER DOCUMENTS
OR DISCLOSED TO OTHERS OR USED FOR
0.00 MANUFACTURING OR ANY OTHER PURPOSE
WITHOUT PRIOR WRITTEN PERMISSION
5307 INDUSTRIAL OAKS BLVD.

AUSTIN, TEXAS
512-891-0000
Top View TITLE:
IMU INSTALLATION
DRAWING NO: REV:
10161 B
SIZE: C SCALE: 1/1 SHEET: 1 OF 1
Figure 157: IMU Drawing
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Part No. 96000001
7.7.2 I2NS Sonar Interface Module (SIM)
280.00 mm
[11.024 in]
A
[1.433 in]
36.40mm
[3.543 in]
90.00 mm
A
48.92mm
[1.926 in]
UNLESS OTHERWISE SPECIFIED DESIGNED: P Steenstrup
DIMENSIONS ARE IN MILLIMETERS DATE: 2013 06/10

DO NOT SCALE DRAWING SANTA BARBARA, CALIFORNIA
SECTION A-A
DWN: P Steenstrup
TITLE:
TOLERANCES
.X ±1.0
DATE: 2013 10/22
INS SIM ENCLOSURE
.XX ±0.20
CHECKED:
X° ±0.5°
REMOVE ALL BURRS DRAWING NO: REV:
10168 D
DATE:
BREAK CORNERS 0.15/0.30
INTERNAL RADII 0.15/0.03 RELEASED:
DATE: SIZE: C SCALE: 1/1 SHEET: 1 OF 1
Figure 158: I2NS SIM Drawing
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APPENDIX II: Multibeam Survey Suite
Components
8 APPENDIX II: Multibeam Survey Suite Components
8.1 Auxiliary Sensors and Components
A multibeam survey system is comprised of more components than just the Sonic Multibeam
Echosounder. These components are the auxiliary sensors, which are required to provide the
necessary information for a multibeam survey. This does not mean that these sensors are a minor
part of the survey system; each auxiliary sensor is required for any multibeam survey operation.
The required sensor data:
• Position: Differential Global Positioning System Receiver

• Heading: Gyrocompass
• Attitude: Motion Sensor
• Refraction correction: Sound Velocity Probe
Each of the individual sensors requires their setup and operation procedures. The details, discussed
here, concerning the installation and calibration of the auxiliary sensors, is supplemental to any
manufacturer’s documentation.
8.2 Differential Global Positioning System

The Global Positioning System (GPS) is well known to all surveyors. There was a period when the
GPS position was intentionally made less accurate; this was Selective Availability (SA). When SA was
enacted, the GPS position became too inaccurate for survey use. It was during this period that the
concept of differential corrections was established. Differential corrections were derived from users
monitoring the GPS position at a known survey point and computing the corrections required to
adjust the various pseudo ranges to make the GPS position agree with the known survey position. If
a vessel was operating within the local area and observing the same satellite constellation, the
derived pseudo-range corrections could be applied on board to make for a more accurate and
consistent position. The corrections are normally transmitted over a radio link and applied within
the GPS receiver.
8.2.1 Installation
The first and foremost consideration when installing the DGPS system is the location of the
respective antennae. Both the GPS antenna and the differential antenna (if they are two separate
antennae) need to be mounted on the vessel in such a way to have an unobstructed view of the sky.
When installing the GPS antenna, the surveyor should be aware of the position of the stacks and
masts; in particular, are davits or cranes that may be currently in a stored position, but will be in use
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during survey operations. If mounting the antenna on a vessel that has helicopter landing facilities,
coordinate the placement of the antenna with the personnel in charge of helicopter operations.
When the location for the antennae has been determined the next step is determining how the
coaxial cable, connecting the antenna and the receiver, is to be run. The cables should be run in
such a manner to be protected from possible damage. Cables should not be run through hatches or
windows if it can be avoided; if such runs are necessary, then a block or other such obstruction
should be placed so that the hatch or window will not close on the cable. If the cables are to be
suspended between two points, a rope or other line should be strung to carry the weight of the
cables. Cables should never be kinked; all cables have a minimum bending radius, and if it is known,
adhere to it, if it is not known, use common sense. Do not run cables in a manner that they will
become safety hazards on the vessel, causing personnel to trip or be caught on them. Avoid running
cables along voltage carrying lines.
It is important to mark the cables at both ends to denote what they are and to where they go.
The connection to the antenna may be required to be completely waterproofed (depending on the
manufacturer’s recommendations) using electrical tape, with a secondary covering of self-
amalgamated tape. Ensure that there are no air gaps in the tape; they will become a channel for
water. If a cable is to be run upwards from the antenna, form a drip loop by leaving slack in the
cable that will hang below the antenna connector. This will allow any water that flows down the
cable to collect and drip from the slack loop instead of running into the connector.
The cables, connectors and antennae should be inspected regularly for signs of damage, corrosion
or abuse. Any abrasions on the cable should be securely taped; if possible, a waterproof coating
should also be applied.
8.2.2 GPS Calibration

Prior to commencing survey operations, the accuracy of the Differential GPS position and
transformation to local datum should be determined. There are two main methods to determine
the accuracy of the DGPS position and data transformation. For both methods, a local land survey
benchmark is required.
8.2.2.1 Position Accuracy Determination Method 1

The GPS antenna is physically placed over the survey benchmark. The surveyor will ensure that the
antenna has a clear view. This is particularly important if the benchmark being used is in a dock area.
The surveyor will also ensure that if a separate antenna is used to receive differential corrections,
that it is not blocked.
The GPS position data should be logged, in the data collection software, for not less than 15
minutes. The collected data can then be averaged, standard deviations determined and compared
to the published position of the survey benchmark.
The two main causes of error, in this area, are:

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• Wrong geodetic transformations being applied to the WGS-84 position derived from GPS.
• Erroneous coordinates for the Differential reference station.
8.2.2.2 Position Accuracy Determination Method 2

This method is most easily accomplished during the gyrocompass calibration. The antenna remains
mounted on the vessel. The surveyor will set up on the known survey benchmarks; using standard
land survey techniques, the exact absolute position of the antenna can be determined. During the
period that the surveyor is ‘shooting in’ the GPS antenna, the GPS position will be logged on board;
the averaging and statistical analysis will be as above.
The surveyor will need to take numerous shots to also obtain an average, due to the possible
movement of the vessel while alongside.
8.3 Gyrocompass
Utmost care is required for the installation of the gyrocompass. The gyrocompass is a sensor that
cannot be situated randomly. The purpose of the gyrocompass is to measure the vessel’s heading.
To do this, the gyrocompass should be placed on the centre line running from the bow stem to the
midpoint of the stern. If it is not possible to place the gyrocompass on the centreline of the vessel, it
can be mounted on a parallel to the centre line.
All survey grade gyrocompasses will be plainly marked for alignment on the centre line. This
marking may be an etched line fore and aft on the mounting plate, or possibly metal pins on the
front and the back of the housing that point down. If no marking exists, then measuring the fore
and aft faces and finding the centre may be sufficient.
No matter how well the gyrocompass is placed, there exists a possible error between the true
vessel’s heading and the gyrocompass derived heading. Any new installation of a gyrocompass
should include a gyrocompass calibration. There are various methods to perform a gyrocompass
calibration; the best method employed will be determined by the location of the vessel, the time
allotted for the calibration and the resources at hand.
8.3.1 Gyrocompass Calibration Methods

After the installation of gyrocompass (henceforth termed gyro) on a vessel, that gyro should be
calibrated to ensure that the heading it determines is the true heading of the vessel.
If the error is large, the gyro can be physically rotated to align itself with the true vessel heading.
Small errors can be corrected, either by internal adjustment to the gyro or in the software that
receives the gyro reading.
8.3.1.1 Standard Land Survey Technique

One of the most accurate methods to determine the gyro error involves the use of standard
recognised land survey techniques. The time and equipment involved require that a substantial
period is allotted for such a calibration.
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• If possible, the vessel will be berthed alongside a quay or dock that has a survey
benchmark located nearby.
• If a survey benchmark is not located close to the berth, then the surveyor will have to
run a transit from the nearest, suitable, local survey benchmark to establish a point
on the quay that has a well-defined position. From this point, another point should
be established along the quay to form a baseline.
• When the vessel comes alongside, all lines should be made as taut as possible. The
gyro should be allowed 2 hours to settle down after the vessel has come alongside.
• The stern of the vessel should be measured, with a metal tape, to determine the
centre point of the stern. A survey reflector will be placed at this position. Another
survey reflector will be placed exactly at the bow. It will be verified that the reflectors
are accurately placed on the centre line of the vessel by either measurements or
survey techniques.
• The surveyor will set up on one benchmark; a round of readings will be taken from
the benchmark to the fore and aft reflectors. Simultaneous to this, the survey
personnel will record the gyro heading as it is read by the survey computer. Any
variation between the digital output and the physical gyro reading should be
remedied before the commencement of readings. It is recommended that the
personnel on the vessel and the surveyors on the quay be in constant communication
to assist in coordinating the measurements.
• One round of readings will be considered to be not less than 30 sets, a set being one
reading each from the bow and stern reflectors.
• Upon completion of the round from benchmark one, the surveyor will move to
benchmark two and repeat the process.
• Upon the completion of all rounds, from the two benchmarks, the vessel will turn
about. With the vessel, now heading on the reciprocal heading, the gyro will be
allowed at least 1 hour to settle down.
• When the gyro has been given sufficient time to settle down, a further series of range
and bearing measurements will be made in the same manner as before.
When all readings are completed, the surveyor will calculate the azimuth between the two survey
reflectors for each set of readings. The azimuth readings will be compared with the headings taken
on board the vessel from the gyro itself. If there has been little or no movement of the vessel, an
average can be taken of the azimuths and for the gyro readings and compared. By calculating the
standard deviation of the readings, the surveyor can determine the degree of movement during the
recording process. If the deviation is greater than the stated accuracy of the gyro, the comparison
readings should be based on simultaneous time.
If physical adjustments are required, they should be made and the calibration process repeated. If
the adjustment is determined to be minor and can be accounted for in the survey software, the
correction value should be entered and then verified using the calibration process. This check of the
calibration value can be an abbreviated version of the calibration process detailed above.
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Figure 159: Gyrocompass Calibration method 1
• Quayside Benchmarks have known geodetic positions.

• Measure Range and Bearing to reflectors on the vessel centre line.
• Using Range and Bearing to reflectors, determine a geodetic position for
reflectors.
• Calculate bearing from the stern reflector to bow reflector will give the true
heading of the vessel.
• True heading of the vessel is then compared to gyrocompass reading taken
at the same time as the Range and Bearing measurements.
• Benchmarks do not have to be on the quay but should be in a position to
give accurate Range and Bearing to the reflectors.
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8.3.1.2 Tape and Offset Method of Gyro Calibration
This method relies on measuring the offset distance from a baseline on the quay, with a known
azimuth, to a baseline that is established on the vessel. There are greater areas for error when using
this method, particularly in establishing a baseline with known azimuth.
A baseline is established on the quay as close as possible to the vessel's side. It is very important
that the azimuth of this baseline be as accurately determined as possible. The baseline should be of
a length that will exceed the baseline that is established on the vessel.
A baseline is established on the vessel that is parallel to the centre line of the vessel. It should not
be assumed that the side of the vessel is parallel to the centre line. This baseline should be on the
deck that faces the dock. The baseline on the vessel should be as long as possible, the longer the
better.
With the vessel secured alongside the quay, the vessel baseline will be compared to the quayside
baseline. Two points will be established on the quayside baseline that corresponds exactly to the
fore and aft positions on the vessel baseline. That is: the points that are established on the quayside
baseline should be normal to the points on the vessel baseline.
Figure 160: Gyro Calibration Method 2
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The example, below, will illustrate the math involved.
Figure 161: Gyro Calibration Method 2 example
A to A' 1.0 metres B to B' 1.5 metres
Side a 5.0 metres Side b 1.5 – 1.0 = 0.5 metres
Angle b' Arctan 0.5/5.0 = 5.7°
Ship Azimuth = 270° + 5.7° = 275.7°
Table 16: Gyro Calibration Method 2 computation
Figure 162: Idealised concept of Gyro Calibration Method 2
In this example, the vessel heading for this set of readings is 275.7°; this would be compared to the
gyro reading recorded at the same time the offsets were measured.
In the above example, if the bow was further out from the quay than the stern, the angle b' would be
subtracted from the azimuth of the quay, i.e. 270° - 5.7° = 264.3°.
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8.4 The Motion Sensor
The motion sensor is used to determine the attitude of the vessel in terms of pitch, roll and heave.
Pitch is the movement of the bow going up and down. Roll is the movement of the port and
starboard side going up and down. Heave is the vessel going up and down.
The sonar head is physically attached to the vessel; as the vessel moves, so does the sonar head.
The motion sensor reports the movements of the vessel to the data collection software; the data
collection software, using the offsets to the motion sensor and to the sonar head, computes the
movement at the sonar head to correct the multibeam data for pitch, roll and heave.
One important aspect of the motion sensor is the sign convention used by the motion sensor as
compared to the sign convention used in the collecting software. The surveyor must be aware of
the convention that is used and what adjustments are necessary, if any, to ensure that the
convention is consistent with the data collection computer.
There exist two major areas of thought as to where the motion sensor should be situated. One
group believes that the motion sensor should go as close to the multibeam as possible, even if the
multibeam is mounted on an over-the-side pole. The second group believes the motion sensor
should be placed as close to the centre of rotation for the vessel as possible.
Placing the motion sensor on the hydrophone pole would seem to solve for all movement of the
pole itself, but in fact, the motion sensor, mounted in this fashion, can provide false attitude
measurements. This is particularly true when there is significant roll; the motion sensor on the pole
can interpret a portion of this roll as heave, which is not true. By placing the motion sensor as close
to the centre of rotation (also called the centre of gravity) as possible, only the real heave of the
vessel will be measured. All software will solve for the motion of the sonar head, based on the
offsets that have been entered into the setup files for the vessel configuration; this is called a lever
arm adjustment. The other consideration is that the motion data is usually applied to the GPS
antenna. The GPS antenna is usually mounted high on the vessel, so any pitch or roll will induce a
large amount of movement in the GPS antenna thus providing a false position due to the antenna
movement. If the motion sensor is mounted on the hydrophone pole, it is reporting an exaggerated
motion because it is far from the centre of motion of the vessel; this exaggerated motion then
would be applied to the GPS antenna position and the vessel position computation would be in
error.
The other consideration is that the alignment of the motion sensor must be on or parallel to the
centre line of the vessel; it is essential to prevent ‘bleed-over’ of pitch and roll. If the motion sensor
is not aligned with the centre line, when the vessel rolls some of the roll will be seen as pitch as the
motion sensor’s accelerometers and gyros are not aligned with the axes of the vessel it is mounted
on. It is more difficult to obtain this precise alignment if the motion sensor is placed on the pole.
Mount the motion sensor as close to the centre of rotation (or centre of gravity as possible) and
perfectly aligned to the centre line of the vessel.
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The motion sensor should be mounted on as level a platform as possible. After mounting the
motion sensor, the actual 'mounting angles' should be measured. Some motion sensors contain
internal programs that can measure the mounting angles. Some data collection software packages
also include the capability to measure mounting angles. The mounting angles are the measured
degrees of the actual physical mounting of the motion sensor. This is to compensate for sloping or
warped decks. Many decks have some slope to them, and this should be accounted for to ensure
that the pitch and roll values that the motion sensor derives are for vessel movement and not for its
physical mounting on the deck. The mounting angles should be measured before any multibeam
calibration and not changed after the calibration.
Before measuring the mounting angles, the vessel should be put in good trim by the engineer. On a
small vessel, it is important that the angles be measured without undue influence from people
standing around. A false measurement can be induced by two people sitting on the gunwale having
a conversation while the measuring process is being completed. It is usually a good idea to have all
personnel leave a small vessel during the measuring process.
If the motion sensor mounting angles have been entered in the motion sensor or the data collection
software, they can only be changed before the multibeam calibration (patch test); they are not to be
changed after the patch test.
It is important to keep the motion sensor in mind when surveying. A motion sensor takes time to
'settle down' after a turn or a speed change, and most of the settling down will depend on the heave
bandwidth that is entered into the motion sensor. Some motion sensors can take in position, speed
and heading data to assist them in the settling process. Depending on the degree of the turn or the
amount of the speed change a practical period of 2 minutes should be allowed for the motion
sensor to settle. It is prudent to plan the survey to allow for a long enough 'run-in' to the start of
data collection to allow the motion sensor time to settle and the heave normalise. If this is not
done, many times motion artefacts or erroneous depths will be seen at the beginning of the line,
and the processed data will not be correct.
Monitor the motion sensor (all data collection software provides a time series window to monitor
individual data) to ensure that it is operating properly.
8.5 Sound Velocity Probes

There are two basic types of sound velocity probes. One type measures the parameters of sound
velocity in water; those being Conductivity (Salinity), Temperature, and Depth (Pressure), these are
normally referred to as CTD probes. The other type of probe contains a small transducer and has a
reflecting plate, at a known distance from the transducer that reflects the sound; the time is
measured for this transmission and the sound velocity determined by that measurement; these are
called Time of Flight probes. There is a third type, known as the Expendable Bathythermograph
(XBT) which is launched and as it passes through the water column sends back temperature readings
(through two very thin wires); it is not recovered, it is expendable.
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The CTD and Time of Flight probes store the data internally. The data is downloaded to a computer
after the probe is recovered.
8.5.1 CTD Probes

The CTD probe type of sound velocity probe has instruments to measure the conductivity of the
water, water temperature, and a pressure sensor to measure depth. The CTD probe is a good choice
if any of this information is also required; to obtain a sound velocity, a formula must be used.
There are various formulae available that are based on the parameters that are recorded by the
CTD. The UNESCO algorithm is considered a universal standard and was put forth by C-T. Chen and
F.J. Millero in 1977. The Chen-Millero (and Li) equation is complex as is Del Grosso’s (1974) and
have been termed Refined. Simple formula, such as Mackenzie’s (1981), also yields good results.
When using a CTD, it is very important that the probe be allowed to sit, fully submerged, in the
water for a few minutes prior to deploying it; this is to allow the probe to reach equilibrium with the
water temperature It is also important that the tube, through which the water flows past the
sensors, is checked for obstructions or marine growth.
Figure 163: CTD Probe
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8.5.2 Time of Flight Probe
The Time of Flight probe incorporates a transducer that transmits an acoustic pulse that reflects
back from a plate that it is at a very precise distance from the transducer. The two-way travel time
is measured, divided by 2, and the sound velocity determined. The Time of Flight probe is usually
considered more accurate for multibeam survey work.
The sound velocity probe that is mounted close to the Sonic MBES sonar head is a time of flight
probe.
Pressure sensor
Transducer
for depth
Reflecting
Plate
Figure 164: Time of Flight SV probe
8.5.3 XBT Probes

The XBT is a probe which free falls through the water column at a more or less constant speed (the
probe is designed to fall at a known rate so that the depth can be inferred) and measures the
temperature as it passes through the water column. Inside the probe is the thermograph, which is
attached to a spool of very fine wire. Two very small wires transmit the temperature data from the
probe back to a computer. The XBT is not recovered. XBT probes can be launched while underway
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and are used extensively by Navy and Defence forces for rapid determination of the sound velocity
without stopping the vessel.
8.6 The sound velocity cast

There are no set rules for when to take a measurement of the water column sound velocity.
Common sense is a good guideline. The conditions, detailed below, have a major influence as to
when to take a sound velocity cast.
8.6.1 Time of Day

Throughout the day the upper-level sound velocity characteristic will change mainly due to solar
heating or cooling due to cloud cover or precipitation. Another main element of the time of day
changes is tides.
When working in tidally influenced areas, the sound velocity can change drastically due to a salt
wedge that moves in and out with the tide. The surveyor must be aware of the relationship of the
time of the tide to the salt wedge.
8.6.2 Freshwater influx

Any river, stream or runoff will drastically change the sound velocity through the introduction of
freshwater and also through a temperature difference.
8.6.3 Water Depth

The sound velocity cast should always be made in the deepest part of the survey area. The sound
velocity profile cannot be extrapolated to deeper depths as there are too many possible variables.
8.6.4 Distance
If the survey area is large, then it is quite possible that there will be differences across the range of
the survey area even in open water.
8.6.5 Deploying and recovering the Sound Velocity Probe

The guidelines for deploying and recovering the sound velocity probe are based on common sense
but are sometimes ignored during the actual operation. The guidelines, below, are for a hand cast in
shallow water. The softline, used for the cast, should be marked to provide an indication of the
amount of line out.
8.6.5.1 Shallow water sound velocity cast/deployment by hand

1. Plan where the cast is to be made.
a. In a small area, deploy in the deepest part of the survey area.
b. Always do a cast prior to starting the survey.
2. Liaise with the captain or officer of the watch with the plan position and time of deployment
and time required for the cast.
3. Prepare the probe for casting (some probes may need to be programmed prior to each
launch).
4. Secure the probe to the downline with a bowline knot or shackle.
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5. Secure the bitter end of the downline to the vessel.
6. Request permission, from the bridge or helm, to deploy and await their OK to launch.
a. Bridge or helm to ensure that the vessel is out of traffic.
b. Bridge or helm to assess wind and sea conditions and advise as to which side of the
vessel the deployment should be made.
7. Put the probe in the water until it is totally covered and let it remain there for a period of
time to acclimate to the sea temperature. This is very important with a CTD type of probe,
but of less concern for a time-of-flight probe.
8. Verify the water depth.
9. Lower the probe at a constant rate; only the downcast should be used.
10. Try not to allow the probe to touch the bottom.
11. Recover the probe rapidly.
12. As soon as the probe is on deck, notify the bridge or helm that they are free to manoeuvre,
but remain in the area.
13. Rinse the probe with fresh water and dry thoroughly.
14. Download the cast and verify that it looks good.
15. Load the cast into the data collection software.
8.6.5.2 Deep Water Cast / Deployment by mechanical means

A cast in deeper water requires more preparation and planning. A deepwater cast can be
considered to be any cast that is deployed via an ‘A’ Frame, winch, or other mechanical means.
Even a shallow water cast can fall under this definition when mechanical means are used.
One of the main concerns, in a deep water cast, is that the probe will not go straight down due to
the current flow or vessel drift due to wind and/or currents. This being the case, weights must be
used to ensure the cable (and probe) go as straight down as possible.
Unless the sound velocity probe is designed to have an additional weight attached to it, no weights
should be attached to the sound velocity probe. The weights, which enable deployment as straight
as possible, are attached to the end of the cable. The probe should be attached to the cable
approximately 3 – 5 metres above the weights; if the weights hit bottom, this should provide
enough scope for the probe to land clear of the weights.
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Figure 165: Deploying a sound velocity probe via a winch or A-Frame
The other major consideration, when deploying a probe in deeper water, is that the vessel must be
stationary longer and will drift. If there is a large variation in depths, the depth where the probe
went in, may not be the same depth when the probe reaches the bottom. It is essential that enough
cable is deployed to ensure a full profile to the sea floor.
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APPENDIX III: Multibeam Surveying
9 APPENDIX III: Multibeam Surveying
9.1 Introduction
Multibeam surveying affords the surveyor with many advantages, but it also requires more thought
behind the survey itself.
9.2 Survey Design

Multibeam surveying survey planning is very different than single beam survey planning. The main
considerations are line spacing and line direction. In single beam surveying, lines are normally
spaced based on the scale of the desired chart. The line direction is normally at the discretion of the
surveyor. In multibeam surveying, the surveyor has to plan the survey carefully, with thought to
overlap between adjacent lines and the direction that those lines are run.
9.2.1 Line Spacing

The entire concept of multibeam surveying is based on the swath coverage that defines the
multibeam system. The survey lines should be designed so that there is 100% overlap in coverage
between adjacent lines. As swath width is a function of water depth, it follows that the spacing
between lines may not be constant. Looking at a chart of the survey area, the surveyor should be
able to determine the swath width that will be obtained and can design the line spacing accordingly.
A large overlap in swath coverage is required due to various factors. One prime factor is roll. As the
vessel rolls, the swath coverage will vary in relation to this roll. If the vessel rolls to port (port-side
down), the swath coverage on the port side will be lessened, whereas the swath coverage on the
starboard side will increase. If there is not sufficient overlap in swath coverage, there could be gaps
in coverage, between adjacent lines, due to the roll.
If the helmsman has problems keeping the vessel on the designated line, this could case gaps if the
vessel goes offline to opposite directions on adjacent lines.
Unexpected shallows will reduce the swath coverage. If the lines are designed with very little
overlap, a shallow area on the lines will see reduced swath coverage and the possibility of gaps
between the lines.
9.2.2 Line Direction

In single beam surveying, the usual practice is to survey normally to the contours. The concept is to
cut the contours at 90° to obtain the best definition of the slope. Multibeam survey is exactly
opposite of this; in multibeam survey, the lines are planned to survey parallel to the contours.
Multibeam surveying can be likened to side scan surveying; the best definition is obtained when the
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slope is within the port or starboard swath coverage. There will be poor definition of the slope
covered by the nadir beams, as they act similar to a single beam echo sounder.
In setting up the survey lines, if the lines were to run up and downslope, the spacing would have to
vary between the start and the end of the lines, as the swath coverage would vary due to the
change in water depth. The lines would not be parallel. By surveying along the contours, the depths
will remain more or less constant so that the spacing does not have to change from beginning to
end. However, the spacing between adjoining lines may vary due to increased or decreased depth.
9.2.3 Line Run-in

As was previously noted, it is good survey practice to allow the motion sensor and gyro time to
settle after making a turn. With this in mind, the surveyor should set up the survey lines so that an
adequate lead-in, before the start of data recording, is allowed.
Extra lead in time allows the helmsman the opportunity to get on to the line and make any
adjustments that are necessary to counteract wind or current conditions. It is much better for the
vessel to be a little off of the planned survey line, but heading in a straight direction, rather than
‘fish-tailing’ back on forth across the line, trying to maintain zero offline.
Surveying into a beach may only allow very limited run-in if the lines are also to be surveyed out
from the beach. In this case, it may be better to design the lines so that they run parallel to the
beach. Of course, if it shallows greatly towards the beach, the lines should be run parallel to this
slope anyway as detailed above.
9.3 Record Keeping

It is essential that detailed records be kept of all aspects of the multibeam survey. The logging of all
details of the survey will greatly assist those in charge of processing the data. Maintaining a vessel
log, that reflects offsets, draft measurements, sound velocity profiles, etc.; will give the surveyor a
reference that can be easily accessed. The more information that is logged, the easier it will be
during processing, and it will also provide the surveyor with a means to assess survey technique with
a view to improving the efficiency of the survey.
9.3.1 Vessel Record

A hardbound ledger book should be kept for the vessel record. The vessel record should include,
but is not limited to:
• Diagram of the vessel with measurements

• All offsets
• Daily draft measurements
• Diary of sound velocity profiles
• Surveyors / Operators
• Equipment list
• Equipment interface information
• Diary reflecting dates of individual surveys
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The vessel record is meant to be a quick reference for general information that is required for
multibeam surveying. Some of the information does not change from survey to survey and should
go either in the front of the book or the back of the book. A section of pages can then be devoted to
the information that does change from survey to survey or day to day.
As an example:
• Page 1 – Plan of the vessel with all vessel measurements

• Page 2/5 – Plan of the vessel with all offsets
• Page 6/9 – Equipment list and interfacing information
• Pages 10/20 – Dates of individual surveys with a listing of surveyors responsible for those
surveys
• Pages 21/40 – Diary of draft measurements
• Pages 41/60 –Diary of sound velocity measurements
As can be seen, this is a general reference which can provide dates and general details.
When naming surveys and sound velocities, a certain degree of logic in their naming will greatly
assist deciphering an individual event out of many events. In the case of sound velocity profiles, it is
common to name the profiles for the date that they were taken. A sound velocity profile taken on
04 July 2015 would be referred to as 20150704. If more than one profile is taken during the day,
then a letter suffix can be added: 201590704a, to separate the profiles, or time of cast can be added
to the file name. Keep in mind that personnel, who were not on board during the data collection,
may need to reference the information; keeping it logical and chronological will help.
Ensure that many blank pages are kept for the various categories. When a book is filled, plainly
mark on the cover the inclusive dates that the vessel log covers. If possible, also mark this
information along the spine of the vessel log. These logs should be kept in a safe and dry place on
the vessel.
9.3.2 Daily Survey Log

The Daily Survey Log is where all the details of the survey are recorded: start/stop time of the lines,
line names, and line direction, the speed of survey, and comments about that survey line. A copy of
the appropriate survey log should accompany all multibeam data along its path during processing.
Daily Survey Logs are of two types: rough and smooth. The smooth log is a sheet that is arranged in
rows and columns, where the appropriate survey information is entered, much like a spreadsheet.
It can be a single sheet that is printed out on board, or it can be professionally produced pad of
sheets. The rough log is similar to the vessel log; it is normally a ledger book; the start/stop times,
line name, line direction and comments are entered line by line, usually on the right-hand page as
they occur. The left-hand page then is left for details of the draft, sound velocity profile data, tides
or any other information that is pertinent to the lines that are detailed on the right-hand page.
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A copy of the survey log is sent along with the multibeam data to processing and a copy is kept on
board the vessel.
An example of the information on a smooth log:
• Sensor offsets
• Calibration offsets
• Date
• Survey name, area and surveyors
• Name of sound velocity file
• Name of tide file
• Vessel name
• Start/Stop time of survey line
• Line name
• Direction
• Comments
Due to the nature of a single sheet type log, the information should be entered on each sheet, even
though many items do not change from one day to the next.
With the logbook style of the daily log, the items that do not change can be listed on one page so
that everything following that page will be under those parameters (offsets, vessel name etc.). The
right-hand page will include the start/stop times, line name, direction and comments. The left-hand
page, as noted above, is for additional information. A further advantage to using a logbook is the
space available to sketch diagrams of the survey or other visual aids that might make the survey
easier to understand.
The surveyor uses a log book to record the data as it occurs. A daily survey log sheet can be created
in any word processor or spreadsheet program. At a convenient time, the surveyor can call a sheet
up, within the appropriate program, enter the data and print it out. This has many advantages; the
most obvious is that the daily log sheet is typed in and printed out making it very legible to read; it
can be stored down to memory, making a permanent record.
Although maintaining a good detailed log of daily survey events may be difficult to get used to, after
a short time the advantages will become obvious.
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Figure 166: Rough log, kept during survey operations.
(Log does not need to be neat, but must contain all pertinent information)
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Figure 167: Smooth log; information copied from a real-time survey log
APPENDIX IV: Offset Measurements
10 APPENDIX IV: Offset Measurements
10.1 Lever Arm Measurement – Offsets
Each component or sensor that produces information, unique to its position, will have a point that is
considered the reference point of that sensor. The Sonic MBES, the motion sensor, and the GPS
antenna will have a documented point from which to measure. The gyrocompass’ data is not
dependent on its position on the vessel so, therefore, does not require an offset measurement.
10.2 Vessel Reference System

When all equipment (Sonic MBES sonar head, motion sensor, gyrocompass and GPS) have been
permanently mounted, the physical offsets to a central reference point (CRP) must be measured.
The central reference point (CRP) or vessel reference point (VRP) is that point that the surveyor
chooses to be the origin for the X and Y grid that will define the horizontal relationship between all
of the sensors. The vertical or Z reference can be the water line or another logical vertical reference.
Generally, the CRP corresponds to the centre of gravity or rotation of the vessel. All of the sensors
must have their physical relationship to each other measured and entered into the data collection
software or the processing software.
All offsets, between sensors, are defined by an X, Y and Z offset from a reference (CRP or VRP) point.
In most survey software, the X-axis runs athwartship, i.e. from the port side to the starboard side;
the Y-axis runs alongship from the bow to the stern. The Z axis runs perpendicular through the
reference. The origin is usually located at the vessel’s centre of gravity or centre of rotation. The
sign convention is standard for a Cartesian plane, translated to a vessel: starboard of the reference
point is positive, forward of the reference point is positive. The sign for Z may differ, depending on
the data collection or processing software.
Figure 168: Vessel Horizontal and Vertical reference system

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10.3 Measuring Offsets
The accurate measurement of offsets is vital to the accuracy of the survey data. If possible, the
vessel will be put on a hard stand so that it can be very accurately measured using standard land
survey equipment, such as a total station. However, this may not be possible and the offsets will
have to be measured using tape and plumb-bob, which is detailed below.
10.3.1 Sonic MBES Acoustic Centre

Please refer to the drawings appendix to obtain measurements, with reference to the system
offsets, when mounting on the Sonic mounting frame.
SONIC 2024 Side View SONIC 2022 Side View
35mm 35mm
standoffs
standoffs
187mm
187mm
Z
Reference Z
AFT Acoustic Centre FORE
Reference
Acoustic Centre
SONIC 2024 Plan View AFT FORE
Alongship ref
240mm
Connector under
120mm
120mm
138mm
Athwartship
ref
Athwartship
ref
39mm
39mm

187mm
Z
Acoustic Centre Reference
AFT SONIC 2026 Plan View FORE

240mm
Athwartship
ref
240mm
Figure 169: Sonic 2026/2024/2022 Acoustic Centre
10.3.2 Horizontal Measurement

All measurements should be made with a metal tape measure. A cloth tape can stretch, it can also
be knotted or kinked, unknown to the persons making the measurements. At a minimum, two
people should be assigned to take the measurements; three people will work better with the third
person writing down the measurements. One person will be the holder, and the other will be the
reader. Starting at either the reference point or the sensor, the distance will be measured. When
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either the reference point or the sensor is reached, the two people will reverse roles: the holder is
now the reader, and the reader is the holder, the transverse is made back to the point of beginning,
but not using the same path. If reference marks were made on the first leg, they should not be used
on the second leg back. If the measurement from the sensor to the reference point, in one direction,
agrees with the measurement in the opposite direction, made by a different reader and holder, then
the offset is good. If there is a small disagreement in measurements, the two measurements can be
averaged. If there is a large disagreement, then the process should be repeated. What is a small
disagreement? A few centimetres can be expected.
10.3.3 Vertical Measurement

To measure elevations or the Z offset, the use of a plumb bob is required. This can be something as
simple as a spanner tied to a length of line and lowered from one deck to the next. The plumb bob
will also allow for accurate measurements in the X and Y direction when transposing them from one
deck to the other.
The plumb bob works, of course, by gravity so generally points to the centre of the earth. This being
the case, if the vessel is not in good trim, i.e. has a list, the resting position of the plumb bob may not
be at the true vertical point under the place from which it is being held. This is very critical when
transposing X and Y measurements from one deck to another.
The draft of a vessel will not be constant. Before going out on a survey, the fuel and water may be
filled up, causing the vessel to settle lower in the water. Possibly fewer people are on board causing
the vessel to rise higher in the water. The main concept here is that the draft of the sonar head
changes. All X and Y offsets remain the same as long as the sensors are not moved, but the Z offset
changes constantly depending on the draft of the vessel.
If possible, the pole should be marked to show the depth of the head. Measuring up from the sonar
head’s acoustical reference, rings can be painted on the pole in 10 cm (or other) increments, with 2
cm hatching between rings. The surveyor may have to observe the pole over the course of a few
minutes to determine where the water line is and would then estimate the depth by interpolating
between the 10 cm depth rings.
Another method would be for the surveyor to initially measure from the sonar head’s acoustical
reference to the top of the hydrophone pole. This is the total pole measurement. At the start of a
survey day, the surveyor will go to the pole and measure from the top of the pole to the water line
(using the tape measure and plumb bob or similar weight), this is called the dry measurement.
Taking the dry measurement from the total pole measurement yields the wet measurement, which
is the draft of the sonar head. Due to wave motion, the surveyor may have to take a series of
measurements to ensure an accurate reading.
When the draft or Z of the sonar head is determined the Z for the GPS antenna and the motion
sensor can be adjusted accordingly, if the Z reference is the water line. In most data collection
software a Z shift, in relation to the water surface, can be entered in for the CRP, which will make
the vertical adjustment for all offsets
It is very important that when measuring the draft on small vessels that the person taking the
measurement does not unduly cause the vessel to list towards that side. Having someone
counterbalance the weight of the person taking the measurement is a good idea. This is also true of
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any temporary list the vessel is experiencing. On small survey vessels, a person leaning over the
side, to take the draft measurement, can induce upwards, or exceeding a 10cm error in depth
readings during survey operation.
On some vessels, it is advisable to take draft readings during the survey or immediately after
completion of the survey, as the draft will change that much.
All offset information should be recorded in the daily survey log and the vessel’s permanent survey
record.
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APPENDIX V: The Patch Test
11 APPENDIX V: The Patch Test
11.1 Introduction
The alignment of the Sonic MBES sonar head to the motion sensor and gyro is critical to the accuracy
of the determined depths. It is not possible to install the sonar head in exact alignment with the
motion sensor and gyro to the accuracy required (x.xx°). If GPS time synchronisation is not used, the
latency of the position, as reported by the GPS, must also be measured during the calibration. This
being the case a multibeam calibration must be performed to measure the angular misalignment
between the Sonic MBES and the motion sensor and gyro and, if necessary, the position latency; this
is called the Patch Test.
The patch test is performed with each new installation or whenever a sensor is moved. In the case of
an over-the-side mount, a large number of calibration computations need to be performed to
determine how well the pole goes back into the same position each time it is deployed. With more
permanent mounting arrangements, a minimum of 5 separate patch tests should be conducted to
derive a standard deviation that would indicate the accuracy of the derived values.
The patch test involves collecting data over certain types of bottom terrain and processing the data
through a set of patch test tools. There are two primary methods of processing the data that are
currently used: an interactive graphical approach and an automatic, iterative surface match. Each of
these techniques has strengths and weaknesses and the preferred approach is dependent on the types
of terrain features available to the surveyor. All modern multibeam data collection software packages
contain a patch test routine. Please read the software manual for explicit information regarding the
requirements for that software’s patch test. The below criteria is, in general, the norm for a patch
test.
11.2 The orientation of the Sonic MBES Sonar Head

The orientation of the sonar head must be known to convert the measured slant ranges to depths
and to determine the position of each of the determined depths.
Any error in the measured roll of the

Sonic MBES sonar head can cause
substantial errors in the conversion from
slant range to depth. A roll error of 1°
on a 50 m slant range will cause a 0.6 m
error in the resulting depth. Any error in
Figure 170: Sonic MBES axes of rotation
the measured pitch of the Sonic MBES
head will primarily have a detrimental
effect on the accuracy of the positions that are determined for each slant range/depth.
A pitch error of 1° will cause an along-track error in the position of 0.4 meters when the sonar head
is 25 meters above the seabed.
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11.3 Patch Test Criteria
The patch test requires collecting sounding data over two distinct types of seafloor topography; a
flat bottom is used for the roll computation whereas a steep slope or feature is used for the latency,
pitch, and yaw data collection.
Care must be taken that the sonar head covers the same area on both data collection runs, this may
not be the same as vessel position, especially with an over-the-side mount or if the sonar head
rotated. Only the latency data collection requires a different speed from normal survey speed.
The data collection for Latency, Pitch and Yaw should be done in as deep water as possible. This is
particularly true for the pitch computation because in shallow water the angle of pitch may not be
easily determined due to a lack of resolution.
11.3.1 Latency Test

The vast majority of installations will incorporate GPS time synchronisation and, as such, no latency
is expected in the GPS position. However, it is necessary to complete at least one or two latency
tests to prove that the latency, for all practical purposes, is zero. Most patch test programs will not
yield zero latency, but the derived value would be so small to constitute a practical zero.
For the latency test, data is collected on a pre-defined line up a steep slope or over a well-defined
object (such as a rock or small wreck). The line is surveyed at survey speed up the slope and then
surveyed again, in the same direction, but at a speed that should be half of the survey speed. If the
vessel cannot make way at half survey speed, then the fast run will need to be taken at a higher
speed than normal survey speed, and this can influence the latency test due to squat or settlement.
The main consideration is that one line should be twice the speed of the other.
Figure 171: Latency Data collection
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11.3.2 Roll Test
The data collection for roll has to be over a flat seafloor. One line is surveyed twice, in reciprocal
directions and at survey speed.
When the data, from the two data collections, are looked at in
profile, there will be two seafloors sloped in opposite
directions. Most patch test programs will go through a series of
iterations to determine when the difference between the two
surfaces is the smallest, and this is the roll offset.
Figure 173: Roll data collections
Figure 172: Roll data collection Roll is perhaps the most critical value in the patch test routine
as an error in the roll will result in an error in sounding depths.
However, the computation to determine the roll misalignment is usually the easiest and most
consistent.
Sounding Error due to +0.5° Roll Error in 20 metres depth

0.60
0.40
Depth Error in Metres
0.20
0.00
-80 -60 -40 -20 0 20 40 60 80
-0.20
-0.40
-0.60
Degrees from Nadir
Graph 1: Depth errors due to incorrect roll alignment
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11.3.3 Pitch Test
The pitch data collection is over the same type of seafloor as the latency data collection, i.e. steep
slope or feature on the sea floor. One line is surveyed, twice, in reciprocal directions at survey
speed. It is very critical that the sonar head passes over the same exact part of the slope on each
run.
A profile of the data will show two different slopes,

which represent the reciprocal data collections. The
patch test software goes through a series of
iterations of pitch angle corrections until the
difference between the two surfaces reaches a null.
Whatever the angle of correction, which results in
the minima or null, that angle will be reported as the
pitch misalignment.
Figure 174: Pitch data collections
A pitch error will result in an along –track position error, which increases greatly with depth
Position Errors due to Pitch

Alignment Errors
6
Sounding Position Error (metres)
4
1.0° Error
3
0.75° Error
2 0.5° Error
1 0.25° Error
0
0 100 200 300 400
Water Depth (metres)
Graph 2: Position errors as a result of pitch misalignment
(Error can be either negative or positive)
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11.3.4 Yaw Test
The yaw data collection and subsequent solving for the yaw offset is usually the most difficult of the
4 tests that comprise a patch test. This is especially true if a slope is used for the yaw computation; a
feature generally works much better. The reason for this is that the area that is used for the
computation is not directly under the vessel, but in the outer beams and the slope may not be
perfectly perpendicular in relation to the course of the vessel.
For the Yaw data collection, two parallel lines are

used, with the vessel surveying in the same
direction on those lines. The lines are to be on
either side of a seafloor feature or over a slope.
The lines should be approximately 2 – 3 times
water depth in separation. A yaw error will result
in a depth position error, which increases with the
distance away from nadir.
Figure 175: Yaw data collection
Position Error with a Heading Error of 0.50°

6
Water Depth
2
Along-track Position Error in Metres
200 metres
150 metres
0 100metre
-100 -50 0 50 100
50 metre
-2 25 metres
10 metres
-4
-6
Angle from Nadir
Graph 3: Along track position error caused by 0.5° error in yaw patch test
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Position Error with a Heading Error of 1.0°
10
6
Water Depth
4 200 metres
Along-track Position Error in Metres
2 150 metres
0 100metre
-100 -50 0 50 100 50 metre
-2
25 metres
-4
10 metres
-6
-8
-10
Angle from Nadir
Graph 4: Along-track position error caused by 1.0° error in yaw patch test error
11.4 Solving for the Patch Test

Depending on the data collection software that is employed and how it solves for the patch test,
there will be a distinct order that the tests will be solved for, but this does not influence the data
collection for the patch test. In general, latency will be solved before pitch; roll will be solved before
yaw. It is not uncommon that a larger than expected error in one of the tests will make it necessary
to go back and resolve for all previous values. This can be the case with a large yaw offset, as this
will influence to a greater degree the accuracy of the latency and pitch computations if done using a
slope.
The resultant patch test values are corrections that are entered in the data collection software and
not in the Sonic MBES software, as the values are used for process data.
11.5 History
Since the advent of commercial multibeam echosounders, there has been the need to measure
the angular offsets between the multibeam sonar head and the auxiliary sensors that provide
attitude and heading information. Another measurement is made to determine the latency, in
the GPS receiver. Multibeam data is collected that is used to determine (1) latency, (2) roll offset,
(3) pitch offset and (4) heading or yaw offset
What has been developed is called the Patch Test; this is the multibeam calibration. During the
development of the data collection criteria, for the Patch Test, there has only been a basic
description for the manner of the data collection; providing little, if any, directions that would
help create a high degree of confidence in the results of the various tests. This section will
address those very directions that will help create a highly accurate and statistically viable
result from the Patch Test.
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11.6 Basic data collection criteria
Patch test data collection does not have to be in any set order, but the order that the values
are computed, in the data collection or processing software, will be in a distinct order.
Normally, Latency is the first value that is computed, followed by Roll, Pitch and Yaw (or
heading). The solving order is important, as will be seen below.
11.7 Patch Test data collection error areas

There are many common errors, or mistakes, made during the patch test data collection.
11.7.1 Positioning
The accuracy of the positioning system is a common area where errors arise. DGPS has, at best,
a variability of ± 0.50 metres, whereas RTK variability is ±0.05metres.
A recent article, in Hydro International (‘Stop Using DGPS’; Hydro International; Volume 16,
Issue 7; Oct 2012) documents this issue very well.
The article fully details the errors that can occur by using DGPS, instead of highly accurate
positioning for the Patch Test data collection. The error increases inversely with the water
depth, i.e. the shallower the water, the larger the error that can be induced by using DGPS over
more accurate positioning.
However, many users do not have any better positioning capabilities than DGPS; how can they
still obtain valid patch test results without having centimetric accurate positioning? This is, in
large part, what this paper is concerned with. However, even with centimetric position, the
following should be followed.
11.7.2 Feature chose for the test

Where at all possible, for latency, pitch and heading data collection, a feature should be used
rather than a slope. Slopes tend to be too variable as opposed to a well‐defined feature such as
a wreck, rock outcrop or pipeline.
One of the other issues, with using a slope, is that many times the shallow end of the slope
does not allow sufficient area or depth for the vessel to come about and line up for the
reciprocal run; this does not allow sufficient time for the motion sensor to settle down nor for
the helmsman to find a steady course.
It has been found that when using a slope, for the pitch calibration, that the heading angular
offset can have a large influence. If the sonar head does not track exactly the same route, up
and down the slope, the heading offset will affect the pitch angular result.
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11.7.3 Water depth
The deeper the water, the better the result. In shallow water, DGPS wobble creates more,
relatively severe, position errors. A corollary to this is that the subtended angle is proportionally
larger in shallow water, which can blur the definition of the object used, be it a feature or
slope. The shallower the water, the larger the subtended angle; the deeper the water, the
smaller the subtended angle and, therefore, the better the definition of the object or slope.
11.7.4 Use predefined survey lines

The most important positioning issue is having the sonar head pass over the same exact
location in both of the survey data collections. This is especially true when using a highly
variable slope. One way to assist the helmsman is to give the helmsman a defined line to
navigate by. Just trying to go over the same track, without a line reference, does not work, as
it is the sonar head that has to pass over the same exact point; this accuracy cannot be
obtained just by using the grid display to steer the vessel.
When setting up the survey software, make sure that the sonar head is the steered reference
for all offline measurements. It does no good to have the vessel on the survey line if the sonar
is mounted on the side of the vessel; it is the sonar that should be on the survey line.
11.7.5 Speed
When doing the latency data collection, the fast run should be at survey speed where, if there is
squat or settlement, it should have been previously measured and can be applied. Many times,
the fast run survey line is at a speed that is greater than the normal survey speed and induces
unknown squat and settlement errors into the computation.
11.7.6 Vessel line up

For the angular measurement to be accurate, the vessel should have sufficient time to come on
line and allow the motion sensor to ‘settle down’. Sufficient lead/run in should also be allowed
in order for the helmsman to find the proper heading so that vessel can maintain as straight a
course as possible.
11.7.7 Pole variability

The other issue, which is often overlooked, is the variability in the repeat position of a
deployable hydrophone pole. With any moveable mounting arrangement, the pole should be
recovered and redeployed a few times, during data collection, to determine if it does, indeed,
go back into the same aspect every time that it is deployed. (It is a good idea, after redeploying
the head, to do a few figure 8 manoeuvres.)
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11.8 Improving the Patch Test and Patch Test results
Section 11.7 described areas that should be addressed to improve the results of the patch
test when collecting the data. Further improvement will come with the number of data
collections and the manner in which the patch test is computed.
11.8.1 Need to collect sufficient data

Too many times, surveyors will collect just a few lines of data for each test. One of the major
issues, detailed above, is the variability of the position accuracy of DGPS. Another issue,
detailed above, is the steering of the vessel during the data collection and the relationship of
the sonar head to the feature or slope on each data collection.
To overcome the variability of the DGPS positioning and vessel steering, it follows that the
more tests that are performed, the greater will be the reliability of the test results. Below, is
an example of a multibeam calibration, which included five data collections for each test.
ROLL PITCH YAW

0.73 ‐0.73 1.02
0.73 ‐0.99 0.90
0.76 ‐2.16 0.81
0.76 ‐1.07 2.26
0.74 ‐0.83 0.94
Pitch mean with erroneous value = ‐1.16 (SD = 0.58); without erroneous value of ‐2.16 = ‐0.91 (SD = 0.13) Yaw
mean with erroneous value = 1.19 (SD = 0.61); without erroneous value of 2.26 = 0.92 (SD = 0.08)
Consider the above patch test and what the result would have been if only two collections
were made and those were the ones that contained the highlighted values, which can
clearly be seen to be outside of the trend. Having more data to work with will create a more
reliable result.
The more data collected, the more evident will be any out of trend values that may reflect a
DGPS wobble, a steering issue, or variability of the positioning of the pole. Enough data
should be collected to provide a reliable statistical result, i.e. mean and standard deviation.
Collecting enough data to compute six of each test, allows the exclusion of any one ‘out of
trend’ result to yield a mean and standard deviation derived from five computations; this
would be a statistically viable sampling.
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11.8.2 Individually solving values
No matter what the solving order may be, each value should be computed independently. All
tests should be based on the mean of the previous test(s).
It is important to understand why a certain solving order is used in all survey software. Each
computation is based on the previous test result. This is the reason that latency is computed
before pitch and roll is computed before heading; the primary test (latency or roll) has a large
influence on the result for the secondary test (pitch and heading). The roll computation can
also have an influence on the pitch computation, primarily if the position of the sonar head, of
the reciprocal runs, was not coincident. The heading offset will also have an influence on the
pitch computation for the same reason.
Generally, multibeam surveys are conducted with very accurate time synchronisation using GPS
time and the Pulse Per Second. In this case, the latency test is used to prove the lack of latency
or that is sufficiently small enough to be of no consequence. Using accurate timing, it is not
necessary to collect more than two latency collections. This paper will concentrate on the
angular offset computations. However, if accurate timing is not used there should be the same
number of collections as with the other tests.
With a good number of individual tests, solve for one computation (i.e. only roll) and derive a
mean and standard deviation for that one test. Determine if the standard deviation is within
acceptable accuracy requirements, then use that derived mean to solve for the next
computation (i.e. pitch). As an example, using the results on page 7, the first step would be to
solve for Roll first, derive a Roll mean and then use that mean in all of the Pitch computations.
Find the mean and standard deviation for Pitch. Use the mean Roll and Pitch values to
determine the Heading offset.
In the above example, the roll mean, of the five tests, is 0.74°, with a standard deviation (δ) of
0.01°. The roll mean would now be used when determining the value for pitch. Use the roll
mean and solve all of the pitch computations; the pitch mean is ‐0.91° (excluding the out of
norm value), δ = 0.13°. The roll and pitch computed means are now used to solve for the
heading offset. The solved heading offset is 0.92°, δ = 0.08°.
If the heading offset had been 1.5° or greater, it would be advisable to re‐compute the pitch
offset, using the computed heading offset value. This is due, again, to the fact that if the sonar
head did not track the same exact position in the reciprocal runs, the heading offset would
have an influence on the pitch offset result.
11.9 Truthing the patch test

After deriving the values for roll, pitch and yaw, the values should be entered into the
appropriate areas in the data collection software. Ideally, find a singular object that can be
boxed in (running data collection lines, on all sides of the object) and process the data. The
object depiction, with all survey lines, should not vary from the object depiction from any one
line
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Part No. 96000001
APPENDIX VI: Basic Acoustic Theory
Figure 176: In 1822 Daniel Colloden measuring velocity in Lake Geneva
(Daniel Colloden used an underwater bell to calculate the speed of sound underwater in Lake Geneva, Switzerland at 1435 m/Sec, which is
very close to recent measurements)
12 APPENDIX VI: Basic Acoustic Theory

12.1 Introduction
With multibeam, as with any echosounder, the main concern is sound in water. Once the projector
transmits the acoustic energy into the water, many factors influence that energy’s velocity and
coherence. The major influence is the velocity of sound in water.
12.2 Sound Velocity

The major influence on the propagation of acoustic energy is the sound velocity of the water
column. As the acoustic pulse passes through the water column, the velocity and direction
(refraction) of the wavefront will vary based on the water column sound velocity. If the sound
velocity, through the water column, is not accounted for in the data collection software the depths
and the depth location will be in error. For this reason, sound velocity casts are an oft-repeated
routine during the multibeam survey.
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Figure 177: Concept of refraction due to different sound velocities in the water column
The velocity of sound in water varies both horizontally and vertically. It cannot be assumed that the
velocity of sound in the water column remains constant over large areas or throughout the day in a
more local area. The main influences on sound velocity are Conductivity (salinity), Temperature and
Depth (pressure).
1 ° C change in Temperature = 4.0 m/sec change in velocity

1 ppt change in Salinity = 1.4 m/sec change in velocity
100 m change in Depth (10 atm’s pressure) = 1.7 m/sec change in velocity
Figure 178: Sound velocity profile
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12.2.1 Salinity
Generally, salinity ranges from 32 – 38 parts per thousand (ppt) in ocean water. A change in salinity
will create density changes, which affect the velocity of sound. As a general rule, a change in salinity
of only 1 ppt can cause a sound velocity change of 1.4m/sec. There are many influences on the
salinity concentration in seawater.
1. Evaporation
2. Precipitation
3. Freshwater influx from rivers
4. Tidal effects (salt wedges)
12.2.2 Temperature
Temperature is the major influence on sound velocity in water. A 1°C change is equal to
approximately a 4m/sec change in velocity. Once the upper layer is passed, the temperature
normally decreases until the pressure becomes the more dominating influence on the velocity of
sound, which is approximately at 1000 metres. The normal influences on the temperature
component of sound velocity include:
1. Solar heating
2. Night time cooling
3. Rain/runoff
4. Upwelling
12.2.3 Refraction Errors

Refraction errors occur due to the wrong sound velocity profile being applied to the data. The error
increases away from nadir and, as such, is more apparent in the outer beams. The visual effect is
that the swath will curl up (smile) or curl down (frown). The actual representation is that the
soundings are either too shallow or too deep.
Figure 179: Refraction Error indication
At an angle of 45° in 10 meters of water, a ±10 meters per second velocity error will result in a depth
error on the order of ± 4.6 cm.
• Convex (smiley face) = Sound velocity profile used higher than the real profile
• Concave (frown face) = Sound velocity profile used lower than the real profile
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12.3 Transmission Losses
The transmission of an acoustic pulse is generally called a ‘ping’. When the projector sends out the
acoustic pulse many factors operate on that pulse as it moves through the water column to the
bottom and also on its return upward. The major influence of the water column sound velocity
characteristics was detailed above; this affects the speed of transmission (and return). There are
other influences that will affect acoustic energy in water, and these are transmission losses.
12.3.1 Spreading Loss

Spreading loss does not represent a loss of energy, but refers to the fact that the propagation of the
acoustic pulse is such that the energy is simply spread over a progressively larger surface area, thus
reducing its density. Spreading loss is not frequency dependent.
12.3.1.1 Spherical Spreading

Spherical spreading loss is the decrease in the source level if there are no boundaries (such as the
water surface or sea floor) to influence the acoustic energy; all of the acoustic energy spreads out
evenly, in all directions, from the source. The loss in intensity is proportional to the surface area of
the sphere. The intensity decreases as the inverse square of the range for spherical spreading. With
Spherical spreading, the transmission loss is given as TL = 20log(R), where R is range
Point Source
of Acoustic
Energy
Figure 180: Concept of Spherical Spreading
12.3.1.2 Cylindrical Spreading

In reality, the acoustic energy cannot propagate in all directions due to boundaries such as the sea
floor and the water surface; this gives rise to Cylindrical Spreading. Cylindrical spreading is when the
acoustic energy encounters upper and lower boundaries and is ‘trapped’ within these boundaries;
the sound energy begins to radiate more horizontally away from the source. With Cylindrical
spreading the acoustic energy level decreases more slowly than with Spherical spreading. With
Cylindrical spreading, the transmission loss is given as: TL = 10log(R), where R is range.
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Figure 181: Concept of Cylindrical Spreading
12.3.2 Absorption
Absorption is frequency dependent and refers to the conversion of acoustic energy to heat when it
strikes chemically distinct molecules in the water column. Magnesium Sulphate MgSO4
predominates, with Boric Acid B(OH)3 playing a major part at lower frequencies. Temperature is also
an influence on absorption. Absorption is one of the key factors in the attenuation of the acoustic
energy based on frequency; the higher the frequency, the greater the absorption. The higher the
sonar operating frequency, the more rapid the vibration (or excitement) of the particles in the water
and this leads to the greater transference of acoustic energy; thus, the attenuation of the acoustic
wave. This is the reason why lower frequencies are used to obtain deeper data. At 400 kHz, the
normal seawater absorption is approximately 100 dB/km, whereas at 200kHz the absorption is
approximately 50 dB/km. These are values for normal seawater (with a salinity of 35 ppt).
Freshwater has little, if any salinity (<0.5ppt), so absorption is considerably less.
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The below table and charts illustrate how frequency, water temperature, and salinity affect
absorption
Seawater Absorption Values: Salinity = 35ppt, pH=8 2

dB/km
400kHz 200kHz
Temp (C) 5° 10° 15° 20° 25° 5° 10° 15° 20° 25°
Depth (m)
50 97 100 111 130 154 46 56 68 80 89
100 96 100 110 128 153 46 55 67 79 88
150 96 99 110 128 152 46 55 66 78 88
200 95 99 109 127 151 45 55 66 78 87
250 95 98 109 126 150 45 54 66 77 86
300 95 98 108 125 149 45 54 65 77 86
400m 44 53 64 76 84
Mean Value 96 99 110 127 152 45 55 66 78 87
Freshwater Absorption Values: Salinity = 0.5ppt, pH=7

dB/km
400kHz 200kHz
Temp (C) 5° 10° 15° 20° 25° 5° 10° 15° 20° 25°
Depth (m)
50 65 55 46 39 33 17 14 12 10 9
100 65 54 46 38 33 17 14 12 10 9
150 65 54 45 38 33 17 14 12 10 9
200 65 54 45 38 32 17 14 12 10 9
250 65 54 45 38 32 16 14 12 10 9
300 64 54 45 38 32 16 14 12 10 9
Mean Value 65 54 45 38 33 17 14 12 10 9
Table 17: Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz
2
Equation used for computation is from: Ainslie M.A., McColm J.G., “A simplified formula for viscous and
chemical absorption in sea water”, Journal of the Acoustic Society of America, 103(3), 1671-1672 as employed
on the NPL website, op cit.
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Part No. 96000001
160
Frequency and Temperature Influence on Seawater
140 Absorption
120
400kHz
Absorption dB/km
100 200kHz
80
60
Mean values for water
depths from 50 metres to
40 300 metres (400 metres
for 200 kHz)
20
0
Degrees Celsuis 5° 10° 15° 20° 25°
Graph 5: Seawater Absorption (Salinity 35ppt)
70
Frequency and Temperature Influence on Freshwater
60 Absorption
400 kHz
50
Absorption dB/km
200 kHz
40 Mean values for
water depths
from 50 metres
30 to 300 metres
(
20
10
0
Degrees Celsius 5° 10° 15° 20° 25°
Graph 6: Freshwater Absorption
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12.3.3 Sound Absorption Graphs at Select Frequencies
Sound Absorption (Francois-Garrison)

250
200
Absorption (dB/km)
150
40 ppt
100
50
5 ppt
Fresh Water
0
0 5 10 15 20 25 30 35 40
Frequency = 200 kHz
Depth = 20m Water Temperature (°C)
Graph 7: 200 kHz Sound Absorption

250
200
pt
40 p
Absorption (dB/km)
150
100
5 ppt
50
Fresh Water
0
0 5 10 15 20 25 30 35 40
Frequency = 300 kHz
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Part No. 96000001
250
ppt
40
200
Absorption (dB/km)
150
100
5 ppt
50
Fresh Water
0
0 5 10 15 20 25 30 35 40
Frequency = 400 kHz

400
350
ppt
40
300
Absorption (dB/km)
250
200
150
5 ppt
100
Fresh Water
50
0
0 5 10 15 20 25 30 35 40
Frequency = 700 kHz
Depth = 20m
Water Temperature (°C)
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Seawater Absorption dB/km
Freq. 10°C 15°C 20°C 25°C 30°C
100 54 65 77 86 91
200 55 67 80 89 92
210 57 69 82 94 98
220 59 71 85 97 104
230 61 74 88 101 109
240 63 76 91 105 115
250 65 78 94 109 120
260 67 80 96 113 125
270 69 82 99 116 130
280 71 84 101 120 134
290 73 86 104 123 139
300 75 88 106 126 143
310 78 91 108 129 148
320 80 93 111 132 152
330 82 95 113 135 156
340 85 97 115 138 160
350 87 99 118 141 164
360 90 102 120 143 168
370 92 104 122 146 171
380 95 106 125 149 175
390 98 109 127 152 179
400 100 111 129 154 182
700 213 207 3 214 235 270
Table 18: Operating Frequency - water temperature – absorption (@50m)
3
At 700 kHz, there is an absorption dip, in this temperature range
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12.3.4 Reverberation and Scattering
The sea is not homogenous in nature. Everything from suspended dust particles to fish, from the sea
surface to the seafloor will scatter, that is reradiate the acoustic energy. All of the effects of
individual scattering can be termed reverberation. The effect of reverberation is to lessen the
acoustic energy, and this leads to transmission losses.
Reverberation is divided into three main areas: sea surface reverberation, bottom reverberation,
and volume reverberation (the body of water that the energy is passing through).
Both the sea surface and the sea bottom will reflect and scatter sound, thus affecting the
propagation of sound. Sea surface scattering is influenced by how rough the sea is (which is related
to wind velocity) and also the trapped air bubbles in the near surface region. The sea surface is also
a good reflector of acoustic energy; this can lead to second and even tertiary bottom returns as the
bottom return acoustic energy is reflected by the sea surface and is then reflected once more by the
sea bottom.
In the case of the sea floor, the strength of the scattering depends on the type of bottom
(composition and roughness), the grazing angle of the acoustic pulse and the operating frequency of
the sonar.
There is also bottom absorption based on the sea floor terrain and composition. Bottom absorption
is also dependent on the operating frequency of the sonar and the angle of incidence. Bottom
absorption will be greater for a higher frequency and large angle of incidence. It is more or less
intuitive that a mud bottom will absorb more of the acoustic energy than a rocky bottom. When the
acoustic energy is absorbed, it means there is less that will be reflected back to the receivers. The
surveyor must be aware of the bottom composition as adjustments can be made to the Sonic
Multibeam Echosounder’s operating parameters to help compensate for the bottom absorption.
In waters with a large sediment load, the suspended particles will scatter the sound wave, thus
leading to transmission loss. In the scattering process, there is also a degree of energy that it is
reflected (backscatter); this can be a cause for ‘noise’ in the sonar data. Again, the surveyor should
be aware of this condition and, if need be, change the operating parameters of the Sonic MBES.
When discussing the changing of the operating parameters, it is generally a matter of increasing
transmit power or pulse length to get more total power into the water. In some circumstances,
increasing the Absorption value will allow the system to rapidly increase the gain to capture the
reflected energy that has been dissipated by seafloor absorption or scattering in the water column.
As noted above many of the effects of absorption, scattering, and bottom absorption are frequency
dependent. With the Sonic MBES, the operator can adjust the sonar frequency to optimise the
system for the survey conditions. This will take some trial and error; however, lower frequencies
tend to do best in areas of an absorbent bottom and high sediment load (scatter).
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Appendix VII ROV and AUV Installation
13 APPENDIX VII: Sonic MBES Mounting: Sub-Surface (ROV/AUV)
13.1 Installation Considerations
• A 1000BASE-T link (best time sync accuracy) is preferred; however, with bathymetry only
information, 100BASE-T will work. 10BASE-T will also work but is not recommended. Bathy
data requires 2 Mb/s data rate at a maximum ping rate of 60 pings/sec. For future
compatibility, please use 100BASE-T at a minimum, Snippets will not work with 10BASE-T;
however, Snippets will work over a 100BASE-T link.
• Average power, for a Sonic 2024 is 50W (1A), peak is 100W (2A); for a Sonic 2022 it is 35W
(0.73A), peak is 75W (1.5A). The peak power of 100W (75W) occurs just after transmit and
typically lasts for a few msecs (depends on transmitter power setting). If you use a separate
power supply for the sonar, we recommend using a 120 to 150W power source to supply the
head, but less if installing a Sonic 2022.
• The sonar up/downlink is all done through the Ethernet channel. Thus, no other hardware is
required except for the Ethernet media converters (copper to fibre, fibre to copper). As a
precaution, placing additional filtering on the output of the 48V supply to the sonar head is a
good idea to prevent vehicle electronic noise from getting into the sonar head. A common
mode choke, on the 48V line, is recommended. The Bourns (JW Miller) PM3700-50-RC
common mode choke works well (surface mount part). A Bourns 8102-RC choke, which is
easier to install (non-surface mount) can also be used.
• R2 Sonic supplies two types of deck cables. Only the Ø14mm deck cable (Part # 16000002) is
rated to 3000 meters water depth. Do not substitute this cable, as the Ethernet data pairs
need to meet certain important specifications. When terminating the Ethernet connections
to your connector, the Ethernet twisted pairs need to terminate right at the connector
pins, maintaining the twist on the wires as close to the connector pins as possible. On the
bulkhead connector, use CAT5, or better Ethernet cable, from the connector to the Ethernet
media converter. Use adjacent pins for each wire pair. If 100BASE (or 10BASE) Ethernet is
used, only the green and orange pairs are required. All four pairs, including blue and brown,
are only required when using gigabit Ethernet.
• Using a connector with a pigtail spliced on to the deck leads’ Ethernet pairs has a low
probability of working. If the deck lead must be terminated to a pigtail, the pigtail length
must be as short as possible, probably no more than 7-8cm. There are no special
considerations for the power conductors other than the connector being able to handle
48VDC and 2 amperes. The drain (shield) wire does not need to be terminated.
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13.1.1 Ethernet wiring considerations
The sonar head and SIM use Gigabit Ethernet ports. There are rules regarding the number of twisted
pairs, between different Ethernet ports, these rules are:
• Gigabit to Gigabit
Need all four pairs. If only two pairs used, in an attempt to force the ports to 100BASE-T, the
ports will not negotiate, and the result will be no connection. (As of the 16Nov2013 head
firmware, two pairs can be used; this will put the head in a 100BASE-T connection.) Sometimes
it's not obvious if a port is Gigabit-enabled; the Status display shows the Ethernet connection
speed for the head. This is useful for troubleshooting connection issues.
• Gigabit to 100BASE-T
Two pairs (green and orange on TIA/EIA-568-B wiring) can be used. Be sure to test this with a
modified patch cable (cut the brown and blue pairs) before committing to the chosen Ethernet
equipment as there may be surprises hidden in the equipment.
• 100BASE-T to 100BASE-T:
You can use two pairs (green and orange, T568B).
When connecting to the SIM, use either of the AUX Ethernet ports for the sonar head Ethernet
connection.
13.2 Data Rates

Bathy: ≈800 kb/s max (bathy data is sent twice, to GUI and data acquisition computer)
Snippets: ≈11Mb/s max
TruePix™: ≈ 5.5 Mb/s (magnitude +angle) max
≈ 3.5 Mb/s (magnitude) max
Water Column: ≈280 Mb/s max for magnitude only
≈560 Mb/s max for magnitude + phase
AI(FLS): ≈ 20Mb/s to 120Mb/s depending on GUI wedge size
The data rate, for water column data, can be significantly reduced by increasing the pulse width. At
certain pulse widths, the receiver sampling rate halves, which will make the water column data rate
halve.
As an example:
Pulse width 15µsec - 30µsec: 65 kHz sample rate = Ethernet: 35 Mb/sec (amplitude) 280 Mb/s
(amplitude and phase)
Pulse width 35µsec - 70µsec: 32.5 kHz sample rate = Ethernet: 17.5 Mb/s (amplitude), 140 Mb/s
(amplitude and phase)
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13.3 ROV Installation Examples
Figure 182: Single Head ROV Installation scheme A
Figure 183: Single Head ROV Installation scheme B (Preferred)
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Figure 184: Dual Head ROV Installation scheme A
Figure 185: Dual Head ROV Installation scheme B (Preferred)
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13.4 Power Requirements
The basic over the side installation of the Sonic MBES systems consists of the sonar head, projector,
SIM box, sound velocity probe, and interconnecting cables. The sonar head, SIM, and computer(s)
communicate via 100BASE-T or 1000BASE-T (Gigabit) full-duplex Ethernet.
Installation in an ROV requires an Ethernet media converter to convert copper to fibre optic and
back to copper media to accommodate long tethers. On shorter ROV tethers (less than 1000
metres), using impedance controlled twisted-pair copper wire and a DSL modem may be possible.
Remote or autonomous vehicles typically supply the 48-volt power to the sonar head, and if
required, the SIM Controller board.
Device Power Conditions

2024 with SIM 95 to 260VAC, 75 W 2024 head connected to SIM, equivalent to
over the side installation.
Conditions: 30m range, Tx power = 215 dB,
pulse width = 50us.
2022 with SIM 95 to 260VAC, 54 W 2022 head connected to SIM, equivalent to
over the side installation.
Conditions: 30m range, Tx power = 215 dB,
pulse width = 50us.
SIM 95 to 260VAC, 16.5 W No connections to SIM
2024 head at 48V 30m range, Tx power = 215 dB, pulse width =
1.05 A average 50us.
1.77 A peak after transmit
2022 head at 48V 30m range, Tx power = 215 dB, pulse width =
0.70 A average 50us.
1.34 A peak
SIM control 48V, 78mA (gigabit) No connections except Ethernet.
board 48V, 51mA (100BASE-T)
Table 19: Systems Power Requirements
In an ROV or AUV installation, the sonar head and SIM Controller board require 48VDC which is
supplied by the vehicle power system. The average power required is 50 watts for the 2024, 35
watts for the 2022. Just after transmit, an additional 50 watts is required to charge the transmit
capacitor bank for a brief period. See below figures for current waveforms. If a separate power
supply for the sonar is required, it should be rated for 120 to 150 watts or higher.
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Figure 186: Sonic 2024 power supply current waveform.
Peak current is 1.770A at 48V. Sonar settings: pulse width = 100us, Tx Power = 221dB, Freq = 400
kHz.
Figure 187: Inrush current to 2024 head during power-up, 20 ms window.
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Figure 188: Inrush current to the 2024 head during power-up, 1-second window.
13.4.1 Common mode noise rejection

Common mode noise on the 48VDC power line to the sonar head should be minimized. The SIM
Controller board has a common mode choke on the power line to the sonar head. If sonar head
power is not supplied by the SIM Controller board, install a common mode choke on the sonar head
48VDC power line. A suitable common mode choke is JW Miller (Bourns) 8102-RC. This is available
from Digi-Key. See below figure for wiring details.
Figure 189: Power supply choke installation on 48VDC power
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13.4.2 SIM Power connections
Figure 190: SIM Controller Board
The mating connector for J4:

Molex 43645-0800 (8-way Micro-FIT 3.0)
Molex 43030-0009 (socket contacts)
Molex 63819-0000 or 63811-2800 (crimping tool for socket contacts)
The mating connector for J6:

Amp 2-111623-4
Any 2mm 2x20 header connector may be used for this part.
1mm pitch ribbon cable is also required
Figure 191: J6 Connector on SIM Controller board
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13.5 SIM Installation – ROV
The SIM can be installed either top-side or in the vehicle. There are advantages to both methods
which depend on the multiplexer capabilities. For SIM installation in the vehicle, the SIM Controller
board may be removed from the SIM or supplied as an additional item. The SIM controller board
uses a PC/104 size format but does not use the PC/104 bus.
Figure 192: ROV installation block diagram with the SIM top-side
Figure 193: ROV installation block diagram with the SIM Stack time from a top-side source.
And GPS (ZDA or UTC formats) and PPS signals are supplied by top-side equipment
Figure 194: ROV installation block diagram with the SIM Stack time from vehicle time.
And GPS (ZDA or UTC formats) and PPS signals are supplied by the vehicle time system.
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13.6 SIM Installation – AUV
The circuit boards, inside the SIM, can be supplied separately as a SIM Stack (see below images). The
three boards use a PC/104 size format, but do not use the PC/104 bus. The three boards are the I/O
board where the customer connects time, motion and sound velocity sensors; SIM Controller board;
and a gigabit Ethernet switch.
It’s best that the SIM Controller board supply power to the sonar head as the controller board has a
common mode choke for the 48 VDC power to the sonar head and the SIM Controller board can
control power to sonar head. If the customer uses their own custom data acquisition software, a list
of commands for the sonar head and SIM are in Appendix VIII. The uplink data format is provided in
Appendix IX.
Figure 195: GPS (ZDA or UTC formats) and PPS signals supplied by the vehicle time system
Figure 196: SIM Board Stack
SIM board stacks:

Top board: I/O
Middle board: SIM controller
Bottom board: Gigabit, 5-Port, Ethernet
switch
BNC connector: GPS PPS input

SMB connectors: sync in and out
Figure 197: SIM Stack height
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13.7 SIM Board Physical Installation
1. Power requirements: 48VDC, 50 watts average, 100 watts peak.
2. 36VDC is absolute minimum working voltage; 52VDC is an absolute maximum working voltage
3. All boards are static sensitive. People handling the boards should be properly grounded.
4. The user has the option to use the I/O board or not. The I/O board is connected to the SIM
Controller Board via a ribbon connector (SIM Controller J6 and I/O board J14).
5. For an AUV setup, the Ethernet connections are not used on the I/O board. The Ethernet
connections are made directly to the Ethernet Switch board.
6. If the I/O board is not used, direct connections to J6, on the SIM Controller, can be made. One
level of static protection is removed if the I/O Board is not used; however, there is enough
protection for small static events on J6.
13.8 SIM Stack LED Status Indicators

On the I/O board (top board) with nothing connected except for power:
• On power-up, all the LEDs will first glow red for 0.5 seconds, then green for 0.5 seconds
• Then, they will indicate the activity level of each input.
• With no inputs, PPS, GPS, Motion, SVP LEDs will glow red.
• Trigger (sync) out will glow green.
• Heading and trigger (sync) in will be off.
• Power will be orange (red and green on) if no head is connected.
On the SIM Controller board (middle board):
• The first LED should be glowing red (not blinking). This indicates the 3.3V power supply is
working.
• The fifth LED will blink a Morse code message. This indicates that the FPGA code is running.
• All other LEDs are off.
The Gigabit switch board Ethernet Speed (bottom board):
Left LED Right LED Status
OFF OFF No Link
ON OFF 10Base-T
ON ON 100Base-T
OFF ON 1000Base-T
Table 20: SIM Gigabit switch speed indicators
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13.8.1 SIM Board Dimensional Information
Dimensions are given are in inches [millimetres]
Figure 198: SIM Controller Board installation dimensions
Figure 199: SIM Stack Outline
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13.8.2 SIM Board Images
Figure 200: Assembled SIM Boards
Figure 201: SIM Boards height
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13.9 Dual Sonar Head
13.9.1 Dual Head Installation
The R2Sonic family of multibeams can be installed in a dual head configuration, either pointing
inwards or directed outwardly, depending on the customer’s survey task. In dual head mode, the
individual sonar heads can either ping simultaneously (with frequency offset) or alternate pings
(same frequency). The dual head configuration is comprised of two sonar heads and either one or
two SIM boxes and one Sonic Control 2000. The same exact head firmware must be installed on the
sonar heads in order for Sonic Control to operate the sonar heads.
13.9.2 Operation
13.9.2.1 Load Dual Head Factory Default Settings

The factory default settings, for dual head mode, will populate the default IP addresses and UDP
ports for all systems. Go to File |Load Settings; there will be three .ini files; load the desired
DefaultSettingsDualHead initialisation file (Dual SIM or Single SIM).
Figure 202: Default .ini settings file
Go to Settings| Network settings to enter the serial numbers for the dual head system. If only one
SIM is used for both sonar heads, in Sonar 2 SIM network settings, set the IP and UDP BasePort to 0.
Settings, when only one SIM is used

for both heads. NB SIM Serial Number
must be blank. Use
DefaultSettingsDualHead_SingleSIM.in
Figure 203: Dual head IP and UDP defaults
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13.9.2.2 Dual Head – Same Frequency – Alternating ping
To operate the dual sonar heads on the same frequency, it is necessary to coordinate the transmit
and receive periods, so there is no interference. Operating in the ‘Ping-Pong’ mode will halve the
ping rate for each head, but the user gains identical acoustic resolution (such as backscatter) for
both sonar heads. Please see Section 5.5.10 for head synchronisation settings.
13.9.2.3 Dual Head – Dual Frequency – Simultaneous ping

Offsetting the operating frequencies, of both heads, allows the user to ping both heads
simultaneously. The amount of frequency separation depends mostly on how the sonar heads have
been installed and, to a lesser extent, environmental factors. Usually, the maximum separation
required is 40 – 80 kHz and can be less.
Figure 204: Dual-sonar head ping modes
13.9.2.4 Dual Head with Two SIM Boxes

If two SIM boxes are used, only one is the master or primary (SIM1). SIM1 will be the SIM to take in
all of the serial data as well as the PPS; SIM2 only provides power to the second sonar head. SIM2 is
connected to SIM1 via an Ethernet cable to one of the RJ45 ports on SIM1. In the figure, below, the
bottom SIM is the primary SIM1, which takes in all of the serial data as well as timing data. The
upper SIM is the secondary SIM2 that provides power to the sonar head and passes data to the
primary SIM.
Secondary SIM
Primary SIM
Figure 205: Dual Head - Dual SIM external interfacing
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Appendix VIII Sonic Control Commands
14 APPENDIX VIII: R2Sonic Control Commands
14.1 Introduction
This describes the commands sent from the user interface to the sonar head and SIM.
Head firmware version 14-Mar-2011 and SIM firmware version 08-Apr-2010 utilize the commands in
this document. Future versions of firmware will adhere to this format and may include additional
commands.
Older versions of head and SIM firmware are not compatible with this format.
14.2 General Notes

1. These formats are designed for easy 4-byte alignment. Be sure your compiler/linker does not
insert any extra padding between values. If necessary, use your compiler's "packed" directive.
2. All values have big-endian byte order. Your compiler may provide conversion functions such as
htonl, htons, ntohl, ntohs, however those assume integers so you'll need to be very careful with
floats.
3. u32 means unsigned integer, 32 bits.
f32 means IEEE-754 32-bit floating point.
4. All packets are UDP/IP datagrams.
5. It’s recommended that all commands be sent periodically, at a 1 to 0.5 Hz rate. This ensures that
the sonar head and SIM always have the proper settings should a power interruption occur.
14.2.1 Ethernet Port Numbers

Head & SIM status & command port = Baseport +2
GUI command port = 53810 (fixed port number)
GUI remote command input port = gui baseport + 7
14.2.2 Type Definitions

typedef unsigned int u32;
typedef float f32;
14.2.3 Command Packet Format

Pseudo C format for commands:
// *** BEGIN PACKET: COMMAND FORMAT 0 ***

u32 PacketName; // 'CMD0'
// Command (for network efficiency, the packet can contain multiple commands,
// but ensure the IP datagram reaches the sonar unfragmented).
u32 CommandName; // example 'RNG0' to set range

x32 CommandValue; // a 4-byte value such as u32 or f32
// *** END PACKET: COMMAND FORMAT 0 ***
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14.3 Head Commands, Binary Format
Cmd Format Units Values Description
ABS0 f32 dB/km 0 to 200 Absorption
ABS1 ABS1-ABS4 are used for MultiMode selections
ABS2
ABS3
ABS4
AIB0 f32 dB 0 to 60 Acoustic image brightness
AIH0 u32 lines 0 = off Acoustic imagery height. Set to display wedge radius
wedge radius in pixels in pixels. Head will return requested lines or less,
usually less. Larger values will increase Ethernet data
rate.
AUT0 u32 Flag bits [23:16] auto range
0x00010000 = auto range on [31:24] spare
BIE0 u32 0 = off Bathy intensity enable
1 = on
BOS0 u32 0 = Equiangle Bottom sampling
1 = Equidistant
DGA0 f32 metres 0 to 1200 depth gate min
DGB0 f32 metres 0 to 1200 depth gate max
DGO0 u32 0x00000000 = gates off Depth gates control. Manual gates mode require
0x00000001 = manual gates DGA0, DGB0, DGS0 to be set. In auto gates mode, a
0x0000ww02 = auto gates peak percentage value for gate width must be
0x0000ww03 = auto gate/slope supplied in bits [15:8] in this command.
where ww = gate width in ± percent
of depth (5% to 90%)
DGS0 f32 radians -π/2 to +π/2 depth gate slope
DHM0 u32 0 = single head Head sync mode

1 = master simultaneous, dual (single and dual head modes)
2 = master alternating, dual
3 = slave simultaneous, dual
4 = slave alternating, dual
DYNA u32 0xaabbbccc Generates a moving simulated bottom for testing
aa = spare auto gate features.
bbb = slope control Three control bits:
ccc = depth control [0:0] = magnitude (0-f)
[1:1] = ∆ magnitude (0-f)
ex: 0x003d0523 shows a bottom at [2:2] = rate of change (0-f)
5m depth which wobbles.
FIL0 u32 0 = single Bottom fill enhancement (High Density mode.)
1 = double
2 = quad
FRQ0 f32 Hz 170000 to 450000 Frequency
FRQ1 700000 for UHR FRQ1 – FRQ4 are used for MultiMode selections.
FRQ2 90000, 100000 for 2026 LF Option
FRQ3
FRQ4
GAN0 f32 1 to 45 Rcvr gain. gain in dB = setting * 2

GAN1 GAN1 – GAN4 are used for MultiMode selections
GAN2
GAN3
GAN4
IDCO U32 1 = Bathy+FLS proj. (model 1004) Projector ID override, use for emergency
2 = UHR proj. (model 1006)
PNG0 u32 1 = emit one ping only Manual ping. Each time this command is sent, sonar
will emit one ping.
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PRL0 f32 Hz 0.1 to 60 Ping rate limit user-value
PRO0 u32 0 = projector forward Projector orientation

1 = projector aft
PROJ u32 0 = none Projector type selector
1 = narrow (1°)
2 = wide (20°) (only in FLS mode)
PRU0 u32 0 = off Ping rate limit user-enable
1 = on
PRX0 f32 metres -0.5 to +0.5 Projector mounting X offset (call support before
using)
PRY0 f32 metres -0.5 to +0.5 Projector mounting Y offset (call support before
using)
PRZ0 f32 metres -1.0 to +1.0 Projector mounting Z offset

Default = 0.119
PTS0 U32 0 = off Pitch Stabilization
1 = on
RET0 f32 radians -45° to +45° Receiver tilt
RGA0 f32 metres 0 to 500 Min range filter

Head default = 0
RGB0 f32 metres 0 to 999 Max range filter
Head default = 999
RGO0 u32 0 = range gates off Range gate enable
1 = range gates on
RNG0 f32 metres 2 to 1200 Range
ROS0 u32 0 = off Roll stabilization enable

1 = on
SER0 f32 radians -70° to +70° Sector rotate.
SER1 Wedge edges must not go beyond ±80°
SER2 SER1 to SER4 are used for MultiMode selections
SER3
SER4
SEW0 f32 radians 10° to 160° Sector width
SEW1 SEW1 to SEW4 are used for MultiMode selections
SEW2
SEW3
SEW4
SNIP u32 0 = off Snippets enable
1 = on
SPR0 f32 0 to 60 Spreading loss
SPR1 typically 20
SPR2 SPR1-SPR4 are used for MultiMode selections-
SPR3
SPR4
STM0 U32 0 = off Status display
1 = on, normal mode
SVL0 f32 m/s 1250 to 1600 Sound velocity user-value
SVU0 u32 0 = use SVP Sound velocity user-enable

1 = user value
TPG0 u32 0 = disable TruePix gates TruePix gates
1 = use bathy gate max
2 = use bathy gates min & max
TPM0 u32 0 = off TruePix mode.
1 = mag only
2 = mag & angle
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TRG0 u32 0 = free running Ping trigger source. Required, SIM command SYI0.
1 = external trigger, SIM sync in
2 = standby, wait for PNG0 cmd.
TWIX u32 0 = flat bottom Bottom type
1 = vertical features
TXF0 f32 metres 0 = infinity (no focusing) Projector focus
-1 = set focus to nadir depth
-2 = set focus to halfway between
depth gates
n=
TXL0 f32 seconds 0 to 1115µs for 2020, 2022 and 2024 Pulse length
0,140µs to 2000µs for 2026
TXP0 f32 dB//1µPa 0, 191 to 221 Transmitter power
TXW0 u32 0 = rectangular weighting Along-track apodization and size of tx array. 0xn0
1 = Kaiser weighting (≈ -2.3 dB SL) command only works on 2020 and 2026. 0xn0:
0xn0 = number of tx staves where proportional to number of staves, see list in manual.
n=number of staves (1 to f
Only works if PROJ=2.
UHD0 u32 0 = off UHD mode enable. Fancy bottom detect giving 1024
1 = on bottom detect dots using two independent bottom
detect methods.
WCM0 u32 0 = off Water column data. warning, high speed data, up to
1 = mag only 70MB/s.
2 = mag & phase
Changes:
12 Dec 2011
Added: AIB0, AIH0, SYNC, TRG0, PNG0, RGA0, RGB0, RGO0, STM0
Deprecated: BMIN, BMAX
Removed: FILT, MIM0
09 Mar 2012 added TPM0, TPG0
08 Aug 2012 corrected fixed port number in section 3, added IDCO command
23 Dec 2012 added /instance=n command line switch to gui for multiple gui instances.
05 Feb 2013 added FIL0
25 Mar 2015 added PTS0, TXF0, TXW0

10 Jul 2015 added number of staves control to TXW0.
27 Oct 2015 added TXS0. FRQ0 range changed.
07 Apr 2017 added ABS1-4, FRQ1-4, GAN1-4, SER1-4, SEW1-4, SPR1-4
13 Nov 2018 added PRX0, PRY0
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14.4 SIM Commands, Binary Format

BDG0 u32 bps standard baud rates GPS baud
300 to 115200
BDH0 u32 bps standard baud rates Heading baud
300 to 115200
BDM0 u32 bps standard baud rates Motion baud
300 to 115200
BDS0 u32 bps standard baud rates SVP baud
300 to 115200
DBG0 u32 7 or 8 GPS data bits
DBH0 u32 7 or 8 Heading data bits
DBM0 u32 7 or 8 Motion data bits
DBS0 u32 7 or 8 SVP data bits
DRG0 u32 0 = RS-232 GPS interface

1 = Ethernet
2 - off
DRH0 u32 0 = RS232 Heading interface(not implemented)
1 = Ethernet
2 = off
DRM0 u32 0 = RS-232 Motion interface
1 = Ethernet
2 = off
DRS0 u32 0 = RS-232 SVP interface
1 = Ethernet
2 = off
ENG0 u32 0 = off GPS enable
1 = on
ENH0 u32 0 = off Heading enable
1 = on Heading data not used
ENM0 u32 0 = off Motion enable
1 = on
ENS0 u32 0 = off SVP enable
1 = on
IPG0 u32 GPS IP Address
IPM0 u32 Motion sensor IP Address
PAG0 u32 0 = none GPS parity

1 = odd
2 = even
PAH0 u32 0 = none Heading parity
1 = odd
2 = even
PAM0 u32 0 = none Motion parity
1 = odd
2 = even
PAS0 u32 0 = none SVP parity
1 = odd
2 = even
POG0 u32 0 = rising PPS edge. Sync on time message will sync to
1 = falling the RS232 message; PPS pulse is not used.
2 = sync on time message (no PPS)
PTG0 u32 0 TO 65535 GPS Ethernet port number
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PTM0 u32 0 TO 65535 Motion sensor Ethernet port number.
SBG0 u32 1,2 GPS stop bits
SBH0 u32 1,2 Heading stop bits
SBM0 u32 1.2 Motion stop bits
SBS0 u32 1,2 SVP stop bits
SPO0 u32 0 = head power off Sonar head power

1 = head power on
STM0 u32 0 = off Status data
1 = on, normal mode
SYI0 u32 0 = off Trigger in mode. Middle of transmit pulse is
1 = rising edge trigger offset by +10ms from trigger edge. Required,
2 = falling edge trigger Head TRG) command
SYO0 u32 0 = rises at center of tx pulse, falls at end Trigger out mode
of rcv
1 = falls at center of tx pulse, rises at end
of rcv
2 = off
12 Dec 2011
Added: SYI0, SYO0, STM0
31 Oct 2013
Changed DRG0, DRH0, DRM0, DRS0, POM0 to PTM0
Added IPG0, IPS0, PTG0, PTS0
07 Apr 2014
Amended DRG0, DRH0, DRM0, DRS0 ('off' value was omitted)
Update DGA0, DGB0, RNG0 values changed from 2-500 to 2-1200
14.5 GUI Commands, Binary Format

These commands are provided to control various GUI functions remotely. Commands are sent to
GUI Baseport + 7

ABS0 f32 dB/km 0 to 200 Absorption
DGA0 f32 metres 0 to 1200 Depth gate minimum
DGB0 f32 metres 0 to 1200 Depth gate maximum
DGS0 f32 degrees -90° to +90° Depth gate slope
GAN0 f32 1 to 45 Rcvr gain. Gain in dB = setting * 2
PNG0 u32 1 = emit one ping only Manual ping. Each time this command is sent,
sonar emit one ping. Sea TRG0 command
RNG0 f32 metres 2 to 1200 Range
SER0 f32 degrees -70° to +70° Sector rotate.

Wedge edges must not go beyond ±80°
SEW0 f32 radians 10° to 160° Sector width
SPR0 f32 0 to 60 Spreading loss

typically 20
TXL0 f32 seconds 0 to 1115µs for 2020, 2022 and 2024 Transmitter pulse length
0,140µs to 2000µs for 2026
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TXP0 f32 dB/1µPa 0, 191 to 221 Transmitter power
WCR0 u32 0 = off Water column enable, head 1.

1 = on Equivalent to setting the water column check
box in the GUI
WCR1 u32 Water column enable, head 2.
Equivalent to setting the water column check
box in the GUI
Note the commands which set angle values are in degrees. This is different from angular commands sent to
the head which are in radians.
Changes:
09 March 2012: added GUI commands (this section)
31 Oct 2013: added ABS0 and SPR0
10 Jul 2015 added TXL0
14.5.1 GUI Command Line Switches

/custffmpeg Allows user to define video recording commands for ffmpeg. The command line
options are in the CurrentSettings.ini file. Use at your own risk as ffmpeg is a difficult
program to comprehend.
/instance=n Multiple gui instances, where n is the gui instance. n = 1 to 9. Need
CurrentSettingsn.ini file.
/sector160 Sector coverage override for 2020. Normally, 2020 sector coverage is 130°. This
switch allows 2020 sector coverage to 160°.
NB. The commands which set angle values are in degrees. This is different from angular commands
sent to the head, which are in radians
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14.6 Command Examples Sent to the Sonar Head and SIM
Example of commands sent to the sonar head every two seconds. Columns after the command are
hex, integer, and floating point representations of the data sent for each command
PacketName: CMD0
Command: ABS0 0x42a00000 1117782016 80.000000

Command: SPR0 0x41a00000 1101004800 20.000000
Command: SVL0 0x44bb0000 1153105920 1496.000000
Command: SVU0 0x00000001 1 0.000000
Command: RGO0 0x00000000 0 0.000000
Command: AUT0 0x00000000 0 0.000000
Command: RNG0 0x41c80000 1103626240 25.000000
Command: GAN0 0x41600000 1096810496 14.000000
Command: FRQ0 0x48435000 1212370944 200000.000000
Command: TXP0 0x433f0000 1128202240 191.000000
Command: TXL0 0x37d1b717 936490775 0.000025
Command: SEW0 0x40060a92 1074137746 2.094395
Command: DGA0 0x40d9999a 1088002458 6.800000
Command: DGB0 0x41266666 1093035622 10.400000
Command: DGS0 0x00000000 0 0.000000
Command: DGO0 0x00000001 1 0.000000
Command: PRL0 0x3f800000 1065353216 1.000000
Command: PRU0 0x00000000 0 0.000000
Command: RET0 0x00000000 0 0.000000
Command: PRO0 0x00000000 0 0.000000
Command: PRZ0 0x3df3b646 1039382086 0.119000
Command: SER0 0x00000000 0 0.000000
Command: BOS0 0x00000000 0 0.000000
Command: FIL0 0x00000000 0 0.000000
Command: TWIX 0x00000000 0 0.000000
Command: PROJ 0x00000001 1 0.000000
Command: ROS0 0x00000000 0 0.000000
Command: PTS0 0x00000000 0 0.000000
Command: DHM0 0x00000000 0 0.000000
Command: SNIP 0x00000000 0 0.000000
Command: AIH0 0x00000118 280 0.000000
Command: AIB0 0x41f00000 1106247680 30.000000
Command: WCM0 0x00000000 0 0.000000
Command: BIE0 0x00000001 1 0.000000
Command: TPM0 0x00000001 1 0.000000
Command: TPG0 0x00000000 0 0.000000
Command: STM0 0x00000002 2 0.000000
Example of commands sent to the SIM every two seconds. Columns after the command are hex,
integer, and floating point representations of the data sent for each command
PacketName: CMD0
Command: ENG0 0x00000001 1 0.000000
Command: DRG0 0x00000001 1 0.000000
Command: IPG0 0x00000000 0 0.000000
Command: PTG0 0x000015e6 5606 0.000000
Command: BDG0 0x00002580 9600 0.000000
Command: DBG0 0x00000008 8 0.000000
Command: PAG0 0x00000000 0 0.000000
Command: SBG0 0x00000001 1 0.000000
Command: POG0 0x00000000 0 0.000000
Command: SYI0 0x00000000 0 0.000000
Command: SYO0 0x00000000 0 0.000000
Command: ENH0 0x00000000 0 0.000000
Command: DRH0 0x00000002 2 0.000000
Command: ENM0 0x00000001 1 0.000000
Command: DRM0 0x00000001 1 0.000000
Command: IPM0 0x0a00002d 167772205 0.000000
Command: PTM0 0x000015e6 5606 0.000000
Command: BDM0 0x00004b00 19200 0.000000
Command: DBM0 0x00000008 8 0.000000
Command: PAM0 0x00000000 0 0.000000
Command: SBM0 0x00000001 1 0.000000
Command: ENS0 0x00000001 1 0.000000
Command: DRS0 0x00000000 0 0.000000
Command: IPS0 0x00000000 0 0.000000
Command: PTS0 0x00000000 0 0.000000
Command: BDS0 0x00002580 9600 0.000000
Command: DBS0 0x00000008 8 0.000000
Command: PAS0 0x00000000 0 0.000000
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Command: SBS0 0x00000001 1 0.000000
Command: SPO0 0x00000001 1 0.000000
Command: STM0 0x00000002 2 0.000000
Example of UDP/IP Ethernet packet of commands sent to the sonar head.
First 42 characters are Ethernet header information. Characters after 29h are commands
0000 00 50 c2 90 44 a3 00 1b 21 40 04 84 08 00 45 00 [email protected].
0010 01 48 09 8b 40 00 80 11 00 00 0a 00 01 66 0a 00 [email protected]..
0020 00 56 f6 31 ff de 01 34 17 01 43 4d 44 30 41 42 .V.1...4..CMD0AB
0030 53 30 42 a0 00 00 53 50 52 30 41 a0 00 00 53 56 S0B...SPR0A...SV
0040 4c 30 44 bb 00 00 53 56 55 30 00 00 00 01 52 47 L0D...SVU0....RG
0050 4f 30 00 00 00 00 41 55 54 30 00 00 00 00 52 4e O0....AUT0....RN
0060 47 30 41 c8 00 00 47 41 4e 30 41 60 00 00 46 52 G0A...GAN0A`..FR
0070 51 30 48 43 50 00 54 58 50 30 43 3f 00 00 54 58 Q0HCP.TXP0C?..TX
0080 4c 30 37 d1 b7 17 53 45 57 30 40 06 0a 92 44 47 [email protected]
0090 41 30 40 d9 99 9a 44 47 42 30 41 26 66 66 44 47 [email protected]&ffDG
00a0 53 30 00 00 00 00 44 47 4f 30 00 00 00 01 50 52 S0....DGO0....PR
00b0 4c 30 3f 80 00 00 50 52 55 30 00 00 00 00 52 45 L0?...PRU0....RE
00c0 54 30 00 00 00 00 50 52 4f 30 00 00 00 00 50 52 T0....PRO0....PR
00d0 5a 30 3d f3 b6 46 53 45 52 30 00 00 00 00 42 4f Z0=..FSER0....BO
00e0 53 30 00 00 00 00 46 49 4c 30 00 00 00 00 54 57 S0....FIL0....TW
00f0 49 58 00 00 00 00 50 52 4f 4a 00 00 00 01 52 4f IX....PROJ....RO
0100 53 30 00 00 00 00 50 54 53 30 00 00 00 00 44 48 S0....PTS0....DH
0110 4d 30 00 00 00 00 53 4e 49 50 00 00 00 00 41 49 M0....SNIP....AI
0120 48 30 00 00 01 18 41 49 42 30 41 f0 00 00 57 43 H0....AIB0A...WC
0130 4d 30 00 00 00 00 42 49 45 30 00 00 00 01 54 50 M0....BIE0....TP
0140 4d 30 00 00 00 01 54 50 47 30 00 00 00 00 53 54 M0....TPG0....ST
0150 4d 30 00 00 00 02 M0....
Example of UDP/IP Ethernet packet of commands sent to the SIM.

First 42 characters are Ethernet header information. Characters after 29h are
commands.
0000 00 50 c2 90 41 26 00 1b 21 40 04 84 08 00 45 00 .P..A&[email protected].
0010 01 18 0c 0e 40 00 80 11 00 00 0a 00 01 66 0a 00 [email protected]..
0020 00 63 d6 ad ff de 01 04 16 de 43 4d 44 30 45 4e .c........CMD0EN
0030 47 30 00 00 00 01 44 52 47 30 00 00 00 01 49 50 G0....DRG0....IP
0040 47 30 00 00 00 00 50 54 47 30 00 00 15 e6 42 44 G0....PTG0....BD
0050 47 30 00 00 25 80 44 42 47 30 00 00 00 08 50 41 G0..%.DBG0....PA
0060 47 30 00 00 00 00 53 42 47 30 00 00 00 01 50 4f G0....SBG0....PO
0070 47 30 00 00 00 00 53 59 49 30 00 00 00 00 53 59 G0....SYI0....SY
0080 4f 30 00 00 00 00 45 4e 48 30 00 00 00 00 44 52 O0....ENH0....DR
0090 48 30 00 00 00 02 45 4e 4d 30 00 00 00 01 44 52 H0....ENM0....DR
00a0 4d 30 00 00 00 01 49 50 4d 30 0a 00 00 2d 50 54 M0....IPM0...-PT
00b0 4d 30 00 00 15 e6 42 44 4d 30 00 00 4b 00 44 42 M0....BDM0..K.DB
00c0 4d 30 00 00 00 08 50 41 4d 30 00 00 00 00 53 42 M0....PAM0....SB
00d0 4d 30 00 00 00 01 45 4e 53 30 00 00 00 01 44 52 M0....ENS0....DR
00e0 53 30 00 00 00 00 49 50 53 30 00 00 00 00 50 54 S0....IPS0....PT
00f0 53 30 00 00 00 00 42 44 53 30 00 00 25 80 44 42 S0....BDS0..%.DB
0100 53 30 00 00 00 08 50 41 53 30 00 00 00 00 53 42 S0....PAS0....SB
0110 53 30 00 00 00 01 53 50 4f 30 00 00 00 01 53 54 S0....SPO0....ST
0120 4d 30 00 00 00 02 M0....
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Part No. 96000001
Appendix IX: R2Sonic Data Format
15 APPENDIX IX: R2Sonic Uplink Data Formats
15.1 Introduction
This describes the data formats sent from the sonar head and SIM. Unless noted, the data packets
are sent from the sonar head. The formats are given in pseudo C.
Head firmware versions 13-Dec-2011, and newer, utilise the data formats in this document.
Previous head firmware versions back to 25-Mar-2010 only utilise data formats from sections 15.5
and 15.6 in this document. Future versions of firmware will adhere to this format and may include
additional information.
The data format, in older versions of sonar head firmware, is different than the format described in
this document and is unsupported.
15.2 General Notes

1. Each info or data section includes a name/size mini-header to allow the parser to easily skip
unneeded or unrecognized sections. These formats are designed for easy 4-byte alignment. Be
sure your compiler/linker doesn't insert any extra padding between values. If necessary, use
your compiler's "packed" directive.
2. All values have big-endian byte order. Your compiler may provide conversion functions such as
htonl, htons, ntohl, ntohs, however those assume integers so you'll need to be very careful with
floats.
3. u8, u16, u32 means unsigned integers of 8, 16, 32 bits.
s8, s16, s32 means signed integers of 8, 16, 32 bits.
f32 means IEEE-754 32-bit floating point.
4. All packets are UDP/IP datagrams
15.3 Port Numbers

Bathymetry data port = gui.Baseport + 0
TruePix data port = tpd.Baseport + 1
Device status port = gui.Baseport + 2
Acoustic Image data port = gui.Baseport + 3
Water Column data port = wcd.Baseport + 5
Snippets data port = tpd.Baseport + 6
15.4 Type Definitions

typedef unsigned char u8;
typedef unsigned short u16;
typedef unsigned int u32;
typedef signed char s8;
typedef signed short s16;
typedef signed int s32;
typedef float f32;
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15.5 Ethernet Data Rates
Bathymetry: ≈ 800 kb/s max (bathy data is sent twice, to GUI and data acquisition computer)
TruePix: ≈ 5.5 Mb/s (magnitude + angle) max
≈ 3.5 Mb/s (magnitude) max
Water Column: ≈ 560 Mb/s (magnitude + phase) max
≈280 Mb/s (magnitude) max
Snippets: ≈ 11 Mb/s max
Where Mb/s = megabits per second.
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15.6 Bathymetry Packet Format
// *** BEGIN PACKET: BATHY DATA FORMAT 0 ***
u32 PacketName; // 'BTH0'

u32 PacketSize; // [bytes] size of this entire packet
u32 DataStreamID; // reserved for future use
// section H0: header
u16 H0_SectionName; // 'H0'

u16 H0_SectionSize; // [bytes] size of this entire section
u8 H0_ModelNumber[12]; // example "2024", unused chars are nulls
u8 H0_SerialNumber[12]; // example "100017", unused chars are nulls
u32 H0_TimeSeconds; // [seconds] ping time relative to 0000 hours 1-Jan-1970, integer part
u32 H0_TimeNanoseconds; // [nanoseconds] ping time relative to 0000 hours 1-Jan-1970, fraction part
u32 H0_PingNumber; // pings since power-up or reboot
f32 H0_PingPeriod; // [seconds] time between most recent two pings
f32 H0_SoundSpeed; // [meters per second]
f32 H0_Frequency; // [hertz] sonar center frequency
f32 H0_TxPower; // [dB re 1 uPa at 1 meter]
f32 H0_TxPulseWidth; // [seconds]
f32 H0_TxBeamwidthVert; // [radians]
f32 H0_TxBeamwidthHoriz; // [radians]
f32 H0_TxSteeringVert; // [radians]
f32 H0_TxSteeringHoriz; // [radians]
u16 H0_2026ProjTemp; // [hundredths of a degree Kelvin] 2026 projector temperature (divide value by 100, subtract 273.15 to get °C)
s16 H0_VTX+Offset; // [hundredths of a dB] transmit voltage offset at time of ping (divide value by 100 to get dB)
f32 H0_RxBandwidth; // [hertz]
f32 H0_RxSampleRate; // [hertz] sample rate of data acquisition and signal processing
f32 H0_RxRange; // [meters] sonar range setting
f32 H0_RxGain; // [multiply by two for relative dB]
f32 H0_RxSpreading; // [dB (times log range in meters)]
f32 H0_RxAbsorption; // [dB per kilometer]
f32 H0_RxMountTilt; // [radians]
u32 H0_RxMiscInfo; // reserved for future use
u16 H0_reserved; // reserved for future use
u16 H0_Points; // number of bathy points
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// section R0: 16-bit bathy point ranges
u16 R0_SectionName; // 'R0'

u16 R0_SectionSize; // [bytes] size of this entire section
f32 R0_ScalingFactor;
u16 R0_Range[H0_Points]; // [seconds two-way] = R0_Range * R0_ScalingFactor
u16 R0_unused[H0_Points & 1]; // ensure 32-bit section size
// section A0: bathy point angles, equally-spaced (present only during "equi-angle" spacing mode)
u16 A0_SectionName; // 'A0'

u16 A0_SectionSize; // [bytes] size of this entire section
f32 A0_AngleFirst; // [radians] angle of first (port side) bathy point, relative to array centerline, AngleFirst < AngleLast
f32 A0_AngleLast; // [radians] angle of last (starboard side) bathy point
f32 A0_MoreInfo_0; // 0 (reserved for future use)
f32 A0_MoreInfo_1 //Z-offset, proj [metres]
f32 A0_MoreInfo_2; //Y-offset, proj [metres]
f32 A0_MoreInfo_3; //X-offset, proj [metres]
f32 A0_MoreInfo_4; //0 (reserved for future use)
// section A2: 16-bit bathy point angles, arbitrarily-spaced (present only during "equi-distant" spacing mode)

f32 A2_AngleFirst; // [radians] angle of first (port side) bathy point, relative to array centerline, AngleFirst < AngleLast
f32 A2_ScalingFactor;
u16 A2_AngleStep[H0_Points]; // [radians] angle[n] = A2_AngleFirst + (32-bit sum of A2_AngleStep[0] through A2_AngleStep[n]) * A2_ScalingFactor
u16 A2_unused[H0_Points & 1]; // ensure 32-bit section size
// section I1: 16-bit bathy intensity (present only if enabled)
u16 I1_SectionName; // 'I1'

u16 I1_SectionSize; // [bytes] size of this entire section
f32 I1_ScalingFactor;
u16 I1_Intensity[H0_Points]; // [micropascals] intensity[n] = I1_Intensity[n]) * I1_ScalingFactor
u16 I1_unused[H0_Points & 1]; // ensure 32-bit section size
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// section G0: simple straight-line depth gates
u16 G0_SectionName; // 'G0'

u16 G0_SectionSize; // [bytes] size of this entire section
f32 G0_DepthGateMin; // [seconds two-way]
f32 G0_DepthGateMax; // [seconds two-way]
f32 G0_DepthGateSlope; // [radians]
// section G1: 8-bit gate positions, arbitrary paths (present only during "verbose" gate description mode)
u16 G1_SectionName; // 'G1'

u16 G1_SectionSize; // [bytes] size of this entire section
f32 G1_ScalingFactor;
struct
{
u8 RangeMin; // [seconds two-way] = RangeMin * G1_ScalingFactor
u8 RangeMax; // [seconds two-way] = RangeMax * G1_ScalingFactor
} G1_Gate[H0_Points];
u16 G1_unused[H0_Points & 1]; // ensure 32-bit section size
// section Q0: 4-bit quality flags
u16 Q0_SectionName; // 'Q0' quality, 4-bit

u16 Q0_SectionSize; // [bytes] size of this entire section
u32 Q0_Quality[(H0_Points+7)/8]; // 8 groups of 4 flags bits (phase detect, magnitude detect, reserved, reserved), packed left-to-right
// *** END PACKET: BATHY FORMAT 0 ***
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15.7 Snippet Format
// *** BEGIN PACKET: SNIPPET DATA FORMAT 0 ***
u32 PacketName; // 'SNI0'

u32 PacketSize; // may be zero in UDP, otherwise: [bytes] size of this entire packet
// section H0: header (present only in first snippet packet of each ping)

u16 H0_Snippets; // number of snippets
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// section S1: 16-bit snippet data (for network efficiency packet may contain several of these sections) (supports snippets up to 32K samples by fragmenting
// at the IP level rather than by the application like 81xx)
u16 S1_SectionName; // 'S1'

u16 S1_SectionSize; // [bytes] size of this entire section
u32 S1_PingNumber; // pings since power-up or reboot
u16 S1_SnippetNumber; // snippet number, 0 to H0_Snippets-1
u16 S1_Samples; // number of samples in this snippet, sample rate is H0_RxSampleRate
u32 S1_FirstSample; // first sample of this snippet relative to zero range, sample rate is H0_RxSampleRate
f32 S1_Angle; // [radians] angle of this snippet, relative to array centerline
f32 S1_ScalingFactorFirst; // scaling factor at start of snippet, 0=ignore, use linear interpolation to get other values
f32 S1_ScalingFactorLast; // scaling factor at end of snippet, 0=ignore
u32 S1_reserved; // reserved for future use
u16 S1_Magnitude[S1_Samples]; // [micropascals] = S1_Magnitude[n] * (linear interpolate between S1_ScalingFactorFirst and S1_ScalingFactorLast)
u16 S1_unused[S1_Samples & 1]; // ensure 32-bit section size
// *** END PACKET: SNIPPET DATA FORMAT 0 ***
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15.8 Water Column (WC) Data Format
// *** BEGIN PACKET: WATER COLUMN (WC) DATA FORMAT 0 ***
// The water column data contains real-time beamformer 16-bit magnitude data
// (beam amplitude) and optional 16-bit split-array phase data (intra-beam
// direction). Maximum data rate is about 70 megabytes per second (assuming
// 256 beams, 68.4 kHz sample rate, and phase data enabled). The sample rate
// (and signal bandwidth) varies with transmit pulse width and range setting.
// Maximum ping data size is about 32 megabytes (assuming 256 beams of 32768
// samples, and phase data enabled), but max size may change in the future.
// The number of beamformed data samples normally extends somewhat further
// than the user's range setting.
//
// When the operator enables water column mode, each sonar ping outputs
// numerous 'WCD0' packets containing: one H0 header section, one A1 beam
// angle section, and many M1 or M2 data sections. The section order may
// change in the future, so plan for that in your data acquisition.
//
// Each M1 or M2 section contains a subset of the ping data. Its header
// indicates its size position to help you assemble the full ping array.
//
// You may wish to detect missing M1 or M2 data sections (perhaps a lost
// DP packet), and then fill the gap with zeros or perhaps data from the
// previous ping (to reduce visual disturbances), and then increment an
// error counter for network health monitoring purposes.
//
// The water column data is basically in polar coordinates, so you may
// wish to geometrically warp it into the familiar wedge shape for display.
// Consider using OpenGL or Direct3D texture mapping.
u32 PacketName; // 'WCD0'

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// section H0: header (only one per ping)

u16 H0_TxMiscInfo; // reserved for future use
u16 H0_Beams; // number of beams
// section A1: float beam angles, arbitrarily-spaced (only one per ping)

f32 A1_BeamAngle[H0_Beams]; // [radians] angle of beam relative to array centerline, ordered from port to starboard, first angle < last angle
// section M1: 16-bit magnitude data (present only during "magnitude-only" water column data mode, many per ping, you assemble them into complete ping data)
u16 M1_SectionName; // 'M1'

u16 M1_SectionSize; // [bytes] size of this entire section
u32 M1_PingNumber; // pings since power-up or reboot
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f32 M1_ScalingFactor; // reserved for future use
u32 M1_TotalSamples; // range samples in entire ping, sample rate is H0_RxSampleRate
u32 M1_FirstSample; // first sample of this section
u16 M1_Samples; // number of samples in this section
u16 M1_TotalBeams; // beams (always a multiple of 2) (typically columns in your memory buffer)
u16 M1_FirstBeam; // first beam of this section (always a multiple of 2)
u16 M1_Beams; // number of beams in this section (always a multiple of 2)
u32 M1_reserved0; // reserved for future use
struct
{
u16 magnitude; // values 0 to 65535 map non-linearly (due to TVG scaling and possible gain compression) to signal amplitude
} M1_Data[M1_Beams][M1_Samples]; // magnitude data (typical example: 256 beams each containing 36 two-byte structs, 16 kilobytes)
// section M2: 16-bit magnitude and phase data (present only during "magnitude and phase" water column data mode, many per ping, you assemble them into
// complete ping data)

u32 M2_TotalSamples; // range samples in entire ping, sample rate is H0_RxSampleRate
u32 M2_FirstSample; // first sample of this section
u16 M2_Samples; // number of samples in this section
struct
{
u16 magnitude; // values 0 to 65535 map non-linearly (due to TVG scaling and possible gain compression) to signal amplitude
s16 phase; // values -32768 to +32767 map non-linearly (due to complex transfer function) to target angle within the beamwidth
} M2_Data[M2_Beams][M2_Samples]; // magnitude and phase data (typical example: 256 beams each containing 36 four-byte structs, 36 kilobytes)
// *** END PACKET: WATER COLUMN (WC) DATA FORMAT 0 ***
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15.9 Acoustic Image (AI) Data Format
// *** BEGIN PACKET: ACOUSTIC IMAGE (AI) DATA FORMAT 0 ***
// The acoustic image data contains real-time beamformer 8-bit magnitude data
// (beam amplitude) that has been scaled to 8-bits by a user-selected
// brightness value, and compressed in range by an adjustable amount to
// reduce network bandwidth and processing. The data is called "samples"
// before compression and "bins" after compression. For example, 7200 samples
// of beamformer data (M0_TotalSamples) may be compressed to 600 bins
// (M0_TotalBins). The number of beamformed data samples normally extends
// somewhat further than the user's range setting. The AIH0 sonar command
// sets an upper limit to the number of compressed output bins. It's not a
// precise compression factor, so the number of bins is usually somewhat less
// than the AIH0 value. The maximum data rate with no compression is about
// 17.5 megabytes per second (assuming 256 beams).
//
// When the operator enables acoustic image mode, each sonar ping outputs
// numerous 'AID0' packets containing: one H0 header section, one A1 beam
// angle section, and many M0 data sections. The section order may change in
// the future, so plan for that in your data acquisition.
//
// Each M0 section contains a subset of the ping data. Its header indicates
// its size position to help you assemble the full ping array.
//
// You may wish to detect missing M0 data sections (perhaps a lost UDP
// packet), and then fill the gap with zeros or perhaps data from the
// previous ping (to reduce visual disturbances), and then increment an error
// counter for network health monitoring purposes.
//
// The acoustic image data is basically in polar coordinates, so you may wish
// to geometrically warp it into the familiar wedge shape for display.
// Consider using OpenGL or Direct3D texture mapping.
u32 PacketName; // 'AID0'

// section H0: header (only one per ping)
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f32 H0_RxRange; // [meters]
u16 H0_Beams; // number of beams beams
// section A1: float beam angles, arbitrarily-spaced (only one per ping)

f32 A0_MoreInfo_5; //0 (reserved for future use) f32 A1_BeamAngle[H0_Beams]; // [radians] angle of beam relative to array centerline, ordered from port to starboard, first angle < last angle
// section M0: 8-bit magnitude data (many per ping, you assemble them into complete ping data)

u32 M0_TotalSamples; // range samples (before compression) in entire ping, sample rate is H0_RxSampleRate
u32 M0_TotalBins; // range bins (after compression) in entire ping (M0_TotalBins <= M0_TotalSamples)
u32 M0_FirstBin; // first bin of this section
u16 M0_Bins; // number of bins in this section
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u32 M0_reserved; // reserved for future use
struct
{ u8 magnitude; // values 0 to 255 map non-linearly (due to TVG scaling and possible gain compression) to signal amplitude
} M0_Data[M0_Beams][M0_Bins]; // magnitude data (typical example: 256 beams each containing 21 one-byte structs, 5376 bytes)
// *** END PACKET: ACOUSTIC IMAGE (AI) DATA FORMAT 0 ***
15.10 TruePix™ Data Format

// *** BEGIN TRUEPIX DATA FORMAT 0 ***
// TruePix is like sidescan with 3D relief. Each sonar ping produces a port
// and starboard time-series of data samples at the sonar's sample rate. Each
// sample contains the signal's magnitude (like sidescan) and across-track
// target direction angle (like bathymetry). After collecting many pings of
// data along a survey line, you now have a large array of data points with
// range, direction, and brightness. Apply noise reduction, and render the
// data as a textured 3D surface.
//
// Two data formats are available: D0 provides magnitudes only, D1 provides
// magnitudes and direction angles. The GUI allows the user to choose the
// desired format.
//
// The sonar generates one TruePix data set per ping. Each data set is
// usually split into multiple UDP packets. The D0 or D1 header includes
// FirstSample and Samples values to help you reassemble the full data set.
//
// Someday you may be able to convert the 16-bit magnitude values to
// micropascals by applying a to-be-determined function involving the sample
// number and the MagnitudeScaling[] coefficients, but this conversion is not
// yet supported so these coefficients are zero. You can convert the
// direction angles from 16-bit values to radians by multiplying by
// AngleScalingFactor.
u32 PacketName; // 'TPX0'

u32 PacketSize; // may be zero in UDP, otherwise: [bytes] size of this entire packet
// section H0: header (present only in first packet of each ping)

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f32 H0_RxRange; // user setting [meters]
f32 H0_RxGain; // user setting [multiply by 2 for dB]
// section D0: 16-bit magnitude data (present only during "magnitude only" mode)
u16 D0_SectionName; // 'D0'
u16 D0_SectionSize; // [bytes] size of this entire section
u32 D0_PingNumber; // pings since power-up or reboot
u32 D0_TotalSamples; // number of samples in entire time series (sample rate is H0_RxSampleRate)
u32 D0_FirstSample; // first sample of this section relative to zero range
u16 D0_Samples; // number of samples in this section
u16 D0_reserved; // reserved for future use
f32 D0_MagnitudeScaling[8]; // to be determined, 0=ignore
struct
{
u16 PortMagnitude; // [micropascals] = PortMagnitude * (tbd function of sample number and D0_MagnitudeScaling[8])
u16 StbdMagnitude; // similar but starboard side
} D0_Data[D0_Samples];
// section D1: 16-bit magnitude and direction data (present only during "magnitude+direction" mode)
u16 D1_SectionName; // 'D1'

u16 D1_SectionSize; // [bytes] size of this entire section
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u32 D1_PingNumber; // pings since power-up or reboot
u32 D1_TotalSamples; // number of samples in entire time series (sample rate is H0_RxSampleRate)
u32 D1_FirstSample; // first sample of this section relative to zero range
u16 D1_Samples; // number of samples in this section
u16 D1_reserved; // reserved for future use
f32 D1_MagnitudeScaling[8]; // to be determined, 0=ignore
f32 D1_AngleScalingFactor;
struct
{
u16 PortMagnitude; // [micropascals] = PortMagnitude * (tbd function of sample number and D1_MagnitudeScaling[8])
s16 PortAngle; // [radians from array centerline (positive towards starboard)] = PortAngle * D1_AngleScalingFactor
u16 StbdMagnitude; // similar but starboard side
s16 StbdAngle; // similar but starboard side
} D1_Data[D1_Samples];
// *** END TRUEPIX DATA FORMAT 0 ***
15.11 Head Status Format

// *** BEGIN PACKET: HEAD STATUS DATA FORMAT 0 ***
// Head Status data reports the status of the sonar head. This data is
// useful for troubleshooting. Data is sent to gui baseport + 2.
//
// Each section name consists of 4 characters. The fourth character
// indicates the number of 32-bit words following each section name.
// The forth character can be 1-9, A-Z; allowing up to 35 32-bit words.
// The number of words in each section may change at a later date. Be
// sure your program can parse the number of words.
// The order of the sections is not fixed.
u32 PacketName; // 'STH0'

// section SER3: serial number
u32 SER3_SectionName; // 'SER3'

u32 serial_number[3]; // example "100117", unused chars are nuls
// section PRT3: part number
u32 PRT3_SectionName; // 'PRT3'

u32 part_number[3]; // example "15000001", unused chars are nuls
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// section MDL3: model number
u32 MDL3_SectionName; // 'MDL3'

u32 model_number[3]; // example "2024", unused chars are nuls
// section FWV6: main controller firmware version
u32 'FWV6'; // main ctrl firmware version string

u32 version.i[6]; // example "19-Dec-2011-17:19:29", unused chars are nuls
// section FWT6: internal transmitter firmware version
u32 FWT6_SectionName; // 'FWT6'

u32 tinytx.i[6]; // example "16-Aug-2011-17:19:29", unused chars are nuls
// section PRJ9: projector

u32 PRJ9_SectionName; // ‘PRJ9’
u32 serial_number[3] // example “800456”, unused chars are nuls
u32 part_number[3]; // example “15000004”, unused chars are nuls
u32 model_number[3]; // example “1004”, unused chars are nuls
// section OPT1: option settings
u32 OPT1_SectionName // 'OPT1'

u32 options // truepix_snippets[0:0] 0=off, 1=on
// depth_rating[1:1] 0=100m, 1=3km
// forward_looking[2:2] 0=off, 1=on
// water_column[3:3] 0=off, 1=on
// ultra-high resolution[4:4] 0=off, 1=on
// water column rx chan [5:5] 0=off, 1=on
// 2026 low freq option [6:6] 0=off, 1=90 & 100kHz enabled, 2026 only
// section CFG8: configuration parameters

u32 CFG8 SectionName; // 'CFG8'
f32 pdepth_cutout; // [meters] pressure cutout depth (no bathy detect below this depth)
f32 pdepth_export_depth; // [meters] pressure trigger for export control (limits lowest freq and range)
f32 pdepth_export_bathyrange; // [meters] max bathy range when pressure trigger is exceeded
f32 pdepth_export_minfreq; // [Hz] min freq when pressure trigger is exceeded
f32 option_lowfreq; // [Hz] low-frequency option
f32 pdepth_export_bathydepth; // [meters] max bathy depth allowed
f32 spare0; // spare
// section OPR4: operational parameters so GUI can configure its menus

u32 OPR4 SectionName; // 'OPR4'
f32 opr_minfreq; // [Hz] current minimum selectable frequency (zero means ignore me and use GUI default)
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f32 opr_maxfreq; // [Hz] current maximum selectable frequency (zero means ignore me and use 400kHz default)
// section SENa: sensor data received from SIM
u32 SENa_SectionName; // 'SENa'

u32 gps.time.sec; // [seconds]unix time
u32 gps.time.nsec; // [seconds = gps.time.nsec/(2^32)] unix time
f32 sensor.pitch; // [radians] mru pitch
f32 sensor.roll; // [radians] mru roll
f32 sensor.heave; // [meters] mru heave
f32 sensor.heading; // heading (not implemented)
f32 sensor.velocity; // [m/s] sound velocity
f32 sensor.pdepth.uncal; // [meters] depth uncalibrated
f32 sensor.pdepth.cal; // [meters] depth calibrated
f32 sensor.fpgatemp; // [°C] FPGA temperature
// section ADC3: a/d converter
u32 ADC3_SectionName; // 'ADC3'

f32 adc.chan0; // [volts] 48VDC power supply voltage
f32 adc.chan1; // [amperes] 48V current
f32 adc.chan8; // [volts] transmitter power supply voltage
// section ETH6; ethernet registers
u32 ETH6_SectionName; // 'ETH6'

u32 ethernet.speed; // [megabits/sec] link connect speed
u32 erxpackets; // [counts] ethernet receive packets
u32 etxpackets; // [counts] ethernet transmit packets
u32 erxoverflows; // [counts] ethernet receive buffer overflows
u8 mac.addr[8] // mac address, use last 6 bytes, first 2 bytes are not used
// section TIM2; timers
u32 TIM2_SectionName; // ‘TIM2’

f32 time.check; // [seconds] head to sim roundtrip time response (must be less than 3ms for dual head or ext. trigger modes)
f32 time.spare; // [seconds] spare// *** END PACKET: HEAD STATUS DATA FORMAT 0 ***
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15.12 SIM Status Data Format
// *** BEGIN PACKET: SIM STATUS DATA FORMAT 0 ***
// SIM Status data reports misc info from the SIM box. This data is
// useful for troubleshooting. Data is sent to gui baseport+2.
//
// Each section name consists of 4 characters. The fourth character
// indicates the number of 32-bit words following each section name.
// The forth character can be 1-9, A-Z; allowing up to 35 32-bit words.
// The number of words in each section may change at a later date. Be
// sure your program can parse the number of words.
// The order of the sections is not fixed.
u32 PacketName; // 'STS0'

// section SER3: serial number
u32 SER3_SectionName; // 'SER3'

u32 serial_number[3]; // example "100117", unused chars are nulls
// section PRT3: part number
u32 PRT3_SectionName; // 'PRT3'

u32 part_number[3]; // example "15000002", unused chars are nulls
// section MDL3: model number
u32 MDL3_SectionName; // 'MDL3'

u32 model_number[3]; // example "2024", unused chars are nulls
// section FWV6: firmware version
u32 FWV6_SectionName; // 'FWV6'

u32 version[6]; // example "15-Dec-2011-14:00:42", unused chars are nulls
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// section LED1: SIM front panel LED status
u32 LED1_SectionName; // 'LED1'

u32 led_status; // [00=off 01=undef 10=bad 11=good] flags for status LEDs
// gps[1:0]
// motion[3:2]
// heading[5:4], not implemented
// svp[7:6]
// alt-gps[9:8], not implemented
// alt-motion[11:10], not implemented
// alt-heading[13:12], not implemented
// alt-svp[15:14], not implemented
// pps[17:16]
// sync in[19:18]
// sync out[21:20]
// head on[23:22]
// reserved[31:24]
// section SEN7: RS232 sensor values
u32 SEN7_SectonName; // 'SEN7'

u32 gps.time.sec; // [seconds] unix time
u32 gps.time.nsec; // [seconds = gps.time.nsec/(2^32)] unix time
f32 mru.pitch; // [radians] mru pitch value
f32 mru.roll; // [radians] mru roll value
f32 mru.heave; // [meters] mru heave
f32 0.0; // heading (not implemented)
f32 svp.velocity; // [m/s] sound velocity
// section ADC2: a/d converter
u32 ADC2_SectonName; // 'ADC2'

f32 adc.chan0; // [volts] 48VDC power supply voltage
f32 adc.chan1; // [amperes] 48V current to head
// section ETH6: ethernet registers
u32 ETH6_SectonName; // 'ETH6'

u32 ethernet.speed; // [megabits/sec] link speed
u32 erxpackets; // [counts] ethernet receive packets
u32 etxpackets; // [counts] ethernet transmit packets
u32 erxoverflows; // [counts] ethernet receive buffer overflows
u8 mac.addr[8] // mac address, use last 6 bytes, first 2 bytes are not used
// *** END PACKET: SIM STATUS DATA FORMAT 0 ***
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15.13 Device Status Format
The device status packet contains the ConfigID number that was sent to the sonar head and SIM during IP configuration. This packet contains no survey
information and is ignored for data collection purposes. The R2DS packet is sent from the sonar head and SIM once per second to the sonar control
program IP address. The ConfigID received from the sonar head and SIM should be compared with the ConfigID number sent to the sonar head and SIM
during IP configuration. If there is a mismatch, the control program should send IP configuration data to the sonar head and/or SIM to correct the issue.
struct R2DS // R2Sonic Device Status

{
u32 PacketName; // 'R2DS'
u32 SerialNumber[3]; // up to 12 ASCII chars, unused chars are zero
C structure of Device Status packet
u32 ConfigID; // from most recent R2DC packet
u32 spare;
} pkt;
Device status Ethernet packet example received from the sonar head 0000 00 e0 81 2e be 88 00 50 c2 90 40 58 08 00 45 00 .......P ..@ X..E.
0010 00 34 04 6c 00 00 32 11 6e 92 0a 00 00 56 0a 00 .4.l..2. n....V..
0020 01 66 ff 16 ff de 00 20 00 00 52 32 44 53 31 30 .f..... ..R2DS10
0030 30 31 30 31 00 00 00 00 00 00 46 35 bd 01 00 00 0101.... ..;.~...
0040 00 00 ..
0000 00 e0 81 2e be 88 00 50 c2 90 40 49 08 00 45 00 .......P ..@ I..E.

0010 00 34 02 75 00 00 32 11 70 7c 0a 00 00 63 0a 00 .4.u..2. p|...c.. Device status Ethernet packet example received from the SIM
0020 01 66 ff 7a ff de 00 20 00 00 52 32 44 53 31 30 .f.z... ..R2DS10
0030 30 30 34 34 00 00 00 00 00 00 46 35 bd 01 00 00 0044.... ..;.~...
0040 00 00 ..
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Part No. 96000001
15.14 Data Playback Using Bit-Twist
15.14.1 Introduction
Note, the topics covered in this document require knowledge of Ethernet communication.
To test a data collection system, you can either use the actual hardware (sonar head) or use data
captured from the sonar head. Using Wireshark, uplink data from the sonar head can be captured,
filtered, and saved. Bit Twist, a console application, allows you to playback data. R2Sonic can supply
sample Ethernet captures of the sonar head uplink data. You may need to edit the destination MAC
and IP addresses of the captured data with Bit-Twiste, a console application. Wireshark and Bit-
Twist both require Winpcap which is included in the Wireshark installation.
In the examples, the following IP addresses are used:
Sonar head: 10.0.0.86

Data collection computer: 10.0.1.102
The following programs are required:
To capture, filter, and save Ethernet data:

Wireshark: http://www.wireshark.org/
To playback and edit captured Ethernet data:
Bit-Twist: http://bittwist.sourceforge.net/
Using a 32-bit version of Wireshark will allow you to use a packet decoder for the sonar data
formats.
If you don’t want or need to install Wireshark, get Winpcap at:

Winpcap: http://www.winpcap.org/
15.14.2 Capturing Data

To capture data from the sonar head, use Wireshark. Set the max ping rate of the sonar to 1 to 5
pings per second so you won’t create huge capture files.
• Capture sonar data. For high data rate traffic, set the following Wireshark Capture Options.
These options are found under the button (usually left most) “List the available capture
interfaces…”. These setting will remain for the session.
Buffer size: 50 megabytes
Uncheck “Update list of packets in real time”
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Figure 206: Wireshark Capture Options
This will reduce the processing load on Wireshark significantly.
•After capture, filter the data so only the desired sonar head data is displayed. A filter expression
like
“not(icmp.type == 3 or ip.src == 10.0.1.102)”
can be used to filter data coming from the data acquisition computer.
•Save using Save As, data type as “Wireshark/tcpdump/…- libpcap (*.pcap,*.cap)” (Wireshark
default). Select “Displayed” in Packet Range. You can select a data range in the Packet Range such
that the data packets aren’t truncated.
15.14.3 Editing Data

The MAC and IP addresses in the packets must match the data acquisition computer’s MAC and IP
addresses assigned to the network interface card (NIC). The data acquisition computer’s MAC and IP
addresses can be determined using ipconfig /all from the command line.
Editing the MAC and IP addresses must be done as separate operations using bittwiste.exe. The
following examples show the syntax for editing the destination MAC and IP address in the .pcap files
created by Wireshark.
Example to change destination MAC address using bittwiste.exe:

bittwiste -I in.pcap -O out.pcap -T eth -d 00:E0:12:7F:D2:1A
Example to change destination IP address using bittwiste.exe:

bittwiste -I in.pcap -O out.pcap -T ip -d 10.0.1.102
Where in.pcap is the input file and out.pcap is the output file.
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15.14.4 Data Playback
To playback data, use bittwist.exe. You can playback data on the same computer that the data
collection program resides on by simply connecting the sonar Ethernet port to an Ethernet switch.
The Ethernet switch is only to placate the NIC. You can also send data from a remote computer to
the data acquisition computer.
The Ethernet interface number needs to be determined. Choose the interface that is connected to
the sonar system. To display Ethernet interfaces:
bittwist –d
To playback data:
bittwist -i 2 -l 0 out.pcap
This sends out.pcap to Ethernet interface 2 (-i 2) and loops continuously (-l 0). Use Ctrl-C to exit the
program.
If you don’t want to loop, use:

bittwist -i 2 out.pcap
Note:
Newer Ethernet playback utilities are better than bittwist. Ask support about a modified version of
Playcap.exe (Open Source program modified for looping) and Wireplay.exe (R2Sonic program that
can play back pcap files at full speed and you don't need to edit pcap files with bitttwiste).
Wireplay.exe is the recommended playback utility. Wireplay is available from R2Sonic.
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Part No. 96000001
Appendix X – Drawings
16 APPENDIX X: Drawings
Drawing Index
Figure 207: Sonic 2024/2022 Projector ............................................................................................. 230

Figure 208: Cable clamp projector dimensions ................................................................................. 231
Figure 209: Sonic 2026 Projector ....................................................................................................... 232
Figure 210: Sonic 2024/2026 Receive Module .................................................................................. 233
Figure 211: Receiver outline with penetrator.................................................................................... 234
Figure 212: Sonic 2022 Receive Module ............................................................................................ 235
Figure 213: Sonic 2022 Receiver / Projector horizontal offset .......................................................... 236
Figure 217: Sonic 2024/2022 Mounting Bracket Flange .................................................................... 240
Figure 218: SIM Box Drawing ............................................................................................................. 241
Figure 220: R2Sonic Deck lead minimum connector passage dimensions ........................................ 243
Figure 221: Locking Ring type Deck Lead ........................................................................................... 244
Figure 222: I2NS IMU Dimensions ..................................................................................................... 245
Figure 223: I2NS IMU Cable ............................................................................................................... 246
Figure 224: I2NS SIM Dimensions ...................................................................................................... 247
Figure 225: Dual Head Mount Offsets ............................................................................................... 248
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Figure 207: Sonic 2024/2022 Projector
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Part No. 96000001
All measurements in millimetres
The projector’s dimensions are the

same as all other projectors except for
the added boss that holds the bottom
portion of the clamp mechanism.
Figure 208: Cable clamp projector dimensions
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Figure 209: Sonic 2026 Projector
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Part No. 96000001
Figure 210: Sonic 2024/2026 Receive Module
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Figure 211: Receiver outline with penetrator
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Part No. 96000001
Figure 212: Sonic 2022 Receive Module
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Figure 213: Sonic 2022 Receiver / Projector horizontal offset
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Part No. 96000001
Figure 214: Sonic 2024 Mounting Bracket Drawing
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Part No. 96000001
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Figure 217: Sonic 2024/2022 Mounting Bracket Flange
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Part No. 96000001
Figure 218: SIM Box Drawing
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Figure 219: SIM Stack Outline
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Part No. 96000001
Figure 220: R2Sonic Deck lead minimum connector passage dimensions
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Figure 221: Locking Ring type Deck Lead
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Part No. 96000001
FIRST ANGLE
PROJECTION
65.10
64.40 30.00
110.00
Z Z
Y X
25.60
30.60
5.00
16.50
6.00
153.00
81.60
161.0
0.00
8.00
140.0
132.00
69.60 Y
THIS DOCUMENT CONTAINS PROPRIETARY

Ø 9.5mm [3/8"] INFORMATION. IT MAY NOT BE
REPRODUCED
8.00 OR TRANSFERRED TO OTHER DOCUMENTS
OR DISCLOSED TO OTHERS OR USED FOR
0.00 MANUFACTURING OR ANY OTHER PURPOSE
WITHOUT PRIOR WRITTEN PERMISSION
5307 INDUSTRIAL OAKS BLVD.

AUSTIN, TEXAS
512-891-0000
Top View TITLE:
IMU INSTALLATION
DRAWING NO: REV:
10161 B
SIZE: C SCALE: 1/1 SHEET: 1 OF 1
Figure 222: I2NS IMU Dimensions

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Figure 223: I2NS IMU Cable
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Part No. 96000001
Figure 224: I2NS SIM Dimensions
Page 247 of 248
Date 28-02-2019
Figure 225: Dual Head Mount Offsets
Page 248 of 248

Date 28-02-2019
Part No. 96000001

R2Sonic 2022-2024-2026 Technical User Manual

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SONIC 2026/2024/2022

BROADBAND MULTIBEAM ECHOSOUNDERS

Operation Manual V6.3

Part No. 96000001

5307 Industrial Oaks Blvd, Suite 120

Austin, Texas 78735

Telephone: +1 (512) 891.0000

Version Printing History

• June 2008 Version 1.1/1.2

Figure 1: Sonic MBES Block Diagram .................................................................................................... 23

Table 1: Metric to Imperial conversion table ....................................................................................... 24

Graph 1: Depth errors due to incorrect roll alignment ..................................................................... 159

1.1 Outline of Equipment

Figure 1: Sonic MBES Block Diagram

1.2.1 Standard of Measurement

10mm (0.010m) 0.39 inches

100mm (0.100m) 3.9 inches

1000mm (1.0 metre) 39.4 inches

100 grams (0.100kg) 3.5 ounces

1000 grams (1.0 kilogram) 2.2 pounds

Table 1: Metric to Imperial conversion table

2.1 Sonic 2026 System Specification

2.2 Sonic 2024 System Specification

2.4 Sonic 2026 Dimensions and Weights

2.5 Sonic 2024 Dimensions and Weights

2.7 Sonic 2026/2024/Sonic 2022 Electrical Interface

2.8 Sonic MBES Ping Rates (SV = 1500.00m/sec)

SONIC 2024 Plan View

Alongship ref Connector under

Figure 2: Sonic 2024 Acoustic Centre

Figure 3: Sonic 2024 Acoustic Centre, as Mounted

Centre of Flange to Alongship offset = 0.182m (0.597ft)

Top of Flange to Z reference = 0.318m (1.043ft)

Alongship ref Connector under

Figure 4: Sonic 2022 Acoustic Centre

Figure 5: Sonic 2022 Acoustic Centre, as Mounted

Centre of Flange to Alongship offset = 0.182m (0.597ft)

Top of Flange to Z reference = 0.318m (1.043ft)

AFT SONIC 2026 Plan View FORE

Alongship ref Connector under

Figure 6: Sonic 2026 Acoustic Centre

Figure 7: Sonic 2026 Acoustic Centre, as mounted

Centre of Flange to Alongship offset = 0.288m (0.944ft)

Figure 8: Sonic 2024 and Sonic 2022 on the mounting frame

Sonic 2024/2026 Sonic 2022

Sonic 2024/2026 Sonic 2022

3.1.2 Receive Module

When inserting or removing

Figure 13: New cable penetrator with locking ring

Figure 14: Deck lead to penetrator connection

3.1.4.1 Receiver cable clamp

Figure 15: Lower bracket Figure 16: Upper bracket secured

3.1.4.2 Projector cable clamp

Figure 17: Updated Projector housing

Mounting bracket securing

Figure 18: Upper bracket for Projector cable clamp

Figure 19: Projector cable clamp lower

Figure 20: Projector cable clamp upper bracket

Figure 21: Projector cable clamp in place

Figure 23: Receive Module with cables connected