HYDROCHART 3500 SONAR SYSTEM - Klein Marine … · What’s in This Manual ... APPENDIX E: Drawings and Parts Lists ... HydroChart 3500 Sonar System Operations and

HYDROCHART 3500SONAR SYSTEM

Operations and Maintenance ManualP/N 11210087, Rev. 02

11 Klein DriveSalem, NH 03079-1249

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

www.KleinMarineSystems.com

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This document contains proprietary information, and such information may not be disclosed to others for any purpose or used for any manufacturing purpose without expressed written permission from Klein Marine Systems, Inc. (KMS). The information provided is for informational purposes only and is subject to change without notice. KMS assumes no responsibility or liability for any errors, inaccuracies or omissions that may be present in this document.

The SonarPro software program may be used or copied only in accordance with the terms of the Software License Agreement.

©Copyright 2012–2016 by Klein Marine Systems, Inc. All rights reserved.

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

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

Windows XP® and Windows 7® are registered trademarks of Microsoft Corporation.

Kevlar® is a registered trademark of the DuPont Company.

CARIS® is a registered trademark of CARIS.

HYPACK® is a registered trademark of HYPACK, Inc.

HydroChart 3500 Sonar System Operations and Maintenance Manual P/N 11210087, Rev. 02

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WARNINGKleine Marine Systems recommends all troubleshooting be done bya trained technician. Some circuits in the HydroChart 3500 SonarSystem have voltages as high as 1500 volts. Failure to observethese warnings could result in injuries to personnel.

CAUTIONSerious damage to the sonar electronics may occur if the sonarSonar Head Unit is operated out of the water for periods longer than30 minutes. Let the sonar cool 15 minutes or longer betweenoperations. Protect the Sonar Head Unit from direct exposure to thesun prior to and during operation in high temperature climates.

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

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

List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

Sonar System Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

What Is Covered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Conditions Of Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Changes, Errors And Ommissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Software License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

What’s in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

Note, Warning and Caution Notices . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

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

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

1.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.3 455-kHz Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.4 System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.4.1 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.4.2 Topside Interconnect Unit (TIU) . . . . . . . . . . . . . . . . . . . . . . 1-2

1.4.3 Deck Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

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

2.1 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1.1 Compass (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Motion Reference Sensor (Optional) . . . . . . . . . . . . . . . . . . . 2-2

2.1.3 Sound Velocity Sensor (Optional) . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Topside Interconnect Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Deck Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3


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CHAPTER 3: Setup and Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

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

3.2 Locating the Topside Interconnect Unit . . . . . . . . . . . . . . . . . . . 3-1

3.3 Power Connection Requirements . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.4 Installing the Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.5 Installing the Motion Reference Unit . . . . . . . . . . . . . . . . . . . . . 3-5

3.6 Installing the Sound Velocity Sensor . . . . . . . . . . . . . . . . . . . . . 3-5

3.7 Connecting the System Components . . . . . . . . . . . . . . . . . . . . . 3-5

3.8 Operator Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.9 Activating the System and Performing the PredeploymentTests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.10 Bathymetric System Calibration and Patch Test . . . . . . . . . . . 3-11

3.10.1 Static Position Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.10.2 Latency Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.10.3 Roll Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.10.4 Pitch Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.10.5 Yaw Bias Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

CHAPTER 4: Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 Daily Maintenance Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2 Weekly and Long Term Maintenance Checklist . . . . . . . . . . . . 4-1

4.3 Disassembling and Reassembling the Sonar Head Unit . . . . . . 4-2

4.3.1 Disassembling the Sonar Head Unit . . . . . . . . . . . . . . . . . . . . 4-2

4.3.2 Reassembling the Sonar Head Unit . . . . . . . . . . . . . . . . . . . . 4-7

4.4 Removing and Installing the Optional Sound VelocitySensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.4.1 Removing the Sound Velocity Sensor . . . . . . . . . . . . . . . . . . 4-9

4.4.2 Installing the Sound Velocity Sensor . . . . . . . . . . . . . . . . . . 4-12

4.5 Removing and Installing the Optional Compass . . . . . . . . . . . 4-13

4.5.1 Removing the Compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.5.2 Installing the Compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

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CHAPTER 5: Technical Description . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1 Topside Interconnect Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.1 DC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.2 Ethernet 100Base-T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.3 1PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.4 RS-232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2 Sonar Head Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.1 Sonar Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.2 Transducer Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

CHAPTER 6: System Troubleshooting . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1 Topside Interconnect Unit Troubleshooting . . . . . . . . . . . . . . . 6-1

6.2 Deck Cable Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.3 Sonar Head Unit Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 6-3

APPENDIX A: Sonar Uncertainty Model . . . . . . . . . . . . . . . . . . . . . . A-1

A.1 IHO S-44 Uncertainty Definition . . . . . . . . . . . . . . . . . . . . . . . A-1

A.2 Generating the Uncertainty Estimates . . . . . . . . . . . . . . . . . . . A-1

APPENDIX B: Configuring and Updating the Sonar Head Unit . . . B-1

B.1 Querying or Changing the Sonar Head Unit IP Address . . . . . . B-1

B.2 Editing the Sonar Head Unit Startup File . . . . . . . . . . . . . . . . . B-3

B.3 Updating the Sonar Head Unit Software . . . . . . . . . . . . . . . . . . B-4

APPENDIX C: Compass Calibration . . . . . . . . . . . . . . . . . . . . . . . . . C-1

C.1 Required Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

C.2 Setting up for the Compass Calibration . . . . . . . . . . . . . . . . . . . C-2

C.3 Performing the Compass Calibration . . . . . . . . . . . . . . . . . . . . . C-2

APPENDIX D: Collecting Data for Bathymetry Calibration . . . . . . . D-1

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


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List of FiguresFigure 1-1: The HydroChart 3500 Sonar System Components . . . . . . . . . . . . . . . . . . . . 1-3

Figure 3-1: LAN Cable, Navigation Cable Pigtail and Power Cord . . . . . . . . . . . . . . . 3-2

Figure 3-2: Sonar Head Unit Mounting Flange and Bolt Circle . . . . . . . . . . . . . . . . . . 3-3

Figure 3-3: Arrow Label on the Sonar Head Unit Mounting Flange Should Pointtoward the Bow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Figure 3-4: TIU Side Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Figure 3-5: The Sonar Interface Dialog Box—System Control Tab . . . . . . . . . . . . . . . 3-10

Figure 4-1: Removing the Phillips Head Screws from the Top of the Forward andAft Fairings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Figure 4-2: Removing the Phillips Head Screws from the Skid Plate . . . . . . . . . . . . . . . 4-3

Figure 4-3: Sliding a Fairing off the Sonar Head Unit Frame . . . . . . . . . . . . . . . . . . . . 4-3

Figure 4-4: Sonar Head Unit Frame with Fairings Removed . . . . . . . . . . . . . . . . . . . . . 4-4

Figure 4-5: Cables Disconnected from Sonar Electronics Housing . . . . . . . . . . . . . . . . 4-4

Figure 4-6: Socket Head Cap Screws Securing the Transducer Arrays . . . . . . . . . . . . . 4-5

Figure 4-7: Tightening the Socket Head Cap Screws in the Sonar Electronics HousingConnector End Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

Figure 4-8: 10-mm diameter, 1.5-mm Pitch Threaded Rod Screwed into theConnector End Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

Figure 4-9: Pulling the Sonar Electronics Chassis out of the Sonar ElectronicsHousing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

Figure 4-10: Aligning and Installing the Connector End Cap . . . . . . . . . . . . . . . . . . . . . 4-7

Figure 4-11: Sonar Electronics Housing Connector End Cap Connectors . . . . . . . . . . . 4-8

Figure 4-12: Sonar Head Unit Fully Assembled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

Figure 4-13: Loosening the Socket Head Cap Screw Securing the Sound VelocitySensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

Figure 4-14: Removing the Sound Velocity Sensor and its Adapter Sleeve . . . . . . . . . . 4-10

Figure 4-15: Disconnecting the Sound Velocity Sensor Cable from the S/V Connectoron the Electronics Housing End Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

Figure 4-16: Sound Velocity Sensor Removed from its Adapter Sleeve. . . . . . . . . . . . . . 4-11

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Figure 4-17: Sound Velocity Sensor, Sound Velocity Cable and Adapter SleeveRemoved . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

Figure 4-18: Adapter Sleeve Positioned with Slot Visible through the Skid Plate . . . . . 4-12

Figure 4-19: Sound Velocity Sensor and Adapter Sleeve Flush with Opening inFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

Figure 4-20: Compass Mounted to Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

Figure 5-1: TIU Overall Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Figure 5-2: TIU Electronics Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Figure 5-3: Sonar Head Unit Overall Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

Figure 5-4: Sonar Head Unit Electronics Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Figure 6-1: Deck Cable Dry and Underwater Connector Pin Orientations,Face View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Figure A-1: Klein Batch Processing GUI Dialog Box—Batch Processing Selections . . A-2

Figure A-2: Klein Batch Processing GUI Dialog Box—XYZ File Selections . . . . . . . . . A-2

Figure C-1: Items and Setup Required for Compass Calibration . . . . . . . . . . . . . . . . . . C-1

Figure C-2: Setup Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3

Figure C-3: Program Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3

Figure C-4: Program Dialog Box—X and Y Level Calibration Complete . . . . . . . . . . . C-4

Figure C-5: Compass Oriented at 90 Degrees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

Figure C-6: Program Dialog Box—Z 90 Degree Calibration Complete . . . . . . . . . . . . . C-5

Figure C-7: Program Dialog Box—Soft Iron Calibration Selected . . . . . . . . . . . . . . . . . C-6

Figure D-1: Sonar Head Unit Deployed One Meter below Survey Vessels’s Hull . . . . . D-1

Figure D-2: Data Collection Track and Water Depth . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2


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List of TablesTable 3-1: TIU Power Cord Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Table 3-2: LAN Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Table 3-3: NAV Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Table 3-4: 120/240 VAC Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Table 3-5: T/F Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Table 3-6: 1PPS Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Table C-1: Cable Harness 5-Pin Bulkhead Connector to DB9 and Battery ConnectorsPin-to-Pin Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Table E-1: List of Drawings and Parts Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1

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Sonar System WarrantyWhat Is CoveredLIMITED WARRANTY Subject to the conditions set forth below, equipment sold by Seller is warranted against defects in materials and workmanship, and Seller will repair or exchange any parts proven to be malfunctioning under normal use for one year (12 months) from the date of Delivery as follows:

a) SONAR and other associated manufactured products, with the following exceptions:

b) All third party accessories, winches, magnetometers, Sonar Laptops or PCs, and peripherals/accessories and third party software packages related to the Sonar Product Line are limited to the warranty provided by original manufacturer.

c) This warranty does not apply to tow cables. If applicable, the manufacturer’s warranty will be forwarded with the equipment.

EQUIPMENT NOT MANUFACTURED BY SELLER Carries only its vendor’s warranty, which is hereby incorporated by reference.

SERVICE WORK BY SELLER Warrants that ALL service work performed by Seller’s technical and engineering employees will be performed in a good and workmanlike manner, but its liability under this warranty is limited to the obligation to remedy at Seller’s expense any such service work not performed satisfactorily, upon receipt of written notice within ninety (90) days of the date of performance of the work.

For authorized onsite service (excluding Side Scan Sonar category referenced as a. SONAR) in which Seller has to travel to the installed equipment, travel costs (auto mileage and tolls) up to 100 round trip highway miles and travel time of 2 hours, will be allowed by Seller. The Overtime premium labor portion of service of normal working hours is not covered by this Warranty. On-site warranty service is capped at (4) hours per failure. Travel costs other than auto mileage, tolls and two (2) hours travel time are specifically excluded on all products and services.

Travel costs which are excluded from coverage of this warranty include, but are not limited to: taxi, launch fees, aircraft rental, airfare, subsistence, customs, shipping, communication charges, etc.

During the warranty period, Seller will repair or, at its option, replace any equipment that proves to be defective. Such repair or replacement is Buyer’s exclusive right and remedy, and our only obligation, with respect to any defective equipment.


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Conditions Of Warranty a) Seller’s warranty policy does not apply to equipment which has been subjected to

accident, abuse, or misuse, shipping damage, alterations, incorrect and/or non-authorized service or equipment on which the serial number plate has been altered, mutilated or removed.

b) A suitable proof of purchase, such as, a paid commercial invoice, an installation certificate signed by Seller or an authorized agent must be made available to Seller or Seller’s authorized servicing agent at the time of the Warranty Service.

c) The warranties stated herein are in lieu of all other warranties, expressed or implied, and of all other obligations or liabilities on the part of Seller. Seller neither assumes nor authorizes any other person to assume for it any other liability. The Buyer expressly waives any right, claim or cause of action that might otherwise arise out of the purchase and use of Seller’s products or service.

d) Warranty is not transferable and only applies to the original Buyer.

e) Warranty does not cover equipment that has been repaired or modified other than by Seller, or equipment that has been subjected to misuse or to negligent or accidental mishandling.

f) Except where Seller has performed the installation of specific equipment, Seller assumes no responsibility for damage incurred during installation of equipment or by damage caused by no fault of the Seller.

g) This warranty does not cover routine system checkouts or alignment/calibration, unless required by replacement of part(s) in the area being aligned.

h) Consumable items are specifically excluded from this Warranty.

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

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

k) Warranty shall be void and Seller shall be released from all obligations under this warranty if the equipment is operated with components other than those sold or authorized by Seller.

l) This warranty is strictly limited to the terms and indicated herein, and no other warranties or remedies shall be binding on Seller including, without limitation, any warranties of merchantability or fitness for a particular purpose.

m) Repairs and replacements under warranty have the same warranty as the original product for the remaining balance of the warranty period for the original product existing prior to notice of the warranty claim.

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Any failure to meet the foregoing conditions of warranty will automatically void this limited warranty. This warranty gives Buyer specific legal rights, and Buyer may also have other rights, which vary from State to State, Province to Province or Country to Country.

DISPUTES Seller and Buyer agree that all disputes in any way relating to, arising under, connected with, or incident to this agreement, and over which the federal courts have subject matter jurisdiction, shall be litigated, if at all, exclusively in the United States District Court for the State of Delaware, and if necessary, the corresponding appellate courts. Seller and Buyer further agree that all disputes in any way relating to, arising under, connected with or incident to this contract, and over which the federal courts do not have subject matter jurisdiction, shall be litigated, if at all, exclusively in the Courts of the State of Delaware, and if necessary, the corresponding appellate courts. Seller and Buyers expressly submit themselves to the personal jurisdiction of the State of Delaware. Before resorting to litigation, Seller and Buyer agree to enter into negotiations to resolve the dispute. If Seller and Buyer are unable to resolve the dispute by good faith negotiation, either Seller or Buyer may refer the matter to litigation.

LIMITATION OF LIABILITY TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, SELLER SHALL NOT BE LIABLE UNDER ANY THEORY AT LAW, IN EQUITY OR OTHERWISE FOR ANY SPECIAL, EXEMPLARY, PUNITIVE, INCIDENTAL, INDIRECT, OR CONSEQUENTIAL DAMAGES (EVEN IF SELLER HAS BEEN ADVISED OF SAME) INCLUDING, WITHOUT LIMITATION, LOST PROFITS OR REVENUES, THE ENTIRE LIABILITY OF SELLER FOR ANY CLAIM, LOSS, OR DAMAGES UNDER ANY THEORY AT LAW, IN EQUITY, OR OTHERWISE, INCLUDING, BUT NOT LIMITED TO CONTRACT, TORT, (INCLUDING INTELLECTUAL PROPERTY INFRINGEMENT, AND NEGLIGENCE), AND STRICT LIABILITY, ARISING OUT OF THIS AGREEMENT OR ANY INDEMNIFICATION OBLIGATION THEREOF, THE PERFORMANCE OR BREACH THEREOF, OR THE SUBJECT MATTER SHALL NOT IN ANY EVENT EXCEED THE SUM OF PAYMENTS ACTUALLY MADE BY BUYER TO SELLER PURSUANT TO THIS AGREEMENT, ANY ACTION AGAINST SELLER MUST BE BROUGHT WITHIN ONE (1) YEAR AFTER THE CLAIM AROSE.

Changes, Errors And OmmissionsKlein Marine Systems, Inc. reserves the right to make changes to the design or specifications at any time without incurring any obligation to modify previously delivered sonar systems. In addition, while considerable effort has been made to ensure that the information in this manual is accurate and complete, Klein Marine Systems, Inc. assumes no liability for any errors or omissions.


xiii

Software License AgreementThis Software License Agreement is provided by Klein Marine Systems, Inc. (KMS) for end users of SonarPro© software for the KMS Series 3000, UUV-3500, 3900, 4900, 5000, 5000 V2, 5900, HydroChart 3500, HydroChart 5000, and D3500TF Sonar Systems.

YOU SHOULD CAREFULLY READ THE FOLLOWING TERMS AND CONDITIONS BEFORE USING THIS PRODUCT. IT CONTAINS SOFTWARE, THE USE OF WHICH IS LICENSED BY KMS, TO ITS CUSTOMERS FOR THEIR USE ONLY, AS SET FORTH BELOW. IF YOU DO NOT AGREE TO THE TERMS AND CONDITIONS OF THIS AGREEMENT, DO NOT USE THE SOFTWARE. USING ANY PART OF THE SOFTWARE INDICATES THAT YOU ACCEPT THESE TERMS.

LICENSE: KMS grants you a nonexclusive license to use the accompanying software programs(s) (the "Software") subject to the terms and restrictions set forth in this License Agreement. You are not permitted to lease, rent, distribute or sublicense the Software or to use the Software in a time-sharing arrangement or in any other unauthorized manner. Further, no license is granted to you in the human readable code of the Software (source code). Except as provided below, this License Agreement does not grant you any rights to patents, copyrights, trade secrets, trademarks, or any other rights in respect to the Software.

The Software is licensed to be used on any workstation or any network server owned by or leased to you, provided that the Software is used only in connection with one KMS Series 3000, UUV-3500, 3900, 4900, 5000, 5000 V2, 5900, HydroChart 3500, HydroChart 5000, or D3500TF Sonar System. You may reproduce and provide authorized copies only of the Software and supporting documentation for each such workstation or network server for this equipment on which the Software is used as permitted hereunder. Otherwise, the Software and supporting documentation may be copied only as essential for backup or archive purposes in support of your use of the Software as permitted hereunder. You must reproduce and include all copyright notices and any other proprietary rights notices appearing on the Software and the supporting documentation on any copies that you make.

NO ASSIGNMENT; NO REVERSE ENGINEERING: You may not transfer or assign the Software and/or this License Agreement to another party without the prior written consent of KMS. If such consent is given and you transfer or assign the Software and/or this License Agreement, then you must at the same time either transfer all copies of the Software as well as the supporting documentation to the same party or destroy any such materials not transferred. Except as set forth above, you may not transfer or assign the Software or your rights under this License Agreement.

Modification, reverse engineering, reverse compiling, or disassembly of the Software is expressly prohibited. You may not translate or create derivative works of the software or the supporting documentation.

xiv

BATHYMETRIC PROCESSING ATTRIBUTION: Bathymetric processing derived from DGA/GESMA publication in IEEE OCEAN'S 05 Europe Conference Proceedings: "Bathymetric Sidescan Sonar: a System Dedicated to Rapid Environment assessment, ref: 10.1109/OCEANSE.2005.1511695.

EXPORT RESTRICTIONS: You agree that you will not export or re-export the Software or accompanying documentation (or any copies thereof) or any products utilizing the Software or such documentation in violation of any applicable laws or regulations of the United States or the country in which you obtained them.

TRADE SECRETS; TITLE: You acknowledge and agree that the structure, sequence and organization of the Software are the valuable trade secrets of KMS. You agree to hold such trade secrets in confidence. You further acknowledge and agree that ownership of, and title to, the Software and all subsequent copies thereof regardless of the form or media are held by KMS.

UNITED STATES GOVERNMENT LEGEND: All technical data and Software are commercial in nature and developed solely at private expense. The Software is delivered as Commercial Computer Software as defined in DFARS 252.227-7014 (June 1995) or as a commercial item as defined in FAR 2.101(a) and as such is provided with only such rights as are provided in this License Agreement, which is KMS's standard commercial license for Software. Technical data is provided with limited rights only, as provided in DFAR 252.227-7015 (Nov. 1995) or FAR 52.227-14 (June 1987), whichever is applicable. You agree not to remove or deface any portion of any legend provided on any licensed program or documentation delivered to you under this License Agreement.

TERM AND TERMINATION: This license will terminate immediately if you fail to comply with any term or condition of this License Agreement. Upon such termination you agree to destroy the Software and documentation, together with all copies and merged portions in any form. You may terminate it at any time by destroying the Software and documentation together with all copies and merged portions in any form.

GOVERNING LAW: This License Agreement shall be governed by the laws of the State of New Hampshire, USA. You agree that the United Nations Convention on Contracts for the International Sales of Goods (1980) is hereby excluded in its entirety from application to this License Agreement.

LIMITED WARRANTY; LIMITATION OF LIABILITY: All warranties and limitations of liability applicable to the Software are as stated in the product manual accompanying the Software. Such warranties and limitations of liability are incorporated herein in their entirety by this reference.

SEVERABILITY: In the event any provision of this License Agreement is found to be invalid, illegal or unenforceable, the validity, legality and enforceability of any of the remaining provisions shall not in any way be affected or impaired and a valid, legal and enforceable provision of similar intent and economic impact shall be substituted therefore.


xv

ENTIRE AGREEMENT: This License Agreement sets forth the entire understanding and agreement between you and KMS supersedes all prior agreements, whether written or oral, with respect to the Software, and may be amended only in a writing signed by both parties.

PrefaceThe HydroChart 3500 Sonar System is a lightweight, portable side scan sonar system comprising a Sonar Head Unit, a deck cable and a topside unit that connects to a PC and a navigation device.

What’s in This ManualThis operations and maintenance manual provides information pertaining to the setup and deployment, operation and general maintenance of the HydroChart 3500 Sonar System. The manual is divided into the following six chapters and three appendices:

Chapter 1: Overview. Presents an overview of the HydroChart 3500 Sonar System components.

Chapter 2: Specifications. Provides physical and performance specifications for the main components of the HydroChart 3500 Sonar System.

Chapter 3: Setup and Test. Provides instructions on how to unpack the HydroChart 3500 Sonar System components, set them up, and turn on and test the system.

Chapter 4: Maintenance. Provides instructions for maintaining the HydroChart 3500 Sonar System on a daily, a weekly and a long term basis.

Chapter 5: Technical Description. Provides and overall description of the HydroChart 3500 Sonar System electronics to assist in troubleshooting, repair or adding optional equipment.

Chapter 6: System Troubleshooting. Provides some troubleshooting recommendations that should be followed if operational problems occur with the HydroChart 3500 Sonar System.

Appendix A: Sonar Uncertainty Model. Provides a description of the Klein Marine Systems sonar uncertainty model.

Appendix B: Configuring and Updating the Sonar Head Unit: Provides instructions on how to use Linux TPU Updater to configure and update the Sonar Head Unit.

Appendix C: Compass Calibration. Provides a procedure on how to calibrate the compass to account for differing magnetic fields.

xvi

Appendix D: Bathy Systems Calibration Procedure. Provides a procedure on how to calibrate a bathy system to align the phase differences among the bathy channels after replacing one or more components in the bathy channel path.

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

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

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

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

[email protected]

Telephone(603) 893-6131

Facsimile(603) 893-8807

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

NOTE Recommendations or general information that is particular to the material being presented or a referral to another part of this manual or to another manual.

WARNING Identifies a potential hazard that could cause personal injury or death to yourself or to others.

CAUTION Identifies a potential hazard that could be damaging to equipment or could result in the loss of data.


http://www.KleinMarineSystems.com

1-1

CHAPTER 1: OVERVIEW

The HydroChart 3500 Sonar System is a lightweight, compact, one person deployable shallow water hydrographic survey system which makes use of Klein Marine Systems proprietary wideband "chirp" technology to simultaneously collect IHO (International Hydrographic Organization) quality bathymetry and co-registered, geo-referenced, high resolution side scan sonar data.

1.1 Key FeaturesThe HydroChart 3500 Sonar System delivers the following key features:

• Compact, portable and lightweight

• Easy setup, deployment and operation by one person

• Long range high resolution imaging at 455 kHz

• High resolution IHO quality swath bathymetry

• Co-registered, geo-referenced swath bathymetry and side scan data

• Bathymetry coverage up to 12 times altitude

• Support for an optional motion reference unit (MRU)

• Support for an optional sound velocity sensor

• Ruggedly constructed

• Operates with Klein Marine Systems SonarPro data acquisition and display software

1.2 ApplicationsMajor applications for the HydroChart Sonar System include the following:

• Shallow water hydrographic survey

• Geophysical survey

• Port and harbor security

• Dredging and salvage operation

• Rapid littoral area assessment

1-2 CHAPTER 1 Overview

1.3 455-kHz OperationThe HydroChart 3500 Sonar System operates at 455 kHz which provides excellent detection of medium to large targets at ranges exceeding 175 meters per side for a total swath of 350 meters. Bathymetry coverage is up to 12 times the altitude, and all acquired data supports the IHO S-44 Special Order Standard for Hydrographic Surveys. And when combined with the Klein Marine Systems uncertainty model, the data allows for automated/intelligent data processing.

1.4 System ComponentsThe HydroChart 3500 Sonar System includes three main components: a Sonar Head Unit, a Topside Interconnect Unit (TIU) and a deck cable. These components are shown in Figure 1-1. A PC with the Microsoft Windows XP or Windows 7 operating system and Klein Marine Systems SonarPro installed along with an optionally connected navigation device are the only additional components required. The Sonar Head Unit, the PC and the navigation device connect directly to the TIU.

1.4.1 Sonar Head UnitThe Sonar Head Unit includes all of the electronics required to transmit, to receive and to process the sonar signals, and to output the sonar and optional sensor data over an Ethernet 100Base-T connection to the TIU. The electronics, including an optional motion reference unit (MRU), is contained inside a waterproof housing that includes bulkhead connectors for connecting to the port and starboard transducer arrays and to optional compass and sound velocity sensors. A connector is also provided for a jumper cable which is used to connect to the deck cable. The sonar electronics housing, transducer arrays and optional sensors are all mounted to a light weight frame and surrounded by a two-part plastic fairing, one forward and one aft. The frame includes a mounting flange which easily attaches to a customer provided over-the-side mounting pole or ram. Both the housing and the frame are constructed of hard coat anodized high grade aluminum.

1.4.2 Topside Interconnect Unit (TIU)The TIU is a small, IP-67 rated enclosure that provides DC power to the Sonar Head Unit, interfaces with both a PC and the Sonar Head Unit over an Ethernet 100Base-T connection, provides a connection to a navigation device over an RS-232 serial interface, and accepts a one pulse per second (1PPS) input from the navigation device or a separate time reference unit. It operates on 120/240 VAC,50/60 Hz power. However, as the power consumption is less than 30 watts, it can also operate on a small inverter if only DC power is available. A single push button switch turns the TIU on or off, and when on, provides both a power on indication and flashes when the Sonar Head Unit is operating and its transducers are transmitting.


System Components 1-3

Figure 1-1: The HydroChart 3500 Sonar System Components

Deck cable

Deck cable

underwaterconnector

dry connector

and lockingcollar

Deck cable

Mounting flange

Jumper cable

Carrying handle (2)

Transducer array

TIU

Sonar Head Unit

(1 port, 1 starboard)

Plastic fairing(1 forward, 1 aft)

1-4 CHAPTER 1 Overview

1.4.3 Deck CableThe deck cable is a 10-meter (20 or 50-meter optional) polyurethane jacketed Kevlar reinforced Cat 6 with four twisted shielded pair 23-AWG conductors for communications and four 20-AWG conductors for power. It includes a dry connector on one end for connecting to the TIU and an underwater connector with a locking collar at the other end for connecting to the jumper cable on the Sonar Head Unit.


2-1

CHAPTER 2: SPECIFICATIONS

This chapter includes the physical and performance specifications for the HydroChart 3500 Sonar System Sonar Head Unit, TIU and deck cable. The Sonar Head Unit connects to the TIU using the deck cable.

2.1 Sonar Head UnitDeployment method: Over the side or optional hull mount

Sonar frequency: 455 kHz

Sonar channels: 8

Transmission pulse width: Wideband FM chirp at 4 msec

Bathymetry coverage: 10–12 times altitude

Resolution along-track(bathymetry): 0.4°

Resolution across-track(bathymetry): 5.0 cm (2.0 in.)

Resolution along-track(side scan): 0.21°

Resolution across-track(side scan): 1.5 cm (0.6 in.)

Range: Up to 175 m (574 ft) per side

Construction: Hard coat anodized high grade aluminum with plastic fairing

Size: 94.5 cm (37.2 in.) long27.9 cm (11.0 in.) wide27.7 cm (10.9 in.) high

Maximum operating altitude: 50 m (164 ft)

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

Weight in air: 25 kg (55 lb)

NOTE These specifications are subject to change without notice. Actual performance may also vary depending on the environmental and operating conditions.

2-2 CHAPTER 2 Specifications

2.1.1 Compass (Optional)The compass is an OceanServer OS5000 Series Digital Compass.

Heading accuracy, level: ±0.5° RMS

Heading accuracy, tilted: ±1.0° RMS, <±30° tilt±1.5° RMS, ±30° to ±60° tilt

Heading resolution: 0.1°

Pitch range: ±90°

Roll range: ±180°

Pitch and roll accuracy: ±1° at <±30° tilt

2.1.2 Motion Reference Sensor (Optional)The motion reference sensor is an Klein Marine Systems KMS-02 Motion Reference Sensor.

Static accuracy: 0.015° RMS (pitch/roll)

Dynamic accuracy: 0.07° RMS (pitch/roll)

Repeatability: 0.015° RMS (pitch/roll)

Input voltage: 12 VDC nominal (10–15 VDC)

Input power: 1.8 watts

Interface: RS-232 at 38400 baud

Output rate: 100 updates per second

Temperature rating: -2°–45°C

2.1.3 Sound Velocity Sensor (Optional)The optional sound velocity sensor is an AML Oceanographic Micro•X.

Range: 1375–1625 m/s

Accuracy: ±0.05 m/s

Sample rate: Up to 25 Hz

Serial interface: RS-232 at 9600 baud

Power: 8–26 VDC


Topside Interconnect Unit 2-3

2.2 Topside Interconnect UnitSize: 25.4 cm (10.0 in.) long

20.3 cm (8.0 in.) wide11.4 cm (4.5 in.) high

Weight: 1.5 kg (3.2 lb)

Power: 120 or 240 VAC, 50–60 Hz or 12 VDC@ 30 watts with inverter

Sonar Head Unit/PC interface: Ethernet 100Base-T

Navigation input: RS-232, NMEA 0183

Time reference input: 1PPS from a navigation device or separate time reference unit

Ingress protection: IP-67 with waterproof connectors

2.3 Deck CableType: Polyurethane jacketed, Kevlar reinforced

Conductors: (4) TSP Cat6(4) 20-AWG

Diameter (OD): 12.6 mm (0.495 in.)

Length: 10 m (33 ft); 20 m (66 ft) or 50 m (164 ft) optional

TIU connector: 13-pin dry

Sonar Head Unit connector: 13-pin underwater connector with locking sleeve

3-1

CHAPTER 3: SETUP AND TEST

The HydroChart 3500 Sonar System is designed to be easily set up and deployed. This chapter provides instructions on how to unpack the system components, set them up, and turn on and test the system. Descriptions of all the connectors and the power on/off control and indicator on the TIU are also included.

3.1 Unpacking and InspectionThe HydroChart 3500 Sonar System is shipped in two corrugated cardboard boxes. One contains the deck cable, and the other contains the Sonar Head Unit, the TIU and all the other items listed below. Before unpacking the containers, carefully inspect them for damage. If any damage is found, immediately contact Klein Marine Systems, Inc. or your KMS sales representative and report the damage to the freight carrier. After unpacking the containers, inspect all the items for damage and check the packing list to ensure that all the items are included. If any damage is found or any items are missing, immediately contact Klein Marine Systems, Inc. or your KMS sales representative. Also report any damage to the freight carrier. Do not install or operate any equipment that appears to be damaged.

The HydroChart 3500 Sonar System, as a minimum, includes the following components:

• Sonar Head Unit

• TIU

• Deck cable

• Software and documentation CD

• LAN cable

• Navigation cable pigtail

• AC power cord

The Sonar Head Unit, the TIU and the deck cable are shown in Figure 1-1 on page 1-3. The LAN cable, the navigation cable pigtail and the power cord are shown in Figure 3-1.

3.2 Locating the Topside Interconnect UnitThe TIU is sealed against spray and inclement weather. However, for equipment longevity, it is best to locate the TIU in a sheltered area.

3-2 CHAPTER 3 Setup and Test

3.3 Power Connection RequirementsThe HydroChart 3500 Sonar System requires 120 or 240 VAC, 50–60 Hz power to operate. A 12 VDC power source with a 30 watt or greater inverter can also be used to power the system. The system is designed to protect against over and under voltage and transient spikes. However, it is always best to check the power source carefully using a digital multimeter first.

Since a variety of power connectors are in use throughout the world, it may be necessary to use an adapter or to cut off the US-type plug on the AC power cord and re-terminate it with a new plug. Should this modification be required, the wires should be connected in accordance with Table 3-1.

Figure 3-1: LAN Cable, Navigation Cable Pigtail and Power Cord

CAUTION Application of improper AC power may damage the HydroChart 3500 Sonar System. Do not turn the equipment on until you have checked the supply voltage.

Table 3-1: TIU Power Cord Wiring

COLOR FUNCTION

Green Ground (earth)

Blue or white Neutral

Brown or black Hot

LAN cable AC power cord

Navigationcable pigtail


Installing the Sonar Head Unit 3-3

3.4 Installing the Sonar Head UnitWhen installing the Sonar Head Unit, lightly grease the pins of the jumper cable connector with silicone grease before connecting the deck cable to it. Silicone grease serves an important lubricating and corrosion protection function. Use a high quality, nonconducting grease such as Dow Corning DC-4. Before connecting the deck cable, make a general inspection of the Sonar Head Unit. Check that the fasteners holding it to the mounting platform are tight. A safety cable should also be attached to the Sonar Head Unit in the event that it breaks free. When installing the Sonar Head Unit, refer to Drawing 14605417 in APPENDIX E: “Drawings and Parts Lists.” for the outline dimensions.

The Sonar Head Unit is mounted to the survey vessel by attaching the mounting flange at the top to a standard 6-inch pipe flange or other mounting surface. A bolt pattern is provided on the mounting flange as shown in Figure 3-2 and in Drawing 14605417. For a typical, pole mount type over-the-side installation, this design is well suited for attaching to the base of a pipe.

CAUTION Avoid applying excessive silicone grease on the pins of the jumper cable connector. Apply a light coat of grease only, and never put grease into female connectors.

Figure 3-2: Sonar Head Unit Mounting Flange and Bolt Circle

6-inch diametermounting flange

Four 0.4-inch diameter holeson a 5-inch bolt circle


To install the Sonar Head Unit:

1. Align the bolt hole patterns and secure the mounting flange to the pipe flange using 3/8-16 stainless steel bolts. Be sure to maintain the long axis of the Sonar Head Unit parallel to the keel at all times. However, offsets can be corrected with a patch test as described in “Bathymetric System Calibration and Patch Test” on page 3-11.

NOTE When mounting the Sonar Head Unit, it is important to ensure that it is mounted correctly in the fore/aft direction. It should be oriented such that the arrow on the mounting flange points toward the bow as shown in

Figure 3-3.

Figure 3-3: Arrow Label on the Sonar Head Unit Mounting Flange Should Point toward the Bow

WARNING In all of the remaining steps, be sure that the power is turned off and the TIU power cable is disconnected from the power source. Failure to follow this practice may result in personal injury or damage to the Sonar

Head Unit or to the TIU electronics, or to both.

BOW


Installing the Motion Reference Unit 3-5

2. Remove the protective cap from the jumper cable connector on the Sonar Head Unit, and then apply a thin film of silicone grease to the pins of the connector. Do not over grease. Align this connector with the female connector of the deck cable and press the connectors firmly together. If necessary, use a slight side to side rocking motion while pressing on the connectors, but do not bend the pins. When properly inserted, there should be no gap between the surfaces of the two connectors. Screw the locking sleeves together to complete the connection.

3. Secure the deck cable to the Sonar Head Unit using tie-wraps.

3.5 Installing the Motion Reference UnitThe HydroChart 3500 Sonar System optionally includes the Klein Marine Systems KMS-02 Motion Reference Sensor which is factory installed inside the electronics bottle. The system is also capable of interfacing with several other industry-standard motion reference systems. These devices are critical to measuring vehicle motion and correcting for its effect on the bathymetric data.

3.6 Installing the Sound Velocity SensorThe HydroChart 3500 Sonar System optionally includes the AML Oceanographic Micro•X sound velocity sensor which is factory installed. For instructions on how to remove and install this sound velocity sensor, refer to “Removing and Installing the Optional Sound Velocity Sensor” on page 4-9. The system is also capable of interfacing with several other industry-standard sound velocity sensors. The factory installed sensor uses an RS-232 serial interface at 9600 baud.

3.7 Connecting the System ComponentsAll the system components connect to two of the side panels of the TIU. These panels are shown in Figure 3-4. The connections are the following:

T/F: 13-pin female bulkhead connector that connects to the Sonar Head Unit using the deck cable.

LAN: RJ-45 connector that connects to the Ethernet port of a PC using the LAN cable. The TIU uses an Ethernet 100Base-T connection.

SHOCK HAZARD Do not connect or disconnect the deck cable from the Sonar Head Unit or the TIU when the power is on. Failure to follow this practice may result in personal injury and will damage the Sonar Head

Unit or the TIU electronics, or both.


NAV: DB9 female connector that is used to input navigation data from a navigation device using the navigation cable pigtail.

1PPS: BNC connector that is used to input a 1PPS time reference signal from a navigation device or time reference unit.

120/240 VAC: 3-pin bulkhead connector that connects to a120 or 240 VAC, 50–60Hz power source using the AC power cord.

For the connector pinouts and pin orientations for each of the connectors on the TIU side panels, refer to Table 3-2 through Table 3-6 on page 3-8.

To connect the system components:

1. Connect the deck cable to the T/F connector on the TIU.

2. If connecting a navigation system to the TIU, connect the navigation cable pigtail to the NAV connector of the TIU, and then connect the pigtail wires to the navigation system’s RS-232 serial port as follows:

• Connect the wire labeled "GPS Tx" to "Tx."

• Connect the wire labeled "GPS Rx" to "Rx."

• Connect the wire labeled "GND" to ground.

A Null Modem cable can be used instead to connect to the navigation system.

3. If desired, connect a 1PPS time reference unit to the 1PPS connector using a BNC cable.

4. Connect the LAN cable to the LAN connector of the TIU and to the Ethernet port of the PC.

5. Connect the AC power cord to the 120/240 VAC connector of the TIU.

WARNING Before connecting the deck cable, verify that the TIU AC power cord is disconnected from the power source. Failure to follow this practice may result in personal injury or damage to the Sonar Head Unit or

the TIU electronics, or to both.

NOTE If connecting a navigation system to the TIU, it must have an RS-232 interface that outputs a NMEA 0183 message string and be configured for GGA&VTG, GLL&VTG or RMC at 4800 baud.


Connecting the System Components 3-7

Figure 3-4: TIU Side Panels

ON/OFFswitch and

T/F connector

LANconnector

1PPSconnector120/240 VAC

connectorNAVconnector

power/xmitindicator

3-8 C

HA

PTE

R 3

Setup and Test

HydroC

hart 3500 Sonar S

ystem O

perations and Maintenance M

anualP

/N 11210087, R

ev. 02

Table 3-2: LAN Connector Pinouts

Table 3-5: T/F Connector Pinouts

54

3

2

1

67

11 1213

8

9

10

PIN FUNCTION

3 TX+

6 TX-

1 RX+

2 RX-

Table 3-3: NAV Connector Pinouts

PIN FUNCTION

3 TX

2 RX

5 GND

Table 3-4: 120/240 VAC Connector Pinouts

PIN FUNCTION

1 Neutral

2 GND

3 Line

PIN FUNCTION

1 +30 VDC Return

2 N/C

3 +30 VDC

4 1PPS

5 LED Trigger

6 NAV TxD

7 NAV RxD

8 LAN Rx-

9 LAN Rx+

10 LAN Tx-

11 LAN Tx+

12 +30 VDC

13 +30 VDC Return

235

1

2

3

Table 3-6: 1PPS Connector Pinouts

PIN FUNCTION

Center 1PPS In

Shell GND

Operator Controls and Indicators 3-9

3.8 Operator Controls and IndicatorsThe TIU includes a single operator control, the ON/OFF switch andpower/transmit indicator, which is located on a side panel as shown in Figure 3-4 on page 3-7. This switch turns the TIU on or off and includes a green indicator which is illuminated continuously when the TIU is first turned on, and then flashes when the Sonar Head Unit is operating and the transducers are transmitting. The flash rate is the same as the ping rate of the transducers.

3.9 Activating the System and Performing the Predeployment Tests

The HydroChart 3500 Sonar System should be activated and a few predeployment tests should be performed before starting an actual survey. Before activating the system, however, SonarPro should be installed on the PC. For instructions on how to install and run SonarPro, refer to the SonarPro User Manual (P/N 11210079).

To activate the system and perform the predeployment test:

1. Verify that the Sonar Head Unit has been properly set up and the system components connected.

2. Verify that the deck cable is connected to the TIU and to the Sonar Head Unit.

3. Turn on the navigation system and let it acquire its location.

4. Turn on the PC and wait for the Windows desktop to appear.

5. Turn on the TIU by pressing the ON/OFF switch.

The green indicator should illuminate, and then after approximately 45 seconds, it should begin flashing.

NOTE Should it be required to change the IP address, edit the startup.ini file or update the software of the Sonar Head Unit, refer to APPENDIX B: “Configuring and Updating the Sonar Head Unit.” The factory default IP

address for the Sonar Head Unit is 192.168.0.81. The PC IP address should be set to 192.168.0.82.

CAUTION Serious damage to the Sonar Head Unit electronics may occur if the Sonar Head Unit is operated on deck for extended periods. Do not allow the Sonar Head Unit to operate for longer that 30 minutes at a time

and allow at least a 15-minute cool down between operations. In addition, in high temperature climates, protect the Sonar Head Unit from direct exposure to the sun prior to and during operation.


6. Double-click the SonarPro icon on the Windows desktop to start SonarPro.

7. Choose Sonar Viewer from the Window menu to open the Sonar Viewer window.

8. Choose Sonar Scan from the Window menu to open the Scan window.

9. Choose Information from the Window menu to open the Information window.

10. Click the Towfish Setup button on the Real Time tool bar in the Sonar Viewer window.

The Sonar Interface dialog box opens to the System Control tab as shown in Figure 3-5.

11. In the Sonar Range area of the Sonar Interface dialog box, select the 150-meter range.

12. Verify that the Enable check box is selected in the Low Freq. Transmit area, and then click OK.

13. Click the Play button on the Real-Time tool bar in the Sonar Viewer window.

Figure 3-5: The Sonar Interface Dialog Box—System Control Tab


Bathymetric System Calibration and Patch Test 3-11

14. Verify that the Sonar Head Unit is transmitting by viewing the output pulse in the Scan window. Also check that navigation data are being displayed in the Information window.

15. Perform a rub test on the port and starboard transducers to confirm that the receivers are operating properly. Do this test by vigorously rubbing each transducer one at a time while observing for returns in the Sonar Viewer window.

16. Exit SonarPro and turn off the PC and the TIU.

3.10 Bathymetric System Calibration and Patch TestFor new installations it is recommended that a patch test be performed to quantify any residual biases in the installation which could affect the accuracy of the bathymetry data. The tests use a series of reciprocal lines run at different speeds, depths and bottom slopes as inputs to compute the following residual biases:

• Positioning/Latency error

• Pitch bias

• Yaw bias

• Roll bias

For the tests outlined below, all acquired data can be batch processed using the Klein Batch Processing GUI application and subsequently analyzed using a third-party application, such as Caris and Hypack. For details regarding the data interface/conversion, see the Help file in the Klein Batch Processing GUI application. The tests are listed in the recommended order in which they should be processed. For example, latency should be processed before pitch, which is followed by yaw, and then roll. This will eliminate the effects of uncorrected errors on the other axis.

Following are a few available references containing information about the calculation procedures for these offsets and errors:

• "Field Procedures for the Calibration of Shallow Water Multibeam Echo Sounding Systems," Andre Godin, Canadian Hydrographic Service, Halifax, Nova Scotia, Canada, 1996.

• "US Army Corps of Engineers, Engineer Manual EM-1110-2-1003," Hydrographic Surveying, Jan-02.


3.10.1 Static Position OffsetsIt is necessary to first measure the static position offsets between the Sonar Head Unit, the position sensor and the motion reference unit, relative to some reference. These measurements will provide the necessary data for applying lever-arm corrections to the final bathymetric solution. SonarPro provides an interface to record these offsets in the Ship Geometry Setup dialog box such that they can be recorded along with the sonar data to provide real time correction during data acquisition. See the "SonarPro User Manual" (P/N 11210079) for more information.

3.10.2 Latency ErrorThis test will provide a measurement of the latency error, or time, in the overall system, which manifests itself as a position error in the processed data. It is recommended that lines be run in the same direction and at different speeds over an area with a prominent bathymetric feature. This will offset any effects due to pitch bias. The greater the speed difference the more accurate the measurement. The latency can be derived by measuring the along-track displacement of depth measurements over the bottom feature.

3.10.3 Roll Bias TestThis test determines the athwartship alignment error between the transducer arrays and the motion reference unit as well as any additional roll axis bias error in the motion reference unit. The result is a roll correction which can be used during post processing operations. For the roll bias test you should choose a relatively flat area of the sea bottom and run at least two reciprocal lines 200–300 meters in length at equal speeds in both directions.

3.10.4 Pitch Bias TestPitch bias is similar to roll bias, except that pitch error lies in the along-ship’s fore-aft axis. This error occurs when the motion reference unit and the transducer arrays are not pitch-aligned; that is, they are not mounted on the same fore-aft axis. The resulting error changes the apparent location of a feature and is proportional to water depth. In addition, along-track displacement error increases as water depth increases. For the pitch bias test the survey vessel should run reciprocal lines on a sloped bottom, preferably on the order of 10–20 degrees, for 200–300 meters. It may be possible to use a channel feature instead of a long sloping bottom. Speed for the test should be equal for both lines.


Bathymetric System Calibration and Patch Test 3-13

3.10.5 Yaw Bias TestFor the yaw bias test the objective is to determine azimuth offset error between the motion reference unit and the sonar arrays. For this test it is recommended that the survey vessel run two pairs of adjacent lines on reciprocal headings over a flat bottom with a prominent bathymetric feature, such as the edge of a ship channel. The adjacent lines should overlap by 10–20%. In computing the azimuth offset, the data from the reciprocal lines can be used to remove any roll offset. The parallel lines run in a direction normal to the bottom feature can be used to compute the azimuth offset using several measurements of the across-track displacement.

4-1

CHAPTER 4: MAINTENANCE

This chapter provides instructions for maintaining the HydroChart 3500 Sonar System on a daily, a weekly and a long term basis. In addition, instructions are provided for disassembling and reassembling the Sonar Head Unit.

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

1. Turn off the power to the TIU and to the PC.

2. Verify that the deck cable is securely connected to the Sonar Head Unit.

3. If fresh water is available, wash down the Sonar Head Unit and the deck cable. Cover them while not in use to protect them against salt water spray and to minimize corrosion.

4. Keep the deck cable plugged into the Sonar Head Unit, or install dummy plugs in the deck cable and Sonar Head Unit underwater connectors to keep the them from exposure to the salt atmosphere.

5. Apply a thin film of silicone grease, such as Dow-Corning DC4, on the rubber portion of the Sonar Head Unit underwater connector. Avoid getting too much grease on the metal pins of the connector; a very light coating is sufficient.

6. Check that all of the screws on the Sonar Head Unit are tight.

4.2 Weekly and Long Term Maintenance ChecklistPerform the following maintenance steps at the end of each week’s operation and over the long term:

1. Turn off the power to the TIU and to the PC.

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

3. Inspect the Sonar Head Unit for signs of corrosion or other damage.

4. Check the underwater connectors on the deck cable and the Sonar Head Unit. The contacts should be clean and shiny. They can be cleaned with a rubber pencil eraser or very fine emery paper.

4-2 CHAPTER 4 Maintenance

4.3 Disassembling and Reassembling the Sonar Head Unit

For troubleshooting purposes and for repair, it may be required to remove and replace major components of the Sonar Head Unit. Instructions are provided in the following pages for the disassembly of the Sonar Head Unit and the removal of the transducer arrays and sonar electronics chassis.

The following tools are recommended:

• 4-mm hex key

• Phillips screw driver

• 10-mm diameter, 1.5-mm pitch, 7 inches or longer threaded rod

• Lint-free cloth or paper towels

• Silicone grease, such as Dow-Corning DC4

4.3.1 Disassembling the Sonar Head Unit

To disassemble the Sonar Head Unit:

1. Turn off the TIU.

2. Disconnect the deck cable from the Sonar Head Unit and set the Sonar Head Unit on a clean flat surface such that the carrying handles face up.

3. Remove the twelveM6 x 16 mm Phillips head screws that secure the top of the forward and aft fairings to the frame.

Figure 4-1: Removing the Phillips Head Screws from the Top of the Forward and Aft Fairings

Fairing


Disassembling and Reassembling the Sonar Head Unit 4-3

4. Turn the Sonar Head Unit on its side and remove the six M6 x 16 mm Phillips head screws that secure the bottom of the forward and aft fairings and the skid plate to the frame.

5. Slide the forward and aft fairings off the Sonar Head Unit frame. The connectors on the sonar electronics housing can now be easily accessed as shown in Figure 4-4.

Figure 4-2: Removing the Phillips Head Screws from the Skid Plate

Skid plate

Figure 4-3: Sliding a Fairing off the Sonar Head Unit Frame


6. Disconnect all the cables from the sonar electronics housing.

The sonar electronics housing is shown with all the cables disconnected in Figure 4-5. A sound velocity sensor cable is present only if this option is installed.

Figure 4-4: Sonar Head Unit Frame with Fairings Removed

Figure 4-5: Cables Disconnected from Sonar Electronics Housing

Jumpercable

TX PORTtransducercable

RX PORTtransducercable

RX STBDtransducercable

TX STBDtransducercable

Sonarelectronicshousing



7. If it is required to remove the transducer arrays, use a 4-mm hex key to remove the four M5 x 20 mm socket head cap screws and rubber washers that secure each of them to the frame. With the screws removed, the transducers will separate from the frame.

To continue with the removal of the sonar electronics chassis:

8. Using the 4-mm hex key, tighten the two socket head cap screws in the sonar electronics housing connector end cap.

Figure 4-6: Socket Head Cap Screws Securing the Transducer Arrays

Socket headcap screws (4)

Transducerarray (stbd)

Figure 4-7: Tightening the Socket Head Cap Screws in the Sonar Electronics Housing

Connector End Cap

Socket headcap screw (2)

Connectorend cap


9. Screw in the 10-mm diameter, 1.5-mm pitch threaded rod into the threaded hole in the middle of the connector end cap and hand tighten.

10. Grasp the threaded rod and carefully pull the sonar electronics chassis completely out of the housing. Be careful not to scratch the O-ring surface inside the housing.

11. Lay the sonar electronics on a clean, flat, dry surface.

Figure 4-8: 10-mm diameter, 1.5-mm Pitch Threaded Rod Screwed into the Connector

End Cap

10-mm, 1.5-mm pitchthreaded rod

Figure 4-9: Pulling the Sonar Electronics Chassis out of the Sonar Electronics Housing



4.3.2 Reassembling the Sonar Head UnitTo reassemble the Sonar Head Unit:

1. If the sonar electronics chassis was removed, verify that the O-ring on the connector end cap is clean and free of dirt or scratches. Also use a lint-free cloth or paper towel to clean the O-ring surface inside the housing and apply a light coat of silicone grease to this surface. If the chassis was not removed, proceed to Step 5.

If dirt or scratches are present, replace the O-ring. When replacing the O-ring, first clean the O-ring surface inside the housing and the O-ring groove in the end cap using a lint-free cloth or paper towel, and then apply a light coat of silicone grease to the O-ring before installing it.

2. Insert the chassis into the housing and align the locator pin in the end cap with the slot in the housing as shown in Figure 4-10.

3. Push the connector end cap into the housing until it is fully seated.

4. Loosen the two socket head screws in the connector end cap until the heads of the screws are flush with the outside surface of the housing.

5. If the transducer arrays were removed, reattach them using all eight of theM5 x 20 mm socket head cap screws and rubber washers and tighten the screws securely.

6. Referring to the sonar electronics housing connector end cap shown in Figure 4-11, and to Figure 4-5 on page 4-4 for the location of the cables, connect the cables to the connectors on the end cap as follows:

NOTE The starboard transducer is the transducer that is to the left when facing the sonar electronics housing connector end cap as in Figure 4-11 with the housing mounted in the frame. The port transducer is to the right.

Figure 4-10: Aligning and Installing the Connector End Cap

Locator pin

Slot


• RX PORT transducer cable to the RX PORT connector.

• TX PORT transducer cable to the TX PORT connector.

• RX STBD transducer cable to the RX STBD connector.

• TX STBD transducer cable to the TX STBD connector.

• Jumper cable to the DATA connector.

• Compass cable, if included, to the MRU connector.

• Sound velocity sensor cable, if included, to the S/V connector.

7. Loosely attach the forward and aft fairings using all eighteen of theM6 x 16 mm Phillips head screws and then tighten the screws securely.

The fully assembled Sonar Head Unit shown in Figure 4-12.

Figure 4-11: Sonar Electronics Housing Connector End Cap Connectors

S/V

RX STBD

DATA

TX STBD

TX PORT

RX PORT

Compass


Removing and Installing the Optional Sound Velocity Sensor 4-9

4.4 Removing and Installing the Optional Sound Velocity Sensor

Should it be required to replace the optional sound velocity sensor, it can be accessed from under the sonar head after removing the forward fairing.


• 3-mm hex key


4.4.1 Removing the Sound Velocity SensorTo remove the sound velocity sensor:

1. Perform Steps 1 through 5 in “Disassembling the Sonar Head Unit” on page 4-2. However, remove only the forward fairing.

2. Place the Sonar Head Unit on its side to enable access to the underside of the frame.

Figure 4-12: Sonar Head Unit Fully Assembled


3. Using the 4-mm hex key, loosen the socket head cap screw securing the sound velocity sensor to the frame.

4. Grasp the bulkhead connector on the sound velocity sensor and slide the sensor, including its adapter sleeve if included, completely out of the frame.

Figure 4-13: Loosening the Socket Head Cap Screw Securing the Sound Velocity Sensor

Socket headcap screw

Sound velocitysensor

Figure 4-14: Removing the Sound Velocity Sensor and its Adapter Sleeve

Sound velocitysensor Adapter

Sleeve


Removing and Installing the Optional Sound Velocity Sensor 4-11

5. Disconnect the sound velocity sensor cable from the S/V connector on the electronics housing connector end cap.

6. Remove the sound velocity sensor from its adapter sleeve, if included, by sliding it completely out.

Figure 4-15: Disconnecting the Sound Velocity Sensor Cable from the S/V Connector on the

Electronics Housing End Cap

S/V connector

Figure 4-16: Sound Velocity Sensor Removed from its Adapter Sleeve.

Sound velocitysensor

Adaptersleeve


7. Disconnect the sound velocity cable from the sound velocity sensor.

4.4.2 Installing the Sound Velocity Sensor

To install the optional sound velocity sensor, reverse the removal procedure. When installing, be sure the slot in the adapter sleeve is visible through the skid plate as shown in Figure 4-18. In addition, be sure the connector end of the sound velocity sensor and its adapter sleeve is flush with the opening in the frame as shown in Figure 4-19.

Figure 4-17: Sound Velocity Sensor, Sound Velocity Cable and Adapter Sleeve Removed

Figure 4-18: Adapter Sleeve Positioned with Slot Visible through the Skid Plate


Removing and Installing the Optional Compass 4-13

4.5 Removing and Installing the Optional Compass

Should it be required to replace or to recalibrate the optional compass, it can be accessed by removing the forward and aft fairings.


• 3-mm hex key

• 4-mm hex key


4.5.1 Removing the Compass

To remove the compass:

1. Perform Steps 1 through 5 in “Disassembling the Sonar Head Unit” on page 4-2 to remove the forward and aft fairings.

2. Place the Sonar Head Unit on its skid plate and locate the compass as shown in Figure 4-20.

3. Disconnect the compass cable from the jumper cable inside the frame.

4. Using the 4-mm hex key, remove the two socket head cap screws and lock washers securing the compass to the frame and remove the compass with its attached cable.

4.5.2 Installing the CompassTo install the compass, reverse the removal procedure above.

Figure 4-19: Sound Velocity Sensor and Adapter Sleeve Flush with Opening in Frame

Figure 4-20: Compass Mounted to Frame

Compass

Socket headap screws

5-1

CHAPTER 5: TECHNICAL DESCRIPTION

This chapter provides an overview of the functional components and signal flows of the TIU and the Sonar Head Unit using block diagrams, wiring diagrams and descriptions of the connections and circuit board functions. This information can be useful for troubleshooting, making repairs and adding optional equipment.

5.1 Topside Interconnect UnitA block diagram of the TIU electronics is shown in Figure 5-1, and the electronics chassis is shown in Figure 5-2. In addition, an assembly drawing and a wiring diagram of the TIU are provided in Drawing 15105422 which is in APPENDIX E: “Drawings and Parts Lists.” The TIU generates DC power for the Sonar Head Unit and routes the Ethernet 100Base-T connection from a PC and 1PPS and RS-232 serial connections from a navigation device to the Sonar Head Unit.

5.1.1 DC PowerA 30 VDC Power Supply in the TIU provides power to the Sonar Head Unit. The 30 VDC Power Supply inputs 120 or 240 VAC, 50–60 Hz from the 120/240 VAC connector by way of the ON/OFF switch. This switch illuminates continuously when first turning on the TIU and then flashes in accordance with a trigger signal from the Sonar Head Unit that is an input on the T/F connector.

5.1.2 Ethernet 100Base-TThe TIU routes the Ethernet 100Base-T connection that is made to the LAN connector from a PC directly to the Sonar Head Unit by way of the T/F connector for command and control of the Sonar Head Unit and acquisition of data.

5.1.3 1PPSThe TIU routes the 1PPS connection that is made to the 1PPS connector from a navigation device or time reference unit directly to the Sonar Head Unit by way of the T/F connector and the deck cable. The 1PPS signal is used as a time reference for the time tagging of data.

5.1.4 RS-232The TIU routes the RS-232 serial connection that is made to the NAV connector from a navigation device directly to the Sonar Head Unit by way of the T/F connector and the deck cable for input of NEMA 0183 navigation message strings.

5-2 C

HA

PTE

R 5

Technical Description

HydroC

hart 3500 Sonar S

ystem O


anualP

/N 11210087, R

ev. 02

Trigger

T/F

30 VDC

Figure 5-1: TIU Overall Block Diagram

1PPS

Ethernet100Base-T

RS-232

120 or 240 VAC, 50–60 Hz

30 VDC Power Supply

ON/OFFswitch

andindicator

LAN

1PPS

NAV

120/240 VAC

Topside Interconnect Unit

5-3

30 VDCPowerSupply

ON/OFFswitch and

T/F connector

indictor

Figure 5-2: TIU Electronics Chassis

120/240 VACconnector

1PPSconnector

LANconnector

NAVconnector

5-4 CHAPTER 5 Technical Description

5.2 Sonar Head UnitThe Sonar Head Unit transmits and receives the sonar signals, processesthem, and outputs the processed sonar and sensor data to the TIU over theEthernet 100Base-T connection in the deck cable. The primary active components of the Sonar Head Unit are the sonar electronics and the two transducer arrays. Optional MRU, compass and sound velocity sensors can also be included. The compass and the sound velocity sensor are mounted to the Sonar Head Unit frame. The MRU is mounted to the electronics chassis. An assembly drawing of the Sonar Head Unit is provided in Drawing 15105417 which is in APPENDIX E: “Drawings and Parts Lists.”

5.2.1 Sonar ElectronicsA block diagram of the Sonar Head Unit electronics is shown in Figure 5-3, and the electronics chassis is shown in Figure 5-4. In addition, an assembly drawing and wiring diagrams of the electronics chassis can be found in Drawing 15105420 in APPENDIX E: “Drawings and Parts Lists.”

The Sonar Head Unit electronics is composed of the following main components:

Control and Data Interface (CDI) board. The CDI board, to which is mounted the Processor board, inputs 30 VDC power from the TIU and interfaces with the Receiver and Transmitter boards, providing power as well as command and control and clock outputs to them while receiving and transferring sonar data to the Processor board. The CDI board also inputs the 1PPS signal from the TIU to synchronize the time tags for the sonar and sensor data and outputs a trigger pulse to the TIU every ping cycle to flash the indicator in the ON/OFF switch. In addition, the CDI board provides the RS-232 serial interface with the TIU for input of NMEA-0183 data from a navigation device as well as RS-232 serial interfaces for the optional MRU and sound velocity sensor.

Processor board. The Processor board, which plugs directly into and is a functional part of the CDI board, runs an embedded software application and interfaces with the CDI board to control the sonar and to communicate with the PC that is connected to the TIU over the Ethernet 100Base-T connection. The Processor board also provides the Ethernet 100Base-T connection. ASCII serial commands, such as sonar range, transmit pulse length and other parameters, are sent from the PC to the Processor board which in turn provides the command and control signals to the CDI board.

Transmitter board. The Transmitter board includes two independent transmitters, each of which outputs a chirp transmit waveform to a transducer array during each ping cycle in accordance with a trigger signal from the CDI board. The chirp waveform, frequency sweep and pulse width for each cycle are generated by the Transmitter board for each transmitter in accordance with


Sonar H

ead Unit

5-5

PortTransducerArray

Stbdtransducerarray

Figure 5-3: Sonar Head Unit Overall Block Diagram

Processorboard

Transmitter board

ReceiverboardCDI board

Receiver

30 VDC

1PPS

Ethernet100Base-T

Trigger

RS-232

Transitionboard

MRU

8 channels 8 channels

Compass

Soundvelocitysensor

5-6 C

HA

PTE

R 5

Technical Description

HydroC

hart 3500 Sonar S

ystem O


anualP

/N 11210087, R

ev. 02

Processor boardI board

Figure 5-4: Sonar Head Unit Electronics Chassis

Transmitter board

Receiver board CDReceiver Transition(under mounting plate)board

Location foroptional MRU

Sonar Head Unit 5-7

command and control and clock inputs from the CDI board. The Transmitter board is powered with 30 VDC from the CDI board. It also uses the 30 VDC to generate the high voltage required to drive the transducer arrays

Receiver board. The Receiver board includes eight broad band, low power differential input receivers which input and amplify the sonar signals frompreamplifiers in the transducer arrays. The amplified signals are output to a high speed 16-bit analog-to-digital converter (ADC), one for each receiver, and the digitized sonar data are processed, downsampled and output to the CDI board in accordance with command and control and clock signals from the CDI board. The Receiver board is powered with 12 VDC from the CDI board and supplies power and a time varying gain (TVG) trigger to the preamplifiers in the transducer arrays. The Receiver board also provides an enable signal that switches on a fixed gain in the preamplifiers. This gain is in addition to the TVG and is operator selectable.

Receiver Transition board. The Receiver Transition board provides the means to connect the large gauge wires from the RX PORT and RX STBD bulkhead connectors on the electronics housing connector end cap to the Receiver board with smaller gauge shielded wires, as the Receiver board has input connectors which require small gauge wires. Wires from the two bulkhead connectors terminate into four connectors which connect to four corresponding 12-pin connectors on the Receiver Transition board. Lands on the circuit board connect the pins of these connectors to four corresponding 16-pin connectors to which four shielded jumper cables from the Receiver board connect. The shields provide better noise immunity for the input signals.

5.2.2 Transducer ArraysThe transducer arrays contain transducer elements that both transmit and receive the acoustic signals. They also include two 2-channel embedded preamplifiers each which are powered from the Receiver board. The preamplifiers provide filtering and both 12 dB of fixed gain and 48 dB of TVG to the received sonar signals where the TVG is triggered from the Receiver board. The 12 dB of fixed gain is on or off operator selectable. Along with the TVG to compensate for the acoustic spreading loss, the preamplifiers increase the signal-to-noise ratio of the received signals before they are output to the Receiver board.

6-1

CHAPTER 6: SYSTEM TROUBLESHOOTING

This chapter includes a few troubleshooting recommendations that should be followed if operational problems occur with the HydroChart 3500 Sonar System.

6.1 Topside Interconnect Unit TroubleshootingIf when turning on the TIU, the green indicator in the power switch does not illuminate, or after about one minute, begin flashing, turn off the TIU, and then do the following:

1. Disconnect the power cable from the 120/240 VAC connector of the TIU and the power source.

2. Check the power source with a digital multimeter and verify that the voltage is correct.

3. Reconnect the power cable to the TIU and to the power source.

4. Turn on the TIU and check the green indicator. If it still does not illuminate, or after about one minute, begin flashing, turn off the TIU and disconnect it from the power source.

5. Disconnect the deck cable from the T/F connector of the TIU and the jumper cable connector on the Sonar Head Unit.

6. Reconnect the deck cable to the TIU and to the jumper cable connector, making sure each connection is tight and secure.


8. Turn on the TIU and check the green indicator. If it still does not operate properly, refer to “Deck Cable Troubleshooting” below and check the deck cable.

6.2 Deck Cable TroubleshootingBefore checking the deck cable, perform the troubleshooting procedure for the TIU as described above. If the green indicator in the power switch still does not illuminate, or after about one minute, begin flashing, then do the following:

1. Turn off the TIU and disconnect the power cable from the power source.

2. Disconnect the deck cable from the T/F connector of the TIU and the jumper cable connector on the Sonar Head Unit.

6-2 CHAPTER 6 System Troubleshooting

3. Check the underwater connector of the deck cable for debris and thoroughly clean the connector sockets.

4. Using a digital multimeter, check the pin to pin continuity of each of the deck cable conductors between the pins of the dry connector and the underwater connector. The deck cable is a straight through cable, therefore the corresponding pins of each connector are connected. The connector pin orientations for each connector is shown in Figure 6-1.

5. Except for pin 2, if one or more of the measurements show an open circuit or a high resistance, the deck cable may need to be repaired or replaced.

If all of the measurements, except for pin 2, show that the pins are connected, continue with Step 6.

6. Reconnect the deck cable to the TIU and to the jumper cable connector on the Sonar Head Unit, making sure each connection is tight and secure.


8. Turn on the TIU and check the green indicator. If it still does not operate properly, contact Klein Marine Systems, Inc. at (603) 893-6131 or your KMS sales representative.

NOTE Pins 2 of the deck cable connectors are not connected, therefore they will measure as an open circuit.

Figure 6-1: Deck Cable Dry and Underwater Connector Pin Orientations, Face View

Dry connector Underwater connector


Sonar Head Unit Troubleshooting 6-3

6.3 Sonar Head Unit TroubleshootingIf after performing both the TIU troubleshooting procedure and the deck cable troubleshooting procedure described above, the green indicator in the power switch still does not illuminate, or after about one minute, begin flashing, contact Klein Marine Systems, Inc. at (603) 893-6131 or your KMS sales representative.

A-1

APPENDIX A: SONAR UNCERTAINTY MODEL

Data acquired by the HydroChart 3500 Sonar System can be post processed using the Klein Batch Processing GUI (graphical user’s interface) to compute both the sonar and bathymetry solutions and store the data in either Klein Marine Systems SDF format or in an industry standard format, such as XYZ or GSF. The Batch Processing GUI, which is implemented in Klein Marine Systems SonarPro data acquisition and display software, allows the application of a variety of external factors, such as vessel geometry, vessel motion, a sound velocity profile, and sonar calibration, all in a post processing environment. In addition, Klein Marine Systems has developed and validated a sonar uncertainty model which can be used during post processing to provide an estimation of the uncertainty in the sonar depth measurements. The Batch Processing GUI generates the uncertainty estimates using this model and includes them with the processed data.

A.1 IHO S-44 Uncertainty DefinitionAs defined by the IHO S-44 standard, the uncertainty for a bathymetric sonar is the uncertainty of the angle or the depth estimate from the sonar head to the sea floor at a 95 percent confidence level. These uncertainties are dependent on the measured receiving angle, the signal-to-noise (SNR) ratio, the wind speed, and the bottom grain size. When combined with uncertainties from other sensors, such as an MRU, total uncertainty surfaces of angle and depth estimation can be generated. This information can be used by the Combined Uncertainty and Bathymetry Estimator (CUBE) to provide automatic and efficient post processing of the sonar data and an estimate of the true depth by optimally combining uncertainties from all of the contributing sources. CUBE is available with hydrographic survey software such as that produced by CARIS and HYPACK.

A.2 Generating the Uncertainty EstimatesTo generate the uncertainty estimates, raw sonar data in Klein Marine Systems SDF format is batch processed in accordance with the selections entered in the Klein Batch Processing GUI dialog box shown in Figure A-1. The receiving angle and the SNR are derived from the sonar data, and default settings for wind speed and grain size are provided; however, known or estimated values for these parameters can instead be entered manually. The batch processed SDF file contains the derived SNR values and all the uncertainty data embedded with each angle solution. To generate an XYZ file, the file option selections are made in the dialog box shown in Figure A-2. In this case an SNR of 6 dB, a quality factor of 78% and an uncertainty threshold of 10 mrad should be used to start.

A-2 APPENDIX A Sonar Uncertainty Model

Figure A-1: Klein Batch Processing GUI Dialog Box—Batch Processing Selections

Figure A-2: Klein Batch Processing GUI Dialog Box—XYZ File Selections


B-1

APPENDIX B: CONFIGURING AND UPDATING THE SONAR HEAD UNIT

The Sonar Head Unit is configured at the factory. However, should changes be required, configuring and updating the Sonar Head Unit can be performed using Linux Updater. This program is automatically installed when installing SonarPro 12.1 and can be used to query or change the Sonar Head Unit IP address, edit the startup file of the Sonar Head Unit, or download and install software updates to the Sonar Head Unit.

B.1 Querying or Changing the Sonar Head Unit IP Address

To query or change the Sonar Head Unit IP address:



3. Start Linux TPU Updater by double-clicking the Linux TPU Updater icon on the Windows desktop.

The Klein Linux TPU Updater dialog box opens:

4. Connect a Null Modem cable from an available RS-232 serial port on the PC to the NAV connector on the TIU.

5. Click Read TPU IP Address.

The Select RS-232 Port dialog box opens:

B-2 APPENDIX B Configuring and Updating the Sonar Head Unit

6. Select the RS-232 serial port that is connected to the TIU from the Port drop-down list.

7. Select Determine Automatically from the Rate drop-down list.

8. Click OK.

The Klein Linux TPU Updater dialog box opens with the current IP address displayed in the TPU IP Address text box:

9. Enter the new address in the Enter New IP Address text box, and then click Set TPU IP Address.

A window opens confirming the change:

10. When starting SonarPro, use the new IP address.


Editing the Sonar Head Unit Startup File B-3

B.2 Editing the Sonar Head Unit Startup FileThe startup file for the Sonar Head Unit is startupCdi3000.ini.

To edit the startup file:

1. Connect the system components as described in “Connecting the System Components” on page 3-5.



4. When the system is running, start Linux TPU Updater by double-clicking the Linux TPU Updater icon on the Windows desktop.

The Klein Linux TPU Updater dialog box opens:

5. Enter the Sonar Head Unit IP address in the Enter TPU IP Address text box if it is different from the default address, or click Default Addr if it is the default. The default address is 192.168.0.81. The address will already be displayed if it was queried or changed as described in “Querying or Changing the Sonar Head Unit IP Address” on page B-1.

6. Click Edit startup.ini.

Windows Notepad opens with the contents of the startupCdi3000.ini file displayed.

7. Make the required changes to the startupCdi3000.ini file, and then exit Notepad.

Notepad exits and the changed file is saved. The Sonar Head Unit software restarts and a window opens confirming the file update:

B-4 APPENDIX B Configuring and Updating the Sonar Head Unit

If this window does not appear, turn the TIU off and then back on. The window should now appear, but it may take up to 45 seconds to do so.

B.3 Updating the Sonar Head Unit SoftwareUpdates to the Sonar Head Unit software are supplied as compressed archive files and must reside on the PC.

To update the Sonar Head Unit software:

1. Connect the system components as described in “Connecting the System Components” on page 3-5.



4. Start Linux TPU Updater by double-clicking the Linux TPU Updater icon on the Windows desktop.

The Klein Linux TPU Updater dialog box opens.

5. Enter the Sonar Head Unit IP address in the Enter TPU IP Address text box if it is different from the default address, or click Default Addr if it is the default. The default address is 192.168.0.81. The address will already be displayed if it was queried or changed as described in “Querying or Changing the Sonar Head Unit IP Address” on page B-1.


Updating the Sonar Head Unit Software B-5

6. Click Update TPU Software.

An dialog box opens that enables file selection.

7. Select and open the update file to download and install.

The file is downloaded to the Sonar Head Unit and installed, and the Sonar Head Unit software restarts. In about one minute a window opens confirming the software update:

C-1

APPENDIX C: COMPASS CALIBRATION

Although calibration of the OceanServer OS5000 Series Digital Compass is performed at the Klein Marine Systems, Inc. factory, it may be desirable to calibrate the compass to account for the differing magnetic fields in other parts of the world. Calibration can improve the accuracy of the compass readings.

C.1 Required ItemsThe following items, which are shown in Figure C-1, are required to perform the compass calibration:

• Compass assembly (P/N 14105534), removed from the frame. To remove and install the compass, refer to “Removing and Installing the Optional Compass” on page 4-13.

• Laptop PC with and available RS-232 serial port and OS5000 Windows Compass Demo Program V2.6 installed, available as a download from www.ocean-server.com.

• Cable harness with 5-pin bulkhead and DB9 connectors and a 3.6 V battery pack.

• Nonmetallic rotatable table or cart.

Figure C-1: Items and Setup Required for Compass Calibration

Laptopcomputer

Batterypack

Compassassembly

DB9 connector

5-pinbulkheadconnecter

C-2 APPENDIX C Compass Calibration

C.2 Setting up for the Compass CalibrationWhen setting up for the compass calibration, refer to Figure C-1 on page C-1. In addition, the cable harness is fabricated from a SubConn 5-pin bulkhead connector (P/N MCBH5F-SS) and an OceanServer digital compass cable (P/N 19-00061-24) which includes the DB9 connector and the battery pack. To fabricate the cable harness, cut off the small connector on the compass cable and splice the cut wires to the wires of the 5-pin bulkhead connector in accordance with Table C-1.

To set up for the compass calibration:

1. Connect the DB9 connector of the cable harness to the laptop PC and the 5-pin bulkhead connector to the cable of the compass assembly.

2. Place the laptop PC, the cable harness with the battery pack, and the compass on the table or cart.

3. Secure the compass with tape. It should be as level as possible.

C.3 Performing the Compass CalibrationTo perform the compass calibration:

1. Turn on the laptop PC and start the OS5000 Windows Compass Demo Program.

2. Click Configure.

The Setup dialog box opens as shown in Figure C-2.

Table C-1: Cable Harness 5-Pin Bulkhead Connector to DB9 and Battery Connectors Pin-to-Pin Connections

5-PIN BULKHEAD CONNECTOR PIN NO.

DB9 CONNECTOR PIN NO.

BATTERY TERMINAL

WIRE COLOR

1 — Pos Red

2 3—

Blue

3 2 Green

4 5 Neg Black

5 —


Performing the Compass Calibration C-3

3. Select the input port from the Input Port drop-down list box.

4. Select 19200 from the Baud Rate drop-down list box, and then click OK.

5. Click Program.

The Program dialog box opens as shown in Figure C-3.

Figure C-2: Setup Dialog Box

Figure C-3: Program Dialog Box


6. Select 115200 from the Baud Rate drop-down list box.

7. Select 40 from the Output Rate drop-down list box.

8. Click Configure again to open the Setup dialog box.

9. Select 115200 from the Baud Rate drop-down list box, and then click OK.

10. In the Program dialog box, click Start for the X and Y compass components to start the X an Y level calibration as shown in Figure C-4.

11. Slowly rotate the table clockwise until the display at the bottom of the dialog box indicates "......" as shown in Figure C-4, and then press the Space bar to stop the calibration.

12. Change the compass orientation so that it is on its side and level to the ground as shown in Figure C-5.

13. Click Start for the Z compass component to start the Z 90-degree calibration as shown in Figure C-6.

14. Slowly rotate the table clockwise until the at the bottom of the dialog box indicates "......" as shown in Figure C-6, and then press the Space bar to stop the calibration.

15. Disconnect the 5-pin bulkhead connector and remount the compass to the frame.

16. Reconnect the 5-pin bulkhead connector.

Figure C-4: Program Dialog Box—X and Y Level Calibration Complete


Performing the Compass Calibration C-5

Figure C-5: Compass Oriented at 90 Degrees

Figure C-6: Program Dialog Box—Z 90 Degree Calibration Complete


17. In the Program dialog box, select the Soft Iron option, and then click Calibrate as shown in Figure C-7.

18. Follow the screen prompts for calibrating the and orienting the towfish north, south, east, and west as follows:

• Align the towfish north, and then press the Space bar.

• Align the towfish east, and then press the Space bar.

• Align the towfish south, and then press the Space bar.

• Align the towfish west, and then press the Space bar.

19. Exit from the OS5000 Windows Compass Demo Program.

Figure C-7: Program Dialog Box—Soft Iron Calibration Selected


D-1

APPENDIX D: COLLECTING DATA FOR BATHYMETRY CALIBRATION

The HydroChart 3500 Sonar System should be calibrated for its electronic and transducer channel phase mismatch so that the phase offsets can be compensated for in the bathymetry processing. The calibration processing is conducted by Klein Marine Systems using side scan data collected over a nearly flat sea floor. However, the data collection can also be performed by the operator and the data sent to Klein Marine Systems for generation of a calibration (CAL) file, a file with extension .cal. This section includes a procedure for collecting the data. The data collection must be performed and the CAL file generated to ensure optimum bathymetry results. Every system requires a unique CAL file to be used in the bathymetry processing.

To collect the data:

1. Deploy the Sonar Head Unit to a depth of about 2 meters over a flat bottom in water depth of 7 to 15 meters. Ensure that it is also 1 meter below the survey vessel’s hull and that no obstacles are in the way of the transducers as shown in Figure D-1.

2. Set the sonar range to 75 meters.

3. Collect the side scan data, as well as motion sensor and navigation data, in three parallel lines, reversing the direction at the start of each. The line separation should be 40 to 50 meters, and the line length should be at least 150 meters as shown in Figure D-2.

4. Send the data to Klein Marine Systems, Inc. for generation of the CAL file.

Figure D-1: Sonar Head Unit Deployed One Meter below Survey Vessels’s Hull

>1 m

D-2 APPENDIX D Collecting Data for Bathymetry Calibration

Figure D-2: Data Collection Track and Water Depth

50 m

50 m

Turning area

Turning area

150 m

Sonar Head Unit 2 m below surface

10 m


E-1

APPENDIX E: DRAWINGS AND PARTS LISTS

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

Table E-1: List of Drawings and Parts Lists

DRAWING NO.

PARTS LIST NO.

TITLE

15105422 14105422 Assembly, Topside Interconnect Unit, HydroChart 3500

15105417 14105417 Assembly, Final, Subsea Unit, Hydrochart 3500

14605417 Outline Drawing, Subsea Unit, Hydrochart 3500

15105420 14105420 Assembly, Electronics Bottle, Hydrochart 3500

14605420 Outline Drawing, Electronics Bottle, Hydrochart 3500

14605418 Outline Drawing, Transducers, Hydrochart 3500

15105595 14105595 Assembly, Compass, HydroChart 3500

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E-4 APPENDIX E Drawings and Parts Lists

14105422ASSY, TOPSIDE INTERCONNECT UNIT

Item Part Number Description Qty

1 14202986 CASE,TOPSIDE INTERCONNECT UNIT (TIU) 12 14203022 PANEL, TIU, HYDROCHART 3500 13 14202985 PANEL, SWITCH AND T/F, TIU, HYDROSCAN 14 11700082 POWER SUPPLY,SWITCHING,30V,4AMP 15 12901246 CONN,FEM SOCKET,CIRC 13 PIN,SCREW LOCK 16 14202991 MOUNTING PLATE, PWR SUPPLY, HYDROSCAN 17 12900908 CONN,BHD,LAN CAT 5E,IP68, BUC 18 12900909 CONN,PANEL MOUNT,3PIN MALE, IP68 STD 110 12901248 CONN,DB9F IP68,SS,SOLDER CUP 111 12700393 LABEL,DANGER,HIGH VOLTAGE 112 12800128 SWITCH, PANEL MNT, LED, GRN, IP67 113 12900621 CONNECTOR,RJ45 MODULAR PLUG 114 12901249 CONN,HOUSNG 6 POS .156 W/RAMP 115 12900614 CONN, HOUSING, 3 POS .156 W/RAMP 116 13500193 CRIMP, TERM, FEMALE, 18 20AWG, TIN 717 12500725 NUT,LOCK,NYLON INSERT M3 SS 1218 14202549 MOUNTING BLOCK, PELICAN CASE 219 14202551 PLATE, NUT SP3000/5000 220 12600086 BUSHING,ISOLATOR 221 12600087 RING,ISOLATOR 222 12501111 SCREW, SHOULDER,10/32 1/4 X .313L,18 8SS 223 12500341 WASHER,FLAT 9/32 ID X 3/4 OD 224 12501248 SCREW, PHMS M3X8MM, SS, BLACK 1225 12900436 KIT, JACK SCREW #4 40 CONN. MTG 126 12100003 RESISTOR,100 1/4W 5% CARB 127 12700737 CABLE,CAT5E,4 PR,24AWG,STRANDED,PVC JCKT A/R28 12700021 ADHESIVE,LOCTITE #242, BLUE A/R29 12700095 ADHESIVE, EPOXY,5 MINUTE, 50ML DUO PAK A/R30 12900910 CONN,DUSTCAP,STD BUC,IP68 231 12901250 DUST CAP, FEMALE SOCKET, IP65 132 12500723 SCREW,PHMS M3X8MM PHLPS SS 433 11603216 LABEL, TIU, HYDROCHART 3500 134 13500150 TERMINAL,LUG, RING, #6,CRIMP TYPE 135 12900768 CONN, BNC/BNC,BHD 136 12900769 DUST CAP,BNC,WITH CHAIN 137 14000155 CLIP,CABLE FLAT 138 12900309 CONN,BNC 69475 139 12500757 SCREW, PHMS M3 X 6MM PHLPS, SS 1900 15105422 ASSY DWG,TOPSIDE UNIT,HYDROCHART 3500 REF

TOPSIDE EXTERNAL CABLESREF 13300215 CABLE, ETHERNET, IP68 RJ TO RJ45, 5M LONG 1REF 14105345 CABLE, DB9 TO CUSTOMER GPS 1REF 14103988 CABLE, AC POWER CORD 1


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14105417HYDROCHART 3500, SUB SEA UNIT


1 14105419 ASSY, FRAME, HYDROCHART 3500 12 14105420 ASSY,ELECTRONICS BOTTLE, HYDROCHART 3500 13 14203008 COVER, HYDROCHART 3500 24 14105418 01 ASSY,XDCR, 450KHZ, HYDROCHART 3500,PORT 15 14105418 02 ASSY,XDCR, 450KHZ, HYDROCHART 3500,STBD 16 12901287 CONN, JUMPER, 13P M TO 13P F, ETH, 1M 17 11603217 LABEL, TF, HYDROCHART 3500 28 11603204 LABEL, ARROW 29 12500953 SCREW, FHMS, M6 X 16MM, PHLPS, 316SST 1210 12501268 WASHER, RUBBER, .23'ID, 5/8''OD,.093THK 811 12500869 SCREW, SHCS, M5X20MM, 316 812 12700021 ADHESIVE,LOCTITE #242, BLUE A/R13 11603218 LABEL, L3, 3.5" ROUND, RED WHT 214 12501259 SHCS, M8 X 16MM, PLASTIC 216 12501067 SCREW, FHMS, M6 X 30MM, PHLPS, 316SST 617 12900552 SLEEVE,LOCKING MALE 2 PIN 118 12900618 CONN, LOCKING SLEEVE, FEM 2 8P, RED 119 12501105 SCREW, SHCS,M4 X 12MM, 316 SS 120 12501249 WASHER, FLAT, M4, 316 SS 121 12501056 WASHER, LOCK,M4, 4.4MM X 7MM X 1.1MM,304 1900 15105417 ASSY DWG, FINAL, HYDROCHART 3500 REF901 14605417 OUTLINE DWG, HYDROCHART 3500 REF


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14105420HYDROCHART 3500, ELECTRONICS BOTTLE


1 14105237 02 ASSY,PROCESSOR STACK,BOTTLE/CHASSIS VERS 12 14105058 03 ASSY,PCB,TRANSMITTER,455/900KHZ,ISOL 13 14105095 ASSY, PCB, RECEIVER, UUV 3500 15 14105182 ASSY,PCB,RX TRANSITION,SIDE SCAN W/BATHY 18 14105188 ASSY, CABLE, CDI TO TX, 14'' 19 14105189 ASSY, CABLE, RX TRANSITION TO RX 411 14203006 END CAP, HYDROCHART 3500 112 14202934 ELEC BOTTLE, UUV 3500 113 14202935 CHASSIS, MAIN, UUV 3500 114 14203102 BRACKET, PCB MOUNT, HYDROCHART 3500 115 14202937 END DISK, UUV 3500 119 14105196 ASSY, CABLE, HOST TO TX., 14''L 222 12901098 CONN,BHD,16 PIN MICRO,FEMALE,1/2 20,SS 223 12900627 CONN,BHD,8 PIN MICRO,FEMALE,7/16 20,SS 224 12901229 CONN, BHD,13 PIN,ETHRNT,BRASS,MALE,1M 125 14202154 ANODE, ZINC, 1" OD X .50 THK 126 15900030 O'RING,2 241 227 12500757 SCREW, PHMS M3X6MM PHLPS SS 2428 12500958 STANDOFF,M F,M3 X 16MM L,BRASS/CHROME 429 12500790 SCREW, SHCS, M4 X 10MM, 18 8SS 230 12500866 SCREW, FHMS, M4 X 8MM PHLPS, 316SST 231 12500918 SCREW, FHMS 1/4 20X3/4, 82',PHLPS 132 12500906 SCREW,SHCS,M5 X 16MM,316SST 233 12700021 ADHESIVE,LOCTITE #242, BLUE A/R35 14105277 03 ASSY,CABLE,UUV 3500,TX TO CDI, 16" 136 12900589 CONN,HOUSING, 4 PIN,.100" SPC, MOLEX 137 12900494 CONN, HOUSING, 8 PIN, .100 SPC 138 12900331 CONN, HOUSING, 10 PIN DUAL ROW, .100 SPC 339 16200036 PIN,CRIMP (.100" SPC MOLEX) 1440 16200031 PIN,MOLEX CONNECTOR 4241 12700418 SILICONE GREASE,DC 4 A/R42 12900552 SLEEVE,LOCKING MALE 2 PIN 343 14105277 04 ASSY,CABLE,UUV 3500,RX TO CDI, 16" 144 12900701 CONN,BHD,6 PIN MICRO,FEMALE,7/16 20,SS 145 14105362 ASSY, CABLE, CPU ETHERNET, HYDROSCAN 146 12901214 CONN, HOUSING, 12 PIN DUAL ROW, .100 SPC 448 12900550 CONN, HOUSING, 2 PIN, .100 SPC 149 14103140 ASSY,BLANKING PLUG,1/2 20,2 015 150 14203100 POSITIONING POST, HYDROCHART 3500 151 15900019 O RING,2 012,BUNA N,70 DURO 1900 15105420 ASSY DWG, BOTTLE, HYDROCHART 3500 REF901 14605420 OUTLINE, ELECT BOTTLE,HYDROCHART 3500 REF


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14105595(OPTIONAL) COMPASS ASSEMBLY HYDROCHART 35000


1 14105534 COMPASS ASSEMBLY 12 12901348 JUMPER, COMPASS TO HYDROCHART 3500 13 14203117 BRACKET, COMPASS, HYDROCHART 3500 14 12500869 SCREW, SHCS, M5X20MM, 316 45 12901098 CONN,BHD,16 PIN MICRO,FEMALE,1/2 20,SS 16 12900331 CONN, HOUSING, 10 PIN DUAL ROW, .100 SPC 17 16200031 PIN,MOLEX CONNECTOR 108 12501304 WASHER, HIGH COLLAR SPR LOCK,M5 SHCS 316 4

900 15105595 ASSY DWG,OPTION,COMPASS,HYDROCHART 3500 REF


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HYDROCHART 3500 SONAR SYSTEM - Klein Marine … · What’s in This Manual ... APPENDIX E: Drawings and Parts Lists ... HydroChart 3500 Sonar System Operations and