TRITON IMAGING, INC. C3D Hardware January 2011

Hardware Configuration Options There are two different configuration options for the C3D: 1. towed 2. mounted (pole or hull mounted) This guide will focus on the mounted setup option

Pole-Mounted Hardware Configuration This includes plugging in hardware components and configuration of the GPS, Benthos DSP and acquisition PC

Hardware Setup – Benthos C3D Attach port and starboard C3D transducer cables to port and starboard C3D transducers Attach port and starboard C3D transducer cables to port and starboard connectors on C3D DSP Connect Ethernet cable from DSP to PC

Hardware Setup – CDL Gyro Attach the power and communication cable to the Umbilical port on the CDL MiniRLG2 and the other ends to: 24V DC power supply (red/black wires) RS-232 port below the AUX port used for altimeter input, near PWR input

Hardware Setup – Hemisphere GPS Attach Hemisphere GPS antenna BNC cable to the Antenna port on the Hemisphere GPS receiver Attach a RS-232 serial cable to the GPS receiver and the other end to the 4-port RS- 232 GPS splitter Attach a GPS input cable from the GPS Splitter to the AUX2/GPS port on the CDL MiniRLG2 Attach a GPS input cable from the GPS Splitter to COM 4 on the PC Attach the 24V DC power supply to the GPS Receiver power port

Hardware Setup – Tritech Altimeter Install Tritech altimeter into tail cone of C3D transducer pod: - Adjust height of altimeter - Tighten set screws Attach Tritech altimeter cable to the altimeter. Attach the Tritech altimeter cable to the C3D DSP port labeled AUX Connect RS232 cable from the C3D DSP to PC serial port COM2.

Hardware Setup – Odom Digibar-V Install Odom Digibar SVS onto mounting plate Attach the Odom Digibar SVS cable to the SVS and the other end to the Odom Digibar-V topside port labeled Digibar Probe Attach the supplied USB cable to the Odom Digibar-V topside port labeled USB and the other end to any available USB port on the acquisition PC, this supplies power to the SVS and also communication from the SVS to the PC, as COM 5

PC Network Settings The Benthos C3D sonar connects to Isis via an Ethernet connection. The default IP address of the C3D sonar is You need to configure the network card on the system that is running Isis to be in the same IP range, in the example we have chosen (you must not use ) 2.Open local area connections and select Properties for TCP/IP as shown below to the left. 3.Enter an address in the same range as the sonar as shown below to the right

SVS Network Settings

1.First, turn on the Odom Digibar by pressing the Power button (will light red when powered) 2.On acquisition PC, open udp-serial-gui.exe 3.Select the Profile button, followed by Load button, to Load SVS.Conf configuration file 4.Navigate to the SVS.Conf file, select it, and press the Open button, to load for configuration of the udp-serial-gui software 5.Select the Connect button to connect the serial SV sensor for UDP output 6.Select the Serial Device button to verify correct com port (COM 5 for first USB serial device), baud rate (19200 for Odom Digibar) and protocol (8, None, 1, Off) 7.Select the Network button to verify the correct input (no choice) /output network IP addresses ( and ), UDP ports (4201, 4301), and hex-code line-feed (%OD) and carriage return (%OA) options are applied for output to the C3D 8.Select the Data button, to verify the SVS data are coming through and are correct (in air the digibar may read values below 1350m/s, however the C3D will not accept SV data below 1350m/s and the default value of 1500m/s will be displayed and used by C3D, until valid data are available - when the unit is submerged and reading sound velocity in water) 9.When done, minimize (DO NOT CLOSE) the udp-serial-gui program 10.Verify by opening the C3D Control Panel, under Utility tab select the Edit Server Configuration button, verify that the telemetry device SVS only /UDP/4301 line is enabled (meaning that corresponding line does not start with #) and verify the UDP port 4301 for receiving SV data from Serial to UDP software

Altimeter, GPS & CDL Settings

Tritech Altimeter: 1.From the C3D Control Panel on the acquisition PC, under Utility tab, select the Edit Server Configuration button 2.Set the Altimeter data to output on a RS232 port (9600, 8, N, 1) Hemisphere GPS: 1.Turn on the 24V power supply for the GPS Receiver 2.Press the button on the GPS Receiver 3.Configure the GPS Receiver to output the following data strings: GGA, VTG, GPA, ZDA, CDL RLGMini2: 1.Verify the 24V power supply for the CDL gyro is on 2.Open the C3D Control Panel, under Utility tab select the Edit Server Configuration button, verify that: 38400, (for CDL MiniRLG2 baud rate) timestamp device /dev/ttyS0 output :4101 output : If changes are made, select the Save Config button to save changes

C3D Sonar Settings (page 1) 1.Return to the C3D Control Panel, Utility tab menu and select C3D Diagnostic Utility button 2.Follow the procedure "Calibrating the C3D Receivers" outlined in the C3D manual, also provided as a *.pdf file, for quick reference on desktop 3.Select the Exit Display button to close the Diagnostic (Display) Utility program 4.Start Triton Isis (see Section 3.0 for configuration details) 5.Select appropriate water depth range of survey operation (usually 5xAltitude) 6.Tune the sidescan gain 7.From C3D Control Panel, under Utility tab, select the Sonar Parameters button 8.Verify the declination angle matches that of the C3D transducers (lowest orientation has 2 bolt holes exposed above transducer, is 40 degrees; highest orientation, 0 bolt holes exposed above transducer, is 20 degrees) 9.If the declination angle needed change, select Update Realtime and verify the result in Triton Isis bathymetry display, then select the Save button, near Profile, to save to the default range.cfg profile 10.Adjust the Amplitude threshold (toward 1 to reduce multipath and poor accuracy data in far- and near-field ranges and water column, or toward 0 to increase swath width and allow lower amplitude echoes to be mapped), after each change, select Update Realtime and verify results in Triton Isis bathymetry display

C3D Sonar Settings (page 2) 1.Adjust the Unit Circle threshold (toward 0 to reduce mulitpath and poor accuracy data in far- and near-field ranges and water column, or toward 1 to increase data resolution and allow greater variability in the angle of arrival from echoes to be mapped), after each change, select Update Realtime and verify results in Triton Isis bathymetry display, verify results in triton Isis Bathymetry display 2.Adjust the Bottom Tracking threshold (toward 1 to reduce multipath and poor accuracy data in far- and near-field ranges and water column, or toward 4 to increase data resolution and allow greater tolerance for distance between neighboring echoes to be mapped), after each change, select Update Realtime and verify results in Triton Isis bathymetry display 3.Select the Update Realtime button and verify the result in Triton Isis bathymetry display, then select the Save button to save to the default range.cfg profile 4.Edit the Default Profile name to generate a new profile and save the new threshold settings to the custom profile, after changing the name from default to a name of choice, select the Save button to save the current settings 5.Select drop-down triangle at right of the profile name and change back to default 6.Select the Save button, to save the current settings to the default profile 7. >

Once the hardware is configured and the data is coming into the acquisition PC, Isis needs to be setup to receive all the different data streams. For this example, the following data streams need to be configured: 1. C3D data – Ethernet port 2. Motion data (roll, pitch, heave, heading) – UDP 3. Epoch Time - UDP 4. Altimeter – RS GPS – RS SVS – UDP Triton Isis Configuration C3D Ethernet Motion/Epoch UDP Acquisition PC GPS RS232 COM4 SVS USB COM5 ALT RS232 COM2

Isis Configuration – C3D Data (page 1) To configure the C3D sonar, start Isis and select the Record Setup option from the drop-down menu: This will launch the Record Mode Setup window shown below:

Isis Configuration – C3D Data (page 2) Select the Sonar Setup button to open the Select Sonar window shown below: Clicking on the Benthos C3D in the list will open the window shown to the right. This window allows the user to set the hardware configuration parameters Depending on the type of license you have you may only see one or two sonars in the Select Sonar dialog.

Isis Configuration – C3D Data (page 3) From the Isis main window, select the Record button as shown right to launch the Triton C3D server: Selecting the Settings button on the Benthos C3D Controller will open a window with four tabs for controlling the C3D sonar (shown on next slide). 1.General 2.Connection 3.Gains 4.Custom

Isis Configuration – C3D Data (page 4)

Isis Configuration – Motion & Epoch Time Motion data and epoch time are sent to the acquisition PC by the DSP via a UDP connection. From the Record Mode Setup window, select the Ethernet UDP button to launch the following window: Custom Token Descriptions: G = heading 8 = pitch 9 = roll {h} = heave X = ignore value {E} = epoch time H346.75P R ^ M600D0A8W U00.0, ,757577

Isis Configuration – Altimeter Data Altimeter data is configured by selecting the Serial Ports button from the Record Mode Setup window. Selecting this will launch the following window Use the settings shown in the Serial Port Setup window to the left. Custom Token Descriptions: { } = scaler a = altitude

Isis Configuration – GPS Data GPS data is configured by selecting the Serial Ports button from the Record Mode Setup window. Selecting this will launch the following window Use the settings shown in the Serial Port Setup window to the left. Custom Token Descriptions: NOHDT = ignore heading NOVTG = ignore vessel speed

Isis Configuration – SVS Data SVS data is routed through the PC to the DSP via udp-serial- gui.exe. To record the SVS data to the XTF files, Isis needs to be configured to receive the data on the UDP port specified in the C3D Control Panel. Use the settings shown in the Ethernet UDP Input Setup window to the left. Custom Token Descriptions: {v} = vessel speed Select the Ethernet UDP button to launch the following window:

C3D System Setup QC (Page 1) Once everything is setup, it is always good practice to verify the data is coming into Isis as expected. Here are a few options: Be sure all sensors are connected and powered on Be sure the C3D Control Panel is open, the Server.exe and Timeserver.exe programs are running Be sure the udp-serial-gui program is running and SVS data are visible Open Triton Isis and click on the Record button (red circle in the upper left corner of the program) to start the Benthos C3D Controller server application In the Benthos C3D Controller Connected should be displayed in the upper left, followed by a green circle and a blue flashing circle, and the dialogue area should show MSG_COMMAND Sent: Send Next Ping Succeeded, repeating, indicating the C3D is responding to commands from Triton Isis

C3D System Setup QC (Page 2) The Voltage window should show a transmit peak centered along the x- axis (if both Channels 1 and 2, port/starboard, are enabled, if not, right- click on the display and enable Chan 1), indicating that the C3D transducers are pinging and receiving data Perform rub test, by setting range equal to 200m and gains about 20, 0.02, and 20 and rubbing the port transducer followed by the starboard transducer and confirming dark streaks on the Vertical Waterfall, with the port (channel 1) streak below the starboard (channel2) streak, confirming the C3D transducers are connected correctly The Vertical Waterfall window should show SV= (some real value, not ), as supplied from the Odom Digibar SVS, given the value supplied is not below 1350 or above 1650 m/s Verify that sensor data is being read properly by Triton Isis, select the Window menu, then Status and Control, and Sensors to open the Sensor Display window

C3D System Setup QC (Page 3) The Isis Parameter Display should show: a.Lat, Long, Speed, and Heading, according to data received from GPS b.Gyro, Pitch, and Roll, according to data received from CDL MiniRLG c.Alt, according to Tritech altimeter (if values are bad, altimeter outputs 50.00m) Confirm Date and Time are set to UTC and that the PC time matches that of the GPS, to verify in Triton Isis, select the Window menu, then Status and Control, and Clock Times to display the Current Clock Values window and confirm all times are within 1-2 seconds, as displayed. Note, the C3D DSP Linux-based CPU will provide the time source for all CDL MiniRLG2 and C3D data, whereas navigation data will be referenced to GPS source or PC, as selected in Triton Isis