Retractable Bow Mounted Transducer INSTALLATION HYPACK ® MULTIBEAM COURSE Retractable Bow Mounted Transducer POS/MV positioning, heading & motion sensor Bow Mounted –transducer rotates thru slot in bow 4/6/2017 HYPACK® Multibeam Training Seminar

Retractable Bow Mounted Transducer Gahagan & Bryant Port of LA/LB POS/MV positioning, heading & motion sensor Bow Mounted –transducer rotates thru slot in bow 4/6/2017 HYPACK® Multibeam Training Seminar

Retractable Bow Mounted Transducer (Extending forward of bow) RLDA, Inc. -- Puerto Rico Assembly hinge 4/6/2017 HYPACK® Multibeam Training Seminar

Side Mounted Transducer US Army Corps of Engineers -- Galveston District 4/6/2017 HYPACK® Multibeam Training Seminar

Fixed Hull-Mounted Multibeam Transducer US Army Corps of Engineers -- Norfolk & New York Districts RESON SeaBat 8101 installation on Survey Vessel Adams II (Norfolk District) 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Hydraulic Bow Mount with Tilt Capability 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Vessel of Opportunity -- 18’ Center Console 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Aft – Side Mount with Tilt Capability 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Aft – Side Mount with Safety Tilt 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

Smaller Bow – Side Mount with Pivot Aft – Side Mount with Pivot 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Vessel of Opportunity -- 135’ Oil Rig Supply Boat 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Aft - Side Mount with Adjustable Pivoting Bracket 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Elaborate Front Electronic Mount 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Custom-built Vessel of Opportunity -- Rigid Bow Mount 4/6/2017 HYPACK® Multibeam Training Seminar

Robotic Total Station for Positioning in the Canyon. 4/6/2017 HYPACK® Multibeam Training Seminar

MOUNTING LOCATIONS AND OFFSETS HYPACK ® MULTIBEAM COURSE Retractable Bow Mounted Transducer POS/MV positioning, heading & motion sensor Bow Mounted –transducer rotates thru slot in bow 4/6/2017 HYPACK® Multibeam Training Seminar

OK, so where do I mount my Multibeam System ?? 4/6/2017 HYPACK® Multibeam Training Seminar

Boat Reference Point (RP) Locate your Boat’s Center of Gravity (CG). This will be critical to performing very accurate and repeatable surveys. Understand that your boat’s CG may be dynamic and need to be monitored. 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Installation Mount your Motion Sensor (MRU or IMU) at the CG or as close as possible. Multibeam Mounting (Main Concern - MOUNT AS RIGID AS POSSIBLE) (Order of preference) Hull Mount at boat’s CG. Moon Pool at boat’s CG Pole Mount; Thru Hull, Over-the-Bow Mount or Over-the-Side Mount. Positioning System Place your GPS antennae as high as possible and directly above the Boat’s CG or as close as possible. Alternate Positioning Systems will require the most visible “line of sight” as possible also (ie. Robotic Total Station) Heading Device Location not as critical, however, accurate Offset measurements and placement, will aid in the most accurate data possible. 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar

“Red Rogers” and drawing of device locations Install your equipment and very accurately locate each piece with respect to the Boat’s RP/CG. NOTE: This is usually done with a Land Surveyor’s Total Station. “Red Rogers” and drawing of device locations 4/6/2017 HYPACK® Multibeam Training Seminar

20’ Pontoon w/ Dual Ant. DGPS and Small MB System 4/6/2017 HYPACK® Multibeam Training Seminar

22’ Jon Boat w/ Dual Ant. DGPS and Small MB System 30’ SeaArk w/ RTK-POS MV & High Res. Multibeam 4/6/2017 HYPACK® Multibeam Training Seminar

Offsets Adjusting the data for: Boat Reference Point: Vessel Center of Gravity = XY (0,0) (Boat Origin) Static waterline = Z (0) Device Location: Offsets in X (Stbd), Y (Fwd), and Z (Vertical) measured from Boat Reference Point. Device Rotation: Pitch, Roll and Yaw orientation of directional devices (MRU & Gyro) with respect to the multibeam sonar. Device Latency: Time delay = data arrival time – data valid time. (Lack of Synchronization between Positioning Device and Sonar Device.) Tracking Point: XY location of the sonar head. For Survey Program’s Left/Right Indicator. Important !! Crucial for collecting good overlapping Patch Test Data 4/6/2017 HYPACK® Multibeam Training Seminar 31 4/6/2017 31

Boat Origin & Tracking Point MRU Multibeam TRANSDUCER +X +Y +Z Boat Reference System Tracking Point MRU is at boat origin, Tracking Point is over the transducer. HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® 2009 Training Seminar 32 4/6/2017 32

Then, Boat Reference Point can be at the Side Mount Pole location. Exception to the Rule +Y RTK GPS Boat Reference Point +X +X MRU Multibeam TRANSDUCER +Z MRU RTK GPS Multibeam TRANSDUCER MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK GPS Antenna is over both the MRU and the Multibeam Transducer. Then, Boat Reference Point can be at the Side Mount Pole location. 4/6/2017 HYPACK® Multibeam Training Seminar 33 33

HYPACK® Multibeam Training Seminar 4/6/2017 HYPACK® Multibeam Training Seminar 34

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HYPACK® Multibeam Training Seminar 4/6/2017 37

HYPACK® Multibeam Training Seminar Step 1: HYPACK® Hardware Exercise: Project: MB HYPACK Hardware Config There are 6 Basic setups, They consist of : Basic DGPS 3) Basic INS w/ DGPS Basic RTK 4) INS – RTK 5) INS w/ Separate RTK 6) Robotic Total Station 4/6/2017 HYPACK® Multibeam Training Seminar

Step 1: HYPACK® Hardware Configure HYPACK® Hardware for: Positioning System and HYSWEEP® data thru… Shared memory transfer… HYSWEEP® Survey HYPACK® Survey Position, Tide, Draft, [Heading] Depth, Heave, Pitch, Roll, [Heading] 4/6/2017 HYPACK® Multibeam Training Seminar

Step 1: HYPACK® Hardware Devices: Select Positioning System: GPS.DLL for position from COM port. Heading and tide if needed. POSMV.DLL or F180.DLL for positions over a network. Tide if needed. Geodimeter.DLL for the use with a Robotic Total Station. HYSWEEP.DLL for HYSWEEP® Nadir depth, Swath painting of Matrix in Map Window, and Heading and Motion data from Shared Memory. Click on Hypack Configuration, then under the Synchronize the Computer Clock : (Select the Device that is bringing in the ZDA and/or 1PPS data.) Click on Boat, then under the Coordinates of Tracking Point window, Enter the Multibeam Head Offsets. Added heading 4/6/2017 HYPACK® Multibeam Training Seminar

HYPACK® Multibeam Training Seminar Step 2: HYSWEEP® Hardware Exercise: Project: MB HYPACK Hardware Config There are 5 Basic setups, They consist of : HYPACK Navigation and MRU, Gyro, MB Dual Antenna DGPS w/ Heading, MRU, MB INS Serial or Network w/ Motion & Heading, MB INS Network w/ Motion & Heading, 7125 MB INS Network w/ Motion & Heading, Riegl Laser LMS-120Q 4/6/2017 HYPACK® Multibeam Training Seminar

Step 2: HYSWEEP® Hardware Configure HYSWEEP® Hardware for: MUST Use HYPACK Navigation driver. This will bring Position, Tide, and Dynamic Draft from HYPACK® Survey via shared memory. (Heading, if limited ComPorts are available) Add HYPACK Mobile driver, if multibeam is on an ROV, or towing Sidescan or collecting a redundant Positioning System. Multibeam, MRU and Heading from other HYSWEEP® network and COM drivers. Hardware program: Use buttons to Add / Remove device drivers. 4/6/2017 HYPACK® 2009 Training Seminar 42 4/6/2017 HYPACK® Multibeam Training Seminar 42

HYPACK® Multibeam Training Seminar Navigation Device The HYPACK Navigation device is required and is installed by default. Not good if you delete it. Connect: Shared Memory transfer is automatic and requires no configuration. Offsets: Enter GPS antenna offsets measured from Boat Origin. Vertical offset is positive downward (i.e. negative above waterline). Enter GPS latency if any. (Offsets DO NOT carry thru Shared Memory) HYPACK® Multibeam Training Seminar 4/6/2017

(Gyro or Dual Antenna GPS) Heading Device (Gyro or Dual Antenna GPS) Offsets: Gyro offsets are not critical but can be entered as measured from boat origin. Connect: Serial Connection HYPACK® Multibeam Training Seminar 4/6/2017

HYPACK® Multibeam Training Seminar Motion Device Heave, Pitch, and Roll Compensators (MRUs or IMUs) Offsets: Enter MRU/IMU offsets measured from boat origin. Vertical offset is positive downward (i.e. negative above waterline) Connect: Either thru Serial or Ethernet connection HYPACK® Multibeam Training Seminar 4/6/2017

Windows Network Setup: Multibeam Device Setup Button: Use the Setup button to enter manufacturer specific information. HYSWEEP® Connect: A Port Number is required for all network devices. Internet Address required for TCP/IP devices. Refer to Hysweep Interfacing.doc for details. Your best configuration friend. Windows Network Setup: Network address of the survey computer is set under Windows TCP/IP properties. HYPACK® Multibeam Training Seminar 4/6/2017