350 Cable Survey System System Manual Covers DeepView Software Version 5.x.x and Firmware Version 3.7 TSS (International) Ltd 1, Garnett Close Greycaine Industrial Estate Watford, Herts, WD24 7GL Telephone +44 (0)1923 470800 Facsimile +44 (0)1923 470842 24 hr Customer Support +44 (0)7899 665603 e-mail: tssmail@tss-int.com The information in this Manual is subject to change without notice and does not represent a commitment on the part of TSS (International) Ltd Document P/N 402197 Issue 2.
Contents CAUTIONARY NOTICE This System Manual contains full installation and operating instructions and is an important part of the 350 System. This Manual should remain easily available for use by those who will install, operate and maintain the System. WARNINGS and CAUTIONS Where appropriate, this Manual includes important safety information. Safety information appears as WARNING and CAUTION instructions.
50 Cable Survey System 1 INTRODUCTION 1.1 System Description - - 1.2 Principle of Operation - 1.3 Quick Start for SDC Users 1.4 Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 - 1-6 - 1-7 - 1-7 2 SYSTEM OVERVIEW 2.1 Scope of Delivery - - - - - - - - - - 2.2 Unpacking and Inspection - - - - - - 2.3 Surface Components - - - - - - - - 2.4 Sub-sea Components - - - - - - - - 2.4.1 Sub-sea Electronics Pod - - - - 2.4.2 Sensing Coils - - - - - - - - - 2.4.2.
Contents 5.3 DeepView For Windows - System Configuration 5.3.1 SEP type - - - - - - - - - - - - - - - - 5.3.2 Communication ports - - - - - - - - - - 5.4 Print Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5 - 5-5 - 5-6 - 5-8 - - - - - - - - - - - - - - 6-2 - 6-2 - 6-2 - 6-2 - 6-2 - 6-2 - 6-2 - 6-7 - 6-8 6-12 6-14 6-18 6-18 6-20 6-22 6-23 6-23 6-25 6-27 6-28 6-29 6-31 7 OPERATING PROCEDURE 7.1 Before the Survey - - - - - - - - - - - - - - 7.1.
350 Cable Survey System 7.3.3.5 Tritech SeaKing Bathy 704 7.4 After the Survey - - - - - - - - - - 7.5 Operational Considerations - - - - 7.5.1 Operating Performance - - - - 7.5.2 Sources of Error - - - - - - - 7.5.2.1 ROV Handling - - - - - 7.5.2.2 Electrical Interference - - 7.6 ROVs - - - - - - - - - - - - - - - 7.6.1 Speed of Operation - - - - - 7.6.2 Altitude above the Seabed - - 7.6.
Contents A.4.1 Survey Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5 A.4.2 Forward Search Mode - - - - - - - - - - - - - - - - - - - - - - - A-7 A.4.3 Skew Measurement - - - - - - - - - - - - - - - - - - - - - - - - A-8 B OPTIONS B.1 Dualtrack System - - - - - - - - - - - - - B.1.1 The Equipment - - - - - - - - - - - B.1.2 The Differences - - - - - - - - - - - B.1.3 Scope of Delivery - - - - - - - - - - B.1.4 Physical Installation - - - - - - - - - B.1.4.1 Search-coils - - - - - - - - - - B.
350 Cable Survey System D.3.2.4 Sensor Circuitry - D.3.2.5 Digital Circuitry - - D.3.2.6 Averaging Algorithm D.3.2.7 Optional Modem - D.4 Part Numbers - - - - - - - - D.5 Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-10 - D-10 - D-11 - D-11 - D-11 - D-12 E COIL TESTER E.1 Pre-Operation - - - - - - - - E.1.1 Coil Calibration Constants E.2 Operation - - - - - - - - - - E.2.1 Frequency Selection - - E.3 Fault Identification - - - - - - E.
Figures Figure 2–1 Components of the 350 Cable Survey System - - - - - - - Figure 2–2 Surface Display Computer - - - - - - - - - - - - - - - - - Figure 2–3 SDC Display - - - - - - - - - - - - - - - - - - - - - - - Figure 2–4 SDC PC Console - - - - - - - - - - - - - - - - - - - - - Figure 2–5 Components of a coil triad - - - - - - - - - - - - - - - - - Figure 3–1 SEP mounting arrangement - - - - - - - - - - - - - - - - Figure 3–2 The coil array reference line - - - - - - - - - - - - - - - - Figure 3–3 Constr
350 Cable Survey System Figure 9–7 Single channel failure - - - - - - - - - - - - - - - - - Figure 9–8 Communications failure – CHART 1 - - - - - - - - - - Figure 9–9 Communications failure – CHART 2 - - - - - - - - - - Figure 9–10 Communications failure – CHART 3 - - - - - - - - - Figure 9–11 Poor tracking performance - - - - - - - - - - - - - - Figure 9–12 Altimeter failure – CHART 1 - - - - - - - - - - - - - Figure 9–13 Altimeter failure – CHART 2 - - - - - - - - - - - - - Figure 10–1 490234 Sub-sea Elec
Figures Figure E–1 350 System Parameters Configuration screen - - - - - - - - - - - E-4 DPN 402197 © TSS (International) Ltd Page ix of x
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Tables Table 2–1 Components of the 350 Cable Survey System - - - - - - - - - - - 2- 3 Table 4–1 Power and Communications cable - - - - - - - - - - - - - - - - 4- 7 Table 4–2 RS232 connection to COM2 - - - - - - - - - - - - - - - - - - - 4- 10 Table 4–3 Ideal twisted pair characteristics for successful communication - - 4- 12 Table 4–4 Power and Communications cable – 2-wire current loop connections4- 13 Table 4–5 Power and Communications cable – 4-wire current-loop connections4- 13 Table 4–6 Power and Commu
350 Cable Survey System GLOSSARY Item Definition as used throughout this Manual ROV Remotely operated vehicle. Any form of sub-sea or surface vehicle supporting the 350 System during survey operations. SDC Surface display computer. The configuration, control and display computer supplied by TSS to operate the 350 System. SEP Sub-sea electronics pod. The single electronics housing for the sub-sea installation. COV Target depth of cover.
Tables AMENDMENTS OLD ISSUE NO. NEW ISSUE NO. DATE 2.3 2.4 15.01.2008 Added 350 Coil Tester section to Appendix E 2.2 2.3 14.06.2007 Updated default comms to RS232. Included 350 drawings in manual. 2.1 2.2 16.02.2006 Corporate branding changes and SDC9 updates. 2.0 2.1 19.12.2003 Revised for latest software. - 2.0 25.07.2000 First issue to cover SDC8 / DeepView / 440.
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1 – Introduction 1 INTRODUCTION The TSS 350 Cable Survey System is a complete package of equipment that you may install on board a remotely operated sub-sea vehicle (ROV). The System provides a convenient and uncomplicated method for performing accurate submarine surveys on a tone-carrying cable. The burial state of the target has no effect on System operation. This Manual describes the Type 2 TSS 350 Cable Survey System.
350 Cable Survey System WARNING instructions alert you to a potential risk of death or injury to users of the 350 System. CAUTION instructions alert you to the potential risk of damage to the 350 System. Throughout this Manual, measurements conform to the SI standard of units.
1 – Introduction page of this Manual includes the contact details for TSS (International) Ltd . TSS also operates a 24-hour emergency customer support service managed by trained and experienced engineers. Please make certain you have read Section 9 of this Manual and that you have a full description of the suspected fault condition before you contact TSS for technical assistance.
350 Cable Survey System For reference, this Manual also contains Appendices that provide additional information about the 350 System: Appendix A describes the operating theory of the 350 System. Appendix B describes the options available for use with the System: - The Analogue Output feature that you may use to provide control signals for an automatic steering feature on a tracked ROV.
1 – Introduction 1.1 SYSTEM DESCRIPTION WARNING The protection provided by the 350 System might be impaired if you use the equipment in a manner not specified by TSS. For safety reasons, always follow the instructions and advice included throughout this Manual. If necessary, contact TSS for technical advice. TSS has designed the 350 Cable Survey System primarily for use in surveying operations on submarine cables.
350 Cable Survey System All sub-sea components of a new installation have a depth rating to the specifications listed in Section 8. The main label of the SEP also confirms the depth rating of this component. Provided you exercise all proper maintenance procedures explained in Section 9, the sub-sea components will retain their specified depth rating throughout their working life. Refer to sub-section 2.4 for descriptions of the main sub-sea components of the 350 System.
1 – Introduction The method used by the 350 System to locate and survey the target cable is insensitive to the effects of: ❐ Variations in the magnitude of tone current ❐ Terrestrial magnetism ❐ Burial condition of the target cable ❐ The presence of non-ferrous metallic objects in the search area. 1.3 QUICK START FOR SDC USERS This manual describes the operation of a 350 Cable Survey System used with the latest Surface Display Computer.
350 Cable Survey System The responsibility of TSS (International) Ltd in respect of this warranty is limited solely to product replacement or product repair at an authorised location only. Determination of replacement or repair will be made by TSS (International) Ltd personnel or by personnel expressly authorised by TSS (International) Ltd for this purpose.
2 – System Overview 2 SYSTEM OVERVIEW You should read this section of the Manual before you unpack or install the 350 System. This section tells you about the important checks and inspections that you should make when you first receive the TSS 350 System. It also includes a brief description of the main items supplied as standard with the System. If you must ever exchange any of the System sub-assemblies, please make certain you include a full description of the part you require with your order.
350 Cable Survey System 2.1 SCOPE OF DELIVERY The 350 System includes various sub-assemblies that you must interconnect properly before the System will work. Figure 2–1 shows a typical stand-alone configuration for the 350 System that has the SDC installed on a surface vessel and the sub-sea components mounted on the ROV. Table 2–1 identifies the individual components of the installation. Optionally, you may use the 350 System as part of a Dualtrack installation.
2 – System Overview Table 2–1: Components of the 350 Cable Survey System Item Description G Surface display computer (SDC) with: ❐ DeepView for Windows display and logging software pre-installed on the internal hard disk. ❐ Auto-range power supply that accepts AC supply voltages in the range 85 to 265V (47 to 63Hz) at 250VA maximum. ❐ Modular 19” rack-mountable Industrial PC, VDU and keyboard/trackpad combination. ❐ 40GB of storage disk space. ❐ CD-ROM drive.
350 Cable Survey System 2.2 UNPACKING AND INSPECTION TSS performs a series of careful examinations and tests on the electrical function and mechanical integrity of the 350 System during manufacture and before dispatch. Special shock protecting cases safeguard the System during transit so that it should arrive without damage or defect. Retain the original transit cases so that you may use them if you must transport the 350 System for any reason.
2 – System Overview 2.3 SURFACE COMPONENTS The SDC receives and processes information from the sub-sea installation. Its display provides clear information to help you guide the ROV along the course of the target. Simultaneously, the SDC makes the same survey information available at one of its serial ports for recording by an external data logger. Figure 2–2: Surface Display Computer The main functions of the SDC are: ❐ To communicate with the sub-sea installation.
350 Cable Survey System engineers) and internally (to provide a simple record of the survey that you may replay through the SDC). You may also use the SDC and DeepView for Windows software to control a Dualtrack installation. Refer to Appendix B for details. The SDC is a ruggedised IBM-compatible computer mounted in a purpose-designed shock protecting transit case. The design of the transit case allows you to operate the SDC by removing the front and the rear access panels.
2 – System Overview The front panel on the 1U PC console, shown in Figure 2–4, contains the power switch, 2 x USB ports and HDD, power and current loop indicator LEDs. This module contains all permanent cards required to operate the SDC with the subsea components. When TSS (International) Ltd dispatches the 350 System, the SDC will have the current version of the DeepView graphical display software pre-loaded onto its hard disk. Refer to Sections 5 and 6 for instructions to use this operating software.
350 Cable Survey System CAUTION You may adversely and seriously affect the operating functions of the 350 System if you load unauthorised software onto the SDC hard disk, or if you attempt to use such software with the SDC. You will invalidate the warranty if you attempt to install or use unauthorised software with the SDC. Do not load any unauthorised software onto the SDC. If you are in any doubt about the SDC software, contact TSS for advice.
2 – System Overview 2.4 SUB-SEA COMPONENTS The sub-sea installation comprises the following component parts: ❐ A Sub-sea Electronics Pod (SEP) ❐ A coil array with six identical sensing coils arranged in two coil triads ❐ Frame components to mount the coils onto the ROV ❐ A sub-sea altimeter ❐ Cables to interconnect the sub-sea components of the 350 System and to connect them to the ROV electrical distribution system. 2.4.
350 Cable Survey System CAUTION You might damage the SEP if you attempt to operate it from an incorrect electrical supply. Pay careful attention to the requirements of the SEP and provide a supply of the correct rating. A switched-mode supply inside the SEP generates the conditioned and stabilised DC supplies required by the sub-sea electronics. The input to the switched mode supply includes a line fuse accessible inside the SEP. The SEP is a sealed unit with six ports: On one end-cap: ❐ Power/comms.
2 – System Overview Important hardware and software differences exist between the Type 1 and the Type 2 SEP and these units are NOT interchangeable. You may identify the Type 2 SEP described throughout this Manual by the ‘AUX OUTPUT’ port on one end-cap. The Type 1 SEP does not include this port. Contact TSS for advice if you wish to upgrade an existing Type 1 System to a Type 2 System so that you may use it within a Dualtrack installation. Refer to Appendix B for a description of the Dualtrack System. 2.
0 Cable Survey System 2.4.2.1 Sensing Coil Components Figure 2–5 shows the components of a single coil triad. Note that you will use an additional clamp and bolts to secure the coil triad to the mounting bar – see sub-section 3.2.2.2 for details. Figure 2–5 does not show the additional clamp and bolts. Figure 2–5: Components of a coil triad GH The coil triad consists of a central alignment support block G and three separate clamps H, all manufactured from nylon.
2 – System Overview 2.4.3 Altimeter The main function of the 350 System is to locate and survey a target laying on or buried beneath the seabed. If the 350 System measures the altitude of its coil array above the seabed, then it can also deliver a good estimation of the depth of target cover. A sub-sea altimeter can supply such altitude measurements to the 350 System. You should remember that an altimeter measures to a point on the seabed directly beneath its transducer face.
350 Cable Survey System 2.4.4 Remotely Operated Vehicles The type and size of ROV you use for a survey will depend on the specific application and on the capabilities of the survey vessel. You may deploy the 350 System on a wide range of ROVs including: ❐ Free-flying ROVs of differing size and type ❐ Tracked ROVs or crawlers ❐ Trenching ploughs ❐ Towed sleds See Section 3 for detailed instructions and recommendations concerning the physical installation of the sub-sea components of the 350 System.
3 PHYSICAL INSTALLATION This section of the Manual explains how to install the surface and the sub-sea components of the TSS 350 System. During the installation procedure, you should make a written record of certain parameters and retain them with the survey log for reference during the post-processing operation. The DeepView display software on the SDC allows you to examine the System parameters and to create a printed copy that you may retain with the survey records.
350 Cable Survey System 3.1 SDC INSTALLATION WARNING You must take precautions to secure the SDC when you store and operate this unit in its transit case. Protect personnel from the hazard of falling equipment and protect the unit from damage when the survey vessel moves due to the action of waves. Install cables away from walkways and secure them so they do not present a hazard to personnel.
❐ Do not subject the SDC to extremes of temperature or humidity, or to severe vibration or electrical noise. Never allow the SDC to become wet. Obey the environmental limits listed in sub-section 8.1.1 when you store and operate the SDC. 3.2 SUB-SEA INSTALLATION The care that you take when you install the sub-sea components of the 350 System will have a significant influence on the accuracy of survey data.
350 Cable Survey System Mount the SEP housing according to the following guidelines: ❐ Eliminate any possibility of snagging or damage to the SEP housing by installing it inside the outer limits of the ROV frame. ❐ Locate the SEP housing so that you may install the cables easily between the sub-assemblies of the 350 System. ❐ Do not apply sharp bends or other mechanical stresses to the cables during installation or operation.
3.2.2 Sensing Coils Each sensing coil in the array detects the alternating magnetic fields associated with the tone current in the cable, and supplies an output voltage to the SEP proportional in amplitude to the received magnetic field strength. Because the output voltage is derived from the tone on the cable, it is at the same frequency. Circuitry within each sensing coil applies signal conditioning and pre-amplification. CAUTION The waterproof characteristics of the coils might degrade if you open them.
350 Cable Survey System 3.2.2.1 Assembling the Coils TSS dispatches the 350 System with both coil triads already assembled. Labels identify the port and starboard coil triads and indicate their correct mounting orientation. The coil triads are NOT interchangeable. You MUST install them on the ROV in their proper orientation. This installation detail is critical to the correct operation of the 350 System. There are two numbers stamped onto the brass end cap of each sensing coil.
Figure 3–3: Construction of the starboard coil triad The following instructions describe the construction of the starboard coil triad (the port coil triad is a mirror image of this). Refer to Figure 3–3. 1. Place the centre support block G on a clear, flat deck-space. Turn the block so that there is a groove running left-to-right on the top face as shown in Figure 3–3. Fit the lateral coil first: 2. Insert an M5 × 12mm screw M into the hole near the centre of the top groove.
350 Cable Survey System 6. Turn the fore-aft coil J so that it is to the right-hand side of the centre block with its 8-way connector pointing towards you as shown in Figure 3–3. Fit the coil to the groove so that the head of the M5 screw engages with the recess in the coil body. If necessary, tilt the assembly to the left to prevent the coil falling from the groove. 7. Place a clamping block H against the coil and insert four M8 × 50mm bolts.
3.2.2.2 Mounting the Coils Figure 3–4: Coil mounting components Mounting Strip 240mm 390mm 240mm 390mm 870mm 900mm 870mm 900mm Outrigger 1290mm 2130mm 2160mm Tie Bar 2130mm 2160mm WARNING The coil triads are heavy. To avoid personal injury, always use help when you lift or move the assembled coil array. CAUTION If you mount the 350 System on the same ROV as a TSS 440 Pipe and Cable Survey System.
350 Cable Survey System approximately one metre above the lowest point on the ROV. Allow a minimum distance of 0.5 metres between the coil triads and the ROV body. Figure 3–4 shows the coil mounting kit with the following items: ❐ A mounting bar 2.0 metres long with a cross-section 72 × 70mm. There are flat surfaces machined into the bar. These extend for a distance of 500mm from both ends so that, in these areas, the bar has an octagonal crosssection.
5. The design of the mounting bar allows you to adjust the distance between the coil triads anywhere from approximately 1 metre to nearly 2 metres while maintaining their correct alignment. Slide the two coil triads on the mounting bar until they are at the correct separation distance (between 1m and 1.76m). Make certain the coils are equally spaced about the ROV centre line. Tighten all the securing bolts of both clamping blocks evenly. Do not over tighten these bolts.
350 Cable Survey System Errors can arise in the measurement of depth of cover caused by horizontal offset between the altimeter and the centre of the coil array. In the example shown in Figure 3–5 there are altimeters located at ‘A’ and ‘B’. Because of the seabed topography beneath the ROV, both altimeters supply totally different measurements of altitude.
3.3 INSTALLATION CHECK LIST ❐ Follow all the installation instructions in this Manual carefully. ❐ Mount the coil triads in the correct orientation and in the correct place on board the ROV. Ensure the coil array is central on the ROV. ❐ Protect the coil array from collision damage by mounting it approximately one metre above the lowest point on the ROV. ❐ Make certain there is at least 0.5 metres clearance between the coils and the ROV body.
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4 – Electrical Installation 4 ELECTRICAL INSTALLATION This section of the Manual explains how to connect the SDC and the sub-sea components of the standard 350 System. You should attempt the electrical installation only after you have followed the instructions in Section 3 to install the sub-assemblies of the 350 System. Also included in this section are detailed instructions that tell you how to change the communication method used between the SDC and the SEP.
350 Cable Survey System 4.1 SUB-SEA COMPONENTS WARNING There is a risk of death or serious injury by electric shock when you work on the electrical distribution system of the ROV. Only a competent engineer who has the relevant training and experience must make any connections to the ROV electrical distribution system. Power-off the ROV and isolate the mains electrical supply before you connect the 350 System to the electrical distribution system.
4 – Electrical Installation G The SDC accepts an AC electrical supply in the range 85 to 265V (47 to 63Hz). The power demand is approximately 250VA. H Data communications from the SDC to the ROV umbilical. These can be 2-wire or 4-wire 20mA digital current loop, or RS232. The default configuration is RS232. I Power and communications cable (or ‘ROV Tail’) from the ROV to the SEP.
350 Cable Survey System These grounding provisions hold the 350 System at the same electrical potential as the sea water. This prevents the occurrence of electrochemical action between the System and the sea water and minimises galvanic corrosion. 4.1.2 Care of Sub-sea Connectors To ensure reliable operation and to extend the life of the sub-sea installation, take the following precautions to care for the sub-sea connectors used throughout the 350 System: 1.
4 – Electrical Installation On the other end cap: ❐ Power input and communications link ❐ Altimeter connection ❐ Connection for a TSS attitude sensor. The current version of 350 software does not support this facility. DO NOT remove the blanking plug from this port. ❐ Auxiliary input connection (for use when you use the 350 System in a Dualtrack installation). Refer to Appendix B for appropriate instructions. CAUTION Water could enter the SEP through any port that does not have a connector fitted.
350 Cable Survey System table as you make the connection to the ROV electrical distribution system. All cores in the cable are 1.34mm² cross-section.
4 – Electrical Installation Table 4–1: Power and Communications cable Connector Pin Number (and Wire number) Function Core colours 1 (N) Supply neutral line/L2 2 (E) ROV ground (refer to sub-section 4.1.
350 Cable Survey System Each coil cable has a sealed junction block where the three short tails connect to the main branch of the cable. This block has holes that you should use to attach the block to the coil mounting bar on the ROV. There are two 12-way ports on the SEP that accept the connectors of the coil cables. A label on the SEP end cap identifies the port and starboard couplings for the coils.
4 – Electrical Installation Choose one of the two available methods that you may use to connect the altimeter: 1. Direct connection to the SEP. Refer to sub-section 4.1.5.1. The SEP provides a DC power supply to drive the Datasonics altimeter if you connect it to the ‘Altimeter’ port on the SEP. 2. Connection through the umbilical to the SDC. Refer to sub-section 4.1.5.2. Available for use with all types of altimeter compatible with the 350 System. These altimeters use RS232 communications.
350 Cable Survey System Connect the RS232 altimeter signals to the SDC through the 9-way D-type female serial port. The pin designations for this port are as follows: Table 4–2: RS232 connection to COM2 Altimeter signal RS232 data from altimeter RS232 data to altimeter RS232 common SDC COM2 pin connection Pin 2 (receive) Pin 3 (transmit). Necessary for use only with the OSEL Bathymetric System, where communications must be bi-directional. Pin 5 (ground) 4.1.
4 – Electrical Installation 4.2 SURFACE DISPLAY COMPUTER Refer to sub-section 2.3 for a description of the SDC and Section 9 for a minimum specification. The following sub-sections 4.2.2 to 4.2.4 explain the various connections that you may make to the SDC. CAUTION You must route all cables to the SDC through the rear of the transit case. You must open and remove the rear panel of the case to allow this. Figure 4–2: SDC Rear panel with key to ports 4.2.
350 Cable Survey System vey control room using the ROV multiplexer and an existing data link to the survey control room. The Systems default parameters for communication between the SDC and the SEP are 9600 baud with 8 data bits, 2 stop bits and no parity. These communication settings are valid even when you use 2-wire or 4-wire currentloop communications. This is because the SDC converts between current-loop and RS232 communications through a special converter card.
4 – Electrical Installation The following tables show the connections that you must make between the SEP and the SDC for each of the three communication methods. Refer to sub-section 4.1.3 and Table 4–4 on page 13 for details of the connections that you must make between the SEP and the ROV electrical distribution system.
350 Cable Survey System 4.2.2.1 Alternative Communication Methods WARNING There is a risk of death or serious injury by electric shock when you work inside the SDC, the SEP or the PSU. Only a competent engineer who has the relevant training and experience should open any part of the 350 System. Power-off and isolate the equipment from the mains supply voltage before you open any part of the 350 System.
4 – Electrical Installation TSS will not accept responsibility for any damage caused by failure to take such measures. If you need to select a different communication method, change the settings of links inside the SEP before you install it on board the ROV. Follow the instructions in sub-section 9.2.2 to open the SEP and gain access to the circuit cards. Identify the Processor Board and locate the five links LK1 to LK5 as shown in Figure 4–4.
350 Cable Survey System Table 4–7: Link settings for LK1 to LK5 Communication method Pin pairs (see Figure 4–3) 4-wire 20mA digital current-loop C 2-wire 20mA digital current-loop (standard) D All five links have the same identification sequence and must be set identically. DO NOT FORGET to set the jumper on link LK1, which is located away from links LK2 to LK5 on the board. Once you have set all the links, follow the instructions in sub-section 9.2.2 to reassemble the SEP.
4 – Electrical Installation For your convenience and for test purposes, the 350 System can also create a logged record internally on the SDC hard disk. Data stored using the internal logging facility does not possess the same format as that transmitted to the external data logger, and you should not use it as the primary survey log. Internal logging allows you to record the survey and then to ‘replay’ the file subsequently using DeepView on the SDC.
350 Cable Survey System our CV input will provide via the ‘COLOUR CV O/P’, and S-Video output will be provided via the ‘S-VIDEO O/P’). Note A monochrome CV input may be applied to the ‘COLOUR CV IN’ to allow the colours of the overlay graphics to be viewed, however colour aberrations in the video output may be visible. You may connect this signal to a standard video monitor using 75Ω screened cable. The output can drive a single monitor or multiple monitors if you add a suitable video drive amplifier.
5 – System Configuration 5 SYSTEM CONFIGURATION Before you power-on the SDC and the sub-sea components of the 350 System, make certain that: - You have installed the surface and sub-sea components correctly as instructed in Section 3. - You have made all electrical connections within the System using the correct cables as instructed in Section 4. - You have established an appropriate communication method between the surface and the sub-sea components.
350 Cable Survey System 5.1 SOFTWARE INSTALLATION The SDC supplied with the 350 System already has the DeepView for Windows software installed on its hard disk together with the Microsoft Windows 2000 operating system needed to run it. TSS (International) Ltd supplies a CD containing the DeepView for Windows software with the 350 System. You may install this software, under licence, on a separate PC to support the main installation on the SDC or to replay an internally logged data file.
5 – System Configuration 5.2 POWER-ON PROCEDURE During its initialisation, DeepView for Windows searches for a valid initialisation file on the SDC hard disk. If the file exists and the SDC receives compatible data packets from the SEP, DeepView for Windows will begin to operate using the configuration details stored in the initialisation file.
350 Cable Survey System Power-on the SDC: Check that you have connected an AC electrical supply of the correct rating to the three-pin IEC mains inlet on the SDC (refer to sub-section 4.2 for instructions to connect power to the SDC). Remove any disks that might be loaded into the drives. Operate the power switch to power-on the SDC.
5 – System Configuration 5.3 DEEPVIEW FOR WINDOWS - SYSTEM CONFIGURATION Before you can use the 350 System for the first time you must configure the software. This procedure can be enabled to run every time you open DeepView for Windows or if your setup is consistent it can be disabled and accessed via “System Configuration Wizard” from the configuration menu when DeepView is operational.
350 Cable Survey System 5.3.2 Communication ports Define the serial communication ports and their communication parameters. The SDC uses the serial communication ports to communicate with the SEP and with external devices such as the sub-sea altimeter and a data logger. During System Configuration the only port that you have to specify is the Communication to the Sub Sea Electronic Pod (or SEP). Below is outlined a list of the COM Ports and their default assignments.
5 – System Configuration The update rate for your System will reduce if you set a lower baud rate for this communication link. You should consider reducing the baud rate for this link only if you experience persistent communication problems caused by an umbilical cable of poor quality. Ideally, in these circumstances you should swap to using an umbilical cable of good quality instead.
350 Cable Survey System 5.4 PRINT CONFIGURATION It is important to print details of the 350 System configuration at the start and end of a survey. This information is also duplicated in section 6.2.1.1, which outlines the operating of DeepView for Windows. Select File➥Print Configuration to send a copy of the System Configuration to the Windows Notepad application. You may edit the details and print them from this application. An example of the print configuration via Windows notepad.
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6 – Operation software 6 OPERATION SOFTWARE The SDC has all the software that you will need to operate the 350 System already installed and configured to start automatically when you power-on the SDC. This section of the Manual describes the features of this display software that you must use to operate the 350 System. Before you attempt to use the 350 System during a survey, make certain you have followed all the instructions in this Manual to install, connect and configure the System properly.
350 Cable Survey System 6.1 CONFIGURATION TSS (International) Ltd has designed the 350 System and Deepview for Windows to be easy to use. A System Configuration Wizard guides you quickly through the procedure to choose the SEP type and communication parameters. However, some important parameters must be entered before the survey can begin. 6.1.1 Survey Parameters To follow we have listed some key parameters that will be required to be set prior to and during the survey.
6 – Operation software tion key short cuts that select some of the commands and tools described below. Sub-section 6.2.4 lists the function keys available for use in the 440 mode. Follow the advice throughout Section 7 for a survey procedure using the 350 System. Menu commands Table 6–1 lists the commands available on the DeepView Menu Bar, together with their hotkey access codes and function keys if applicable.
350 Cable Survey System Table 6–1: DeepView Menu Commands (Continued) Menu item View Sub-menu, [hot key access] and Function key Description Run Window [Ctrl + R] Select this command to open or close the DeepView Run Window. You may resize and move the Run Window on the SDC screen after you open it. The normal condition is for the Run Window to be closed when you start DeepView. A button on the DeepView for Windows toolbar performs the same function as this command.
6 – Operation software Table 6–1: DeepView Menu Commands (Continued) Menu item Configuration Window Help DPN 402197 Sub-menu, [hot key access] and Function key Description System parameters [Shift + F2] This command displays a dialog panel that allows you to establish the type of SEP and the serial communications parameters. Refer to the following sections for relevant details and instructions.
350 Cable Survey System Table 6–1: DeepView Menu Commands (Continued) Menu item Sub-menu, [hot key access] and Function key Description Pre-dive Checklist [ALT][H][P] Use this command to open the on-line Help structure that explains the checks you should make on the 350 System before you start a survey. Subsection 7.2.1 also lists and explains these checks. You may access the checklist from within the DeepView Help structure.
6 – Operation software 6.2.1.1 DeepView File Menu Options This section outlines the various displays that have been explained in the previous tables. File Options Open/Close, New Log File, Backup and Restore Configuration options bring up a standard windows file location box. In the example used is the Open Log Menu.
350 Cable Survey System Select File➥Print Configuration to send a copy of the System Configuration to the Windows Notepad application. You may edit the details and print them from this application. Figure 6–2: An example of the Print Configuration via Windows Notepad The ability to print the configuration is an important feature of DeepView. It allows you to create a permanent written record of the configuration to supplement the survey logs.
6 – Operation software Figure 6–3: DeepView - Run Window Controls and Features of the Run Window Controls ❐ The Title Bar shows the names of the program and of the window. The right-hand end includes the standard buttons to minimise, maximise and close the main DeepView window. ❐ The Menu Bar includes the five menu headers described under ‘Menu commands’ on Page 2. To access the menu and sub-menu commands, click on them or use the appropriate hot-key combination – [ALT]+[underlined hot-key characters].
350 Cable Survey System When the 350 System includes a properly configured altimeter, the top edge K of the solid grey area shows the position of the seabed relative to the coil array. This area expands and contracts vertically with changes in ROV altitude above the seabed. If the design of the ROV allows you to configure the 350 System with a fixed coil height, the seabed indicator will remain fixed at this altitude.
6 – Operation software to move to the left and right as the lateral offset of the target changes while the remainder of the line scrolls vertically downwards in a ‘waterfall’ style of display. Segments of the line Q can have any of three colours: Light grey Good signals supplied by the coils. The target is covered. Dark grey Good signals supplied by the coils. The target is exposed. If the System receives no altitude information, a good target signal will always appears as a light grey line.
350 Cable Survey System Toggle Swath Width Dependent on survey conditions, the lateral offset scale M can be changed between 2m and 15m. Note that the quality envelope will still be at ±2m. 6.2.1.3 Forward Search Screen The Forward Search screen provides a useful facility for ROV pilots: as described in 7.2, this facility helps the pilot to steer the ROV on a track that intercepts the charted course of the target cable.
6 – Operation software the circles shows the ahead direction of the ROV. Superimposed on this is a representation of the cable G, showing its distance from the ROV and its relative heading. The altitude, skew and distance to the target L are all shown at the top of the screen. The “ALT” field gives the height (taking into account any offset) above the seabed as measured by the subsea altimeter. If the system is configured to use a fixed coil height, this value will be steady and reflect this value.
350 Cable Survey System 6.2.1.4 Other Windows Scope and Spectrum Analyser Window Deepview for Windows can show signal data received using either ‘oscilloscope’ or ‘spectrum analyser’ displays. Figure 6–5: Scope Window The above screen shows an example of the 350 Oscilloscope Window with panels for two active channels, Starboard Vertical and Starboard Lateral.
6 – Operation software The above screen shows an example of the 350 Spectrum Analyser Window with panels for two active channels, Starboard Vertical and Starboard Lateral. This shows the system tracking a 33Hz tone. The trace shows the expected peak at 33Hz, a peak at 50Hz (produced by the mains power frequency) and harmonics of these frequencies at 66, 99 and 100Hz.
350 Cable Survey System Table 6–3: System errors format Notes: 1. Time and date information in the message line comes from the SDC system clock. 2. The five character Error Status field can contain ERROR, CLEAR or EVENT. 3. The message line can have any of four colours against the black background: ❐White ❐Red indicates a cleared error. indicates an uncleared error. ❐Yellow indicates an event. ❐Green indicates an information message.
6 – Operation software Figure 6–8: Terminal window Table 6–4: Terminal Window toolbar Button Function Explanation Enable/Disable SEP polling This button has a toggle action that pauses and resumes SEP polling with alternate presses. With this button deselected, DeepView does not send the necessary characters that request data packets from the SEP. Terminal properties [ALT][T] Use this button to set the serial communication parameters for the active serial device.
350 Cable Survey System 6.2.1.5 Configuration Options Standard parameters This option should be selected to configure the system parameters information. Figure 6–9: System Configuration 6.2.2 Survey Parameters This dialog contains the main parameter which the 350 SEP requires to track the tone and find the position of the cable. To carry out an accurate survey, these parameters must be entered correctly. Tone Frequency Set the tone frequency to the same frequency as the one on the cable.
6 – Operation software Figure 6–10: Threshold does not apply to vertical coils. Note that the setting for the threshold applies only to the signals from the lateral coils (in Run mode). This is because the null-response form the vertical coils extends vertically downwards from the centre of each coil triad. Any target close to this nullresponse line will not produce an output from the vertical coil even when located very close to it.
350 Cable Survey System ❐ The Run/Display screen (Section 6.2.1.2) and the Forward Search screen (Section 6.2.1.3) both include a display of the signal voltages received on each channel. ❐ The Spectrum analyser (Section 6.2.1.4) display shows a clear representation of the received tone signal and the level of noise frequencies across the received band. ❐ The oscilloscope display shows the actual received signal after amplification but before signal processing.
6 – Operation software Figure 6–11: Altimeter Configuration Use the Altimeter Configuration Window to set appropriate parameters for your altimeter: Altimeter ❐ ❐ ❐ ❐ ❐ ❐ ❐ ❐ ❐ ❐ ❐ Altimeter Comms ❐ ❐ Disabled Fixed coil height Sub-sea TSS* (see altimeter comms below) PSA 900** PSA 900 + depth** PSA 9000** Ulvertech Bathy Simrad UK90 OSEL Bathy SeaKing Bathy 704 Hyspec 305 Altimeter connected via Sub-sea Electronics Pod (for altimeters marked * and ** above) Altimeter connected direct to a COM port (fo
350 Cable Survey System The altimeter test allows you to see the serial data transmitted by an altimeter connected to the SDC. The values shown will not have any meaning until the altimeter is immersed in water. Figure 6–12: Altimeter Test Refer to sub-section 7.3.3 for a description of the data formats supplied by the compatible altimeters. 6.2.2.
6 – Operation software Figure 6–13: External Output Configuration and Serial Port menu 6.2.2.3 Load Factory Defaults Selecting this option will present a dialog box. Acceptance of this dialog will result in the SEP settings being returned to their factory defaults. Certain parameters within DeepView will also be returned to their default states (see Table 6–5).
350 Cable Survey System Figure 6–14: Video Overlay Setup Dependent upon the user's requirements they can enable/disable specific information. As shown, they are also able to set the colours of Text, Signal Bars, Signal Trail and LAT Bar, modify video mode and input/output connection. These additional options provide the user with more control over the display to improve ease of use. The display overlaid on the external monitor from the DeepView software is shown in Figure 6–15.
6 – Operation software Figure 6–16: Video Overlay Enable/Disable button 6.2.3 DeepView for Windows Icon Tools Table 6–6 shows and explains the command buttons on the DeepView for Windows toolbar. You may access these command buttons by clicking on them with the trackpad or external pointing device. A tooltip appears to remind you of the button functions if you hover the pointer over a button, with the same information also appearing in the status bar.
350 Cable Survey System Table 6–6: DeepView Toolbar (Continued) Button Function and Function key Explanation Video overlay Function key [F3] This button has a toggle action that enables and disables the video overlay with alternate presses. Refer to sub-section 6.2.2.4 for details of the video overlay option. Analogue output This button has a toggle action that enables and disables the analogue output with alternate presses. NOTE: this option is now obsolete.
6 – Operation software Run Window tools Table 6–7 shows and explains the command buttons on the Run Window toolbar. You may also access some of the button functions by pressing the appropriate function key from the Run Window. Sub-section 6.2.4 lists all the available function keys that you may use in the 350 mode. Table 6–7: Run Window Toolbar Button Function Explanation Show Run Window When in Forward Search mode (Section 6.2.1.3), switch to Run/ Display mode.
350 Cable Survey System Figure 6–17: DeepView function keys Notes: 1. Function key combinations [CTRL]-[F6], [CTRL]-[F7] and [F5] are valid only when you use the 350 System in a Dualtrack installation. 6.3 AFTER THE DIVE Perform the following tasks after you complete a survey using the 350 System: 1. Print the configuration. Select File➥Print Configuration to send a copy of the 350 System configuration details to Window Notepad.
6 – Operation software Windows operating environment. Wait while Windows closes and then power-off the SDC when the screen tells you that it is safe to do so. CAUTION DO NOT power-off the SDC until it is safe to do so otherwise Windows™ will log the fact that it was incorrectly closed. This will cause the SDC to enter a diagnostic check automatically when you next operate it, extending the time that it takes for the 350 System to become operational after power-on.
350 Cable Survey System Figure 6–19: Replay toolbar keys Table 6–8: Replay toolbar function keys Button Function Explanation Toggle height scale Function key Toggle swath width Function key Stop / Play / Pause Function keys Increase / Slow down replay speed Function keys Jump to previous / next annotation Function keys Jump to previous / next event Function keys Goto time Function key Help button DPN 402197 Same as ctrl-F1 © TSS (International) Ltd Page 30 of 32
6 – Operation software 6.5 QUALITY CONTROL The Quality Control function of the 350 System defines an envelope within which the measurements meet the specifications for accuracy listed in Section 8. Whenever the co-ordinates of the target fall outside the limits of the Quality Control envelope, the following occurs: ❐ The target shown on the Run Display screen changes colour. ❐ A message appears on the screen to identify the reason for quality control failure.
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7 – Operating Procedure 7 OPERATING PROCEDURE In common with other items of precision equipment, you may rely on the quality of data gathered by the 350 System only if you follow the correct operating procedures when you use it. This section of the Manual considers the role that the 350 System plays within an overall survey operation.
350 Cable Survey System 7.1 BEFORE THE SURVEY You should include the following considerations in the survey planning scheme: 1. Personnel and equipment availability. Check the availability of a working 350 System and a TSS-trained operator for the period of the survey. Refer to sub-section 7.1.1. 2. Tone frequency. Choose a frequency for the tone, taking into account details such as the length of the cable and the noise levels in the received bandwidth of the 350 System. Refer to sub-section 7.1.2. 3.
7 – Operating Procedure 7.1.2 Tone Frequency Your choice of tone frequency that you inject onto the target cable should take account of several factors, including: ❐ Specific requirements of the survey planning team. ❐ The length of the target cable. The distributed capacitance between the cable and sea water attenuates high tone frequencies more rapidly than low tone frequencies.
350 Cable Survey System ❐ Which communication method to use between the SEP and the SDC. This will depend upon the characteristics of the umbilical cable. See Section 4 for guidance. ❐ Whether to use an altimeter or a rapid update profiler, and their location on the ROV. ❐ The type and capacity of data logger, and its connection and communication requirements. Check that the data logger will be compatible with the data format supplied by the 350 System.
7 – Operating Procedure 5. Manoeuvre the ROV over the target. Use the forward search feature of DeepView to locate a target that crosses the path of the ROV and then use the signal strength bars and the Run Window to steer along its course. Figure 7–1: Using the forward search mode 6. Perform the main survey: ❐ Log all survey data. The main function of the 350 System is to acquire and log survey data for subsequent analysis.
350 Cable Survey System 7.2.1 Safety and Pre-dive checks This section describes a series of checks that you should perform on the 350 System before you deploy the ROV and start the survey. Perform these checks carefully, noting any safety issues as you do so: ❐ Check the installation of the coil array (section 3.2.2). Ensure that the coil connectors will not be fouled by any manipulators etc., or damaged as the ROV is recovered.
7 – Operating Procedure ❐ The data logged to an external logger ❐ The video recording of the 350 System installation and configuration procedures (if one has been made) ❐ The video recordings from cameras on board the ROV ❐ Details of any events, such as ROV collisions, that may have occurred during the survey, and the effect that they may have had upon the survey. You should also record any corrective action taken.
350 Cable Survey System External logging and internal logging use different data formats that are not compatible with each other. You cannot use the SDC to ‘replay’ an externally logged file. DeepView for Windows allows you to configure an SDC serial port for communication with the external data logger. This option is covered in Section 6.2.2.2. Refer to the technical manual of your data logger for the correct communication parameters. 7.
7 – Operating Procedure 4. The lateral offset (LAT) is measured from the centre of the coil array. Positive values indicate a target to starboard of the centre line. The field will contain question marks if the target is out of range. 5. The vertical range to target (VRT) is the distance between the centre line of the coil array and the target.
350 Cable Survey System ❐ ❐ 10. The field +1234 represents a value of 1.23 × 104 microvolts (or 12.3 mV). The SDC would display this on the Run Display screen as +1.23e4 in the lower left-hand data panel. The field +2416 represents a value 2.41 × 106 microvolts (or 2.41 volts). The SDC would display this on the Run Display screen as +2.41e6 in the lower left-hand data panel. The QC check code provides additional status information that explains any occurrence of the QC flag being set.
7 – Operating Procedure Notes: 1. The Start character is a colon. 2. ‘F’ identifies a packet from the Forward search mode. The SDC transmits this type of packet whenever it is displaying the Forward Search screen. 3. The Quality Control (QC) flag will be a space character when RESET, or a question mark (?) when SET. See also the QC check code later in this packet. 4. The forward search range (FWD) is measured from the reference line of the coil array (identified in Figure 3–2).
350 Cable Survey System 7.3.2 Internal Logging Format Data packets transmitted by the SEP fall into two categories – ‘co-ordinates’ and ‘signals’. The SEP transmits them sequentially so that either packet ‘A1’ or ‘A2’ below immediately precedes packet ‘B’. A1) Co-ordinates Data Packet – Survey mode The string is 23 characters long with individual field definitions as follows. The SDC logs all distances in units of centimetres and skew angles in units of degrees.
7 – Operating Procedure 6. Skew angle between the target and the ROV in the range –90° to +90°. Zero skew is the ideal situation where the ROV aligns on the same heading as the direction of the target. Skew is positive when the ROV heading is to starboard of the target direction. The field will contain question marks if the 350 System cannot measure the skew angle. A2) Co-ordinates Data Packet – Forward Search mode The string is 23 characters long with individual field definitions as follows.
350 Cable Survey System direction. The field will contain question marks if the 350 System cannot measure the skew angle. B) Signals Data Packet (both operating modes) The string is 34 characters long with individual field definitions as follows. The SDC logs all signal voltages in units of microvolts. Table 7–7: Internal logging format – Signals packet Notes: 1. The Start character is a colon. 2.
7 – Operating Procedure The descriptions below include the individual data formats and the RS232 parameters for each type of altimeter that you may use with the 350 System. Except for the OSEL altimeter, transmission starts immediately after power-on. Note that DeepView removes all spaces present in the altimeter string before interpretation. This is because the UK90 format sometimes includes extra spaces which are not defined in its specification.
350 Cable Survey System Table 7–10: Altimeter output format – Ulvertech Bathymetric system 7.3.3.3 Simrad UK90 The Simrad UK90 transmits data at 4800 baud using 8 data bits, 2 stop bits and no parity. Table 7–11: Altimeter output format – Simrad UK90 Notes: 1. The Simrad UK90 altimeter measures altitude at twice the rate that it measures depth. It therefore includes the altitude field twice in each data packet, separated by a space character.
7 – Operating Procedure Table 7–12: Altimeter output format – OSEL bathymetric system The OSEL altimeter must receive the interrogating character uppercase ‘D’ from the SDC before it transmits each data string. The communication link between the OSEL altimeter and the SDC must therefore be bi-directional. The SDC transmits the interrogating character automatically when configured to use the OSEL altimeter. 7.3.3.
350 Cable Survey System Table 7–13: Tritech SeaKing Bathy format Notes: 1. The SDC performs the following calculation to calculate the altitude above the seabed: Altitude = ((Altimeter reading × 200ns) × velocity of sound) ÷ 2 For example, if the count were 162712, then: Altitude = ((162712 × 200ns) × 1475) ÷ 2 = 24.000 metres This is the true distance from the transducer face of the altimeter to the seabed.
7 – Operating Procedure 7.4 AFTER THE SURVEY To maintain the 350 System in good condition you should perform the following important tasks after you complete the survey and recover the ROV: ❐ Print the System configuration details again. Select File➥Print Configuration in the DeepView toolbar to send a copy of the 350 System details to the Windows™ Notepad application. Save the printed copy with the survey records. ❐ Recover the ROV.
350 Cable Survey System 7.5 OPERATIONAL CONSIDERATIONS 7.5.1 Operating Performance Together with the skilful operation of the 350 System, two major factors influence the response and the performance of the System during survey operations: 1. Frequency of the target tone You may minimise the effects of background noise by selecting a tone that is in a relatively quiet part of the received band of frequencies. The Scope and Spectrum Analyser window of DeepView helps you make this selection.
7 – Operating Procedure 7.5.2 Sources of Error There are other error sources that might degrade System performance. You should make yourself aware of these so that you may take action to avoid them or to reduce their effect on survey results. These error sources fall within two categories: ❐ ROV handling – See sub-section 7.5.2.1. ❐ Electrical interference – See sub-section 7.5.2.2. 7.5.2.
350 Cable Survey System quently, the altimeter delivers information that will not allow accurate assessment of the depth of target cover.
7 – Operating Procedure It is therefore important to ensure that: ❐ You install the altimeter correctly according to the instructions in sub-section 3.2.3. ❐ You locate the altimeter near the centre of the coil array. ❐ You operate the ROV so that, as far as possible, the target remains positioned centrally beneath the coil array. It is important also to recognise that, under the above conditions, these errors affect only the depth of cover measurements.
350 Cable Survey System Where Z is the vertical distance between the coils and the target. For example, measurements on a target located 1.0 metre below the centre of the coil array will include a lateral offset error of 0.17 metres with 10° of roll applied to the ROV. Measurements of VRT performed by the 350 System will remain relatively unaffected by small angles of roll.
7 – Operating Procedure Figure 7–4: Sloping target In Figure 7–4 the coil array G measures the shortest distance to the target I. Similarly, the measurements of ALT will be the shortest distance between the altimeter and the seabed within the beamwidth of the altimeter H. The depth of cover COV = VRT – ALT. However, because the seabed is sloping, the measurements of VRT and ALT are valid for different locations on the seabed. Because of this, errors will appear in the depth-of-cover measurements.
350 Cable Survey System 7.5.2.2 Electrical Interference The 350 System is unaffected by the following factors: ❐ Changes of ROV heading ❐ Any local static magnetic field ❐ Acoustic noise ❐ The presence of platforms, rigs or other vessels in the vicinity. This sub-section describes the sources of interference that might affect the 350 System. You may estimate the level of background noise by examining the Scope and Spectrum Analyser window of DeepView.
7 – Operating Procedure Where vibration is fast and severe, the resultant induced signals could interfere with the signal from the target cable. Slow movements, such as those of the ROV manoeuvring, will have a negligible effect since the resulting induced voltages will be at a frequency below the pass-band of the 350 System. Summary: Follow the installation instructions throughout this Manual. Ensure the coil mounting arrangements provide a rigid support that damps vibrations quickly.
350 Cable Survey System Be aware of a possible degradation in measurement accuracy when operating the 350 System near ferrous rock dumps. Earth Return Path If the tone-carrying cable runs parallel with and close to a good conductor, this arrangement might introduce a shorter earth return path for the tone current. In very severe cases, the shorter return path might cause errors to appear in measurements made by the 350 System.
7 – Operating Procedure 7.6 ROVS You may use the 350 System with most types and size of ROV, and you may operate it at depths down to its maximum specified depth rating. The standard installation described in this Manual provides a high degree of accuracy and a useful measurement range, together with ease of deployment. It is important to install the 350 System properly by following the instructions included throughout this Manual.
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8 – System Specifications 8 SYSTEM SPECIFICATIONS Along with a detailed specification of the 350 System and its major assemblies, this section of the Manual also includes a chart to show the measurement accuracy that the System can deliver under ideal operating conditions. While revising this 350 System Manual, TSS has made every effort to ensure that the specifications included are correct.
350 Cable Survey System 8.1 SPECIFICATIONS Where given, UK imperial conversions of dimensions and weights are to two decimal place accuracy. 8.1.1 Surface Display Computer SDC-Type 9: To take advantage of developments in computer technology, TSS (International) Ltd has updated the design of the SDC since the first introduction of the original 350 Cable Survey System.
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350 Cable Survey System 8.1.2 Sub-sea Electronics Pod SEP-Type 2: Size: Ø140 × 460mm* {Ø5.51 × 18.11 inches} Weight: In air In water Input voltage: 110 to 120V AC 45 to 65Hz Maximum power demand 3.1A when in a Dualtrack installation 10kg {22.05 pounds} 2kg {4.41 pounds} Option – 220 to 240V AC 45 to 65Hz Maximum power demand 1.8A when in a Dualtrack installation Operating temperature: 0° to 30°C {32° to 86°F} Communication: 2-wire 20mA digital current-loop. 4-wire 20mA digital current-loop. RS232.
8 – System Specifications 8.2 PERFORMANCE Figure 8–1 defines the vertical range measurement accuracy of the 350 System for the stated conditions of tone current – i.e. 30mA at 25Hz.
350 Cable Survey System The frequency and amplitude of the tone current may affect the range measurement capability and noise performance of the 350 System. Changes to the current and frequency will not affect the accuracy of measurements made by the System. The range information shown in Figure 8–1 applies only where the tone current at the point of measurement is 30mA at a frequency of 25Hz. 8.
8 – System Specifications Figure 8–2: Trials site DPN 402197 © TSS (International) Ltd Page 7 of 10
350 Cable Survey System 8.3.2 Results 8.3.2.1 Accuracy Tables 8–1 and 8–2 below show details of the errors measured in the vertical and lateral offsets between the target cable and the centre of the coil array. Notes: 1. Positive values show that the vertical range or the lateral offset indicated by the 350 System was greater than the distance measured using a tape measure. 2. The response of the 350 System proved to be symmetrical about its central axis.
8 – System Specifications Table 8–2: Lateral measurement errors Vertical range Lateral offset -800 -600 -400 -300 -250 -220 -200 -180 -160 -140 -120 -100 -80 -60 -40 -20 0 500 -48 -1 13 12 18 12 8 9 10 5 3 3 3 1 -1 -5 – 400 -9 -3 19 13 16 12 8 1 12 4 5 4 5 1 -2 -5 – 350 9 14 14 13 15 12 8 9 11 4 5 4 5 1 -2 -5 – 300 45 28 18 15 15 12 8 9 9 4 4 4 4 1 -3 -6 – 250 146 46 17 15 14 14 8 9 9 4 4 4 4 2 -3 -6 –
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9 – Maintenance 9 MAINTENANCE You will find it easier to identify and clear a fault on the 350 System if you have a full understanding of the location of the individual sub-assemblies, and of the way they interact. This section helps you to maintain and service the System by describing the main internal components of the sub-sea installation. WARNING ELECTRICAL HAZARD Mains power supply voltages can cause death or serious injury by electric shock.
350 Cable Survey System 9.1 CIRCUIT DESCRIPTION The sub-sea installation consists of two principal parts: ❐ The array of sensing coils ❐ The Sub-sea Electronics Pod (SEP). Additionally, the sub-sea installation might include an altimeter. Figure 9–1 shows how these are interconnected. Figure 9–1: Simplified interconnection diagram – Sub-sea installation section 10 includes the electrical drawings for the System.
9 – Maintenance 9.1.1 Sensing Coils See drawing number 401105 in sub-section 10 The coil array includes six identical and electrically independent sensing coils, each of which includes an internal pre-amplifier board. Drawing number 401105 shows the pre-amplifier board for a single coil. The pre-amplifier board receives power through the coil connection cable. CAUTION Any water entering the coil housing will cause permanent damage to the coil winding and to the pre-amplifier board.
350 Cable Survey System 9.1.2 Sub-sea Electronics Pod The SEP provides all the power supply, signal processing and communication functions for the sub-sea installation of the 350 System. 9.1.2.1 Analogue-to-Digital Converter See drawing number 401104 in sub-section 10. Differential analogue signals from the port coil triad arrive at the input to the SEP on PL2 pins 3/4 (lateral), pins 5/6 (fore-aft) and pins 7/8 (vertical).
9 – Maintenance Opto-isolated digital inputs to the ADC are: ❐ Analogue and digital power-down APD/DPD (through U12) to control the ADC mode of operation. The ADC Board uses these for its self-calibration during initialisation. ❐ The clock signal from the Processor Board (through U13). ❐ Pre-amp gain control (through U14) to set the absolute gain of the pre-amplifier using U6 of the Coil Pre-amplifier Board (see drawing 401105). 9.1.2.2 Processor Board See drawing 401103 in section 10.
350 Cable Survey System 2. Processor Core (see drawing 401103-2). Data from the ADC Interface arrives at the Digital Signal Processor (DSP) U1. The DSP operates with four parallel bytes of zero wait state SRAM forming 32-bit words. It reads its program from EPROM U12 at power-on and copies it into RAM for execution in a manner similar to a PC ‘booting’ from a disk. Byte-wide E2PROM U11 provides non-volatile parameter storage, and PLD U5 implements primary decoding.
9 – Maintenance 9.1.2.3 Power Supply Power for the sub-sea components of the 350 System comes from the ROV electrical distribution system. The standard configuration for the sub-sea 350 System accepts an electrical supply in the range 110 to 120V at 45 to 65Hz. An alternative SEP is available from TSS for use with installations that must operate from an electrical supply in the range 220 to 240V. WARNING Do not attempt to modify the SEP to use an incorrect electrical supply.
350 Cable Survey System Figure 9–2: Simplified schematic of the current-loop DPN 402197 © TSS (International) Ltd Page 8 of 26
9 – Maintenance 9.2 DISASSEMBLY AND REASSEMBLY WARNING ELECTRICAL HAZARD Mains power supply voltages can cause death or serious injury by electric shock. Only a competent engineer who has received the relevant training and experience should perform maintenance work on electrical equipment. Power-off and isolate the equipment from the electrical supply before you work on any equipment that uses a mains power supply. Arrange to discharge any power supply storage capacitors safely.
350 Cable Survey System ❐ A 2.5mm hexagonal key Remove the ‘Power/Comms’ end-cap: 1. Use the 3mm hexagonal key to release and remove the four M4 × 12mm A4 stainless-steel screws that secure the end-cap to the housing. 2. Use the 2.5mm hexagonal key to remove the two button head screws from their threaded holes near the edge of the end-cap. 3. Insert two of the M4 × 12mm screws into the holes vacated by the button head screws and tighten them by hand until you feel resistance. 4.
9 – Maintenance To remove and reinstall any of the boards perform the following: Processor Board (see Figure 9–3): IMPORTANT NOTE The Processor Board holds calibration data for the ADC Board. Therefore, you must renew the Processor Board and the ADC Board together if you suspect either is faulty. You will degrade System performance if you do not follow this advice. 1. Unclip and release the 4-way ‘Primary Comms’ connector PL2. Unclip and release the 8-way connector PL1.
350 Cable Survey System ADC Board (see Figure 9–4): IMPORTANT NOTE The Processor Board holds calibration data for the ADC Board. Therefore, you must renew the Processor Board and the ADC Board together if you suspect either is faulty. You will degrade System performance if you do not follow this advice. 1. Unclip and release the 34-way connector PL1. Unclip and release the two 11-way connectors PL2 and PL3. 2.
9 – Maintenance Power Supply Board (see Figure 9–5): 1. Release and remove the insulating cover that protects the Power Supply board. Unclip and release the 10-way connector. Unclip and release the 5-way connector that is near the 2A fuse. 2. Use the 3mm hexagonal key to release the four M4 × 12mm screws that secure the Power Supply board to the support block. Remove the Power Supply board. Retain the four insulated spacers and all insulated inserts. 3.
350 Cable Survey System Align the end-cap and the electronics assembly so that the two external connectors are horizontal and the Processor Board faces towards you (see Figure 9–6). Figure 9–6: Orientation of the coil connector end-cap 3. Place the desiccant pack inside so that it fits between the Processor Board and the SEP housing. Make certain that there are no trapped wires or components and push the end-cap home. 4.
9 – Maintenance 9.2.3 Coil Cable Continuity Table 9–1 lists the pin-to-pin connections in the coil cables. You may use this information to test the continuity of the cable during maintenance work.
350 Cable Survey System 9.3 FAULT IDENTIFICATION The remainder of this section includes advice and a series of flow charts to help you locate a fault in the sub-sea components of the 350 System. TSS has gathered considerable experience with the 350 System in many survey operations and under a variety of conditions, and has used this experience to compose the following flow charts. If your System fails, perform the following checks before you call TSS engineers for assistance. 1.
9 – Maintenance 9.3.1 Fault on a Single Channel Figure 9–7: Single channel failure Single channel fault Power-off the System Swap the coil cable on the faulty side. Is the channel working? Yes Renew the faulty coil cable No Swap the coil on the faulty channel Is the channel working? No Renew the faulty coil. See sub-section 3.3.2. Yes Disassemble the SEP. See sub-section 9.2.2 Enter new calibration details into SDC. See sub-section 6.2.2.
350 Cable Survey System 9.3.2 Communications Failure Figure 9–8: Communications failure – CHART 1 Communication failure Use terminal mode to check SEP comms. No Is SDC COMMS LED on? Yes See sub-section 6.2.1.4 for terminal mode No Comms OK? Power-off the System. Yes Disconnect the SEP Power/Comms cable LED or wiring failure.
9 – Maintenance Figure 9–9: Communications failure – CHART 2 From CHART 1 Disassemble the SEP Check and repair any obvious damage Check continuity of SEP connectors Is wiring OK? No Repair/renew connector wiring Yes Check correct COMMS method installed in SDC COMMS method OK? No Install correct method Yes Check all five links on SEP Processor Board Are SEP links set OK? No Set all links correctly Yes Go to CHART 3 DPN 402197 © TSS (International) Ltd Page 19 of 26
350 Cable Survey System Figure 9–10: Communications failure – CHART 3 From CHART 2 Reconnect 12-way and 6-way connectors Power-on the System Check supply LEDs on Power Supply Board All LEDs on? No Yes Check wiring and supply voltages Renew faulty board Check internal wiring to all boards Is wiring OK? No Repair as necessary Yes Disconnect PL2 on Processor Board 2-wire current-loop Short pins 1 & 2 on Processor Board PL2 LEDs D1 D3 D4 on? 4-wire current-loop Comms method? Yes Short pins 3
9 – Maintenance 9.3.3 Poor Tracking Performance Figure 9–11: Poor tracking performance Poor tracking performance All coils OK? No See sub-section 9.3.1 Yes Coil connections OK? No Connect coils correctly Yes Is tone noisy? Yes Use a different tone frequency No System setup OK? No Reconfigure System correctly Yes Coil separation >1.
350 Cable Survey System 9.3.4 Altimeter Failure These flow charts should help you to identify a fault with the TSS or the Datasonics altimeter connected directly to the SEP. Refer to the altimeter manual for further assistance if necessary. If a fault develops when you use an alternative altimeter connected to the SDC COM2 port, check it using the terminal mode and check the data strings against those listed in sub-section 7.3.3. Refer to sub-section 6.2.1.4 for details of the terminal mode.
9 – Maintenance Figure 9–12: Altimeter failure – CHART 1 Altimeter failure Select terminal mode icon from toolbar Ensure "350SEP" selected Screen updates OK? No Clear COMMS problem Yes Select Altimeter config, then press altimeter test.
350 Cable Survey System Figure 9–13: Altimeter failure – CHART 2 From CHART 1 Power-off the System Disconnect cable from altimeter Remove the four screws in the altimeter end-cap Continuity check altimeter cable Is wiring OK? No Renew altimeter cable Yes Connect a 470 ohm 1 watt resistor between pins 1 and 3 of the SEP altimeter port.
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350 Cable Survey System DPN 402197 © TSS (International) Ltd Page 26 of 26
10 – System Drawings 10 SYSTEM DRAWINGS Drawing Number Description Stainless Steel Drawing Number* Electrical Drawings 490234 Sub-sea Electronics Pod – Overall diagram 401105 Coil pre-amplifier 401104–1 Analogue to Digital conversion 401104–2 Analogue to Digital conversion – ADC 1 401104–3 Analogue to Digital conversion – ADC 2 401104–4 Analogue to Digital conversion – ADC 3 401103–1 Processor Board 401103–2 Processor Board – CPU Core 401103–3 Processor Board – Comms 401103–4 Processo
350 Cable Survey System Figure 10–1: 490234 Sub-sea Electronics Pod - Overall diagram D C B A A CCT REV 5 PCB ISS 8 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 DATE JP ED BY SJ CHK BY 7 7 601001 3 AXIS COIL CABLE 601001 3 AXIS COIL CABLE Port coil assembly Pream.&.
10 – System Drawings Figure 10–2: 401105 Coil Pre-amp PL1 1 2 Molex 5045-2 CCT REV 2 2 2 2 3 4 4 5 PCB ISS --588 614 1002 1294 1240 1579 1724 ECR NOs R1 47R C1 100p 1206 C15 470p 0402 V+ V- R20 0R0 IN D4 S2M SIG3 8 13 14 3 3 2 U4 + - R2 1M0 D1 S2M 6 EN A0 A1 A2 S1 S2 S3 S4 S5 S6 S7 S8 OP27GS SOIC U6 D V+ GND V- DG408 SOIC 1 0 4 DB DB CHK BY C12 C7 100n PPS 470p 0402 G0 G1 2 3 U1 + - OrCad Power link to Op-amps R3 180R AD797AR SOIC 6 GAIN = 1.
350 Cable Survey System Figure 10–3: 401104-1 Analogue to Digital Conversion CCT REV 2 2 2 2 PCB ISS TO PORT COIL ASSEMBLY TO STARBOARD COIL ASSEMBLY --614 1579 1621 ECR NOs REVISION HISTORY A B C D PL2 1 2 3 4 5 6 7 8 9 10 11 DATE RPM MI DB BB ED BY PL3 1 2 3 4 5 6 7 8 9 10 11 22FEB95 08SEP95 17 OCT 00 05 Jan 01 IG0 IG1 PX+ PXPY+ PYPZ+ PZ+12V -12V AGND IG0 IG1 SX+ SXSY+ SYSZ+ SZ+12V -12V AGND CHK BY SZ+ SZ- D5V SX+ SX- IG0 IG1 IDPD IAPD ICMD ICLKD PZ+ PZ- PX+ PXD5V IDPD IAPD ICMD IC
10 – System Drawings Figure 10–4: 401104-2 Analogue to Digital Conversion - ADC1 SZ+ SZ- 12 R1 1M0 GP 13 TP1L AGND C1 100p NPO TP1M AGND C2 100p NPO 3 2 3 2 6 U2 OP27GP + - 6 U3 OP27GP + - R5 39R GP C5 100n R6 39R GP D1 +15V 1 DC1 1u0 35VT U6 7805 I D3 AGND D2 O D4 3 +5V1 DC2 1u0 35VT DC4 AGND R9 51R GP DC3 23 7 8 21 L2 BEAD DC6 1u0 35VT VD+ DGND APD DC5 VA+ DPD U1 VL+ DGND OCLKD ICLKA LEFT SCLK FSYNC ICLKD SDATA SMODE CMODE ACAL DCAL TSTO1 TSTO2 INL+ I
350 Cable Survey System Figure 10–5: 401104-3 Analogue to Digital conversion – ADC 2 10 R10 1M0 GP TP1J TP1K AGND C7 100p NPO C8 100p NPO AGND C9 100p NPO AGND 3 2 3 2 3 2 6 U16 OP27GP + - 6 U17 OP27GP + - 6 U18 OP27GP + - 6 U19 OP27GP + - ED BY R14 39R GP R15 C11 100n 39R GP R16 39R GP C12 100n R17 39R GP V+ CHK BY DC36 DC37 DC80 AGND D9 D13 +15V 1 DC38 1u0 35VT D15 U21 7805 I O 3 AGND O DC39 1u0 35VT 3 DC41 +5V2 D12 I U22 7905 -5V2 DC44 220n D16 2 DC47
10 – System Drawings Figure 10–6: 401104-4 Analogue to Digital conversion – ADC 3 PY+ PY- SY+ PCB ISS SY- 6 R19 1M0 GP 7 R20 1M0 GP 8 R21 1M0 GP 9 R22 1M0 GP TP1F TP1G TP1H TP1I DC53 DC54 -15V AGND C13 100p NPO AGND C14 100p NPO C15 100p NPO AGND C16 100p NPO AGND DC55 3 2 3 2 3 2 3 2 DC56 V- 1 PAIR DECOUPLING CAPACITORS FOR EACH OP-AMP - MUST BE ELECTRICALLY CLOSE TO PINS CCT REV 2 2 2 2 6 U26 OP27GP + - 6 U27 OP27GP + - 6 U28 OP27GP + - 6 U29 OP27GP + DATE RP
350 Cable Survey System Figure 10–7: 401103-1 Processor Board 2 2 2 2 3* 4 4 5** 6 PCB ISS LEEK DETECTOR PL10 1 2 3 MOLEX 5414-3 PL5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 T&B PL1 1 2 3 4 5 6 7 8 LPWR LEAK GND GND /SD1IN /LR1IN /SK1IN /FS1IN /SD2IN /LR2IN /SK2IN /FS2IN /SD3IN /LR3IN /SK3IN /FS3IN GND G0 G1 DPD APD CMODE GND TCLK0 GND +5V +15V -15V AGND GND P24V PCOM +5V GND +15V AGND -15V TP9 VCC VSS TP10 TO CN5 ONLY RPM MI TWT GB DB D
10 – System Drawings Figure 10–8: 401103-2 CPU Core /INT1 2 2 2 2 3* 4 4 5** 6 PCB ISS 80 79 78 77 76 75 73 72 68 67 64 63 62 60 58 56 55 54 53 52 50 48 47 46 45 44 43 41 39 38 34 31 108 111 110 D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 D26 D27 D28 D29 D30 D31 DR0 CLKR0 FSR0 95 87 88 100 103 106 107 99 /RESET CLK1 D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 D26 D27 D28 D29 D30 D31 DR0 CLKR0 FSR0 IN
350 Cable Survey System Figure 10–9: 401103-3 Processor Board - Comms TxD1 DTR1 RxD1 LAYOUT INFORMATION: REGION 1 TxD2 TxD3 RxD2 RxD3 PRIMARY REGION SCC2 CHANNEL 2 (?xD4) IS NOT USED +5V 1 1 RP4A 1K RP4B 1K DC24 +5V 2 3 +5V 4 GND DC25 100u GND ECR NOs 20APR00 16 OCT 00 21FEB95 08SEP95 24SEP99 17APR00 DATE BB SW DB RPM MI TWT GB ED BY DB DB GND +5V DC42 100u RP4C GND 1 RP4D 1K 5 +5V ---614 1423 1566 14 AUG 01 1 1K DC43 GND 1240 1579 CHK BY 1676 REVISION HISTORY n
10 – System Drawings Figure 10–10: 401103-4 Processor Board - ADC Interface 1 U33A 2 74ALS04 PU41 FS1 2 3 PU44 FS2 ED BY DB DB 4 12 8 4 3 2 1 4 3 2 1 4 3 2 1 U34A P CK D R Q Q 74HCT74 U33B 3 Q Q PU42 U41A P CK D R 74HCT74 U33F 13 Q Q PU45 U46A P CK D R 74HCT74 2 3 4 5 6 7 8 9 12 PU48 U40D 9 PU414 +5V RP8 4k7 5 6 5 6 5 6 10 11 12 13 4 3 2 1 10 11 12 13 4 3 2 1 10 11 12 13 5 Q Q U35A 6 5 8 9 U33C 6 U34B P CK D R Q Q 74HCT74 P CK D R Q Q 74ALS04 U40A
350 Cable Survey System Figure 10–11: 490221 350CE Cable Survey System Assembly (110V) DPN 402197 © TSS (International) Ltd Page 12 of 14
10 – System Drawings Figure 10–12: B930476 350CE 3-axis coil cable assembly DPN 402197 © TSS (International) Ltd Page 13 of 14
350 Cable Survey System Figure 10–13: B930473 ROV Tail Assembly DPN 402197 © TSS (International) Ltd Page 14 of 14
A – Operating Theory A OPERATING THEORY The 350 System locates a target by: 1. Detecting the alternating magnetic fields associated with tone currents injected onto the cable. 2. Isolating the tone frequency from background noise. 3. Calculating the position of the target cable from the relative strengths of the signals on each channel. This appendix describes these processes. A.1 Electromagnetic Fields Page 2 Magnetic fields surround any current-carrying conductor.
350 Cable Survey System A.1 ELECTROMAGNETIC FIELDS The 350 System uses an array of sensing coils to detect the presence of alternating magnetic fields and applies complex and powerful signal-processing techniques to locate the origin of these magnetic fields. Alternating magnetic fields exist around any conductor that carries an alternating current and are of a strength that varies directly with the instantaneous magnitude of the current.
A – Operating Theory A.3 SIGNAL ISOLATION Marine survey environments suffer from significant levels of background noise produced by other electrical systems on board the ROV. The 350 System must remove this noise from the coil signals before it can perform meaningful calculations. This noise reduction process involves many stages, including: 1. BAND-PASS FILTERING: Signals received by the coils may be extremely weak – possibly less than 5µV in amplitude.
350 Cable Survey System Relative amplitude Figure A–3: Frequency ‘windows’ 0 10 20 30 40 50 Frequency (Hz) 60 70 80 90 100 This process isolates the various frequency components in a signal very effectively so that the System can distinguish the tone frequency easily from among the background noise. The SDC display software provides a Frequency Spectrum feature similar to Figure A–3, with the tone frequency identified as a solid red bar.
A – Operating Theory You may pass measurements made using any available mode to an external data logger for subsequent analysis. See Sections 5 and 6 for a description of the SDC software. Refer to Section 7 for instructions to use the 350 System during a survey. A.4.1 Survey Mode To measure the target co-ordinates (vertical range and lateral offset), the 350 System uses signals from only the vertical and the lateral sensing coils in each coil triad.
350 Cable Survey System Figure A–5 shows the relationship that exists between the signal voltage v received by the coil in Figure A–4 and the angle φ between the coil and the conductor: v ∝ cos φ ❐ There will be no output (a null condition) when the conductor lies along the major axis of the sensing coil (φ = 90° or φ = 270°). ❐ There will be maximum output when the conductor is on a line perpendicular to the major axis (φ = 0° or φ = 180°).
A – Operating Theory Figure A–7: Target location using two coil pairs The 350 System uses an array of two coil pairs to determine the position of the target cable. Figure A–7 shows this situation. The SEP measures the strength of signals simultaneously on each of the four channels vx1/vz1 and vx2/vz2 and determines the target location by triangulation. The SEP extracts the co-ordinates for lateral offset and vertical range, and transmits these through the umbilical to the SDC. A.4.
350 Cable Survey System The System then uses this information, together with the measured altitude of the ROV, to estimate the forward range: Altitude Forward range ≅ ------------------tan φ It is important to note that this range is an estimate only. Factors that affect the accuracy of this estimate are: ❐ The flatness of the seabed topography. The calculation assumes that the height of the coils relative to the target cable is the same as the altitude measured by the altimeter.
A – Operating Theory Figure A–10: Skew angle measurement Because of this relationship, the System can determine the angle of skew θ: v θ = atan ----y vx The skew measurement method described does not require you to locate the coil triad directly over the target cable. It can work to the specified accuracy over a considerable swath range. The convention used by the 350 System is to define positive skew with the ROV rotated clockwise relative to the target.
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B – Options B OPTIONS The description throughout the main part of this Manual relates to the standard 350 Cable Survey System. Such a System provides all the facilities you will need to survey a target lying on or buried beneath the seabed. For some applications, the 350 System may be more effective if you specify it with one or more of the available options.
350 Cable Survey System B.1 DUALTRACK SYSTEM CAUTION You might cause permanent damage to the sub-sea installations of the 440 or the 350 System if you operate them from an incorrect electrical supply voltage. The standard sub-sea components of both Systems operate from a nominal 110V AC electrical supply. Both Systems are available with the option to operate from a nominal 240V AC electrical supply.
B – Options B.1.2 The Differences Note the following important issues when you install the Dualtrack System: 1 Scope of Delivery Sub-section B.1.3 lists the standard items supplied with the Dualtrack System. 2 Physical installation Refer to sub-section 3.2 of this Manual for instructions to install the sub-sea components of the TSS 350 System. Refer to Section 3 of the 440 Manual for instructions to install the sub-sea components of the 440 System.
350 Cable Survey System B.1.
B – Options Figure B–3: Sub-sea components of the TSS 440 System Table B–1: Components of the Dualtrack System Item Description Refer to Figure B–1: G Surface Display Computer (SDC) pre-loaded with Microsoft Windows™ 2000 and the DeepView for Windows display software. H Retractable keyboard/ trackpad combination. I Modular PC console. J Modular 15” LCD display. Refer to Figure B–2: K Sub-sea Electronics Pod (350 SEP) for the TSS 350 Cable Survey System.
350 Cable Survey System Also included with the Dualtrack System but not shown are: ❐ ❐ Trackball for use with the SDC and the DeepView for Windows software. TSS 350 Cable Survey System Manual – TSS P/N 402196 current issue. ❐ TSS 440 Cable Survey System Manual – TSS P/N 402197 current issue. ❐ Mounting components for the coil triads of the 350 System (see Section 3.2.2 of this Manual for details).
B – Options B.1.5 Electrical Connection It is very important that you should interconnect the sub-sea components exactly as described in Figure B–4 and the instructions below. IMPORTANT If the Dualtrack System is an upgrade to an existing 440 System, you must open the 440 SEP and set it to use RS232 communications. Refer to sub-section 4.2.2.1 of the 440 Manual for instructions to change the communication method used by the 440 SEP.
350 Cable Survey System Connect the TSS 440 sub-sea components: 1. Complete the physical installation of the 440 search-coils as described in sub-section 3.2.2 of the 440 Manual. Route the coil connection cables to the correct ports on the 440 SEP. Use plastic cable clips to secure the cables to the fixed framework of the ROV. 2. Install the altimeter near the centre of the 440 search-coil array as described in sub-section 3.2.3 of this Manual.
B – Options Connect the 350 System to the 440 System: 7. Use the 440-to-350 Link Cable (TSS P/N 601814) to connect the 8-way ‘Power/ Comms’ connector on the 440 PSU to the AUX OUTPUT port on the 350 SEP. This link uses RS232 communications at 9600 baud. Note that the connectors at each end of the cable are of a different design. You cannot reverse the cable when you make this connection. Refer to sub-section 4.1.2 in this Manual for instructions to care for and assemble the sub-sea connectors.
350 Cable Survey System B.1.5.2 System Operation When supplied as part of a complete Dualtrack System the SDC will have all the software necessary to operate already installed and tested. After power-on the SDC will perform an initialisation sequence and DeepView for Windows will then start automatically. Contact TSS for advice if you wish to upgrade an existing 440 or 350 System to a Dualtrack. 1.
B – Options B.2 TRAINING The TSS 350 Cable Survey System is a precision ‘front line’ survey tool. To exploit the full potential of the System, all personnel involved with a survey that uses the 350 System – from the initial planning stages to final data presentation – should possess a sound understanding of the performance of the System and its application.
350 Cable Survey System B.2.2 Part 2: Operators and Engineers Course This course is a continuation of the Foundation Course and provides for operators and engineers who use the 350 System during a survey, for example ROV Supervisors, ROV Pilots and Offshore Technicians.
C – Cables and Tones C CABLES AND TONES The target cable must carry a suitable tone signal before the 350 System can detect it. This tone signal should have the following characteristics: ❐ It should be easy for the 350 System to identify it among other signals that the target cable or other cables in the survey area might be carrying. ❐ It should have a frequency within a ‘quiet’ part of the pass band of the 350 System.
350 Cable Survey System C.1 TONE INJECTION The TSS 350 Cable Survey System is an active cable location system that detects the magnetic fields associated with a tone carried on the cable. To perform a survey on a cable, the 350 System can use any tone frequency up to a maximum of 200Hz. In theory therefore, the System could be used to survey a live power cable because of the mains frequency ‘tone’ that it carries.
C – Cables and Tones Figure C–1: Tone injection – Short cables You must connect the tone generator vf between the near end of the cable and a good ground point. At the far end of the cable, you must connect the tone-carrying conductor to a good ground point to provide an effective signal return path. C.1.2.2 Long cables As shown in Figure C–2, the conductors possess some small capacitance to the environment that surrounds the cable.
350 Cable Survey System The 350 System cannot be used to survey a fibre-optic cable unless the cable can carry an electrical tone through a conductive core or through its insulated armoured covering. C.1.2.4 General Connection Requirements ❐ Always use good grounding connections throughout the installation to avoid introducing mains related frequencies onto the cable. ❐ You must separate the return path from the outgoing tone current.
D – ALTIMETER D ALTIMETER D.1 OVERVIEW This appendix contains operating and service instructions for the ALT-250 sonar altimeter. The ALT-250 is a high resolution sub-sea echo sounder designed to accurately determine the height of sub sea instrumentation from the seabed. The unit is supplied ready configured to use with TSS detection products. The unit produces a narrow beam acoustic sonar pulse that “illuminates” a small section of the seabed.
350 Cable Survey System D.2 INSTALLATION D.2.1 Electrical Connection The 7 way bulkhead connector is protected by the plastic end cap which also prevents the connector turning and loosening the pressure seal between the connector and the pressure housing face. The in-line connector, (male), must first be lubricated by smearing silicone lubricant or other compatible silicone grease on all the pins.
D – ALTIMETER D.2.3 Mounting Position the altimeter away from other acoustic instruments that may cause interference, this may be necessary even if the other instrumentation is operating at a different frequency due to the “near field” effect of the acoustic transmission. Make sure the altimeter is positioned away from turbulence such as propeller noise or anything that could cause aeration in the water, (acoustic signals are greatly attenuated by the interface between sea water and air bubbles).
350 Cable Survey System D.2.4 Maintenance The altimeter should be immersed in fresh water if it is not to be used in the next couple of days then placed in a dry environment. Inspect the transducer face and clean with a mild detergent if the transducer face is not clean. It is important to ensure the transducer face is clean to ensure maximum efficiency of acoustic energy into seawater. Ensure no silicone grease from the connector is allowed to come into contact with the transducer face. D.2.
D – ALTIMETER Figure D–2: Switch S1 layout 1 2 3 4 8 7 6 5 RS232/TTL INTERNAL/EXTERNAL BAUD 2400/9600 SHUT DOWN When the switch has been switched to the correct position the electronics board can be inserted into the pressure housing first ensuring the interconnecting cable is free alongside the printed circuit board.
350 Cable Survey System D.3.1.1 Speed of Sound The altimeter uses a high accuracy timer to measure the flight time of an acoustic pulse. The timer is accurate to 1µs, (0.74mm @1480metres/second), which is the speed of sound, (SOS), default value, however this speed of sound value is dependent on many factors and requires an accurate “VP” meter or CTD instrument to determine the exact value during the operation, (see figure D–4).
D – ALTIMETER ❐ Noise level: Acoustic sounds in sea water due to ships, hydraulics, or other sonar equipment. ❐ Reflectivity: the attenuation of the transmitted sonar pulse due to the material/ angle of the reflector, (in this case the seabed). ❐ DB: This is the term Decibel which is used to express sound level in relation to a reference level, usually 1 micro Pascal at 1 metre. This can be negative when expressing receiver sensitivity or positive if expressing transmitted sound level.
350 Cable Survey System The altimeter housing is hard anodised to protect from corrosion in sea water and for limited protection from mishandling. The anodised surface must not be damaged as this will cause corrosion to develop leading to eventual failure of the pressure housing.
D – ALTIMETER The dc-dc converter is also controlled by an automatic switch which puts the circuit in SHDN mode if the DC input is higher than 15.7VDC. The transmitter voltage is regulated to 12.9VDC to allow operation of the transmitter driver chip which requires at least 12VDC to operate, (the driver output will go open circuit if the voltage falls below this). The digital 5Vsupply is fed from a normal linear regulator. This supply inhibits the dcdc converter if it falls below approximately 4.5VDC.
350 Cable Survey System The output of the receiver is fed to a comparator which has two threshold settings set by the microcontroller. The initial threshold is set approximately 4dB higher for this period thus allowing echo signals to be received even when direct signals are still being received from the effect of transducer ringing. The detected receiver signal is fed to a capture timer on the microcontroller which stops the timer on the negative edge of the received pulse.
D – ALTIMETER The serial data is converted to RS232 levels in the digital section where the usual protection diodes etc. are situated. The +12VDC for the RS232 interface is derived from the transmitter +12VDC and the minus -12VDC from a +12VDC to -12V DC-DC converter circuit. D.3.2.6 Averaging Algorithm The microcontroller uses a moving weighted averaging algorithm to ensure that any momentary noise or interference from the Sonar signal does not appear as a range at the data output.
J3 7 6 5 4 3 2 1 M3 NFM61R1nF GND GND RS232TXD RS232RXD AUX I/P M1 W3F470 (*MODEM POSITION) 0V 0V TXD RXD AUX_I/P 0V +12V TO BULKHEAD CONNECTOR PWRINH GND POWER_LO POWER_HI F1 2 S1 TTLRS232_2 PWRINH 1 2 3 4 1 S1G D1 INTEXT UTI_PD TCH0 BLANK GAIN 8 GAIN 4 GAIN 2 GAIN 1 TCH1 VCC GND data from altimeter TTLRS232_1 TCH0 2 8 7 6 5 POWER_HI GND GND BAUD SHDN TCH0 UTI_PD TCH0 BLANK GAIN8 GAIN4 GAIN2 GAIN1 TCH1 VCC GND POWER_HI GND GND SHDN TCH0 BLANK GAIN 8 GAIN 4 GAIN 2
D – ALTIMETER Figure D–6: Internal wiring GND AUX INPUT GND 2 RED +24V 3 GREEN 3 AUX IN 1 SER OUT GND 1 6 YELLOW AUX INPUT 7 BLUE 6 2 BROWN SER OUT 2 4 4 0V 7 2 3 TXD Underwater connector Internal wiring 5 GND 6 GND 7 EXT TRIG/SER IN EXT TRIG/SER IN 5 1 2 WHITE PWR IN 1 2 1 1 BLACK 4 J3 (on PCB) Figure D–7: Temperature sensor wiring 2K2 JP? R22 9 8 7 6 5 4 3 2 1 308-7827 FORCE_H SENS_H SENS_L RED RED WHITE SENSOR PRT100 REFH1 REFH REFL FORCEL WHITE R
DPN 402197 © TSS (International) Ltd 1 3 4 601824A 3. HEATSHRINK CABLE LABEL: "601824A" TSS P/N 4. CLEAR ADHESIVE LINED HEATSHRINK SLEEVE OVER LABEL 1.
DPN 402197 © TSS (International) Ltd 1 3 4 601826A **** IDENT SLEEVES FITTED AT RH END OF CABLE. *** CLEAR ADHESIVE LINED HEATSHRINK SLEEVE OVER LABEL ** HEATSHRINK CABLE LABEL: "601826A" TSS P/N * IMPULSE LPMIL-7-MP OR EQVT WITH 3m TAIL SO18/8 PARTS REQUIRED: VIEW LOOKING AT PINS ON FACE OF FREE CONNECTOR PL 400mm ± 50mm 3m ± 0.
350 Cable Survey System Figure D–10: PCB layout - top Figure D–11: PCB - top DPN 402197 © TSS (International) Ltd Page 16 of 18
D – ALTIMETER Figure D–12: PCB layout - bottom Figure D–13: PCB bottom DPN 402197 © TSS (International) Ltd Page 17 of 18
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E – Coil Tester E COIL TESTER The Coil Tester is a convenient and uncomplicated solution to confirm the 350 Cable Survey System is functioning in the correct manner. This is achieved by generating a localised and controlled alternating magnetic field. The Coil Tester provides the following benefits: ❐ A quick and simple method for testing the individual search coils of 350 Cable Survey System and the associated cables, connectors and circuitry.
350 Cable Survey System E.4 Battery Replacement Page 8 The Coil Tester provides a facility to identify when the battery needs to be replaced. E.5 Maintenance Page 9 It is important to ensure the Coil Tester is correctly maintained to ensure correct operation. E.6 Specification Page 9 Outlines the Coil Tester specification.
E – Coil Tester E.1 PRE-OPERATION Prior to using the Coil Tester: ❐ Read the complete 350 Cable Survey System Manual. ❐ Install the 350 System according to the instructions provided in Section 3 Physical Installation and Section 4 Electrical Installation. ❐ Ensure the coil calibration constants configured on the Surface Display Computer (SDC) correspond to the values displayed on the brass connector flanges of the search coils. E.1.
350 Cable Survey System Figure E–1: 350 System Parameters Configuration screen If a search coil is replaced, the new 5-digit value for the calibration constant must be entered for the relevant search coil. This will not affect the operation of any of the other remaining search coils. Each of the six coil calibration constants will be different and ensure they are entered correctly. The numbers include an error-checking element helping to ensure valid data entry.
E – Coil Tester E.2 OPERATION The Coil Tester is supplied with default settings of 25Hz. To change the frequency specified, see Section E.2.1. Operation of the Coil Tester is very simple procedure outlined in the following steps: 1. Power on the 350 System and ensure the Surface Display Computer (SDC) is connected to DeepView to confirm the test results. Ensure the coil calibration constants have been entered correctly and the 350 System is setup correctly (see section E.1.1). 2.
350 Cable Survey System 10. Note which coil is being tested. This will be defined on the attached connector cable, as outlined in Table E–1 below. Table E–2: 350 System Connector Cable Identification Connector ID Description SV Starboard Vertical SL Starboard Lateral PV Port Vertical PL Port Lateral SF Starboard Fore/Aft PF Port Fore/Aft *To test the port or starboard fore/aft coils, the forward search must be used 11. On the Coil Tester press and hold the circular power switch.
E – Coil Tester amp gain and autogain to default settings. Repeat steps 2 and 3 using the values outlined below. Table E–3: 350 System Operating Parameters Parameter Required Setting Pre-amp Gain 4 Pre-amp Autogain ON 17. Press [9] to exit the Terminal Menu. 18. To re-establish communication with the 350 System, press the Enable/disable polling button on the Terminal Window toolbar. Scrolling data will be displayed on screen to identify the system is operating correctly. E.2.
350 Cable Survey System E.3 FAULT IDENTIFICATION If the signal strength displayed on the Run Display screen does not show 1.0 to 1.5e6 at 25Hz for all channel check the following: ❐ Check the condition of the battery in the coil tester. Press the power button and confirm a constant green light. If a red or unlit LED is indicated, it is necessary to replace the battery. ❐ Check the display screen of the SDC is showing the channel under test.
E – Coil Tester E.5 MAINTENANCE The Coil Tester requires minimal maintenance. However, it is important to ensure the endcap O-ring is free from damage to maintain the IP65 waterproof standard classification. The following tasks should be carried out to ensure the O-ring remains in good condition: 1. Keep the grooves for the O-ring clean. Avoid any cuts, nicks or splits on any of the rubber surfaces. Renew the connector O-ring if it has deteriorated or becomes damaged. 2.
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F – Reference F REFERENCE This appendix contains reference information that may be useful to operators of the 350 System: Configuration log sheet: To be used during System installation and configuration. The information recorded on the log sheet allows the post-processing engineers to perform a more accurate assessment of the survey data from the 350 System. A copy of the sheet must therefore be retained with the Survey Log. Make copies of the master log sheet if more are required.
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F – Reference F.1 SURVEY DETAILS Survey vessel [] Date [] Survey vehicle [] Site [] Client [] Project number [] F.
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Index A ALT 1-6 Altimeter 2-13 Configuration 6-20 Connection See SEP Altimeter port Connection to SDC 4-9 Connection to SEP 4-9 Data format 7-15 Depth rating 2-3 Dualtrack See Dualtrack Installation 3-11 Altimeter test 6-22 Altitude of ROV See ALT Analogue output 6-26 B Burial Depth see COV C Care of connectors 4-4 Cathodic protection 7-27 Coils 2-11 Calibration constant 3-6, 6-20 Circuit description 9-3 Connection 4-7 Directional response A-5 Dualtrack see Dualtrack Installation 3-5 Orientation 3-6 Referen
350 Cable Survey System E Earth return path 7-28 Error sources 7-21 Vehicle pitch 7-24 Vehicle position 7-21 Vehicle roll 7-23 Errors Interference 7-26 External logging format see Data logging F Forward range to target see FWD Forward search mode 3-12, 7-5, A-7 Altimeter within 6-12 Data fields 7-10 Frequency spectrum display A-3 FWD 6-13 I Installation Altimeter see Altimeter Coils 3-5 Dualtrack see Dualtrack SEP see SEP Interference 7-26 Internal logging format see Data logging L LAT 3-5, 6-10 Lateral off
Index T Target coordinates 1-6 Theory of operation A-1 Threshold 6-2 Tone configuring 6-18 V Vehicle 7-29 Altitude 7-29 Speed of operation 7-29 Tracked vehicle 7-29 Video 4-17 Video Overlay Setup 6-23 Video overlay Connection 4-17 Viruses 2-8 VRT 3-5 DPN 402197 © TSS (International) Ltd Page iii
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