Operator Manual. MS1000 Software. Trencher Monitoring System

Operator Manual MS1000 Software Trencher Monitoring System

MS1000 Software Trencher Monitoring System Operator Manual Release 1.2 This manual provides you with the basic information required to operate the Kongsberg MS1000 Software Trencher Monitoring System. 901-10017005/1.2 January 2018 Kongsberg Mesotech Limited

Document information Product: Kongsberg MS1000 Software Document: Operator Manual Document number: 901-10017005 Revision: 1.2 Date of issue: 01 January 2018 Copyright The information contained in this document remains the sole property of Kongsberg Mesotech Limited. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Mesotech Limited. Warning The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. You must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment. Kongsberg Mesotech disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment. Disclaimer Kongsberg Mesotech Limited endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions. Support information If you require maintenance or repair, contact your local dealer. You can contact us by phone at +1 604 464 8144, or by email at: km.support.vancouver@km.kongsberg.com. If you need information about our other products, visit http://www.km.kongsberg.com/mesotech. On our website you will also find a list of our dealers and distributors. Kongsberg Mesotech Limited www.kongsberg.com

Operator Manual Table of contents ABOUT THIS MANUAL... 5 MS1000 SOFTWARE... 6 System description... 7 System diagram... 7 System units... 9 Sonar Processor... 9 MS1000-compatible Sonar Head... 10 Support information...11 GETTING STARTED... 12 Starting the MS1000 Software... 12 Setting up your sonars... 14 Adjusting the sonar views... 17 Setting the mounting offsets... 18 Setting the orientation of the sonar heads... 20 Setting the profiling properties... 20 Setting up the Trencher Monitoring window... 23 OPERATIONAL PROCEDURES... 26 Monitoring the trencher... 26 Exporting trencher monitoring data... 29 901-10017005/1.2 3

MS1000 Software 4 901-10017005/1.2

About this manual About this manual The purpose of this manual is to provide the descriptions and procedures required to allow for safe and efficient use of the MS1000 Software Trencher Monitoring System. Target audience This manual is intended for all inexperienced and new users of the MS1000 Software. A good understanding of system functions and controls is essential to fully take advantage of the functionality provided. Careful study of the information in this manual is highly recommended, preferably while exploring the MS1000 Software functionality. We assume that you are familiar with the basic acoustic principles of sound in water. We also expect that you have some experience with sonar operation. License information The MS1000 Software is a licensed product. The MS1000 Standard Edition includes advanced features and requires a software key (dongle) to operate. In order to obtain a license, contact your local dealer. The MS1000 Express Edition cannot be used for the operations described in this manual. Software version This MS1000 Software Operator Manual complies to MS1000 software version 5.35. Registered trademarks Observe the registered trademarks that apply. Windows is a registered trademark of Microsoft Corporation in the United States and other countries. We want your feedback We want to make the MS1000 Software as good as possible. We also want our end user documentation to be comprehensive and appropriate. You can help. Please provide comments, suggestions or constructive criticism to our support office. You can contact us by phone at +1 604 464 8144, or by email at: km.support.vancouver@km.kongsberg.com. 901-10017005/1.2 5

MS1000 Software Operator Manual MS1000 Software Topics System description, page 7 System diagram, page 7 System units, page 9 Support information, page 11 6 901-10017005/1.2

MS1000 Software System description The MS1000 Software Trencher Monitoring System is designed to help you land a trenching vehicle (trencher) over a pipeline. Each system has up to four profiling sonar heads mounted on the front and back of the vehicle. In addition, one forward-looking imaging sonar head is installed and used as a traditional Obstacle Avoidance Sonar. You will need a Sonar Processor computer to run the software and connect to the sonar heads. With the Trencher Monitoring option enabled in the MS1000 Software, you will be able to view the real-time detected pipe position. You can also view data from up to four sonar heads simultaneously. System diagram The system diagram identifies the main components of the MS1000 Software Trencher Monitoring System. Only the main connections between the units are shown. Detailed interface capabilities and power cables are not shown. Tip When installing the sonar heads, make a note of the location of each sonar head serial number. Label all cables connected to the Sonar Processor with each head serial number and location. 901-10017005/1.2 7

MS1000 Software Operator Manual This system diagram shows a four sonar-head configuration. If using two sonar heads, they will be mounted on the trencher centre-line both fore and aft. A B C D E Software key (dongle) Note An internal dongle is also available, depending on your order. Sonar Processor Obstacle Avoidance Sonar MS1000-compatible Sonar Heads The profiling sonar heads require an unobstructed view of the pipe and/or trench. Trencher 8 901-10017005/1.2

MS1000 Software Note You will need to enter the mounting offsets into the software. If your operator station is not close to the trencher, you may wish to measure the mounting offsets during installation for your convenience. Related topics Setting the mounting offsets, page 18 System units Topics Sonar Processor, page 9 MS1000-compatible Sonar Head, page 10 Sonar Processor The Sonar Processor is the computer that controls the MS1000 Software system. In this publication, the computer is referred to as the Sonar Processor. The Sonar Processor runs the MS1000 software that manages communication with the Sonar Head, performs all beamforming and image processing and presents the sonar imagery. The Sonar Processor communicates with the sonar through a USB, RS232/RS485 serial, or a standard Ethernet interface. 901-10017005/1.2 9

MS1000 Software Operator Manual MS1000-compatible Sonar Head The Sonar Head transmits and receives an acoustic pulse when deployed underwater. The Sonar Head includes transmit and receive transducers and the electronics to generate the transmit pulse and digitize the received signal. The following Kongsberg Mesotech sonars are supported by the MS1000 Software. 1071 Series Digital Sonar Head 1171 Series Digital Sonar Head 1007D Series Altimeter Single-Axis Heavy Duty Rotator (806-00360000) 10 901-10017005/1.2

MS1000 Software Support information If you need technical support for your MS1000 Software you must contact your local dealer, or our support department. If you require maintenance or repair, contact your local dealer. You can contact us by phone at +1 604 464 8144, or by email at: km.support.vancouver@km.kongsberg.com. If you need information about our other products, visit http://www.km.kongsberg.com/mesotech. On our website you will also find a list of our dealers and distributors. 901-10017005/1.2 11

MS1000 Software Operator Manual Getting started Topics Starting the MS1000 Software, page 12 Setting up your sonars, page 14 Adjusting the sonar views, page 17 Setting the mounting offsets, page 18 Setting the orientation of the sonar heads, page 20 Setting the profiling properties, page 20 Setting up the Trencher Monitoring window, page 23 Starting the MS1000 Software You must first power up the display and the Sonar Processor. After this you can start the MS1000 software. Prerequisites Any old versions of the MS1000 Software have been removed. The latest version of the MS1000 Software has been installed. All hardware units have been installed. To enable full Sonar Head operation, a software key (dongle) must be connected to the Sonar Processor s USB port. Alternatively, an internal dongle may be purchased. 12 901-10017005/1.2

Getting started Note The dongle is not required for playback. To allow others to view data you have collected, you are free to make copies of the MS1000 Software and distribute them. Context The MS1000 software is not automatically started when the Sonar Processor is turned on. Double-click the MS1000 icon on the Sonar Processor desktop to start the software. Procedure 1 Power up the sonar heads. Note It may take up to 20 seconds for the MS1000 Software to connect to the sonar heads once the power is applied. 2 Turn on the Sonar Processor. Wait for the operating system to start up. 3 Log in to Windows. 4 Double-click the MS1000 icon on the Sonar Processor desktop to start the software. 5 Once the MS1000 software has started, observe that the presentation fills the entire screen. The software starts up using the same settings as the last time you used it. If these settings are acceptable, continue operation. If you wish to alter any of the settings, see the relevant procedures. 6 Make sure the MS1000 Software is set up for trencher monitoring. a b Click the MS1000 logo above the menu system on the right side of the presentation. Observe that the About MS1000 dialog box opens. Observe that Trencher Monitoring is included in the enabled options. 901-10017005/1.2 13

MS1000 Software Operator Manual Note If this option does not appear, there may be a problem with your software key. Setting up your sonars If you are using your sonar for the first time, you must establish communications between the Sonar Head and the MS1000 Software. Context You can detect and set up the sonar heads using the System Configuration dialog box. Procedure 1 Click the Setup tab on the right side of the presentation. Observe that the Setup menu opens. 2 Click the Connect Sonar button. Observe that the System Configuration dialog box opens. 3 In the Devices list, select each port your Sonar Head is connected to. 14 901-10017005/1.2

Getting started Tip If the expected port does not appear at first, click the Reset button to refresh the list of available ports. 4 Make sure the ports are configured correctly. a b Check the Enable for Head Control box. Uncheck the Multidrop box to reduce the time to detect each Sonar Head. Note If you have installed all sonar heads on one telemetry line, then you must check the Multidrop box. 5 Click the Detect Heads button. A progress bar will be shown as the MS1000 Software establishes communication with the sonar heads. When each Sonar Head has been detected, it will appear in the Devices list with details shown at the bottom of the dialog box. Tip If the Sonar Head cannot be detected, it may be programmed to a different baud rate than the factory default setting of 9600 bps. Click the Auto Detect button to detect any Sonar Heads using different baud rates. 6 After all the sonar heads are detected, rename each Sonar Head. a b c Select each default Sonar Head name in the Devices list (such as Head #1, for example). Observe the Serial Number for each Sonar Head. During installation, you will have noted the position of this Serial Number. In the Head Name field, enter in a name to identify the head according to its location on the trencher. Enter OAS for the Obstacle Avoidance Sonar (COM15 by default). Enter FORE PORT for the sonar mounted forward left (COM11 by default). Enter FORE STBD for the sonar mounted forward right (COM12 by default). Enter AFT PORT for the sonar mounted back left (COM13 by default). Enter AFT STBD for the sonar mounted back right (COM14 by default). 901-10017005/1.2 15

MS1000 Software Operator Manual Note If you have two sonar heads, rename them FORE and AFT. 7 Click Apply to save any changes you have made. 8 Click OK to close the System Configuration dialog box. 16 901-10017005/1.2

Getting started Adjusting the sonar views Set up the layout so that you can view the data from all sonar heads simultaneously. Prerequisites The sonar heads must be running to perform this procedure. Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Display tab on the right side of the presentation. Observe that the Setup menu opens. 3 Click the + or - on the Layout button to select the desired layout option. You can arrange the view windows horizontally or vertically. Select Auto if you want the MS1000 Software to arrange your windows automatically. To interchange sonar view window locations, left-click on the first sonar view window. Observe that the mouse icon changes. Drag your mouse to the second sonar view window. Release the mouse button. 4 Scale each sonar view so that it is visible in a smaller window. a b Right-click in each sonar view. Observe that the context menu opens. Select Fit Image To Screen. 901-10017005/1.2 17

MS1000 Software Operator Manual Result The following is an example of a possible sonar view layout. Setting the mounting offsets The mounting offsets are required to calibrate the position of each sonar head relative to a common reference point on the trencher. Prerequisites You need to measure the offsets before you configure them in the software. Select a reference point on the trencher that is common to all sonar heads. Measure the following offsets for each Sonar Head relative to the reference point. X Y Z Pitch Roll Yaw Positive Starboard Positive Forward Positive Up Positive Bow Up Positive Starboard Down Positive Clockwise 18 901-10017005/1.2

Getting started The sonar heads must be running to perform this procedure. Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Right-click in any of the sonar views. Observe that the context menu opens. 3 Select Offsets. Observe that the Advanced Heads Setup dialog box opens. 4 Select each Sonar Head name in the list and enter the offsets you measured earlier into the Mounting Offsets boxes. 5 For the forward-looking imaging Obstacle Avoidance Sonar (OAS), un-check the Horizontal Mounting box. For the four profiling sonar heads, check the Horizontal Mounting box. Related topics System diagram, page 7 901-10017005/1.2 19

MS1000 Software Operator Manual Setting the orientation of the sonar heads The Orientation function allows you to specify which way the Sonar Head transducer is pointing. Prerequisites The sonar heads must be running to perform this procedure. Context This function determines how the image is plotted in the sonar view. If you set the orientation incorrectly, the image will be reversed. Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Operation tab on the right side of the presentation. Observe that the Operation menu opens. 3 Click the Orientation button to select an orientation. Match the orientation to the physical installation of the Sonar Head. For example, the sonar heads mounted in the Fore position are pointing forward (the domes face the front). The sonar heads mounted in the Aft position are pointing backwards (the domes face the back). The Obstacle Avoidance Sonar (OAS) dome can be pointing up or down. Related topics System diagram, page 7 Setting the profiling properties The profiling properties are used to generate the pipeline product profile. Context Set the profiling properties on the Profiling page of the Advanced Head Settings dialog box. This dialog box is only available when the Sonar Head is running. 20 901-10017005/1.2

Getting started Note Good detection of the pipeline product profile is important if you wish to use the Trencher Monitoring window. Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Profiling tab on the right side of the presentation. Observe that the Profiling menu opens. 3 Click the Profiling Property button. 901-10017005/1.2 21

MS1000 Software Operator Manual 4 Adjust the following parameters on the Profiling page for optimal pipeline product detection. Algorithm The First Return algorithm extracts the first point above the threshold within the Minimum Range and Maximum Range. The Peak Return algorithm extracts the peak point above the threshold within the Minimum Range and Maximum Range. Display Mode The Image and Profile mode displays both image data and profile points (for 3D views). Select this mode to properly view data in the Trencher Monitoring window. Scan Mode Enabling Multiping mode is not necessary when using the Trencher Monitoring window. Parameters The MS1000 Software will start looking for profile returns from the Minimum Range and stop looking above the Maximum Range. The signal level above the threshold needs to be maintained above the Minimum Width to be considered as a profile return. The Sample Interval is a read-only field and displays the sample resolution (used to measure the profile points). Threshold Curve Adjust the Threshold Curve to set the detection thresholds to different levels at different angles. This setting can be used to compensate for weaker returns at flatter grazing angles versus stronger returns at normal angles. Click the Reset button to reset the threshold curve to a flat line, giving the same threshold from 0 to 360 degrees. Related topics Monitoring the trencher, page 26 22 901-10017005/1.2

Getting started Setting up the Trencher Monitoring window Before you can monitor the trencher in the Trencher Monitoring window, you need to select which sonar heads to use, adjust the pipe diameter, and set up a background drawing. Context You can adjust the settings in the Trencher Monitoring Settings dialog box. Note The two Fore and Aft drop-down lists on the right side will be greyed out if you have enabled trencher monitoring for two sonar heads only. Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Setup tab on the right side of the presentation. Observe that the Setup menu opens. 3 Click the Trencher Monitoring button. Observe that the Trencher Monitoring Export dialog box opens. 4 If you want to export trencher monitoring data, select a COM port (such as COM16 in the default configuration), then click OK. 901-10017005/1.2 23

MS1000 Software Operator Manual If you do not wish to export data, click Cancel. 5 Click the Settings button in the bottom-left corner of the Trencher Monitoring window. Observe that the Trencher Monitoring Settings dialog box opens. 6 Select which sonar heads to use. a b c Check the Select Heads box. In the Fore drop-down lists, select FORE PORT and FORE STBD. In the Aft drop-down lists, select AFT PORT and AFT STBD. 7 Drag the Pipe Diameter slider to a size that matches the actual pipe diameter. If there is no (or intermittent) detection of the pipe, try a larger pipe diameter. Tip Use the mouse scroll wheel or keyboard arrow keys to make fine adjustments. 8 Set up the background plan view trencher drawing. a b c d e f Select Set Plan View Scale. Click the Choose Image button. Navigate to C:\KML\MS1000_V0535 and select the file TrencherTop.bmp. This image will be used for the trencher plan view background. Tip Click the Reset button if the image appears at the wrong scale. In the Trencher Monitoring window, use the mouse to drag the M1 and M2 markers to two known points (relative to the reference point) on the trencher drawing. Press the Ctrl + arrow keys to make fine adjustments to the cursor positions on the drawing. Enter the known X and Y point coordinates into the M1 and M2 text fields in the Trencher Monitoring Settings dialog box. Enter X coordinates into the first text field, and Y coordinates into the second text field. Click Apply. 9 Set up the background rear view trencher drawing. a b c Select Set Rear View Scale. Click the Choose Image button. Navigate to C:\KML\MS1000_V0535 and select the file TrencherBack.bmp. 24 901-10017005/1.2

Getting started d e f This image will be used for the trencher rear view background. In the Trencher Monitoring window, use the mouse to drag the M1 and M2 markers to two known points (relative to the reference point) on the trencher drawing. Press the Ctrl + arrow keys to make fine adjustments to the cursor positions on the drawing. Enter the known X and Y point coordinates into the M1 and M2 text fields in the Trencher Monitoring Settings dialog box. Enter X coordinates into the first text field, and Y coordinates into the second text field. Click Apply. 10 Close the Trencher Monitoring Settings dialog box. 901-10017005/1.2 25

MS1000 Software Operator Manual Operational procedures Topics Monitoring the trencher, page 26 Exporting trencher monitoring data, page 29 Monitoring the trencher You can monitor the trencher in the Trencher Monitoring window. The Trencher Monitoring window allows you to view the real-time detected pipe position. Context The Trencher Monitoring window displays the top and rear view of the trencher, the plotting scale, the heading offset, the lateral offset, and the altitude above the pipe. 26 901-10017005/1.2

Operational procedures Heading Offset: shown as an angle in degrees. A negative value represents the pipeline being offset counter clockwise to the centreline of the trencher. A positive value represents the pipeline being offset clockwise to the centreline of the trencher. Lateral Offset: the distance in millimetres (mm) from the centreline of the trencher. A negative value represents the pipeline being on the port side of the centreline. A positive value represents the pipeline being on the starboard side of the centreline. Altitude Above Pipe: the distance in metres from the pipe to the trencher reference point. 901-10017005/1.2 27

MS1000 Software Operator Manual Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Setup tab on the right side of the presentation. Observe that the Setup menu opens. 3 Click the Trencher Monitoring button. Observe that the Trencher Monitoring Export dialog box opens. 4 If you want to export trencher monitoring data, select a COM port, then click OK. If you do not wish to export data, click Cancel. 5 Use the on-screen widget in the top-right corner of the Trencher Monitoring window to pan or zoom in and out of the window. Alternatively, click and drag with the mouse to pan or use the mouse scroll wheel to zoom in and out. 6 Observe the position of the yellow pipe relative to the trencher drawing and adjust the heading of the trencher as necessary. Related topics Setting the profiling properties, page 20 28 901-10017005/1.2

Operational procedures Exporting trencher monitoring data You can export trencher monitoring data to a serial port. Context The baud rate for the serial output is 9600 bps. The serial format is an ASCII string with the following format: $KSSMD,Hhhh.hh,Llll.ll,Aaaa.aa,Ddddd,Qq,*hh<CR><LF> $KSSMD = Header H = Heading Offset in degrees (2 decimal places) L = Lateral Offset in metres (2 decimal places) A = Altitude above pipe in metres (2 decimal places) D = Set Pipe Diameter in millimetres Q = Quality Flag (0, pipe is not detected; 1, pipe is detected) hh = Checksum (exclusive OR checksum between $ and *) Procedure 1 If the sonar heads are not running, click the Run button on the Sonar tool bar. 2 Click the Setup tab on the right side of the presentation. Observe that the Setup menu opens. 3 Click the Trencher Monitoring button. Observe that the Trencher Monitoring Export dialog box opens. 4 Select which COM port you wish to export the trencher monitoring status to. 5 Click OK. Observe that the Trencher Monitoring window opens. 901-10017005/1.2 29

MS1000 Software Operator Manual Index A about comments... 5 constructive criticism... 5 feedback... 5 purpose of this manual... 5 registered trademarks... 5 software license... 5 software version... 5 suggestions... 5 target audience... 5 adjust sonar views... 17 Advanced Heads Setup dialog box setting the mounting offsets... 18 audience this manual... 5 B block diagram... 7 book purpose... 5 target audience... 5 C comments send us... 5 constructive criticism send us... 5 D description system... 7 drawing system diagram... 7 E exporting trencher monitoring data... 29 F feedback send us... 5 functional diagram... 7 H how to adjust sonar views... 17 export trencher monitoring data... 29 monitor the trencher... 26 power up... 12 set the mounting offsets... 18 set the orientation of the sonar heads... 20 set the profiling properties... 20 set up the sonar... 14 set up the Trencher Monitoring window... 23 I information support...11 introduction Sonar Head... 10 Sonar Processor... 9 K Kongsberg Mesotech support...11 L license software... 5 M manual purpose... 5 target audience... 5 monitoring trencher... 26 mounting offsets setting... 18 O office support...11 on power... 12 Orientation function setting the orientation of the sonar heads... 20 orientation of the sonar heads setting... 20 overview 30 901-10017005/1.2

Index P Sonar Head... 10 Sonar Processor... 9 power on... 12 procedure adjusting sonar views... 17 exporting trencher monitoring data... 29 monitoring the trencher... 26 powering up... 12 setting the mounting offsets... 18 setting the orientation of the sonar heads... 20 setting the profiling properties... 20 setting up the sonar... 14 setting up the Trencher Monitoring window... 23 Profiling function setting the profiling properties... 20 profiling properties setting... 20 publication purpose... 5 target audience... 5 purpose Sonar Head... 10 Sonar Processor... 9 this manual... 5 suggestions send us... 5 support information...11 switch on... 12 system description... 7 diagram... 7 System Configuration dialog box setting up the sonar... 14 T target audience this manual... 5 this manual purpose... 5 target audience... 5 trademarks registered... 5 trencher monitoring... 26 trencher monitoring data exporting... 29 Trencher Monitoring window exporting trencher monitoring data... 29 monitoring the trencher... 26 setting up... 23 R reader this manual... 5 registered trademarks... 5 V version software... 5 S setting mounting offsets... 18 orientation of the sonar heads... 20 profiling properties... 20 setting up sonar head... 14 Trencher Monitoring window... 23 software license... 5 version... 5 sonar head setting up... 14 Sonar Head introduction... 10 overview... 10 purpose... 10 Sonar Processor introduction... 9 overview... 9 purpose... 9 sonar views adjust... 17 901-10017005/1.2 31

2018 Kongsberg Mesotech