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ScanFish III Flight & NaviPac Manual - Site

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1. Selected GPS1 NMEA GPS1 NMEA Use as Combined Prioritized e Highlight one by one the instruments to be used and press the arrow right button to select Shown above right Once the selection is acceptable press the OK button EIVA MARINE SURVEY SOLUTIONS e The user will be prompted for an estimated position that is used to initiate the Kalman filtered calculation of speed course etc In most cases the default value for the position is acceptable The setting is accepted by pressing the OK button Estimated Position 581599 9983 6226000 004 N 056 10 14 7302 E 004 18 50 9276 e NaviPac will now enter into online mode with the windows defined as part of the warm start settings opened Alternatively the Auto button can activate online mode In this case all steps described in the above will be omitted and NaviPac will enter online mode instantaneously NaviPac Software Environment B O B NaviPac Config Navisound Echosounder PPS ZDA E NmePwc orie gt o E haput Monitor jaa For Heip presi Fi Ele Eat pes Nempoan Caltreten Cokulate Everts Fee Options Help ie e gg ggpgpgaAgggI Reset GPSI GPS2 NME Octa Octa f TSS bos J O a s GPS1 PR ca G lt 2 19 Gwm 000 Reference Postion 7609853 Combeed en GPS PRM LRM 17 05 2012 14 40 44 Aleem isto Using SW backdoor 1
2. Check the components you want to install and uncheck the components you don t want to install Click Next to continue Select components to install Position your mouse over a component to see its description Space required 96 2MB EIV4 ajs Marine Survey Solutions Figure 3 The NaviScan installation dialogue 2 3 Installation of the ScanFish III Flight software Installation of the ScanFish III Flight software is finally done with default settings This includes the location C EIVA ScanFish3Flight as shown in the figure below EE ScanFish3 Flight Setup eae Choose the folder in which to install ScanFish3 Flight Zz AN MARINE SURVEY SOLUTIONS Setup will install ScanFish3 Flight in the following folder To install in a different folder dick Browse and select another folder Click Next to continue Destination Folder iC EIVA ScanFish3Flight Space required 5 4B Space available 45 0GB EIV4 ajs Marine Survey Solutions Figure 4 The ScanFish IIl Flight installation dialogue Page 8 of 63 EIVA MARINE SURVEY SOLUTIONS 3 The ScanFish Ill Flight Software The ScanFish IIl Flight software is used to control and to monitor the EIVA ScanFish ROTV operations In that context the software serves several purposes It is used to control the flight of the ScanFish At the same time it facilitates meticulous monitoring of the flight of the ScanFish III by visualizing relevant parameters in alp
3. Line Fish Bottom i Line Fish Target Alert Settings Data Chart Settings Tow Panel Settings Message Settings Numeric Panel Settings Figure 11 The Options dialogue window at startup When highlighting the Fish option the properties will appear in the right hand panel of the dialogue as shown below 4 Misc Fish connection hito 10 10 103 13 Fish driver ScanFish3 Reply Timeout 500 ms Retry attempts 1 Status Polling Interval 500 ms e Inthe Fish Connection item the user can define the connection to the ScanFish IlI by entering the IP address Note that the default value is http 10 10 103 13 e The Fish Driver must be ScanFish Ill which is the only driver implemented The user can choose None if Flight should be used without a fish e Reply Timeout is used to define timeout settings for communication with the fish Note that the actual intervals might vary slightly however the default value of 500ms will work in most cases e The item Retry attempts is used to define how many times Flight will attempt to contact the ScanFish III before alerting the operator about the lost connection e Status Polling Interval is used to define the interval between status being requested from the ScanFish Ill The Winch and CableCounter entry is subdivided in two Winch and Cablecounter When highlighting the Winch option the properties will appear in the right hand p
4. Exit stops the ScanFish III Flight program Note that the user is not prompted whether he wants to stop the software or not If however the program is connected to the ScanFish Ill the user will be instructed to disconnect before trying to exit 3 2 1 2 The View Entry View Dockable views Depth Monitor Roll Panel Pitch Panel Tow Panel Messages History Data Chart Alert View Numeric Panel The View menu item shown above is related to the view of the eight different panels The ScanFish III Flight main window consists of a number of dockable views that can be toggled on and off and moved inside as well as outside the main window Details of the views are given above in chapter 3 4 Configuring the Layout of the Display 3 2 1 3 The Settings Entry Settings Themes Options The Settings menu item shown above has two main entries Themes and Options 3 2 1 3 1 The Themes Entry The Themes entry in turn has a sub menu that is shown below ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 15 of 63 Themes Options Aero Classic Luna Generic Dev 2010 Expression Dark Color Default Green Red Blue Orange Yellow Gray White EIVA MARINE SURVEY SOLUTIONS The user can choose different predefined themes from this menu item Each theme will supply predefined background and window frame colours for
5. ValePort Raw 2 WETLabs FLNTU Figure 31 Science and Oceanographic drivers listing left and selection right The AMT Dissolved Oxygen instrument is interfaced via an AD converter to a simple ASCII string The first step of the interfacing is shown below in which the user selects the various I O settings ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 55 of 63 Page 56 of 63 Instrument I O System Name AMT Dissolved Oxy UserName AMT Dissolved Oxyq 1 0 mode 1 0 Type Serial Offsets From CRP to instrument y 0 0000 10 Setup Port iz v Baudrate Stopbits i Databits 0 00000 Cancel Figure 32 Definition of Instrument Interface Parameters EIVA MARINE SURVEY SOLUTIONS Some of the items can only be specified here whereas others must be defined later in the Properties Panel Once the user accepts the I O settings however the instrument will appear in the Explorer and Properties panels of NaviPac Config as shown in Figure 33 below NaviPac Configuration File View Options Tools Help Setup File C EIVASNAVIPAC DB GENSETUP DB Edited File header Instruments 6 A Surface navigation 2 10 5 Gyro 7 ey Motion sensor 7 i Doppler log 1 E Oo ynamic positioning 2 He Special input ap Data output 4 G Data acquisition 2 ap AMT Dissolved Oxygen o Ox 6 sBeasctp B A Offsets 1 H Geodesy amp Obje
6. 4 Data acquisition 1 AD Offsets Add new item Import item Sort list Reset to used objects e Inthe drop down list that appears in the Add new instrument dialogue select the instrument type to add example GPS1 NMEA and press the OK button Add new instrument GPS1 NMEA GPS1 NMEA ana APFS NMEA GGA 1 GPSI NMEA GPS4 NMEA GPS5 NMEA Mame HIPAP suface naw HFF 300 surface naw HFF 300F surface nas Hypertix Laser Meter LBL Simrad surface nav Leica GPS Leica GPS POSMY Group 1 Racal UKOOA GPS 1 Syledis xr Type mM 4 ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 43 of 63 EIVA MARINE SURVEY SOLUTIONS e Choose the appropriate properties for the IO configuration regarding items like User Name O mode I O type Offsets and I O Setup in the Instrument I O dialogue that will now appear see below When finished press the OK button to proceed z Instrument I O System Name GP5S1 NMEA User Name GPS1 NMEA I O mode On x VOType Serial v Offsets From CRP to instrument m 2 3450 y 1 78600 7 12 9810 I O Setup Port Baudrate 9600 v Parity Stopbits 1 Z Databits E Z Test Port Cancel e Once this is accomplished the instrument will appear as a new entry under the Instruments item in the Explorer Panel By highlighting the instrument here the
7. Data acquisition 1 m i Offsets 1 GPS Monitor Geodesy Projection UTM north Ellipsoid WGS 84 Helmsman s Display Datum shift None Scele metric Objects Attitudes Vessel og ROV 50 ROV_2 0 Warm Start P opsstat logdata H stipes Data Logging B online B helmsman P iomon Data Acquisition Raw Data Figure 20 The NaviPac Configuration Principles In offline mode a series of headlines are available for the user in the Explorer panel to be used for the configuration of NaviPac In addition the modifications can be controlled via the menu items of the Main Menu as well as via the Properties Panel to the right as visualized below in Figure 21 in which the NaviPac Configuration items are displayed and labelled Note in particular the Explorer Panel and the corresponding properties displayed in the Properties Panel ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 41 of 63 Page 42 of 63 EIVA MARINE SURVEY SOLUTIONS F NaviPac Configuration Lo e Ele Qptions Help Setup File C EIVA NAVIPAC DB GENSETUP DB Saved File h t i p eae oni Database Status Bar B Modified ot 17 05 2012 14 30 B 08 Version 3 8 0 1 Bi Systems 2 stations 2 Explorer Panel Bi instruments 13 B Server 127 0 0 1 BB EMVAHOME C EIVA NewiPac P NaviPac Mode Normal Offsets x im Properties Panel Bi NewiPac Dongle Dongle 123456 Backdoor 335 70 deys
8. allows for the sharing of cable counter information between ScanFish Ill Flight and NaviPac The exporter supports UDP as well as RS2382 serial connection types The default port when using UDP interfacing is 8897 Note that the cable out is compensated for the fish depth through a simple triangle calculation that automatically uses the depth sensor information and thus defines the 2D lay back information The format of the output is L lt length gt r Example L 123 45 lt CR gt e The Enable Export option is related to the Fish Data Export as well as to the Cable Counter Data Export It is a Boolean that is False by default e The Fish Data Export allows for export of a variety of information that can be logged in NaviPac The exporter supports UDP as well as RS232 serial connection types The default port when using UDP interfacing is 8898 The format of the output is SF Fish lt heading gt lt roll gt lt pitch gt lt depth gt lt altimeter gt r n Example SF Fish 12 12 1 13 4 14 115 25 16 16 lt CR gt lt LF gt ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 51 of 63 Page 52 of 63 EIVA MARINE SURVEY SOLUTIONS 5 2 The NaviPac Settings The dedicated NaviPac settings that allows for integration with the ScanFish Ill Flight are also a lot simpler than what was the case in connection with previous versions of the ScanFish Flight software as well as of The Sc
9. 10 00 Set Min Depth 2 00 Set Minimum Altimeter Depth 5 00 Set Parking Depth 4 00 Set Sideway Flap Cmd Set Undulate Rate 0 50 Figure 18 Tow Panel with a 3D ScanFish connected The table below details on the settings available from the Tow Panel Note that the Tow panel will appear different depending on whether or not a 3D ScanFish has been connected Setting Description Recommended setting Bottom The minimum height in meters The setting should match the nature Margin above the seabed that the ScanFish of the seabed i e smaller numbers Ill will keep This is a safety setting can be used for a seabed with and if the ScanFish Ill should ever smaller variations and or find itself closer to the seabed than obstructions the setting it will automatically rise Fixed Depth How far below the water surface the ScanFish Ill must attempt to stay in the Fixed Depth Mode Fixed Height How far above the seabed in meters the ScanFish III must attempt to stay in when in the Fixed Height mode Max Depth The maximum depth in meters from The chosen setting should match the the surface the ScanFish III will installation e g the cable length The descent to when in Undulation maximum depth should always be mode lower limit considerably smaller than the cable length Page 38 of 63 Setting Min Depth Minimum Altimeter Depth Undulate Rate Sideway Flap Cmd Parking Depth Desc
10. Export udp 127 0 0 1 88977 Enable Export False Fish Data Export udp 127 0 0 1 8898 e Cable Counter Data Export allows for the sharing of cable counter information between ScanFish Ill Flight and NaviPac The exporter supports UDP as well as RS232 serial connection types The default port when using UDP interfacing is 8897 Note that the cable out is compensated for fish depth simple triangle calculation and thus defines the 2D lay back information Within NaviPac it can be interfaced by utilizing the Generic Cable Counter driver as a Dynamic Positioning System The format of the output is L lt length gt r Example L 123 45 lt CR gt e The Enable Export option is related to the Fish Data Export as well as to the Cable Counter Data Export It is a Boolean that is False by default e The Fish Data Export allows for export of a variety of information that can be logged in NaviPac The exporter supports UDP as well as R8232 serial connection types The default port when using UDP interfacing is 8898 The format of the output is SF Fish lt heading gt lt roll gt lt pitch gt lt depth gt lt altimeter gt r n Example SF Fish 12 12 1 13 4 14 115 25 16 16 lt CR gt lt LF gt The Logging entry is associated with the constant logging of all ScanFish III Flight information during flight The files logged can be used as input for the Playback mode as described below in chapter 3 3 Playp
11. I VAN MARINE SURVEY SOLUTIONS SCANFISH Ill FLIGHT amp NAVIPAC MANUAL Author LDA Last update 13 06 2013 Covers ScanFish Flight Ill Version 1 0 6 0 amp NaviPac version 3 8 5 EIVA MARINE SURVEY SOLUTIONS Contents WEA NU aR net aetaieuaceede couseeasoueceuecadubecaseesoancceauenns 4 2 Installation of the Software srcisesicgecanerentenetscdocusensacunisensancssnanesuantenoecusensccanteneenessunecsuenteeacs 5 2 1 NSTAN AVION or NAVF AC sesioen Ennn anne RNE EKAA NARE AA ENEAN NSAN AREON REEERE ASE EENE 6 22 installation of INQVISC AN srpiasc enmestohecnaenchaanacktaeaaseciaedusbsSuavenaternnccbaseineskasmets D 7 2 3 Installation of the ScanFish IIl Flight software ccceccceeceeseeeeeeeeeeeeeeseeeseeeeeeeeeeaas 8 3 The ScanFish Ill Flight Software nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenne 9 SA 21111 016 a i e ene een ee 10 3 1 1 Connecting to the SCANFISN IN eee ccccceecssseseeeeeeeeeesaeeeeeeeeeeeesseeeeeeeeeeeeseeaas 10 312 The Display Layout was gneesuseesubioneniineeanenbutiesanctesdsnehoundneabianatueetansnevestench nebtuedentt 12 32 Gommon TOONS ssesserree ia E E R 13 sel PG ANG IVI OTIU o A E E E E 13 All TERIE EM eee E E eee eS 14 32142 THE VIoW ENUY oeucaacnesuhencteuchscaseninettansiecrncenthetedanchesageacoesbsneipeanaenthabsdnnch sits 15 3213 Th S tings ENY arsso E E E Ea 15 s2 Te FOOD I i E E eae eae ee eee eee 23 3221 OMNIS MOOI Ar TOOS ecrini e a a e 23 3222 P
12. Oxygen CB BEE E B A Offsets 1 H Geodesy i 1 Objects D Warm Start Status Figure 37 Configuring the SBE 49 CTD probe Data delay Timeout ScanFish3 Os 10 sec TEMP COND PRES SAL SV 24 01 2013 14 30 56 Start Navigation 24 01 2013 15 38 40 Stop Navigation Saving set up file C EIVA NAVIPAC DB GENSETUP DB Stopped Manual Save The second example is associated with the SBE 49CTD data acquisition instrument This is basically a CTD probe that inputs conductivity temperature pressure converted to depth by NaviPac salinity and sound velocity The incoming string looks as follows TT TTTT CC CCCC PPPP PP SS SSSS VVVV VVVV lt cr gt lt lf gt with T being temperature C is conductivity P is pressure S is salinity and V is soundvelocity However NaviPac is only using the 3 channels associated with the CTD information This is illustrated in DataMon in the figure below where the three channels are shown in an alphanumerical presentation of the NaviPac interpretation Note that Tel C Tel T and Tel D is conductivity temperature and depth respectively ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 59 of 63 Page 60 of 63 EIVA MARINE SURVEY SOLUTIONS g DataMon Right click here to access configuration j eom J AMT x AMT Oxygen Concentration 2 Ox con Oxygen Percentage Oxygen Voltage 15 20
13. and associated values are displayed Numeric Panel vI x A Fish Altimeter 0 00 Depth 0 03 Adc 0 74 TargetDepth 0 00 Roll 1 50 Pitch 25 Heading 37 89 Flap Angle Port 0 00 Flap Angle Stbd 0 00 Flap Command Port 0 00 Flap Command Stbd 0 00 Side Flap Angle Port Side Flap Angle Stbd Altimeter Move Up Move Down Change Color The items shown are predefined and are to a large extent similar to what is facilitated for graphical viewing in the Data Chart panel only the default sequence differs slightly Fish Altimeter Displays the altitude of the fish Fish Depth Displays the depth of the fish Fish Adc Displays the ADC of the fish Fish Target Depth Will display the target depth as defined via the Tow Panel Fish Heading Pitch and Roll Will display in three different graphs the heading pitch and roll of the fish EIVA MARINE SURVEY SOLUTIONS e Fish Flap Angle port and starboard Displays the flap angles for port and starboard alphanumerically e Fish Flap Command port and starboard Displays the flap commands sent to the fish e Side Flap Angle port and starboard Displays the side flap angles for port and starboard alohanumerically ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 37 of 63 EIVA MARINE SURVEY SOLUTIONS 3 5 The Tow Panel Settings Tow Panel A A Fish Set Bottom Margin 2 00 Set Fixed Depth 5 00 Set Fixed Height 5 00 Set Max Depth
14. as shown below Note that the messages shown here are related to a playback situation Normally the text is in black however if a warning Is issued in the panel the text will be given with a red background as shown further below Messages History 10 45 59 Playback Info Command given Set Flight Mode Parking Value FM_Parking 10 41 24 Playback Info Command given Set Fixed Height Value 6 00 10 41 24 Playback Info Command given Set Fixed Height Value 6 00 10 41 23 Playback Info Command given Set Fixed Height Value 6 00 10 41 23 Playback Info Command given Set Fixed Height Value 6 00 10 41 23 Playback Info Command given Set Fixed Height Value 6 00 10 41 23 Playback Info Command given Set Fixed Height Value 6 00 10 41 11 Playback Info Command given Set Fixed Height Value 9 00 10 41 10 Playback Info Command given Set Fixed Height Value 9 00 10 40 49 Playback Info Command given Set Flight Mode Follow Seabed Value FM_FollowSeabed 10 40 45 Playback Info Command given Set Fixed Height Value 10 00 10 40 44 Playback Info Command given Set Fixed Height Value 10 00 10 40 44 Playback Info Command given Set Fixed Height Value 10 00 10 40 44 Playback Info Command given Set Fixed Height Value 10 00 Messages History The Data Chart panel can be used to visualize a number of different graphical time series in a single window By defa
15. changing of colours associated with the Depth Monitor panel Details on how to handle the panel can be found below in chapter 3 4 Configuring the Layout of the Display Colors Grid Color Shallow Water Color Deep Water Color Depth Mode e The Grid Color option facilitates definition of the color of the grid of the Depth Monitor When highlighting the item and indeed all items associated with definition of color the dialogue below will appear Note that it divided into three tabs Custom left Web middle and System Right The user can choose between the large variety of colors supplied and it is also possible to define own colors based on an RGB color scheme by manually typing in the three components C Transparent ESS ActrveBorder MS Black m GS ActveCapton E Dimoray ERR ActveCaptonText PS Gray SS App orkspace ESS DarkGray C ButtonFace Ey Silver C ButtonHighlight E LightGray ES ButtonShadow E Gainsboro C Control C WhiteSmoke E ControlDark C White E ControlDarkDark E RosyBrown C ControlLight EHHH im ar mmr Er Can ae Se E EEEE E EERE ee GE IndianRed C ContralLightLight TELE seem e a a i i a I GradiertActiveC anion EHHH e The Shallow Water Color option is used together with the Deep Water Color to make a faded transition in terms of coloring between the shallow and the deep water visualization in the Depth Monitor window e The Depth Mode opt
16. dedicated properties of that instrument is displayed in the Properties Panel The user is thereby given the possibility to see and to modify the relevant instrument settings Note in Figure 23 below that the parameter fields that can be modified are shown with a white background in the Properties Panel The contents of the Properties Panel depend furthermore highly on the entry type as well as on the instrument and on the specific driver in question Page 44 of 63 EIVA MARINE SURVEY SOLUTIONS ra NaviPac Configuration File View Options Help setup File C EIVA NaviPac DB Gensetup DB Edited a A File header Instruments D1 em Surface navigation 1 2 SEQ B Gyro 2 H 4 Motion sensor 2 l EE Doppler tog 1 0 COM4 9600 N81 LO Dynamic positioning Name GPS1 NMEA 88 Special input Offsets X 2 345 m cafe Data output 7 Offsets Y 1 786 m 6 9 Data acquisition 1 Offsets Z 12 981m A Offsets I O Mode On Geodesy Driver Details ca Objects Tae a Warm Start e T Use time in telegram hh mm ss C Fixed age Os Geoidal height Om Easting C O Om Northing C O Om Send command file O File name NONE GGA GGK GLL or SRTLLQ 22 08 2012 15 35 24 Loading set up file C EIVA NaviPac DB Gensetup DB wes C Status Auto Manual Save Figure 23 Relationship between instrument and properties Once the NaviPac configuration settings are acceptable
17. it appear in the figure below a File Writer can be defined through which it is possible to freely create dedicated logging formats Figure 39 shows a simple example of the outcome of such a logging file a DataMon G EIVA Projects EdgeTech Tutorials Datamon_FlightI cfg File Add Help a 24 4 Misc Display Name Logging File Name G EIVA Projects Edge Tec LineSplitter CTD Generic Sensor Logging Column 0 Temperature Column 1 Conductivity Column 2 gt Pressure gt Salinity gt Soundvelocity Figure 42 Logging through File Writer E E Testing_output txt Notepad File Edit Format View Help L479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 1479 16 Figure 43 Simple logging example ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 63 of 63
18. on the data in other software environments such as spreadsheets r FE TIT pdf Adobe Reader File Edit View Window Help x Q2RRPSAeSSEe 2 b e z R4 Tools Sign Comment wo N D n h w N a o Fish TargetDepth Alert view shows the current status of the different parts of the ScanFish III When operating normally all status indicators must be given with a green tick mark In the example below left there is an alarm for no connection to cable counter The example right shows a situation with no alerts ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 35 of 63 Page 36 of 63 EIVA MARINE SURVEY SOLUTIONS Alert View Alert View 7 amp Connection to Cable Counter Status for connection to the Cable Counter Hardware Connection to Cable Counter failed Connection to Fish HW Status for connection to the Fish Hardware Port Flap Status Status for a module in the fish hardware Stbd Flap Status Status for a module in the fish hardware Motion Sensor Status Status for a module in the fish hardware Temperature Sensor Status Status for a module in the fish hardware IO Module Status Status for a module in the fish hardware Connection to Cable Counter Status for connection to the Cable Counter Hardware Connection to Fish HW Status for connection to t
19. the fish will follow the seabed at a fixed height above the seabed that has been defined in the towing panel The mode is particular useful in connection with SideScan surveys e Choosing either the Undulate up or the Undulate down mode will start the Undulate mode During this mode the ScanFish III will mode in an undulating continuous V pattern between max depth and min depth at a predefined undulate rate defined in m s for both the climb and the descent in the towing panel Note that the particular mode chosen is only decisive for the intial undulation direction 3 2 2 1 5 Parking When parking mode is activated by pressing the Parking icon the ScanFish III will go to the depth defined as Parking Depth in the Tow Panel see below Details on how this panel EIVA MARINE SURVEY SOLUTIONS is configured are given below in chapter 3 4 Configuring the Layout of the Display Observe that the mode can also be entered through the Flight Mode as described in chapter 3 2 2 1 4 Flight Mode above Tow Panel IE Al Fish Set Bottom Margin Set Fixed Depth Set Fixed Height Set Max Depth Set Min Depth 2 00 Set Minimum Altimeter Depth 5 00 Set Parking Depth Set Undulate Rate 3 2 2 2 Playback Toolbar Tools The playback related part of the toolbar hosts three entries e Pause Play e Play Speed e Goto Time The buttons will only be active when playback mode is activated More details on the playb
20. the panels From left to right below the themes for the Numeric Panel are Aero Classic Luna Dev 2010 and Expression Dark The Numeric panel to the far right is based on the colour Red Numeric Panel A Fish Altimeter Depth Adc TargetDepth Roll Pitch Heading Flap Angle Port Flap Angle Stbd Flap Command Port Flap Command Stbd 0 00 0 06 0 78 0 00 131 63 88 57 173 86 0 00 0 00 0 00 0 00 A Fish Altimeter Depth Adc TargetDepth Roll Pitch Heading Flap Angle Port Flap Angle Stbd Flap Command Port Flap Command Stbd Fish Altimeter Depth Adc TargetDepth Roll Pitch Heading Flap Angle Port Flap Angle Stbd Flap Command Port Flap Command Stbd A Fish Altimeter Depth Adc TargetDepth Roll Pitch Heading Flap Angle Port Flap Angle Stbd Flap Command Port Flap Command Stbd 3 2 1 3 2 The Options Entry The Options menu item allows the user to modify the configuration of the software For this five different headlines are available from a dialogue window as shown below in Figure 11 Fish Winch and CableCounter Exporters Logging GUI Settings Page 16 of 63 EIVA MARINE SURVEY SOLUTIONS Options l p i Fish Winch and CableCounter ies Winch Cable Counter Exporters i NaviScan Export ine NaviPac Export Logging GUI Settings Depth Monitor Settings i Line Ship Bottom Line Fish Depth
21. they must be stored before they can be used in the Online Data acquisition mode This is done from the File Save As menu item or simply by pressing the Save icon in the Icon bar Note that the NaviPac configuration must always be stored with the name Gensetup DB in the EIVAHome DB folder In Figure 23 above observe in the Database Status bar the name and full path of the configuration file Note that EIVAHome is an environment variable that is normally and by default set to C EIVA NaviPac when NaviPac is first installed Note that for a typical ScanFish III based NaviPac configuration only a surface navigation instrument typically a GPS and a gyro is required The latter can even be interfaced in the so called calculated mode 4 1 2 The Warms Start Settings Prior to entering online mode the user might find it beneficial to define the Warm Start settings These settings are used to define the programs that should be started ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 45 of 63 Page 46 of 63 EIVA MARINE SURVEY SOLUTIONS automatically when going online At the same time the warm start settings define which programs should be closed upon exiting the online mode The settings are accessible when right clicking the Warm Start headline of the Explorer panel and choosing the menu item Edit Settings The dialogue below will appear in which the user can choose between a series of predefin
22. to guide the user through the process of installation In the present case the following must be installed in sequence e NaviPac e NaviScan e ScanFish Ill Flight ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 5 of 63 EIVA MARINE SURVEY SOLUTIONS Supplementary to these three programs it is recommended to install the EIVA Training Site locally The site contains all documentation and training material associated with the EIVA Soft and Hardware In general terms it is therefore recommended to install it whenever installing one or more of the EIVA software packages The documentation includes a full compilation of whatever on line help manuals powerpoints reports papers training documents etc that is available for the EIVA software packages as well as for the EIVA hardware The site is designed to be executed in off line mode with no connection to the Internet however some of the items will only provide optimum functionality if an Internet connection has been established Observe that the site can also be reached at the EIVA Website hitp download eiva dk online training index htm lt is important to emphasize that installing the Training and Documentation site is by no means essential for the proper functioning of the associated software 2 1 Installation of NaviPac When selecting to install NaviPac the user is first introduced to the Choose Components dialogue shown below
23. to the label for information This is shown to the right in the figure Note that the maximum speed Max Speed is 60 3 2 2 2 3 Goto Time When the Goto Time button is pressed the dialogue shown below will appear allowing the user to choose a time that the playback should jump to When the window appears the present time will be displayed Goto Time Once the user has chosen a time and pressed the OK button the playback will jump to the time chosen and commence the playback from there Not that it is required that both the hour and minute component is stated otherwise nothing happens Should the user have chosen a time that is outside what is covered by the present file than the playback operation will stop temporarily Choosing a time inside the time covered will make the playback commence from there 3 2 3 The Main Window The layout of the main window can be defined by the user The window consists of a number of dockable views that can be toggled on off using the View menu item In addition the windows can float freely inside the ScanFish III Flight main window They can be docked Page 28 of 63 EIVA MARINE SURVEY SOLUTIONS to the edges of the windows or they can float onto a secondary screen if one is present Further details on how the Main window can be designed are given in chapter 3 4 Configuring the Layout of the Display below 3 2 4 The Status Bar The Status Bar does not have any in
24. 0 North Sea see i RO E TPF 0s Q Scale metric i i Om 4 3 Objects j 0m B Vessel i Om yg Scanfish ia O Warm Start oe P logdata A onire 668 7 6 606 aL or TQ A helmsman 21 08 2012 15 09 28 Loading set up file C EIVA NaviPac DB Gensetup DB ws CD Status Auto Manual Save Figure 19 The NaviPac Configuration The NaviPac Configuration program serves a dual purpose e tis used in off line mode to configure NaviPac EIVA MARINE SURVEY SOLUTIONS e tis used to enter and to exit on line mode The online mode is sometimes termed the data acquisition or the navigation mode The two purposes are visualized below in Figure 20 In the leftmost column the configuration mode is visualized whereas the online or data acquisition mode principles are depicted to the right Configuring NaviPac Off line Configuration Mode On line Dataacquisition Mode 3 File header Bi Modified by Ida Configuring NaviPac Start Stop Navigation B Modified at 17 05 2012 14 30 Pa B DE Version 3 8 0 1 NaviPac Config Manual Start Bi Systems 2 stations 2 BD instruments 13 x B Server 127 0 0 1 B ENAHOME CA EIVA NaviPac NaviPac Mode Normal T NeviPec Dongle Dongle 123456 Instruments e Base Position Manual Start Gyro 3 Motion sensor 2 nli Object Position Doppler log j 2 2 Dynamic positioning 1 J Special input ge GPS Status 4 Data output 3 5
25. 0B Saving set up file C NEMA N aviPac DB Gensetup 0B Stopped Ey Status Auto Manual cave Figure 28 Example of ScanFish based cable counter settings in NaviPac EIVA MARINE SURVEY SOLUTIONS Comments to the main headlines of the cable counter configuration in Figure 28 are as follows e System Name is Generic Cable Counter e 1 0 The interface characteristics must correspond to those given in the ScanFish III Flight software see chapter 3 2 1 3 2 The Options Entry for details Note that the port number is the default when using an UDP IP protocol type e Name default value for the system has been maintained Generic cable Counter however any name could have been chosen e Offsets X Y and Z together these settings give the position of the sheave winch from where the ScanFish is dragged in the local coordinate system of the vessel e Location the ScanFish object must be chosen since this is the object to be positioned with the instrument e String prefix The driver supports a series of formats however the ones presently supported by the Flight software MacArtney_MKII default and MacArtney_Edgetech both require L as string prefix e Correct Layback for SMG This feature must be disabled since the cable counter data have already been corrected by default in the ScanFish III Flight software to the horizontal level Prior to actually configuring the cable counter instrument the ScanFish
26. 15 22 a CTD Generic Sensor AX Temperature 01 321 C TEL C 12 346 Conductivity 12 3456 mS cm Pressure 114 67 dBar Salinity 11 222 PSU 78 Soundvelocity TEL T 1 321 TEL D 106 454 Soundvelocity 1479 16 m s Figure 38 DataMon visualizing data from the AMT top and the CTD sensor bottom In the lower middle window of Figure 38 DataMon is showing an interpretation of all the observations coming into the port from the sensor Note from Figure 38 that the NaviPac interpretation as well as the DataMon interpretation can be shown simultaneously The DataMon interpretation has been achieved by bypassing the NaviPac interfacing and interpretation This can be relatively easily accomplished in DataMon as shown in the bottom part of Figure 39 Here the data is entered via a UDP port that in turn is fed by NaviPac All other visualisations in Figure 38 are fed via the NaviPac IO This is illustrated with the orange background colour in Figure 39 Note that the DataMon generic window is described in details in the associated help functionality as well as in the DataMon manual that is available from the EIVA Training and Documentation site EIVA MARINE SURVEY SOLUTIONS DataMon G EIVA Projects EdgeTech Tutorials Datamon_FlightIll cfg File Add Help e2 E Configuration 4 Misc Background Color iJ DimGray Decimals 3 NaviP Display Name CTD Generic Sensor aviPac AMT Dissolved Oxyg Grid Color E 128 128 128 I
27. 6 2013 Page 25 of 63 Page 26 of 63 EIVA MARINE SURVEY SOLUTIONS When one of the modes is activated the Flight Mode label will change accordingly as shown below x Flight Mode Fixed Depth The different modes must be entered and selected by the user This is accomplished from the drop down menu that will appear when pressing the Flight Mode button Flight Mode Fixed Depth Fixed Depth Follow Seabed Undulate Down Undulate Up The main characteristics of the Flight Modes are e Inthe On deck mode the ScanFish Ill is ready to be deployed and will consequently not attempt to navigate This mode must always be employed when handling the ScanFish III on deck and during the initial stages of deployment e In Surface mode the ScanFish III will go to or stay at the water surface and wait to be given commands to either dive or to be taken out of the water e Parking mode can be activated from the Flight Mode Parking button or directly from the Parking Mode button The action will send the ScanFish III to the parking depth as this parameter is defined in the towing panel See chapter 3 2 2 1 5 Parking below for further details e Choosing the Fixed depth mode will initiate the so called Fixed Depth mode in which the ScanFish III will remain at a predefined fixed depth that in turn has been defined in the towing panel e Follow seabed will initiate the so called Fixed Height mode during which
28. 65 3 JC gt x900 Octane gyre esos Open gt TSS DMSOS TSS 335 p NaviPac Online Helmsman s Display Baseposition etc Control Data Distributor Figure 24 The NaviPac Software Environment ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 47 of 63 EIVA MARINE SURVEY SOLUTIONS As illustrated in the top row of Figure 24 above NaviPac online is organized in a number of windows programs that constitute the user interface such as Online Window Base Position Window Object Position Window GPS Status Window Alarm Monitor Window Helmsman s Display Window Data Logging View Data Acquisition Window lt also appears that in addition some processes are executed in the background bottom row e Data l O e QC Kernel e Data Distributor Whereas the background processes will always be running unnoticed by the user he is given the opportunity to choose which of the generic windows should be opened The latter can be done automatically upon start up or later on the actual online phase Further when entering online mode the user must decide which positioning instrument should be used among the ones defined in the configuration settings 4 1 4 The NaviPac Online Window As described in the previous chapter a series of programs generic windows constitute the NaviPac user interface such as Online Window Helmsman s Display Window Data Logging Windo
29. 9 103505 103510 103535 t0350 3103525 10 0 03535 103540 w3 KJ Status Bar ie Figure 10 Labelling the various ScanFish III Flight tools 3 2 1 The Main Menu The ScanFish Ill Flight main menu has three entries File View and Settings ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 13 of 63 EIVA MARINE SURVEY SOLUTIONS 3 2 1 1 The File Entry File New Project Ctri N Open Project Ctri O Save Project Ctri S Save Project As Playback File Unpack Log File Disconnect Exit The File menu item shown above hosts the following entries e New Project Ctrl N This entry facilitates the creation of a new setup Note that scanFish Ill Flight will not allow the user to create a new setup when a connection to the ScanFish has been established or when the software is running in Playback mode e Open Project Ctrl O With this entry a previously saved project Flight Setup can be loaded The extension of the project is sf3f e Save Project Ctrl S This entry allows the user to save his current project Flight Setup If the project has not been saved previously the user is prompted for a name for the project e Save Project As Ctrl S Allows the user to save his current project Flight Setup under a name see above e Playback File Will make the ScanFish III Flight software enter Playback mode Prior
30. Full Offsets im astruments Offsets Z 12m A iace navigaton 2 7 IJO Mode Smulated P GPs PRIM Driver Details IB GPS SEC String Prefix SGPGGA P Gyro 3 No of Bytes 200 a Motion sensor 2 a Code C Doppler log 5 Dynamic positioning 1 Orives Type Special input Tewheton cher Data output 3 Apply datum shift o Data acquisition 1 Use PPS g 57 Otisets 1 Use time in telegram hhome ss C J Geodesy Fred age Os Projection UTM north Geordal hesght om Ellipsoid WGS 84 Easting C O a Datum shift None Northing C O Om Scole metric 23 Objects Send command fle Cj 2 Vessel Tooltip Bar 9 ROV HO ROV_2 GGA GGK GAL or SRTLLQ D Wam Start need History Bar Saving setup file C EIVA NewPac DB Gensetup DB shipo 17 052012 143038 SietNevigation E E cer p in n file IMVAINAVIPAC N e pel Saving e a C EIVA NA isa SETUP DB iomon B Running Sten Stop m navigaton navigaton Figure 21 NaviPac Configuration Items Details on how NaviPac is configured are given in the relevant NaviPac manuals that are available on the different NaviPac related subpages of the EIVA Training Site http download eiva dk online training NaviPac htm In the present context the part of the NaviPac configuration that is relevant to a ScanFish acquisition task will be the main focus 4 1 1 The Explorer and Properties panels BO Instruments H A surface navigatio
31. IP address of the ScanFish III must be configured in the ScanFish Ill Flight software using the menu item Settings Options Fish as shown in the figure below Details on the Fish settings are given in chapter 3 2 1 3 2 The Options Entry above Exporters Fish connection bittp 10 10 103 13 Logging Fish driver ScanFish3 GUI Settings Fish connection The connection to the fish Default value hitp 10 10 103 13 lf the software is not capable of establishing the connection to the ScanFish III within the timeout and retry attempts specified in the Fish settings an error warning is issued in the Messages History window as shown below Note that a similar warning is issued in the Alert View window Messages History 3 2 2 1 2 Disconnect Pressing the Disconnect button will disconnect the software from the ScanFish Ill The button is only active when a connection has been established or when the ScanFish III Flight software is executed in Playback mode see below left Once the ScanFish Ill is EIVA MARINE SURVEY SOLUTIONS disconnected from the fish the Disconnect button becomes inactive and the associated label is written with grey letters as shown below right The action associated with the button is similar to the action associated with the menu item File Disconnect that is described in chapter 3 2 1 1 The File Entry 3 2 2 1 3 Pre Flight Check The Pre Flig
32. S 5 ScanFish Ill Flight amp NaviPac Integration This chapter gives a description on how to configure and to utilize the ScanFish III Flight software in an integrated solution with the EIVA NaviPac program 5 1 The ScanFish Ill Flight Settings As opposed to what was the case with previous versions of the ScanFish as well as of the Flight software only limited settings for the NaviPac integration are required at present This is caused by the fact that no logging apart from the raw data logging that is used for the playback is taking place within the ScanFish III Flight software In future versions it might be considered expedient to use position information to superimpose data originating from other offsets on the NaviPac configuration onto for instance the Depth monitor A display of the depth values as observed from a vessel based echo sounder could be interesting in that context as a supplement to the fish based altimeter As detailed in chapter 3 2 1 3 2 The Options Entry the Exporters entry is subdivided in two NaviScan Export and NaviPac Export By highlighting the NaviScan Export option the properties will appear in the right hand panel of the dialogue as shown below The dialogue allows for the export of fish data as well as for sharing of cable counter information 4 Misc Cable Counter Data Export udp 127 0 0 1 8897 Enable Export False Fish Data Export udp 127 0 0 1 3898 e Cable Counter Data Export
33. Y Motion Sensor Status Status for Set Minimu m Altimeter Depth 5 00 A Set Parking Depth 5 00 S Temperature Sensor Status Statu Set Undulate Rate 0 50 EEE E PATA 10 Module Status Status for a me 10 35 09 10 35 19 10 35 29 10 35 39 10 35 49 m gt Flight Status Figure 9 ScanFish III Flight layout The display layout is saved automatically and will be used the next time the ScanFish III Flight software Is started Further details on how the display is configured are given below in chapter 3 4 Configuring the Layout of the Display Page 12 of 63 EIVA MARINE SURVEY SOLUTIONS 3 2 Common Tools The ScanFish Ill Flight software is organized in different menus panels and views that together make the user interface as visualized below in Figure 10 The various items can be listed as follows Main Menu Icon Bar Main Window Status Bar Ken Fish Fagne lt Vew Setingi Conmect Dicommect Pre ight Mode Parking Fane Psy Speed Corte Ea ELEA Os exes pth orto Jy Pate OK mo ax i hh s Anene 1470 pt i Icon Bar Pie me Row O33 d a p ay aes Heaney 3147 Flag Angie Port EES Ro Pore FFK Hap Angie Siba 1200 thay L b Flap Command Sbd 1210 103520 103525 103530 103535 10 34 40 103 fig ened ore Rett View sxi E ana in FS Sata Staten tor eg ie enna rs ote w OO a Fe pe aa Ge Elie a M as Set onde Bane ox O ete t0 350
34. ack Mode When highlighting the entry the properties will appear as shown below e Log Expiration Date allows the user only to keep logs files that are younger than a certain time Note that even though it is not possible to disable recording the ScanFish III Flight software can be configured to automatically delete files residing in the default logging folder that are older than stated in this entry with this feature e Inthe Logging Folder entry the user can specify the folder in which the ScanFish Ill Flight software will log The default directory is C temp ScanFish Log It is however recommended to use a dedicated project folder for the logging in order to avoid inadvertently deleting files that have been logged in connection with a previous session or project The GUI Settings entry is finally subdivided into six items Each of them is associated with a particular panel that can be activated and shown in the ScanFish III Flight main window ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 19 of 63 Page 20 of 63 EIVA MARINE SURVEY SOLUTIONS Further details on the subject are given are given below in chapter 3 4 Configuring the Layout of the Display Depth Monitor Settings Alert Settings Data Chart Settings Tow Panel Settings Message Settings Numeric Panel Settings Activating the Depth Monitor Settings will open the dialogue shown below The dialogue allows for
35. ack mode are found in chapter 3 3 Playback Mode below 3 2 2 2 1 Pause Play Like the other two playback buttons the Pause play button is only active when playback is activated Pressing the Pause button will make the progress of the playback pause At the same time the label will change to Play to indicate that the next time the button is pressed playback will resume The figure below shows the toolbar button in play mode left and in pause mode right Note that the present time is added to the label for information in both modes Pause Play 10 39 36 10 40 04 3 2 2 2 2 Play Speed When the Play Speed button is pressed a drop down menu will appear as shown below left From this menu it is possible to choose a playback speed ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 27 of 63 EIVA MARINE SURVEY SOLUTIONS Play Speed 1x Speed 0 25x Speed 0 50x Speed 1x Speed 2x Speed 3x Speed 4x Speed Jx Speed 10x Speed 20x Speed Figure 13 Selection menu from the Play Speed button left and Play Speed button right The default playback speed is always 1 when first initiating the playback mode This means that the progress of the playback is 1 1 with respect to the acquisition speed From the menu it is possible to change the play speed with the options as shown in the figure Once one of the speed options have been chosen the value selected will be added
36. anFish itself It can be listed as follows e Settings associated with the cable counter data e Settings for logging and visualization of the Fish data e Settings for logging of the dedicated oceanographic instrument data 5 2 1 Settings associated with the cable counter data Within NaviPac the cable counter information can be used to position the ScanFish and thereby to associate the various sensor information with a geographical reference The cable counter information must be interfaced by utilizing the Generic Cable Counter driver as a Dynamic Positioning System as shown in the figure below NaviPac Configuration File View Options Tools Help Setup File C EIWASNaviPac OB Gensetup DB Edited fl JB File header at Instruments l H A Surface navigation 1 3 A Gyro 2 Hig Motion sensor 2 E Doppler log 8897 e Q Dynamic positioning 1 pes a UDP 8297 127 0 0 1 E oF Generic Cable Counter ae Do ee Name Generic Cable Counter a Special input c a Data output 3 Offsets X 9 16 m Data acquisition Offsets Y Sm i Offsets Offsets Z om H Geodesy 1 0 Mode on Esai Objects d J aC Warm Stark Driver Details ie Location ScanFish String Prefix L Correct layback for SMG _ Edit layback constants O Valeport pay out MacArtney MKII and Esters PMO 2160 07 01 2013 14 37 49 Loading set up file C SEMVASNaviPacOB Gensetup
37. anel of the dialogue as shown below The winch option is used to perform active control of the winch from the ScanFish III Flight software 4 Misc Connection udp 10 10 1 10 Maximum limit 100 m Minimum limit 10m Type None ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 17 of 63 Page 18 of 63 EIVA MARINE SURVEY SOLUTIONS e Connection defines the connection to the winch The default value is udp 10 10 1 10 e Maximum limit is used to define the maximum amount of cable out that is allowed for the winch control to react e Minimum limit in turn is used to define the minimum amount of cable out that is needed for the winch control to react e Type allows the user to choose the winch driver None is developed at present The CableCounter properties look as shown below com com 1 9600 Polling Interval 1 000 ms Same port as Winch False Type MacArtney_MEI e Connection defines the connection to cable counter The default value is com com1 9600 but is likely to be changed in accordance with actual configurations Note that the connection supports UDP as well as RS232 serial connection types e Polling Interval gives the polling interval in ms e Same port as winch allows to use the combined Winch and Cable Counter True Otherwise the setting should be False e Type two cable counter drivers are developed a
38. ardware m Tow Panel Fish Set Bottom Margin 2 00 Roll Panel vax Set Fixed Depth 10 00 10 35 40 10 35 50 10 36 00 10 36 10 10 36 20 10 36 43 Set Fixed Height 5 00 Set Max Depth 16 00 Fish Altimeter Fish Depth Set Min Depth 4 00 0 I 0 4 Set Minimum Altimeter Depth 5 00 Set Parking Depth 5 00 CES Numeric Panel ax Al Fish Altimeter 14 90 Depth 10 91 Roll 0 04 Pitch 10 37 Heading 80 06 10 35 40 10 35 50 10 36 00 10 36 10 10 36 20 10 36 43 Ars REA Flight Status Figure 15 ScanFish III layout for undulation mode The layout is saved automatically and will be used the next time the ScanFish III Flight software is started To define and configure the layout the following panels are available given here in the sequence they appear in theScanFish III Flight menu e The Depth Monitor panel visualizes a graphical scrolling time series view of the ScanFish Ill depth colored curry in the example below the seabed depth light filled blue and the controls purple It is possible to export the contents into PDF or comma separated files from a menu that appears when right clicking on the Depth Monitor panel The view GUI properties of the Depth Monitor panel can be modified from the Settings Options GUI Settings Depth Monitor Setti
39. ayback mode A few exceptions from this general rule have been introduced though ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 29 of 63 Page 30 of 63 EIVA MARINE SURVEY SOLUTIONS lt is not possible to change the flight mode for obvious reasons e As a consequence of this no alterations can be made to the depth requirements to the different modes normally executed from the Tow Panel window e Setup options for the Fish and the Winch and Cablecounter cannot be changed e Setting for the logging cannot be changed 3 4 Configuring the Layout of the Display The display of the ScanFish III Flight software can be configured to meet the individual needs of the users The ScanFish III Flight main window consists of a number of dockable views that can be toggled on off using the View menu item as shown in the figure below fea Scan Fish Flight File View settings Dockable views Depth Monitor j t Rall Panel Pitch Panel Tow Panel Messages History Data Chart Alert View Numeric Panel The windows can float freely inside the ScanFish III Flight window They can be docked to the edges of the windows or they can float onto a secondary screen if one is present When docking of a window is possible when it is moved around at the edges or in the middle of the main window a set of arrows will appear The user must choose the appropriate arrow and leave the window t
40. cseesssssssseeeseeessseeeseeessseeseeeeseeeesees 51 5 1 The ScanFish Ill Flight Settings 0 0 0 ecccecceeeeseeeesseeeeeeeeeeseeeeeeeeeeeessseeaeeeeeeeeseaas 51 2 BINS ING Vi AG aS IN ea E sea ba eeeads oicseaderseaedenaaasceene 52 5 2 1 Settings associated with the cable counter data ccccccssseceeeessseeeeeeeaeeeeeees 52 5 2 2 Settings for logging of the dedicated oceanographic instrument data 54 529 Helmsmans WIG DIAY srasncinenessaioesse n nE E 61 5 24 Loggingof Data ctacersmentaaesnewsalnsetenauans sewss ncnmeugsnente cinerea eninsesieataneuniadmeeuadeneonetenianenie 62 ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 3 of 63 Page 4 of 63 EIVA MARINE SURVEY SOLUTIONS 1 Introduction The purpose of the present tutorial is to provide a guide to how the ScanFish III Flight and NaviPac software can be used together in an integrated solution This includes all aspects from installation to configuration as well as to the actual use when acquiring data in online flight mode The potential relationship to NaviScan and the SonarDisplay Software is described in detail elsewhere and will as such only be dealt with in the context of the present tutorial when this is considered relevant for the proper understanding of the ScanFish Ill Flight NaviPac relationship Likewise the relationship to magnetometer acquisition in NaviPac is described in the appropriate manuals and will therefore not b
41. cts 0 Warm Start AMT Dissolved Oxygen 17 i COM17 9600 N81 AMT Dissolved Oxygen Voltage in ASCII string from converter 24 01 2013 14 30 55 Stop Navigation 24 01 2013 14 30 56 Start Navigation 24 01 2013 15 38 40 Stop Navigation Stopped Status Auto Manual Save Figure 33 The AMT Dissolved Oxygen instrument configured in NaviPac Config EIVA MARINE SURVEY SOLUTIONS The particular instrument is interfaced via an AD conversion to a simple ASCII string NaviPac stores raw voltage oxygen percentage and concentration in the three channels that are available for a data acquisition instrument On the basis of the ASCII string received NaviPac will calculate the oxygen percentage and the concentration using the formulas and the calibration constant supplied by the manufacturer AMT Analysenmesstechnik GmbH In the online mode NaviPac will perform the conversions and make them available to the user in a variety of ways Figure 33 left below shows data in the Raw Data window The raw data coming in is shown in the upper part of the window whereas NaviPac s interpretation is visualized in the lower part of the window A more elegant way of showing the instrument data in NaviPac is given in the rightmost part of Figure 33 This window is termed the Data Acquisition window It facilitates alphanumerical a
42. e detailed here Within the tutorial the relevant tools within the two packages are presented and an impression of the work and dataflow when navigating and acquiring data with the software is thereby provided The Tutorial is divided into two main chapters related to the two software packages NaviPac and ScanFish III Flight NaviPac is the navigation and data acquisition software typically used for single beam applications whereas ScanFish III Flight is used to configure and to control as well as to give information about the status of the ScanFish III Remotely Operated Towed Vehicle ROTV Each of the chapters is subdivided into a general introduction and a presentation of the general tools that can be applied Being a tutorial and supplementary to the above the manual finally presents suggestions to methods and settings that may be used in connection with a typical NaviPac ScanFish III Flight assignment The part of the tutorial that introduces feasible methods for a data acquisition task is to be regarded a dedicated manual in which the description of the various phases Is given in the sequence that an actual data acquisition process is most likely to undertake The specific online settings supplied in some of these parts of the tutorial are given as inspiration to the user they might as such be relevant in connection with some projects and not applicable in connection with others The user is hence requested to consult the particular re
43. e when this is required Page 39 of 63 Page 40 of 63 EIVA MARINE SURVEY SOLUTIONS 4 NaviPac Data acquisition and Navigation This chapter gives a brief and general description on how to configure and to utilize the EIVA NaviPac data acquisition and navigation software The scope of the description encompasses features that are relevant in connection with a solution that has been integrated with the ScanFish III Flight software 4 1 General Introduction to NaviPac For a typical integrated NaviPac ScanFish III operation the use of NaviPac serves two objectives It is used for navigation of the vessel as well as of the ScanFish Ill and it is used to acquire and to log the data originating from the various ScanFish Ill sensors NaviPac is configured with the NaviPac Configuration program as visualized below in Figure 19 When installed NaviPac Configuration is available from a shortcut in the start menu A FA NaviPac Configuration File View Options Help Setup File C EIVA NaviPac DB Gensetup DB Edited m File header a Instruments Gs amp Surface navigation 2 10 its B GPs 2 A Gyro 2 i Motion sensor 2 COM2 9600 N81 7 Doppler log GPS 1 i Q Dynamic positioning 1 03m a Special input 1 32m fa Data output 7 12 89 m a Data acquisition Simulated A Offsets a Geodesy ayaa Na gt Projection UTM north Ellipsoid ED 50 maea O Datum shift WGS84 to ED5
44. ed generic programs to start automatically At the same time it is possible to define custom programs using the Custom program entry Note that the programs chosen in the dialogue together constitute a typical warm start setting for a ScanFish Ill based mission Warmstart of NaviPac programs Generic views Tools Position Mor Input Mon ATTU Mo RawData ViDataMon Object Mon Quality Control Spy F GPS Status LogData TMS RigMove Vi Helmsman V Online RigMon TMS Master RigCrawl TMS Slave Custom program rates Please note Programs in the warm start list will be shut down immediately upon stop navigation or restart navigation which may cause loss of settings and local information eg Waypoint created but not saved Cancel 4 1 3 Entering Online Mode Entering online mode can be accomplished as follows e Press the Manual button in the Icon bar The dialogue below left through which the user is presented with a list of available Surface Navigation Systems as well as of Remote UW Systems if available will appear E Navigation Systems amp Navigation Systems Available Surface Navigation Systems GPS1 NMEA GPS1 NMEA Selected Use as Combined Prioritized Remote U W Position Systems Dynamic Objects Available Surface Navigation Systems Remote UW Position Systems Dynamic Objects
45. ed to define the color by which the messages are written Note that the settings for the Warning and Alert Color can be defined similarly e The Message Background Color option is used to define the background color upon which the messages are written The settings for the Warning and Alert Background Color can be defined in a similar way The Numeric Panel settings are associated with the Numeric Panel window The properties window for the Message settings is shown below It appears that the only property available is associated with the Background Color that is used to define the overall background colour of the panel 4 Background Color C 0 0 0 0 3 2 2 The Toolbar The ScanFish IIl Flight Toolbar contains eight icons features see Figure 12 below The toolbar is always shown in the ScanFish III Flight window It cannot be disabled Some functions may be deactivated depending on the present status and or mode of the ScanFish Ill In the toolbar shown below the Connect and the Pre Flight Check icons are disabled because a connection has not been established to the ScanFish Ill at the time the screen dump was made Note that none of the functions available from the toolbar are accessible from any other entry in the software Connect Disconnect Pre Flight x Flight Mode P Parking Pause Play Speed gt Goto Check On Deck 08 39 51 1x Speed o Time Fi
46. elations and dataflow Once the physical network configurations are in place the software connections must be established The IP address of the ScanFish IIl unit must be configured using the menu item Settings Options Fish of the ScanFish IIl Flight software as shown in the figure below E Winch and CableCounter E Exporters http 10 10 103 13 Fish driver ScanFish3 E GUI Settings Reply Timeout 500 ms Retry attempts 1 Status Polling Interval 500 ms Fish connection The connection to the fish Default value http 10 10 103 44 where XX is the last 2 digits of the controller serial number Figure 8 The Options menu with focus on the Fish entry ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 11 of 63 EIVA MARINE SURVEY SOLUTIONS Once the settings are acceptable the user must press the Ok button To connect to the ScanFish the Connect icon of the Icon bar must now be activated As a consequence the ScanFish III Flight software will commence to connect to the ScanFish III When a connection has been established the user must follow the operating instructions on how to operate the ScanFish Ill including the Pre Flight Check and physical inspection before deployment into the water see chapter 3 2 2 1 3 Pre Flight Check for further details on the issue 3 1 2 The Display Layout The layout of the display of the ScanFish III Flight software can be configu
47. formation displayed at present it will constantly display Flight Status 3 3 Playback Mode As stated in chapter 3 2 1 1 The File Entry the ScanFish III Flight software automatically records all data from the ScanFish III during flight The ScanFish log files that have been recorded can be used to enter playback mode In this mode it is possible to show the situation as it was during flight acquisition The playback mode is initiated from the file menu menu item File Playback file Once this is selected the user is prompted for a file to perform the Playback on as shown below Note that the files recorded during flight have the extension sfl Open Organize New folder pes hil amp di Flight Data All modes nicely ie Recent Places Name Date modified Type oe _ 18 10 2012 sfl 18 10 2012 11 25 SFL File Documents al Music Pictures E Videos JE Computer 8 08 C lt 3 DVD RW Drive D c RECOVERY E WD File name Figure 14 Open dialogue associated with the playback mode The ScanFish Ill Flight software will immediately jump to the first record in the log file and commence the playback from here in a 1 1 speed Using the functions associated with the playback toolbar Pause Play Play Speed and Goto Time now become visible They can be used to control the playback In general terms however the functions available during flight mode are also available in pl
48. ged An example of such a so called multiple DAQ view is shown below in Figure 41 As it appears all channels associated with a data acquisition instrument can be visualized in a single view Cc fj DAQ 18271 0000 Vessel a E amp s Figure 41 Multiple DAQ view in the HD 5 2 4 Logging of Data The Logdata window is used to control the standard data logging within NaviPac The user can choose between logging in three different ASCII text formats Page 62 of 63 EIVA MARINE SURVEY SOLUTIONS e General format A general format that will contain all information including events and raw instrument data e Survey Format An XYZ ASCII record format to be read by the dedicated NaviPac interpreter in NaviEdit All positions depths and attitudes gyro roll pitch heave values are logged together with all relevant data acquisition data e Custom format Is a format that can be customized by the user on the basis of the configuration settings Generally speaking the Survey format is the format to be used when the desire is to log data that must be used for further processing and presentation within NaviEdit and further When the purpose is to log data that can readily be presented as it is the Custom format should be selected However in general terms the recommendation is to always log in all three formats A final comment regarding logging is associated with the possibilities offered by the Datamon functionality As
49. ground Color Warning Color Background Color Alert Color Background Color Note that the properties are divided into three headlines each linked to an alert status Ok Warning and Alert and each with a similar subdivision The subdivisions are e The Color option is used to define the color of the status with the captioned alert Status e The Background Color defines the color of the background when the alert status in question occurs The Data Chart settings are associated with the Data Chart panel Details on how to handle the panel can be found below in chapter 3 4 Configuring the Layout of the Display The properties window for the Data Chart settings is shown below ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 21 of 63 Page 22 of 63 EIVA MARINE SURVEY SOLUTIONS 4 Misc Background BackColor Co 255 255 255 4 Misc Depth Mode Fixed Background BackColor Lo 255 255 255 Grid Color E 128 128 128 Depth Mode Auta Maximum Depth 20 meter Grid Color 128 128 128 Minimum Depth O meter e The Background BackColor option is used to define the color of background of the Data Chart e The Depth Mode option is used to facilitate definition of the two depth modes Auto and Fixed Auto mode does not require any settings see above left whereas for the fixed mode the user must specify the maximum and minimum depth
50. gure 12 The ScanFish III Flight Toolbar The toolbar is divided in two separated by a vertical line see the figure above e Apart that hosts functions related to an online situation This part is placed to the left on the toolbar e In addition to these functions three functions are included that are related to the so called playback mode These icons features are residing to the far right on the toolbar 3 2 2 1 Online Toolbar Tools The online part of the toolbar hosts the following entries Connect Disconnect Pre Flight Check Flight Mode On Deck ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 23 of 63 Page 24 of 63 EIVA MARINE SURVEY SOLUTIONS e Parking 3 2 2 1 1 Connect The Connect button of the Online toolbar is used to establish a connection between the ScanFish IIl control unit and the ScanFish Ill When no connection is established the Connect button label is written with black letters see below left Once the connection to the ScanFish Ill is established the Connect button becomes inactive and the associated label is written with grey letters as shown below right Connect Connect The action associated with the button is similar to the action associated with the menu item File Connect that is described in chapter 3 2 1 1 The File Entry Before establishing the connection however the physical connections must be in place and the
51. hanumerical as well as in graphical time series based views This is shown in the figure below 3 Scan Fish Flight File View Log Flight Settings Help F Connect Fi Disconnect Fi on Pre ag RollPanel wx FlightMode Parking f Set Min Height 5 00 f Set Parking Depth 4 00 f SetMaxDepth 10 00 SetUndulateRate 0 50 PitchPanel eeeeeeeereeereceeeoeeeeeeeoeecueereeeeeoeeerereeeereeeeoeeereeeen i CA Fish MessagesHistory g X AletView NumericPanel Altimeter Depth Roll Pitch Heading Adc Flap Angle Port i Flap Angle Stbd Flap Command Port Flap Command Stbd Flight Status Parking Fi i ns Pd o ane Speed 10 37 56 vax NNER n 11 90 2 36 0 25 14 52 177 08 0 00 10 20 12 00 10 30 11 80 A X DataChart v 4 X oa 0 1 H Hh AE pT ee A AY A fe DS YA 10 37 10 10 37 20 10 37 30 10 37 40 10 37 50 Figure 5 Typical ScanFish III Flight user interface The ScanFish III Flight is finally used in a close interaction with NaviPac where the data originating from the payload sensors of the ScanFish is typically acquired and logged In some situations the ScanFish Ill is used to carry multibeam or sidescan sensors In such circumstances a relationship must be established between NaviPac and NaviScan with the latter being the software package where the acquisition of the sensor data will take place In a sidesca
52. he Fish Hardware Port Flap Status Status for a module in the fish hardware Stbd Flap Status Status for a module in the fish hardware Motion Sensor Status Status for a module in the fish hardware Temperature Sensor Status Status for a module in the fish hardware IO Module Status Status for a module in the fish hardware COCCCCCOOCE Battery Sensor Status Indicates if the battery sensor is functional Depth Sensor Status Status for a module in the fish hardware Altimeter Sensor Status Status for a module in the fish hardware Battery Status Gives warning if the Battery is in use Battery Sensor Status Indicates if the battery sensor is functional Depth Sensor Status Status for a module in the fish hardware Altimeter Sensor Status Status for a module in the fish hardware Battery Status Gives warning if the Battery is in use CCCCCCCCGCOG Figure 17 Alert View with and without alerts The Numeric Panel shows real time readings in alohanumerical of the different ScanFish III data measurements as shown below The sequence can be changed by right clicking in an entry and choosing Move Up or Move Down from the menu items as shown below right Note that the dialogue also allows for alteration of the text color Also observe that the panel shown is related to a situation where a 3D scanFish is connected In such a scenario the Side Flap Angle Port and Starboard labels
53. here The software will automatically position align and resize the window to match the surrounding windows In the example below the Roll panel will be placed below the Pitch panel Selecting the Left Right marker will place the panels side by side and selecting the Centre marker will put the panels in the same place but on different tabs Dragging a tab onto another position will turn the tab into a separate panel again Pitch EIVA MARINE SURVEY SOLUTIONS Below a typical example of a ScanFish III Flight layout is given a E Scan Fish Flight File View Settings o Connect B Disconnect hh ae be Flight Mode f Parking g Pause Play Speed Goto S Undulate Up amp 10 36 30 1x Speed D Time Depth Monitor X Pitch Panel v A X Messages History vax 10 35 55 Playback Info Command given Set Max Depth Value 16 00 10 35 55 Playback Info Command given Set Max Depth Value 16 00 p 10 35 55 Playback Info Command given Set Max Depth Value 16 00 10 35 54 Playback Info Command given Set Max Depth Value 16 00 10 35 54 Playback Info Command given Set Max Depth Value 16 00 vx Alert View 10 36 ew Siz a E 7 Connection to Cable Counter Status for connection to the Cable Counte Connection to Fish HW Status for connection to the Fish Hardware Port Flap Status Status for a module in the fish h
54. ht Check mode is a mode that the ScanFish III will automatically enter when powered up It includes a self test that if successful will commence directly into the On Deck flight mode for details on this mode the chapter 3 2 2 1 4 Flight Mode below supplies The automatic pre flight checks a o the following Check of the flap motor s Check of the depth sensor Check of the motion sensor Check of the temperature sensor Check of the IO module Check of the battery sensor In particular the user must check that both flaps are moving to their extreme positions up and down and back again to the initial position At the same time he must check that the depth sensor shows approximately 0 once the check has been completed Appropriate warnings will be given if any of the checks fail Note that it strongly recommended that these checks are supplemented by a thorough manual inspection of the scanFish Ill Details on this as well as of the automatic pre flight checks are given in the appropriate hardware manual 3 2 2 1 4 Flight Mode The ScanFish IIl can enter a series of different flight modes These are all accessible from the Flight Mode button of the Online toolbar Note that when the ScanFish III Flight software is started the mode is Unknown On Deck Surface Parking Fixed Depth Follow Seabed Undulate down Undulate Up ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13
55. in NaviPac 3 8 4 jia EIVA Choose which features of NaviPac 3 8 4 you want to install zs BURVEY SOLUT 8 Check the components you want to install and uncheck the components you don t want to install Click Next to continue Select the type of install Or select the optional NaviPac Navigation and Acquisition ee you wish to NaviPac Add ons j EJ 3rd Party Redistributables _ 3rd Party Add ons optional Figure 2 NaviPac installation dialogue with typical default components installation The Choose Components dialogue has four different predefined types that each includes different components The names are self explanatory e Complete Full components installation e Typical Basic components installation e Required Minimal components installation e Custom Page 6 of 63 EIVA MARINE SURVEY SOLUTIONS The components in turn are divided into four headlines e NaviPac Navigation and Acquisition e NaviPac Kernel NaviPac core modules and the Helmsman s Display modules e NaviPac demo setup database and data files the gensetup db file and data files geodesy definitions runlines waypoints and miscellaneous graphics files e NaviPac Add ons e NET modules includes the NaviPac NET modules such as ElVAStat ReportGenerator IODesigner etc e Scene Server embedded installer e Online 3D embedded installer e 3 Party Redistributables e Vis
56. ion is used to facilitate definition of the two depth modes Auto and Fixed Auto mode does not require any settings whereas for the fixed mode the user must specify the maximum and minimum depths as shown below EIVA MARINE SURVEY SOLUTIONS 4 Depth Depth Mode Fixed Minimum Depth O meter Maximum Depth 50 meter Further with a series of submenus to the Depth Monitor Settings it is possible to define the colour of the lines associated with Ship Bottom Fish Depth Fish Bottom and Fish Target These are all defined in accordance with what is shown below In the particular case the Line Fish Bottom properties are given 4 Misc Color E 116 251 165 Draw as Bottom Max Data Points Pen Size e The Color is defined along with what is described above in connection with the Grid Color e The Draw as Bottom option is a Boolean that allows the user to decide whether or not the line must be drawn as a bottom line with a fading effect e Max Data Points defines the amount of data points to be displayed simultaneously e Pen Size defines the size thickness of the line The default value is 2 pixels The Alert Settings allow for definitions associated with the Alert panel Details on how to handle the panel can be found below in chapter 3 4 Configuring the Layout of the Display The properties window for the alert settings is shown below 4 Ok Color Back
57. layp k Toolbar TOS reccccectsccsteicsasezaevevscvscssssesbocecteeieadsstbadseecteesaswsedosestee 27 eee TAS Main WINGOW nrapieisssi irra EEE OaE 28 32A DeSUS BA se e E AEN 29 33 Playback OCC 12 26issecdsecserscsecse2esszasatedeiasaesdseaianechteseteaitesededssatetsibentencdbeatstederanoteats 29 3 4 Configuring the Layout of the Display ccccccccssssscecceeseeeeeeseeeeeeeeseaeeaeeeeeeeeeeeaas 30 20 Te WOW FP nel eS rerne A E 38 4 NaviPac Data acquisition and Navigation c c eccscceeseeesseeeeeeeeeeeeeeeeenseeeseeeeneeeesens 40 4 1 General Introduction to NaviPac cccccccccceceeeeeeesaeeeseeeeeeeeeeeeeeeeeeeeesuaaaaaeseeeeeees 40 4 1 1 The Explorer and Properties panels ccccccsssseeccseseeeceeeeeeeseueeeeseseeessaasees 42 4 1 2 The Warms Start SettingS cccccccccsssccececcseessssseeeeeeeseseaaseeeeeeecsseeessseeeeessseaas 45 4 1 3 Entering Online Mode ccccccccccccccseeeeeeeecaeeeeeeeeeeeeeceeeeeeeeeeeessaeeeeeeessaaeeeeeeeas 46 Page 2 of 63 EIVA MARINE SURVEY SOLUTIONS 4 1 4 The NaviPac Online WindOW cccccccccccsssssssssssseeeeeeeeeeeeeeseesaaaaeesssseeeeeeeeeeeeeess 48 4 1 5 The Helmsman s Display WindOW ccccecccceeeeeeeeeeeeeeeeseneeesaueesseseesaeeeesaaees 49 4 1 6 The Datalog Window cccccccccccssscceeseeeeeceeeseeeseeeeeeeseeeesseaeeessaeeeeessaseeessaaeees 50 5 ScanFish Ill Flight amp NaviPac Integration c ccss
58. le size 53 067 kb 0 min 8 NaviPac Data 130102 20130102_145002_C NPD LogData SPE Survey NE logfile size 28 340 kb 0 min Custom logfile size 0 121 kb 0 min Status OK General logf C Eiva NaviPac Data 130102 20130102_ 145002 _G NPD Survey format NE logf C Eiva NaviPac Data 130102 20130102_ 145002 S NPD Custom logf 20130102 145002 C NPD P D 4001 2013 01 02 14 50 12 268 X 6 65 Y 16 53 H 5 13 LAT 0 00015 LON 1 48868 G 2013 01 02 14 50 12 264 Gyro 0 0000 CMG 0 0000 A 2013 01 02 14 50 12 264 R 0 1300 P 1 2300 H 0 8700 V 2013 01 02 14 50 12 258 S 0 0000 SMG 0 1615 D 1970 01 01 01 00 00 000 ch 3 d 0 0000 b 0 0000 d b 0 0000 E2 2013 01 02 14 50 04 046 9 Ready 02 January 2013 14 50 14 Figure 27 The NaviPac Logdata Window items The Logdata window with the various items shown in the figure above is used to control the data logging within NaviPac It can be used to configure the logging during logging it displays information of relevance to the logging but the window is first of all important because of the fact that no logging can take within NaviPac unless the Logdata window is opened Like any other online NaviPac window it can be opened manually from the Online window or it can be opened automatically when entering online mode through settings defined in the Warmstart settings that in turn are defined from NaviPac Configuration EIVA MARINE SURVEY SOLUTION
59. mall SBE survey boats to huge laybarge operations Installer NaviPac Version Number 3 8 4 Release Date 24 12 2012 RemoteHD Guidance Release Notes NaviScan version 8 5 0 Release Date 25 12 2012 NaviScan acquires data from all major sonars on the market including among other multibeam echosounders scanning and profiling sonars conventional side scan sonars pipe trackers etc Installer NaviScan Version Number 8 5 0 Release Date 25 12 2012 Release Notes ScanFish3 Flight version 1 0 0 0 20 Release Date 26 12 2012 The Flight Ill software is used to control and to monitor the EIVA ScanFish ROTV operations In that context the software serves several purposes It is used to control the flight of the ScanFish At the same time it facilitates meticulous monitoring of the flight by visualizing relevant parameters in alphanumerical as well as in graphical time series based views Flight Ill is finally used in a close interaction with NaviPac where the data originating from the payload sensors of the ScanFish is typically acquired and logged Installer ScanFish3 Flight Version Number 1 0 Release Date 26 12 2012 Release Notes Figure 1 EIVA Software Installer user interface By pressing the relevant Installer entries e g Installer NaviPac Version Number 3 8 4 the installation will commence All installers are controlled through the use of wizards that have been specifically designed
60. n 2 2 a Gyro 2 oi Motion sensor 2 7 Doppler lag A Dynamic positioning a Special input K s Data output 7 Figure 22 Explorer Panel Instruments headlines The Instrument headline in the Explorer panel is used to display and control the editing of all instruments included in the configuration Instruments are ordered in a predefined order relative to their type EIVA MARINE SURVEY SOLUTIONS e Surface navigation Any instrument used for surface navigation such as GPS or tracking system Gyro Gyro and compass for vessel and dynamic objects Motion sensor Roll pitch heave sensors for vessel and dynamic objects Doppler log Doppler velocity log for positioning improvement Dynamic positioning Positioning of remote or UW vehicles USBL LBL remote GPS tracking system telemetry etc Special input Dedicated drivers for time tagging waypoints targets etc Data output Output to external systems and instruments Data acquisition Echo sounders magnetometers etc Offsets User defined offset on vessels or dynamic objects The Instrument item can be used to add a new instruments to an already existing configuration in the following manner e Right click on the Instruments type in question in the Explorer Panel example Surface navigation and choose menu item Add new item 3O Instruments 4 4 Motion sensor 2 Doppler log 2 Dynamic positioning 4 Special input t Data output 7
61. n However the user is encouraged to spend ample time to find the optimum settings for the particular configuration e Description Is a descriptive name that by default is empty e Kalman Filter Should be disabled since it uses all available information to improve the position calculations This is not relevant in the present context since normally no DVL is available and the motion gyro is most often not of a quality that justifies this kind of usage in the NaviPac environment For the remaining items the settings should be the default ones as these are shown in the figure 5 2 2 Settings for logging of the dedicated oceanographic instrument data Data originating from the dedicated oceanographic instruments installed on the ScanFish III can be logged in NaviPac as ordinary sensors A wide variety of sensors are available in the NaviPac sensor driver library so the following two examples have only been included in order to illustrate some representative configuration scenarios A typical ScanFish Ill instrument is interfaced into NaviPac as a Data Acquisition instrument This is initiated by right clicking in the Data acquisition entry of the Explorer panel of NaviPac Configuration and choosing the menu item Add new item The dialogue below appears prompting the user to choose the data type in question In the present context the type is Science and Oceanographic as shown in the figure however in principle all da
62. n scenario depth information is furthermore sent from the ScanFish III Flight software to NaviScan Note that the relationship between NaviPac and ScanFish III Flight will in those situations be similar to what is described in the present context ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 9 of 63 EIVA MARINE SURVEY SOLUTIONS 3 1 Getting Started When ScanFish Ill Flight software is started the user interface will appear empty as shown below In order to configure the software a connection to the ScanFish III must first be established When this has been accomplished the layout of the display can also be configured Scan Fish Flight cja File View Settings Connect Disconnect Pre Flight xX Flight Mode P Parking Check Unknown Flight Status Figure 6 ScanFish III Flight at startup 3 1 1 Connecting to the ScanFish Ill Initially the ScanFish II must be connected to the ScanFish III Flight control unit topside rack unit and the ScanFish III Flight software must in turn be executed on a computer connected to the control unit This is visualized to the right in the figure below Page 10 of 63 EIVA MARINE SURVEY SOLUTIONS EIVA Software A Payload Sensors Cable Counter Sensor Data Helmsman s Display ScanFish Position X L i ScanFish3 Flight Online3D NaviPac ScanFish3 Flight Online Relationship Figure 7 ScanFish Ill r
63. ngs menu item ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 31 of 63 Page 32 of 63 EIVA MARINE SURVEY SOLUTIONS Depth Monitor 10 35 39 10 35 49 10 35 59 10 36 09 10 36 19 The Roll panel shows a live 3D model of the ScanFish III as well as a numerical roll value degrees This is shown in the figure below left The perimeter of the circle in which the 3D model is shown is subdivided into 360 degrees in 10 degree step in the example The red marking here indicates the actual reading of the roll value When the size of the view is made adequately small the graphical presentation will disappear and only the numeric value remains see below middle The Roll panel will finally be given a red background in case of exaggerated behavior e g with a fish upside down below right Roll Panel Roll Panel Roll Panel Roll 0 06 The Pitch panel is similar to the Roll panel It shows a live 3D model of the ScanFish Ill as well as a numerical pitch value in degrees as shown in the figure below The perimeter of the circle in which the 3D model is shown is subdivided into 360 degrees in appropriate steps for the present resolution 5 degrees in the example The red marking here indicates the actual reading of the pitch value EIVA MARINE SURVEY SOLUTIONS When the size of the view is made adequately small the graphical presentation will disappear and only
64. nputs 5 Same size False l Show bad Varianc False gt Oxygen Concentratia Show Grid True Show Units True Tile Color L White gt Oxygen Percentage ox con Value Color L White Input 1 Decimals 1 Name Temperature Unit SBE49 CTD CTD From NaviPac CTD Soundvelocity Name Unit Input 3 Decimals Name Unit Input 4 Soundvelocity Decimals Name Unit Input 5 Decimals 1 Name Soundvelocity Unit m s LineSplitter _ CTD Generic Sensor gt Oxygen Voltage Temperature Display Name Name shown on box empty for default value gt Soundvelocity Figure 39 Configuration of DataMon related to Figure 38 5 2 3 Helmsman s Display Within the Helmsman s Display a number of tools can be used to display the ScanFish related information This is visualized in the figure below in the red rectangle For each of the items to be shown a dynamic object view must be defined ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 61 of 63 EIVA MARINE SURVEY SOLUTIONS o Helmsman s Display TMS xml File Options View Window Help HOMO oOo 56 09 46 N 56 09 44 N N6224800 100 ES MASTER E 577199 92m N 6224823 05m 118 98m 126 68 Figure 40 Data acquisition instrument readings shown in the Helmsman s Display In future versions of NaviPac a more flexible way of visualizing data acquisition instruments is envisa
65. object must be defined as shown below NaviPac Configuration File View Options Tools Help Setup File C EIWASNaviPac OB Gensetup DB Edited E P File header ID 1 E I Instruments Name ScanFish i A Surface navigation 1 5 F i a Gyro 1 Gain o i Octans gyro Ixseal Description ScanFish Object H Motion sensor 1 Position limit 999 S F Doppler log Kalman Filter d a i Dynamic positioning 1 ee Kalman Filter Name i Special input a Data output 3 Expected Acceleration 0 m s 2 te a ns Start 07 01 2013 14 37 49 Loading set up file C SETVASN avi P acD E SGensetup DB Saving set up file CAE WASN aviPac DB Gensetup 0B Stopped Ey Status Auto Manual Figure 29 Definition of the ScanFish object ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 53 of 63 Page 54 of 63 EIVA MARINE SURVEY SOLUTIONS Comments to the primary headlines of the object configuration in the figure above are as follows e Name Name of the object in question ScanFish e Gain Setting for the exponential filter used by NaviPac to calculate the SNG and CMG of the object The gain value defines the smoothness of the filter with O used to show raw observations and 1 being highly smoothed data Though a parameter of between 0 8 and 1 gives the best results under normal conditions values of closer to 0 could be used in the present context because of the nature of the position calculatio
66. quirements of his specific project in order to define precise and dedicated parameters The degree of detail in the various chapters of the tutorial is furthermore intended to reflect the particular requirements of such a typical data acquisition task It is important to stress that the tutorial is not to be regarded a thorough and detailed user s manual For this additional more general and detailed information on data acquisition is available in the help features and manuals supplied with the various programs that constitute the EIVA online suite as well as in the EIVA Training and Documentation Site EIVA MARINE SURVEY SOLUTIONS 2 Installation of the Software The ScanFish Ill Flight as well as the NaviPac software and indeed any other package in the EIVA NaviSuite can be installed using the standard EIVA installation DVD When inserted into the DVD drive of the computer on which the packages must be installed the HTML based EIVA Software Installer site will appear as shown in the figure below 2 AA E GAEIVA_CD Eivalnstaller htm Prox ie Eiva Software Installer x lool V VISIT EIVA COM MARINE SURVEY SOLUTIONS Software Installer NaviPac version 3 8 4 Release Date 24 12 2012 NaviPac provides navigation information and positioning calculations in support of any marine survey project as well as offshore engineering and construction operations NaviPac is considered the workhorse onboard any vessel from s
67. red to meet the individual needs of the users The ScanFish II Flight main window consists of a number of dockable views panels that can be toggled on off by the user by using the menu item View Dockable views The windows can float freely inside the ScanFish III Flight window They can be docked to the edges of the windows or they can float onto a secondary screen if one is present Below a typical example of a ScanFish III Flight layout is given r scan Fish Flight boja File View Settings Connect Disconnect Pre Hight x Flight Mode Parking Pause Play Speed pos Check Undulate Up 10 35 53 1x Speed J Depth Monitor vO X Messages History vox sf 08 22 27 Playback info Command giver Sta 08 22 14 Playback Info New Setup loaded A Fish s a 1 m Z Altimeter 18 40 12 p es es rs T Depth 7 71 ta Adc 0 00 14 5 TargetDepth 4 00 9x 16 Roll 0 18 17 Pitch 10 22 18 Heading 93 17 19 Flap Angle Port 13 10 20 a Flap Angle Stbd 12 60 22 Flap Command Port 13 00 23 Flap Command Stbd 12 50 24 25 26 Alert View 7ax 27 Connection to Cable Counter Sta 9x 10 35 25 10 35 30 10 35 35 10 35 40 10 35 45 10 35 50 N Fish NS Connection to Fish HW Status for Set Bottom Margin 2 00 Set Fixed Depth 10 00 oY Port Flap Status Status for a mod Set Fixed Height 5 00 SS Set Max Depth 1200 oY Stbd Flap Status Status for a moc Set Min Depth 400 o
68. ription The minimum depth in meters from the surface the ScanFish III will go to when rising in Undulation mode upper limit Use this to set a minimum depth for when the altimeter will be used This is useful if the surface water has a lot of turbulence Speed at which the undulation is performed measured in climb descent rate in m s This entry is only available when a ScanFish III 3D is interfaced A negative value will make the Scanfish move to port a positive makes it move to the starboard side The command is controlled manually via a slider bar The user can also enter values manually in the numeric field The depth in meters from the surface that the ScanFish III will go to when the Parking mode is entered by pressing the Parking icon in the main flight window ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 EIVA MARINE SURVEY SOLUTIONS Recommended setting Observe that steep fast climb descent rates will generate more drag and that the ScanFish III can generate considerable pull values if ordered to climb vertically The user must observe the consequences of the flap command in terms of lateral movements and update the flap command setting accordingly The parking depth should be higher than the overall depth in the area of sailing A parking depth of O at the surface is not recommended since this will make it difficult for the ScanFish III to div
69. s as shown above right e The Grid Color option facilitates definition of the color of the grid of the Depth Monitor Colours can be changed along with what is defined above in connection with the Depth Monitor Settings The Tow Panel settings are associated with the Tow Panel window The properties window for the Data Chart settings is shown below 4 Background Color 4 Misc Touch Size e The Background BackColor option is used to define the color of background of the Tow Panel e The Touch Size option is used to define the size of the text field after an item has been selected for editing This is shown below prior to and after editing left and during editing right Set Fixed Height set Fixed Height The Message settings are associated with the Messages History window The properties window for the Message settings is shown below The properties are subdivided into 4 headlines one for the overall background and three for each of the three message types Message Warning and Alert 4 Background Color C 0 0 0 0 4 Message Color Mi 0 0 0 Background Color C 0 255 255 255 Warning Color 255 69 0 Background Color C 0 255 255 255 Alert E 0 0 0 E 255 0 0 e The Background Color option is used to define the overall color of the background of the Message History Panel EIVA MARINE SURVEY SOLUTIONS e The Message Color option is us
70. s well as graphical presentation of data acquisition instrument data The window is available in present and older versions of NaviPac but may be discontinued in future versions E NaviPac Rawdata Communication Parameters Port 17 i v Baudrate 9600 Data bits 8 Stopbits 1 Parity none Bytes pr second 13 1246 LJ Raw Data r 2 i z faal Dataacq 1 16666667 lt 0D gt lt 04 gt lt 00 gt 1 33333333 lt 0D gt lt 04 gt lt 00 gt File Edit View Options Window Help 1 50000000 lt 0D gt lt 04 gt lt 00 gt 1 66666667 lt 0D gt lt 04 gt lt 00 gt j A 1 83333333 lt 0D gt lt 04 gt lt 00 gt 2 00000000 lt 0D gt lt 04 gt lt 00 gt 2 16666667 lt 0D gt lt 04 gt lt 00 gt 2 33333333 lt 0D gt lt 04 gt lt 00 gt 2 50000000 lt 00 gt lt 04 gt lt 00 gt 2 66666667 lt 0D gt lt 04 gt lt 00 gt Interpreted data Instrument AMT Dissolved Oxygen l 7 E Am Dissolved 0 o E Expected format Voltage in ASCII string from converter String filter N Use string filter Data 1 0 056 Data 2 0 383 Data 3 2 667 Bathy 0 000 Figure 34 Raw data window left and Data acquisition window right EE AMT Dissolved O gt 6 200 00 sec 100 00 sec Vo t 88 714 sec 0 678 0 E NUM 2 i The generic window below the DataMon window is available as of version 3 8 4 of NaviPac It is thought to be the succe
71. ssor of the Data Acquisition window It offers the user a much higher degree of freedom and flexibility when it comes to designing the visualisations windows The configuration of the window Is visualized below in Figure 36 ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 57 of 63 Page 58 of 63 EIVA MARINE SURVEY SOLUTIONS E DataMon Right click here to access configuration Graph Window Ox c Figure 35 The DataMon window with AMT data Oxygen Concentration 0 1 43 Oxygen Percentage 0 979 Oxygen Voltage 3 167 a g DataMon 0 File Add Help Dn ez Z Configuration 4 Misc Select brain NaviPac Sensor Type DataAcquisition Navi aviPac ASCII Window Select sensor AMT Dissolved Oxygen AMT Dissolved Oxyg Graph window Display Name AMT Dissolved Oxygen gt Oxygen Concentratia Oxygen Percentage Ox con gt Oxygen Voltage Select brain List of available brain components Figure 36 Configuration of the DataMon window a NaviPac Configuration EIVA MARINE SURVEY SOLUTIONS File View Options Tools Help Setup File C AEIVAANAVIPAC DESGENSETUP DB oA File header a Instruments we Surface navigation 2 11 AS Gyro 7 ay Oe Motion sensor 7 H 7 Doppler log 1 H 9 Dynamic positioning 2 H 4 Special input a Data output 4 amp Data acquisition 2 E P AMT Dissolved
72. t present MacArtney_MkIl default and MacArtney_Edgetech Whereas the MacArtney_MkKII has the following format L d d m rS d d m m r Example L 34 00m lt CR gt S 12 34m m lt CR gt the MacArtney_Edgetech format is slightly simpler L d d m r Example L384 00m lt CR gt The Exporters entry is subdivided in two NaviScan Export and NaviPac Export When highlighting the NaviScan Export option the properties will appear in the right hand panel of the dialogue as shown below The output is used in NaviScan as a bathy sensor Here it must be defined using the PSA900 driver 4 Misc Enable Export True NaviScan connection udp 127 0 0 1 8899 e Enable Export is a Boolean When True export to NaviScan of the PSA900 data string is enabled The format of the output is D lt depth gt T00 00 R lt altimeter gt r n Example D151 15 T00 00 R16 16 lt CR gt lt LF gt e When enabled the NaviScan connection must be defined The default value is udp 127 0 0 1 8899 If NaviScan and ScanFish III Flight are executed on different computers the IP address of the NaviScan computer must be defined here Note that the exporter supports UDP as well as RS2382 serial connection types EIVA MARINE SURVEY SOLUTIONS The NaviPac Connection properties look as shown below It allows for the export of fish data as well as for sharing of cable counter information 4 Misc Cable Counter Data
73. ta acquisition instruments as well as other instrument types could be interfaced and logged EIVA MARINE SURVEY SOLUTIONS Data acquisition selection Select data type of the wanted input type NONE for manual search between all available NONE Echosounder and altimeter Bathy and depth sensor O Magnetometer Pipe and Cable Tracker Expanded data acquisition 20 channels Figure 30 The Data Acquisition initial dialogue type selection E Other When pressing the Next button the Add new instrument dialogue associated with the previous selection will appear as shown below in Figure 31 left The dialogue lists ina drop down list the drivers and thereby the instruments supported When the appropriate selection has been done the window will appear as shown in the figure right Add new instrument Voltage in AS AMT Dissolved Oxygen Current from ADI Log CYCLOPS SccanFish Mame Hydrol COZ NMEA Wind WW Processed NMEA Wind Sensor Mi SAlv204 D55 SAlv204 PTC SBE49 CTO SBE49 CTD2 ScanFish Data Seabird Pressure Triaxus Data Turner CE Cyclops User defined input 1 User defined input 2 User defined input 3 Add new instrument Voltage in ASCII string from converter User defined input 4 User defined input 5 Valeport Current Meter Name AMT Dissolved Oxygen Valeport Current Meter Process ValePort Proc 1 ValePort Proc 2 ValePort Raw 1 Cancel
74. the numeric value remains Pitch Panel e The Tow panel serves a dual purpose By default it will visualize the present basic towing related settings of the ScanFish Ill Bottom margin Fixed depth Fixed height Maximum depth Minimum depth Minimum altimeter depth Parking depth Sideway flap command only visible available in case of a 3D ScanFish Undulate rate This is shown in the figure below left These settings can be changed during flight by clicking in the desired field As a consequence of this the field which will increase in size and a button that facilitates alteration of the values will appear This is shown in the figure below right Once the settings have been changed and the user clicks elsewhere the settings will apply Further details on the Tow panel settings are given in chapter3 5 The Tow Panel Settings below Tow Panel Al Fish Set Bottom Margin Set Fixed Depth Set Fixed Height Set Max Depth Set Min Depth Set Parking Depth Set Undulate Rate Set Minimum Altimeter Depth 5 Tow Panel fy Al Fish Set Bottom Margin Set Fixed Depth Set Fixed Height Set Max Depth Set Min Depth Set Minimum Altimeter Depth 5 Set Parking Depth Set Undulate Rate ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 33 of 63 EIVA MARINE SURVEY SOLUTIONS e The Messages History panel contains status and action messages
75. to that however the user is prompted for a file to perform the Playback on The ScanFish IIl Flight software will automatically record all data from the ScanFish Ill during flight and these files with extension sfl are used for the playback Details on the playback mode are given in chapter 3 3 Playback Mode below e Unpack Log File will extract the compressed log files extension sfl to an ASCII text file that can be used for error detection Observe that the relationship between the file sizes is approximately 1 50 During extraction a progress bar is shown below left and when extraction is completed an information window will appear below right 53 ScanFish3Flight Done Extracting data jel Oo Unpacking done G EIVA Projects EdgeTech Tutorials Flight Data All modes nicely 18 10 2012 tt e Connect will start the connection process between the software and the ScanFish Ill in accordance with the settings defined in Options Fish Fish Connection see Page 14 of 63 EIVA MARINE SURVEY SOLUTIONS chapter 3 1 1 Connecting to the ScanFish III for further details Note that the Connect menu item is only active when no connection has been established e Disconnect will disconnect the software from the ScanFish Ill The menu item is only active when a connection has been established or when the ScanFish III Flight software is executed in Playback mode e
76. ual Studio 2005 e Visual Studio 2008 e Visual Studio 2010 e Net Framework 4 0 Full e SAP Crystal Reports 2010 Runtime Engine for NET Framework 4 e 3 Party Add ons e Jeppesen C Map s CM93 v3 ECDIS Kernel e Seven C s EC2007 ECDIS Kernel Runtime Environment The installation of the NaviPac kernel also includes the installation of the driver for the WIBU key software protection in the version that is relevant for the operating system in question 32 or 64 bit versions In the vast majority of situations the default typical type will suffice This is indeed the case for a NaviPac Flight III scenario Finally note that it is strongly recommended to install NaviPac in the default location C EIVA NaviPac 2 2 Installation of NaviScan When installing NaviScan the user is prompted to install SonarDisplay with NaviScan as shown below In situations where the ScanFish Ill is used to carry a sidescan sonar the sonar Display program plays an important role and should consequenily be installed together with NaviScan In multibeam based scenarios this is not required When installing it is once again recommended to use the default location for the installation C EIVA NaviScan ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 7 of 63 EIVA MARINE SURVEY SOLUTIONS NaviScan Setup a Geli fr EIVA Choose which features of NaviScan you want to install A MARINE SURVEY SOLUTIONS
77. ult the panel is empty below left however when the different components are selected the panel will become populated as shown below right Data Chart Data Chart 10 35 10 10 35 20 Figure 16 Data Chart at start left and when populated right Page 34 of 63 The items available for display can be toggled on and off from the menu that appear when right clicking in the panel The items available are in sequence Fish Adc When selected this will display the ADC of the fish Fish Altimeter Displays the altitude of the fish Fish Depth Displays the depth of the fish EIVA MARINE SURVEY SOLUTIONS Fish Flap Angle port and starboard Displays the flap angles for port and starboard in two different graphs Side Flap Angle port and starboard Displays the flap angles for port and starboard in two different graphs Selection only available in case of a 3D ScanFish being present Fish Flap Command port and starboard Displays the flap commands sent to the fish Fish Heading Pitch and Roll Will display in three different graphs the heading pitch and roll of the fish Fish Target Depth Will display the target depth as defined via the Tow Panel The Data Chart menu finally allows the user to dump the present Data Chart to a PDF file see below Similarly the contents of the Data Chart can be exported to a CSV file that will allow for further investigations
78. viPac Online Window items 4 1 5 The Helmsman s Display Window The Helmsman s Display window used for line planning navigation steering control vessel tracking logging control etc is another important online generic window in NaviPac It can be used to graphically as well as alohanumerically show the status of the NaviPac system see Figure 26 below As such it is regarded an indispensable tool for the Helmsman as well as for the surveyor user Helmsman s Display Larsxmi 288 OG Bobs 0000 be ee eet eee tte ee HHHH HHH ee eee eet gt z5 z lt gt z z Ea 5 Aarhus transit 001 001 0003 ROV ae ee N NeXT NEXT STO mt O lt gt at 8 gt A lt at gt 5 lt gt a Cursor View L R Indicator foe aa Scale 5120 gt CMG j Dynamic Object View Range Bearing View Runline Control View RASTERI E 57644253m N6225287 75m 48369m 1732 G 20120519 18470 NAOn Status Bar Figure 26 The Helmsman s Display Window items ScanFish Ill Flight amp NaviPac Manual_new docx Last update 13 6 2013 Page 49 of 63 Page 50 of 63 EIVA MARINE SURVEY SOLUTIONS 4 1 6 The Datalog Window Logfile Information Bar File Edit View Options Help O bow Main Menu 1 GE Ge A 22 Att Speed 11 Raw 275 Depth 22 Mode All 0 00 Pos 143 Gyro 22 Logging Toolbar Free Space 29 10 GB 29798 94 MB 30514112 00 KB 31246450688 Bytes General logfi
79. w Data Acquisition Window The Online window that is shown below is used for a number of things as indicated The alarms and messages window is used to display alarms and messages e From the main menu as well as through the use of the various toolbar tools it is possible to open the other online generic views e The navigation buttons facilitate toggling between the two navigation modes combined and prioritized e The Information Bar shows the actual position of the vessel as well as the overall status of the NaviPac system The latter is indicated with a traffic light green indicates all is OK yellow and red indicate problems that should be attended Page 48 of 63 EIVA MARINE SURVEY SOLUTIONS o NaviPac online Main Menu rie dit View Navigation Calibration Calculate Events Options Help Information Bar Navigation Buttons BBOHBSEBEBOE 6B 6GEGB8 ro T 0 00 Reference Position 576098 53 6224398 87 DOP 3 41 Unit metric Combined GPSHPERIM a GPS2 SEC Saved 2 GPS 0 Range Bearing total 4 LOPs Alarms Saved 7 additional systems Total saved 11 LOPs Saved 0 objects Changes made to OnlineDB Alarms amp messages Sending ChangeLOPSelection mess to keme l GPS Time Control 500 Freq 30 E 19 05 2012 13 27 33 Alarm Info GPS differential 4000 19 05 2012 13 27 33 Alarm into GPS differential 4001 For Help press Fl eee Status Bar Figure 25 The Na

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