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DSTO-GD-0372 PR

1. Figure 71 An example of the Target window in SonarPro In this example the Target window is displaying the characteristics of an old chain located beneath the Sydney harbour Bridge 9 3 7 Survey Lines As outlined earlier SonarPro unlike ISIS does have the capability to construct survey lines These survey lines are plotted in the Navigation Window as a layer on top of any nautical charts that are being used When data is being collected the coverage area of the sidescan sonar as well as the locations of the towfish are also plotted in the Navigation Window This ability of SonarPro to illustrate the towfish coverage on top of survey lines and nautical charts is a very helpful tool To set up survey lines in the Navigation Window click on the survey route icon E from the Main Window or the Navigation tool bar when sidescan sonar data is being displayed or saved to disk When this happens the Survey Route setup dialogue box is spawned Figure 72 shows this dialogue box 97 DSTO GD 0372 mary Erir E ta Ling beeing 150 degrees TRUE Mumbi 10 OF funky manor number A Moieaeeiel Coe WaPo wT ATI TR OF EE fiy Lerghade reac aed fu Figure 72 The survey route set up dialogue box used in SonarPro To set up survey lines the operator needs to first establish the origin of the survey route This can be accomplished by typing it into the dialogue box checking Use current trackpoint which will use the cu
2. In Isis provision is made to specify the position of the fairlead relative to the GPS antenna and to also calculate the layback of the sonar relative to the fairlead Isis will take into account Layback only when data is being acquired Isis cannot be used to alter incorrect layback values in data files already collected Although there is a provision in Isis to take into account the displacement of a sonar from the GPS antenna and this approach can be used with bowmounted sonars by using negative laybacks TEI does not recommend this approach They recommend the GPS equipment be set up to output position at the bowmount location and not where the antenna is located Refer to the GPS manuals on how to set up the GPS equipment this way To set up Isis so it calculates the layback of the sonar from a fairlead as well as accounting for the position of a fairlead from the GPS antenna click on View Layback This will make the Layback Correction dialogue box be spawned see Figure 60 In this window there are two options for specifying the location of the sonar Either a responder is placed on the sonar and a pinger is attached to the boat and Isis is DSTO GD 0372 informed via NMEA strings where the sonar is preciously This approach is very accurate although it has been rarely applied successfully at DSTO It is believed this limited success was due to the turbulence low signal to noise ratio of the survey vessel Another drawback of this ap
3. 34 The GPS data sent to the TPU is comprised of two strings and the gyro data of one string The GPS data is made up of the two strings GGA and VTG although the string GGA could be replaced with the string GGL with Klein stating that the single string RMC could be used instead of GGA and VTG The gyro data is made up of the single string HDT The format of these strings is outlined below GGA Global Positioning System Fix Data GPGGA hhmmss ss lL ILN yyyyy yvy W x xx x x x x M x x M x x xxxx hh hhmmss ss UTC of position 1111 11 N latitude of position vyyyy yy W Longitude of position x GPS Quality indicator U no fix 1 GPS fix 2 Differential GPS fix xx number of satellites in use x x horizontal dilution of precision x x Antenna altitude above mean sea level M units of antenna altitude meters x x Geoidal separation M units of geoidal separation meters x x Age of Differential GPS data seconds xxxx Differential reference station ID GLL Geographic Position latitude Longitude GPGLL II ILa yyyyy yy a hhmmss ss A 1111 11 Latitude of position a Nors yyyyy yy Longitude of position a E or W hhmmss ss UTC of position A status A valid data RMC Recommended Minimum Specific GPS TRANSIT Data GPRMC hhmmss ss A MIILN yyyyy vyy W x x x x ddmmyy x x W hh hhmmss ss Universal Time Co ordinate of position fix hourminsec A Data Status V navigation receiver warning 1111 11 N Latitude of posi
4. 4 2 Altering TPU Setup The procedure used to interrogate and if necessary alter the setup of the TPU is very similar to the procedure used to view the TPU s boot up sequence When it is desirable to interrogate and if needed alter the settings of the TPU then instead of viewing the TPU s boot sequence the approach needed is to stop the TPU from successfully booting This is because the TPU is set up so that if it is either stopped from booting or cannot boot the prompt VxWorks Boot appears in the terminal emulation program and the TPU is placed in edit mode ready for its settings to be changed The TPU can be stopped from booting by simply hitting any key when the message Press any key to stop auto boot appears in the terminal emulation program or the TPU will be placed in edit mode if it cannot download its operating system file vxworks When the prompt Vxworks Boot appears the setup of the TPU and how to alter it can be displayed by typing c and hitting the enter key Hit Enter to move the cursor through the various fields To change a field type in the new value and hit enter When you have seen all the options you will again see the VxWorks Boot prompt Type 0 then enter to resume booting or type c then enter to access the settings again When you have finished viewing and changing settings and have typed 0 and hit enter the TPU will continue booting If everything is s
5. Australian Government Department of Defence Defence Science and Technology Organisation Setup and Troubleshooting Procedures for the Klein 5500 Sidescan Sonar Colin Andrew and Amy Young Maritime Operations Division Systems Sciences Laboratory DSTO GD 0372 ABSTRACT This document outlines in detail all facets associated with the set up and usage of the Klein 5500 sidescan sonar In particular this document outlines 1 the different types of hardware that are required how they need to be set up and networked 2 how to set up and use the acquisiton software packages Isis and SonarPro and 3 how to detect analyse and troubleshoot incorrect set up and malfunctions in the hardware and software RELEASE LIMITATION Approved for public release Published by DSTO Systems Sciences Laboratory PO Box 4331 Melbourne Victoria 3001 Australia Telephone 03 9626 7000 Fax 03 9626 7999 Commonwealth of Australia 2003 AR 012 851 November 2003 APPROVED FOR PUBLIC RELEASE Setup and Troubleshooting Procedures for the Klein 5500 Sidescan Sonar Executive Summary Setting up the Klein 5500 sidescan sonar involves numerous steps and techniques that a new operator may not know and which may be daunting and appear overwhelming This document was borne from two stimulations 1 the need to increase the rate at which new operators learn how to set up and use the Klein 5500 sidescan sonar and 2 to illustrate the possible
6. R _ r Hg Towfish height above bottom R Slant range to target Rp Horizontal range Figure 11 A schematic diagram showing how the horizontal distance of a target from the nadir of the sonar is calculated Taken from Klein 1985 DSTO GD 0372 SEA SURFACE Target height dpeerhic phedor gmi h TewTink baigh aber oda Fieni renga le larp gt Sheet resp la pad af pb Figure 12 A schematic diagram of a sidescan s across track geometry showing how a target s height above the seafloor is calculated Taken from Klein 1985 Sidescan sonars can be used quite successfully to infer sediment boundaries Figure 13 shows sidescan sonar data gathered at Middle Head in Sydney Harbour The red line indicates the shoreline and a rocky outcrop can be seen protruding out from Middle Head Also clearly evident are two strong sediment boundaries one between the rocky outcrop and soft sediment probably sand to the northeast of it with a second boundary to the north between two types of sediment one harder with a different composition than the other and which runs out from the shoreline in the bottom left of the figure Figure 13 An example of sidescan sonar data collected at Middle Head Sydney Harbour showing differing sediment types 15 DSTO GD 0372 16 Due to spherical spreading absorption and scattering there is an upper limit on the swath width that can be employed by a sidescan sonar whilst ma
7. Figure 70 shows this dialogue box in detail Then the operator can use the compass inside the towfish to determine the towfish orientation by activating the Use towfish heading in point calculations preference or can use the 4 The course made good is the orientation or bearing of the track mapped out by changes in the location of the GPS antenna This value is sometimes not the same as the output from the internal towfish compass due to tidal currents causing the sonar platform to crab 95 DSTO GD 0372 96 Ml course made good by activating the Use ship heading in point calculations preference i SonearPro User Preferences Genma Preferences Lompatt Preleiencal Tangas Predame Toti Hesi sr magnetic der ralion easalion in dera mar hearing Use meih compe inagee o hauira Dordt Had Usage Uis bant Peedi r port calulshora Une hp keai n pon calar Figure 70 The SonarPro User Preferences dialogue box with the Compass Preferences activated This feature of SonarPro version 6 2 permitting the operator to alter how the towfish heading is calculated has not been available in earlier versions of SonarPro and unfortunately as yet SonarPro does not accept any input from a gyro 9 3 6 Target Management When data is being collected or played back play back mode will be outlined in section 8 2 the operator can double click in the waterfall display to mark the location of mines mine like objects or objects of
8. Lastly but by no means least common mistakes that can be made when setting up the acquisition computer are explained together with problems that can occur with the TPU Error messages that have been observed with the acquisition software packages Isis and SonarPro are also highlighted and advice given on how to circumvent them DSTO GD 0372 11 References Bell J M Chantler M J and T Wittig 1999 Sidescan Sonar a directional filter of seabed texture IEE Proceedings Radar Sonar and Navigation 146 1 pp 65 72 Blondel P and Murton B 1997 Handbook of Seafloor Sonar Imagery Wiley Publishers Fish J P and Carr H 1990 Sound Underwater Images A guide to the generation and interpretation of sidescan sonar data Lower Cape Publishing Fish J P and Carr H 2002 Sound Reflections Advanced Application of Sidescan Sonar Lower Cape Publishing Klein Associates 1985 Sidescan Sonar Record Interpretation Klein Associates Salem New Hampshire Klein Associates Inc Klein Series 5000 System Troubleshooting Guide Kleinrock M C 1991 Overview of Sidescan Sonar Systems and Processing IEEE Proceedings p 77 83 LAN Configuration Notes Klein 5000 with LAN Triton Isis workstation with NT 4 0 provided by TEI Technical Memorandum Titled Klein System 5000 Software Version 3 0 Release Notes Triton Elics and Associates 2002 Isis Sonar User s manual volume 1 Triton Elics and Associates 2002 Is
9. YH JH th JJ operating on The operators that can be used are the common 4 and x As an example if an operator wishes to convert magnetic heading from a magnetic compass to true heading in the region they are located an offset of 13 must be applied If the serial string starts out as GPHDM 36 4 where the magnetic heading is 36 4 then the required template to convert the magnetic value to true north is then 13 5 G If an entire serial string needs to be saved then this is accomplished by adding saveraw to your template In this situation the serial string will be written to the data file as a separate data packet after Isis has performed any functions outlined in the template string Another role this option can play is to store depth from an echosounder This is because the best option when wanting to store echosounder DSTO GD 0372 serial input data is to simply use saveraw as the template It is possible to create a template to store the echosounder depth as fish depth but the echosounder depth value will not usually correspond to fish depth The serial ports receiving NMEA navigation input which contains time information should also have the string NOCLOCK added to the end of the template in capitals no quote marks This prevents the computer clock from syncronising its local time to the Greenwich Mean time in the NMEA signal Similar to testing the set up o
10. ftp password pw klein flags f 0x0 target name tn VxTarget Startup Script s gt k lean Vstertiup imi Subnet Mask Oxffffff00 Attaching network interface lo0 done Loading sc LOL Starting at OxlO0U000y Attaching network interface dc0 done Attaching network interface lo0 done NFS client support not included ERA EA AAA AA Wieked Excellent Sonar rita Attaching network interface dc0 done KKKKK KKKKK KKKKKKKKK KKKKKKXK xk x xk x xk x KKKKK 4 KKKKK KKKKK KKKKKKXK SIDO 000000000 000000000 00000000 E 5 0 0 0 0 0 0 5 0 0 0 0 0 0 5 0 0 0 0 0 0 DOOD DIO 0 0 0 0 0 0 F J 0 0 0 0 0 0 5 0 0 0 0 0 0 5 0 0 0 O 0 0 5 5 0 0 0 0 0 0 Fe Oooo 000000000 000000000 000000000 55 DSTO GD 0372 56 4 4 4 4 4 4 4 Wicked Excellent Sonar 4 4 4 4 4 4 4 SM STA1 STA1 STA1 STWO STWO STWO STDF STDF STDF STR STR STR Figure 45 The boot up sequence of the TPU as it would appear in a terminal emulation program on an external computer which is connected to the Com1 port of the TPU In the seabed mapping group the external computer that is normally used to view the boot sequence of the TPU is an old laptop Although it is certainly possible to use the acquisition computer to view the boot sequence thi
11. is spawned asking if the installer wishes to find out about any of the other products Rhinosoft produces Click on the Close button in this window Then a window will be spawned stating that 1f the current installation is a new installation of Serv U then a setup Wizard will begin when the Administrator program is started for the first time Rhinosoft highly recommends that this Wizard is used for the initial set up as changes can always be made later If the installation is an upgrade from an earlier version then the setup wizard will not be spawned Click on the Next button and follow the setup procedures outlined in section 3 3 for the FTP server The last step is to enter the registration key This is one line of ASCII characters and needs to be acquired from Rhinosoft An example of a registration key for Serv U is outlined below If one of the twenty user licences of Serv U needs to be installed by someone from DSTO Mr Les Hamilton can be contacted for the correct key As it is easy to lose the key then it is recommended to save it to a DSTO GD 0372 file for example named key txt and placed in the Serv U directory If the registration key is not entered the Professional version of Serv U just installed will automatically revert to the Personal edition after the 30 day evaluation period REGISTRATION ID Name XXXXXXXXXXXXX E Mail Address XXXXXXXXXXX Registration ID XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXX
12. the components of the ruggedised Isis PC Section 2 4 describes the hardware needed for obtaining accurate position information and section 2 5 discusses cable out measuring 2 1 The Klein 5500 Sidescan Sonar At DSTO In 1995 DSTO acquired the Klein 5500 sidescan sonar see Figure 17 with the aim to evaluate its performance This sonar was manufactured by the comparatively well known sidescan sonar manufacturer Klein Associates Inc http www kleinsonar com in the U S A Twice Klein Associates Inc has upgraded the Klein 5500 with the last in 1991 being extensive and upgrading the sonar from the Mark I to a Mark IL Figure 17 The Klein 5500 sidescan sonar shown in its towed configuration DSTO GD 0372 2 1 1 The Klein 5500 The Klein 5500 is coined a multi beam sidescan sonar because depending upon the speed of the towfish up to five acoustic beams on the port and starboard side of the towfish will be generated These beams instead of forming a beam which is less focussed across the track see Figure 7 as is normally the case generate a beam which is more focussed as slant range increases and it is this feature which permits the Klein 5500 to achieve the high resolution of 20cm up to survey speeds of 10 knots The towfish has a depth rating of 200m and has sensors outputting hydrostatic pressure water temperature pitch roll yaw and altitude above the seafloor The Klein 5500 has three fins which stabilise the
13. turns out that all the default settings of the operating system on the TPU correlate with the needs of DSTO and the file startup ini is not needed As the file vxworks is very important Klein Associates Inc is continually fixing bugs and updating old versions Although it is not necessary to use the latest version of this file if the user wishes he she can find it at http www kleinsonar com tech download html An FTP File Transfer Protocol server is required on the host computer to control the initial transfer of the boot files from the computer to the TPU For correct transfer the IP internet Protocol and FTP settings on the host computer must be compatible with the TPU configuration settings If the operator wishes the setup of the TPU as well as where it looks for its operating system on the host computer can be changed see Chapter 4 3 2 Host Computer IP Address The computer which the TPU will try and log onto needs to be assigned a specific IP address In the past this address has been 160 64 181 221 If the host computer does not have an IP address assigned or the IP address that it has been assigned is not compatible with what the TPU expects then data transfer of the boot files will not be possible and the TPU will not boot The following two sections will outline how to set 39 DSTO GD 0372 40 the IP address of the host computer for the two operating systems Windows95 and Windows2000 3 2 1 Windows 95 To
14. 46 The b Connect To and c Com Properties windows in HyperTerminal Even though a HyperTerminal session may display the message shown in Figure 45 and indicate that the TPU has booted up correctly there is more convincing evidence that the TPU is working correctly Such evidence is by the flickering of the light labelled vme located at the front of the TPU on the DSP board irrespective of whether or not the Klein 5500 has been connected to the TPU If the Klein 5500 sonar is attached to the TPU then when the TPU boots up the light sequence on the TPU s DSP board should proceed as A on and then off then B on and then off then C on and then off then all will light and will stay on whilst the vme light starts flickering The green light emitting diodes labelled A B C and vme can be seen in Figure 44 on the DSP printed circuit board It has been known for the TPU to sometimes crash during a survey Such crashes will be indicated by blank waterfall displays as well as the vme light either staying on permanently or being completely off If this does happen the TPU will need to be rebooted This can be easily achieved by depressing the white reset RST button at the front of the TPU on the CPU board or the TPU can be fully rebooted using the green on off switch 2 VME is defined as VersaModule Eurocard and is a computer bus network just like ISA and PCI See http www ee ualberta ca archive vmefag html for more details DSTO GD 0372
15. 84 2200 DANE A E a N 84 5 29 Isis Window Consul dia 85 5291 Parameter display WINGOW ita O a 86 A NN A OS 86 222 eZ Teleme aurea een ree E eee AAE OEE 87 329 Nad RINZE SC all Cision n E A ys 88 52I LD pla UNNS uee Cen tent E E TE 88 DZD CUTS AAA a E O 88 329 LO Cun Pent ata Plena add 89 53 MONAT PLO DEEP sicssicsiesesiaasedesccsascetaanecssscisessouacsassseaseesseeacdecteassousecasosestenesansvemsessceenes 90 oye i Introduccion ataud cid 90 232 Getting talla 90 DIS AA ii E E er tree eet 92 SDA Ea WACK AA T R distant taeda ons 93 599 VOWS YAW Estat Aaeeea E E 95 5906 Jarget Managemen tacita 96 IO Ja UIVeY Lines raid 97 A Daliesin aE E R E 100 54 Masterand Slave Setup iia 101 6 CONNECTING TPU ACQUISITION COMPUTER AND SONAR 103 Gal Introduchoniaia ad dan 103 6 2 Connecting Acquisition Computer and TPU onocccnnucuncocnnnoonnnncnnnonnnnoncncnnnnnos 103 A Carga acta estate A ee eee 103 022 SFU BOO UD spa 103 a EPEE o A sues a ee a 104 7 8 9 6 2 2 2 Terminal Emulation Softwar e cccccccccccccseccccsscccccccccccccccceccccacsceueess 104 02 20 Evidence n the Acquisition srta lla 105 63 Towed Conficuraitiomeaiisse a 107 601 Movine Sonar Onto back of DOA txicisteticeysiiciceandea oapaidctap aghast iagdeaatbinecess 107 0 3 2 Sonat Deployment Seti iii 107 6021 Attaching Tail Fans cio lo eii 108 6 9 2 2 Attaching Coaxial Sonar Cable nunca iii is 108 6 3 3 Testing Connection Between TPU an
16. A small time lag between these two values may be noticed and should be expected This is because it takes a finite time for the SOG data from the GPS Leica unit to be meshed in with the sonar data by the TPU and for this data to then be sent and displayed by Isis The format of the sonar position depends upon the type of position information Isis is receiving If the position data is in latitude and longitude then this data can be displayed in the three formats of decimal degrees or degrees decimal minutes or degrees minutes seconds using the small tab key in the top right hand corner of the Navigation panel If the position data is in northings and eastings then such data is displayed in this format in metres from an origin with the small tab key in the top right hand corner of the Navigation panel having no affect this case If ship speed is zero in the navigation panel it is likely to be caused by the gyro only being set up to output HDG NMEAO0183 strings and not VTG strings 5 2 9 1 2 Telemetry The next panel displays the telemetry information coming from the sensors on the towfish Pitch roll heading or yaw speed depth and altitude are all displayed The heading displayed here will often not be very good as the sensor is a magnetic compass that is often not well calibrated Instructions for calibrating it should be available from Klein Associates The uncalibrated data should not be used The Depth field displays the depth as rec
17. Armoured Coaxial Cable and has the much higher breaking strain of 4990kg and the working load of 1247kg In the past the first thirty to forty centimetres of armoured cable leaving the towfish has experienced considerable rusting when the cable has been left in seawater for more than a day This normally occurs when the towfish is being towed or tested over several days and is left in its deployed configuration behind the DSTO workboat to save deployment time each day Figure 30 shows an example of such corrosion DSTO GD 0372 The corrosion to the towcable causes the strength to be severely reduced and eventually the corroded part of the cable needs to be removed As this is a specialized job last performed by Mr Collin Mason then efforts need to be made to reduce the severity of the corrosion of the towcable It has been suggested by Klein Associates Inc that the reason for the tow cable corroding quickly when it is left in seawater is because the tow cable or the TPU have not been properly electrically connected via the drum to the ships ground If the TPU and the armoured cable were electrically connected to the ships earth then all the equipment would be at the same potential and corrosion would not occur personal communication Vince Horan 2002 Efforts should be made to investigate whether or not the grounding of the steel drum to the ship s ground could be improved Figure 30 Corrosion of the armoured coaxial cable black rectan
18. Click yes to disconnect from the network and run diagnostics Both of these methods have the same result which is to spawn the dialog box shown below Figure 39 Select the Properties tab as displayed click on duplex in the left hand menu and set it to half in the right hand drop down menu not full or auto Then click on OK and the settings have been made Lom MA gra wl 5 Carmel Properties Cxageeien Suns Pens Optra Setra conga proper lo Figure 39 The network settings for the 3com network card in the Isis ruggedised PC under Windows 95 3 4 2 Windows 2000 The network settings under the Windows 2000 operating system can be altered using bA the Control Panel In the Control Panel click on the System icon and then under the Hardware tab click on the Device Manager Then expand the Network Adapters and right click on the network card you want to use to communicate with the TPU Here click on properties and under the Advanced tab choose the property Link Speed and Duplex and select a value of 100Mbits sec Half Duplex Figure 40 shows the connection properties dialogue box and how to alter the duplex settings 49 DSTO GD 0372 50 e e borar ee ome MR Mi my rm A Te e its po A ee ee oe o A TE I ai ESF Mio Ha pm poses rar Figure 40 The duplex settings window under Windows 2000 3 5 Virtual Memory Settings Virtual memory is the space
19. Internet Informatic m Services E Default FTP Site a b Action view m Description Computer Management Local Er E System Tools E 0 Event Viewer E 3 System Information Er Performance Logs and Alerts FG Shared Folders 3 Device Manager o HA Local Users and Groups 5 os storage Disk Management E Disk Defragmenter 33 Logical Drives Ea Removable Storage ld Services and Applications WMI Control E Services al Indexing Service Internet Info mati in Ser ices E pl RS xmorks Figure 36 The Computer Management window under Windows 2000 a before and b after the Default FTP Server has been set up for the TPU DSTO GD 0372 a Figure 37 The Default FTP Site Properties window under the Windows 2000 operating system showing the settings that need to be entered to the a FTP Site tab and b the Home Directory tab in order to set up the FTP server on the host computer for the TPU to log into b Figure 37 Continued The Default FTP Site Properties window under the Windows 2000 operating system showing the settings that need to be entered to the b Home Directory tab in order to set up of the FTP server on the host computer for the TPU to log into 47 DSTO GD 0372 48 To create the user sonar with the password klein leave the Computer Management y window active Figure 36b and expand the Local Users and Groups icon Es Then right click on Users and click on N
20. Isis 5 2 9 1 Parameter display window This window is displayed as soon as Isis is started and like many sidescan sonar and multibeam echosounder acquisition software packages appears below the Waterfall window The parameter display window displays information which has been extracted from the data that is coming in to Isis and is a very useful tool for checking that the data being acquired is what would normally be expected If Isis has not been correctly set up the correct data may not be recorded and one way to detect this is to analyse some of the data fields in parameter display window The parameter display window is made up of several panels The data displayed in each of these panels and any settings that can be made will be discussed in the following sections 5 2 9 1 1 Navigation The first panel is Navigation and displays the latest sonar position ship speed and ship heading If the recommendation from Klein is followed that GPS data is routed to the TPU and not the acquisition computer then the latest position is extracted from data coming from the TPU whilst the ship speed and gyro are obtained from the gyro interfaced to the GPS which is routed directly to the acquisition computer It is important to check that these reflect what is actually occurring There are a few ways to perform this each dependent upon whether the boat is moored prior to departure or underway For example when the boat is moored e Compare the gy
21. SonarPro which does not require the user to set the screen resolution or colour depth to any specific values early versions of Isis did In particular Isis version 4 54 and earlier required the colour depth to be set to 256 colours or 8 bit If it was set to the commonly used much higher values of 16 bit or 32 bit then an error message would have been spawned when Isis was first executed Figure 41 shows this error message This quirk in Isis was fixed after version 4 54 so it is no longer a problem However as version 4 54 is still being used by DSTO then it was thought beneficial to highlight this problem The epi le not corbgures for 2b coke The hallway huncboni are ral puppie on thee mode Taped ti Seah Pie Der oo Line 197 Figure 41 The error spawned by the Isis 9 software version 4 54 when the colour depth has not been set to 256 colours 51 DSTO GD 0372 52 3 6 2 Dual Screen Mode As the software acquisition packages Isis and SonarPro use up a lot of screen area then it is beneficial to use two monitors or invoke a second virtual screen A second virtual screen is when one monitor has access to the screen area which would normally be available if two monitors were in use with the area of the second monitor accessed by simply moving the mouse to the right hand side of the screen and continuing to move the mouse towards the right until the user can see the screen background slide towards the left As a virtu
22. User Manual Volume 1 pdf and Sonarpro version 5 3 cd manual pdf 5 2 ISIS Setup Isis can be launched by either double clicking on the Isis icon on the desktop or clicking on Start Programs TEI Isis or use Start Search For Files and Folders and search for the executable Isis exe Once Isis has spawned its main window if an error message is displayed informing the operator that Isis is in demo mode see Figure 47 then this means that Isis has not detected the Isis dongle outlined in section 2 2 1 1 It is important to head this warning because in demonstration mode Isis cannot save data to disk and can only play data files back This error message comes about because either the Isis dongle has not been attached to the printer port LPT1 or is attached but does not sit correctly which has occurred in the past For the first scenario simply attach the dongle whilst for the second remove the dongle and reattach it firmly Both scenarios must be followed by rebooting the acquisition computer If upon rebooting the acquisition computer with the Isis dongle attached Isis does not detect it either keep on removing 61 DSTO GD 0372 62 and reattaching the dongle or if the Isis ruggedised computer is being used then mount the dongle internally Again the acquisition computer must be rebooted Only after Isis has detected the Isis dongle correctly and Isis has been spawned with the error message in Figure 47 not appearing can Is
23. affect Waite 2002 Figure 2 shows the relationship between the absorption and frequency for fresh and salt water Figure 2 The empirical relationship determined by Francois and Harrison 1982 between the absorption coefficient of acoustic energy and frequency for fresh 10 C and saltwater 10 C and 35parts per thousand e Decrease in sound pressure due to scattering by objects within the water column These can include suspected sediment particles air bubbles and marine life This scattering not only decreases the intensity of the wave front that is needed to ensonify the seafloor but also generates a background acoustic DSTO GD 0372 intensity that the sonar is constantly sampling and which the backscatter from any surface needs to be above in order for it to be detected In modelling the decrease in acoustic energy caused by scattering it is normally assumed that there is an even distribution of scatterers in the swath Unless this decrease in sound pressure is taken into account from the transducers to the seafloor and return before the data is displayed then the artefact will be created that the seafloor at the outer extremities of the swaths have lower acoustic backscatter characteristics than those closer to the sonar The other artefact will be that for those areas with visibly differing contrast the contrast will appear to be less than it actually is To account for spherical spreading absorption of sound intensity and
24. be downsampled or reduced If the downsample option is invoked then the choice needs to be made as to how the replacement samples are computed with the choices being to take the maximum File Format Media pixel value in a group or to calculate the root C MIPE T Log to tape mean square If a sidescan sonar is being used Options in a search capacity which dictates that small bright objects are not erased by a filtering process then the Max option should be chosen If a sidescan sonar is being used in survey capacity then RMS should be chosen Sample Size to Record 7 amp bits per pixel f 16 bits per pixel Samples per Channel to Record 5 2 4 Sentinel Querying ga l e Ww No downsampling As Triton Elics International has developed 2048 many software packages then sometimes one of Ange their dongles or sentinels will need to be 0792 interrogated to investigate which software 16384 packages it will permit to run A dongle would Euston also need to be interrogated if it was required to provide access to a software package or a Processing Method module that it was originally not purchased for Max best for search C RMS best for survey In Isis a dongle can be interrogated by clicking on Configure Security When this is performed the software a dongle will permit OF Cancel nT E access to as well as any modules is listed in the Security dialogue box Figure 55 shows this security box for the Isis dongle purcha
25. calculated otherwise use the values calculated from the last calibration These were Voltage 13 730 10 370 Depth DSTO GD 0372 During data acquisition the fields for Sidescan Roll Yaw and Echo Chan 1 in the Received from Sonar area of the klIn5000 exe dialogue box will be increasing as will the Trigger commands to the sonar The number of beams the Klein 5500 is using at any time will be displayed in the Beams to Display area of the dialogue box The number of beams will be determined by the speed of the sonar and will be between 1 and 5 the last occurring at 10 knots and the first at 1 knot The k5000 exe control program needs two dynamic link library files for it to function correctly with the Klein5000 series of sonar and these are not normally installed with a Windows installation These files are OLDAAPIDEL and OLMEM DLL The version of these libraries is different under Win95 98 and WinNT Win2000 although the correct version of these files should be installed when Isis is installed If these files are not present then contact Klein Associates for them 5 2 6 2 Klein 5000 System Control ss exe Up to this point there have been no avenues by which the waveform generated by the Klein 5500 could be changed from within Isis Even the Sidescan Sonar Information dialogue box Figure 51 could not be used to alter the settings of the sonar although an operator could have mistaken it to do this The only piece of softwa
26. data is present that needs to be backed up then follow the procedure below Section 3 High Level Format With the important files copied to the hard disk the M O disk is ready for high level formatting The procedure to follow for each operating system is listed below Windows 95 1 Insert a startup floppy disk labelled for Windows 95 into a drive and restart the computer This will restart the computer in DOS 2 Wait until the prompt a gt appears Insert the MO disk into the MO drive on the appropriate side 4 Type afdisk or fdisk and hit Enter to start the programs If DOS cannot locate these programs then they may be located at C APSI or C SCSI 5 Use arrow keys to highlight the target as Sony SMO F541 3 or use the SCSI number of 5 and hit enter Q9 DSTO GD 0372 Do not select the SCSI target number of zero 0 as this is the hard disk If a SCSI device is selected that is controlled by the host adapter BIOS and afdisk is being used then an error message will be displayed outlining that the utility FDISK should be used instead 6 If a SCSI device is chosen that is not controlled by the BIOS on the host adaptor what the utility AFDISK is designed for then a message will be generated asking Use Extended BIOS translation for this gt 1Gb Drive Use arrows to select Yes and hit enter When this action is performed one of two scenarios will occur depending upon whether the disk con
27. decreases with increasing pulse width assuming the frequency bandwidth is not altered DSTO GD 0372 When an acoustic pulse propagates through the water column its sound pressure decreases the further it propagates because of three different processes In order of decreasing magnitude these include e Spherical spreading caused by the outgoing pulse occupying larger volumes the further it propagates This causes the intensity to drop in proportion to the squared distance of the pulse from the transducers e Absorption of sound energy due to two distinct processes There is absorption of sound energy as a result of shear viscosity and volume viscosity The latter represents the flow of water under pressure into lattice holes in the crystal structure Urick 1991 In salt water there is additional absorption below 500kHz due to the disassociation of some of the minor salt constituents This type of absorption increases with increasing frequency and below 2kHz occurs as a result of the dissociation of boric acid H BO3 whereas from 2kHz to 500kHz it is caused by the dissociation of magnesium sulphate ions MgSO Above 500kHz the pressure changes too rapidly for dissociation to occur and the only mechanism of absorption is by viscosity In addition to being strongly related to frequency the absorption of acoustic energy is also governed by the temperature of the fluid Water pressure or equivalently depth and salinity have less of an
28. entered here If data is being transmitted to the com port then it is possible to test that the settings made above will save the data appropriately This is possible by either clicking on the Test button in the Serial Port Setup window or clicking on Com Port Test from the Tools menu in the main Isis window This displays the Com Port Test window see Figure 53 in which a panel exists for each com port showing the activity on it and how Isis is deciphering this activity The panel will display Com port not set up if the status box for the port is not checked DSTO GD 0372 as on For the serial ports that are on any data being received is displayed and should be legible If the data that needs to be recorded is not being displayed or is but is not legible then click on the OK button in the test window and check the settings made in the Serial Port Setup At this stage the operator can complete the setup for each com port using the Serial Port Setup window and then click on the Test button to make sure all the settings made are correct When each com port has been setup correctly click the OK button in the Serial Port Setup window Figure 52 me ai LIPAN diarii pai need ts k Teil Dewy hor pa hae Lor Vd ner er ae Com par E ree op ig OLS me aoe a COPA pz Gerd rede p sar iar di mE ni ECU real ite pa Pe lee ret et ate case LH auri Fem ee ae LOA har ae Coy UE Car m A oe ME rel Te Cii Cira Card mal o
29. following IP address and enter in an IP address that has not already been used with a subnet mask of 255 255 255 0 Leave the Default gateway window empty Figure 32 shows the Internet Protocol TCP IP Property window with these necessary settings Click on OK and the IP address and subnet mask of the computer will be set 9 9 Waterfall Display Errors Quirks 9 9 1 Symmetrical Waterfall Display in Isis When the Klein 5500 was returned to DSTO in 2001 after undergoing a major overhaul the waterfall display in Isis was symmetrical about the sonar track axis This problem was simply caused by the variable set OLDHEADER in the startup ini file DSTO GD 0372 being set to 0 zero and causing the TPU to generate the wrong data format sdf instead of this variable being set to 1 and causing the TPU to generate the 5kd format 9 9 2 Jerky Waterfall Scroll Speed On some occasions using Isis and SonarPro the waterfall display has been scrolling somewhat sporadically and unevenly The reason for this characteristic is outlined below for these two software packages Isis e If the ship is moored then the likely cause is that the speed of the waterfall display is being compensated for ship speed and as the ship is rolling around sporadically then the ship speed from changes in GPS position are alternating between zero and 0 1 knots There is no need to be concerned as this problem would be rectified once the ship leaves the wharf but if a
30. generated e What time interval and survey line does each file correspond to 7 1 4 Miscellaneous Irrespective of why the sonar is being used it is always helpful if the following information is documented e Was any equipment broken e Were there any unusual findings e Did the TPU or acquisition computer behave abnormally for example did the TPU crash several times or did moving the mouse in the Isis ruggedised computer make the operating system crash Although it may appear that a lot of documenting takes place when the sidescan sonar is operated any operator will get accustomed to the documenting that is needed and not all the information listed above will need to be documented on each occasion a sonar is used 7 2 Collecting Data The procedure to collect data using SonarPro or Isis will not be outlined here because it was outlined in Chapter 5 What will be outlined is such issues as correct techniques media choices and data collection attributes Before the survey area is reached it can be a good idea to view the waterfall display in either Isis or SonarPro and make sure it looks correct It is not needed to save any of this data until the surveying has begun Some important points to remember when data is being collected is the following e Is the bathymetry getting dangerously low for the sonar to work in Bathymetry shallower than 5m should be of alarm when the sonar is being towed whilst for a bow mount bathymetry i
31. knows that layback data is being routed to the acquisition computer on a specific serial port see section 5 2 2 The option Enter Layback Manually has not been used at DSTO because it would involve using the depth of the sonar in conjunction with the cable out to calculate the layback and then enter this value into the Layback text window in the dialogue box This option would be too time consuming because of the need to keep on re calculating the layback each time the depth of the sonar changed Figure 60 The Layback Correction dialogue box in Isis 79 DSTO GD 0372 80 The third and final option Calculate Layback from Cable Out has been used at DSTO by measuring the cable out and obtaining the depth of the sonar from the built in pressure transducer To set up this dialogue box for use with the Klein 5500 sidescan sonar when it is being towed follow the instructions below Click Apply Layback Click Compute layback from Cable out This will make the check boxes for Cable Out and Depth be enabled Click on the Cable Out check box and enter in the cable out As the Klein 5500 sonar has a built in pressure sensor then the Depth window should already display the depth of the sonar As outlined in section 5 2 6 the template token to instruct Isis that sonar depth values should be used is zero 0 Enter the Height of towpoint This is the height of the rollers on the fairlead As deduced from sections 2 3 2 1 and 2 3 2
32. of data and 3 the different ways of archiving the data DSTO has several aims involving sidescan sonars These include investigating new acquisition software and post processing software developing new software and investigating ways of maximising the usefulness of the data gathered As it can take several hours to set up a sidescan sonar then the stimulus for this report was to document the setup procedures that have been established at DSTO and the techniques needed to circumvent known problems By documenting such information it should enable the investigations which need to be performed with the sidescan sonar to be conducted more quickly than would otherwise be the case This document will begin with some background information on how sidescan sonar works and what makes it a useful tool for object detection and determining changes in bottom texture This document will most importantly outline how to set up and run the Klein 5500 sonar as well as some of the common errors that can be expected and ways of circumventing them 1 1 Background Information Sidescan sonars are instruments which use acoustic energy to survey the seafloor displaying backscatter levels The images produced appear similar to aerial photographs the major differences being that they have been rendered using acoustic energy instead of light and from lower grazing angles or larger angles of incidence They also have the difference that aerial photographs are ge
33. on the hard disk that the Windows operating system is allowed to write to when memory Random Access is full The Virtual memory settings define the amount of space allowed to be used and the way this memory is managed If you allow Windows to manage your virtual memory then Windows will resize the virtual memory allocation as necessary using some processor time to do this Managing your own virtual memory settings allows you to set the minimum and maximum size to the same value which prevents Windows from resizing the virtual memory allocation This reduces the amount of processor time Windows is using leaving more resources available for data transfer and storage Managing your own virtual memory also allows you to use a drive other than C for virtual memory This is important if there is not sufficient space 250 Mb available for virtual memory on C drive the Windows default Managing your own memory can also be useful if there are 2 physical hard drives available not just partitions of the one hard disk Then you can use one hard disk for virtual memory and the other for data recording allowing 2 hard disk heads to be working for you simultaneously rather than the one hard disk head being used both for writing data to virtual memory and writing to data files Triton Elics recommends Let me specify my own virtual memory settings with min and max both set to the same value of at least 250Mb DSTO GD 0372 To access t
34. problems which may arise in the setup and how they can be circumvented By creating a document of this nature it should be possible to more quickly set up the Klein5500 sonar so that the DSTO tasks of research and development surrounding this sonar can be attempted sooner The topics covered in this document include the 1 hardware required its correct setup and network architecture 2 set up of the data acquisition computer 3 usage of the sonar computer the Transceiver and Processing Unit TPU 4 set up and usage of the acquisition software packages Isis and SonarPro and 5 trouble shooting the overall installation 1 2 3 4 Contents INTRODUCTION SIDESCAN SONAR AND DSTO oooccccnicnnonnonononocioninoonoccnnocononocons 1 EL Backeround Information 1 PAYSACADLSETUE cialis 20 2 1 The Klein 5500 Sidescan Sonar At DSTO connoccccnoncnnnonnnnononnncnnnncnonoacccncncncnonocos 20 Zed A A 21 22 asic NITO Ware Se Ad 23 22 A 24 221p General E a 24 PAAA E SNS EEE EE E EA E N secs E 25 222 INCI Or HardWare coenae E EER 21 2 3 Acquiring Accurate Position Information seesseessoessosssosssosssossoeesoessoessoeseo 29 201 Hardware Required syare o a E 30 A PA E le OSLO Ih E T E E E E iros 30 ZO ROWE Donars a a T T T R sausages 30 29 22 BOW MONNET SOM ell S use a a aight E 32 230 Nav AVION ODU dad 33 Zoe Cable IDO E EN 36 299 Cabpleoul Valles een a mt aes areeaee ean 37 HOSTCOMPUTERSETU iia dada
35. spaced at intervals of 100m 500m 1km 5km or 20km Nav Co ordinate display Lets an operator cho0se between either latitude and longitude or northing and eastings for the grid display This prevents new position data being added to the coverage map This command could be helpful when a boat deviates away from a planned survey line and although data collection would be halted unless this command is used the coverage will continue to be updated by bad data Zoom Zoom in shotcut Zooms in on the current position of the sonar The eens shortcut for this operation is the plus sign Zooms out Zoom Best Fit shortcut This places the current location of the sonar in the centre of the window and either zooms in or out so all the coverage fits into the current window The short cut is the asterisk key Nav Lock coverage map It is also possible to zoom in on any part of the coverage map window using the right mouse button to highlight a particular area and then releasing it Upon release the coverage map will be redrawn centred on the selected area with the boundaries of the selected area being remapped to the edges of the coverage map window File Save coverage points This enables the current coverage points to be saved to a file Of the three formats available the one that has been used at DSTO is ASCII text File Load coverage points When a survey is being conducted over more than one day it can be he
36. stability of SonarPro on these operating systems and will not provide support if this action is taken To download the latest version of SonarPro go to http www kleinsonar com tech download html and scroll down to the SonarPro section Click on the Get button next to the compressed version required and download the file Before uncompressing this file rename the klein folder to for example klein_old make a new folder named klein and then use the Winzip utility to extract all the files in the compressed file into the folder klein This way there is still a working version of SonarPro if the new version cannot be extracted correctly When the compressed file is uncompressed there should several dynamic link libraries and the SonarPro executable sonarpro exe in the klein folder If it is desirable to have SonarPro on more than one machine then the executable SonarPro exe can be copied to any number of machines SonarPro should now be usable by double clicking on this executable file Early installation versions of SonarPro namely 5 0 and 5 3 were accompanied by a setup program for the application SnagIt see Figure 93 Snaglt is a powerful utility that can capture either the whole or part of the screen or an active window and send either the image or the text to a printer a file an email a rendering package a catalogue the clipboard or an FTP server for web page creation SnagIt can be called from within SonarPro however la
37. system needs to be accurately known in relation to the Differential GPS Antenna In order to estimate the location of any sonar relative to the Differential GPS antenna two sets of measurements are needed if the towfish is being towed and one set of measurements if the towfish if bow mounted As most of these measurements do not change from one survey to the next then it was deemed advantageous to document them so they don t have to be made again 2 3 2 1 Towed Sonars For towfish which are being towed behind a survey vessel the two different measurements which are needed are the location of the last point of contact of the towcable with the survey vessel this being the fairlead or shieve and the second is the location of the sonar in the water column relative to this point The position of the fairlead relative to the GPS antenna on the DSTO workboat is outlined in Table 2 Figure 27 is a schematic diagram illustrating these quantities The height of the GPS antenna on the workboat above the waterline is 2 77 meters DSTO GD 0372 Table 2 The position of the fairlead rollers on the DSTO workboat 440 Variable Towed E E ue negative gt below antenna Figure 27 Schematic diagram of the DSTO workboat 440 showing the major length and width attributes in metres in comparison to the GPS antenna marked by the red dot Note Most DGPS equipment can be set up to output the position of any point whose position relative
38. than necessary DSTO GD 0372 2 2 Basic hardware setup Hardware Function Generate and receive acoustic signal at 455kHz Stabilise towfish motion 3 K wing depressor for Stabilise motion increase ratio of towfish depth cable out towfish 4 Transceiver Controls towfish send information from towfish to Isis computer Processing Unit TPU 5 Armoured cable Transmit signals between towfish and TPU 6 Isis computer Record sonar and navigation data controls TPU and controls data display 7 Isis dongle Allow access to the Isis software 8 LAN Optical cables Transfer data between TPU and Isis computer See below for and hubs standard configuration and Appendix 1 for other options 9 Slip ring for winch Allow winch to turn while data is being transferred 10 Short black cable Connect slip ring to deck cable 11 Deck cable blue Connect short deck cable to TPU 20m 12 Power cables for 3 5 Supply 240V power to equipment as required 6 7 Power boards and extension leads A schematic of the basic physical setup is shown below For optimal positioning of the towfish navigation inputs and cable out information are required The hardware for navigation inputs is discussed in 2 3 and correct software settings are discussed in Sections 4 and 5 Arm oured cable 5 t Cables and Hub Minchfsliip ring 10 TEU 4 1 2 3 O ne Deck cabling to sonar 11 12 Figure 21 A flow diagra
39. the baud rate of the data coming out of Com1 on the TPU is set to 9600 bits per second although this can be changed using the variable SET BAUDRATE in the file startup ini For the other variables in the Com Port settings window these must take the values of 8 data bits no parity 1 stop bit abbreviated to 8N1 and with the flow control being Xon Xoff If these settings are entered incorrectly then the data will not be legible but data will still be displayed Once the attributes of the data have been entered into the Com Properties window click on OK and immediately HyperTerminal will try and connect to the com port just chosen If data is being sent up from the TPU then it should be visible on the screen When all the necessary data has been received from the TPU then click on the disconnect icon and if this was a new connection then save the settings that have just been made by going to File Save As and chose a name that will make it clear what the reason was for the connection 57 DSTO GD 0372 58 For simplicity TPU could be chosen but this is not compulsory Now that a hyperterminal session file has been created then the next time the boot sequence of the TPU needs to be displayed then it is a simple matter of going to File Open and choosing TPU ht Conmect To Dista lira E Enter deals bor the phone number trast pou mark bo chest of e Dariy epa oia sl Paces Pilates CL Connect uping 0H b c Figure
40. the scattering of sound by suspended matter the gain of the returning signals is increased to account for the sound intensity that has been lost In any survey the range the sonar is required to display backscatter data from for the port and starboard sides needs to be selected This is the maximum distance from the sonar to the seafloor and is termed slant range For surveys in which object detection is required small slant ranges are employed whereas large ranges are employed for sediment boundary detection The slant ranges employed by sidescan sonars used in the coastal zone are typically between 50m and 150meters The slant range in conjunction with the sound speed of the water nominally 1500m s enables the sonar to calculate the time window over which it needs to sample the acoustic backscatter Once the sonar has received the backscatter versus time data for each pulse or ping it applies corrections for spherical spreading absorption and suspended matter and the data is ready to be displayed Port and starboard backscatter data for each frequency generated by a sonar are displayed to the operator in what is known as a waterfall display Such displays consist of two regions of equal width placed side by side The left hand region displays the port backscatter versus slant range or equivalently backscatter versus time data horizontally across the screen for each ping originating from the centre of the display and the right hand side
41. the sonar directly beneath the fairlead To remove the rope use the winch to slower raise the sonar so the top loop of the steel lanyard can be seen Detach the snap shackle and lower the sonar back to several meters The sonar is now ready for operation WARNING Do not let out too much cable as the towfish may hit the bottom and be lost or damaged Always be aware of the water depth in the area of operation and keep the towfish well clear by checking on the altitude value in Isis or SonarPro Make sure an accurate record of cable out is kept see section 2 3 5 111 DSTO GD 0372 112 6 4 Bow mount Configuration 6 4 1 Setup towfish for bow mount As with the towed configuration before a bow mount is set up the tidal level should be investigated to make sure it is high enough If the tidal level is too low it may not be possible for a crane to lower the bow mount frame in place and several hours will need to be waited until the tide reaches the minimum level As outlined in section 6 3 1 there is a web page at the National Tidal Facility http www ntf flinders edu au TEXT TIDES tides html that shows the water level predictions for the major ports of Australia and the South Pacific Having established that the water level is high enough to permit the bow mount to be lowered onto a boat observe the following procedure e secure the aluminium support beam onto the top of the sonar using several screws e Then loop the green li
42. to when it is booting and data is being transmitted down the cable then the operating system will believe a serial mouse has been connected to the laptop Because of this the operating system will install the necessary drivers and will most importantly lock the serial port not enabling any data to be received over it This creates the problem that it will appear in Isis or SonarPro that the instrument connected to the laptop most likely the KVH Gyro is not working when in fact it is but it is really that laptop that is at fault If a laptop running Windows 2000 is booted up and it is suspected that the serial port has locked up as a result of data being transmitted down it then several actions can be taken These are e First make sure data is streaming down the serial cable using a serial cable tester Several RS232 Mini Testers see Figure 87 from Jaycar http www jaycar com au were purchased in August 2002 at DSTO Sydney and should be able to show whether data is streaming down on the serial cable DSTO GD 0372 Figure 87 The RS232 Mini Tester from Jaycar e If data is coming down the cable then set up a HyperTerminal session see Chapter 4 for details to establish that no data is being transmitted through the serial port in question If this is correct then the port is locked e Remove the serial cable from the laptop s serial port and reboot the laptop e Only after the laptop has booted insert the serial cable wi
43. to download its operating system file Secondly check the maximum transfer speed Kbytes sec to make sure it s set reasonably high eg 1200 If the boot files are being transmitted to the TPU very slowly it could be because of this setting The time that it takes the TPU to download the files vxworks and startup ini is indicated in the Serv U main window and should be approximately one or two seconds Time values more than this should be considered excessive and efforts made to increase the speed It is recommended to set the number of users to 10 and in the U D Up Side Down Side or Potential Gain versus Risk of Loss ratio options to set timeout to at least 200 sec Once these four settings have been entered click on the OK button Seip FIP Sarnar erar setup FTF port number The next settings that need to be made relate to informing Serv U what the username is that the TPU will try and log in as and where its home directory is located To enter these details or to check previously entered values click on Setup User and this will spawn the User Setup window shown in Figure 35 a IP horas heoo 00 KBytes sec F Ap o start es Sytem serice Emable secunty T Encrypt persons F Gheck anon password e PP Block e trne cu ademes Delete partislhy uplosded files Max speed LD ratos Mex no ol sara Cir cache T Block FTP_bounca attacks TM Use all lower case far tiles fdirs Primary dir change massage tia Secondary de cha
44. tow cables used at DSTO 94 DSTO GD 0372 Lp Cabo Cut 120 E mamas d 0 meme Sheers Cte ar mare A E setae Tiwa teeth de P ip ee j AAA A EA Figure 69 The Layback dialogue box used in SonarPro The layback information in 5kd files cannot be changed in post processing with the layback icon dimmed pel in playback mode see section 8 2 2 If the operator needs accurate position information which is likely to be most of the time then they will need to accurately complete the layback dialogue box before the acquisition of any data 5 3 5 Towfish Yaw Estimation In addition to entering the layback correctly the method SonarPro uses to determine the orientation or yaw of the towfish also needs to be entered if position information is to be accurate Before version 6 2 the orientation of the towfish was determined solely from the internal compass of the towfish Unfortunately this method is not accurate when the towfish is bow mounted as the steel present in the platform will cause the towfish compass to be misaligned with the magnetic field of the earth With SonarPro version 6 2 the operator has the choice between using the internal compass of the towfish or the course made good for ascertaining the orientation of the towfish To alternate between these two methods the operator needs to click on the user preference icon and then the Compass Preferences tab in the SonarPro User Preferences dialogue box
45. used exclusively 5 2 9 1 5 Cursor Data When sonar data is being collected or played back it may be helpful to know the location of a point in the waterfall display or what the attributes of the sonar were when a particular echo was received In Isis it is possible to display this information by placing the cursor over the location of interest in the waterfall display and clicking the left mouse button The location of the point of interest using the format in the Navigation panel as well as the attributes of the sonar when the data was collected are immediately displayed in the Cursor Panel of the Parameter display window The location of the cursor is shown as well as the sonar attributes depth altitude channel heading ping number slant range and the time the echo was received If this data is important then the Log button can be clicked and this will make Isis save this information to the ASCII file cursor log Once data is copied to the cursor log the Log button will dim If data in the cursor log file needs to be retrieved then this is possible using any text editor such a Notepad In the past Isis has been solely used to acquire sidescan sonar data However the Log button in the Cursor Data panel can greatly reduce the post processing task of identifying the location of any suspicious objects In the past this process has been performed shortly after the data has been collected however this means that the data is being viewed twi
46. whilst for such tests as latency testing they enable the boat driver to repeat particular tracks Isis has the ability to construct maps showing the track of a sonar and if instructed to also show the coverage This can be accomplished whether data is being recorded or when old data is being played back The ability of Isis to play data back will be outlined in section 8 2 1 It should be emphasised that for sidescan sonars it is the slant range which is being shown in a coverage map and not ground range To set up Isis so it displays a coverage map when data is either being recorded or played back click on Tools Coverage Map and Mosiac This will cause the coverage map and mosaic window to be spawned see Figure 62 and here click on the coverage map only radio button and then OK Then a coverage map will be 91 DSTO GD 0372 82 immediately displayed see Figure 63 the location of which may be to the right of the main window and partially off the screen if only one monitor is being used What is shown in a coverage map is the track of a sonar using the course made good data with the coverage display generated using the slant range and the orientation of the sonar The location of a sonar in the coverage map window will only change when a new position has been received from the TPU during record mode or when a new position has been read from a data file during playback mode The coverage map is set up so that the colour
47. 2 this is 1 34meters Enter the offset which is the location of the last roller of the fairlead relative to the GPS antenna location This was also outlined in section 2 3 2 1 and is 4 38meters Now click the Apply button and using the most recent cable out and depth values the layback of the sonar should appear in the Current Value window Although there is a chance that the cable out value will not change for at least several minutes the depth however can change almost exclusively because the speed and pitch of the vessel will change To account for changing sonar depths and cable out values now click on Compute Automatically This will instruct Isis to account for any changes in sonar depth and cable out values When any one of these values changes Isis will re compute the layback Note as it is physically impossible for the cable out values to be less than the depth of the sonar then Isis will spawn an error message if cable out values are entered with these attributes Whether the location of the sonar is being estimated by entering the layback manually or by it being calculated in Isis using pressure and cable out values once the Apply button has been clicked then the layback value will be used in all further data acquisition It can be a good idea to leave the Layback Correction dialogue box spawned whilst data is being acquired as it acts as a reminder of what the layback value is If sonar data is stopped from being written then
48. 500 sidescan sonar The information below has been extracted from the Technical MemorandumTitled Klein System 5000 Software Version 3 0 Release Notes The contents of the file startup ini are as follows followed by an explanation of the role played by each variable set SONARTYPE 5000 set BATHY 0 set OLDHEADERTYPE 0 set OLDMUX 0 set RESMODE 0 set BAUDRATE 4800 set STANDBYMODE 0 set DESPECKLESWITCH 0 set SPEEDFILTERSWITCH 1 set TVGPAGE 7 set RANGE 2 set TXWAVEFORM 0 set RESPDIV 15 set RESPFREO 7 set DVLDELAYDELTA 31 set HEARTBEAT 0 set PINGSPERFILE 5000 set SPEEDSOUND 150000 set DIAGLEVEL 0 e SONARTYPE d 2000 3000 5000 This sets the type of Klein sidescan sonar that is going to be used At DSTO this is often set to 5000 although the 2000 has been used in the past and the successor to the 5000 is likely to be the new 3000 e RANGE d 0 1 2 3 This sets the slant range with the values of d 0 1 2 3 corresponding to 50m 75m 100m and 150m respectively The default value for the TPU is 100m although at DSTO the value used is 75m 145 DSTO GD 0372 146 TXWAVEFORM d 0 1 2 This sets the pulse length or sometimes called pulse width of the chirp the sonar is generating The values corresponding to d 0 1 2 are 50sec 100 usec and 200 u sec respectively The default value is 50 ysecand this is the value used at DSTO RESPDIV d 0 15 This variable sets the responder output rate to a fra
49. After finding a crane operator who has a licence lift the sonar out of its stowaway box and place it on the stern of the boat on top of the blue foam pads just placed there Use the attached rope to control any pitching that develops in the sonar during this relocation To make deployment easier when the sonar is being lowered onto the foam pads align it with the boat That is have the front of the sonar closest the bow and the rear of the sonar where the tail fins and altimeter are housed closest the stern of the boat e Detach the crane s skyhook from sonar s steel lanyard and remove the rope that was being used to inhibit any pitching The sonar is now ready to be connected to the TPU and be prepared for deployment 6 3 2 Sonar Deployment Setup Once the sonar resides on the stern of a boat there are only two more tasks to be performed before it can be deployed In a simplified version these two tasks are to attach the tail fins and to attach the tow cable These two tasks will be outlined in detail in the following two sections 107 DSTO GD 0372 108 6 3 2 1 Attaching Tail Fins To attach the three tail fins to the sonar use a long 4mm Allan key and an 8mm a f socket to remove the six bolts two per fin from the rear yellow nose cone of the sonar and attach the fins one at a time Figure 77 shows these two specialist tools at DSTO To inhibit the chance of a side fin working free during deployment insert the two bolts for t
50. EFORM in the file startup ini The variables the file startup ini can set so they do not need to be set from within the acquisition programs are outlined in Appendix B The system control dialogue box can also be used to perform the functions e Select resolution e Activate or deactivate the despeckle filter e Enter sound velocity in the water column Note that the units are cm sec and not meters sec e Responder division is the output frequency rate compared to the sidescan sonar ping rate This should be set to off as no responder is used with the Klein 5500 at DSTO e Responder frequency This is irrelevant See responder division for details e Manually enter the speed of the sonar This would be needed if a GPS unit was not available and appropriate if the speed of the sonar was relatively constant and known The System 5000 Control dialogue box has the strange behaviour that to remove it at the end of an Isis session an operator needs to click on it and instead of clicking the close window cross hairs the escape key needs to be used Operators often forget this peculiar feature If an operator tries to close this window using the close window function with the right mouse button or the close window cross hairs in the top right hand corner this dialogue box will not respond and will be even harder to remove using the escape key If the program ss exe stops receiving sonar data then any error message will be spawned statin
51. If data is being collected then this value will be used and stored in the data files If data is being played back then this value will be used instead of that used during acquisition In this last scenario the waterfall display will take on a more realistic look than what would have appeared during data collection however such changes are only cosmetic with the original data file in particular the sound velocity used during data collection not being altered 5 2 8 6 Save setup When Isis starts up it interrogates the configuration file isis cfg and sets up the current session using the information contained in it As it is often necessary to setup Isis the same way each time it is used for example to use the same sonar using the same data format and the same serial ports then it can be helpful to save the setup from one Isis session so it can be used on later occasions The way Isis has been set up during a session can be saved to the configuration file isis cfg either during a session or upon the closing of a session which occurs by exiting Isis The setup settings which are saved to this file are all those made using the main menus Settings made by clicking the right mouse button in any of the windows in Isis for example the waterfall display the voltage window the coverage map are normally not saved they are lost when the respective windows are closed 84 DSTO GD 0372 To set up Isis so it automatically requests the setup to be
52. OSCAD contact 37 DSTO GD 0372 Dr Roger Neill Maritime Platforms Division 03 96268651 38 DSTO GD 0372 3 Host Computer Setup 3 1 Introduction There are a number of settings that need to be made to the host computer before data can be recorded If a dedicated data logging computer is being used then these settings do not need to be altered for each survey However if the data logging computer has been used for other purposes since a sidescan survey then it is wise to check and make sure that the settings described in this chapter have not been altered before starting a survey This section will outline the correct settings when using Windows 95 and Windows 2000 as well as giving some explanation as to why these settings are required how the different software involved works and how the different parts of the sidescan system interact Most of the settings that need to be made to the computer acquiring the data relate to setting up the Local Area Network between the TPU and the host computer As the TPU does not have its own hard disk then when it is switched on it requests its operating system file called vxworks and also a file that changes the default settings of the operating system called startup ini The file vxworks must be downloaded by the TPU from the host computer for it to boot properly If the file startup ini cannot be found then the TPU will still boot but all of its settings will take on default values It
53. Reed Tema l Dete how l Execute Directories Sara be List T Make Delate I Remove Ssubrdirs Resio Delete Up Down E mhen a Figure 35 The settings that need to be made to the Setup Users window in ServU that allow the TPU to log into the host computer and retrieve its operating system files The username that the TPU will use to log into the host computer the password that it will supply the default directory for its operating system file vxworks and the file name of its operating system file are all set within the TPU and can be altered if so desired The names quoted above for the login variables are the default factory settings set when the TPU was returned to Klein Associates Inc in 1991 In Chapter 4 details will be given which will outline how to change the values of these variables if DSTO GD 0372 the operator so wishes The operator is warned however that any changes should be clearly marked on the TPU as new users may not know how to check the TPU to establish how it has been set up From experimentation with the directory settings it seems that the Home directory field cannot be left blank otherwise the TPU will not be able to log in to the Isis computer The directory containing the files vxworks and Startup ini must be either in the directory listed under File directory access rules or in a subdirectory of it Without this the TPU will be denied permission to access the file F
54. TO SPEEDSOUND d 140000 150000 This sets the speed of sound in the water in units of cm s The default is 150000 cm s and this is the value used at DSTO The accepted range is from 140000 to 160000 cm s RESMODE d 0 1 Set resolution mode where d 0 is normal and d 1 is high resolution Note ranges of 100m and 150m are not available in high resolution mode Default is normal BAUDRATE d 300 600 1200 2400 4800 9600 19200 38400 This sets the baud rate in units of bits sec for the com 2 port on the TPU The default is 4800 the NMEA standard and this is the value used at DSTO DSTO GD 0372 e BATHY d 0 1 This instructs the TPU to process bathymetry data The Klein 5500 at DSTO however did not have the bathymetry option fitted and so the value that has been used at DSTO for d is 0 e OLDHEADERTYPE d 0 1 This instructs the TPU how to construct the header information in the data and plays a very important role The two values of d namely 0 and 1 correspond to the data formats sdf sonar data format and 5kd 5000 data respectively if SonarPro is being used or if Isis is being used then d must take the value of 1 and this corresponds to XTF If d is set to 0 and Isis is being used then the waterfall display may take on a symmetrical appearance with one of the channels being discarded e PINGSPERFILE d 5000 This instructs the acquisition software to create data files containing 5000 pings It should be
55. X To enter the registration key first highlight the registration ID string and use the right mouse button to copy it to the clipboard In the setup wizard click on the key icon S or click on the Licence drop down menu and click on Enter Key If the current installation is an upgrade and the setup wizard has not been spawned then spawn Serv U s main window by clicking on the Serv U icon in the bottom right hand corner of the screen and follow one of the approaches just listed Then paste the key into the registration window and click on the OK button Figure 90 shows these details a em egt a a card bo Al ddr Li decora re ra sra El rd ie Be ee L aT ig T ad ore a a ra A mi od aibkan miz a O ae Lace tareme o para Sd oe ie Jaf AEN fries Le Figure 90 The different ways in which the registration key can be entered into the Serv U setup Wizard e When the registration key has been accepted a Professional Serv U should be installed correctly and ready for use 139 DSTO GD 0372 140 Support for Serv U should be directed to the Serv U support team using the email address support serv u com Any sales queries directed to sales serv u com Section 3 Windows 2000 FTP Server To install the Windows 2000 FTP Server there is a need to log on either as the administrator or as a user that has been granted Administrator privileges Then put in the Windows 2000 CD and after it has auto
56. aded from the CD as the CD has been given a wrong drive letter When this error appears click on the Browse button and choose the correct drive letter for the CD containing the Windows 2000 CD DSTO GD 0372 hd oe arre dl ar PLE Figure 91 The windows that are spawned and the options that need to be chosen to install the Windows 2000 FTP server Logical Lar ves ag Permeable Gtr ae ma Services and appbeatiorns A AMI Central Figure 92 A picture showing the hierarchical location of a Default FTP Site in the Internet Information Service folder of the Computer Management window of the control panel 141 DSTO GD 0372 142 Section 4 Isis The Environmental Assessment Group of DSTO has a maintenance contract with the compilers of Isis namely Triton Elics International TEI which gets renewed yearly This contract is designed to provide support for the Isis ruggedised computer such as helping with hardware and operating system upgrades In the past this support has been via emails as well as some on site support The maintenance contract also involves supplying the latest versions of Isis Delph Map with real time mosaicking and SeaClass Bottom Characterization and providing support for these products As only Isis was summarised in this report then only the installation procedure for this product will be described below Two options are available to install I
57. aga Heel Poca plan jE Bas Po api Faery bir pepa db a b Figure 57 The dialogue box for the Klein 5000 server in a normal display and b condensed From Figure 57 it should be noticeable that because this dialogue box is located to the right of the main window of Isis then very little of it is viewable by an operator when only one monitor is being used This problem of not being able to see much of the Klein 5000 server dialogue box when one monitor is being used is the reason why two monitors or a second virtual monitor is used at DSTO Section 3 6 2 outlines the hardware and settings needed to set up a second monitor or a second virtual screen Although the role of the server programs is to deliver data from their respective sonars to Isis the dialogue boxes that some spawn need to have particular settings made to them The settings which need to be made to the Klein 5000 server dialogue box will be outlined below Activate the following radio buttons e Sidescan LAN Connection This is needed as a Local Area Connection has been created if Chapter 3 has been followed successfully between the TPU and the acquisition computer e Under the Save in Isis section the radio buttons for Sidescan Roll Yaw and Echo channel 1 as only the first echo is ever used The radio button for hidden beams can be activated These are the beams that are not being used because the sonar is moving less than its top speed of 10 kn
58. al second screen is not as beneficial as two monitors then it would rarely be chosen if the latter was available but unfortunately the Isis PC s video graphics card Number 9 Imagine 128 does not have the capability to output to two monitors and the ISA Matrox graphics card which was purchased to circumvent this limitation was not compatible with the Windows 95 operating system installed on the Isis PC The Number 9 Imagine 128 graphics card currently installed on the Isis PC however does support a second virtual screen To access this go to the bottom al hand corner of the screen and click on the Hawkeye for Windows 95 icon Hawkeye for Windows 95 is a software package which came with the Number 9 Imagine 128 graphics card and provides more features than would otherwise be available Appendix A Section 2 details the installation instructions To invoke the second virtual screen option click on the Resolution Exchange tab and choose the virtual screen that is desired Optimum results have been obtained by setting the virtual screen to 2048 by 768 and the monitor resolution to 1024 by 768 Figure 42 shows an example of the Hawkeye for Windows 95 graphics card enhancement software Note the Isis PC sometimes crashes when the Hawkeye software is being used Figure 42 The Hawkeye for Windows 95 enhancement software and how the settings of the second virtual screen are set DSTO GD 0372 The other newer computers used to acquire sidescan so
59. alogue box see Figure 75 Bring up this dialogue box by double clicking on 129 DSTO GD 0372 130 the Klein software conf exe In this window check the following and implement the recommendations o The System 5000 Network Address is the IP address of the T PU and unless this has been changed it should be 160 64 181 222 If it is not this then change it Click on the Save and Exit button and try collecting data again from the TPU o If the same error is still being spawned and if there are more than one acquisition computer then make sure there is only one Master This is the computer that will have control over such attributes as slant range pulse length pulse shape resolution and sound speed used For those computers using Isis check the Master or Slave set up using the conf exe program and if SonarPro is being used then click on the towfish icon and in the TPU Connection dialogue box see Figure 66a choose whether or not the PC connecting to the TPU will be the master or will connect to the TPU as a slave If any of the acquisition computers were set up incorrectly for example if there was more than one Master or if all were Slaves then make the necessary alterations and try again to acquire sonar data If the same error message is generated then seek guidance from Klein Associates Inc 9 7 Serial Port Lock up on Laptops If the Windows 2000 operating system has been installed on a laptop that a serial cable is connected
60. alterations he she should click on the save and exit button if they wish to save their changes otherwise the changes can be discarded by clicking on the exit button Figure 75 shows the window that is spawned when the Conf exe file is executed 101 DSTO GD 0372 102 T Sucia SMON Conia on PG Eha Syste BOD Kaeva Aches Wier bloat pens ir Slee Moat Miers Et FI FR Eo Ez F3 Fa Fa Ey fe 5 Fi Figure 75 The window that is spawned when the Isis file conf exe is executed Sometimes when the operator makes changes to the settings in Figure 75 and the save and exit button is clicked the error message is spawned ConfigFile Save Data informing the operator that the changes cannot be saved This error occurs because the computer is trying to write the alterations to the read only file sysSk cfg It is unknown why this file is read only but the operator will need to remove the read only attribute if they want to have their alterations implemented In addition to making alterations to the conf exe file if the operator follows the Klein manual then when the Master and Slave computer tries to connect to the TPU there will be an IP conflict As the Master computer and TPU will need to have specific IP addresses then the simplest way to circumvent the conflict is to alter the IP address of the Slave computer This is achieved by going to the control panel and altering the IP address for the TCP IP protocol to anything othe
61. an Palsta Carisa Rage ne a n E Auto VG a n _ Ea npe ae ett Pr shoe D imme Wile p Bius pim Larco Dian c Figure 84 The three tabs of the Sonar Viewer Properties window a Plan View Configuration b TVG and c Color Palette The speed of the waterfall display can be altered using the icons tv The waterfall display will scroll with the default speed of approximately twice the a of data capture 248 pings per second with a maximum of nine times the speed of data capture and a minimum of a half During data playback objects may be observed for which the height and length may need to be determined This can be deduced respectively using the two icons with the values calculated being displayed in the status bar which is located beneath the Information Window Before these two functions can be used the DSTO GD 0372 waterfall display needs to be stopped scrolling This can be achieved using the stop icon To aid keeping track of observed targets it was outlined in section 5 3 6 that the operator can mark the location of any targets by double clicking in the waterfall display with a red filled circle subsequently being placed in the navigation window where the target is located This technique is good for small targets but for larger targets or geological features such as rocky areas this technique is unsuitable To enable the operator to highlight large areas in the waterfall dis
62. and to whom these will need to be reported It is also a requirement that the aim of the days work be entered into the Survey Sheet and that the trials manager and boat driver sign this form at the end of each day The Survey Sheet is included in the trials plan 7 1 2 Testing the Sonar When any instrument is being tested it is a very good idea to note the following e The alterations made to any instruments on the boat particularly if another operator would not know that these have been made It would be helpful if a small label were placed on the instrument so any other personnel can quickly see that the instruments set up has been altered e Any unusual set up procedures for example was GPS NMEA strings routed to the acquisition computer instead of the TPU or was a cable out serial string routed to the acquisition computer e Were any unusual settings used on the sonar For example was a different pulse width used If so when were the changes implemented and what data files do they correspond to DSTO GD 0372 7 1 3 Survey Information If a proper survey is being conducted then in addition to the information above the following should also be noted for the day in question There is a data collection sheet in use in which this information can be entered Any data sheets collected should be kept so they can be referred back to e What survey lines were either partially or fully completed e What were the names of the data files
63. apter 5 on the acquisition computer control communication with the TPU which in turn controls communication with the towfish Follow the directions outlined in chapter 5 so that the waterfall display is showing the data being received by the sonar whilst it is in air sitting on the back of the boat 109 DSTO GD 0372 110 6 3 3 2 Rub Test To make sure the sidescan sonar is working correctly before it is placed in the water a test known as a Rub Test is performed With the TPU pinging the towfish and the acquisition program generating a waterfall display have someone rub their hand or a piece of cloth up and down one side one transducer stave of the towfish The corresponding side of the waterfall display should show the presence of the sound generated by the rubbing see Figure 79 Perform this test on the other side of the towfish to make sure the sonar is receiving data correctly If the sonar does not appear to be receiving any sound from the rubbing then right click in the waterfall window increase the Threshold setting and repeat the rubbing If the sonar fails the rub test then this implies that although power is being transmitted to the sonar the transducers are not working This can indicate one or more hardware or software components in the sonar needs fixing The first approach when this happens is to contact the manufacturer Klein and seek advice on how to implement further tests on the sonar or enquire as to whether the
64. area then the second set will have the maximum possibility of detecting the target The construction of tracklines can be achieved by some sidescan sonar data acquisition packages for example Isis and SonarPro and there are some purpose built software packages for example Hypack which can construct them In either case what is commonly displayed to the pilot is an electronic nautical chart of the region being surveyed superimposed with the chosen survey lines and either the vessel location or sonar location If a sonar location is given then the area of the seafloor the sonar is ensonifying is also often displayed The survey vessel then uses GPS or DGPS to determine its location and the pilot continually alters the course of the vessel so as to keep as close to the trackline as possible whilst maintaining a reasonable speed One of the key parameters in constructing tracklines is to establish the line spacing or horizontal distance between neighbouring survey lines This is governed by the aim of the survey and for complete coverage must be less than half of the swath width For surveys which are trying to locate large targets relative to the pixel size on a smooth seafloor and in non turbid waters Fish and Carr 1990 recommend using a line spacing which is 75 of the total swath width This line spacing equates to any two contiguous swaths overlapping by 25 or a seafloor which has a coverage of 150 100 for the lane proper and 25 from ea
65. argets in regions where the bathymetry changes in the across track direction Figure 85 is a schematic displaying this scenario 123 DSTO GD 0372 124 w imaginen Plat dallote ee Figure 85 A schematic diagram showing how the flat bottom assumption can result in incorrect location of objects in areas of uneven bottom topography 9 Trouble shooting 9 1 Introduction Over the past several years at DSTO many problems have been observed with the Klein 5500 system and often these problems have only been remedied by consultation with either TEI or Klein Associates Inc As this consultation often took several working days then it was deemed very advantageous if the steps that were taken were outlined The problems that were observed can be placed into several categories These were e TPU not booting e TPU lock loss error lights on e TPU crashing e Incorrect usage of acquisition software e Error messages generated by acquisition software e Idiosyncracies of waterfall displays In this chapter all of the problems that have been observed with the Klein 5500 sidescan sonar system will be outlined including any indicators or error messages the reasons for the problem and the action that needs to be taken Some remedies have been taken from Klein Series 5000 System Troubleshooting GUIDE and this text is very helpful in isolating problems with the Klein 5500 9 2TPU not booting correctly One of the most common problems to occur wit
66. at no context specific help is available at this time then this should be ignored and continue by hitting Esc If continuing is not possible then exit AFDISK and try restarting it making sure the MO being formatted is already in the drive Page classification UNCLASSIFIED DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION DOCUMENT CONTROL DATA 1 PRIVACY MARKING CAVEAT OF DOCUMENT 2 TITLE 3 SECURITY CLASSIFICATION FOR UNCLASSIFIED REPORTS THAT ARE LIMITED RELEASE USE L NEXT TO DOCUMENT Setup and Troubleshooting Procedures for the Klein 5500 CLASSIFICATION Sidescan Sonar Document U Title U Abstract U 4 AUTHOR S 5 CORPORATE AUTHOR Colin Andrew and Amy Young Systems Sciences Laboratory PO Box 4331 Melbourne Vic 3001 Australia 6a DSTO NUMBER 6b AR NUMBER 6c TYPE OF REPORT 7 DOCUMENT DATE DSTO GD 0372 AR 012 851 General Document November 2003 8 FILE NUMBER 9 TASK NUMBER 10 TASK SPONSOR 11 NO OF PAGES 12 NO OF 160 REFERENCES 14 9505 25 76 NAV 00 035 COMAUSNAVMCDGRP 13 DOWNGRADING DELIMITING INSTRUCTIONS 14 RELEASE AUTHORITY Chief Maritime Operations Division 15 SECONDARY RELEASE STATEMENT OF THIS DOCUMENT Approved for public release OVERSEAS ENQUIRIES OUTSIDE STATED LIMITATIONS SHOULD BE REFERRED THROUGH DOCUMENT EXCHANGE PO BOX 1500 SALISBURY SA 5108 16 DELIBERATE ANNOUNCEMENT No Limitations 17 CASUAL ANNOUNCEMENT Yes 18 DEFTEST DESCRIPTORS Manual s
67. automatically disabled by the operating system when the Imagine 128 is in use and this is evident by an exclamation mark next to this device in the Device Manager see Figure 23 If the Imagine 128 does malfunction the Cirrus Logic video card can be used This can be achieved by removing the Imagine 128 card as well as the flange around the DB12 connection of the Cirrus Logic Video card The operator should be aware however that the Cirrus Laguna video card has less video ram than the Imagine 128 and does not support a second virtual screen The flange around the DB15 connection of the spare Cirrus video card is to prevent an operator unintentionally using this spare VGA adapter when the Imagine 128 is functioning correctly m i Device Manager Action Wien l EM computer EE Disk drives Display adapters Cirrus Logic Laguna 5465 E Number Nine Visual Technologies Imagine 128 Series 1 E DYDICO ROM drives H Floppy disk controllers H E Floppy disk drives Figure 23 The device manager display for the Isis PC under the windows2000 operating system e Two PS 2 connections which can only be used with a Y adaptor personal communication Geoff Shipton 2002 10 40pin PC31 DSP Digital Signal Processor card for retrieving data from the Klein 595 sidescan sonar See Appendix A for details about this card 11 40pin adaptor connected to the PC31 card by an internal ribbon for retrieving data from the Klein 2000 sonar Th
68. backscatter maybe over much larger areas indicating sediments of different composition After an object DSTO GD 0372 has been detected in a waterfall display its shape can give an indication as to the origin of the object Those objects that often have easily identifiable shapes include wrecks metal drums shipping containers cables or pipelines car bodies rocks and reefs The identification process of unidentifiable objects can be improved by ensonifying any features from different bearings In this way the two dimensional shape of an object is more accurately determined The characteristics of an object that determine the degree to which it reflects acoustic energy ensonifying it back to the sonars transducers are the orientation of the object s surface with respect to the orientation of the wavefront and the acoustic impedance of the materials used in construction the object The acoustic impedance is the product of the materials density p and the speed of sound Cw in the material The higher the impedance the more acoustic energy will be reflected back to the sonar A more helpful quantity which indicates the amount of energy reflected back to the sonar is the reflection coefficient R expressed as a percentage This is defined as the ratio of the reflected acoustic intensity to the acoustic incident intensity and may be calculated using the approximate relationship Pates p E 2 fetapa x100 1 1 Ip is the ac
69. being used then two dialogue boxes may be spawned saying Failed on SetSys5000 Standby or DoPing Event ERROR Although these error messages are spawned when Isis is running they are in fact generated by the Klein System 5000 controller software ss exe which as stated in section 5 2 6 2 augments the server KLN5000 exe to route data to Isis from the TPU The error messages are generated because as the TPU has crashed then no data is being sent to ss exe with the error Failed on SetSys5000 Standby preceding the error DoPing Event Error Both error messages are symptomatic of the same problem The solution is to first get SonarPro or Isis functioning correctly SonarPro has no quirks which could confuse a new user and is likely just to need shutting down and re running Isis however does have a few quirks and the steps which should be taken to get it working again are outlined below e Highlight the Klein System 5000 controller dialogue box with the left mouse button and hit the escape key to remove it Do not use the buttons in the top right hand corner of this window as they will not work e Close the Isis server dialogue window for the Klein 5000 series of sidescan sonars e Now close Isis using File Exit e Start up Isis making sure the Klein System 5000 controller dialogue box and the dialogue box for the Isis server have been spawned Isis should now be functioning correctly Now the TPU must be rebooted Press
70. booted click on Install Add On Components Then check Internet Information Services IIS and click on the Details button The Details button provides control over which subcomponents of the Internet Information Services IIS are installed The subcomponents that are needed if the FTP server is to be installed correctly are the Common Files File Transfer Protocol FTP Server and Internet Information Services II Snapin When a subcomponent is deactivated the windows component that subcomponent is needed for is displayed This makes it difficult to accidentally deactivate a critical subcomponent Once the three components are checked the FTP server will be installed when OK is clicked in the subcomponents window and also in the components window Figure 91 outlines the windows that are spawned in installing the FTP server is installed and the subcomponents that need to be checked To enquire as to whether the FTP server has been successfully installed there should be a Default FTP Site under Internet Information Service in the Computer Management window of the control panel see Figure 92 Windows 2000 does not need to be rebooted immediately after the installation for administration to be performed on the server On some occasions when the Windows 2000 FTP server has been installed an error message has been spawned outlining that some files could not be found This occurs because some files that are needed could not to be lo
71. bouring survey lines is determined by the desired coverage As survey lines would normally be constructed for route survey work and there is limited resolution beneath a towfish encompassing the nadir then operators will normally employ 100 coverage when using survey lines This is because the low resolutions near the nadir need to be circumvented using the outer ranges of an adjoining swath line As the operator is entering or adjusting the variables in the Survey Route set up dialogue box the corresponding survey lines should be displayed in the Navigational Window If at any time an operator wishes to turn off the survey lines then this can be achieved by right clicking in the Navigational window and then deselecting Display Survey Route under the General Tab 99 DSTO GD 0372 100 9 3 8 Saving Data Once the operator has set up SonarPro the way they require and sonar data is being displayed in the waterfall display then the operator can save the incoming data to file This is achieved by first clicking on the save icon a in the main toolbar and letting the Sonar Data Recorder dialogue box will be spawned In this dialogue box the operator needs to specify where they want data files to be placed the prefix to use in naming the data files and how many minutes of incoming data are placed in each file At this stage the Sonar Data Recorder dialogue box can be used to start recording data by clicking on the Record button in the u
72. ce first when it is collected and then a second time when it is reviewed The Log button enables the locations of any objects that would normally be determined in post processing to be written to the Log file when the data is being acquired Then when a proper post processing package is used to locate any suspicious objects the locations of those already detected can be read off the cursor log file greatly reducing the time it would take an operator to scan through the files on a second pass In the DSTO GD 0372 past this functionality of the Log button has not been utilised but should be kept in mind 5 2 9 1 6 Current Data File The Current File panel displays information about the data file being acquired or played back If sonar data is being acquired then an important button is the Switch Now button This button controls the writing of data to files by Isis so that data is not lost when one file is closed and another begins being written to When it is clicked on the Switch File dialogue window is displayed see Figure 65 and it is here Isis is setup so that one of two scenarios occurs These are To synchronise the change in media on which sonar data is being saved This would be needed when a medium becomes full like a magnetic optical disk and data needs to be saved to another medium To set up Isis so this occurs first type in the box Record data to filename the filename without the extension of the new file and the
73. ch neighbouring lane Figure 14a shows the area of the seafloor ensonified when this recommendation is employed When small targets are being searched for consideration should be made to the fact that there is limited resolution beneath a towfish encompassing the nadir For this case an operator will circumvent the low nadir resolution using the outer ranges of an DSTO GD 0372 adjoining swath line This approach equates to a line spacing which is 50 of the swath width or a coverage of 200 for all lanes which are encompassed by the two outside lanes and which is 150 for the two outside lanes Figure 14b illustrates the concept of 200 coverage b Figure 14 A cross sectional illustration showing the concept of a line spacing which is a 25 of the swath width and which equates to a 150 coverage and b a line spacing which is 50 of the swath width and which equates to a coverage of 200 The black dots represent the sonar the yellow regions the area of the water column which is ensonified when the sonar follows each trackline and the bright yellow areas represent the overlap of each swath with their neighbours If the aim of a survey was to simply locate one or more objects along one or more tracklines then if high quality sidescan sonar data and navigation data have been collected and the object s has been found then the survey is complete On the other hand if the aim of the survey was to locate or identify features which spann
74. ck the audio alarm box If at any time during data capture the altitude or roll of the towfish exceed the threshold values the background of the altitude display will change from green to red and for the roll status window the background will change from its normal grey to red as well Tosh ARIbude Giepty Fr Esjables gaie beep ashe the tosh albo in below thes heel Coed Pom ins Poll Mobttucibad MT coges Frais kuibia hero wher Hs baith nia dhawa mha Haider c Figure 67 a The Information Window which is displayed in SonarPro and the dialogue boxes that are spawned when the altimeter b and roll c status boxes are right clicked 92 DSTO GD 0372 To set the ping lag threshold right click in the lag status box which is located on the right side of the main window Figure 68a shows the location of the Lag status box on the right hand side of the Information Window When the operator right clicks in the status box the Ping Lag dialogue window is spawned see Figure 68b Here the operator can alter the Lag Threshold and the time interval the computer waits before it checks the threshold value were BI Sorell Sore AS Associa bec Todd ormal Pbeseduhicn ED ure clharp BN sesson pu Snagit Widow Heb amp oo HRREOBsa SRY LM Ai El Lagtteestaid ME garage A nl b Figure 68 a The top portions of the main window in particular showing the Lag status window on the right hand side circled i
75. cted in the XTF SEG Y or DAT format cannot be played back in SonarPro Figure 83 The tool bar available in the waterfall display of SonarPro when data files are being played back 5 Isis cannot save data files in the TRA format it can only play them back DSTO GD 0372 To play back sdf or 5kd files first locate the data file This can be achieved using the Open Sonar data icon or the advanced search icon CM which enables the operator to temporally search for files Once the data file has been chosen the file i aa a vert count window E will adjust to reflect the chronological location of the chosen file relative to the total number of files available in the directory Then it is a simple matter of using the Data Source Control buttons e 0 gt gt to play and stop data files as well as move forward or backward one data file If the operator does not intervene SonarPro will play all data files in the chosen directory starting with the chosen file and finishing with the last file collected The other icons in the Playback Tool bar control the characteristics of the waterfall display as well as permitting the attributes of any targets to be displayed The three icons on the Playback Tool bar have corresponding tabs in the Sonar Viewer Properties window Figure 84 and their functions are outlined below The Plan View Configuration icon controls whether or not the waterfall display 1 is corrected for Slant Rang
76. ction of that of the sonar The value is calculated using the formula 24 where d is an integer between 0 and 15 The default value is 15 which turns off the responder At DSTO a responder is not used to locate the position of the sonar and so the value used is 15 RESPFREQ d 0 15 This sets the responder frequency using the formula 24 kHz d 500 Hz where d is an integer between 0 and 15 The default value is 7 or 27 5 kHz As no responder is used at DSTO then this variable can take any value The value used at DSTO is 7 or 27 5kHz DESPECKLESWITCH d 0 1 2 3 This sets the despeckle mode where the values of d 0 1 2 3 corresponding to off low medium and high Default is off and this is the value used at DSTO SPEEDFILTERSWITCH d 0 1 This turns the velocity filter on the waterfall display on or off with the values of d 0 1 corresponding to off and on respectively The default value is on and this is the value used at DSTO TVGPAGE d 0 15 This sets the TVG Decreasing d decreases the gain by 3dB and increasing d increases gain by 3dB A setting of 15 selects a flat TVG curve where the gain is constant The default is 7 and this is the value used at DSTO HEARTBEAT d 0 256 This sets the heartbeat message divisor Heartbeat messages are output once every d pings where d is a value from 0 to 256 Note that a value of 0 shuts off messages and this is the default value and the value used at DS
77. d Sonar 109 G90 PNCGUISITION SO ads 109 O2 ROD TE teieni ene tree eter eee ener mere er er erent eer eran 110 63 4 Towtish Deploy Mentes cios 111 6 4 Bow mount CoOmisuratON ii 112 6 4 1 Setup towfish for bow mount sssssssesssssssssesssesetssessessrssessessreseeseesees 112 642 Pur DOW Mounton bosta tail csdiad 114 DA TA COLEECHO Nini li dida 116 Za Meta Dita A As 116 7 1 1 OHand S Committee Requirements erissa a EE 116 Pa LES NO depois oo aid 116 A A a esas teen taaek seed 117 TAA Miscellaneous norc ice 117 2 2 Collecting Dita 117 72M Media Selecione eee ee Sela 118 FOST PROCESSIN Gusta iio 120 51 IMTEOQUEION A A 120 92 JPG Play Dah nana aan 120 e A en nr emer end Ser eee ee ee ee ee 120 02 2 Donar rica abc ibadad 120 8 3 Cursor Position ESAMAON ii AAA 123 TROUBLE SHOOT CG 124 9k INTO dUCION ii A A E E E 124 9 2 TPU NOE booting correctly acid id ii a 124 3 TPU Error Elite noia 127 DA TEU Crest sa 128 95 Incorrectusag OF SON PEO 128 9 6 Error Messages generated in ISIS omoocccoonnnooonnnonnnnonanononncncncnnoncnoncoconoccnonccnononnos 129 OL DEMONIO o bt ooo od 129 A E A e O A Oe ne es 129 97 Serial Port Lock up 0n Laptops iia 130 9 8 IPAddress Conti 132 DOl NNGNA OWS 99 2x orp csde cece E avdceme T R 132 FeO Windows 2 OOO ao sha ais 132 9 9 Waterfall Display Errors QuirkKks cmoocccoonnonoonnnconncnccnonccnnnocaconoccnonccnoncoconccconnonos 132 9 9 1 Symmetrical Waterfall Display in sis on
78. ddress 127 0 0 1 is the address of the network card So the command ping 127 0 0 1 will test the inner loop between the computer and the network card If no packets of data can be sent to the network card then the network card has not been installed correctly Figure 86 shows an example of the ping command testing this inner loop Note in this figure how four data packets were sent to the network card and four were sent back indicating that the inner loop has been set up correctly Solution if the ping command reveals that the network card is not installed correctly then remove old driver for network card if it exists and reinstall it Then try the ping command again to test the inner loop If successful then reboot TPU and see whether it boots correctly If it does not but the inner loop exists then proceed to the next step NOTE It is not possible to use the ping command to ping the TPU from the acquisition computer because the ping command itself is part of the operating system and this has not loaded yet on the TPU 125 DSTO GD 0372 126 Command Prompa HirrausoFL Winds HA Ur rs lun SAA LSS 1 i C F Lo pi Ley we YH p z HHH P it mi E Co Fil voters AAP 1G3 n 5 o V6 pan AAP igat ping 1 ae 127 0 08 1 with H 6 1 i i Cine 4 Lins i byter 32 tinotline I A A AA Cine lima 5 0 Hal byes Ja E i i 1 Ane lieply fro pi TET tren laply ree 12 Ro ply fir a Fru Li iH E Lie Ping statis ba 5s fo
79. displays the corresponding starboard backscatter versus time data Each ping s echoes are placed beneath the former creating a picture which shows the regional acoustic backscatter characteristics across the width of the swath Figure 3 shows as example of a water fall display Acoustic backscatter data is displayed in waterfall displays with dark regions representing high acoustic returns and whiter regions representing low acoustic returns although sometimes inverse video mode is invoked in which this scheme is reversed Acquisition packages permit operators to alternate between these two modes However as the mode invoked determines how the waterfall display is DSTO GD 0372 interpreted then an operator needs to be aware of the convention being used at any time Figure 3 shows a real example of a waterfall display during data acquisition Starting at the centre of the display is two dark lines These represent the outgoing pulses generated by the sonar on the port and starboard side The following white regions on either side are the low acoustic energy being received by the sonar during the time taken for sound to travel through the water column to the seafloor beneath the sonar The display changes colour to greyscale on either side at the edges of the white area This is the first return from the seafloor If a sonar is located close to the sea surface as occurs with sonars that are mounted to the survey platform then before the f
80. e 2 displays the altitude line 3 displays the port or starboard or both sidescan data 4 blanks out the water column or 5 is inverts the colour of the water column Figure 84 a shows the Plan View Configuration tab in the Sonar Viewer Properties window mp The Time Variable Gain TVG icon permits the operator to alter how the gain of the intensity is applied The operator has the options of leaving the gain on Auto or adjusting the three components of the TVG namely spherical spreading absorption and scattering for the port and starboard channels using the slider rulers Any adjustments made to the TVG will appear immediately in the waterfall display Figure 84 b shows the TVG tab in the Sonar Viewer Properties window The Color Palette icon enables the operator to adjust the Hue Start Hue Stop Saturation Start and Saturation Stop components of the color palette using slider rulers The operator also has the option of chosing inverse video Figure 84c shows the Color Palette tab in the Sonar Viewer Properties window Like adjustments made to the TVG any adjustments made to the color palette will be immediately displayed in the waterfall display 121 DSTO GD 0372 122 ora Ma Pra br Plan View Contigua Tui Coles Palette Cansa Flange Lines Cata epi Dinen Prom arg T Boh M Jiri Monge forest a Na ten Coloma emetic seis per ade Lira aw Wieser Pr operties Pian View Coriguatian PVG A c
81. e hardware for serial inputs of position information to the sidescan system 29 DSTO GD 0372 30 eg position heading cable out and water depth Correct set up of the acquisition software is also required and this is discussed in chapter 5 Serial information can be input to the system in real time via serial ports Differential Global Position System DGPS information is necessary for sidescan operations while gyro is desirable Echosounder data can be very important if the depth or altitude readings from the towfish are not accurate but is otherwise unnecessary With a device such as Over the Stern Cable out Device OSCAD cable out information can also be added via serial ports although as the cable out values rarely change it is sometimes simpler to keep a paper record of the cable out and only utilise this information during post processing 2 3 1 Hardware Required Rs232 serial cables of appropriate lengths with appropriate connectors Digiboard card in recording computer if required Digiboard 8 serial port cable if required Digiboard driver disks and instructions if required e PCMCIA dual serial port Oscad cable measuring device and accessories o Measuring tape Electrical tape in different colours 2 3 2 Towfish Position In order to accurately calculate the location of any objects or features observed in the waterfall display the location of the sidescan sonar in the Cartesian co ordinate
82. e slave is the same as that of the TPU or any of the other computers and this is likely to occur as the slave in question is likely to have been a master at some stage and as such it would have been given the same IP address as the master that is currently in use To set up the slave computer so it does not have an IP address that is conflicting with those of the other computers follow the directions below for the respective operating system 9 8 1 Windows 95 Go to the Control Panel Network and in the network window select the Configuration tab Select the TCP IP Transmission Control Protocol Internet Protocol link from the network components list and then click the Properties button below this list Select the IP address tab and Let me specify an IP address should be checked Enter in an IP address that has not been used for all the other computers and the TPU and use a subnet mask of 255 255 255 0 Click on OK and the IP address and subnet mask of the computer should be set 9 8 2 Windows 2000 Go to the Control Panel Network and Dial up Connection and right click on Local Area Connection Click on properties and the Local Area Connection Properties window will be spawned see Figure 31 In the Local Area Connection Properties window select TCP IP Transmission Control Protocol Internet Protocol and click on Properties Then the Internet Protocol TCP IP Properties window is displayed Click on Use the
83. e sonar is immersed in the water although if the Subconn connection does not work then either the bow mount needs to be removed from the boat or a diver is required to reconnect the Subconn plug underwater o To test the electrical continuity of the Subconn connection connect the tow cable to the back of the TPU located on the boat o Follow the rub test procedure outlined above for the towed configuration DSTO GD 0372 o If the rub test fails then unscrew the Subconn plug at the sonar and re attach tightly If the rub test still fails then check the connection of the tow cable at the back of the TPU e When the electrical continuity of the Subconn connection at the sonar has been tested and deemed successful unscrew the tow cable from the back of the TPU and roll it up using cable ties to keep the roll from unwinding To prepare for moving the bow mount onto the bow of the boat temporarily put the rolled up tow cable on one arm of the bow mount see Figure 80 This stops the tow cable getting in the way when the frame is being put on the boat Use another cable tie to stop the rolled up tow cable from falling off Tow cable fixed to bow mount using cable ties Figure 80 The final configuration of the bow mount before it is lifted onto the workboat 113 DSTO GD 0372 114 6 4 2 Put Bow mount on Boat If not already done put the solid steel bar that will hold the bow mount frame to the boat under the bow rope guide
84. e waterline can be determined The horizontal distance Rp an object is from the sonar is calculated using the altitude of the towfish above the seafloor H making the assumption the seafloor is flat from beneath the sonar the nadir to the object and using the slant range to the object Rg see Figure 11 Another important characteristic of objects is their height Hy or altitude for floating objects above the seafloor This can be determined by invoking 13 DSTO GD 0372 14 similar triangle relationships because the triangle generated by the height of the object the length of the object s shadow and the slant range from the object s crest to shadow end Lg is similar to that generated using the altitude of the sonar the slant range to the object s shadow Rs and the horizontal length from the nadir to the shadow as their three angles are equal By virtue of the fact that for two similar triangles the ratio of any two corresponding sides is equal it can be stated that the ratio of the height or altitude of the object to the altitude of the sonar is equal to the ratio of the slant range from the sonar to the end of the shadow to the length of the shadow from the object By virtue of similar triangle characteristics 1t follows that By rearranging equation 2 for the unknown object height H4 it happens that _ HL 3 Ro t This argument is outlined in Figure 12 A RBRARRRA He BOTTOM
85. ed more than the width of one swath then the sonar data needs further manipulation In the early 1960 s and 1970 s only relatively low frequency sidescan sonars were in usage and they permitted large swath widths of several kilometres to be used but this was at the cost of low resolutions several meters Such sidescan sonars are still in operation today In the late 1980 s much higher frequency sonars were being manufactured and they were achieving high resolutions of sub decimeter but this was at the cost of much smaller swath widths approximately 300meters Mosaics are a way of retaining the high resolutions whilst displaying the backscatter results over areas that were of comparable size to the swath widths of the lower frequency and lower resolution sonars A mosaic is a picture showing the acoustic backscatter from one or more swaths that have been geo referenced onto a projection of a region of the globe 17 DSTO GD 0372 18 Mosaics are generated for a wide variety of reasons These include 1 showing sediment boundary locations 2 showing debris fields from downed aircraft 3 showing the location and coverage of geological features such as boulders and reefs 4 showing ship wrecks which span more than the width of one swath 5 surveying bottom habitats 6 archaeological surveys 7 pipeline inspecting To increase the readability of a mosaic it maybe placed on top of an electronic nautical chart of the area or the m
86. eg GPS gyro if it is not already and connect the TPU acquisition computer and GPS and gyro serial cables as outlined in chapter 2 Switch the acquisition computer on Remember that in with virtual resolution the display area is larger than the screen size So if a window cannot be seen that should be open move the mouse to the edges of the screen This will make other parts of the virtual screen be displayed See section 3 6 2 for details of how to set up a second virtual screen Warning do not connect or disconnect the towcable to or from the TPU STOP while the TPU is on Serious damage may occur to the sonar system i electronics and or any operators of the sonar may be injured 6 2 2 TPU Bootup When the acquisition computer has been turned on and the operating system either Windows 95 or Windows 2000 has finished booting turn the TPU on using the green switch at the front of the TPU Immediately the TPU should log onto the acquisition computer and try to download first its operating system file vxworks and then the initialisation file startup ini This should take about a 25 seconds to conclude but it may take up to 5 minutes or not occur at all if the ftp server is not properly configured 3 3 The operating system file vxworks is essential to the successful bootup of the TPU whereas the TPU will still bootup successfully and be correctly networked to the Klein 5500 sonar even if the initialisation file startup ini is not dow
87. eing readied for formatting for important data If data is present that needs to be backed up then follow the procedure above 7 The formatting of a M O disk may take a while Once completed other disks can be formatted by following steps 5 to 6 8 When the low level formatting tasks have been completed the scsifmt utility can be exited by hitting the escape esc key Whether a M O disk has a low level format of 512 bytes sector or 1024 each side of a M O disk needs one DOS partition before Isis can use it This is termed the high level format and can be set using the commands AFDISK or FDISK AFDISK is an Adaptec SCSI disk partitioning and high level formatting utility and can only be used on SCSI disks and drives that are not controlled by the host adapter BIOS which is the BIOS on the SCSI PCI card Those SCSI hard disks and drives that are controlled by the host adapter BIOS need to use the DOS command FDISK The command used generally at DSTO is AFDISK The commands AFDISK and FDISK need to be run from within DOS and not from a MS DOS shell whilst Windows is running If they are run from within an MS DOS window an error message will be spawned The procedure to set the high level format is outlined below It has been taken from Appendix D of Volume 2 Isis Users manual Warning formatting any computer media will result in any data on the media being deleted Check any media that is being readied for formatting for important data If
88. elected in the TPU Connection dialogue box At this stage SP will have spawned the Scan Window which shows the voltage returns from the port and starboard side of the towfish the Navigation Window the Sensor Window and the Waterfall Display Window Although other settings can be made to SP data can now be displayed in the waterfall display by clicking on the play button M 91 DSTO GD 0372 5 3 3 Alarms In SP the operator can set numerous thresholds which if passed or tripped will invoke visual alarms These alarms pertain to towfish roll and altitude and the Ping Lag of the acquisition computer Ping Lag is the number of pings which are backing up in memory before they are displayed in the waterfall display For computers with a lot of RAM for example half a gigabyte there is likely to be only a few unprocessed pings but this can increase to several hundred when only 128 or 256 megabytes of RAM is used When the ping lag goes above 200 then there is the possibility of incoming ping data being lost and the operator should try and close unneeded windows in SP or in Windows To set the towfish roll and altitude alarm thresholds right click in the altitude or roll status windows in the Information Window Figure 67 shows where these two status windows are located in the Information Window In doing this their respective dialogue boxes will be spawned and the user simply needs to enter in the threshold values and if wanted the user can che
89. em control dialogue window 5 2 6 1 Isis Server software Klein5000 exe for the Klein 5000 The dialogue box spawned by the server software which enables data to be delivered from any one of the Klein5000 series of sidescan sonars to Isis is normally spawned as soon as Isis is and located to the right of the main waterfall display Depending upon the configuration of this dialogue box in the last Isis session just prior to Isis being closed this dialogue box may appear in its condensed version see Figure 57b If this occurs then the normal view can be activated by clicking the button More Options gt gt located in the top left hand corner of the dialogue box lus Serer lor Eon 5000 C STANDBY le r Fat Edeac n LIN comecton pmm la F baa pir he Giir ud Flat ee Flia Ce Fil freee FAZ be a il P T uti hin DO bibb chap 2 Echo Fan t Behe chan 2 Tapsan TH F Hi Wo o a E pirar Pads conector TA dl ao are Ml par al aml mal eb ML ra O Flac d om Soran Pra ie inet iUa mpi dep bore alae val a O00 fdo Chee bel Simrad LEO ue red Teba do dei A E by Daa DSTO GD 0372 Ms Sewer lowe Eheim 5000 le Eros About STANDBY More options gt gt Dran l Fimo Sor Fo bike ah La mal fhia Larra F Yeme z M Subba chan 1 M fubbhra chan 3 F Doho chan 1 HD Boho chan 2 ngger IH Fai Moda Mas Arr bea Hada 15 Diap E i per pra ae i i Cala Paga Phe Pra Ange par wood DL Dita P
90. er between the contact points and any seawater The next step is to secure the steel lanyard to the co axial steel tow cable using strong cable ties This will create a loop at the top of the steel lanyard which will be used to deploy and retrieve the sonar The last step is to connect the safety steel cable from the back of the sonar to the sock on the tow cable This attachment is a backup in case the shackle works free It should be noted that the sock of the steel tow cable should not be handled without a good set of gloves The sock has a lot of steel DSTO GD 0372 burrs protruding from it and running a hand along it can result in serious injuries to an operators hands Figure 78 shows the sonar setup ready for deployment Thm sief cobble 5 used as a backup in coe the aman calile brenda er ihe shachir corr frre e r E h 7 4 2000 wea Figure 78 A picture showing the correct set up of the Klein 5500 sidescan sonar See text for details Operator Mr Collin Mason formerly from MOD DSTO Before the sonar is deployed the connection between the TPU and the sonar needs to be checked for electrical continuity 6 3 3 Testing Connection Between TPU and Sonar 6 3 3 1 Acquisition software When the TPU has booted start Isis or SonarPro by double clicking on their respective icons on the desktop or find and run their executables sonarpro exe and isis exe from the folders klein and Tei respectively The Isis and Klein software see ch
91. ere is also the problem that sidescan sonar data and hence the texture can be dependent upon the ensonifying bearing angle For example sand waves are unlikely to be detected if the sonar track is orthogonal to their orientation that being parallel to the wave crests whereas they will DSTO GD 0372 be detected if the track is parallel to their orientation Figure 16 shows an image of sand waves _ SURFACE EGHO ma gm BOTTOM ECHO Figure 16 A sidescan sonar image showing the presence of sand waves Altered from Klein 1985 The other approach that can be used to classify sidescan sonar data exploits information on the grazing angle to derive the backscatter angular response As the erazing angle needs to be calculated then this technique can only be used on sidescan sonar data that has accompanying bathymetry data which may or may not have been collected when the sidescan data was Bell et al 1999 The act of classifying sidescan sonar data is normally performed in post processing The software packages that can perform this classification are the SeaClass module http www tritonelics com tritonPDF SeaClass pdf of the TritonElics package DelphMap and the package Classiphi http www http www qinetig com classiphi by QinetiQ Both software packages use textural based approaches Once sidescan sonar data has been classified and the locations of rocks and man made objects have been identified then tasks like ident
92. erved by Rod Berkers Cat Soft is an afillate of Deerield Com Using Microsoft Windows Sockets Version 1 1 max 32767 sockets No logfile specified logging messages to screen only 1 Fri O3Dets9 13 49 10 Starting FTP Server Version 2 44 32 bit FTP Server on line P number s 160 64 181 221 port number 21 SECURITY SWITCHED OF F NO ACCESS RESTRICTIONS Using registered version Registration key passed 3 Fo O30ecS9 13 49 46 0000019 Connected to 160 64 181 222 Local address 160 654 181 221 3 Fri O80ec99 13 49 46 000001 Sending file cXuwobrks 3 Fr 03Dec99 13 49 47 000001 Sent fle cwsworks successfully 899 Kosec 775426 bytes 5 Fri O5Deco9 13 49 47 000001 Closing connection for user SONAR 00 00 01 connected 0 000 K8ps 10132762 Sockets 00 o5 Users 0Xlers z Figure 76 Evidence in Serv U that the TPU had downloaded the file vxworks Table 8 An explanation of each of the four lines in the Servu display window Statement Explanation Connected to 160 64 181 222 Local indicates that the TPU has logged into the Servu address 160 64 181 221 FTP server on the local computer NOTE 1 There is sometimes an extra line after this line saying User SONAR logged in which means that the login details for the TPU are correct This line seems to appear if the login details are correct but the required file s cannot be found on the Isis computer Sending file c klein vxworks
93. escan sonars or multibeam echo sounders and Isis alerting Isis that new data is available for downloading processing and displaying For the Klein 5000 series of sidescan sonar this program is the KLN5000 exe program Although not all server programs have their own dialogue boxes the Klein 5000 does see Figure 57 These dialogue boxes dialogue boxes allow easy testing of the servers because if these servers are double clicked and their dialogue boxes are spawned then this means they are working All server programs which have their own dialogue boxes can be called from within Isis Those server programs that do not have their own dialogue boxes cannot be called from within Isis and run in the background Some server programs one being the Klein 5000 server also have controller software programs These programs augment the server programs and play the important role of enabling an operator to directly control a sidescan sonar or MBES although have the quirk that they were constructed by the companies that made the instruments and not TEI That which exists for the Klein 5000 is the Klein 5000 System Control ss exe Figure 57 and Figure 56 shows the dialogue boxes for the KLN5000 exe server and the Klein 5000 System Control ss exe software respectively The peculiarities of these two programs will be outlined in the following sections s System 5000 Control Hes Desp st fF nom f on high C off Figure 56 The Klein 5000 syst
94. et correctly file transfer of vxworks and startup ini should occur and the HyperTerminal window on the laptop or acquisition computer will scroll information about the booting sequence as shown in Figure 45 The TPU lights should light correctly and the acquisition software should be able to record data from the sonar The following table describes what seems to be the most reliable way of configuring settings on the TPU The settings on the TPU must match the settings on the acquisition computer as described in 6 1 and 6 2 1 In particular note that the filename field on the TPU is set to vxworks with no pathname Table 5 The variables which need to be set on the TPU and the acquisition computer and the correct values that they need to be set to Field name on Acquisition computer TPU field name Field value Computer name Host name Survey in Control Panel Network Identification IP address Host inet new 160 64 181 221 in ControlPanel Network Configure name TCP IP Properties IP address Subnet mask o 255 255 255 0 59 DSTO GD 0372 60 Address of TPU a N A File name Pathname oa the directory containing the file vxworks CA in ServU Setup Users T a E startup in1 Password in ServU Setup Users ftp password DSTO GD 0372 5 Configuring and Running the Acquisition Software 5 1 Introduction At the time of this report there were two software
95. etup for the com port in question Making a note of the com port that the null modem cable is connected to on the computer that is connected to the TPU spawn hyperterminal When this is performed a prompt will appear asking if a new connection will be made see Figure 46a This is simply requesting a name to be given DSTO GD 0372 for the connection to the com port assuming one has never been made that is receiving data from the TPU and to enter the attributes of the data being received AA A A ee ia Figure 46a The New Connection dialogue box in HyperTerminal If a connection has previously been created click on Cancel in the New Connection window and simply open the connection to the com port by clicking on File Open and selecting the session file If a connection does not exist then type in a name for the new connection in the New Connection window such as TPU and click on OK Then the Connect To window will be displayed see Figure 46b As it is one of the com ports that Hyperterminal is trying to retrieve data from and not an outside telephone then click on the Connect using variable and select the com port that the null modem cable from the TPU is connected too Click on OK and the last and most important window to be displayed is the Com Port settings window see Figure 46c It is here that the baud rate data bits parity stop bits and flow control of the data coming from the TPU need to be set By default
96. evident from the above bullet points that many of the default settings for the variables are those that are used at DSTO This is the reason why it has been remarked on several occasions throughout this document that the downloading of the startup ini file by the TPU from the host computer is not necessary for the TPU to be used with the Klein 5500 147 DSTO GD 0372 148 Appendix C Klein 5500 Pressure Transducer Calibration As outlined in section 5 2 6 the dialogue box for the Klein 5000 Isis server KLN5000 exe see Figure 57 has a component labelled compute depth from voltage It is in this window that the calibration of the pressure transducer voltage for the Klein 5500 sidescan sonar needs to be entered To calibrate the pressure transducer and establish what coefficients need to be entered into this window first remove any old calibration coefficients and set up Isis so it is receiving data from the sonar Then lower the sonar into the water at 0 5 metre intervals and using Isis either read off the depth displayed in the Telemetry panel of the Parameter display window or use the values recorded in any data files that are generated Graph the depth from the pressure sensor against actual depth with the former being the dependent variable or ordinate and the latter being the independent variable or abscissa As Isis only permits a linear calibration then the scatter between these two values should appear linear If this is the ca
97. ew User This will make the New User dialogue box be spawned and it is here that the new user can be created Figure 38 shows the New User dialogue box with these details entered Once the new user sonar has been created then the TPU should be able to download its operating system using the FTP server set up above New user ees Username sonas Full name SOral Description zonar Password Confirm password User must change password at next logon M User cannot change password iW Password never expires Account is disabled coe Figure 38 The New User dialogue box under Windows 2000 creating the new user sonar 3 4 Network Duplex settings Duplex settings affect how data is transferred through the network that exists between the recording computer and the TPU Full duplex means that communication can take place in both directions through the Ethernet cable at the same time which can cause collisions and data loss Half duplex limits data transfer to one direction at a time which suits this system as the bulk of the data flow will be in one direction from the TPU to the Isis Triton Elics recommends that half duplex should be used DSTO GD 0372 3 4 1 Isis PC Network Settings To change or check the network settings of the Isis computer running Windows 95 double click on the 3Com icon En on the task bar Alternatively use the windows start menu and click on Start Programs 3Com Nic Utilities 3nicdiag
98. f each com port when a predefined template is used to test that a template has been created correctly click the Test button in the Serial Port Setup window Figure 52 or select Com Port Test from the Tools menu of the main Isis window This displays the Com Port Test window see Figure 53 in which the data Isis is obtaining for each com port is shown The panel will display Com port not set up if the status box for a port is not checked as on whilst for the serial ports that are checked any data being received is displayed If the data needing to be recorded is not being displayed then either the template has been incorrectly constructed or the port settings have been set incorrectly If sidescan sonar data is not going to be saved to disk then no further steps need to be taken and this completes the basic setup of Isis Click on OK in the Record Setup Options and Isis is ready to display data in the waterfall display If sidescan sonar data is also going to be saved to disk then another step needs to be taken This is to set up the file format of any data files however as the format used at DSTO has not changed in the past several years as well as its attributes then this step is rarely taken and assumed to have not changed from a previous session when data was saved to disk It has been outlined here for completeness 5 2 3 File Format To set up the file format that will be used if any sonar data is saved to disk c
99. f the TPU As it is harder and more daunting to interrogate and alter the set up of the TPU coupled with the fact that any incorrect setups that cannot be fixed will require the TPU to be sent back to Klein Associates Inc then it is ill advised to change any settings on the TPU But if it is necessary to perform this function then the procedure outlined in section 4 2 can be followed 4 1 Boot Sequence of TPU The TPU is set up so that the progress of its boot sequence is output to the Com1 port at the front of the TPU see Figure 44 By using a terminal emulation program and an external computer the bootup sequence of the TPU can be viewed Such a sequence is very helpful because it shows if the TPU is acquiring its bootup files vxworks and startup ini Figure 45 shows an example of the bootup sequence of the TPU and how it would appear in a terminal emulation program Figure 44 The Front panel of the TPU showing the Coml serial input port marked with a yellow circle DSTO GD 0372 VxWorks System Boot Copyright 1984 1996 Wind River Systems Inc CPU Motorola MVME2600 MPC 604e Version Doyl BSP version 1 1 4 Creation dates eb 3 L999 ALAS LA Press any key to stop auto boot 7 6 5 4 3 2 1 0 aulo boOGt Lng boot device de processor number 380 0 host name gt survey file name gt klein vxWorks inet on ethernet e 160 64 181 222 host inet h LOO 642 Igle gateway inet g E DIANA user u sonar
100. fairlead or bow mount relative to the GPS antenna the location of the GPS antenna above the waterline the amount of cable out measured from the fairlead the cable type and lastly the depressor type if any For the DSTO workboat the values of these variables for a bowmounted and towed configurations are outlined in Table 7 Table 7 The values that should be entered into the layback dialogue box of SonarPro for the towed and bowmounted configurations The conventions for X Y and Z are positive in the starboard direction positive in the direction of the boat and positive upwards respectively Towfish Orientation gt Variable Measured or calculated 7 8 3 72 GPS Height above water 277 2 77 Cable type 0 5 inches armoured lightweight Probably none none To enter this information click on the Layback icon before data collection and the Layback dialogue box will be spawned Figure 69 shows an example of this dialogue box Any adjustments made to this dialogue box will only take effect when the widget Store Layback Parameters has been clicked This button sends the information in the dialogue box to the TPU In the Layback dialogue box there are two parameters which a new operator may not have much of a feel for These are the Depressor Type and the Cable Type At DSTO the only depressor which is available is the small K wing and it is very rarely used The operator is referred to section 2 3 4 for the different types of
101. fish The TPU can be left on at this stage with the towfish pinging There is no need to stop the towfish pinging whilst it is being lowered into the water The process of deploying the Klein 5500 sidescan sonar requires a minimum of two people One experienced and suitably qualified person to operate the A frame and the winch and a second person to aid the sonar as it is placed into the water To deploy the Klein 5500 follow the procedure outlined below e Attach the snap shackle to the loop at the top of the steel lanyard and after wrapping the rope around the winch raise the sonar off the stern deck During this time use the handle grips to stabilise the sonar and stop it pitching and yawing e With one person controlling the winch and A frame and a second supporting the sonar extend the A frame so the sonar is slowing lifted over the fairlead and over the water Care should be taken that the belly of the sonar does not scrape the fairlead rollers as the height of the sonar is comparable to that of the fairlead e Making sure not too much tow cable has been deployed out from the winch lower the sonar into the water Before doing this however slowly rotate the sonar otherwise when it is being lowered the yellow nose cone will hit the back of the fairlead e Making sure the steel tow cable is laid over the rollers of the fairlead lower the sonar several meters into the water until the slack of the tow cable has been taken up This will have
102. fting strop back onto itself under the top metal beam of the steel bow mount and connect the crane s hook into the loop that has been made see Figure 80 Using a suitably qualified person at the controls of the crane raise the steel bow mount frame and manoeuvre it over the middle of the sonar Carefully lower the bow mount frame onto the aluminium pole making sure that the orientation of the frame and the towfish are in line otherwise the sonar maybe orientated back to front when it is mounted to the boat Connect the upper and lower parts of the bow mount frame together using four screws with four nylon coated nuts Use the crane to keep the frame upright This will permit the other set up procedures to occur more easily e Now get the short blue tow cable which has a shackle at one end and using strong cable ties connect the shackle to a point on the sonar or bowmount frame so that the male and female ends of the Subconn plug can be connected and that this connection will not be placed under stress whilst the sonar is underway After coating the male ends of the Subconn plug with silicon grease connect the Subconn plug Now put the TPU end of the tow cable up through the centre of the frame as if the sonar was already in the water and using cable ties mount the tow cable flush against the centre poll of the frame e At this stage it is a good idea to test the electrical continuity of the Subconn connection This part can be postponed until th
103. g DoPing event error It is important to understand that this message is generated by the Klein 5000 system control program ss exe and not the Klein 5000 Isis server kIn5000 exe A likely reason why the program ss exe stops DSTO GD 0372 receiving sidescan sonar data is because the TPU has crashed and although the architecture of the TPU is designed to be very stable crashes have been observed after a few hours of continuous operation If the TPU has not crashed indicated by the vme indicator light on the digital signal processor board still flickering then data is not being received by the acquisition computer The remedy is to check LAN cable connections 5 2 7 Displaying Saving Data in Isis After the sonar has been selected the serial ports over which auxiliary data is being sent have been chosen and configured and the data format chosen by using File gt Record Setup Isis is ready to record data By clicking on the OK button in the Record Mode Setup window Figure 48 this window will disappear and the Start Recording button under the File menu will become active Click on File gt Start Recording and a window will be displayed asking whether data will be displayed only or whether data will be displayed and also written to disk If the button Display only is clicked then this window disappears and the dialogue window for the Klein 5000 controller software should be spawned at the bottom of the screen if it does not appear t
104. gested by Klein Associates that it was caused by the echosounder on the boat If high quality data needs to be collected then one solution would be to turn off the echosounder and make sure that is the problem If it is and 133 DSTO GD 0372 134 the echosounder is needed then the distance between the sonar and the echosounder could be increased TAS A AE RAE NS a G O a pg g CA LEA PALA Te a es ee me JIi Xin E Came UE ace ibe Leese E Le S ee i Pa i Peery a ee AA 3 Figure 88 Waterfall display of the Klein 5500 showing streaking Mu a ta er Ei 10 Conclusion This document begins by explaining how sidescan sonars operate and goes on to explain how to correctly set up the Klein 5500 sidescan sonar In particular this report begins with some basic underwater acoustic information that an operator of a sidescan sonar may find helpful It then outlines how sidescan sonars operate and what type of information about the seafloor and water column they can provide It outlines what the physical limitations are in their usage and how the backscatter results can be used to infer sediment types This report then outlines how to correctly set up a computer so it can acquire backscatter data from the Klein 5500 sidescan sonar how to set up the sonar either in a towed configuration or bow mounted configuration and how to use the acquisition software Isis and SonarPro
105. gle which is used to tow the Klein 5500 sidescan sonar on the workboat 2 3 5 Cable out Values Cable out information is used to calculate how far the towfish is behind the vessel This horizontal distance is termed layback The simplest method of measuring cable out is to mark the cable with electrical tape at known distances from the towfish for example every 5 metres Then as the cable is payed out the length can be estimated or measured from the markings The value of cable out should be the taken as the length of cable from the towpoint for example the fairlead or sheath to the towfish A paper record of the cable out as it is changed over time or relative to data file and ping number should be kept This information can then be taken into account in post processing of data The Over the Stern Cable Angle Device OSCAD is a tool that can be used to measure cable out automatically A small wheel resting on the cable measures the length of cable out If mounted properly it also measures the angle of the cable giving very good positioning of the towfish OSCAD comes complete with mounting diagrams and instructions but fitting it can be difficult The advantage of using OSCAD is that it automatically measures cable out and this information can be input to the data files in real time via a serial port It is a wise practice to keep a paper record of cable out as a backup for verification of the OSCAD data For further information on
106. h of the towfish in the water column one can calculate the layback Figure 28 shows this principle in detail Towfish layback Figure 28 Estimating the layback of a towfish using the cable out value the depth of the towfish and the height of the fairlead above the waterline Adapted from http www naval minesonar com optips optips html In addition to using the cable out and towfish depth to deduce layback 1t is sometimes necessary to take the type of cable into account as this will influence the curvature of the cable The affect of the type of cable on layback calculations is minor and the operator need not be concerned with the fine details only that some software packages can take the effect into account 2 3 2 2 Bow mounted Sonars For a bow mounted towfish there is no cable out value and the towfish is fixed to the survey vessel Because of this bowmounted towfish can generate very accurate position information and are normally used for latency measurements When the Klein 5500 is bow mounted on the DSTO workboat 440 its position relative to the GPS antenna height is outlined in Table 3 Table 3 The position of a bowmounted towfish on the DSTO workboat 440 Variable X port or starboard Y along vessel Z height negative gt fish below antenna Height of GPS antenna above waterline Static depth of towfish below waterline DSTO GD 0372 2 3 3 Navigation Inputs There are two forms of navigation data t
107. h the Klein 5500 sidescan sonar at DSTO was for the TPU not to boot up The reasons for this could be incorrect setup of the FTP server on the acquisition computer or the TPU operating system file vxworks being placed in an incorrect location on the acquisition computer The TPU should DSTO GD 0372 boot successfully after approximately 1 minute of it being switched on and evidence that this has occurred is any of the following The vme light on the DSP board of the TPU flashes at the sonars default ping rate The terminal emulation software connected to the com1 port of the TPU shows the message shown in Figure 45 If the FTP server program is ServU then in the main window there will be four lines indicating that the TPU is downloading the file vxworks If ServU does not show that the TPU is downloading the file vxworks then it will not boot If an Ethernet hub is being used between the acquisition PC and the TPU then the indicator lights on the ports being used on the hub should light up soon after the TPU is switched on indicating that the file vxworks is being downloaded If it is clear that the TPU is not booting then the following actions should be taken in the order presented In each of these actions use the white reset rst button located on the bottom board of the TPU instead of the green on off switch to reboot the TPU Use the Ping command in DOS on the acquisition computer and ping the IP address 127 0 0 1 The IP a
108. hat it will interrogate a particular com port decipher the data arriving on it and then incorporate the data into the sidescan sonar data file is to click on the Serial Ports tab in the Record Setup window see Figure 48 When this is done the Serial Port Setup window is spawned see Figure 52 and it is in this window that the settings are made Pegak Taras Tempio fadar Hagati ma A Comi Cee 1B Coma 117 Cora 12 Echofican id Taani Barris Cra 140 Cra 1d Cra PE Crea Ecetia d s Pont Sering Bed Reefer e e Pastora e PF oriana to UTM a rH Figure 52 The Serial Port Setup window used in Isis For each port on the acquisition computer that data is coming in on the following steps need to be followed for the Serial Port Setup window 65 DSTO GD 0372 66 Click on the radio button next to the com port over which data is being received Then click in the on box under the status area of the Serial Port Setup window This enables the rest of the Serial Port dialogue box to become active NOTE In some older versions of the Isis software for ports that have status selected as on but either do not exist or have no serial inputs a message that the serial port is not available will be given when Isis is opened To stop these messages occurring turn off any serial ports that are not in use Then using the drop down lists in the Port Settings area set the baud rate data bits parity and sto
109. hat need to used when acquiring sidescan sonar data if the data is to be of any use These are Differential GPS data from the Leica MX420 8 and gyro data which represents the orientation of the survey vessel from the KVH Fluxgate Compass Although there is a compass inside the towfish the fluxgate compass is used because the magnetic compass is not very accurate It is recommended from Klein that GPS data be sent to the TPU by placing the RS232 cable from the Leica MX420 8 GPS unit into the 9 pin male serial plug on the back of the TPU labelled navigation The main reason for this is that the TPU uses the speed information in the GPS data to control the number of beams that are generated in the towfish and hence to keep the along track resolution at 0 2m If GPS data is sent to the acquisition computer instead then the TPU will activate all five beams and sample the seafloor at its fastest rate This causes the data files being collected to be over saturated and much larger than they would otherwise need to be The second reason why GPS data should be sent to the TPU is that the data fusion of GPS and sonar pings occurs more quickly than if GPS data was sent to the acquisition computer The longer it takes for the GPS data to be fused with the ping data the longer will be the latency and it also introduces another computer into the data acquisition that being the acquisition computer The gyro data is sent to com1 or com2 of the acquisitio
110. he appropriate drivers have not been installed then the Isis software will not be able to detect the dongle and as a result Isis will run in demonstration mode Data acquisition during this time will not be possible although data file playback is possible TEL in addition to making Isis makes a ruggedised Isis PC that has been designed to withstand the large knocks and bump that are common with the marine environment If the acquiring PC is the ruggedised Isis PC then the Isis dongle can in addition to being attached externally to the printer port be attached internally This can be used to protect the dongle from being accidentally broken off during transit and normal operations and can also be used to hinder the dongle being stolen The ruggedised Isis PC will be outlined in more detail in the next section Note if the dongle is lost or stolen TEI could request DSTO to purchase another software licence and not to simply post a replacement free of charge Other than the Isis dongle and a 100Mbit Ethernet network card it is beneficial if the acquisition computer has a video graphics card that supports a second virtual monitor or a second monitor two serial ports o 256 megabytes or more of RAM 24 DSTO GD 0372 A second hard disk for data collection Itis a recommendation from Triton Elics International that the Isis acquisition program be executed from a different hard disk than that where data is being stored re
111. he two side fins downwards instead of upwards If this recommendation is followed then if the nuts work free there is a lot less chance the bolts will drop out If downward or upward pressure is exerted on the dorsal fin then it may be enough to cause the rear yellow nose cone to separate from the stainless steel sonar body Such a scenario should not raise alarm as the rear nose cone is designed this way See section 2 1 for more details Figure 77 The 4mm Allan key and 8mm socket used to attach the three tail fins to the Klein 5500 sidescan sonar 6 3 2 2 Attaching Coaxial Sonar Cable Before the shackle of the co axial steel tow cable can be attached to the body of the sonar the steel securing brace plate see Figure 18 needs to be screwed onto the top of the sonar using nylon threaded steel screws and any two of the four available holes Once the brace plate is in place the shackle can be attached Before the co axial steel tow cable is attached to the securing plate check for any broken wires which often occur as a result of corrosion Broken wires will place those left under a lot more strain and there is a chance the tow cable will break Make sure the pin is inserted at the end of the steel rod holding the shackle in place Coat the three pins on the tow cable s male Subconn http www subconn com plug with silicon grease before connecting the Subconn plugs If the Subconn plug leaks then the silicon grease will act as a barri
112. he virtual memory settings under Windows 95 or Windows 2000 follow the following procedures Windows 95 Click on Start Settings Control Panel System and select the Performance tab from the system properties window Click on the Virtual memory button to access virtual memory settings and select Let me specify my own virtual memory settings Type in 250 next to Minimum and Maximum and choose a drive from the drop down list that has at least 250 Mb of space available This is usually D on the Isis computer Windows 2000 Click on Start Settings Control Panel System and under the Advance tab click on the Performance Options button Then in the performance options window click on the change button in the Virtual Memory area Then in the Virtual Memory window choose the drive you would like to be partially used as virtual memory and enter 250 next to Minimum and Maximum If available choose a drive that is on a different hard disk than that on which data is being recorded Once you have made your selections click OK You will be given a warning message that managing your own memory settings can be problematic and Are you sure you want to continue Click Yes If you have made changes to the settings you will be asked to restart your computer Make sure you do this before trying to record data 3 6 Screen settings 3 6 1 Sonar Acquisition Software Unlike
113. hen locate program ss exe and double click on it If the button Record Data is clicked then prior to the Klein 5000 controller dialogue box being spawned Isis requests a filename to be specified When this is entered then data can start to be displayed and if requested saved to disk by clicking on the play button in the system 5000 control dialogue box When this is performed the indicator beneath the play button should change from grey to green and that beneath the stop button will change from green to grey At this stage the waterfall display should be displaying sidescan sonar data for the port and starboard side Only the Klein 5000 System control dialogue box should be used to start and stop e acquiring data and not the record or stop button in the Isis tool bar If these buttons are used to acquire and stop acquiring data from the Klein 5500 instead of their corresponding buttons on the system dialogue box then the stability of Isis as well as the system control dialogue box cannot be guaranteed 5 2 8 Optional Settings All of the above settings are settings which need to be made to Isis before it can be used to collect meaningful data from the Klein 5500 sidescan sonar There are however settings which are optional Some of these aid the collection of data whilst others relate to sonar deployment The optional settings that have been used at DSTO and deemed helpful are outlined below 77 DSTO GD 0372 78 5 2 8 1 Bow
114. idescan sonar shiptowed sonar scanning sonar underwater acoustics 19 ABSTRACT This document outlines in detail all facets associated with the set up and usage of the Klein 5500 sidescan sonar In particular this document outlines 1 the different types of hardware that are required how they need to be set up and networked 2 how to set up and use the acquisiton software packages Isis and SonarPro and 3 how to detect analyse and trouble shoot incorrect set up and malfunctions in the hardware and software Page classification UNCLASSIFIED
115. ifying routes for laying telecommunications cables and pipes and merchant traffic can proceed with confidence The factors which need to be taken into account when identifying routes for cables and pipes laying include 1 where is there rock 2 where do steep slopes exist 3 and by considering these two factors where can the burial safely and economically proceed An important factor which needs to be considered when 19 DSTO GD 0372 20 choosing safe shipping lanes during times of conflict is where is the bottom made up of rock This characteristic is important because this type of sediment has high backscatter characteristics which makes locating mines difficult Hence a shipping lane should be placed in an area where the sediment has low backscatter characteristics 2 Physical Setup This chapter outlines the individual components that are normally used at DSTO to conduct a sidescan sonar survey and describes how to connect them ready for operation In particular section 2 1 outlines the characteristics of the Klein 5500 sidescan sonar Section2 2 is a basic summary outlining all the hardware that is required to acquire data and how to set it up but with no navigation or cable out inputs to the software In this case the system will function and display data but for most purposes navigation and cable out are required for geo referencing the imagery Section 2 3 describes the hardware a in the acquisition computer and outlines
116. intaining a desired resolution If a sidescan sonar is being used to survey an area where more than one swath is needed then an operator will need to construct a set of tracklines Tracklines are imaginary lines which a survey vessel needs to follow in order to survey an area whose width is larger than a swath width Tracklines are normally drawn parallel to each other and orientated in one direction The only time tracklines may not be orientated in one direction is when they follow the shape of a coastline such as estuaries when a sonar needs to survey an area of changing bathymetry or when the dimensions of a target needs to be checked and instead of one set of tracklines being constructed two sets of perpendicular tracklines are constructed Such tracklines are sometimes called cross lines As some objects have aspect ratios that are non unity meaning that one axis is longer or shorter than the other then it can occur that the bearing of the ensonification is such that the sonar ensonifies the smallest possible cross sectional area of a target This induces the possibility that simply due to the orientation of the trackline a target maybe missed To circumvent this possibility some conservative surveys not only have a 200 coverage but have a second set of tracklines that are orthogonal to the first set Then if any targets do have non unity aspect ratios and the first set of tracklines causes the sonar to ensonify the smallest cross sectional
117. ion is complete there will be an Isis icon on the desktop and there will be a TEI folder in the programs tab on the Start menu It should now be possible to spawn Isis by either using the icon on the desktop or by clicking Start Programs TEI Isis When Isis is spawned if an error message is displayed stating Isis is in demo mode and that Isis can only play back data or demonstration files then this is caused by Isis not detecting the sentinel see section 9 6 1 for full details One reason how this could occur is because unlike Windows 95 and Windows 98 under Windows NT and Windows 2000 the Isis dongle requires specific drivers before Isis will recognise it The driver is DSTO GD 0372 RainbowSSD5 39 2 exe which can be located at X Drivers and Third Party Applications Sentinel Driver where X is the drive name of the CD on the Isis Installation CD Install the driver and Isis should work correctly Section 5 SonarPro SonarPro is quite easy to install Unlike Isis SonarPro does not require any sentinels and up to the time when this report was written it was being obtained free of charge by the Environmental Assessment Group at DSTO from Klein Associates SonarPro does have the disadvantage albeit small that it was designed to be executed on the 32 bit operating systems Windows NT and Windows 2000 SonarPro was not designed to be executed on the 16 bit operating systems Windows 95 98 and Klein Associates make no guarantees of the
118. irst bottom return there may be a weak return from the sea surface see Figure 4 Sometimes the sea surface can be detected because of breaking waves or raining as both processes inject air bubbles into the water which have a high acoustic reflectivity y ship Sc Patan sae eh eee ec pk Fer ee y e Sea surface ERAS E A LES e na inc a haa Cross sectional View Figure 3 A diagram showing a waterfall display and the two dimensional cross sectional geometry Top schematic adapted from Kleinrock 1991 The bottom image adapted from Klein 1985 DSTO GD 0372 eE pa al SOMA A fal Coe VU 1 FT Figure 4 Two schematic waterfall displays showing how the slant range of a weak surface return in a waterfall display is related to the depth of a sonar Taken from Klein 1985 The seafloor s backscatter characteristics that are displayed in a waterfall display are a distortion of what they are in reality There are several distortions that occur in a waterfall display These are e a compression of the image in the across track direction which increases as the sonar s nadir is approached when backscatter is displayed versus slant range This occurs because the differences between the slant ranges of the start and end of any region of the seafloor is less than the region s horizontal length with this discrepancy or compression decreasing across the track Figure 5 shows an example of this compression As compression can inhibit
119. is Sonar User s manual volume 2 Urick R 1983 Principles of Underwater Sound 3rd edition McGraw Hill Inc Waite A D 2002 Sonar for Practicing Engineers 3rd edition John Wiley and Sons Ltd Young A and Anstee S 2001 A User s Guide to Sonarview 1 0 A Sidescan Sonar Post Processing System DSTO General Document 0280 135 DSTO GD 0372 136 Appendix A Installing software In this report numerous software packages have been cited and summarised in relation to collecting sidescan sonar data from the Klein 5500 There was the graphics video display software Hawkeye the FIP servers Serv U and Windows 2000 and the acquisition packages Isis and SonarPro This appendix will either describe the installation procedure for these packages or if no installation is required where the application can be located Winzip is a software package instrumental in installing the above software packages As it is easy to install however then its installation procedure will not be outlined Warning prior to making any alterations to a computer such as installing or upgrading software packages it is advisable to make a complete backup of the directories that will be altered Section 1 Hawkeye As outlined in section 3 6 2 the Imagine 128 Graphics video card present in the Isis ruggedised PC can be used in conjunction with the Hawkeye support software package This graphics card software enhancement works with the operating systems Windo
120. is be setup A sis software sentinel not un 7 DEMO MODE ACTIVE Figure 47 The warning that Isis generates when it is first spawned and cannot detect the Isis dongle To set up Isis so that it knows which sonar it will be acquiring data from which data channel from the selected sonar it needs to display backscatter and which channels need to be saved to disk click on the File menu and select the Record Setup This will cause the Record Setup Options window see Figure 48 to be spawned In this window there are three choices Sonar Setup Serial Ports and File Format These three dialogue boxes are fundamental to setting up Isis ready for data collection because they control e The sidescan sonar or multibeam echosounder that Isis will be receiving data from e Channel setup for the sonar chosen each channel represents a particular frequency on either the port or starboard side of the towbody For example the dual frequency Klein 595 sidescan sonar has four channels whilst the single frequency Klein 5500 only has two e The serial ports com1 com2 etc that auxiliary data needs to be acquired over as well as the attributes of this data e The file format that will be used if any data is to be saved Figure 48 The Record Mode Setup window in Isis These three options will now be outlined in detail DSTO GD 0372 5 2 1 Sonar Setup To inform Isis which sidescan sonar data it will acquire data from click on Sonar Set
121. is input adaptor was installed in 1999 so that the Isis PC could acquire data from the analogue Klein 2000 sidescan sonar the successor of the Klein595 and the precursor of the Klein 5500 for the Shallow Survey Conference in 1999 As DSTO does not have a Klein 2000 sonar then this adaptor has not been used since 1999 2 2 2 Network Hardware The hardware required to set up the Local Area Network LAN between the TPU and the acquisition computer for the Klein 5500 sonar in addition to the network card in the acquisition computer is either e one cross over twisted pair category 5 Cat5 network cable or two straight twisted pair Cat5 cables with an Ethernet hub The use of a hub is simply to stop the data packets and retransmit them along the cable Hubs are 27 DSTO GD 0372 28 useful when long cables are needed as attenuation can be a problem and Klein recommends to always use a hub even for very short cables Hubs have also been used successfully at DSTO to circumvent jittery waterfall display speeds At DSTO two hubs have been used in conjunction with the Klein 5500 sonar There is the Intel InBusiness which has been the hub used most often at DSTO and there is also the Dual E Switch Both hubs can output data to 8 ports and accept baud rates of 10 or 100Mbits s Figure 24 shows these two hubs in detail E peti ie Fan iii TA SSP eee i Figure 24 The a Intel InBusiness and b Dual E Switch hubs used a
122. is peripheral data that is normally not saved with sonar data but is needed for a particular occasion Examples DSTO GD 0372 of the first type of data would be GPS Without this type of data the sidescan sonar data would be useless Examples of data which is sometimes needed to be saved with sidescan sonar data files could be gyro data cable out data or echosounder data The first step in incorporating non sonar data into a sidescan sonar data file is to set up their respective instruments so that they output their values over a serial cable and to connect such cables into a spare serial port on the acquisition computer The next step is to set up Isis so that it knows what type of data to expect from a particular com port and the baud rate of the data being sent As each form of peripheral data being routed to the acquisition computer requires a spare com port coupled with the fact that the computers used in the seabed characterisation group either have one or two com ports then the situation which commonly arises is that there is no spare com ports available As outlined in section 2 4 3 the avenues available to circumvent this problem are to use the Digiboard Classic see Figure 29a which has 8 serial ports or a PCI board could be purchased which has one or two serial ports or if a laptop is being used then the dual serial port PCMCIA card of the Environmental Group see Figure 29b can be used The first step in configuring Isis so t
123. is window click on the FTP Site tab see Figure 37a and in the Identification section enter in VxBoot in the Description area 160 64 181 221 in the IP Address and 21 for the TCP Port Then click on the Home Directory tab see Figure 37b and for the option When connecting to this resource the content should come from click on a directory located on this computer Then in the FTP site directory set the local path to C 1 with read and log visit attributes set Then click on OK and the FTP server has been set up correctly see Figure 36b The last settings which need to be made before the TPU can use the FTP server is to create the user sonar with the password klein This user is needed because the 45 DSTO GD 0372 TPU will try to log into the FTP server as this user with this password and unless this user exists the TPU will not be able to log in Note the Klein document Klein Series 5000 Trouble Shooting Guide specifies that the user is klein instead of sonar but this is incorrect m Computer Management Action view Tree El Computer Management Local al E System Tools E Event Viewer E 3 System Information Eee Performance Logs and Alerts 3 Shared Folders ae Device Manager on 27 Local Users and Groups o L Storage Disk Management E Disk Defragmenter 33 Logical Drives H Removable Storage E Services and Applications WMI Control Services E Indexing Service o El a
124. le contains some other entries then also proceed to step 8 8 If the table is not empty and all the important data has been backed up see Backing up M O above then first delete all the partitions on the disk Use the arrow keys to select a partition and hit delete Then use the arrow keys to highlight the Yes button in the message Delete Partition and hit enter 9 The table should now be empty Hit Insert to create a new partition This brings up a description of the new partition Hit enter You will then be asked Create Partition Use the arrow keys to select Yes and hit enter You may get a message Please wait and then a new entry will be created in the table It should read as described in Table 3 151 DSTO GD 0372 192 10 If the other side of the M O disk needs high level formatting then eject the disk turn it over and put re insert it into the M O drive Follow the procedures outlined in steps 5 to 9 If other M O disks need formatting then eject that just formatted and insert those needing formatting Also follow steps 5 to 9 11 If no other disks need high level formatting then exit AFDISK by hitting Esc twice Then use the arrow keys to select Yes you want to exit AFDISK and hit Enter 12 Now enter Exit at the DOS prompt or hit Ctrl Alt Del to reboot the machine and return to Windows Note If at any stage a message is spawned stating th
125. led Serv U 4 0 This ftp server is available from Rhinosoft http www rhinosoft com and because the DSTO group in Sydney was one of the first customers of this software package then all upgrades are free of charge There is a site licence for this product of 20 held by Lesley Hamilton MOD Sydney Upgrades and information about this software are available on the web at http www serv u com Instructions for installing and or upgrading ServU are given in Appendix A Information provided about Serv U is taken from emails from the software company documents from their website and experience 3 3 1 1 FTP server ServU The discussion that follows assumes Windows 95 as the operating system although Serv U can be installed and used on Windows NT and Windows 2000 Information and recommendations for setting up Serv U come from the documents System 5000 Host TPU Setup and Configuration provided by Klein Associates Inc and LAN Configuration Notes Klein 5000 with LAN Triton Isis workstation with NT 4 0 provided by TEI 3 3 1 2 Setting up Serv U When a PC is booted that had Serv U installed on it see Appendix A for installation details Serv U should start by itself and be shown minimised in the taskbar by the green icon This indicates that Serv U FTP server is running in the background and capable of FTP logins by any networked computers provided Serv U and the networked computer have been set up appropriately T
126. lein 595 Sidescan Sonar SIU4 Signal Interface Unit Note to power the SIU4 this way requires a DB 15 male to 3 5mm stereo plug cable 4 Centronix SCSI Small Computer System Interface output Useful for attaching a magnetic optical disk drive when extra storage space is required 5 Two PS 2 connectors in the bottom left hand corner of the back panel of the Isis PC These connectors are not used on our PC personal communication Geoff Shipton Triton Elics International 2002 6 Number Nine Imagine 128 video graphics card http www nine com This card allows for a second virtual screen but does not permit the attachment of a second monitor 7 3com 10Mbit and 100Mbit Ethernet LAN Card This was installed so the Isis PC could accept data from the Klein 5500 sidescan sonar which requires a 100Mbit connection 8 Serial Connection Com1 9 Exchangeable Motherboard Card Unlike normal PC s the Isis PC has a motherboard which is orientated upright and which fits into one ISA and one PCI slots on a backpane whose only role is for placement of PCI and ISA slots On the motherboard card looking at the back of the Isis PC there is e NIC 10Mbit Ethernet LAN network adapter e a Cirrus Logic Laguna 4564 video adapter This video card was the original video card that came with the Isis PC and has been left in the off chance that the more functional Imagine 128 malfunctions DSTO GD 0372 The Cirrus Laguna video adapter is
127. lick on NO 63 DSTO GD 0372 64 Tsis Klein 5000 Figure 50 The dialogue spawned by Isis asking if the Klein 5500 will be used to log bathymetry After the bathymetry logging option for the Klein 5500 has been cancelled Isis will spawn the Sidescan Sonar Information dialogue box see Figure 51 This new dialogue box is somewhat misleading because although it lends the operator into thinking that it has some control over the waveform output of a sidescan sonar it does not The information supplied in the Sidescan Sonar Information dialogue box should reflect what the current settings are for the sonar and as at DSTO the same sonar is used then it has never needed to be altered The only time the information in this dialogue box may need changing is when the characteristics of the sonar have been altered external to Isis and the information that appears in the Sidescan Sonar Information dialogue box reflects the settings used in a previous session Click on OK and control will be returned to the Record Mode Setup window So Ae eR Oe xl r STO dl e E A A 1 apir ee Peers dence eb as IN mies A OA a Tt aE A Horas cot aera Figure 51 The Sidescan Sonar Information dialogue box used in Isis E EE 5 2 2 Serial Port Setup in Isis When sidescan sonar is being collected there is peripheral data that either needs to be incorporated into the data files if the data is to be useful or
128. lick on the File Format button in the Record Mode Setup window This will cause the File Format window to be spawned see Figure 54 As outlined in the above paragraph the settings in this dialogue box will normally not need changing from one Isis session to the next and it is common for an operator to quickly glance over these settings and not make any alterations At DSTO the settings which have been employed in the past have been to use the XTF eXtended Triton Format with 16 bits per pixel and no downsampling Once the file format specifications have been either checked or entered then click on OK in the File Format window and control should be returned to the Record Mode Setup window Click on OK in the Record Mode Setup window and this completes the basic setup of Isis It should now be possible to acquire data from the chosen sidescan sonar as well as save it to disk in the format chosen Note Although a lot more shades or grey can be saved using 16 bits per pixel instead of 8 bits per pixel Isis will only display 8 bits per pixel in the waterfall display The 69 DSTO GD 0372 70 number of data bits Isis displays in the waterfall display is controlled by the Threshold slide bar in the waterfall display Although the downsampling option has not been invoked at DSTO it arises because the Isis analogue to digital processors usually digitise a greater number of samples than Isis writes to disk and the number of data samples needs to
129. light will be off e Error light will be off If the TPU boots successfully then e the VME light will also light and pulse at the towfish ping rate e Lights will A B C will almost be constantly lit e The error and lock loss lights should still be off 6 2 2 2 Terminal Emulation Software If a terminal emulation program is being run on a computer that was attached to the com1 port on the front of the TPU using a serial cable then the boot process should be clearly evident and correspond to that shown in Figure 45 DSTO GD 0372 6 2 2 3 Evidence on the Acquisition PC Although not as conclusive as observing the boot sequence on the terminal emulation there are two pieces of evidence that the TPU has received the files vxworks and startup ini Obviously these pieces of evidence do not show that the TPU has booted only that the TPU has received these necessary files If Windows 95 is being used to acquire sonar data then in the Servu FTP server four lines should be displayed for each of the files vxworks and startup ini indicating that the TPU has downloaded these files successfully Figure 76 shows these four lines for the file vxworks Each of the lines tells us that one part of the process of the TPU downloading these file has occurred successfully An explanation for each of the four lines appears in Table 8 ME Eile view Edit Setup Help g Se 044 Sle 2 Sere FTP Server 2 44 Copyright c 1995 1998 Cat Sort All Rights Res
130. ll that is needed now is to cut the cable ties that were being used to stop the tow cable from unwinding and run the cable back to the TPU along the deck of the boat Use cable ties to try and locate the tow cable out of the way of any walkways The process of locating the bow mount onto the boat is now complete and the sonar is ready for use 115 DSTO GD 0372 116 7 Data Collection 7 1 Meta Data As with most forms of data collection the key to any successful survey is documenting the meta data and systematically archiving any data that has been collected At DSTO Sydney the information that needs to be documented can be related to one of four topics These are 1 the requirements of the Occupational Health and Safety committee 2 documenting any tests performed on the sonar 3 documenting the progress of a survey or 4 information that would normally be documented irrespective of whether the sonar was being tested or used for a survey 7 1 1 OH and S Committee Requirements When any type of sidescan sonar work is conducted it is a requirement of the OH and S committee at DSTO that the following information should be documented in the trials book e Date of collection e Time of departure and return e All personnel on the boat e Reason for or aim of data collection e Whether the survey area was in Port Jackson or offshore and also the area s visited e Any safety incidents including most importantly what occurred
131. lpful to see how the current day s data collection coverage map compares to any of the 83 DSTO GD 0372 previous days This can be accomplished by using this command to load the coverage map from a previous day and then beginning surveying Remove any track and coverage maps currently being displayed and display a new coverage map File Save as tiff Enables the current display of the coverage map to be saved as a tiff file Pan Left Right Up Down Enables the arrow keys to be used to move the display in the direction chosen 5 2 8 5 Sound Velocity If an accurate sound velocity reading has been made during a survey in an area where it is approximately homogeneous in the vertical and horizontal then Isis can be instructed to use this value rather than a default value This enables Isis to make more accurate slant range calculations if the sound speed Isis uses is lower than what it really is then any objects will appear closer than what they really are and if the sound speed Isis uses is higher than what is really is then objects appear further away than what they really are The default sound speed value Isis uses is 1500m s unless it has been altered in a previous Isis session and the setup of such a session was saved To alter the sound speed value which Isis uses during data collection or during data playback click on Configure Sound Velocity and the sound speed dialogue box will be spawned Here enter the value measured
132. m from another computer This computer is normally the acquisition computer with the operating system being a single file called vxworks The location of this file and the correct set up of the host computer to enable the TPU to download it are outlined in section 3 3 Although it has not been normal practice to use the latest version of vxworks this is possible with the latest version encompassed within the latest compressed version of the acquisition software SonarPro which is downloadable from the web site http www kleinsonar com tech sonarpro html In the past Klein has provided upgrades to SonarPro and vxworks free of charge to the DSTO sidescan sonar group Old versions of vxworks should be kept until the operator is satisfied that any new versions boot and execute the TPU correctly Figure 19 The a front view and b back view of the Klein 5500 TPU As the TPU controls the number of beams to be activated in the Klein 5500 then the TPU needs to know the speed of the towfish or the platform To achieve this GPS navigation data needs to be routed into the TPU using the serial port on the back of the unit marked navigation The form the GPS data takes is outlined in section 2 4 3 If the TPU does not receive any GPS data then the TPU will activate all five beams on the port and starboard side of the towfish and oversample the seafloor s backscatter characteristics This will cause the data files to be over saturated and larger
133. m showing the hardware setup for the Klein 5500 sidescan sonar 23 DSTO GD 0372 2 2 1 PC Hardware This section outlines what computer hardware is required in the acquisition PC to obtain data from the Klein 5500 sidescan sonar and if necessary how such hardware needs to be set up and tested This section is broken up into two sections The first outlines hardware that is required by any computer so that it can acquire data with the second section outlining the hardware that is present in the ruggedised Isis PC and how some of this specialised hardware is installed and tested 2 2 1 1 General PC To accept data from the Klein 5500 sonar a 100Mbit Ethernet network card is required in the acquisition PC If the software acquisition program Isis is being used then the second hardware that is required is the Isis dongle Isis is produced by Triton Elics International TEI The Isis Rainbow dongle serial PR 1 97100 is needed so the Isis data acquisition software can be executed and needs to be attached to the printer port of the acquiring PC Under Windows NT and Windows 2000 the Isis dongle will not be recognised and the correct drivers must be installed before it can be used This is achieved using the program RainbowSSD5 39 2 exe which can be located at X Drivers and Third Party Applications Sentinel Driver where X is the drive name of the CD on the Isis Installation CD If the dongle is not in place the connection is faulty or t
134. motion of the towfish when it is being towed An operator can easily remove these fins and to reduce the possibility of snagging and losing the towfish on unforeseen objects The back yellow nose cone where the fins are housed is designed to separate and break off from the towfish when under extreme load Figure 18 shows this feature in detail The fins should be removed when the sonar is being used in its bow mounted configuration The reasons are that it would place a lot of unnecessary stress on the tail fins and they are not needed as the sonars yaw and pitch characteristics are already stabilised by the sonar being directly attached to a large platform Figure 18 The Klein 5500 sidescan sonar showing where the rear yellow nose cone housing the tail fins will separate indicated by a red line from the stainless steel body when the tail fins become snagged on any bottom objects The Klein 5500 must be used in conjunction with a sophisticated computer known as the Transceiver and Processing Unit TPU see Figure 19 The TPU has several major functions These are 1 multiplexing the commands and sending them to the sonar 2 controlling the number of transducers to be used in beam forming 3 demultiplexing the data coming from the towfish 5 parsing the sonar data through a digital signal processor and 6 data format generation 21 DSTO GD 0372 22 The TPU does not have a hard disk and needs to download its operating syste
135. mounted Sonar Depth As the depth of a sonar when it is bowmounted or hull mounted does not change then it can be beneficial to instruct Isis to ignore the sonar depth indicated by the pressure sensor and to use a known value To do this in Isis Transducer Depth click on the Configure menu and select Transducer Manual Depth Entru Depth This will make the Transducer Depth Distance from Sea Surface window be spawned see Figure 59 and it is here that to transducer the depth of the sonar needs to be entered As 50 00 e outlined in section 2 3 2 2 the depth of the Klein 5500 below the water surface when it was bowmounted to Enter zero to accept the DSTO workboat 440 was 0 95meters When the depth from serial input correct depth has been entered into the Transducer Depth window and the OK button clicked a test that Cancel the value has been entered correctly as it should appear in the Depth field of the Parameter display window Figure 59 The Transducer Depth window in Isis 5 2 8 2 Layback Setting Whether a sonar is being towed behind a ship or mounted to its hull there is a strong likelihood that there will be a finite distance between the location of the GPS antenna on the boat and the location of the sonar As it is very important for a sidescan sonar or a multibeam echosounder to be able to accurately specify the location of any objects it ensonifies then there is a real need to account for this distance
136. movable media such as removable hard disk bay or a magnetic optical disk drive 2 2 1 2 Isis PC The Isis PC is simply a ruggedised PC made by Triton Elics International http www tritonelics com and runs the Windows 2000 operating system Figure 21 shows this PC This PC was purchased in 1998 and in the past has been the main PC used in DSTO to acquire sidescan data in conjunction with the software Isis http www tritonelics com isissonar html although SonarPro http www kleinsonar com sonarpro index html has been used to a small degree Any PC can be used to acquire sonar data provided the PC s processor is fast enough and there is an Ethernet network card Figure 21 an illustration of the ruggedised ISIS PC which has been the main PC used by DSTO to acquire sidescan data The Isis PC has a number of peculiarities which the general PC would not have and which may not be evident to a new user Most of these are evident by looking at the back of the unit see Figure 22 From Figure 22 scanning from the right to left the operator should notice the following characteristics 25 DSTO GD 0372 26 Figure 22 The back of the Isis ruggedised computer 1 Serial Input Com2 This is used for NMEA National Marine Electronics Association 0183 string inputs from gyro or Leica GPS 2 Parallel Port LPT1 This is used almost exclusively to attach the Isis dongle or sentinel 3 DB 15 DC power output for the K
137. n operator would like to remove this problem then right click on the waterfall display and deselect the speed correction radio button SonarPro e In the early days of using SonarPro the waterfall display scrolled slowly and unevenly Consultation with Klein Associates revealed that SonarPro was designed to be used with a 100 Mbits second Ethernet Hub The problem was generated because a cross over network cable was being used between the TPU and the acquisition computer with no hub and data was being sent to SonarPro in a slightly uneven rate The remedy was to use a hub This problem is reported by the screen error Version 5 0 SonarPro Sonar Processing System Date 09 10 2001 Time 16 47 39 TPU reports requested data page is no longer available Resetting requested data page 99 3 Echosounder Interference In 2001 Dr Phil Chapple Task Manager for the Shallow Water Environment visited Klein Associates Inc in New Hampshire requesting feedback on some peculiar waterfall characteristics of the Klein 5500 At the time Klein requested that some data be collected that ensonified different bottom types and to send the data to them They would then use the data to evaluate the performance of the Klein 5500 and provide advice on how it could be improved During the data collection across track striping was observed in some of the waterfall plots see Figure 88 Such striping is not a new feature in the sidescan sonar community and it was sug
138. n Properties Window Once the Local Area Connection Properties window has been spawned then highlight TCP IP Transmission Control Protocol Internet Protocol and click on Properties Then the Internet Protocol TCP IP Properties window is displayed To set the IP address of the host computer click on Use the following IP address and enter in the IP address of the host computer as 160 64 181 221 with a subnet mask of 255 255 255 0 Leave the Default gateway window empty Figure 32 shows the Internet Protocol TCP IP Property window with these necessary settings Click on OK and the IP address and subnet mask of the host computer will now be set DSTO GD 0372 I Taani Cori Pibien Protocol TE ad ida A ped Pad rha cate adn PEA Meer pa PAH ponete Figure 32 The Internet Protocol TCP IP Properties window and the necessary settings needed by the host computer 3 3 FTP Servers 3 3 1 Windows 95 Of all three computers in the sonar group that have been used to acquire sidescan sonar data only one has the relatively old Windows 95 operating system This PC is the Isis workstation Under Windows 2000 no FIP server is installed when the Windows 41 DSTO GD 0372 42 95 operating system is installed Hence so the TPU can download its operating system file vxworks the Windows 95 operating system will need an FTP server program to be installed onto it In the DSTO Environmental Assessment group the preferred FTP server is cal
139. n click on the radio button Remaining storage less than 0 5 then ping pong between the drives X and Y where X is the drive that is getting full and Y is the drive data will start being written to Click on Switch Now and Isis will be instructed to perform these functions when the change criterion is valid The dialogue box however will not disappear when the Switch Now button is clicked The switch command is also needed when a sonar data file being written is getting large normally 200 megabytes and a new file needs to be created without any data being lost To set up Isis so this occurs first type in the box Record data to filename the filename of the new file without the extension and then click on the radio button File grows larger than X MB where X is the size of the data files required Then when the current file Isis is writing becomes larger than X megabytes Isis will create the new file using the filename entered It is unwise to allow sonar data files to become too large as if they get corrupted then it is likely that all the data in the file cannot be accessed The nominal file size often at DSTO was 200 megabytes 99 DSTO GD 0372 90 E Display Only lt lt Less C Record Data to File Mame Gwich when e Remaining storage less than 0 5 then ping pong between drives Li and C J File grows larger than 200 ME Turn files begin with i Prepend Append Steh Td cl Figu
140. n computer and like GPS data being sent to the acquisition computer the acquisition software needs to be set up appropriately to receive the gyro data See sections 4 1 4 6 4 8 for specific software requirements for correct operation 4 1 4 6 4 8 GPS and gyro data are transmitted to the TPU and acquisition computer using 9 pin RS232 serial cables with a Baud rate of 4800 bits per second with 8 data bits no parity and 1 stop bit 8N1 If the operator wishes the TPU and the acquisition software can accept data at different Baud rates 1 the Baud rate the TPU accepts GPS data at is determined by the variable set BAUDRATE in the startup ini file 2 with the Baud rate the acquisition computer accepts gyro data at being set inside the software before acquiring data The different values the BAUDRATE variable can take are 300 600 1200 2400 4800 9600 19200 38400 with the default value being 4800 bits per second The format of the GPS and gyro data is called NMEA0183 This format has been in use since the 1980 s and is an ASCII format made up of many different data strings each representing different marine data Some of the marine data that can be represented as NMEA strings include position heading waypoints depth and date see http www xs4all nl erkooi YL nmea0183 html for a more complete listing NMEA strings begin with a dollar sign and end in a carriage return linefeed lt CR gt lt LF gt 33 DSTO GD 0372
141. n yellow b The Ping Lag dialogue box 5 3 4 Layback If the operator wishes to know the position of targets then the location of the towfish needs to be calculated by SonarPro If the towfish is being bow mounted then its position relative to the GPS antenna is relatively easy to measure using a measuring tape If the towfish is being towed however SonarPro like many acquisition programs of this nature will use the pythagorean theorem together with the cable out values towfish depth and fairlead or shieve position relative to the GPS antenna to estimate the horizontal distance the towfish is from the GPS antenna Such a distance is termed Layback In SonarPro the Layback icon will only be highlighted if the data format is set to 5kd and not sdf The data format which SonarPro as well as ISIS expects to come from the TPU is set using the variable Set Oldheader in the startup ini file This file the reader may recall is downloaded using the file transfer protocol ftp from the Master computer by the TPU during bootup When the variable Set Oldheader is set to zero 0 SonarPro expects the sdf format and when this variable is set to 1 the 5kd format is used If the data format sdf is used then the layback icon in SonarPro will be dimmed and unusable 93 DSTO GD 0372 If the operator does need to know the location of any targets in the waterfall display then the operator will need to provide SonarPro with the location of the
142. nal window is easily configured by clicking on the right mouse button when the cursor is placed over them The dialogue box that is spawned when this action is performed on the waterfall window has a slide bar that allows the level of threshold or contrast to be adjusted This changes the lightness or darkness of the displayed data Speed and Slant Range correction can also be applied to the data display using this dialogue box however these do not affect what is recorded The parameter display window is an important window critical to the collection of good sidescan sonar data As some data fields in the parameter display window maybe unknown to a new operator as well as some of the buttons which appear in this window then it was deemed helpful if the attributes of this window were explained The parameter display window will be outlined in the following section Figure 64 shows a picture of the Parameter display window 85 DSTO GD 0372 86 Paramneber Display E Navigation Telemetry Flange Seale Cursa Current File KF 83 09 Pichi 0 0 5 0m Time 194515 Ping 279 Patt CHSISDATAL North 6492034 Sen Falk 0 0 Channel 1 Pom Dept 0 0m Mame PAPELIME 16 BI Fast 517057 te Heading 0 0 Display unis 5 Aange 2 54m AR Sm Dates 11 AUG 1935 Ship Speed 1 90 Peter KP auc Hdim p 00 Time 19 44 03 Speak 0 0 fDepib 0 0 Marth 64909014 3m iayrec 0 0 TAE 6 49m m Cast FIGIL Em Leg Hai Figure 64 The parameter display window in
143. nar data in DSTO s Environmental Assessment group use the Windows 2000 operating system and this permits the usage of the high quality Millennium G450 Matrox Dual Head Graphics Card These types of graphics card permit two monitors to be attached to any computer simultaneously To invoke the usage of two monitors from the matrox cards click on Display in the Control Panel then click the Settings tab in the Display Property window and then click on Advanced Then click on the Dual Head tab and click Dual Head Multi display see Figure 43 Then click on OK and it should be possible to attach two monitors to the acquisition computer Figure 43 The Millennium Matrox G450 Dual Head graphics card setting dialogue box 53 DSTO GD 0372 94 4 TPU Operations As outlined in section 2 1 the TPU Transceiver and Processing Unit is a fairly sophisticated computer that is essential to the operation of the Klein 5500 sidescan sonar There is normally only one concern with the TPU and this is to make sure that it has downloaded its operating system file vxworks from the host computer and to make sure that it has booted properly Although it has never been performed in the past it is also possible to alter the setup or configuration of the TPU This chapter will begin by outlining the procedure that needs to be followed to observe the boot sequence of the TPU and this chapter will end by outlining the procedure to change the set up o
144. navigational data or create mosaics then they have not been the first tool used at DSTO and the RAN for post processing sidescan sonar files This was and will be for some time achieved by Sonarview Young and Anstee 1999 outline how to utilise Sonarview Despite SonarPro and Isis limited post processing capabilities it was still thought beneficial if a chapter was dedicated to explaining how to use these tools because there are occasions when it is helpful to use them Such occasions could be to play back recently collected data files to check for data file corruption or to re evaluate any recently observed targets This is easily achieved in SonarPro and Isis 8 2 File Playback 8 2 1 ISIS To play back DAT XTF SEG Y or TRAS data files in Isis click on File playback or click on the Playback button EJ Either option will result in Isis requesting which data file to play back The scrolling speed of the waterfall display s is controlled using the walking running person icons ESEJ on the toolbar or click on view playback speed 8 2 2 SonarPro Both sdf and 5kd files can be played back using SonarPro To do so click on the Source button in the Main window and select which Hard Disk the file is located on When this is performed the appearance of the tool bar in the waterfall window will change from that which is available during data acquisition to that shown in Figure 83 Sidescan sonar data files colle
145. nerated using passive means of sensors where as sidescan sonars are active The resolution achievable by sidescan sonars in recent years is sub meter approximately ten to twenty centimetres By displaying the backscatter levels of the seafloor sidescan sonars have been used successfully to provide information on the locations of objects on the seafloor The objects they are often used to find include wrecks reefs debris fields and sediment boundaries Sidescan sonars can also provide position information of objects as well as their length breadth and if any their height above the seafloor Sidescan sonars use a horizontal line array of transducers mounted either side of a tow body called a towfish to generate an acoustic beam which is narrow in the along track DSTO GD 0372 direction and which is wide in the across track direction see Figurest la and 1b respectively The acoustic beam is orientated orthogonal to the towfish so the sound pulses generated propagate away from either side of the towfish being reflected from any surfaces they ensonify At a predefined time delay after each ping the transducers switch from being acoustic generators to acoustic receivers inverting the acoustic signals being backscattered into electrical energy which the sonar can display By moving the towfish along and displaying each successive acoustic return or ping a swath can be generated showing changes in seafloor acoustic backscatter It is by analysi
146. ng from Klein and not determined anywhere in SonarPro itself but in the startup ini file The variable in the startup ini file that determines the format of the data files is SET OLDHEADER with the sdf format being used when this variable is set to 0 and the 5kd format used when this variable is set to 1 As the file startup ini is downloaded only when the TPU boots up then if the operator wishes to change between the formats sdf and 5kd then they will have to alter the startup ini file on the host PC and then reboot the TPU 5 4 Master and Slave Setup In all of the above setup configurations it was assumed that only one computer was being connected to the TPU and that obviously this computer was the master in terms of controlling the TPU settings during data acquisition But if an operator wishes to have more than one computer accept data from the TPU then one will have to be the Master and all the rest will have to be the Slave Such a setup could be used to compare the different styles of data acquisition of different software programs In Isis the operator controls whether the computer Isis is running on will be the Master or Slave by using the Conf exe configure executable file in the Isis directory If the operator double clicks on this executable then they will see that this executable is where the IP address of the TPU is set whether the computer will be the Master or Slave and some other options When the operator has made the necessary
147. ng this accumulation of neighbouring acoustic returns for contrasts in backscatter that objects and sediment boundaries can be easily identified 3 aa SFE Re X x Figure 1 a Plan view of the acoustic beam generated by a sidescan sonar showing its narrow along track characteristic b Cross sectional view of a sidescan sonar s acoustic beam showing the relatively large coverage achieved in the vertical which spreads out in the across track direction The sonar is travelling into the page The acoustic energy which is generated by the transducers on either side of the towfish is not a pulse of constant frequency but is a pulse whose frequency increases linearly over the length of the pulse This slide in frequency is called a chirp and the pulses generated called chirped pulses or Linearly Frequency Modulated waves abbreviated to LFMs Such pulses have the characteristic of achieving longer ranges whilst retaining the same resolution that would be achieved using pulses of constant frequency Some sonars permit the pulse width also called pulse length of the LFMs to be altered This can be warranted if different ranges or resolutions are required than those being used In particular the longer the pulse width the more energy being imparted to the water column assuming the peak power is not altered and hence the longer the range scales that can be achieved but the downside is that the resolution in the across track direction
148. nloaded There are several ways to determine whether the TPU has successfully downloaded the file vxworks and booted up correctly These will be outlined in the following sections The TPU will still boot correctly if the file startup ini cannot be downloaded 103 DSTO GD 0372 104 6 2 2 1 TPU Evidence If the TPU boots correctly then the lights labelled A B C and VME on the DSP Digital Signal Processor printed circuit board will light up in one of two sequences depending upon whether the sonar is connected to the TPU or not If the sonar is not connected to the TPU and just the LAN cable is connected to it then when the TPU is switched on the following light sequence should be observed On the DSP board e A light first on and then off e Then B will light and then go off e Then C will light and lights A and B will flicker On the Demultiplexer Board e Lock Loss light be off e Error light will light and stay on This will be because the towcable is not connected If the TPU boots successfully then e all three DSP lights A B C will flicker e and the VME light will light and flicker at the towfish s default ping rate If the sonar is connected to the TPU however then when the TPU is swithed on the following sequence should be observed On the DSP board e Light A will light and go off e Light B will light and go off e Light C will light and go off e All three lights will then light Demultiplexer Board e Lock Loss
149. ntified as having differing backscatter than the surroundings may have an associated acoustic shadow on their leeward side indicating they are proud of the seafloor Acoustic shadows occur because the orientation of the outgoing acoustic pulse wave front compared to a target does not permit the pulse to ensonify a section of the seafloor leeward of a target see Figure 9 Although it is often stated that the acoustic shadow represents a time window in which no acoustic energy is being scattered back to the sonar they really represent a time window in which the sonar is detecting the small acoustic energy that has been scattered off particulate matter within the water Cross sectional View i fertic A DAS wa with pa and sonar iene inte page and sonar beam aimed athwartships Starboard side width Sonar Target bupmp on se AE AAA a AAA ee Canada Data gap Greatly palos sonar iat nadir Mong Weck distinto Dieii of Sandi Tiavel E ae a F l rte f iant range Ho retur dekana i water column First Fog Ml A se of a a bettem return 106 0 ry Plan Vi de of Target arge backscatter Figure 9 A schematic diagram showing how an acoustic shadow occurs behind a target that is proud of the seafloor Taken from Kleinrock 1991 DSTO GD 0372 Although acoustic shadows are often observed in a waterfall display on the leeward side of anomalously high acoustic returns with objects proud of an otherwise relatively flat seaflo
150. ny operators of the sonar may be injured e There is not a closed connection at the subconn plug at the sonar If possible unscrew it and reattach Reboot TPU and see whether the error light is still on e Ifthe sonar is being towed so that the winch is being used then there is a slight possibility that the tow cable connection in the slip ring has come apart This has happened once in the past Why it occurred is not understood and the possibility of it re occurring is thought to be very unlikely It will take several minutes to remove the inner housing of the slip ring and check the connection If the above solutions do not work then there is a slight possibility that the problem is originating to one of the following although these are very rare If any of these are suspected contact Klein Associates Inc for guidance e Broken tow cable e Wrong tow cable e lt A too long tow cable e Failure of sonar primarily the multiplexer board 127 DSTO GD 0372 128 9 4 TPU Crashes Sometimes when data is being collected for no apparent reason the TPU will crash The TPU is designed to be a very stable platform on which data is acquired and so it is rare for this to happen but it has been observed There will be several clear indications that the TPU has crashed These are e The vme light on the TPU will stop flashing and will stay on continuously e The waterfall display in Isis or SonarPro will stop scrolling e If Isis is
151. o set up Serv U 4 0 so the TPU can retrieve its operating system file vxworks first the Serv U main application window needs to be visible see This can be achieved by either double clicking on the green U icon on the task bar or if there is no such icon use the Windows Start menu to spawn the application by selecting Start Programs ServU FIP Server ServU or thirdly browse for and run servu32 exe using the Start Menu Search For Files or Folders DSTO GD 0372 bo tna dl IO File View Edit Setup Help E Se coil 64 Sell a ser FTP Server v2 4a Copyright ic 1995 1998 Cat Soft All Rights Reserved by Roo Beckers Cat Soft is an aiiliate of Oeemeld Com Using Microsoft Windows Sockets version 1 1 max 32767 Sockets Ho loghle specified logging messages to screen orby 11 Fri O8Dets9 13 49 10 Starting FTP Server Version 2 44 32 bi0 FTP Server on line P number s 160 64 181 221 port number 21 SECURITY SWITCHED OF F NO ACCESS RESTRICTIONS Using registered version Registration key passed Figure 33 The Serv U main window Once the main window of ServU has spawned select the Setup menu and choose FTP Server This brings up the Setup FTP Server window see Figure 34 Here four settings need to be made First set the FIP port number to 21 This is the TCP port number that all computers including the TPU use for FIP transfers If a different number is set the TPU will not be able
152. of the sonar track will change in a round robin fashion when either a new filename is used or when a new data file is played back The colour used and in what order are red green yellow blue magenta cyan white dim red dim green brown dim blue dim magenta dim cyan gray pale green and pale blue rara Legs peel k rn r crip ee A e Dirrie H y E Pai irahane oa p ELO ons AA AAA A de rd Ped BS PR hl ee Cone Alanis debe peor rere Figure 62 The Coverage Map configuration window in Isis 56 Lethed Coverage Windia N SPH ten ES IA lel ES Fie flay Show Zoom Figure 63 An example of a coverage map window in Isis Note the menus at the top of the window DSTO GD 0372 When the coverage map window is spawned the sonar track and coverage should be displayed by default however there are some additional settings that are not default but which can be helpful The settings which were often used at DSTO are outlined in the table below Table 6 Setup parameters for the Navigation Window in Isis Show Trackline Coverage Isis will by default show the coverage of a sonar and default Without Coverage this setting lets the coverage be toggled on or off It can be helpful to remove the coverage when the tracks are close and cannot be distinguished from overlapping coverages Show Grid This lets a grid be placed over the coverage map with the options being off and no grid lines shown or showing grid lines
153. omputer may not match the numbers on the cabling This means the digiboard cable labelled 1 will not usually be com port 1 on the computer However once you know what number the computer has assigned to the first digiboard serial port those remaining are numbered consecutively Note that the installation of this board into a PC running Windows2000 was attempted but failed It was hypothesised that its installation would have been simpler if it was a PCI card instead of an ISA o If the acquisition computer is a laptop then there exists a Socket PCMCIA Personal Computer Memory Card Interface Accessory card with two serial ports see Figure 29b 0 ee Figure 29 a Digiboard Classic 8 serial port PCI card b Dual serial PCMCIA card from Socket Communication http www socketcom com product serial_dual htm 35 DSTO GD 0372 36 Under the Windows 2000 NT operating system if an RS232 cable is connected to the serial port when the operating system is booted then the operating system thinks the operator is trying to attach a mouse and will try and install the appropriate drivers The operating will also most importantly lock the serial port so it can no longer be used and unpredictable mouse behaviour may result This idiosyncrasy of Windows2000 NT usually happens if the serial cable being used is not fully implemented For example there are only two or three wires connected Pin2 Pin3 and Pin5 7 The solution is to wi
154. oonconncnncnionnonononcnnnnnnnnononnnonos 132 I2 Jerky Watertall Scroll Specs ddnl doradas 133 9 9 3 Echosounder Interference cccccccsececccccccccccccuccccnccccauscecaeccceaescensecs 133 IOCONCLUSION facies oe ates te as a e a Ma 134 A REFERENCES e cae een ee recente aera 135 App ndix A Installine SOTEW AEC teria 136 ECHO HAW KEY Ouro en tercio 136 qlo A A A E E NN 137 Section 3 Windows 2000 FTP Servet ccccccccccscccceccccscccescccccceccceescceesceesccesceneseceeseees 140 EO a K M e E S EEA IR 142 DEC LOMO DONA aa aac a lacie een aes 143 Appendix E IPU Dootup les od 145 Appendix C Klein 5500 Pressure Transducer Calibrati0N ooconnncnnnnnnnccnoncnonccnonnconncnnos 148 Appendix D Formatting Magneto Optical Disks ononoconicinoninoccnocnnocnnonnnarncarncnanonononnos 149 Section L Backin s Up MESES tristes 149 Sechion 2 Low level Format scada decis 149 Secon o High Level Porta da 150 DSTO GD 0372 1 Introduction Sidescan Sonar and DSTO One requirement of the Maritime Operations Division MOD within the Defence Science and Technology Organisation is to evaluate new and emerging methods that are available which can characterise the seabed and to also test new techniques For several years now MOD has been maintaining its knowledge base of how to operate the Klein 5500 sidescan sonar with the aim of investigating ways of 1 optimising the data gathered 2 fusing the data gathered with other forms
155. or they can exist with no preceding contrast in the backscatter This can occur for troughs associated with buried pipelines or telecommunication cables as well as sand waves Figure 10 shows an example of these two features POTES ON PEDO TOA JOMAR RECOAD A E ey PAC CT oe Figure 10 A schematic diagram showing how both depressions as well as prowd targets can generate shadows in a waterfall display Taken from Klein 1985 Determining the location of objects observed in a waterfall display is a two step process The first involves determining the location of the sonar relative to the GPS Global Positioning System antenna with the second step involving using the bearing of the sonar together with the horizontal distance the object is from the sonar termed layback The location of the sonar relative to the GPS antenna can be determined using a measuring tape for bow or hull mounted sonars and such configurations have the advantage that they do not change during a survey For sonars that are being towed behind a survey vessel their location is calculated using the horizontal distance the GPS antenna is from the fairlead together with layback The layback is calculated using the cable out values in conjunction with the depth of the sonar below the fairlead which has the two components the height of the fairlead above the waterline and the depth of the sonar Sidescan sonars have built in pressure transducers so their depth beneath th
156. or example if the file vxworks is located in C 1 klein the file directory access rules must include either C or C klein 3 3 2 Windows 2000 For any PC running the Windows 2000 operating system there is a built in FTP server however it is not installed by default and most of the time needs to be installed from the original CD The ability to use a built in FTP server is very beneficial because it saves time having to purchase such servers from external companies and then having to worry about compatibility setup irregularities as well as upgrades If a Default FTP Site does not appear under Internet Information Service under Computer Management then it needs to be installed from the original CD If this is the case then refer to Appendix A Section 4 Once the Windows 2000 FIP server has been installed then it needs to be set up appropriately To do this go to the Control Panel and click on Administrative Tools Computer Management This will spawn the Computer Management window and if the FTP server has been installed correctly then under the Internet Information Service icon Bl Default FTP Site should be visible Figure 36 a shows the Computer Management window with the Default FTP Site To set up the FIP server so the TPU can retrieve its operating system file Vxworks right click on the default FTP Site icon and click on properties This will spawn the Default FTP Site Properties window see Figure 37 In th
157. orded by the sensor on the towfish This is not the water depth but the depth of the towfish below the water surface The Klein 5500 operated by DSTO has a pressure depth sensor and calibration values for this can be calculated and applied to give a sufficiently accurate depth value Calibration values are entered in the Isis Server for Klein 5000 window section 5 2 6 1 It can be seen in Figure 64 that there is an arrow tab pointing upwards M located to the left of the data fields Heading Depth and Altitude When this arrow tab is clicked next to any one of these three data fields a window is spawned showing these values much larger than they appear in the Parameter display window and these new 87 DSTO GD 0372 88 windows can be placed anywhere on the screen These windows can be helpful when any one of these three data fields needs to be carefully monitored and those values displayed in the parameter display window are a bit small to read often This can be particularly helpful for altitude 5 2 9 1 3 Range Scale The Range Scale is the ground range that is being achieved for a sonar and is calculated using the slant range that is being implemented in conjunction with the altitude of the sonar 5 2 9 1 4 Display Units The units that are used to display the length calculations in the Parameter display window are controlled by the Display Unit panel The options available are metres feet or milliseconds At DSTO metres was
158. osaic may simply have an outline of the coastline Their readability and interpretation can be also be enhanced by having contours of bathymetry or magnetic anomaly draped over them Fish and Carr 2002 The resolution of the final mosaic is determined by the operator and can be as high as the original sonar data There is however a trade off between the resolution of the mosaic and the size of the graphic files generated the higher the resolution the bigger the graphics file and the more computer room that is needed whilst for lower resolution mosaics which have bigger grid cell sizes the smallest targets that can be detected will be bigger than the high resolution case but the advantage is that the files generated will be smaller Figure 15 An example of a mosaic of several sidescan sonar swath data Once a mosaic has been rendered it is possible to classify the backscatter levels in terms of differing sediment types There are two main ways this can be achieved There are textural methods or pattern recognition which needs only sidescan sonar data to be implemented This approach first requires the texture where the sediment is known so called training regions and then incrementally scans the whole sidescan sonar mosaic trying to match the textures observed against those from the training regions Bell Chantler and Wittig 1999 Textural approaches have the flaw that they do not use the process that generated the sonar image Th
159. ots If the hidden beams are saved the data files will be larger than normal Those radio buttons for sub bottom data should not be activated as the sonar at DSTO does not have this option e Send K5000 Nav and Telemetry to Isis This radio button is normally chosen instead of Send only telemetry to Isis because as outlined in section 2 1 1 73 DSTO GD 0372 74 navigation data should be routed to the TPU If navigation data is routed to the acquisition computer then the radio button Send only telemetry to Isis needs to be activated The template to use for navigation data is yxNEX and that for telemetry are h89 w 0aV Refer to section 5 2 2 1 for token definitions It is important to note that Isis needs to be informed that it should ignore the course made good derived using the changes in GPS positions If it does not then Isis will be receiving two types of sonar orientation data one being from the KVH Gyro on the workboat and the second from the course made good These two forms of data will be recorded by Isis and in post processing it may appear as though the sonar was yawing badly This can be seen by the value of Gyro in the Ship window of the Parameter window oscillating between two values one being the course made good and the other being the orientation of the platform To stop this from happening the X token is needed in the navigation template and not a G Deactivate the following radio buttons e Bath
160. oustic intensity of the reflected pulse 2 J is the acoustic intensity of the incident pulse 3 is the density of sea water 4 Cs is the speed of sound in sea water 5 p Cgis the acoustic impedance of sea water Some materials for which the reflectivity coefficient is often needed are cited below together with their acoustic impedance Table 1 A list of materials often located by sidescan sonars and their associated acoustic impedances and reflection coefficients Acoustic Impedance kg m s x10 a o o 154 Wood Pine 0 0009 Wood Oak Concrete fso fs 11 DSTO GD 0372 12 It can be seen from Table 1 that air has a relatively large impedance reflecting virtually all the acoustic energy impinging on the seawater air interface This is the reason why surface waves breaking and injecting air bubbles into the water can cause a surface return to be visible in a waterfall display It is also the reason why animals containing air pockets for example humans dolphins can be detected by sidescan sonars It can also be seen from Table 1 that some materials have unusually low impedance such as wood This example raises the important point that sidescan surveyors trying to locate specific objects for example wrecks which have been constructed out of wood which have low impedance and which may be difficult to detect need to consider the impedance of the material to be located and choose the ranges accordingly The areas ide
161. ownload the latest installation file susetup exe of Serv U from http www serv u com using any one of the four download sites available The file susetup exe is a self extracted Winzip compressed file Once the download is complete double click on this executable EA and the installation will begin As an installation of Serv U will write over an old version then the first dialogue box that is spawned will state IMPORTANT If you have an older version of Serv U installed and did not do so already Exit this installation now and make a backup of your Serv U directory Click on the Next button and after accepting the licence agreement select the directory in which the new version of Serv U will be placed Once the installation directory has been chosen click on the Next button Then a box will appear outlining the options that can be installed Check the options needed and click on the Next button Then enter the name of the Program Manager group which the Serv U icons will be added to If a new program manager group is wanted with the Serv U name then leave the default name of Serv U FTP Server Click on the Next button and Serv U is ready to be installed Warning once the following Next button is clicked the installation will begin and should be allowed to progress to completion Click on the Next button and install Serv U During the installation process a progress bar will appear and once the installation is completed a final wndow
162. p bit of the data in question These settings are very important The reason for backscatter data needing to be discarded is often because these values have been incorrectly entered For GPS and Gyro data the Port Settings are normally 4800 bits per second with 8 data bits no parity and one stop bit Now choose the appropriate Navigation Telemetry Template Templates inform Isis of the format of the data being received and either a predefined template can be used or one can be constructed Constructing a template is particularly needed when cable out or echo sounder data is being read Section 5 2 2 1 will outline the construction of templates in detail There are a number of predefined templates available and the one that needs to be used for the GPS and Gyro data is the NMEA0183 This is because the GPS and Gyro data being incorporated into Isis are in the NMEA format The structure of this format for the GPS and gyro strings were outlined in section 2000 If a predefined template is selected then it will appear in the white edit box at the bottom of the Navigation Telemetry panel If a template needs to be constructed then click in the white edit box and enter it There are two other check boxes in the lower right of the dialog box Leave these unselected The last setting is the navigation latency For details on how to calculate navigation latency see multibeam training course notes If Latency has been calculated then it can be
163. play the icon Y can be used This icon enables the operator to draw freehand lines in the waterfall display with any lines drawn subsequently shown in the Navigation Window Unlike the length and height icons above however the scrolling of the waterfall display does not need to be stopped before this function can be invoked although it is difficult to observe the lines in the waterfall display while it is scrolling 8 3 Cursor Position Estimation If the operator wishes to know the latitude and longitude of any location in the waterfall display then assuming the layback information has been correctly entered see section 5 3 4 and the method for estimating the towfish yaw has been chosen appropriately see section 5 3 5 it is a simple matter of clicking on the waterfall display with the cursor where the operator wishes to know the position and the latitude and longitude will be calculated and displayed in the status bar Note cursor position information will be displayed in the status bar even if the layback function is dimmed and not active which occurs when the data format is sdf In this situation the position information should be disregarded In determining the position of any point in the waterfall display the assumption is made that the bathymetry does not change across the track This is the flat bottom assumption and the operator should be aware of it The operator should use caution if he or she is determining the locations of t
164. pper left hand corner or this dialogue box can be closed and data saved to disk by the operator clicking in the Recorder interface status area Fie Recorders a In either case the background colour of the recording status will change from red to green aa data is being saved to media The operator can stop recording at any time by either clicking on the Stop button in the Sonar Data Recorder dialogue which is only available when data is being saved or by again clicking in the Recorder interface status area Figure 74 shows two examples of the Sonar Data recorder dialogue box during set up and whilst data is being saved to disk torus Data Peroni Facon to dk Mes A z P raa reang Depa A Fim psor salati on on the logical deve puii 2000 Los Pm pre ren terari ier por cha Mirar of CA p ch Me T DSTO GD 0372 Amod do disk file Shut ae Fiecording status Ameominghemnsliy Fieconding to fie fsoner_dated1 0318111 000 sai Directory path OAT emp File space avaiable on an the logical diie ME 152 Use fas pref wher naming fies PALES o deta por disk file l b Figure 74 The Sonar Data Recorder dialogue box a being set up for data capture and b whilst data is being saved to disk It can be seen from Figure 74 b that the extension of the data files is sdf sonar data format This format is not the only format available in SonarPro the other is 5kd 5000 data with both formats originati
165. proach is that it increases the complexity of a survey To implement this option the radio button Apply Delta X Y usually from Trackpoint http www ore com trackpoint htm needs to be chosen The second approach is slightly less accurate but has the advantage of being much easier to implement This approach uses layback to determine the location of the sonar and has the distinction from the first approach in that the underlying assumption is made that the sonar is following the track of the boat The layback is either calculated externally to Isis or Isis calculates it using cable out values To get Isis to implement this approach choose the radio button Apply Layback At DSTO this is the method that has been used exclusively with the Klein 5500 sonar and will now be explained in detail When the radio button Apply Layback has been chosen three options are available Two of these are used at DSTO The three options will be explained below Use Logged layback value This is the default c gpl Lag Use logged abak vale I Eria layback marua fa Compule ispbaci fom Cable Ou Labat Cutten valm TAL Om om F fe gut Cable Out 3000 fe Teper fim Haight of teweneant T Oi cet Logdack expi C72 DHT 0 choice when the radio button Apply Layback is chosen and has been used at DSTO in conjunction with the cable out and angle measuring device OSCAD If this option is used then Isis will need to be setup so it
166. programs being used at DSTO to acquire sidescan data from the Klein 5500 sonar There was the Isis package which has been used for several years and then there is the less used Klein software package SonarPro Isis has been used very successfully for several years but it has the flaw that the data file formats namely eXtended Triton Format XTF cannot be read by SonarPro This makes liasing with Klein regarding sonar problems difficult To aid communication with Klein it was thought beneficial if some expertise was gained in using the software package that Klein supports This software is SonarPro http www kleinsonar com sonarpro index html and has been used successfully since mid 2001 Particularly for Isis there are many settings that affect the quality of the data being acquired and the stability of sonar system These settings do not normally need to be re entered for each survey unless a different sonar is being used than was used previously or if newer versions of the software are being used This chapter discusses the rudimentary settings which need to be made to Isis and SonarPro so high quality data can be acquired and saved This chapter however does not cover all the intricacies of how to setup and tweak these two software packages Such a chapter is not needed as both Isis and SonarPro have very good manuals covering all facets of usage Full details of Isis and SonarPro are given in their respective manuals see Isis Sonar
167. r 127 6 8 1 E AG tm Le fonk 4 Reca ived 4 Lost proximate round trip times in milld 2e Hi i iF Hng Aas imiim Bac Average 2 F E le k Lo Pirhi im y i E 4 WS Een Pi PI a A Pane J Figure 86 The results of successfully pinging the network card on a PC Note how four data packets were sent and four were received indicating a successful test e Is the file vxworks located in the directory C klein on the acquisition computer If not put it in there Reset the TPU and see if it boots If it does not then proceed to the next step e Check the settings in the FTP server full details outlined in Chapter 3 The settings which are often entered incorrectly are IP address of TPU normally 160 64 181 222 IP address of acquisition computer normally 160 64 181 221 the username and password the TPU will use to log in as the home directory the TPU will try and download its operating system file vxworks from O O O e Ifthe settings outlined in Chapter 3 have been entered correctly and the TPU still does not boot then if an Ethernet hub is being used remove it and replace it with a single cross over cable between the TPU and acquisition computer This is because in the past some Cat5 straight network cables have been broken and this has been discovered by replacing the two being used and a hub with one cross over cable If the usage of single cross over cable enables the TPU to boot then either the hub is broken this is ver
168. r ensonifying an object at differing speeds and the sonar then displaying the backscatter results at regular time intervals The ramification of this compression is that it generates the artefact that targets appear larger or smaller than they really are Figure 6 shows an example of such a scenario This along track compression is circumvented by displaying the backscatter results for each ping not at regular time intervals but at intervals which are directly proportional to the speed or distance the sonar has transversed Figure 6 Two waterfall displays of a sunken ship collected at three knots top image and six knots bottom image Adapted from Klein 1985 The minimum along track distance which two targets must be separated in order for them to appear as two distinct targets in a waterfall display and not be merged and represented as one target increases in the across track direction This is caused by the acoustic beam spreading with the beamwidth for a line of transducers directly proportional to CA where 4 is the wavelength of the pulse and L is the length of the array and equal to 50 6 47 Klein 1985 Figure 7 shows an example of this artefact for two targets which are represented as one target on the DSTO GD 0372 outer edges of a swath whilst being shown as two distinct targets closer to the sonar s nadir 5 a ra FO E ii i oO L Figure 7 A schematic diagram showing how beam spreading as the across t
169. r than that for the TPU and the master computer In the author s experience it is simplest to change the IP address from 160 64 181 221 to 160 64 181 223 Unlike Isis which the operator must externally set up to make it the Slave SonarPro can be made the Slave from within the software by using TPU Connection dialogue box Figure 66a The computer which is set up as the Master will have complete control over the settings of the TPU most importantly the slant range the wave forms implemented the pulse length resolution and mode of despeckle When a change is made using the master computer the changes will be replicated in any Slaves shortly afterwards The operator cannot make changes to the settings of the TPU from any Slave computers DSTO GD 0372 6 Connecting TPU Acquisition Computer and sonar 6 1 Introduction This chapter will explain how to test that the TPU and the acquisition computer are networked correctly It will then go on to explain how to prepare the sonar for deployment test the connection from the sonar to the acquisition computer and then explain how to deploy the sonar It will be assumed that the setup procedures outlined in Chapters 2 3 and 4 have been successfully implemented 6 2 Connecting Acquisition Computer and TPU 6 2 1 Power Make sure the TPU acquisition computer and monitor and any hubs you may be using have power cables connected plugged in and the power is on Turn on any navigation equipment
170. rack distance increases can result in two targets appearing as one target Adapted from Klein 1985 Sidescan sonars can be towed behind a platform which places the sonar closer to the seafloor and produces longer acoustic shadows This deployment technique has the advantages that e It permits the highest possible detail of the bottom Such detail may be needed for locating objects whose dimensions approach the resolving capability of a sonar e It maximises the contrast between surfaces of differing orientation e acoustic shadows are maximised e the possibility of any surface reflections is minimised e the motion of the towfish is partially decoupled from the motions of the tow vessel e the sonar can be placed beneath any diurnal thermoclines that would refract acoustic energy upwards towards the surface and away from the intended target the bottom The acoustic energy propagating in a thermocline will also undergo more absorption due to the associated higher temperatures compared to an acoustic beam that was located beneath a thermocline DSTO GD 0372 10 The disadvantages with towing a sonar is e special equipment is needed to deploy and recover the sonar with such steps made difficult and treacherous in rough weather e that the operator cannot see what is approaching and the pilot may need to make quick changes to avert losing the sonar on a rocky outcrop or wreck If the pilot does know that the depth of the sonar need
171. re 65 The switch file dialogue box The Note panel at the bottom of the Parameter display allows you to make a note during a recording session The note will be recorded in the data file at the point that it is written and reappear in the Note panel at the same position during replay 5 3 SonarPro Setup 5 3 1 Introduction SonarPro SP was written by Klein Associates Inc and first released in 2000 It was given to DSTO free of charge when the sidescan sonar and TPU were fixed in August 2001 and to date all updates have been free SP version 5 0 5 3 and 6 2 were downloaded from http www kleinsonar com tech download html Compared with Isis SP is a user friendly sidescan sonar data acquisition program It is easy to learn easy to set up and has the large advantage over Isis that is specifically designed for two Klein sidescan sonars one being the Klein 5500 Also in comparison to Isis SP has the ability to mark the location of targets in the coverage map during data collection This can save a lot of time in post processing SP also has the ability to set up survey lines on top of nautical charts and import measured cable out values 5 3 2 Getting Started Many of the settings in SP rarely need altering and once they have been set for the first time they do not need to be reset for each survey To collect sidescan data using SP the operator first needs to click on the towfish icon This will cause the TPU Connection dialog
172. re that enables the settings of the Klein 5500 to be changed when Isis is running is the Klein 5000 system control dialogue box This dialogue box is really three condensed into one as illustrated in Figure 58 and was created by Klein Associates Inc and not TEI Sound Vel a Rapheg T Speed Ted ep EST o ps oi E i Fish Command Command Ta1 Send File Figure 58 The three dialogue boxes of the controller software program ss exe and how the last two are spawned 79 DSTO GD 0372 76 At DSTO the system control dialogue box is mostly used to perform the functions e Play or and stop playing sonar data from the Klein 5500 using the start and stop buttons EX and E respectively Although these two buttons control whether or not sonar data is displayed in a waterfall display they do not influence whether or not the data is saved to disk How Isis is set up so it saves data to disk will be outlined in the following section e Change the slant range e change the pulse length or waveform being used This means changing the pulse length of the chirp being output by the sonar The values which correspond to those outlined in the dialogue box are 0 for the 50 microsecond pulse length 1 for the 100 microsecond pulse length 2 for the 200 microsecond pulse length and 3 is a 200 microsecond pulse length two tone hop The waveform that the TPU will request the sonar to produce is determined by the variable set WAV
173. re the serial cable so that it does not look like a serial mouse This modification must be done at the computer end of the cable by making the following alterations on the back of the serial connector For DB 25 25 pin solder a link between these pins pins 4 5 pins 6 8 20 For DB 9 9 pin solder a link between these pins pins 7 8 pins 1 4 6 After jumpering the serial cable remove the extra Pointing Devices using the device manager in the Control Panel and the serial port should now be capable of accepting data Triton Elics International CD Winter02 2 3 4 Cable Type In order to estimate the towfish position whilst it is being towed some software programs require the type of the cable to be entered see section 5 3 4 for an example There is one type of cable used at DSTO although it comes in two versions The tow cable is a 10 5 mm 0 413 inches coaxial copper Kevlar reinforced cable which has a breaking strength of 2270kg and a working load 454kg This cable is termed a Lightweight Coaxial Cable is easily identified by its blue polyurethane jacket and is useful for low stress situations such as when the sidescan sonar is bowmounted to the workboat When the sidescan sonar is being towed however a stronger form of this cable needs to be used On the workboat there is a drum of this cable in which the blue jacket has been covered by a double layer of counter helical galvanized plow steel This cable is termed an
174. read them reliably For transfer from M O to another computer an external SCSI M O drive exists at DSTO Sydney and can be installed in any computer that has a SCSI card The removable hard disks used at DSTO Sydney were the 40 GByte Seagate barracuda disks Approximately 10 were purchased and they can be very helpful requiring removal only after approximately 8 hours If the disks are being transferred between computers of different operating systems then the disks may not be detected due to different file systems being used For example Windows 2000 can use NTFS or Fat32 whilst Windows 95 and Windows 98 uses Fat32 or Fat If a disk does not appear in the My Computer go to the Control Panel Administrative Tools Computer Management and click on disk management under storage This will show all hard disks and partitions present in a computer see Figure 82 If needed the file system used in the removable hard disk can be altered here so the hard disk can be used DSTO GD 0372 PPT Pees es RA eo 6 ee al iv hy ae miei Hi r oe ee a dd Ji is E Ll of hmm pre 2 a ma Figure 82 The Computer Management dialogue window in Windows 2000 119 DSTO GD 0372 120 8 Post Processing 8 1 Introduction SonarPro and Isis have primitive post processing capabilities In particular they can only play back data files with SonarPro also consisting of a target database As these two packages cannot smooth or edit
175. rge message te Primary file containing links links tet L 1 El DE Secondary de comaining leks q AAA Figure 34 The ServU FTP Server window If Serv U has just been installed then there will be no entries in the Users window and the username the TPU will log in as as well as the password that will be supplied will need to be entered To do this click the new button in the right hand column and add the username SONAR with the password of klein Also set the home directory to CA with the file 43 DSTO GD 0372 44 directory access set to this as well The home directory is the directory on the host computer that the TPU will be placed as soon as it has logged in When the TPU cannot find its operating system file vxworks it is often caused because this variable has been set incorrectly Table 4 outlines the settings that need to be made to Serv U so the TPU can log in Table 4 The four settings that need to be made to Serv U so the TPU can log into the host computer and retrieve its operating system file SONAR Password Klein Home directory Pathname of the directory containing the boot files vxworks and startup ini eg CA klein or CA File Directory access As above rules Setup Users Setup Lisar nema aw O Misc Genera i Bel U D ratios Password krein Home directary ewer o Quote Moles Pasa ur File Directory access rulas Files E
176. rmat but not a high level format The low level format is either 512 bytes sector or 1024 with the former being normally used with Unix or equivalent operating systems and the latter with Microsoft operating systems Isis can save data to M O disks of either low level format however it expects to see the low level format of 512 bytes sector and this is the low level format recommended by TEI Isis can only be read M O disks with a low level format of 1024 bytes sector at 10 of their normal rates The low level format of a M O disk if it has not been previously altered can be determined by reading it off the disk s shutter The capacity of a M O disk namely 600 megabytes 1 2 Gigabytes or 2 Gigabytes gives no indication of the low level format of the disk The disks used at DSTO have a capacity of 2 Gigabytes The low level format of 1024 bytes per sector can be reduced to 512 bytes sector by using the utility scsifmt exe located in the directory C scsi Like the command used to alter or set an M O disks high level format the command scsifmt exe needs to be run from within DOS and not from a MS DOS shell whilst Windows is running If it is run from within an MS DOS window an error message will be spawned The command scsifmt exe can also be used to test or verify that the surface of an M O disk is free from any bad sectors and if any are found to flag them so they will not be used during data collection As conducting a low or high le
177. ro data in the parameter display window and check it compares closely with that of the wharf The orientation of wharf17 at Pyrmont is 39 7 degrees from true north with the boat normally being between 31 and 38 degrees true One easy way of determining the orientation of a wharf is to use the chord function in the post processing sidescan sonar software Sonarview See Young and Anstee 1999 for a detailed account of this package e Check the ship s speed indicates zero or 0 1 knots e Check that the position data in the navigation panel compares with that displayed in the Leica display and also that they both are not changing very much When the boat is acquiring data the following comparisons should reveal any major errors in the collection of data DSTO GD 0372 e The orientation of the boat should be close to the course made good which is derived using changes in position The course made good and the orientation of the boat should be within approximately 5 degrees but this will depend on the obliqueness and strength of any ocean currents The course made good is displayed in the bottom left hand corner of the Leica GPS unit and can have a filter applied to it of between 2 and 10 seconds The term crabbing is sometimes applied when an oblique current is causing a boat to move in a direction that is different from the boats orientation e Check the ship speed compares closely to the speed over ground SOG data field in the Leica display
178. rrent location of the towfish or by selecting an origin using the mouse after clicking on the Use Navigation window location icon Then it is a matter of entering the survey line lengths Line spacings Maximum Layback Line Heading Number of Lines and Cross Track Error The only variables that the operator may not understand or may have difficulty estimating is the Line Heading the Cross Track Error and the Line spacings o The Line Heading is the angle between true north and the direction the lines point measured positively in the clockwise direction As an example if the Line Heading is zero then the origin can be thought of as the bottom left hand corner of a grid of survey lines and if the Line Heading is 180 then the origin will represent the upper right hand corner of a group of survey lines Figure 73 shows two examples of survey lines that have headings that differ by 180 degrees 98 DSTO GD 0372 Figure 73 Two examples of 5 survey lines created with line headings of a 45 and b 225 respectively In both examples the origin as needs to be entered into the survey route dialogue box is at the waypoint 1 although because of the difference in line heading this origin appears in opposite places of the survey grid The Cross Track Error is the maximum horizontal distance that the survey boat can be from the survey line whilst maintaining the desired coverage The Line spacing or horizontal distance between neigh
179. s 39 SL Tnirodactiomscissn a a Gia ios erecta oes ceo 39 32 Slost Computer PA Gare ii a E 39 A OS 40 al A E E nates ee isaeaaneeee 40 9 EL SOL Vers alias 41 Cel VICO WS DO lata 41 Ook ETE Server Servo araen a 42 SNA PENO UP A a E ETA N 42 292 Windows 2000 ce are ttevtas ski tevrdehtncaun desienneulsu sedan sci aut ov enmeteeeataxeeislountds 45 SA Network Duplex seline Sasek al 48 3AT Iis PE Network Settings cas 49 Oe A ania enone 49 39 Virtual Memory Seting S iia 50 36 SETECT SENS ios 51 3 6 1 Sonar Acquisition OO BW ALC asada 51 302 Dual Screen Mode ici 52 IPUOPERATIONS rodii ia 54 41 Boot Sequence OFT PU corri ocacion 54 42 Alterno TIPUS EUPa carrito 59 5 CONFIGURING AND RUNNING THE ACQUISITION SOFTWARE 61 BL Introducir ds 61 92 ISIS TS 61 ILL DONA SE UD 63 322 Hal Orn oew PISIS es ionide dee edad 64 IZAL Isis Templates ni 67 ao le POr pa edo pdas 69 DAA SCTE QU Midis 70 SAF KCPE DPS Sos 71 D210 ISIS SEK Cr DOW are ibas 72 5 2 6 1 Isis Server software Klein5000 exe for the Klein 5000 72 320 2 Klem o000 System Control SS eXxe uta 75 927 Displaying Saving Data Wi ISis teari la 77 22O C PUON al Se NE Saa E AN a 77 320 1 Dow Mounted Sonar Depth rain 78 SA av DAC SOUS Wasabi tices cast O 78 O 2 0 0 Sonar Altitude Alas ran 80 5204 COVETACCINIAD stants as 81 E DOUG Ve CIO CTE ar tana tectane E io tetes darter in eeepnedinee nied ease
180. s adjusting then the depth can be decreased by increasing the speed of the towing vessel if a depressor wing is not being used however if a wing is attached then the depth of the sonar can be decreased by decreasing speed e that the exact location of the sonar in the horizontal plane is difficult to determine This is attributable to inaccurately measuring the length of cable used its shape under tow and also because of difficulties in modelling how the sonar follows the towing platform Sidescan sonars can also be mounted to their support platforms as a hull mounted or bow mounted see Figure 8 Such a configuration has the major advantage of accurate position information for any objects as the exact location of the sonar is known Bow or hull mounted sonars have the disadvantage that the backscatter detail that can be resolved in the across track direction of a waterfall display is lower that is resolvable when a sonar is towed and because of this they are normally only used in shallow areas Figure 8 An example of a sidescan sonar mounted to the bow of the survey platform The sonar in this picture was the Klein 5500 Object detection in a waterfall display proceeds by identifying areas of contrasting backscatter Such areas maybe localised and appear as regions of high acoustic backscatter backed by low acoustic backscatter This would be typical of rocks proud of a seafloor composed of soft sediment Or the areas of contrasting
181. s has not been adopted in the past because the computer which the TPU downloads it operating system file from is normally the acquisition computer and on this computer it is beneficial to leave the com ports free for auxiliary data such as gyro or depth data This approach is also not adopted because it is likely to mean that the null modem cable connecting the TPU to the computer will need to be removed before data can be collected The terminal emulation software which is often used to view the boot sequence of the TPU and which can also be used to interrogate and alter the setup the TPU is HyperTerminal Windows 95 NT 2000 although Procomm http www symantec com procomm has sometimes been used HyperTerminal has the advantage that it comes with Windows and so is free but has the disadvantage that it takes slightly longer to set up compared with Procomm HyperTerminal also has the disadvantage that on several occasions it has inexplicably not been able to communicate to a com port and Procomm has had to be used The advantage of Procomm is that it is easy to setup but has the drawback of not being free of charge The following procedures will assume HyperTerminal is being used to investigate the TPU To spawn HyperTerminal either click on Start Programs Accessories Communications HyperTerminal or browse for and run the executable hypertrm exe Before HyperTerminal can be used to display data arriving at a com port it needs to be s
182. s not that much of an issue as the boat needs a deeper draft than the sonar e Are any alarms being displayed in the acquisition programs Isis or SonarPro e Every time a new survey line is begun a new data file should be opened 117 DSTO GD 0372 118 e Is a survey line being followed correctly or are there significant deviations Ifa survey line is not being followed is it necessary to stop the data collection and return to the last location where good data was collected e At the end of a day s data collection systematically archive the files collected e File any data sheets created 7 2 1 Media Selection As it 1s likely that any post processing will be undertaken on a separate computer then this dictates that there is a need to transfer sidescan sonar data from the acquisition computer to the post processing computer As sidescan sonar data can take up a lot of space with approximately 200 megabytes being collected in 8 minutes for the Klein 5500 or 1 GB in 40 mins then the medium on which sonar data has been collected and transferred to the post processing computer has been magneto optical M O disks or removable hard disks The magnetic optical disks at DSTO have capacities of around 2 GBytes with each side becoming full after approximately 40 minutes When using M O disks make sure that they are formatted using the command AFDisk as described in Appendix D otherwise the windows NT processing computers will not be able to
183. saved or it prompts an operator to save the current setup click on Configure Save Setup This will make the save setup dialogue box be spawned Here the options are e Save straight away by clicking on Save Now button e Save setup automatically upon exiting Isis by clicking the corresponding radio button e Request operator to save setup upon exit of Isis by clicking the corresponding radio button Note even if the setup of the previous Isis session was saved and is identical to the setup that is needed for the current session it is still wise to quickly check that the settings in the dialogue boxes Sonar Information Serial Port Setup File Format and Klein 5000 Server are as required Also note that when the isis cfg file is read only so the current setup cannot be written to it Isis will not generate an error message indicating this Hence it is vital to check that the file isis cfg is not read only 5 2 9 Isis Window Configuration When Isis is spawned a few basic windows are shown and there will be others which some operators may require but which are not visible Those windows which should be visible upon Isis booting up are the following e Isis server window for Klein5000 e Signal Voltage window e Waterfall window e Parameter display window The Isis server display window for the Klein 5000 series of sonar has already been outlined in section 5 2 3 and its characteristics will not be repeated here The voltage sig
184. se then calculate the least squares linear fit This could be done easily using a spreadsheet program such as Excel This linear fit should provide the slope of the line m and the ordinate intercept c and it is this line that is the new relationship between pressure transducer voltage V and the true depth D and is given by the following formula a As the aim of this exercise is calibrate the pressure transducer so that the true depth D of the sidescan sonar can be calculated using the voltage outputs V then equation 1 needs to be rearranged so that D is the subject of the equation and not V When this is performed equation 1 reads This is the form that the equation takes in the dialogue window The pressure transducer in the Klein 5500 sonar has not been calibrated for several years and on the last occasion the relationship between voltage and depth was determined to be V x13 730 10 37 D 3 DSTO GD 0372 Appendix D Formatting Magneto Optical Disks As outlined in section 7 2 1 because the data acquisition rates of sidescan sonar are very high approximately 200 megabytes in ten minutes there is a need to be able to transfer large amounts of data from acquisition computers to post processing computers At DSTO this has been accomplished using removable hard disks and magneto optical M O disks Before a M O disk can be used it needs to be low and a high level formatted M O disks are supplied with a low level fo
185. sed by Figure 54 The File Format dialogue DSTO It can be seen that this dongle most box used in Isis importantly permits the usage of Isis with the sidescan sonars Klein 5000 Klein 2000 and the analogue Klein 595 Other sidescan sonars can be used with this dongle as well as the packages Target Utility Delpmap with Isis mosaic with realtime mosaicking and classification 3 Keep in mind that objects exhibiting strong acoustic returns will be displayed as dark objects in a waterfall display If inverse video mode is employed however then they will appear as white DSTO GD 0372 Options installed om this sentinel 1 Serial Hunber 77 2 Tais pragr n Pg Spatial Filters I r ot Filters z l SEG Y File Format Yez BAC SAC e Maltiple Suppress I JA perspective Fipe Track S807 Profile Pick RAF supper Isis OEM Analog FED A ALI Eltin 2000 FC317 Hisin S800 ADAH DF 1Bbb6 PCF Saa Pole PCA caba 91 515 1500 5135 1500 Sonatech 34555 ldgelech Mlscelox Target atility larg l auto meature eS ROUFIIght proqran E 26 Delphtag wf Isis Mosaic i FEFE EE EE FEE F Figure 55 The security dialogue box for the Isis dongle PR 1 97100 which resides at DSTO Sydney If access is needed to a software package or a module that TEI constructed but the dongle was not originally purchased for it then TEI will need to be contacted and a key obtained This key will be a long ASCII string that needs to be entered into
186. see Figure 81 With an experienced and licensed crane operator at the controls of the crane gingerly raise the bow mount Have an operator on the wharf and a second on the bow of the boat controlling the movements of the frame Make sure these personnel are wearing safety helmets and steel capped boots Lower the frame to a height whereby it can be slid back under the cleat or the anchor point used for the ropes when the boat is wharf side Pull back on the bow mount frame and slide it into position so it is rests on the bow of the workboat When the frame is resting in place disconnect the crane s skyhook and remove the green lifting strop At this stage the crane is no longer required Using the two big bolts bolt the frame to the steel bar see Figure 81 This may be difficult as sometimes the bolts do not find the thread If so the steel bar will need to be slightly rotated about the vertical or be removed and rotated 180 degrees in the horizontal axis Continued on next page Figure 81 The bow mount in its final configuration Several pieces of equipment are identified Refer to text for details Adapted from an image taken by the Navy Imagery Unit East DSTO GD 0372 When the frame is securely attached to the boat place two wooden blocks between the frame and the rope tie downs see Figure 81 To stop the frame from moving forwards and backwards when the survey is underway have the blocks facing in opposite directions A
187. set the IP address of the host computer under the Window 95 operating system select Start Control Panel Network Select the Identification tab and make a note of the Computer name which should be Survey If it is not select Edit Change and rename as Survey To set the IP address select the Configuration tab of the Network window and select the TCP IP Transmission Control Protocol Internet Protocol link from the network components list Click the Properties button below this list and then in the new window select the IP address tab Specify an IP address should be checked Make a note of the IP address It should be 160 64 181 221 and the subnet mask should be 255 255 255 0 If it is necessary this is the place where you could change the IP address of the host computer To do this click Let me specify my own address and type in the address 160 64 181 221 Now the IP address of the host computer has been set to what the TPU expects The IP address of the TPU is set at 160 64 181 222 3 2 2 Windows 2000 To set the IP address of the host computer under the Windows 2000 operating system go to the Control Panel and click on Network and Dial up Connection Then right click on Local Area Connection This will make the Local Area Connection Properties window to be spawned and it is here that the IP address of the host computer can be set Figure 31 shows the Local Area Connectio
188. several reasons why this message may be spawned These are e The dongle is not in place e The connection is faulty or e Windows NT or Windows 2000 is being used and the appropriate driver has not been installed see Appendix A for details on how to install the necessary driver For the first scenario reboot the computer after attaching the dongle If Isis is still in demonstration mode then the printer port is likely to be faulty and the dongle may need to be removed and reattached several times If the Isis ruggedised computer is being used then there is the additional option of internally mounting the sentinel For the last scenario follow the steps outlined in Appendix A on how to install the correct driver 9 6 2 CSC Error Sometimes when Isis is used to collect data whether it is just being displayed or displayed and written to disk an error message is displayed of the form CSC Error Connecting to sonar source Is source running Check configuration conf exe for correct configuration and server address Note only a single master is allowed Although the causes of this error are described each statement will be described below and the necessary remedial action also outlined e Has the TPU booted successfully and is the connection between the TPU and sonar closed See section 9 2 and 9 3 above for the evidence and any action that is needed e All the other causes of this error are related to the System 5000 Configuration di
189. shows that the TPU has located the requested or c klein startup ini file vxworks or startup ini in the folder c klein and has started downloading it NOTE 2 There are sometimes errors in the transfer with an error message displayed in 105 DSTO GD 0372 ServU There may be several attempts made at file transfer However as long as the next line Sent file successfully is displayed error lines can be ignored Sent file c klein vxworks provides the baud data rate of the transfer and successfully 889Kb sec 775426 confirmation that the transfer is complete bytes or c klein startup ini Closing connection for user indicates that the TPU has successfully SONAR Connected 00 00 01 downloaded the file vxworks and closed the 106 FTP connection which was open for 1 second If these four lines do not appear in the ServU window for the given file then that file has not been sent correctly Although the TPU will boot correctly and be usable with the Klein 5500 sonar if the file startup ini is not downloaded the TPU will not boot without its operating system file vxworks If Windows 2000 is being used on the acquisition computer and the built in FTP server is being used for the TPU to download its two files vxworks and startup ini then unlike ServU the Windows 2000 FTP server does not display whether the TPU has successfully or unsuccessfully downloaded these two files Hence al
190. significance In doing so several things occur These are that 1 a Target Window is spawned 2 the target is logged into a database and 3 a target mark is placed in the Navigation Window Of these three things it is the last one that is the most beneficial This is because with target locations being marked during data collection or on the fly then this virtually eliminates the need to methodically rescan the data files with SonarView looking for targets It is simply a case of going to those data files in which targets were observed playing them in SonarView and categorizing the targets for subsequent evaluation The Target Window spawned is a close up picture of the marked target It displays the location of the target and permits the operator to zoom in and out pan and derive the length width and height of the target If an operator wishes to delete a marked target then he she can do so by clicking on the delete button 2 in the top left hand corner of the Target Window Lastly the data base of targets in SonarPro although potentially very helpful and not available in ISIS has not been used because SonarView has been the main software package for marking and categorizing targets DSTO GD 0372 Lat 335117305 Lon 151 145909 E Length 33 3 m Width 6 6 m Height _ Height nob me 7 Name T arget0020 0 0 33 19 8 297 39 6 Notes The operator places target notes here Multiple lines Grow
191. sis on the acquisition computer Either the executable Isis exe can be obtained from another computer and copied onto the one in question or the latest version of Isis can be installed using the TEI seafloor imaging CD If the latter option is selected then the procedure that needs to be followed is e If using Windows NT or Windows 2000 operating system then make sure the installer has administrator rights e Insert the TEI installation disk e Exit all other applications before beginning the installation program e Either go to the directory C TEI softwarel Isis 5 50 and double click on setup exe or click on Start Run and in the dialogue box that is spawned type in X setup where X is the drive letter for the CD rom and click on OK e The Install shield should be spawned and the installation of Isis will begin after the OK button is clicked on During the installation process the installation software will ask which hard disk or partition Isis should be installed on TEI recommends that two partitions be used one for any TEI software and another partition to save data to e The first time Isis is installed on a machine that is running Windows NT 4 0 the computer will need to be rebooted during the installation When the installation finishes the computer must be rebooted if Windows NT 4 0 or Windows 95 98 is being used This reboot is so the alterations Isis has made to the PATH environment variable are applied e When the installat
192. site see Figure 89 T SSE A T vee gt oe FA Pte et SS eS e a HOMBTE NIAI am sa a F Figure 89 The Number Nine web page with the Drivers and Forum icons highlighted by yellow ellipses Section 2 ServU Serv_U http www serv u com was written by Rob Beckers the founder of Cat Soft http www cat soft com and was originally named FTP Serv U In May 2001 the internet software company Rhinosoft http www rhinosoft entered into a partnership with Cat_Soft assuming all sales and technical support for past and current customers A site licence of 20 users was purchased by MOD DSTO for Serv U by Stephen Pascoe several years ago although responsibilities and further administration of the licence was transferred to John Shaw As DSTO was one of Rob Becker s early customers it receives lifetime updates free of charge Serv U has been written in both 16 bit and 32 bit versions for the operating systems Windows 95 98 98SE Me Windows NT Server Workstation 4 0 Windows 2000 Advanced Server Windows 2000 Professional Windows XP Home Professional 137 DSTO GD 0372 138 Serv U comes in three levels Personal Standard and Professional DSTO has a licence to the last and most functional level Serv U Professional To install Serv U follow the procedure below first make sure administrator rights have been activated if the installation is to made on the operating systems Win NT 2000 D
193. sonar should be returned to them for fixing Evidence of the rubbing of the sonar on tie port and starboard side Figure 79 A waterfall display in SonarPro showing the presence of a rub test Adapted from KLEIN SERIES 5000 SYSTEM TROUBLESHOOTING GUIDE After the rub test is complete the activation of the sonar does not need to be stopped if the towfish is being placed into the water straight away however if the towfish is going to be left use the stop button to stop the towfish operation and then restart the towfish pinging when it is placed into the water at a later time The reason for not leaving the towfish running in air is because it is designed to be run in a water environment which has a much larger heat capacity than air Hence it is not unusual for customers to damage the electronics inside the towfish by leaving them powered up for too long whilst in air Although the manufacturers of the towfish actually do DSTO GD 0372 not normally power up the towfish in air personal communication Vince Horan 2002 they do recommend that as a rough guide the towfish should not be run in air for more than 10 minutes Leaving the towfish on the back of the boat during the summer months can also make the towfish body increase in temperature considerably So it is recommended to cover the towfish with a tarpaulin when it is resting on the boat and not being used 6 3 4 Towfish Deployment If the rub test is successful then deploy the tow
194. st of the template blank For gyro serial input a special template should be created instead of using the NMEA0183 template The reason is that Isis will alternate between gyro input and course made good from GPS data if the predefined NMEA0183 template is used This creates the illusion that the sonar is yawing when a data file is played back even though the sonars yaw characteristics may be quite smooth In the Environmental Assessment group at DSTO templates have also been created so cable out or layback can be incorporated into sonar data files Cable out values have been obtained in the past using the cable measuring device OSCAD Over the Stern Cable Angle Device To inform Isis that cable out or layback needs to be saved use the tokens o for cable out and 1 for layback In some versions of the Isis software these data fields can only store integers To store lengths including decimetres create a template that multiplies the incoming value by 10 before storing Then a cable out of 10 3 metres for example will be stored as 103 Remember to convert back to metres when post processing In addition to creating templates to read all or part of any data string arriving at a com port it is also possible to create templates that perform mathematical operations on serial data To perform this each separate operation is enclosed in curly braces for example and placed in the template immediately before the token that it will be
195. t DSTO in conjunction with acquiring sidescan sonar data from the Klein 5500 To use a hub s between the TPU and the acquisition computer either a cross over cable is used between the TPU and the hub in which case the RJ45 plug of the cable needs to be placed in the slot marked X 1 at the back of the hub or a straight cable can be used between the TPU and the hub but in this case the RJ45 plug can be placed into any slot of the back of the hub except that marked with the X Figure 25 shows a picture of the back of the Intel hub showing the slot marked with an X Whether a straight or a cross over cable is used between the TPU and the hub a straight cable must be used between the acquisition computer and the hub This requirement is because of the construction of the two hubs used at DSTO As hubs accept incoming data packets on any port except when using a cross over cable as then only accept input from the X port and re transmit these packets on any other port then the RJ45 plug of the straight cable between the hub and the acquisition computer can be placed in any spare slot of the hub except that marked with an X The baud rate of the data entering and exiting the hub is indicated on the front of a hub by the colour of the port indicators with green indicating 100Mbits s and orange indicating 10Mbits s During data acquisition these indicators will flash indicating data packets are being transmitted to the acquisi
196. tains data These are outlined below Case 1 If the disk has previously been formatted then a warning will be spawned outlining that data will be lost if the reformat is continued To continue hit Esc Then another message will be spawned about format types Hit Esc to continue Then select Standard Hard Disk Format by using the arrow keys and then hit Enter Proceed to step 7 Case 2 If the disk is unformatted then a message is displayed stating This disk is unformatted Press lt Esc gt to continue 7 A table is spawned with the headings Type Start End Megs across the top see Table 9 If the disk has never been formatted then this table will be empty In this case proceed to step 9 If the table is not empty then the disk has already been formatted and may contain data If the disk contents are unknown do not continue to step 8 as this will delete all data on the disk Table 9 The table spawned by AFDISK regarding the high level format of a M O disk End 0 138 If the table appears as shown in Table 9 then disk has already been suitably formatted for use with Isis and does not need reformatting Proceed to step 10 and exit the program If the table is as shown in Table 9 except that the variable Megs reads 1023 then the disk is readable under Windows 95 and NT but is not formatted to its full capacity Proceed to step 8 to reformat the disk to its full capacity If the tab
197. tates that to relocate it from any wharf to a boat will involve the use of a crane As cranes have a limit on the amount of cable they can deploy then prior to arranging a boat to be wharf side it is important to make sure that the tide is not so low that the sonar cannot be successfully lowered to the boat Although the clearances required for a bow mounted or towed sonar will be different the concept is the same Information outlining tidal predictions for major Australian and South Pacific ports can be found at the National Tidal Facility web page http www ntf flinders edu au TEXT TIDES tides html There is also a software package at MOD Sydney which shows the same information this web page provides To relocate the Klein 5500 from any wharf to a boat using a crane follow the steps below e Remove the top half of the blue foam end pads from the Klein 5500 wooden stowaway box and place these on the stern of the boat in the location where the sonar is to be rested on the deck see Figure 18 If it is a windy day then place the foam ends in a nearby recess until they are needed e Attach the crane s hook to the steel cable lanyard of the Klein 5500 As the lanyard the crane will use is attached at the centre of the sonar then there have been several occasions when the sonar has pitched badly when it was being moved onto a boat To prevent this happening a rope should be attached to one of the handles of the towfish see Figure 17 e
198. ter installations of SonarPro do not have Snagit encompassed with them If it is only screen captures that are needed then Snagit may not be warranted as this can be achieved using the print screen key on the keyboard in conjunction with any graphics package If it is felt that SnagIt is worthy of use then if it can not be found in the SonarPro compressed installation file then it can be downloaded from http www techsmith com products snagit default asp or requested from Klein Associates 143 DSTO GD 0372 fap Gapi Fite Option Took Hie a AE RSet Lo Ava red crezca Capture r Dukpa File PUG 75 quality Presa OCTAL SHIP TP bo caphara Figure 93 The main window of the screen capture utility Snaglt 144 DSTO GD 0372 Appendix B TPU Bootup Files The TPU has been set up so that when it is switched on or rebooted it requests two files from the host computer These two files are called vxworks and startup ini The first of these files is the operating system for the TPU It is a binary file and is essential if the TPU is to boot successfully Normally an operator does not need to know the contents or structure of this file The second file startup ini is an ASCII file and is used to alter the default settings of the TPU s operating system This appendix will outline the role played by each variable in the startup ini file the values available the default values and the values used at DSTO for the Klein 5
199. th the data streaming down it e To check that the serial port is working set up another HyperTerminal session and make sure data can be seen coming into the laptop If data does appear then the port was locked and is now ready for collecting data These details will enable the serial port to be used after several minutes of testing but if a more permanent solution is desirable then other than remembering when this problem occurs this can be achieved by wiring the serial cable so that it does not look like a serial mouse This modification must be done at the computer or Data Terminal Equipment DCE end of the serial cable by making the following alterations If a DB 25 25 pin Female plug is being used then solder a link between these pins pins 4 5 pins 6 8 20 If a DB 9 9 pin Female plug is being used then solder a link between these pins pins 7 8 pins 1 4 6 After jumpering the serial cable then either the laptop can be rebooted or the serial port can be unlocked by removing the extra Pointing Device using the device manager in the Control Panel Triton Elics International CD Winter 02 131 DSTO GD 0372 132 9 8 IP Address Conflict On the rare occasions that there is more than one acquisition computer it is quite likely then when any of the slaves are connected to the network via the Ethernet hub an error is generated that there is an IP conflict The reason for this is that the IP address of th
200. the RST reset button on the bottom board of the TPU and wait for it to boot up After the TPU has booted successfully as illustrated in Chapter 6 set up Isis or SonarPro to display data from the sonar see Chapter 5 for these details 9 5 Incorrect usage of SonarPro As outlined in section 5 3 4 to have access to the layback icon A in SonarPro the data format needs to be set to 5kd and not sdf If sdf is used then the layback icon will be dimmed and it will not be possible to enter the layback characteristics of a sonar DSTO GD 0372 This will mean the location of any objects in the waterfall display are likely to be incorrect and unusable The data format which SonarPro as well as Isis expects to come from the TPU is set using the variable Set Oldheader in the startup ini file This file the reader may recall is downloaded using the file transfer protocol ftp from the Master computer by the TPU during boot up When the variable Set Oldheader is set to zero 0 SonarPro expects the sdf format and when this variable is set to 1 the 5kd format is used 9 6 Error Messages generated in Isis 9 6 1 Demo Mode When Isis is executed it interrogates the printer port on the acquisition computer looking for the sentinel or dongle If for one of a few reasons it does not see it then Isis will spawn a message outlining that it is in demonstration mode and that data acquisition is not possible only data files can be played back There are
201. the interpretation of target shapes in a waterfall display then it is common practice to display the backscatter versus horizontal range and not slant range This not only removes the across track compression but it also permits operators to gauge at a quick glance the distance an object is from the sonar without having to consider the slant range and sonar altitude DSTO GD 0372 Target approximates true isi bell AS AS ES Mead mE po E ENE ads a er ens ae cet ragi patty hee Y i SA Figure 5 A schematic showing the across track compression that occurs in waterfall displays when backscatter levels are displayed versus slant range and how this compression can be circumvented by displaying backscatter levels versus ground range and not slant range Adapted from Klein 1985 Often the seafloor is a fairly flat surface and by making this assumption the horizontal distance each backscatter pixel or picture element is from the nadir of the track can be calculated using the slant range of the pixel and the height of the sonar above the seafloor If it is known that the seafloor is not flat in the across track direction and bathymetry data is available then more complicated methods exist which permit the horizontal distance of each pixel to be calculated see 9 39 41 61 and 62 of Kleinrock DSTO GD 0372 A compression or stretching of an object in the along track direction of the waterfall display is caused by the sona
202. the security dialogue box in the Feature Unlock Code area see Figure 55 If the key has been successfully entered then the software package or module that the key should provide access to should change from No to Yes in the security dialogue box If this is not the case then either the key has been entered incorrectly or the key is incorrect and TEI will need to be contacted A key only needs to be entered successfully once not each time an Isis session begins 5 2 5 Keeping a Log in Isis In the first instance that data is being written to disk during an Isis session or when the filename changes the settings that control the way data is stored are appended to the end of the log file survey log located in the same hard disk in which sonar data files are being generated The information being appended includes date and time Isis version in use system serial number file name name of sonar number of sonar channels number of samples per channel and their configuration number of bathymetry channels and the template for each serial port Such information can be 71 DSTO GD 0372 72 very helpful when the settings that were employed in a previous session need to be checked 5 2 6 Isis Server Software In addition to the kernel of the Isis software Isis also has server programs for each sidescan sonar and multibeam echo sounder MBES Isis can display data from These programs were constructed by TEI and act as barriers between the sid
203. though the Windows 2000 FTP server has worked very well in the past unlike ServU it does not display any information regarding file transfers If the Windows 2000 FTP server is being used then although there is no evidence of the server communicating to the TPU there is evidence that the TPU is logging into the acquisition computer The evidence is first the message LAN plugged following a few seconds afterwards by the message LAN unplugged These messages appear as cartoon captions in the bottom right hand corner of the screen just above the network icon EJ These messages correspond to when the TPU has logged into and out of the Windows 2000 operating system If the above tests are successful then it can be safely assumed that the LAN between the TPU and the acquisition computer has been set up correctly that the TPU is locating its operating system file vxworks and that the TPU has no hardware malfunctions and is booting correctly The next step is to get the sidescan sonar ready for deployment As outlined in Chapter 2 the Klein 5500 sidescan sonar at DSTO is deployed either in a bow mounted configuration or in a towed configuration As the set up procedures for these two configurations have a lot more differences than similarities then each will be outlined separately below DSTO GD 0372 6 3 Towed Configuration 6 3 1 Moving Sonar onto back of boat As the Klein 5500 sidescan sonar weighs 78 kilograms in air then this dic
204. tion vyyyy yy W Longitude of position x x speed over ground in knots x x track made good in degrees true ddmmyy Universal Time date x x Magnetic variation degrees Easterly variation subtracts from true north W East or West hh Checksum VIG Actual track made good and speed over ground S GPVTG t T s ss N s ss K hh t Track made good T Fixed T indicates that track made good is relative to true north DSTO GD 0372 s ss N speed over ground in knots ss s K speed over ground in Kilometers per hour hh checksum HDT Heading Degrees True GPHDT x x T x x Heading degrees true If any other serial data for example echosounder data is to be recorded it also needs to be input to the recording computer via an appropriate RS232 cable If there are no spare communication ports on the recording computer then one of the following scenarios will need to be implemented Install a PCI Peripheral Computer Interface card which has one or more serial ports Purchase a USB Universal Serial Bus to serial adapter Purchase a USB hub with a built in serial port built Install the ISA digi classicboard card http www digi com solutions mportserialcards classicboard shtml This card provides eight 25 pin male ports available through an octopus cabling see Figure 29a As any computer will number the 8 digiboard ports after all the other serial ports then the port number assigned to each port by the c
205. tion computer 1 The marking X means that this slot is compatible with the usage of a cross over cable DSTO GD 0372 Figure 25 The back of the Intel In Business hub showing the X RJ45 input slot which accepts input data from a cross over cable two fibre optic to Cat5 network cable media converters see Figure 26 These converters were made by IMC http www imcnetworks com products mcbasic asp and are used to replace LAN cables with fibre optic cables in areas of high electromagnetic radiation conditions such as exists on sea going vessels These converters can accept sonar data from both cross over cables or straight LAN cables using the switch to the left of the RJ45 plug McBasic Pad Ea el Besa E mariel dea hk FL acy Bll Peun 26 A A fibre optic to Cat5 network cable media converter 2 3 Acquiring Accurate Position Information One of the fundamental roles played by a sidescan sonars is to be able to determine the locations of any features or objects detected by the sonar If it is not possible to specify the location of any objects then the usefulness of the data gathered by these expensive pieces of equipment is much reduced and for some roles for example object locating the data is not worth collecting This section discusses what is needed to set up the initial hardware to make sure position information of a towfish is of a high quality In particular it will discuss how to set up th
206. to a DGPS antenna is known Hence instead of entering the location of a fairlead or shieve into an acquisition or post processing software it can be entered as zero and left with the GPS equipment to calculate To set up the Leica MX420 8 GPS receiver to perform such a function go to the configuration screen and use the cursor key to scroll down to the Datum item It is here that the Position offset relative to WGS 84 can be entered There are advantages and disadvantages of using the GPS equipment to give you a position on the survey vessel other than that of the antenna The advantage is that it limits the set up of the acquisition or post processing software but the disadvantage is that it increases the amount meta data and documentation level To calculate the position of the towfish from the fairlead involves using the Pythagorean Theorem but the operator does not need to worry about this because most of the time the acquisition or post processing software package computes the position automatically as long as it has been set up correctly As the Klein 5500 has an inbuilt pressure sensor then its depth below the water line is already known The only piece of information that is required to calculate the horizontal distance the towfish is behind the workboat which is termed layback is the amount of cable out from the last point of contact with the vessel By knowing the 31 DSTO GD 0372 32 amount of cable out and the dept
207. ue box to be spawned see Figure 66a Here the operator must chose the IP address of the TPU and whether or not the PC connecting to the TPU will be the master or will connect to the TPU as a slave Then DSTO GD 0372 the operator must click on the Change the Sonar Channel Configuration widget Once the operator has done this the Channel and Sensor Configuration dialogue box will be spawned Figure 66b shows this dialogue box in detail As the Klein 5500 towfish does not have any way of tracking bathymetry and does not have the sub Bottom profiler option added then the only boxes which should be ticked are the Echo 1 to receive the first echo and Sensors yaw and roll as the towfish does have sensors meauring these quantities Then click OK and the Survey Wizard dialogue box will be spawned The Survey Wizard was set up to guide the operator through setting up parameters for maintaining an orderly survey data file structure It has been observed that the Survey Wizard is superfluous and is not needed So when the dialogue box for the Survey Wizard is spawned click on Cancel At this stage SonarPro is ready to display incoming data from the TPU PPU E core ey cappi he IP dde of the TPL AAA ET IATA o 7 Chan al Serra 1 ci el in IRE b Figure 66 a The TPU Connection dialogue box and b the Channel and Sensor Configuration box which is spawned when the Change the Sonar Channel Configuration button is s
208. unfortunately the layback setup will be lost and will have to be re entered 5 2 8 3 Sonar Altitude Alarm When sidescan sonars are being towed relatively close to the bottom for example within several meters then when the bottom shallows quickly it can happen that the sonar gets very close to the bottom and there is a chance that it will hit it Although an DSTO GD 0372 operator can easily see in the waterfall display when the altitude of a sonar is becoming dangerously low it can still be beneficial to setup Isis so an audible alarm is produced To set Isis up this way click on Configure Audible Alarm Shallow Alarm and the Shallow Alarm window will be spawned see Figure 61 To have Isis monitor the altitude of a sonar click on the radio button Shallow Alarm On and use the slide bar to select the minimum altitude below which Isis will generate an audible warning Obviously this alarm would only be beneficial on acquisition computers that have a sound card and speakers AA when less Har afi A0 mas Shendiend aam troud A Deom aa sand wiht fie name Drona Test PISAALL way Figure 61 The Shallow Alarm configuration window in Isis 5 2 8 4 Coverage Map When a survey is being conducted or several tests in the one location like latency testing it can be very helpful to be able to see the sonar track and the coverage that has been acquired This is because coverage maps show where gaps in the data coverage exist
209. up in the Record Setup Options window and in the Select Sonar dialogue box that is spawned see Figure 49 click on the sonar of choice In this dialogue box the sidescan sonar that is likely to be chosen is the Klein 5000 As Isis saves its setup from the previous session then it may happen that in the Currently Selected sonar box located in the bottom left of the Select Sonar dialogue box the sonar that is going to be used appears in this window for example Klein 5000 Digital Mulitbeam Sidescan 5 beams If this is the case then it is superfluous to still select the sonar from the list available It should be noted that it sometimes happens that the button Standard Analogue is highlighted in the Select Sonar dialogue box even though the sidescan sonar an operator wants Isis to display data from appears in the Current Selection This scenario is just a quirk of Isis and an operator need only be concerned with the sonar displayed in the Currently Selected Sonar eae l SENET Edga Tech CFI Do Edele OF O00 Figure 49 The Select Sonar dialogue box in Isis When the Klein 5000 series of sidescan sonars is chosen from the Select Sonar dialogue box a second window will be displayed asking if bathymetry will be logged see Figure 50 This query arises because the Klein 5000 series of sidescan sonar could have been purchased with an interferometric bathymetry option As the Klein 5500 sidescan sonar at DSTO does not have this option then c
210. vel format deletes any data on a disc then important data on the disc needs to be backed up before any formatting is performed The procedure to back up an M O disk is outlined below followed by the procedure to set the low level format Section 1 Backing up M O disks e If using Windows 95 use the Start Shutdown function to return to DOS Do not leave Windows 95 running and use a DOS shell window If using Windows NT restart the PC with a bootable DOS floppy e When DOS boots up insert the M O disk and use the DOS command COPY or XCOPY to copy the important files to the hard disk C or D Section 2 Low level Format 1 Exit windows and return to DOS by clicking Start Shutdown Return to DOS 2 Make sure power is being supplied to the M O drive and insert the M O disk 149 DSTO GD 0372 150 STOP 3 Go to the directory C scsi and run the command scsifmt exe Do not run this command before the M O disk has been inserted into the M O drive 4 When the first screen is displayed hit the enter key 5 Use the arrow keys to select the M O disk drive that needs its low level format of 1024 bytes sector reduced to 512 and then press the enter key 6 Then a screen appears asking if the disk needs to be verified or formatted Select Format and then press Enter Confirm that a format is required Warning formatting any computer media will result in any data on the p media being deleted Check any media that is b
211. w rar Er AE ret re ae ed Dog fe Peeled Mie ie Th aptas Pa beds E epee Frans mu a ap Figure 53 The Com Port Test window in Isis 5 2 2 1 Isis Templates Taken from emails and Isis Sonar Volume 2 Appendices to the User s Manual February 20 2002 Templates are created so that Isis understands which variables in a data string need to be saved and which ones if any need to be discarded Each piece of data in the incoming string that an operator wants to be saved requires a corresponding token or letter in the template The tokens that are commonly used include D day M month Y year H hour I minute S second N northings E eastings h Fish Heading in degrees J Julian Day o cable out layback Y x ship latitude and longitude in degrees G boat heading or course made good depending on whether a 67 DSTO GD 0372 68 gyro is used or GPS data 0 zero sonar depth in meters ship speed v towfish speed V 8 sonar pitch 9 sonar roll w water temperature a auxiliary altitude If a variable in a data string does not need to be saved then this can be indicated in the template by putting an X in that position Although each sentence in NMEA data starts with the code GPxxx indicating the data type to follow an X does not need need be in the template to tell Isis to ignore this If no further data fields need to be saved from a data string arriving on the com port then Isis can be informed of this by leaving the re
212. ws 95 98 NT but not with Windows 2000 Before installing the Number Nine drivers close all open application programs and disable any anti virus software that is running until the Hawkeye for Windows 95 installation is complete To install Hawkeye follow the instructions below 1 Go to the Number Nine web page http www nine com see Figure 89 for an example of the layout 2 Click on Drivers 3 Click on Image 128 directory 4 To determine the role played by the setup files in this directory read the file index txt 5 To install Hawkeye in Windows 95 98 Windows NT 3 51 or Windows NT 4 0 download the files 128w9213 exe 128n3115 exe or nt410103 exe respectively NOTE Do not store these files in a directory called C number9 as it will create a conflict with the configuration file of the same name These files are self extracting compressed files containing the setup file initialisation files dynamic link libraries and any other support files E 6 When the setup file has been extracted double click on its icon s and the Hawkeye software will be installed DSTO GD 0372 7 If installing Hawkeye on Windows 95 98 then when prompted restart the computer so the installation can be completed Evidence that the installation was successful is that the number 9 icon IMM should appear in the bottom right hand toolbar 8 Any queries regarding the Hawkeye software can be directed to the Forum site at Number Nine web
213. y unlikely the hub does not have power one or both of the straight network cables is broken this has happened the wrong ports on the back of the hub are being used see section 2 3 for correct usage O O O DSTO GD 0372 By now the TPU should be receiving its operating system file vxworks If it is not then does the TPU still output to com1 the beginning of its boot process see Figure 45 If it does not then either e The TPU does not have power e The TPU is malfunctioning and may need to be returned to Klein Associates in the USA 9 3 TPU Error Light Sometimes the yellow error light on the demultiplexer board of the TPU will be lit when the TPU is switch on This does NOT indicate that the TPU has not booted It indicates that there is an error in the link between the TPU and the sonar As data cannot be received until this link is restored then efforts will need to be made to locate the problem The reasons why the error light on the demultiplexer board will light up in order of likelihood are the following e There is not a closed connection between the tow cable termination and the TPU located at the back of the TPU Remove the tow cable from the TPU and reattach it more tightly but hand tight only Reboot TPU and see whether the error light is still on Warning do not connect or disconnect the tow cable to or from the TPU while the TPU is on Serious damage may occur to the sonar system electronics and or a
214. ymetry Parallel connection This button should be deactivated because the Klein 5500 did not have the ability to simultaneously collect sidescan sonar data and bathymetry data Only the Klein 5400 and maybe the Klein 5800 could have been purchased with this ability An acquisition computer requires the parallel board DT3010 http www datx com dahwdetail asp Family DT3010 Series which is made by Data Translations http www datx com to be able to receive interferometric bathymetry data from the Klein 5400 or Klein 5800 Only several Klein 5000 sidescan sonars exist for which activating the radio button Bathymetry Parallel would result in bathymetry data being collected personnel communication Geoff Shipton TEI e Also store every Nth ping of raw I Q e if the sonar Standby button is activated then deactivate it When activated this simply stops the server kln5000 exe accepting data from the controller program The controller program ss exe will be outlined in the next section The last setting which needs to be made is to enter the correct depth formula in the area labelled compute depth from voltage This formula in the Klein5000 server dialogue box controls the Depth value in the Telemetry component of the Parameter display window and arises because there is a pressure sensor inside the Klein 5500 sidescan sonar If the pressure sensor has been recalibrated see Appendix C for the procedure then enter the new coefficients

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