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Exabyte EXB-8205 User`s manual

1. L2 Klein Analog Sonar System 595 Isis can interface to the Klein System 595 analog sonar using an SIUA The Klein 595 cable plugs into the tape out connector on the 595 deck unit The Klein 595 cable pinouts Table l 3 are unique to the model Table l 3 Pinouts for an SIU4 to Klein Model 595 tape out connector Channel Position KHz Pin Number ML ra 1 port 100 1 2 starboard 100 2 3 port 500 3 4 starboard 500 4 5 reference out trigger n a 7 signal commons signal commons n a 14 25 all connected overall shield soldered to DB 25 metal shell n a n a Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 132 L3 Klein Digital Sonar System 2000 Isis can be interfaced to the Klein System 2000 digital sonar through the addition of two optional components The Klein 2000 server a software upgrade and A digital connection to the DSP board either PC31 or Chico board The discussion below also applies to the Klein T2100 transceiver 1 3 1 Hardware Setup Isis connects to the Klein System 2000 by way of two cables They are Klein 2000 Internal Cable with Select This is a 37 pin female D short ribbon cable with bracket going to a 40 pin IDC female header A similar cable and connectors are available for the Chico board Klein 2000 External Cable This is a 37 pin male to male D round cable
2. Enable MASTER sonar control Range scale Pulse lenath 50m Y 50us v Resolution Despeckle filter Off v Manual towfish speed knots Advanced Setup and Diagnostics Normal 20cm v Sonar IP Address fi 92 168 0 81 Figure l 3 Initial unexpanded Isis Server for Klein 3000 dialog box If there is a problem connecting to the sonar the a dialog box like that shown in Figure l 4 also displays Appendix I Working with Specific Sonars June 2004 Isis Sonar User s Manual Volume 2 135 Figure l 4 Typical message if Isis Klein 3000 5000 can t connect Note Assuming that the sonar is attached and running the network connection and Isis computer IP address can be assumed to be good otherwise the sonar would have been unable to download the file Vxworks described previously and would have failed to boot The most likley cause is an incorrect server IP address Check the label attached to the Klein TPU and make sure that the IP address set in the server Sonar IP address is correct 6 Uncheck the Standby checkbox The Isis waterfall should start scrolling showing the Isis ping number and towfish telemetry data being updated during the scroll Checking the box Enable MASTER sonar control enables control of the sonar so that the sonar range pulse length resolution and despeckle filter can be adjusted In normal operation the speed should come from the sonar however the speed
3. 1 GRANT OF LICENSE TRITON ELICS grants you the right to use the enclosed TRITON ELICS software product in the manner provided below YOU MAY Use one copy of the TRITON ELICS software products identified above on a single computer Make one 1 copy of the program in machine readable form solely for backup purposes provided that you reproduce all proprietary notices Transfer the SOFTWARE and user documentation on a permanent basis provided you retain no copies and the recipient agrees to the terms of this Agreement YOU MAY NOT 1 Reverse engineer decompile modify or disassemble the SOFTWARE except to the extent such foregoing restriction is expressly prohibited by applicable law Remove any proprietary notices labels or marks on the program documentation or program disk 2 UPGRADES SOFTWARE and documentation upgrades are provided free of charge for one year from the date of shipment If the SOFTWARE is an upgrade you may use or transfer the SOFTWARE only in conjunction with upgraded product You may use that upgraded product only in accordance with this License 3 COPYRIGHT The SOFTWARE including any images applets animations video audio music and text incorporated into the SOFTWARE is owned by TRITON ELICS and is protected by United States copyright laws and international treaty provisions 4 TECHNICAL SUPPORT Technical Support is available by phone fax modem Triton Elics b
4. The Advanced Settings panel in the Klein 5000 Advanced Settings dialog box has seven parameters for you to consider e Use Isis time rather than TPU time e Send K5000 Nav and Telemetry to Isis Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 146 e Send only Telemetry to Isis e Speed of Sound e TPU responder ctrl e TPU responder freq e Altimeter The seven items in the Advanced Settings panel are explained next e Use Isis time rather than TPU time In some versions of the Klein TPU the time is only set once when the TPU first receives a time update from its navigation data string Checking this option forces the sonar ping time recorded in the XTF file to be continuously synchronized with the incoming time from a separate navigation string being sent to the Isis system via a serial port e Send K5000 Nav and Telemetry to Isis Checking this box will send the navigation data and telemetry from the Klein 5000 system to Isis e Send only Telemetry to Isis The Klein 5000 sonar requires navigation information in a particular format If the navigation data you require in your XTF file needs to be in a different format or if you want to reference a different position then you can use this option to have Isis log different navigation data For example you may want to have the XTF file contain a position in local grid coordinates rather than Lat Long A variation on the Send only Telemetry to Isis p
5. approximately two meters long It is wired in a straight through configuration To connect the Klein 2000 to the Isis system 1 Power off the Isis and Klein systems Remove the cover to the Isis system Seat the 37 pin end of the Klein 2000 with Select Internal Cable into a mounting bracket next to the components side of the DSP board s mounting bracket Firmly seat the 40 pin end of the Klein 2000 with Select Internal Cable into the 40 pin IDC female header on the DSP board Look for the notation JP15 below the header to confirm that you are attaching to the proper header Insert the short internal cable so that pin 1 red stripe edge coincides with the header s markings Plug either end of the Klein 2000 External Cable to the 37 pin end of the internal cable s female connector Plug the remaining end of the Klein 2000 External Cable into the Klein 2000 sonar Replace the cover to the Isis system You can power up the Isis and Klein systems when you are ready Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 133 Should you ever need to re order these cables their part numbers are e 44 018 Klein 2000 Internal Cable with Select e 44 021 Klein 2000 External Cable L4 Klein Digital Sonar System 3000 The Klein 3000 system interfaces to Isis via a 100 Mb s Ethernet connection As is the case with many sonar types a server program controls the Klein 3000 sonar For t
6. DCI Open the Isis computer and set jumper JP2 to the two bottom pins You may have to remove the DCI cables and card to get access to the pins Don t show me this warning again Figure I 1 Opening advisory screen about EdgeTech DF 1000 sonars 3 Observe the jumper settings that must be established for Isis to work correctly with these sonars Notice to Isis users with DF 1000 DCU digital interface Starting with Isis version 4 14 the method of interfacing to this sonar changed Version 4 14 requires some different links to be made in the EdgeTech DF 1000 DCU deck unit The message that appears in Isis versions 4 14 through 4 31 gives incorrect information on the details of these changes The correct information is Open the Edgetech deck unit and verify the following jumper settings JP15 CONT JP17 IRQ JP16 DRQ Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 129 4 After you click OK to acknowledge the message you can also put a check mark in the Don t show me this warning again box before you click OK Isis displays the Sidescan Sonar Information dialog box Figure 4 3 in the sis User s Manual Volume 1 5 From the available fields in this dialog box choose channels frequencies beam angles beam width etc as you would for any other sonar then click OK Note f you chose the DCI version of DF 1000 from the Select Sonar dialog box the Automatically sta
7. Sonar User s Manual Volume 2 54 RMC Recommended Sentence C with date time latitude longitude and heading GGA Time and position in latitude and longitude GLL Latitude and longitude VTG Course and speed made good ZDA Time and date Each of the first four of these sentences can be disregarded by adding to the navigation template NOGGA NORMC NOGLL and or NOVTG respectively In addition Isis now supports these strings VTG Heading Speed ZDA Date Time HDM Gyro SHR Position Date Time D 4 1 3 Real Time Kinematic Certain GPS receivers can use a mode known as Real Time Kinematic or RTK for short This RTK mode can measure the antenna height Height above Geoid very accurately There are at least two methods of transmitting this data to a recording instrument such as Isis The first is in a modified version of the NMEA0183 GGA string the second is a special string used by Trimble RTK receivers known as a GGK string Isis stores the altitude information from these strings if they are present as Ocean Tide The priority assigned to the strings is that if a normal GGA string and a GGK string co exist then the altitude information in the GGK string will be stored in the XTF file The Trimble GGK string takes this form PTNL GGK 023157 00 032800 4740 019328 N 12223 743061 W 1 06 2 6 EHT53 271 M 55 where the value EHT53 271 will be saved into OceanTide field in the XTF file When GG
8. ee under Digitizer Parameters h1_signalDivisor 0156 ch3 correctedRange USHORT See ch1 correctedRange escription Channel 4 Sonar Parameters and Bearing to Fish 0158 ch4 floatRHawRange FLOAT Higher resolution raw maximum lant range in meters Used in DSP and Isis not Q MIPS Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 20 0162 ch4 delayRange FLOAT Channel delay in meters entered in Q MIPS DIGITIZER menu in seconds and converted o meters Not used in Isis 0166 ch4 bandWiadth USHORT Sonar channel bandwidth in KHz Not used in Isis 0168 ch4 sampleScheme USHORT 1 5 See ch sampleScheme escription 0170 ch4 rawRange USHORT See ch1 rawRange description 0172 ch4 initialGain BYTE Initial channel gain t 0173 ch4 gain BYTE Channel gain t 0174 bearing to fish USHORT Bearing to fish in degrees multiplied by 100 0176 ch4 signalDivisor USHORT Signal divisor multiplied by 100 ee under Digitizer Parameters h1_signalDivisor 0178 ch4_correctedRange USHORT See ch1 correctedRange escription Nav System Parameters and Additional Fish Telemetry 0180 waterTemperature USHORT CTD water temperature frequency times 100 t 0184 eventNumber SHORT Lastunique event or contact number corresponds to contacts file in Q MIPS 0186 auxVal6 FLOAT Auxiliary telemetry va
9. Next Line Is These choices aid you in mensurating areas in a contact e Width Press Alt F1 to identify the next line you draw as a contact s width e Length Press Alt F2 to identify the next line you draw as a contact s length e Shadow Press AIt F3 to identify the next line you draw as a contact s shadow Refer to Contact Logging for a full description of contact mensuration Set Constants Target uses several constants stored in the imagery data file to calculate the position and dimensions of a contact These constants include the towfish speed the towfish heading and heading bias and the horizontal beam width of the sonar In addition if the towfish s position is not stored but the ship s position is stored Target uses a stored towfish layback to calculate the towfish es and contact s position Use the Set Constants command to override or modify the values of these constants coming from the imagery data file Values entered in the Speed Horizontal Beam Width and Fish Layback boxes will be used by Target in position and size calculations instead of the values stored in the imagery data file Any value entered in the Local Variation box will be used as the towfish es heading bias and added to the stored heading of the towfish Set Camera Parameters Allows you to set parameters including their Fore Aft Left Right Up Down offsets their fields of views and their altitudes for up to five
10. View Report File Output date as Month Day Year C Day Month Year Close Separate fields with Note When nav is Lat Long output format is determined by pressing the little button in the Cursor area of the information window Figure E 4 Print ASCII Report dialog box with options checked Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 71 3 Make your selections by checking or unchecking boxes next to the descriptors and click OK The information for the currently open contact s is appended to REPORT TXT in Target s current working directory Note Recall that prior to using Print ASCII Report you can specify a different work directory for Target by choosing File Set Working Directory and then typing the fully qualified directory path Refer to Set Working Directory To create and view the report txt file in Target 1 Display targets or contacts in the Target working window 2 From Target s main menu choose File Print ASCII Report 3 As was the case with the procedure called x make your selections by checking or unchecking boxes next to the descriptors Click Generate Report The system creates REPORT TXT the previously unavailable grayed out View Report File button becomes available 6 Click View Report File The system opens REPORT TXT in Notepad where you can observe the data an example of the data layout is show
11. e Depth meters This will be the same depth as in the Parameter display window unless the depth value in the Parameter display has been overridden with a manual depth setting e Sound Velocity meters per second computed using Chen Millero formula e Conductivity Siemens per meter e Turbidity percent of daylight e In playback mode all of the values are displayed with the following exception If the data are saved in Q MIPS format only the computed values are saved The raw frequency data are not available G 3 How Isis Treats Falmouth Scientific CTD Data For Falmouth Scientific or similar devices the following serial port template entries are used to log the following data from a CTD w Water Temperature degrees C p Pressure psia c Conductivity in Siemens per meter m Conductivity in mmho cm v Sound Velocity Turbidity 0 to 5 volts optional use pipe symbol Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 118 After the serial port information has been received the following steps are performed 1 Ifa manual depth has not been set in Configure Transducer Depth and pressure has been received then towfish depth is computed from pressure according to the following formula Depth 0 6868 pressure calibration The calibration is set in the file ISIS CTD variable DK which allows for zeroing out the depth computation on deck This is the only val
12. xigi lt lc jo lalo Ship Longitude decimal degrees or easting meters stored Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 44 only Ship Latitude decimal degrees or northing meters stored only Magnetometer Z OJN x character zero between delimiters Non zero fish depth Isis accepts this depth value of if it is non zero and there is no manual depth set DOT Distance off track meters KP KP Kilometer post Kilometers align n The template token align n causes Isis to set an absolute parsing point in the input string Alignment occurs after the nth character If the alignment value is 0 as in align 0 the token causes processing to start with the first character in the input string If align is given without specifying n 0 zero is used as the value If nis specified to be negative or beyond the size of the current input string further processing halts at that point Any processing that happened before the align n token was encountered still occurs See Examples of Character Alignment on page 53 bf Bearing to Fish degrees This is the same as the gt token d Pressure in decibars Value is converted to psia by multiplying by 1 45038 Fish depth then is computed as described for p in this table hy Yaw Heading Yaw is computed to be 0 99 old value 0 01 new value which pe
13. 2 SIU4 AND SIU4 2 ANALOG INTERFACE y C O F 2 1 Mechanical Description F 2 2 Theory of Operation eee F 2 3 System Tests Using the SIU4 2 APPENDIX G HOW ISIS PROCESSES CTDDATA G 1 OVERVIEW 105 105 106 107 109 111 114 114 115 117 APPENDIX H USING A SEATEX MRU WITH ISIS 120 H 1 SETTING UP THE MRU 120 120 120 123 APPENDIX I WORKING WITH SPECIFIC SONARS 124 I 1 EDGETECH DF1000 DIGITAL SONARS 21 212121 127 I 1 1 Summary Description of an EdgeTech ACI Board 2 130 1 1 2 EdgeTech DF1000 Usage Notes sus 130 I 2 KLEIN ANALOG SONAR SYSTEM 131 L3 KLEIN DIGITAL SONAR SYSTEM 2000 132 13 1 Hardware Setup E E 132 L4 KLEIN DIGITAL SONAR SYSTEM 3000 133 1 4 1 Starting the Klein 3000 TPU uu 133 1 4 2 Configuring Isis for Klein 3000 133 1 4 2 1 More Options in Isis Server for Klein 3000 dialog box 135 L5 KLEIN DIGITAL SONAR SYSTEM 5000 1 sss 138 1 5 1 Starting the Klein JOQG TPU ee 138 1 5 2 Configuring Isis for Klein 5000 138 1 5 2 1 More Options in Isis Server for Klein 5000 dialog box 141 1 5 2 1 1 Log DatainIsis Panel an enan an 142 I 5 2 1 2 Miscellaneous Fields in More Options 144 1 5 2 2 Some Guidelines for Speed Range and Resolution 144 1 5 2 3 Advanced Setup and Diagnostics in Server for Klein5000144 L5 2 3 1 Advanced Settings sss 145 1 5 2 3 2 Compute Depth from Voltage Panel 147 1 5 2 3 3 Diagnostics Panel ux 147 1 6
14. A cursor position is requested by clicking with the left trackball button If navigation data have been transmitted to Isis as latitude and longitude the button in ithe upper left corner of this box provides a three way toggle for displaying position in decimal degrees degrees and decimal minutes or degrees minutes and decimal seconds Also included in the cursor box is the contact classification meaning class or type if one has been specified and the chord or distance between any two points in two different contact images Contact Measure hen a contact is transferred from Isis to Target the position of the contact is given in the Contact Measure box This position is modified whenever the contact is measured or when the measurement is modified See Contact Mensuration Contact Position This is the position of the contact if you mensurate it See the discussion in the section Contact Mensuration Annotation Notes you enter with the Annotate command Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 78 7 To measure the distance between two logged contacts display f both contact images and use the left trackball button to drag out a line between the two contacts The distance will be displayed as the Chord in the Contact Information window E ANN x E 4 2 Contact Mensuration When you have an image of your contact in Target you can measur
15. BYTE 0 59 seconds within the minute 0006 thousandsSeconds 2 USHORT O 999 thousandths of seconds Time is kept by Q MIPS or Isis system clock which can be synchronized to the nav system time at each nav fix use AB in template Magnetometer Readings 0008 magX 4 FLOAT Magnetometer reading on x y and z axes 0012 magY 4 FLOAT units are not specified the value provided by 0016 magz 4 FLOAT he telemetry is stored with no Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 15 conversion 1 Storage Ping Number Ship Speed Asynchronous Window Offset and Auxiliary 0020 pingNumber 4 USHORT Ping number starts at 1 in each Q MIPS file O in each Isis file and is incremented automatically Max 4 29x10 0024 asyncByteOffset 2 USHORT When non zero in Q MIPS indicates the presence of a unique asynchronous ping being stored with this ping when 0 indicates the most recent asynchronous ping if any is being replicated not used by Isis 0026 D shipSpeed USHORT Speed of ship in knots multiplied by 100 0028 auxVal FLOAT 0032 auxVal2 FLOAT Auxiliary telemetry values user 0036 auxVal3 FLOAT defined displayed in Isis ARIAL 0040 auxVal5 FLOAT Sensors box t Digitizer Parameters 0044 auxAltitude 4 FLOAT Altitude in meters
16. F9 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 64 Save Processed Image As Instead of or in addition to saving your Target images as CON or TGT files you can save them in five other formats 1 PCX image PCX 2 BMP image BMP 3 GIF image GIF 4 JPEG image JPG 5 TIFF image TIF Note f your images in Target come from data recorded at 16 bits per sample then the only format you can save to is CON TGT or TIFF If your images come from 8 bits per sample data then you can save the image in any of the above listed formats Furthermore if you intend to save Target images as TIFF files the following files or at least copies of them must reside in the same directory where you keep the Isis executable ISIS EXE HIFFL32 DLL IFFBMP32 DLL HILCNV32 DLL IFFGIF32 DLL HILENH32 DLL IFFJPG32 DLL HILIMG32 DLL IFFPCX32 DLL HILXFM32 DLL IFFTIF32 DLL Resave All Contacts Loads and resaves all contacts in the current working directory If Isis can find the original files Isis may update the bookmarks in those files if Save bookmarks in original file had been enabled when the contacts first had been saved Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 65 Close All Removes all Contact or Target images from the working window and RAM This does not affect images that already have been saved to
17. Isis running on a Windows NT 2000 or XP operating system D 6 Transmit Data Format When a target is logged during an Isis session pertinent target data can be automatically transmitted out the com port on which the navigation data are being received To transmit the data format 1 Setup the com port with the token CONOUT to the end of string out of which you want the contact information to go to 2 Mark the contact by logging a target in Isis double click in imagery 3 Save the contact press F9 Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 59 When you do this pertinent target data are automatically transmitted out the com port which was set up in step 1 The Contact Digitize or CD string contains the information shown in Table D 2 Table D 2 Contact Digitize strings and their meanings String Meaning ccc contact number This corresponds to the digits in the file name portion of the currently saved contact You can use more than three digits in the name dd day of the month 1 31 MMM month of the year JAN FEB yyyy year four digits hh hour of the day 00 23 mm minute of the hour 00 59 iss second of the minute 00 59 ee e longitude or eastings depending on available navigation longitude is accurate to seven decimal places eastings are in meters 10 and therefore will have no decimal point nn n latitude or
18. Over Serial Interfaces and Stored by Isis 41 D 3 2 1 Examples of Pattern Matching sss 46 D 3 2 2 Examples of Character Alignment a 47 D 3 3 Performing Math on Template Tokens 47 D 3 4 Template Instructions That Do Not Evaluate to a Number 49 D 4 SPECIAL READY MADE TEMPLATES THAT ISIS CAN USE 50 D 4 1 How Isis Works with NMEAO0183 Strings sss 51 D 4 1 1 How Isis Deals With Heading Issues in NMEAO0183 SIDES eh he te RAGES A Cata Ete a 52 D 4 1 2 How Isis Deals With Time Issues in NMEAO0183 Strings 52 D 4 1 3 Real Time Kinematic ss 54 D 4 2 Disabling ASCII Reports Produced by NMEA Packets 55 D 5 SPECIAL SERIAL RECEIVE STRINGS Oaaa 55 D 6 TRANSMIT DATA FORMAT J 0 1111 58 D 7 LOGGING AND TRANSMITTING TO A SERIAL PORT 60 APPENDIX E USING THE TARGET UTILITY eese 61 E 1 RUNNING TARGET LLL LL uua 61 E 2 TARGET S FILE MENU LLL 62 Bi QI cr oe RR RR EET 66 E 2 2 Print ASCII Report C LL 69 E 3 TARGET S EDIT MENU i LLL 71 E44 CON FACT LOGGING ce ety BX AVE a oe EK Ne hee 76 E 4 1 Contact Information O 76 E 4 2 Contact Mensuration 78 E 5 THE ENHANCE FUNCTION 81 E 6 TARGET S WINDOW MENU E 6 4 Pan Left Right Up or Down E 7 FORMAT OF TGT AND CON FILES E 7 1 WPOINT A Structure for Bridging Back to 16 Bit Systems E 7 2 CINFO Channel Information Header Structure E 7 3 The Image Structure E 7 4 Telemetry Structure uu APPENDIX F WORKING WITH SIGNAL INTERFACES F 1 SIGNAL INTERFACE UNITS SIUS F
19. Port CH2 RAW Write only Starboard CH2 CORRECTED Write or Read Starboard CH3 RAW Write only Port or Subbottom CH3 CORRECTED Write or Read Port or Subbottom CH4 RAW Write only Starboard or Subbottom Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 4 CH4 CORRECTED Write or Read Starboard or Subbottom Port channels are stored in pixel order reverse chronological order from far range to nadir and starboard channels are stored from nadir to far range chronological order This convention matches the left to right orientation for the waterfall display on the Q MIPS high resolution imagery display The ping imagery data are followed by the footer for each ping Subbottom pings are normally received asynchronously with respect to side scan pings downsampled differently and stored with the nearest side scan ping A subbottom channel is termed the asynchronous channel and must be received on the last highest number channel present The asynchronous ping rate is generally slower than the side scan ping rate so the data are replicated ping by ping until a new asynchronous ping is received When computing the size of Q MIPS format files to estimate survey storage media requirements or throughput rates use the equations shown in Equation A 2 on page 4 and Equation A 3 on page 4 BPP NIC x PPC x BPX 8 PFS in bytes Equation A 2 Calculating bytes per ping File Size 1024 NP x BPP
20. RESON SEABAT 81XX SONAR 147 L7 SIMRAD 992 SONAR 157 June 2004 Isis amp Sonar User s Manual Volume 2 1 Appendix A Q MIPS File Format Isis and VISTA support a number of file formats Q MIPS BAC GAC and XTF Each has distinct advantages This appendix explains the structure and use of the Q MIPS format A 1 General Description The Q MIPS file format is perhaps the mostly widely known and used file format for VIS TA and other applications capable of displaying sidescan data imagery Q MIPS style data files are stored in binary format Each data file consists of a 1024 byte file header followed by ping records Each ping record consists of a number of imagery channels followed by a 256 byte footer record The following format description is current for Q MIPS version 6 69 Q MIPS DSP version 1 16 and Isis Both Isis and TrakMap use this same data format Q MIPS and Q MIPS DSP are limited to four sonar channels and eight imagery channels at 1024 pixels per channel four raw four corrected Table A 5 on page 9 and Table A 6 on page 16 describe each field in the header and footer structures respectively For specific C language header and footer structures used by Q MIPS and Q MIPS DSP and Isis refer to UPDATES DOC and QMIPSFMT H respectively These files are included with every software release A 2 Header and Footer Data For Q MIPS systems you can set some of the values in the header and footer in the configurable files called
21. SM28 GAC is shown in Figure B 2 Grazing Angle Corrections 46 number of angle bins 01 858697 1 253826 grazing angle port starboard corrections 11 809185 1 233621 21 759672 1 213416 31 710160 1 193211 41 660647 1 173006 441 000000 1 000000 451 000000 1 000000 grazing angle port starboard corrections Figure B 2 Sample GAC beam pattern file Appendix B Isis BAC and GAC File Formats June 2004 Isis Sonar User s Manual Volume 2 25 Appendix C Mass Storage Options Isis does not restrict you to recording your data on just one kind of medium You can record to mass storage devices such a fixed hard disk removable tape or removable magneto optical disk C 1 SCSI Bus Configuration All Isis optional mass storage devices which are internal are SCSI devices and thus require the use of the Isis SCSI adapter card Each drive and its adapter card has a unique ID 0 to 7 on the SCSI bus SCSI devices are daisy chained with internal devices connected to the adapter s internal connector external devices are connected to the adapter s external connector on the Isis back panel Each end of the SCSI bus must be terminated The Isis system is delivered with the hard drive terminated at the internal end of the SCSI bus If additional external devices are connected to Isis the last daisy chained external device must be terminated If no external devices are connected the adapter will automatically terminat
22. Sonar User s Manual Volume 2 49 D 3 4 Template Instructions That Do Not Evaluate to a Number Certain letter designators do not correspond to a value transmitted over the serial interface and therefore do not evaluate to a number Instead these special letter designators act as signals to Isis that certain instructions are to occur before parsing the navigation These designators shown in Table D 1 should be placed at the front of the template Table D 1 Template letter designators that do not return a number Letter Meaning Forces Isis to synchronize to transmitted time Forces Isis to synchronize to transmitted date Tells Isis to interpret northings and eastings as feet Flag which triggers an event closure sent by MOSNAV in Isis used for verification only Placeholder only tells Isis to ignore the next value Nix mmu Benthos SIS 7000 uplink flag convert depth m conductivity and pressure from frequency to real values U DTDAS flag is set TRUE Tells Isis to reverse the sign of the next value Use this in front of longitudes which are transmitted as positive values in the western hemisphere Note This is not the same as the subtraction operator for described in Performing Math on Template Tokens The character that follows is compared to the first character in the receive string If they don t match the string is rejected Example in the template will c
23. The additional panels and fields of that expanded dialog box are explained next Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 137 Use Isis time rather than TPU time In some versions of the Klein TPU the time is only set once when the TPU first receives a time update from its navigation data string Checking this option forces the sonar ping time recorded in the XTF file to be continously synchronized with the incoming time from a separate navigation string being sent to the Isis system via a serial port Send K3000 Nav and Telemetry to Isis Checking this box will send the navigation data and telemetry from the Klein 3000 System to Isis Send only Telemetry to Isis The Klein 3000 sonar requires navigation information in a particular format If the navigation data you require in your XTF file needs to be in a different format or if you want to reference a different position then you can use this option to have Isis log different navigation data For example you may want to have the XTF file contain a position in local grid coordinates rather than Lat Long A variation on the Send only Telemetry to Isis parameter is indicated by the prompt below the template field You can as the prompt says disable Klein s heading by replacing h with X You might want to do this if the heading sensor in the Klein towfish is in error perhaps it has not been calibrated Editing the Send only Telem
24. The value 1 00 represents midpoint of the scale no gamma Rotate slider bar Sliding the bar to the right rotates the image clockwise 0 to 180 sliding the bar left rotates it counterclockwise 1 to 179 Although you see the rotated image in the thumbnail window the rotation in the Target image does not take effect until Apply Rotate is clicked Sharp slider bar Sliding the bar to the right increases sharpness emphasizes fine edges in the image The bar initially is at the left and displays a value of 0 indicating no sharpness is being applied Maximum sharpness is achieved when the bar is all the way to the right and displays a value of 30 The units are just relative and are not meant to suggest any mathematically based values Haze slider bar Sliding the bar to the right increases haze blurs or de emphasizes fine edges in the image The bar initially is at the left and displays a value of 0 indicating no haze is being applied Maximum haze blur is achieved when the bar is all the way to the right and displays a value of 10 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 88 Despeckle slider bar Removes noise from the image Noise is defined as any pixel that exceeds the median kernel value as defined by a median kernel cell size and a sensitivity value The median kernel cell size can have values of 3 5 or 7 Sensitivity is the n
25. connection shows an example of typical Ethernet addresses that could apply to the setup Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 156 amp SBAT8100 tmp Notepad E iol xj File Edit Format Help Windows 2000 IP Configuration Ethernet adapter Local Area Connection Connection specific DHS Suffix IP Address 10 0 0 611 Subnet Mask 255 255 255 0 Default Gateway 10 0 0 1 Figure I 14 Typical Ethernet addresses to be used The numbers shown in Figure I 14 are the current TCP IP settings for your system They must match the settings in the Seabat topside unit i e the IP addresses must be in the same range You may need to reconfigure either the current IP address of the Isis system or the IP address of the Seabat topside unit In the Ethernet base UDP Port field type a number that corresponds to the socket port your sonar uses This is the UDP port number in TCP IP and is set by Reson The default value is 1028 To set up the remote control port 1 Inthe Port setup area of the dialog box use the check box and drop down menu to select the com port to be used for remote control of the Seabat topside Note that all control data is sent at 19 200 bps 2 When all communication settings are correct click OK to return to the main 81xx server window Returning to the main server window you need to sele
26. for all currently selected contacts goes to an ASCII file named REPORT TXT in the current working directory The information for your contacts are appended to this report each time you choose Print ASCII Report The information is saved on a LIFO last in first out basis so that the information for the most recent contact or target appears as the topmost entry in REPORT TXT After you do Print ASCII Report one or more times you can load REPORT TXT into a text editor to view it modify it and print it A REPORT TXT file can be terse or quite detailed depending what parameters you enable or disable in the Print ASCII Report dialog box Figure E 4 on page 77 Figure E 3 shows the contents of a typical REPORT TXT file Report bt Notepad ioj x File Edit Search Help C TRITON ISIS 1 CON 5155 09 24 1997 17 53 38 5959072 9858107 510327 0770979 C TRITON ISIS 2 CON 5906 09 24 1997 17 55 31 5959152 0526072 510109 1781105 C TRITON ISIS 3 CON 6622 09 24 1997 17 57 18 5959214 3970325 509904 2811623 C TRITON ISIS 4 CON 6472 09 24 1997 17 56 55 5959194 6916643 509962 1630977 HA Figure E 3 Sample report of contact information from Print ASCII Report Note that any lat lon values appearing in REPORT TXT reflect the position of your pointer in the data imagery when you double clicked to make the contact image available to Target To put it another way the reported Lat Lon represents the center of your CON or
27. in Figure l 8 Appendix I Working with Specific Sonars ae z SPICE SEI Klein 5000 File About MV STANDBY Enable MASTER sonar control Range scale Pulse lenath 50m Y 50us Y Resolution Despeckle filter Off v F Manualtowfish speed 5 Normal 20cm 0 78 knots Advanced Setup and Diagnostics EE June 2004 Isis amp Sonar User s Manual Volume 2 l0 x r Log data in Isis Save in Isis v Sidescan v Hidden Beams Roll hi res Subbottom chan 1 Subbottom chan 2 Echo chan 1 Echo chan 2 Bathymetry Rec d from Sonar F Store every Nth ping of raw 7G values where N a Sayed I Sonar IP Address fi 92 168 0 81 lt lt Less Options Triggers Beams to Display Pings per second 142 Figure I 8 Expanded More Options of Isis Server for Klein 5000 dialog box The additional panels and fields of that expanded dialog box are explained next 1 5 2 1 1 Log Data in Isis Panel In this area you can select which of the available data types you want to record in your XTF file At minimum you should select Sidescan The other data types are optional and will depend on the type of survey you are conducting But note that the file size already Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 143 quite large for this type of sonar will obviously increase with the add
28. in bytes Equation A 3 Calculating file size using bytes per ping where in Equation A 3 the meaning of the variables are shown in Table A 2 Table A 2 Variables for calculating bytes per ping BPP Bytes per ping NIC imagery channels being saved raw and corrected NP number of pings stored in file PPC pixels per channel per ping always 1024 for Q MIPS PFS ping footer size 256 BPX bits per pixel user defined as 8 or 16 Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 5 For example a data file written by Q MIPS with 3 pings of raw and corrected imagery for each of two sidescan channels at eight bits per pixel would be configured as follows Table A 3 Sample configuration illustrating file size Size of Data in Bytes Description 1024 Q MIPS Header 1024 1024 1024 Ping 1 Four channels 1024 bytes each Q MIPS 1024 256 footer 1024 1024 1024 Ping 2 1024 256 1024 1024 1024 Ping 3 1024 256 The amount of memory all the data would occupy is 14080 bytes 1024 x 13 256 x 3 A 4 Binary Data Representation The Q MIPS format header and footer structures are made up of fields in six number representation schemes or types For each type shown in Table A 4 on page 6 the type definition from the C language Q MIPS source code is shown in parentheses and the range of numbers that can be represented by that t
29. navUnits are degrees otherwise zero Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 22 0246 fishLayback USHORT ITowfish layback horizontal distance in meters from navigation telemetry or manual entry used in position calculations 0248 navFixHour BYTE 0249 navFixMinute BYTE Time of the most recent navigation fix 0250 navFixSeconds BYTE 0251 relativeBearingToFis h CHAR Bearing to towfish in integral degrees off ship s course ship ito fish straight back is 000 to starboard is 090 calculated and stored only when you have entered a non zero layback and a lateral offset Veeder Root Used in position calculations when non zero Not used in Isis 0252 julianDay USHORT Number of days since the first of the year since Q MIPS v5 18 Month and day are calculated from this value 0254 cableOut USHORT Cable out in meters from navigation telemetry manual entry or computed as a percentage of telemetered fish layback t T For storage only not used in any Q MIPS calculations Set to the value received from navigation system or digital towfish otherwise Zero Appendix A Q MIPS File Format June 2004 Isis Sonar User s Manual Volume 2 23 Appendix B Isis BAC and GAC File Formats Isis supports a number of file formats Q MIPS BAC GAC and XTF Each has distinct advantage
30. northings depending on available navigation latitude is accurate to seven decimal places northings are in meters 10 and therefore will have no decimal point hh h heading to tenths of a degree rr range in integral meters tt contact type 1 12 iff sonar carrier frequency in kHz vol disk volume label file disk file name with drive letter but no extension pp ping number Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 60 The CD message is comma delimited terminated with the line feed character ASCII 012 and is transmitted as follows CD ccc dd MMM 19yy hh mm ss ee e nn n hh h rr tt ff vol file pp D 7 Logging and Transmitting to a Serial Port If you have Isis in Record mode logging can now be controlled via a serial port To log to any serial port and transmit 1 In Isis turn on serial port File Record Setup Serial Port Setup 2 From the remote system transmit either of the following strings START LOGGING optional file name to begin data logging Isis will create a file name if none is supplied If you don t provide a path name Isis uses the path specified in the Configure Hypack DDE dialog box STOP_LOGGING to stop logging but continue displaying data Appendix D Serial Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 61 Appendix E Using the Target Utility Target is a software module included with Isis You use Target to take snapshots of sele
31. received over the serial navigation interface specified in navigation template or among telemetry from various digital towfish If a value is not received the field remains zero Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 9 Table A 5 Q MIPS header format description Offset Element Name Bytes Value Remarks Values Used Type Ranges Units Examples etc Format and Revision 0000 fileFormat 1 BYTE 50 for Q MIPS files 1 for old S MIPS files 0001 systemType 1 BYTE 0 is Q MIPS 84 is Q MIPS DSP 202 is Isis 0002 softwareRev 6 BYTE Null terminated string e g 6 6110 or Isis for Isis recorded files 0008 spare1 20 BYTE Not currently used all zeros Digitizer Parameters 0028 sampleRate 2 JUSHORT 0 750 Q MIPS digitizing rate in ksamples second not valid for Isis set to 20 0030 numlmageryChannels 2 JUSHORT 1 8 number of channels up to 4 Q MIPS channels raw and or processed up to 4 Isis channels 0032 bitsPerPixel 2 USHORT 8 or 16 Q MIPS analog data are limited by 12 bit resolution of A D converter Isis analog and all digital data can be 16 bit 0034 pixelsPerChannelPerPing 2 USHORT Always 1024 for files created by Q MIPS 0 65535 for Isis Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 10 0036 speedOfSoundlnWater 4 FLOAT Sound
32. refer to the Appendix entitled Mass Storage Options for important details covering the handling of M O disks e Never boot your system with a writable M O cartridge inserted into the drive e Use magneto optical media that has 512 bytes per sector not 1024 bytes per sector and use the AFDisk software utility to format magneto optical media Never use Windows 95 to format M O media Triton Elics Internatonal 125 Westridge Drive Watsonville CA 95076 USA 1991 2004 Triton Elics International Inc All rights reserved Printed in the U S A SOFTWARE LICENSE AGREEMENT By opening this package you agree to be bound by the terms of this Agreement which include the software license and the limited warranty This Agreement applies to you and any subsequent licensee of this software program If you do not accept or agree to the terms of this Agreement do not open this sealed package Promptly return the unopened package to TRITON ELICS for a refund However no refund or replacement will be given if the sealed envelope containing the SOFTWARE Sentinel and Manual has been opened or if any of the components of the product including the software sentinel are missing Grant of license for the software product and full title and ownership of the hardware product shall not transfer to the Buyer until the purchase price plus any interest or fees resulting from late pay ments or pre arranged terms has been received in full by the Seller
33. set v1 Voltage value 1 displayed in Window Status and Control Towfish Status in 95 field Voltage values are displayed but not stored v2 Voltage value 2 displayed in 95 field v3 Voltage value 3 displayed in 15 field v4 Voltage value 4 displayed in 15 field v5 Voltage value 5 displayed in 5 field v Velocity of sound in m s one way travel Isis defaults to 1500 m s w Water temperature degrees C y Yaw in degrees pipe symbol Turbidity This is the same as the tv token D 3 2 1 Examples of Pattern Matching Given the hypothetical template string ap pattern compass h and the hypothetical input string altitude 38 3 pressure 93 535 diag code 9a8dc8339 compass 173 44 Isis parses the aforementioned sample string by applying the patternzinput string template as follows 1 Finds the first numeric character In this case it s 3 2 Assigns 38 3 to the a token or auxiliary altitude Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 47 3 Finds the next numeric character In this case it s 9 4 Assigns 93 535 to p token or pressure psia 5 Searches the input string starting after 93 535 for an occurrence of the pattern compass 6 Finds the next numeric character following the token compass In this case it s 1 7 Assigns 173 44 to h token or heading See Table D 2 for rules that apply t
34. systems With the emergence of 32 bit systems Target was upgraded to run on these newer systems At the compatibility with the 1 same time Target has maintained its backward 6 bit systems by including a programming structure identified to Target as wpoint Table E 6 Table E 6 The WPOINT structure for a TGT or CON file X Structure s Element Bytes Data Remarks Values Name Used Type Ranges Examples etc total bytes used for this structure 4 2 SHORT for backward compatibility Y 2 SHORT for backward compatibility E 7 2 CINFO Channel Information Header Structure The header structure for channel information appears in Table E 7 Table E 7 The CINFO header structure in a TGT or CON file Structure s Element Name total bytes used for this structure 1024 Byte Data Remarks Values Ranges offset Type Examples etc StructureVersion Cinfo size 0 ORD Version for the CINFO structure 100 Version 1 00 old CINFO 101 Version 1 01 102 1 02 current CINFO version 2 ORD Size of the CINFO structure 1024 bytes Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 98 Telem size 4 ORD Size of the TELEMETRY structure Rank 6 SHORT contact 1 target Classification 8 SHORT Typically 1 10 user defined to help distinguis
35. the different devices XS dm Instead of modifying the original isis ctd file it is best to copy isis ctd to PPDa another file and then use the copy as your working ctd file After you ML modify the copy you would then copy it back onto isis ctd so that Isis can use it when you next run the software For example the file SIS7000 CTD contains the calibration coefficients for that sonar s CTD Change the data in that file and copy SIS7000 CTD to ISIS CTD before running Isis G 2 How Isis Treats SeaBird CTD Data Data from a SeaBird CTD device is entered into Isis via the serial port The following serial template characters relate to the various raw CTD parameters Q Conductivity Frequency Hz pf Pressure Frequency Hz or Fish Depth m b Temperature Frequency Hz Pressure Temperature Degrees C Turbidity 0 to 5 volts optional use pipe symbol After Isis gets the serial port information above the following steps are performed 1 Ifa manual depth has not been set in Configure Transducer Depth and both pressure frequency and pressure have been received as non zero values then the towfish depth in meters is computed The depth computation is based on pressure frequency and pressure temperature The result is Towfish Depth Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 115 2 The following values are computed with the calibration coefficients read from the fi
36. use the Find command from the File menu Its dialog box is shown in Figure E 2 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 67 r Source Path r Position relative to Highlighted contact e Us r Maximum Radius 0 0m EE Longitude All On IV Contact v Target All Oft Latitude Class IV Unclassified M 1 Debris Iv 11 Custom v 21 Custom v 31 Custom Iv 2 Wreck Iv 12 Custom v 22 Custom v 32 Custom Iv 3Scour Iv 13 Custom v 23 Custom v 33 Custom v 4Rock v 14 Custom V 24 Custom V 34 Custom v 5Pockmark M 15 Custom Iv oum V 35 Custom v BPossible Mine JV 16 Custom IV 26 Custom v 36 Custom V 7 Mine Iv 17 Custom v 27 Custom v 36 Custom Iv 8DummyMine V 18 Custom v 28 Custom v 38 Custom v 8 Unknown v 19 Custom IV 29 Custom v 39 Custom IV 10 Moorings v 20 Custom JV 30 Custom v 40 Custom Find First Find All End Figure E 2 The Find dialog box Table E 2 explains the Find dialog box parameters shown in Figure E 2 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 68 Table E 2 Find dialog box parameters and meanings Option Area Meaning Source Path Specify the directory in which Target will look for matching text area contacts The default path is the working directory Set Working Directory Position Specify the co
37. use the following formula volts sample 32768 x 5 Equation A 1 Formula for converting a Q MIPS sample to 16 bit format Note that the actual range is actually 5 volts to 4 9998 volts Each pixel of imagery will require either one or two bytes of disk storage depending on whether the data are saved at 8 or 16 bits per pixel The number of bits per pixel is specified for Q MIPS in the QMIPS DAT file and for Isis using the Record Setup command Isis and Q MIPS can store imagery in any combination of raw and corrected for each of up to four analog channels A corrected channel has had the water column removed and has been slant range corrected so that the displayed waterfall record approximates a map view of the data If both raw and corrected data are saved by Isis or Q MIPS 1024 raw pixels are saved followed by 1024 corrected pixels for each channel All specified types for channel 1 raw and or corrected are saved first Then all types for channel 2 and so on The complete order for up to the Q MIPS maximum of eight imagery channels is shown below Remember when a channel is not present or a data type raw or corrected is not to be saved it is omitted That is no padding is done Fewer imagery channels results in fewer bytes stored per ping Table A 1 Relationship in Q MIPS of channel to data type to location Channel Data Type Read or Write Location CH1 RAW Write only Port CH1 CORRECTED Write or Read
38. uses its own internal parsing rules to handle template strings However you can override that mode of operation by having Isis use a specific template that Isis recognizes Isis will use certain canned templates as is without further modification should you deem those templates apply to your survey situation These templates also appear in the Serial Port Setup dialog box Figure D 1 Their meanings are shown in Table 4 1 Table 4 1 Special ready made templates Isis can use as is Template Use or Location in Isis Software NMEA0183 This is a widely recognized industry standard interface specification TSS This template configures the serial port for input from a TSS motion sensor specifically the TSS1 string described in the ITSS documentation Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 51 SEATEX This template configures the serial port for input from a Seatex MRU CMSSS This template is used for a special navigation string generated by German Hydrographic Bureau BSH navigation systems It is not applicable to other types of navigation input HYPACK This template also appears in the Serial Port Setup dialog box Also see 4 2 Serial Port Setup in Volume 1 and 6 8 Hypack DDE Record Only in Volume 1 POS MV his template also appears in the Serial Port Setup dialog box Also see 4 2 Serial Port Setup Volume 1 TrackPointll
39. velocity divided by two in meters sec loaded from QMIPS DAT specified with Isis Speed of Sound command usually 750 0040 noLongerUsed 4 FLOAT Was initial sonar signal divisor in Q MIPS version 5 19 and earlier Not currently used zeros 0044 asyncChannelNumber 2 USHORT 0 4 for Q MIPS 0 if no async channel The async channel must be the last highest number channel collected not used by Isis 0046 numSonarChannels 2 USHORT 1 4 number of analog sonar channels being digitized In Q MIPS divide sample rate by this number to get the per channel sampling rate 0048 ch1 processingAvailable USHORT 0 3 indicates the 0050 Cch2 processingAvailable USHORT resence of and rocessing applied to each 0052 ch3 processingAvailable USHORT of the four input channels 0054 PO PO N N cch4_processingAvailable USHORT not present 1 raw only 2 corrected only 3 both raw and corrected Navigation Syste m Param eters 0056 havLatency 2 USHORT latency of navigation in ms Isis version 2 14 and later Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 11 0058 navSystemName 100BYTE Not currently used all null chars 0 Prior to version 6 00 set to SERIAL INPUT for serial port nav Could also be QUILS Il SONARDYNE or NOTHING in old
40. 0 or higher although any will work Auto Transmit Asynchronous Interval ms 200 Use 50 when collecting SeaBat bathymetry H 2 Setting up Isis to Work with the MRU From the Isis main menu choose File Record Setup Serial Ports Select whichever serial port s the MRU is connected to Select the port ON and press the Seatex MRU button Verify that the baud rate matches the rate set in the MRU software You can use the Test button in the Serial Setup dialog box to verify that the data is being transmitted from the MRU H 3 Saving MRU Data in Isis It is possible to configure the MRU to transmit a wide variety of attitude and sensor data Much of this will have no meaning in Isis Relevant settings are shown in Table H 1 Table H 1 Seatex MRU characteristics as used in Isis Seatex MRU Isis 63 Roll Roll angle stored in degrees 64 Pitch Pitch angle stored in degrees 65 Yaw Yaw angle stored in degrees 68 Heading X Heading angle stored in degrees 105 Heave Heave stored in meters 27 MagN Tesla stored as Mag Y 28 MagE Tesla stored as Mag X Appendix H Using a Seatex MRU with Isis June 2004 Isis Sonar User s Manual Volume 2 121 29 MagD Tesla stored as Mag Z 21 MagR stored in Isis Mag Y field 22 MagP stored in Isis Mag X field 23 MagY stored in Isis Mag Z field 160 ExtSpeed Speed stored in knots 162 ExtHead Heading angle stored in degrees same as 68 anything else n a ignor
41. 0122 ch2 bandWiath USHORT Sonar channel bandwidth in kHz Not used in Isis 0124 ch2 sampleScheme USHORT 1 5 See ch sampleScheme escription 0126 ch2 rawRange USHORT See ch1 rawRange description 0128 cha initialGain BYTE Initial channel gain t 0129 ch2 gain BYTE Channel gain t 0130 oceanTide USHORT Altitude above Geoide from RTK 0132 ch2 signalDivisor USHORT Signal divisor multiplied by 100 ee under Digitizer Parameters h1_signalDivisor 0134 ch2 correctedRange USHORT See ch1 correctedRange ananrintiann Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 19 escription Channel 3 Sonar Parameters and Range to Fish 0136 ch3 floatRHawRange FLOAT Higher resolution raw maximum lant range in meters Used in DSP and Isis not Q MIPS 0140 ch3 delayRange FLOAT Channel delay in meters entered in Q MIPS DIGITIZER menu in seconds and converted o meters 0144 ch3 bandWiadth USHORT Sonar channel bandwidth in kHz 0146 ch3 sampleScheme USHORT 1 5 See ch sampleScheme escription 0148 ch3 rawRange USHORT See ch1 rawRange description 0150 ch3 initialGain BYTE Initial channel gain t 0151 ch3 gain BYTE Channel gain t 0152 range to fish USHORT Distance to fish in meters multiplied by 10 0154 ch3 signalDivisor USHORT Signal divisor multiplied by 100
42. 4 Isis Sonar User s Manual Volume 2 153 Z axis The Z offset accounts for the difference between the reference point and the instrument SeaBat or other multibeam head Nav MRU If the multibeam instrument is mounted below the reference point for example deeper in the water the Z offset value should be positive Yaw Pitch and Roll You can have Isis compensate for a SeaBat s motion in these three dimensions by typing numerical values representing the number of degrees by which the SeaBat s attitude varies from the ship s stated course Again right hand coordinate system reckoning applies e For Yaw Type negative degrees if the SeaBat is set to yaw right enter positive degrees if the SeaBat is set to yaw left e For Pitch Type negative degrees if the SeaBat is set to pitch down enter positive degrees if the SeaBat is set to pitch up e For Roll Type negative degrees if the SeaBat is set to roll left enter positive degrees if the SeaBat is set to roll right e For Nav port negative starboard positive north positive Z positive if reference point is below or negative if reference point is above Height of Reference Point above Water Line Unless you have chosen your reference point to be at the water line you will need to enter the appropriate offset in meters here Appendix I Working with Specific Sonars June 2004 Isis Sonar User s Manual Volume 2 154 To configure the Isis 81
43. 512 or 1024 per sector you need to take into account the M O cartridge s high level format that will be used with Isis An M O cartridge that will be used with Isis must be high level formatted with one DOS hard disk partition To high level format an M O cartridge refer to C 4 3 2 Formatting the M O after Backing up Your M O s Data on page 32 If you believe your data disk already has been high level formatted with what AFDISK calls Standard Hard Disk Format i e the DOS high level format then exit Windows and re start Windows 95 with the WIN D F command You should now be able to read the 1024 Byte sector M O disk albeit slowly C 4 3 1 Backing Up Your M O Data Before Reformatting Because formatting destroys any data existing on the cartridge you will want to back up your M O data before formatting To back up your data from the M O 1 With the M O cartridge in Drive E exit Windows 95 When the message comes up that allows you to go to DOS close Windows completely and go to DOS not just the DOS shell 2 In DOS use COPY or XCOPY to copy your files from your M O to your D drive Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 32 C 4 3 2 Formatting the M O after Backing up Your M O s Data As noted above HP cartridges come pre formatted with 512 byte or 1024 byte sectors but high level formatting must be completed and a DOS style partition must be created on these cartr
44. Back in the Isis User s Manual Volume 1 to see how to set up Isis for recording on tape C 4 Using Magneto Optical Drives with Isis Isis can recognize and use up to two multi function magneto optical drives if they are logically attached to the SCSI controller as drives E and F in a DOS or Windows environment For 486 based systems the SCSI controller is an Adaptec AHA 1542C or 1542B 1542CF for Pentium based systems the SCSI controller is an AIC 7870 on the CPU board The two drives should be configured for SCSI ID numbers 5 for drive E and 6 for drive F The M O drives installed in an Isis system have large capacities one or more gigabytes per M O and can read from and write to several types of cartridges C 4 1 Different Sector Sizes Different Purposes Magneto optical M O cartridges come low level formatted with either 1024 byte sectors or 512 byte sectors The 1024 size is typically used for UNIX systems while 512 byte sectors are more common for Microsoft operating systems Isis which run under Microsoft operating systems expects to see read 512 byte sectors Isis can also read 1024 byte sectors if the M O was high level formatted for DOS but performance suffers For an M O low level formatted at 1024 bytes per sector Isis reads the M O at about 1096 of normal Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 30 Whenever you are using an application such as Isis on Microsof
45. Ch 4 Ch 5 gu LED flashes Test LED red B with trigger input lights up i teat mode TRIGGER or in test mode LIGHT G wmm Test On Off switch push ON push OFF Figure F 2 Signal Interface Unit 5 diagram of functionality The SIU5 can be connected to digital or analog boards depending on the type of sonar you intend to use Examples of sonars that would require a digital interface are the EdgeTech DF1000 EdgeTech ACI Klein 2100 Examples of sonars that would require an analog interface would be Klein 595 EGG 260 Geo Acoustics and others F 2 SIU4 and SIU4 2 Analog Interface As an external module to Q MIPS and Isis the SIUA provides an interface between the detected analog side scan sonar sub bottom profiler boomer or tape playback signal and the Q MIPS or Isis analog input Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 107 F 2 1 Mechanical Description The SIUA output includes up to four analog signal channels with the trigger pulse superimposed on Channel 1 An adjustable attenuation of 096 to 9096 can be applied to each of the four channels at the SIU4 output Table F 1 SIUA and SIUA 2 specifications Aspect of the SIUA Specifications for the Aspect Mechanical e Size 6 0 x 3 6 x 1 7 inches 156 x 91 x 44 mm e Weight 1 pound 454 g Connectors e 4 each Channel Input on isolated BNC e 1 each Trigger Input on isolated BNC e 4 ea
46. Grounding Scheme Pins 1 and 3 shorted Chassis and power grounds connected Pins 2 and 4 shorted Signal and power grounds connected default Pins 5 and 6 shorted Signal and chassis grounds connected Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 111 Note For all Isis defaults shown as italicized entries in Table F 2 be sure to refer to your manufacturer s sonar documentation It may be that your sonar manufacturer s recommended settings are more appropriate for your situation If you wish to change any of these jumpers please contact Triton Elics Technical Support before opening your SIUA F 2 3 System Tests Using the SIU4 2 One of the more important functions of the SIU4 2 is to act as a first level troubleshooting tool Through the SIU4 2 you can isolate certain hardware actions that you might suspect aren t working properly In turn these isolation techniques help you determine whether you are having hardware or software problems After you complete your test be sure to reset all attenuation switches back to O If you leave any or all attenuation switches at the high 9 setting the recording of your images will be impaired even to the point of making your imagery worthless for viewing If for example the imagery you may be observing during an Isis software doesn t look right to you you might be having a problem with one or more I O channels connected to Isis a
47. IEEE Standard floating point formats described next The formats are described in bit order from MSB to LSB Remember that the bytes are out of order as described above according to the Intel processor number representation convention Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 8 4 Byte IEEE Floating Point Number S exponent 2 12 2 fraction 2 23 31 30 23 22 0 value 1 s x 1 fraction x 2exponent 127 8 Byte IEEE Floating Point Number S exponent 2 12 2 fraction 2 52 63 62 52 51 0 value 1 s x 1 fraction x 2exponent 1023 Table A 5 on page 9 and Table A 6 on page 16 specify the formats for the Q MIPS header and footer structures respectively Character fields that contain more than one byte are arrays of characters interpreted as strings of text such as the name of the sonar or the software revision In the Q MIPS data format only characters are arranged in arrays The different sizes in bytes of the integer and float fields indicates their different precisions as described above In order to save space and save you some reading time two footnote symbols have been used to represent information common to many of the fields The symbols are defined below and appear at the bottom of each of the tables T Single dagger This field is for storage only and is not used in any Q MIPS or Isis calculations Asterisk This field is set to the value
48. ISIS SONAR User s Manual Volume 2 Appendices Software documentation through v6 6 June 2004 Copyright Notice This software is copyrighted and licensed for use on one computer per copy Triton Elics International grants permission to the purchaser to make a limited number of copies of the program for backup purposes Additional reproduction of the programs or this manual is a violation of the copyright law The licensee is bound by the terms and conditions set forth in the Software License Agreement and Limited Warranty that accompanies this document BathyPro Isis Sonar Pipeline DelphSeismic DelphMap Survey Office Hydro Suite TriPort Q MIPS VISTA TriCAS ROVFlight A B and Convert CD are trademarks of Triton Elics International Inc Isis Sonar is a registered trademark of Triton Elics International Inc The following are copyrights of their respective companies or organizations e WinRT Registry BlueWater Systems e HawkEye Imagine 128 Number Nine Visual Technology Corp The following are trademarks and or registered trademarks of their respective companies or organizations e EXB 8500 EXB 8505XLI EXB 8500C EXB 8205 EXABYTE Corporation e Windows Windows NT Windows 95 MS DOS Microsoft Corporation e Pentium MMX Intel Corporation e Adaptec AHA 1505 and AHA 2940 Adaptec Inc e Klein 5000 Klein 2000 Klein 595 Klein Associates Inc e DF 1000 EdgeTech e Echoscan Echotrac Od
49. Isis Sonar User s Manual Volume 2 52 D 4 1 1 How Isis Deals With Heading Issues in NMEA0183 Strings Isis can process heading packets that can occur in NMEA0183 strings Two packets in particular affect the behavior of Isis HEHDT HCHDT When both are being received HEHDT takes priority over HCHDT D 4 1 2 How Isis Deals With Time Issues in NMEA0183 Strings Isis can be synchronized or de synchronized with the computer clock with respect to NMEA0183 strings Syncing the Isis computer clock is now determined by taking the time from a single packet type The priority is NMEA ZDA 4 This is most preferable NMEA RMC 3 NMEA GLL 2 NMEA GGA 1 This is least preferable NMEA ANY 0 NOCLOCK This prevents Isis from synchronizing Isis system clock with GPS time By default Isis always synchronizes the system clock with GPS time Some parts of the NMEA0183 template are not affected by the NO modifier Additional tokens after NMEA0183 further control the processing of NMEA packets POS NODIFF This causes Isis to use only non differential positions from GGA packets POS DIF This causes Isis to use only differential positions from GGA packets NOCLOCK This prevents Isis from synchronizing Isis system clock with GPS time By default Isis always synchronizes the system clock with GPS time UTM This forces nav as UTM meters By default when NMEA0183 is selected as a template navigation is Appendix D Serial Interfac
50. It DAT no yes SEG yes yes Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 27 Note EXABYTE EXE only recognizes standard DOS file structures The utility cannot be used to work with SEG Y format tapes written by Isis Refer to Using the SEG Y Format on Exabyte Tape on page 32 for a discussion on how Isis interprets the SEG Y format You can also use EXABYTE EXE to archive disk files to tape Tape motion is controlled in Isis via the Playback and Record mode Tape Control dialog boxes Refer to Figure 3 7 on page 39 in the sis User s Manual Volume 1 for a discussion of the Tape Control dialog boxes To start the Exabyte program e Type EXABYTE Y Enter ortype EXABYTE Z Enter The following options are available through EXABYTE EXE 3 Directory This option displays the contents of a tape It will also display the names of files copied to it with the Exabyte program In Isis the Directory option only recognizes the file format that the Exabyte program writes to the tape during record mode or the Exabyte program s Copy file option 4 CopyFile You use Copy file to copy files to or from an Exabyte drive Choose either Copy To and Copy From e Option 1 Copy To With this option you can copy a single file or multiple files The file will be copied to the tape at the current tape position Any files that reside on the tape after the current position will probably be lost For ex
51. K is not present the Altitude above Geoid from the GGA message is stored as OceanTide Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 55 D 4 2 Disabling ASCII Reports Produced by NMEA Packets Some GPS or Loran receivers will produce by default copious ASCII reports in addition to the standard NMEA0183 packets over the serial interface These reports can contain receiver diagnostic information satellite position and other similar data items The sheer size of these reports can overload the Isis input buffer and cause the system to work unnecessarily hard as it tries to parse the reports Completely disable the GPS ASCII reporting mechanism before using Isis In most cases you can disable the ASCII reports by working through the menus on the front of the GPS receiver You only want the standard NMEA0183 data packets to go through the serial interface GPGLL GPGGA GPZDA etc With the ASCII reporting mechanism disabled Isis will ignore all GPxxx messages that Isis doesn t specifically parse To verify from Isis that ASCII reports aren t being sent by the GPS receiver use the Test button in the Serial Port Setup dialog box to monitor the serial data You can also monitor serial data from the com Port Test submenu found in the Tools menu D 5 Special Serial Receive Strings Except when using NMEAO0183 functions some strings when received over any active serial port cause Isis to perform spe
52. OAT Fish roll in degrees positive is defined as starboard down 0078 telemFishAlt 4 FLOAT Fish altitude above the sea floor in meters from navigation telemetry or manual entry takes precedence over auxAltitude In Isis this is the tracked altitude 0082 telemSbotAlt 4 FLOAT Subbottom sensor altitude above the sea floor in meters Not used by Isis 0086 telemSpeedLog 4 FLOAT Vehicle speed in meters per second from electromotive impeller speed log t 0090 SoundVelocity 2 USHORT One way sound velocity multiplied by 30 Not used by Isis t Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 17 0092 ch floatRHawRange 4 FLOAT Channel 1 Sonar Parameters and Sampling Rate Higher resolution raw maximum slant range in meters Used in DSP and Isis not Q MIPS 0096 ch delayRange 4 FLOAT Channel delay in meters entered in Q MIPS DIGITIZER menu in seconds and converted to meters Not used in Isis 0100 ch bandWiadth 2 USHORT Sonar channel bandwidth in KHz Not used in Isis 0102 ch sampleScheme 2 USHORT 1 5 For storage digitized samples are decimated to 1024 samples per channel per ping using one of five methods defined as 1 average 2 maximum 3 minimum 4 rms or 5 none meaning the first sample in the group to be downsampled is taken The method is defined for e
53. QMIPS DAT and SONAR DAT Refer to Appendix A of the Q MIPS User s Manual for descriptions of these files Isis relies on setup configurations saved in the binary ISIS CFG file for many of these values You can change many of the startup defaults loaded from the QMIPS DAT SONARS DAT and ISIS CFG files without quitting and re starting the Q MIPS or Isis program Generally display related parameters can be changed on the fly during collection The current destination file must be closed before changing most acquisition and storage related parameters from the menus Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 2 Many other values are controlled by strings received over RS 232 serial interfaces from the navigation system and or any serial device Refer to Appendix E of the Q MIPS User s Manual or Serial Interfaces Appendix D of this manual for descriptions of the values that can be set in this manner Navigation telemetry values are replicated in their respective fields from ping to ping until a new navigation string is received at the serial port Then the values present in the string are used to update the appropriate fields in the footer If desired the Q MIPS or Isis system time can be synchronized to the time indicated in the telemetry string All binary data are stored according to the Intel representation scheme This is an important distinction if you plan to read or write Q MIPS style data using Motor
54. RU are far from the positioning system the reported position will be different from that of the devices In such cases you need to let Isis know of this difference by specifying one or more numerical offsets in meters You make these kinds of corrections in the Installation Offsets text boxes in the SeaBat Setup dialog box X axis To compensate for across track differences type a number in the X axis offset box or boxes for each device affected If the SeaBat and or MRU is to the starboard of the positioning system enter the across track positive offset in meters between the towfish and the positioning system If the SeaBat or MRU is to the port of the positioning system enter the negative offset in meters as the offset between the fish and the positioning system All offsets are relative to an arbitrary reference point established by the user Y axis To compensate for along track differences type a number in the Y axis offset box or boxes for each device affected If the SeaBat and or MRU is forward of the positioning system enter a positive value as the along track positive offset in meters between the towfish and the positioning system If the SeaBat or MRU is aft of the positioning system enter the negative value as the offset between the fish and the positioning system All offsets are relative to an arbitrary reference point established by the user Appendix I Working with Specific Sonars June 200
55. Reverse Colors box the colors reverse The Threshold window can also be summoned by right clicking on the contact in Target E 6 4 Pan Left Right Up or Down When a contact image is displayed at an expanded scale any scale other than 1x the window remains the same size and only a portion of the image is visible at any one time Use the Pan commands to move the window over the expanded image The arrow keys provide keyboard shortcuts for the four pan keys P TN N Whena measurement is made in an expanded image the display window is E L automatically centered on that measurement afl E 7 Format of TGT and CON Files The TGT and CON types of files of the Target utility are identical in format and are composed of four types of records or structures e a structure that gives the Target utility 16 bit and 32 bit compatibility e a header structure cinfo e an image structure and e a telemetry structure telemetry That format is shown in Table E 7 Varieties of data types are used to represent the structural elements according to the purpose of the elements The programming conventions used to represent the various data types are the same as those used for the XTF format Appendix D Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 97 E 7 1 WPOINT A Structure for Bridging Back to 16 Bit Systems The Target utility originally was designed to run on 16 bit Windows
56. TGT image not necessarily the center of the data imagery from which your contact image was extracted To save a report for one or more open contacts 1 Either e Close all open contacts from the Target utility except for the one s whose information you want to append to REPORT TXT Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 70 Or e f no contact is present click on an area in your data imagery to create a new unsaved contact 2 From Target s main menu choose File Print ASCII Report The system displays a dialog box where you can customize the parameters you want your report to contain Figure E 4 shows an example of this dialog box ASCII Report BE xl This option prints a report on the targets and contacts currently displayed Output will be appended to the ASCII file REPORT TXT in the current work directory ITEM FIELD SIZE CHARACTERS ITEM FIELD SIZE CHARACTERS VE a fo V File Name fis With for v Ping Number B Sti isS IV Height for Iv Date 02u x02u 04u v Moored Altitude fr v Time 02u 02u 02u v Total Water Depth fr v Northing see note fiz IV Sonar Depth eio v Easting see note fiz IV Sonar Altitude fs is Jv KP es IV Sonar Speed p o IV Contact Type 2 ti tts V Layback 5 i v Channel Heading Br IV Range fer v Comments B0 v Pings on Contact Bo JV XTF DAT file name no Generate Report
57. This template also appears in the Serial Port Setup dialog box Also see 4 2 Serial Port Setup Volume 1 SeaPath This template also appears in the Serial Port Setup dialog box All except CMSSS are selectable from the Serial Port Setup dialog box Figure D 1 in Isis software To specify a CMSSS template type CMSSS in the Navigation Telemetry Template portion of the Serial Port Setup dialog box D 4 1 How Isis Works with NMEA0183 Strings Isis can interpret several standard NMEAO0183 strings called sentences To have Isis use NMEA type of transmissions instead of other types choose the NMEA0183 navigation template shown in the Serial Port Setup dialog box If you choose NMEA 0183 in the Isis serial port setup dialog box Isis ignores standard parsing rules and instead decodes the transmitted string as a NMEA0183 compatible data packet Isis recognizes the following NMEA0183 packet types GGA RMC GLL VTG ZDA HDM HDT SHR KLA TSP In addition you can add tokens to prevent the use of any specific packet For example if a GPS receiver is transmitting both GGA and GLL packets the navigation may jitter between two positions In such a case you can prevent the parsing of GLL by specifying NOGLL in the same template after NMEA0183 The following tokens prevent the parsing of the respective packets NOGGA NORMC NOGLL NOVTG NOZDA NOHDM NOHDT NOSHR NOKLA NOTSP Appendix D Serial Interfaces June 2004
58. Tile Cascade Arrange Icons Close All The commands in this group are standard Microsoft Windows commands Refer to your Getting Started with Microsoft Windows manual if you need help with these commands E 6 2 Reduce Image and Expand Image You can zoom in on a logged contact by using the Expand Image command from Target s Window menu After an image has been expanded by zooming in you can zoom out again to reduce the image size You use the Reduce Image command from Target s Window menu to zoom back out The keyboard shortcuts are F8 to expand zoom in and F7 to reduce zoom out Using pixel replication the scale can be magnified between no magnification 1x which is the initial and default scale and 16 times 16x the current scale When the contact image is displayed at an expanded scale the scale of the image is indicated in the upper left corner of the window Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 ONT File 2x Dr Figure E 13 Same image reduced to one third its original size Appendix E Using the Target Utility 95 June 2004 Isis amp Sonar User s Manual Volume 2 96 E 6 3 Threshold The Threshold slide bar allows you to adjust the level of contrast stretching When the box is positioned at the left side of the bar no thresholding is applied Maximum thresholding is applied when the box is at the right side of the bar If you put a check mark in the
59. aBat 2 HYPACK POS MV EchoScan t TrackPoint II Seatex MRU EchoScan 2 SeaPath ELAC SM2000 HISDMYNEhV Convert Lat Long to UTM Setup UTM Filter Speed Input Setup filter Navigation latency o0 ms Cancel Test Figure D 1 Sample of a user defined navigation or telemetry template The template can accept up to 200 characters from the list shown in Values Allowed Over Serial Interfaces and Stored by Isis Appendix D Serial Interfaces 39 June 2004 Isis Sonar User s Manual Volume 2 40 D 3 1 Example of Template Construction Say a simple data logger transmits data over a serial port at 2400 baud 1 stop bit 8 data bits and even parity An example of a string transmitted over such a serial port might be 4 20 90 17 31 22 NORTH 93285 35 EAST 319294 29 H 344 0 Before Isis can use the above data you need to set up a com port to receive it You do so in the Serial Port Setup dialog box Figure D 1 in this book In this case you would set the Baud Rate to 2400 Data Bits to 8 Stop Bits to 1 and Parity to Even Second create the serial navigation template The example transmission string previously mentioned shows that data is formatted by the data logger in the following order day month year hour minute second north east heading For this example we will assume that the heading is course made good that the heading has been processed by the data logger and
60. ach channel in QMIPS DAT Another parameter screen downsample 0 skip 1 average 2 maximum 3 minimum is not stored but is also defined in QMIPS DAT and may be changed from the keyboard Set ito 2 in Isis 0104 ch rawRange 2 USHORT Raw maximum slant range in meters stored even if only processed imagery is saved zero if channel is not present On any asynchronous channel this holds the async range 0106 Chl initialGain BYTE Initial channel gain t 0107 reservedForFloatSa 2 mp USHORT Sample rate in Hz used in DSP only 0108 hl gain 1 BYTE Channel gain 1 Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 18 0110 sampleRate USHORT Aggregate sample rate in kHz set by user in Q MIPS record mode setup Not used in Isis 0112 ch correctedRang e USHORT Single side range of corrected channel in meters zero if corrected data are not saved On any asynchronous channel this holds the async delay in meters multiplied by 100 Not currently used in Isis Channel 2 Sonar Parameters 0114 ch2 floatRawRange FLOAT Higher resolution raw maximum lant range in meters Used in DSP and Isis not Q MIPS 0118 ch2 delayRange FLOAT Channel delay in meters ntered in Q MIPS DIGITIZER menu in seconds and converted o meters Not used in Isis
61. acters in input string Processing of the string proceeds from that point forward Pattern matching is case sensitive If a match is not found processing stops Any processing that happened before the pattern input_string token was encountered still occurs To specify a character as part of a pattern string put a V character in front of it For example pattern will cause Isis to look for a closed brace character To specify a Y character as part of a pattern string use two backslashes X See Examples of Pattern Matching pf Pressure Frequency CTD data p p is pressure in psia Fish depth is then computed from pressure according to a standard UNESCO formula as follows Where g 4 the international formula for gravity is given by g 0 9 780318 1 5 2788 x 10 sin o 2 36 x 10 sin Z depth in meters P pressure in MPa 7 latitude The above equation is true for oceanographers standard ocean defined as an ideal medium with a temperature of 0 C and salinity of 35 parts per thousand Other methods for calculating Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 46 pressure or depth can be found at http www npl co uk npl acoustics techguides soundseawater content htmlZPD c Conductivity in Siemens meter tv Turbidity This is the same as the pipe symbol token t Ocean tide only if manual tide isn t
62. ample to copy all DAT Q MIPS files in the DAQMIPS directory to an Exabyte tape use the Copy to option and specify D QMIPS DAT as the source name to copy Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 28 e Option 2 Copy From If you choose this option Exabyte will prompt you for the number of the file obtained from the Directory option to be copied to hard disk and prompt you to enter the destination path and name of the file to be created on the hard drive Once the number is entered the utility rewinds the tape and copies the file 3 Rewind tape The rewind option will position the tape at the beginning of the tape If the erase option is specified at this point the entire tape will be erased 4 Erase tape The erase option will erase the tape from the current tape position to the end Before erasing the tape the Exabyte program will ask you to confirm your intention The tape will be automatically rewound at the end of the erase pass To erase the entire tape e Choose Rewind e Choose Erase To erase the tape after a specific file 1 Geta Directory 2 Choose the Copy To option 3 Enter the number of the last file you want to save 4 Copy that file to the file name NULL the file will appear to copy but no hard disk file will be created 5 Choose Erase C 3 Using the SEG Y Format on Exabyte Tape Technically speaking only genuine SEG Y data can be written to SEG Y tape m
63. ance you can e Increase or decrease brightness contrast gamma and sharpness in an image e Emphasize or de emphasize content in the image using 14 unique filters e Apply three different kinds of vignette lighting corrections to an image e Rotate the image clockwise or counterclockwise e Magnify the image three different ways replicate bilinear or cubic sampling Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 82 You preview your enhancements in Enhance before applying your changes to your Target contact image If an image does not have Tag 270 information you still will be able to load the image into Enhance but you will not be able to mensurate the image To use Target s Enhance function 1 Load a TIFF image into Target File Recall or press Insert The system displays a dialog box where you can type a file name You can also browse for the TIFF file by clicking Display Menu in this dialog box The system displays the TIFF image and an Information window with data pertaining to the image 2 From Target s main menu select Enhance The system displays the Enhance dialog box Figure E 9 shows a typical Enhance dialog box with four enhancements applied to a thumbnail of an image loaded into Target If your thumbnail enhancements display the effect you seek you can then apply your thumbnail enhancements to the larger file you loaded in step 1 Appendix E Using the T
64. and meals may be provided by TRITON ELICS at its own discretion to Buyer at cost plus twenty percent However actual labor hours to provide this service or repair will be free of charge to Buyer This Limited Warranty is void if failure of the SOFTWARE or hardware has resulted from accident abuse or misapplication Any replacement SOFTWARE or hardware will be warranted for the remainder of the original warranty period or thirty 30 days whichever is longer NO OTHER WARRANTIES Except for the above express limited warranties TRITON ELICS makes no warranties expressed implied statutory or in any communication with you and TRITON ELICS specifically disclaims any implied warranty of merchantability or fitness for a particular purpose TRITON ELICS does not warrant that the operation of the program will be uninterrupted or error free Some states jurisdictions do not allow the exclusion of implied warranties so the above exclusions may not apply to you This limited warranty gives you specific legal rights You may have others which vary from state jurisdiction to state jurisdiction NO LIABILITY FOR CONSEQUENTIAL DAMAGES To the maximum extent permitted by applicable law in no event shall TRITON ELICS be liable for any damages whatsoever including without limitation damages for loss of business profits business interruption loss of business information or any other pecuniary loss arising out of the use of or inab
65. arameter is indicated by the prompt below the template field You can as the prompt says disable Klein s heading by replacing h with X You might want to do this if the heading sensor in the Klein towfish is in error perhaps it has not been calibrated Editing the Send only Telemetry to Isis template in this way will disable the heading information from the towfish heading sensor and enable you to use Isis s estimate of the towfish heading derived from navigation Course Made Good CMG In fact you can disable any of the Klein telemetry or navigation data in this way Refer to the section in the Isis manual that describes the meaning of the various navigation template tokens in Isis e Speed of Sound Changes the default speed of sound used in the Klein 5000 TPU e TPU responder ctrl Changes the method by which the Klein system determines the navigation responder ping rate See the Klein manual for details e TPU responder freq Sets the towfish navigation responder frequency See the Klein manual for details Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 147 e Altimeter Determines whether the Altimeter transducer in the Klein towfish is Active transmits and receives or Passive receives only See the Klein manual 1 5 2 3 2 Compute Depth from Voltage Panel There are two values here The first is the conversion from Voltage to Depth m for the pressure sensor in the Klein towfish Th
66. arget Utility June 2004 Isis amp Sonar User s Manual Volume 2 83 Enhance ELT Histogram Original Current Cisfies Me Minf256 o Max 52976 E5280 Bits OxFFOO OxFFFF ma Iv Initial MinMa 020 Best Brightness Ke 0 Invert Color Contrast 0 VAM GW B Gamme 0 37 Dark Edges Vignette r Filter Edge thin Edge horiz Line vert Line both Emboss top Sculpt above Sculpt diag Edge thick Edge vert Line horz Emboss Left Emboss diag Sculpt left Sculpt metal ii Audit Trail Info Expand F7 F8 1 Emboss diag Undo All EE Replicate 2 Despeckle 3 1 pum C BiLinear 3 Gamma 0 37 india baat C Bi Cubic 4 Min Max Bits per pixel s 5 Equalize best Redo Last REESE Apply to large image Undo large image Close More Info Figure E 9 The Enhance dialog box The options available in the Enhance dialog box are explained in Table E 5 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 84 Table E 5 Enhance functions in the Enhance dialog box Option Area Meaning Histogram e Initial check box Graphs the dynamic range area distribution of the image s colors for the current image enhanced or not Thereafter each instance of a modified image is graphically superimposed layered in the histogram window if Initial remains ch
67. at are present in the image For example Ox7FF8 0111111111111000 binary 0x7F80 0111111110000000 binary The most significant bit is always zero because the data will always be unsigned The unused bits marked with x s above will normally be set to zero When you crop an area of interest in the Target image to work with in Enhance histograms pertain just to ithe cropped area Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 86 Equalize button Equalize manipulates the dynamic range of the colors in the image The choices in the drop down box are e None No equalization is applied to the image e Best Enhance attempts to do a best fit of the range of colors in the image based on shadows and highlights The bottom 3 of the range is defined as a shadow point while the top 3 of the range is defined as a highlight then all remaining values in between shadows and highlights are evenly distributed throughout the range e Linear All values are distributed equally throughout the range e Bell All values are distributed evenly around the center of the scale This produces a high contrast image but one with a more limited dynamic range than an image enhanced by Linear equalization e Logarithmic Favors skews the values toward the low end of the scale effectively making the image darker with greater contrast The dynamic range of the colors is compressed squash
68. ation The trigger reference and up to four synchronous channels are passed through the SIUA The trigger is detected and conditioned in the SIU4 and embedded in the Channel 1 usually port side scan signal The trigger input is AC coupled to sense the mean voltage level of the trigger signal and shift it to 0 V Any trigger pulse variance of 1 1 V or larger in either direction from the detected mean level will trigger a dual monostable multivibrator The first monostable controls the trigger holdoff blocking any further triggers until it has timed out at 10 us 25 us or 125 us This holdoff feature inhibits multiple triggering from the falling edge of the input trigger remnants of the sonar transmission cycle and immediate acoustic returns The second monostable sets the output trigger pulse width at 1 0 us A solid state switch is used to embed the 1 0 us output trigger in the channel 1 signal All trigger and channel inputs are diode protected to 6 0 V Solid state switches are also used to connect the appropriate series attenuation resistor for each channel based on its rotary switch setting The rotary switches are located under their respective channel output BNC The switch positions are labeled 0 to 9 and correspond to 096 to 9096 signal attenuation based on the 10 kO load The DSP C31 analog card presents a high impedance gt 1 MQ load so 10 kQ load resistors are fitted on the SIUA printed circuit board for this situation See 2 4 4 Se
69. ator is specified on a single variable the order of operation is multiply subtract divide add Example of math performed on a template token 10 G This instructs Isis to take the current value for Gyro divide it by ten and store it This is a useful routine because raw Gyro output is stored in integer form where all digits up to the rightmost digit represent whole degrees while the rightmost digit represents tenths of degrees If the stored integer is greater than 360 Isis will regard the number as out of bounds unless it is first translated by the foregoing routine to express the number as a combination of degrees and tenths of degrees Another example 57 2957795 h In the foregoing example the transmitted value is converted from radians to degrees and that result is assigned to the serial template token h which is towfish heading Another example 0 90 10 5 0 This operation computes Cable Out by taking 90 of the transmitted value adds 10 5 and assigns the result as Cable Out the serial template token o A final example 100 3 2808 o This instructs Isis to subtract 100 feet from the Cable Out value token o divide the result by 3 2808 and store it The number 3 2808 is a constant used to convert feet to meters In the above examples you just as easily could have used parentheses or brackets instead of braces Isis treats them the same Appendix D Serial Interfaces June 2004 Isis
70. ause Isis to reject any serial update that doesn t begin with a dollar sign character Informs Isis that northing and easting are actually latitude and longitude otherwise UTM As a result Isis will interpret this to be la NMEA string Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 50 Event When this word is received the number that follows the word Event is taken to be the next event number In Isis User s Manual Volume 1 refer to the sections Mark Event on page for setting events to Overlay on page for displaying event marks and to 5 6 Sending Isis Imagery to a Plotter Printer for information on annotating and printing events See also Table D 1 Replay When this word is received the number that follows the word Replay is taken to be the contact requested That contact will be recalled from mass storage if the appropriate volume is available See also Table D 1 CONIN Monitor serial port for contact REPLAY messages CONOUT Send contact logging messages to nav computer over serial port See also D 6 Transmit Data Format TELEMOUT When a contact is logged in the Target utility information about ithe contact is transmitted back over the serial port Note For information on using CTD data with your nav interface refer to Appendix G How Isis Processes CTD Data D 4 Special Ready Made Templates That Isis Can Use By default Isis
71. ave a more accurate value that you could enter here The second value is the offset to correct from psia absolute pressure to psig gauge pressure It is the value that will force the depth reading in the Isis parameter display to be zero when the towfish is on deck It should be around _ 9 8 m and will vary with local weather conditions average atmospheric pressure is equivalent to about 9 8 m of water Diagnostics Panel Two items are located in this panel Test mode and Transmit operator command Refer to the Klein 3000 manual for details before using these commands L5 Klein Digital Sonar System 5000 The Klein 5000 system interfaces to Isis via a 100 Mb s Ethernet connection As is the case with many sonar types a server program controls the Klein 5000 sonar For the Klein 5000 the executable is called K5000 exe It starts automatically when Klein 5000 is selected in Isis 1 5 1 Starting the Klein 5000 TPU When the Klein 5000 TPU Topside Processing Unit starts it first downloads a file called Vxworks from the Isis computer via an FTP connection That operation allows the TPU to boot The Windows component IIS Internet Information Services must be installed and configured on the Isis system to enable an FTP connection Under Windows NT 4 0 this service is called Internet Services manager Details of the exact method of installing and configuring these services both in Windows 2000 and Windows NT 4 0 can be found on the TEI CD ROM
72. ayUnits 554WORD 0 meters 1 feet 2 milliseconds TimeOffTrack 562DOUBLE Seconds time off track to the contact Appendix E Using the Target Utility June 2004 Isis Sonar User s Manual Volume 2 102 ContactGroundRange 566FLOAT Ground range to the contact unassigned 2 568 CHAR Unused InternalFileName 248 816 CHAR Internal use passing CON TGT file name from Target to Isis FishPitch 820FLOAT Pitch in degrees positive nose up FishRoll 824FLOAT Rollin degrees positive roll to stbd E 7 3 The Image Structure Bitmap bits BitmapWidth BitmapHeight BitsPerPixel 8 bytes Each 8 byte 0 255 for 8 bit data 32768 32767 for 16 bit data is related to sonar input voltage linearly from 0 5 volts or 5 5 volts respectively A zero is always a low return and the more negative or positive a value gets the stronger the acoustic echo E 7 4 Telemetry Structure Target also uses a structure called Telemetry Shown in Table E 8 the bit structure keeps track of the telemetry information for each ping The number of pings is equal to the height The total number of bytes for this entity is BitmapHeight sizeof telemetry With this data Target has detailed information about every pixel in the image Don t change the size of this structure or else you won t be able to play back old contacts Appendix E Using the Target Utility June 2004 Isis am
73. box 3 Because you will be drawing a square around your area of interest visualize a corner of the area of interest to you in the Target contact and put your insertion point there 4 Inthe larger original image in other words outside the Enhance dialog box press and hold the right trackball button 5 While continuing to hold and press the right trackball button use the trackball to move your insertion point to an imaginary corner opposite your current position 6 Release the right button The system outlines the area you have cropped with a white square This cropped image now occupies all of the thumbnail area in the Enhance dialog box You can now make one or more enhancements to the cropped image in Enhance To uncrop a cropped image appearing in Enhance Right click in the Target contact image The system displays a thumbnail of the entire Target contact image with or without enhancements in the Enhance dialog box E 6 Target s Window Menu You use Target s Window menu Figure E 11 on page 100 to resize the images in your Target windows and to reposition the windows themselves as desired Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 94 Tile Cascade Arrange Icons Reduce Image FN Expand Image F8 Threshold Pan Left LEFT Pan Right RIGHT Pan Up UP Pan Dow DOW v 1 Unsaved RS 90m Figure E 11 Target s Window menu and its submenus E 6 1
74. cameras to be used with Target Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 75 Set Contact Number When a contact is saved using the Save Contact command it is given an identifier and named based on that identifier The identifier is an integer that you can define with the Set Contact Number command Each time a new contact is saved the integer currently entered in the Next Contact Number field is used as the contact identifier and the Next Contact Number is incremented At any time during Target operation you can update this number Speed Correct Ramp Support When Speed Correct is on any logged contacts will be transferred to the Target utility with rectilinear images based on the towfish speed A check mark next to the Speed Correct command in the Edit menu indicates that Speed Correct is on Selecting Speed Correct again turns it off The default is off unchecked If you have Rapid Access Mission Profile support you can get RAMP files from this dialog box See RAMP Support Record Playback in the Isis amp Sonar User s Manual Volume 1 Select Cursor You can now choose among five different cursor types to use in Target Normal Arrow Cross hairs Bull s eye Gun Scope or Single Dot Startup with Min Max Min Max means the image is histogrammed in a certain way If say min max is set at four percent then the first four percent of the pix
75. can also be adjusted manually by checking the appropriate box Note More than one Isis system can be connected to the sonar via an Ethernet connection but only one system can control the sonar Other systems are slaves and should NOT have Enable MASTER sonar control checked For details about how these settings can affect the sonar data see your Klein 3000 manual 1 4 2 1 More Options in Isis Server for Klein 3000 dialog box Clicking More Options in the Isis Server for Klein 3000 dialog box expands the dialog box as shown in Figure I 5 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 136 Klein 3000 Advanced Settings X Isis Settings Compute Depth from Voltage Use Isis time rather than TPU time Volts 41 208 6 868 Depth m C Send KIn3000 Nav and Telemetry to Isis yeNEGHSSiwiO7a Reset Send only Telemetry to Isis p Diagnostics hestw o7av Reset To disable Klein s heading replace h with gt Test mode Test pattern Test Pattern 1 Towfish TPU settings Transmit operator command Speed of Sound E 500 0 m s Tow cable length Less than 1000r Send TPU Responder ctrl Ping rate EL TPU Responder freq 24 0 Altimeter Passive TYG Offsets Low Freq al gt D dB High Freq gt OB Figure I 5 Expanded More Options of Isis Server for Klein 3000 dialog box
76. ch Channel Output on isolated BNC e 2 each DC Power In Out on 3 5 mm stereo DIN Power e DC plug from Isis chassis supplying 5 VDC 20mA each Trigger In e Positive or Negative going e Duty Cycle lt 40 e Pulse Magnitude gt 1 1 V e 10 milliseconds gt Pulse Width gt 25 s e Trigger Holdoff 10 ms 25 ms or 125 ms jumper selectable e Blinking LED indicates Trigger Detect Trigger Out e Embedded in Channel 1 e Positive or Negative internal jumper at DC supply voltage level e Output Pulse Width 1 0 ms e Propagation Delay Trig In to Ch 1 Out lt 55 ms Signal In e Protection against inputs greater than 6 0 V Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 108 Signal Out e Q MIPS Flavor expects external 10 k load maximum output 6 0 V e Isis DSP C31 Flavor 10 KQ load on SIUA and SIUA 2 boards they expect high impedance load e Maximum output 6 0 V Adjustments e 4 each rotary 10 position switch for channel attenuation screwdriver actuated 0 to 90 signal attenuation in 10 increments Self Test SIUA 2 only e Switch is numbered 0 9 on switch position 9 a ramp waveform is generated for SIUA 2 and DSP testing Refer to Figure F 1 on page 117 for SIU4 2 cabling relationships Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 109 F 2 2 Theory of Oper
77. cial internal functions Table D 1 Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 56 Event n Table D 1 Special serial receive strings for Isis String Meaning of String Function Generates an event mark in Isis When followed by a number the user can specify the event number When the Event line is received alone Isis assigns ithe next available event number counting begins at ithe value specified in the file EVENT NUM which Isis checks at startup The event number is displayed in the Window Status and Control Sensors dialog box A red line will be displayed across the sonar data if enabled in View Overlay Note This string is not case sensitive NOTE followed by ASCII string up to 200 characters long This causes the following to happen 1 If plotting is active with annotation of notes the string is printed on the plotter 2 If saving in XTF format the string is saved into the XTF file 3 The string is displayed at the bottom of the Parameter display in the Note field Isis version 2 56 and later REPLAY n Causes Isis to instruct the Target utility to replay a contact For example REPLAY 45 when received over any active serial port causes Target to display contact 45 The template for the com port must be prepared with the token CONIN to enable Isis to monitor the serial port for contact in instructions Playback Mode only Appendix D S
78. ck EchoAlongP2 396WPOINT Defines the points of the echo and shadow across track and along track EchoAlongP1 Index 400 SHORT Defines the points of the echo land shadow across track and along track EchoAlongp2index 402 SHORT Defines the points of the echo land shadow across track and along track EchoAlongp1Crange 404 DOUBLE Defines the points of the echo land shadow across track and along track EchoAlongp2Crange 412DOUBLE Defines the points of the echo and shadow across track and along track ShadowAcrossP1 420WPOINT Defines the points of the echo and shadow across track and along track ShadowAcrossP2 424WPOINT Defines the points of the echo and shadow across track and along track ShadowAcrossP1index 428 SHORT Defines the points of the echo land shadow across track and along track ShadowAcrossP2index 430 SHORT Defines the points of the echo land shadow across track and along track ShadowAcrossP1Crange 432DOUBLE Defines the points of the echo and shadow across track and along track ShadowAcrossP2Crange 440DOUBLE Defines the points of the echo and shadow across track and along track NewPositionY 448DOUBLE Corrected position computed with the measure function Appendix E Using the Target Utility 100 June 2004 Isis amp Sonar User s Manual Volume 2 101 NewPositionX 456DOUBLE Corrected
79. ct the model of Reson sonar you are using Make your selection from the Seabat model drop down menu at the top right and specify the type of data connection you are using for transferring the bathymetry data Serial or Network Recall that if you are using a serial connection it is configured in the previous Seabat 81xx Setup dialog box The remaining settings in the Main Server window are simply remote versions of the local controls available from the Seabat topside For their function consult your Reson manual Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 157 L7 SIMRAD 992 Sonar This sonar interfaces to Isis as a normal analog sonar having four sonar channels and one trigger It connects to the SIU just like any other conventional analog sonar Use the hardcopy connector as the output from the 992 to Isis Do not use the analog hardcopy connector The hardcopy connector is a 25 way D type connector The connections are shown in Table l 5 Table l 5 Pin connections for a Simrad 992 analog sonar Pin Number Description Whatitconnectsto 1 Ground Ground 14 120Khz port to SIU channel 1 2 Ground Ground 15 120Khz port to SIU channel 2 3 Ground Ground 16 330Khz starboard to SIU channel 3 4 Ground Ground 17 330Khz starboard to SIU channel 4 5 Ground Ground 18 Sync TTL to SIU trigger Note These connections are not the same as the cable that is us
80. ctive areas of your data imagery that may be of special interest to you When Target takes a snapshot of an image Target also logs the quantitative data geocoding contact mensuration associated with the image Thus the image always has a context a link back to the original data imagery from which the image came You can then save these small images as files independent of the original data imagery You can then recall the image in Isis without having to play back the entire data imagery that contained the selected image or you can have Isis playback the image in the larger context of your data imagery in case you want to see the area surrounding the selected image E 1 Running Target You run Target in any of four ways shown next Choose a convenient method To run Target e Double click on the Target icon in the Triton group Microsoft Windows or e Choose Target from the Isis Tools menu or e Double click the left trackball button while imagery is scrolling in a Waterfall window clicking this way this also puts a contact in the Target working window at the same time or e In ROVFlight select a displayed contact selected contact is blue and click on the Recall Object in Target button However you start Target the system uses a default CFG file name of TARGET new name where new_name is the name of the local computer This allows the program to be run from a single network directory to many different workstations each w
81. dialog box where you can specify the class land rank of the currently displayed feature Classify x PREIS uan Contact C Target Class C 1 Debris 11 Custom C 2 Wreck C 12 Custom C 3Scour C 13 Custom C 4Rock C 14 Custom C 5 Pockmark C 15 Custom C BPossible Mine C 16 Custom C 7 Mine C 17 Custom C 8 Dummy Mine C 18 Custom C 9 Unknown C 19 Custom C 10 Moorings C 20 Custom OK Cancel Figure E 6 Classify dialog box The Rank can be Contact or Target Normally any feature that is logged is initially ranked as a Contact When a positive identification is made the Rank of the feature should be changed to Target The Class of a feature can be any one of 20 descriptors shown above If you tag a contact with a Class you can later recall your contact images on a Class basis using the Find command of Target Refer to Find for details on this function In addition to the ten canned classifications offered to you items 1 through 10 or the leftmost column you can create your own classifications by clicking on Edit Custom Classifications and providing your own classification name for as many as ten more classifications items 11 through 20 or the rightmost column Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 74 Units m ft ms Determines whether contact quantitative data are listed in meters feet or milliseconds The default is meters
82. e or mensurate it in three dimensions width across track length along track and height also along track A contact s width is always measured across track the abscissa vector its length is measured along track the ordinate vector The implication of this rule is that an object s narrowness or fatness does not necessarily translate as width or length when you are mensurating it For example if your contact is a ship lying across track in your imagery the ship s width is measured along the bow to stern direction That same ship s length is measured from its fattest distance usually amidships in the side to side direction port to starboard or starboard to port in this example If an object has any significant height it casts a shadow When a shadow is present Target can calculate an object s height from its shadow Look for the shadow to the outside of the contact The shadow is to the left of the contact for a port channel and to the right of the contact for a starboard channel A negative range in the Cursor box of the Contact Information window indicates a port side image and a positive range indicates a starboard side image A separation of the shadow from the contact indicates that the contact is moored in such a case Isis will calculate the moored altitude based on this separation Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 79 Isis takes a contact s measurements in th
83. e default value 41 208 is typical but your Klein 5000 manual might have a more accurate value that you could enter here The second value is the offset to correct from psia absolute pressure to psig gauge pressure It is the value that will force the depth reading in the Isis parameter display to be zero when the towfish is on deck It should be around 9 8 m and will vary with local weather conditions average atmospheric pressure is equivalent to about 9 8 m of water 1 5 2 3 3 Diagnostics Panel Two items are located in this panel Test mode and Transmit operator command Refer to the Klein 5000 manual for details before using these commands L6 Reson Seabat 81xx Sonar Selecting the Seabat 81xx option from the Select Sonar menu displays the dialog box shown in Figure l 10 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 Seabat 81xx Setup Seabat 81xx Sensor One Head Head 1 C Two Heads C Head 2 I Bathymetry v Side Sca Reverse mount r Seabat Port channel is Off C Port Stbd Serial Port NoT SET Setup Additional Latency o ms Log Snippet data J Automatically open Bathymetry Confidence window m Seabat Stbd channel is Off C Port C Stbd r Installation Offsets Head 1 Head 2 MRU Nay Positive value means xim 000 5505 0 000 0 000 right of ref point Y m Jooo 5009 fo 000 0 000 forward of
84. e following order width before length before height Isis uses these distances along with towfish position towfish attitude and sonar beam width to calculate the contact position and size Accordingly you mensurate your contact in width length height order To mensurate a contact s width 1 Position your trackball s pointer at the left or right edge of the contact 2 Hold down the left trackball button and rotate the trackball to draw a line across the contact s width across track Release the left button when you have completed the line 4 Target displays a magenta line spanning the contact s width Scd c Always measure the width of a contact before measuring the width of the contact Yy shadow g V JN To mensurate a contact s length 1 Position your trackball s pointer at the top or bottom edge of the contact 2 Hold down the left trackball button and rotate the trackball to draw a line through the contact s length along track Release the left button when you have completed the line 4 Target displays a magenta line spanning the contact s length To mensurate a contact s height when a shadow is present 1 Find the contact s shadow 2 Observe and position your trackball s pointer at the left or right edge of the shadow Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 80 3 Hold down the left trackball button and rotate the trackball to draw a line throu
85. e itself The SCSI bus should be terminated only at its extreme ends Isis can access SCSI devices as shown in Table C 1 Do not over terminate the SCSI bus Improper termination can cause the SCSI adapter to fail Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 26 Table C 1 SCSI designations and what they mean to Isis SCSI ID Drive Designation Device 0 C and D Hard drive 1 reserved none 2 reserved none 3 Y First Exabyte drive 4 Z Second Exabyte drive 5 E First M O drive 6 F Second M O drive 7 reserved for controller none C 2 Using Exabyte Tape Drives with Isis Isis supports all current models of Exabyte tape drives To complete the support the stand alone utility program EXABYTE EXE is distributed with every Isis system that uses an Exabyte tape drive The program may be used to copy files between hard disk and Exabyte tape drives To copy a file from one Exabyte tape drive to another using EXABYTE EXE it is necessary to first copy the file from tape to hard disk then from hard disk to the other tape If you have used software other than Isis to create a DAT or SEG Y file you can use the Exabyte utility to read or write copy the file However when using Isis software to write or read these file types keep in mind the limitations shown in Table C 2 Table C 2 Isis software s ability to write or read DAT and SEG Y files File Type Write It Read
86. e maximum speed is around 10 knots before along track resolution becomes less than 20 cm At the high resolution 10 cm setting the maximum speed is around 5 knots before the along track resolution becomes less than 10 cm See the Klein 5000 manual for more details 1 5 2 3 Advanced Setup and Diagnostics in Server for Klein 5000 The Isis Server for Klein 5000 dialog box also has an Advanced Setup and Diagnostics button Clicking it opens the Klein 5000 Advanced Settings dialog box Figure l 9 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 145 Klein 5000 Advanced Settings X m Advanced Settings Compute Depth from Voltage Use Isis time rather than TPU time Volts 41 208 6 868 Depth m C Send K5000 Nav and Telemetry to Isis y NEGh8S w 07av Reset Send only Telemetry to Isis m Diagnostics heatw o7ay Reset To disable Klein s heading replace h with J Test mode Test pattern Test Pattern 1 m Transmit operator command Speed of Sound E 500 0 m s TPU Responder ctrl Ping rate TPU Responder freq 24 0 sed Altimeter Passive bd Figure I 9 Klein 5000 Advanced Settings dialog box The items in the Klein 5000 Advanced Settings dialog box are grouped in three panels Advanced Settings Compute Depth from Voltage and Diagnostics These are explained next 1 5 2 3 1 Advanced Settings
87. e vert Accents the vertical edges and de emphasizes all other parts of the image Line vert Accentuates vertical lines and de emphasizes all other parts of the image Line horz Accentuates horizontal lines and de emphasizes all other parts of the image Line Both Accentuates vertical and horizontal lines and de emphasizes all other parts of the image Emboss Left Produces an image with an embossed look with light source from left side Emboss top Produces an image with an embossed look with light source from above Emboss diag Produces an image with an embossed look with light source from upper left corner Sculpt above Produces an image with a sculpted look with light source from above Sculpt left Produces an image with a sculpted look with light source from left side Sculpt diag Produces an image with a sculpted look with light source from upper left corner Sculpt metal Produces an image with a shiny metallic look Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 90 Audit Trail area Every time you make a proposed enhancement to your image the Enhance function records your action and displays it here as a line of text The line items are sequentially numbered to show you the order in which you entered your proposed enhancements e Undo All button This undoes all enhancements to the thumbnail image applied in this session Visually the thumbnail returns to i
88. eams per side no other associated control program needed EdgeTech PC31_32 EXE EG amp G 260 2 channel analog through SIU no 260 other associated control program needed EdgeTech DF1K_32 EXE EdgeTech ACI Processor for 272 T TD analog 272 ACI towfish control program EGG_ACI EXE EdgeTech DF1K_32 EXE EdgeTech DF 1000 Digital sidescan dual DF1000 DCU frequency digital input no other associated control program needed Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 126 EdgeTech DF1K 32 EXE EdgeTech DF 1000 Digital sidescan dual DF1000 DCI frequency digital input control program EGG DCI EXE EdgeTech BlackBoxSSS EXE EdgeTech Black Box control program Black Box EGG DCI EXE Benthos CONTROLS EXE Benthos SIS 1000 Chirp sidescan subbottom SIS 1000 mmap Server control program CONTROLS EXE Benthos CONTROLS EXE Benthos SIS 1500 Chirp sidescan mmap SIS 1500 Server control program CONTROLS EXE Benthos SIS3000 EXE Benthos SIS 3000 Chirp sidescan subbottom SIS 3000 mmap Server control program CONTROLS EXE Benthos SIS7000 EXE Benthos SIS 7000 Chirp sidescan subbottom SIS 7000 mmap Server control program CONTROLS EXE Osiris AUV AUVControl EXE Osiris AUV with EdgeTech Sidescan no other associated control program needed DTI Synthetic DTI2XTF EXE DTI Synthetic Aperture Sonar Processor no Aperture other associated contr
89. ecked If it is unchecked then the histogram just shows the latest enhancement performed Colors in the histogram can be red green and or blue e G green This represents the original color as loaded from disk before any processing enhancements are applied same as original column of histogram e R red This represents the image after all processing steps are applied e B blue When blue is present it represents the intersection of red and blue colors Therefore it defines the area of the image where original and processed colors completely overlap e To the right of the histogram are two columns labeled Original and Current Original means those values that are present in the original image before any processing occurs in Enhance ELT Current means those values that are present in the current image based on the enhancements performed so far on the thumbnail Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 85 Histogram Original and Current track four parameters CIrs Min Max and area continued Bits e Cirs These are the number of unique pixel values in the image e Min and Max These are the lowest and highest pixel values found in the image respectively See page 83 for a more detailed discussion of min max e Bits These are the number of bits of all of the data in the contact window logicalled OR d together and expressed in hexadecimal notation th
90. ed To view any Mag yaw or heave measurements within Isis Select Window Status and Control Sensors Figure H 1 shows a sample dialog box with MRU information in it Appendix H Using a Seatex MRU with Isis June 2004 Isis amp Sonar User s Manual Volume 2 Sensor Display i x Event Last Event 0 Sensors Mag X 0 0 Aux 1 0 0 Mag Y 0 0 Aux 2 0 0 Mag Z 0 0 Aux 3 0 0 Field 0 0 Aux 4 0 0 Gravity 0 0 Aux 5 0 0 Tide 0 0 Aux 6 0 0 Motion Reference Pitch 7 08 Yaw 0 0 Roll 5 37 Heave 0 0 Ship Position Lat 0 0 Gyro 205 20 Long 0 0 Speed 2 70kts CTD Raw Data Temperature Freq 0 00000 Hz Pressure Freq 0 00000 Hz Pressure Temp 0 000 C Conductivity Freq 0 00000 Hz Raw Turbidity 0 000 volts CTD Computed Data Water Temp 7 940 C Pressure 52 0541 psia Depth 35 75 meters Sound Velocity 1439 70 m s Conductivity 0 00800 Siemens m Turbidity 0 00 of daylight Figure H 1 The Sensor Display dialog box Appendix H Using a Seatex MRU with Isis 122 June 2004 Isis amp Sonar User s Manual Volume 2 123 The information in this box will be updated with each new sonar ping or bathymetric update H 4 If the MRU Has a One Way Serial Connection There may be instances where the serial connection from the MRU to Isis is one way This is necessary when a single MRU is talking to several computers simultaneously In this case Isi
91. ed e Exponential Favors skews the values toward the high end of the scale effectively making the image lighter with less contrast As with Logarithmic the dynamic range of the colors is compressed Invert Colors If checked all colors are reversed White becomes black black check box becomes white etc The primary colors red green and blue can be inverted independently of one another by putting a check mark in any of the R G or B box or boxes Min Max See page 83 for a discussion of min max effects slider bar Brightness Sliding the bar to the right brightens the image sliding it to the slider bar left darkens it When the bar is at the midpoint 0 the image has neutral brightness no change in brightness Range is 100 dimmest to 100 brightest Contrast Sliding the bar to the right increases the image s contrast sliding slider bar it to the left decreases it When the bar is at the midpoint 0 the image has neutral contrast no change in contrast Range is 100 least contrast to 100 most contrast Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 87 Gamma slider bar Gamma is a way of logarithmically compensating for low intensity pixels that may be present in some images Sliding the bar to the right increases the gamma index for the image maximum gamma 10 sliding it to the left decreases it minimum gamma 0 10
92. ed in the nav template for the fish position see lom in this table Causes Northing and Easting to be converted from feet to meters according to the equation N E 39 37 12 0 Gyro direction ship is pointing Hour Minute Julian day Latency in seconds age of the navigation at point when first serial character received fix Late seconds to subtract from transmitted time This template character now accepts nav latency in decimal form Receive time in milliseconds minus this value is posted in the XTF file s NavMillisecond_Clock field M Month N Northing or latitude if is included in the nav template for the fish position see lam in this table Oo capital Oh Next event number to use changing value forces event In sis User s Manual Volume 1 refer to the sections Mark Event on page 143 for setting events to Overlay on page 123 for displaying event marks and to 5 6 Sending Isis Imagery to a Plotter Printer starting on page 90 Isis User s Manual Volume 1 for information on annotating and printing events P Cable Tension Q Conductivity frequency CTD data o o0 Oc Go RO A mOj v mn riel IO Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 43 Seconds This can be a decimal number to include a fraction of a second Velocity East No
93. ed to connect from the analog hardcopy With respect to its operation in Isis the Simrad 992 sonar is quite similar to the Klein 595 described next In fact when configuring Isis for the Simrad 992 you can choose the Klein 595 button in the Select Sonar dialog box in Isis Isis treats them the same Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 Appendix I Working with Specific Sonars 158
94. edia However few people still use SEG Y tape any more most now use Exabyte tape Isis uses true SEG Y data format on Exabyte tape Except for the difference in the two tape media types our format is indeed true SEG Y Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 29 SEG Y requires a 3200 byte EBCDIC record followed by a 400 byte binary header at the beginning of the tape Each trace starts with a 240 byte trace header followed by the trace data The three headers are all documented in SEGYFMT H If you do not find this file on your Isis system you can download it from our FTP site no password needed The first 3200 bytes are written as a single block This block is followed by a 400 byte single block You must change block size to read the tape this is required by the SEG Y specification When trying to read SEG Y format if the read software does not change block size then it will fail to read the data Isis includes these blocks according to specification As stated elsewhere in this manual you can also use a modified SEG Y format on optical disks The disk format is modified because of the difference in the types of media Tape access is sequential flat file whereas disk access is random However the SEG Y specification only accommodates sequential flat file access so Triton Elics has modified the SEG Y format to work with disks Refer to Setting Up Tape to Record or Play
95. el intensities black to gray maybe are set to black The top four percent almost white to total white are set to highest intensity 255 or 65535 depending on whether the image is 8 or 16 bit Remaining intensities are linearly expanded to fill the range of 0 to max By default Startup with Min Max is checked This means that if an image is loaded which doesn t have an audit trail then min max is automatically set at four percent for that image and then displayed with that setting You can change the min max setting to a value between one and twenty percent by using the min max slidebar in the Enhance dialog box selected from Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 76 Target s main menu The value 0 means off E 4 Contact Logging Contacts are logged from within Isis by double clicking with the left trackball button on an image of the contact as viewed in a waterfall window A full resolution image of the contact along with critical geocoding information is transferred to the Target utility where you can save it with or without measuring it first See Contact Mensuration and Save F9 You can define the size of the transferred image through the Target Setup command in the Tools menu of Isis Ranges are 64 by 64 pixels up to 2048 by 2048 pixels The default size is 256 by 256 pixels E 4 1 Contact Information When a contact is transferred to Target a C
96. er versions 0158 projectionType 12 BYTE Not currently used all null chars 0 0170 spheriodType 2 BYTE Not currently used all null chars 0 0182 zone 2 USHORT Not used all zeros was UTM zone 0184 originLat 4 FLOAT Origin of the local coordinate system in decimal degrees for conversion from nav System 0188 originLong 4 FLOAT northings and eastings to Latitude and Longitude not currently used all zeros 0192 offsetLat 4 FLOAT ffset of the local coordinate system in 0196 offsetLong 4 FLOAT meters from origin not currently used all zeros 0200 navUnits 2 USHORT 0 3 units for nav data 0 meters 1 feet 2 yards 3 degrees Latitude amp Longitude feet and yards are not currently used Site Parameters 0202 diveNumber USHORT 0204 blockNumber USHORT I fields in this section are 0206 itrackNumber USHORT currently not in use They Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 12 0208 runNumber 2 SHORT are all set to O 0210 spare4 100 100 BYTE Annotation 0310 operatorAnnotation 100 BYTE Not currently used all null chars 0 0410 sonarName 40 BYTE Sonar name from SONARS DAT for Q MIPS Isis Analog Server for Isis Sonar Para
97. erial Interfaces June 2004 Isis Sonar User s Manual Volume 2 57 REQUEST_AMPc n m s This feature returns a string representing a sub sampled sidescan record This can be used to inspect the performance of the sonar when operated on a remote system for example an AUV The variables c n m and s mean c channel bit flags Bit O channel 1 bit 1 channel 2 etc n number of samples to return These will be evenly spaced across the record m mode A mode can have a value of 0 1 or 2 O return percentage of max possible signal 1 return percentage of max observed signal on ping channel 2 return raw digital values S skip number of center track samples to skip over when computing the max value used to determine percentage of max observed signal Example REQUEST AMP3 5 2 0 returns back over the same serial port a string like Chan 0 Min 0 Max 217 0 19 12 24 13 Chan 1 Min 0 Max 220 0 13 13 3 6 The Min and Max values are the extremes of the digital levels found on the given channels Sending REQUEST AMP3 0 0 0 will cause only the Min Max info to be sent REQUEST FREESPACE Causes Isis to transmit data back over the same serial port Data includes total disk space and remaining disk space on the storage volume currently in use REQUEST TEMPLATE Causes Isis to transmit the template string currently assigned to the given com port back over that com port This can be used by an exter
98. es June 2004 Isis Sonar User s Manual Volume 2 53 assumed to be in lat long degrees This token overrides this behavior and forces nav back to UTM SAVERAW This causes Isis to save the exact serial string to the current XTF file before processing in raw format SHIPPOS This tells Isis that the position coming in on the selected com port will be assigned to the ship position only This is useful when a navigation system is sending sensor position on one com port while a GPS receiver is reporting ship position on another com port If only one nav input is available do not use SHIPPOS All NMEA sentences are preceded by six characters The first three characters are XX where XX is the two letter code for the source of the navigation solution For example GPGPS LCLORAN C Isis ignores these first three characters As many as three more characters can follow the first three The next three characters after the first three characters in each string identify the specific NMEA sentence to follow All sentences are comma delimited and end with XX where XX is a checksum Isis and Q MIPS support five sentences shown next PKLA Serial output from Klein 2000 For further information on this feature consult the manufacturer s documentation EGTSP Serial output EG amp G DF1000 For further information on this feature consult the manufacturer s documentation Appendix D Serial Interfaces June 2004 Isis
99. etry data if the sonar is outfitted with the side scan option 0019 Bathymetry Check Bathymetry if you will be creating topographic images You can choose Bathymetry with or without also choosing Side Scan they are not mutually exclusive When Bathymetry is enabled you can also set up your Serial Ports Refer to Serial Port Setup for setup details Additional Latency If you choose Bathymetry you can also specify Additional Latency to your Bathymetry to compensate for the lag time measured from the moment the ping is emitted until its return is logged Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 150 Automatically open Put a check mark in this option to enable it When enabled an Bathymetry independent non docked window is displayed during your recording Confidence Window Session to quantify the water depth being reported by a beam number you specify This gives you a way of monitoring and comparing the actual water depth as being reported simultaneously by a single beam and multibeam sonar system Figure l 11 shows such a window where the parameters Beam no and Bias have not yet been specified Bias refers to the user specified offset of the two sonar systems Bathymetry Confidence 7 Water Depth Check BeamNof Nadir Wooo oo Altitude 0 0 Bias 0 0000 Store this beam in Aux Store in Aux Altitud Ignore beams past 45 0
100. etry to Isis template in this way will disable the heading information from the towfish heading sensor and enable you to use Isis s estimate of the towfish heading derived from navigation Course Made Good CMG In fact you can disable any of the Klein telemetry or navigation data in this way Refer to the section in the Isis manual that describes the meaning of the various navigation template tokens in Isis Speed of Sound Changes the default speed of sound used in the Klein 3000 TPU Tow cable Length Adjusts settings within the TPU for different lengths of tow cable see the Klein 3000 manual for details TPU responder ctrl Changes the method by which the Klein system determines the navigation responder ping rate See the Klein manual for details TPU responder freq Sets the towfish navigation responder frequency See the Klein manual for details Altimeter Determines whether the Altimeter transduscer in the Klein towfish is Active transmits and receives or Passive receives only See the Klein manual Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 138 TVG Offsets Adjusts the TVG curve in the Klein3000 towfish see the Klein 3000 manual for details Compute Depth from Voltage Panel There are two values here The first is the conversion from Voltage to Depth m for the pressure sensor in the Klein towfish The default value 41 208 is typical but your Klein 3000 manual might h
101. from subbottom sensor if provided in nav telemetry DSP Isis or from bottom detect on array processor Q MIPS 0048 triggerChannel 2 USHORT 1 4 Channel on which the sonar trigger is to be detected from QMIPS DAT 0050 altSource 2 USHORT Altitude source for water column removal and correction for slant range 0 telemetry 1 4 water column detection channel 5 manual entry by user set in QMI PS DAT or by user 0052 waterColumn 4 USHORT Number of samples in the water column as determined from altSource Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 16 0056 triggerPeriod 4 USHORT Number of samples in the trigger period determined from ping to ping by Q MIPS 0060 chl1 signalDivisor 2 USHORT Chan 1 signal divisor 100 Set to 1 for Isis For Q MIPS raw signed 12 bit digitized sample is divided by this and truncated to 8 bits for display The sign bit is dropped The default divisor of 8 fits the 11 bit unsigned value into an unsigned 8 bit value Value of 1 leaves the samples unchanged Towfis h Telemetry 0062 telemFishDepth 4 FLOAT 0066 telemFishHeading 4 FLOAT Magnetic heading of fish in Depth of sonar source below seal level in meters degrees 0070 telemFishPitch 4 FLOAT Fish pitch in degrees positive nose up 0074 telemFishRoll 4 FL
102. gh the contact s shadow across track 4 Release the left button when you have completed the line 5 Target displays a cyan line spanning the contact s shadow Note If your line for the shadow is magenta not cyan then Target has interpreted your shadow line as the contact s width That is because your width line and your shadow line overlap by an imaginary line in the vertical dimension You need to redraw the shadow line so that the width and shadow lines do not overlap he ee Ne i E Fp If no shadow is present you cannot measure the contact s height To remove lines in an unsaved mensurated contact 1 Double click with the left trackball button anywhere in the contact Each time you double click a line is removed 2 Continue to double click until all unwanted lines are removed This action also clears the information from the Contact Measure box of the contact information window A typical mensurated contact might look like the sample shown in Figure E 8 Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 81 width line shadow line Figure E 8 Mensuration lines on a contact image Whether or not you have mensurated the contact you can save the contact at any time by pressing the F9 key or selecting Save Contact from the File menu Contact files are not named or saved to the hard disk until Save Contact has been selected E 5 The Enhance Function In Enh
103. h object data type ContactNumber 10 DWORD OriginalSourceFileName 14 CHAR Qriginal DAT or SEG file name 256 PingNumber 270DWORD Ping number of center of target Channel 274WORD_ Channel number for logged contact TypeOfChannel 276WORD Subbottom port or starboard Pixellndex 278WORD Pixel number of the click point FixedVSOP 280FLOAT Fixed vertical size of pixel in cm Day 284BYTE X Annotation day Month 285BYTE Annotation month Year 286WORD Annotation year Hour 288BYTE Annotation hour Minute 289BYTE X Annotation minute Second 290BYTE X Annotation second hSecond 291BYTE X Annotation millisecond FishHeading 292FLOAT Attitude values at point where contact was digitized FishSpeed 296FLOAT Speed of tow fish in knots FishDepth 3OO0FLOAT Distance from sea surface to tow fish FishAlt 3OAFLOAT Distance from tow fish to seafloor OceanTide 308FLOAT Ocean tide in meters FishLayback 312FLOAT Distance over ground from ship to fish BeamWidth 316FLOAT 3dB beam width typically 50 degrees Pings Per Second 320FLOAT ContactSlantRange 324FLOAT lt 0 for port gt 0 for starboard SamplesPerChannel 328WORD Samples per channel in original Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 99 file wNavUnits 330WORD O0zmeters 3 degrees PositionY 332DOUBLELatitude or northing PositionX 340DOUBLELongitude or easting BitmapWidth 348WORD idth of b
104. half wave rectified 0 this 0534 ch3 halfWaveRectify 2 USHORT channel is not rectified set 0536 ch4_halfWaveRectify 2 USHORT t O for Isis 0538 ch1 tiltAngle 4 FLOAT Sonar transducer tilt angle 0542 c2 tiltAngle 4 FLOAT Bown mem honzentalin degrees from 0546 ch3 tiltAngle 4 FLOAT SONARS DAT Used in beam angle compensation 0550 ch4 tiltAngle 4 FLOAT Betaults to 30 for Isis 0554 ch1 beamWidth 3dB 4 FLOAT Sonar 3dB fan vertical beam width in degrees from 0558 ch2 beamWidth 3dB 4 FLOAT SONARS DAT Used in 0562 ch3_beamWidth_3dB 4 FLOAT beam angle compensation 0566 h4 beamWidth 3dB 4 FLOAT Qefaults to 50 for Isis 0570 ch1 realSampleRate 4 FLOAT 0574 ch2 realSampleRate 4 FLOAT Used in DSP only 0578 ch3 realSampleRate 4 FLOAT 0582 ch4 realSampleRate 4 FLOAT June 2004 Isis amp Sonar User s Manual Volume 2 14 Reserved Space Unused all zeros TFor storage only not used in any Q MIPS calculations Set to the value received from navigation system or digital towfish otherwise zero Table A 6 Q MIPS footer format description Offset Element Name Bytes Remarks Values Ranges Used p Units Examples etc Date and Time 0000 a 1 BYTE 1 31 day of the month 0001 month 1 BYTE E month of the EE 0002 ear 1 BYTE 0 99 year within the century 0003 hour 1 BYTE 0 23 hour of the day 24 hour time 0004 minute 1 BYTE 0 59 minute within the hour 0005 Seconds 1
105. he Klein 3000 the executable is called K3000 EXE It starts automatically when Klein 3000 is selected in Isis 1 4 1 Starting the Klein 3000 TPU For the Klein 3000 TPU Topside Processing Unit to start it needs to download a file called Vxworks from the Isis computer via an FTP connection The Windows component IIS Internet Information Services must be installed and configured on the Isis system to enable an FTP connection Under Windows NT 4 0 this service is called Internet Services manager Details of the exact method of installing and configuring these services both in Windows 2000 and Windows NT 4 0 can be found on the TEI CD ROM in this folder Information and Guides K5000_setup Klein5K_3K_setup rtf Once this setup has been completed correctly the Klein 3000 TPU will boot from the Isis system and Isis can be configured to work with the sonar 1 4 2 Configuring Isis for Klein 3000 Once the Klein 3000 TPU has booted you need to configure Isis so that it will work with the sonar To select the Klein 3000 sonar in Isis From the Isis main menu choose File Record Setup Choose Sonar Setup Choose Klein 3000 Click OK to each of the dialog boxes until you are back at the Isis main window gu 9 Io Click the Record button in Isis Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 134 The Klein 3000 server opens Figure l 3 ACHSE A34 lal xl File About M STANDBY
106. idges before they can be used If your data is backed up as indicated in the previous subsection you now are ready to reformat your M O with a high level format suitable for DOS and Windows You use the AFDISK utility to do this to both sides This will erase any data on the cartridge To high level format side 1 of a magneto optical cartridge 1 Exit Windows completely don t just shell out to DOS 2 Atthe DOS prompt go to the C ASPI directory where AFDISK EXE utility is located 3 Insert a new cartridge in the E or F drive 4 Type AFDISK and press Enter to run AFDISK 5 In AFDISK take the following steps to partition and label the cartridge a Use the arrow keys to highlight the SCSI ID of the drive which holds the cartridge to be partitioned This will be 5 for drive E or 6 for drive F Verify that the model number of the SCSI device that you choose is C1716T Once the drive is highlighted press Enter to select it Do NOT select SCSI ID 0 When formatting M O cartridges care must be taken not to erase the hard drive NEVER use the AFDISK EXE to access SCSI ID 0 If the media in the selected drive is unformatted AFDISK displays a message This disk is unformatted Press Esc to continue Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 33 If this message does not appear STOP The cartridge may already contain data Formatting or creating a partition will delete any p
107. ility to use this TRITON ELICS product even if TRITON ELICS has been advised of the possibility of such damages Because some states jurisdictions do not allow the exclusion or limitation of liability for consequential or incidental damages the above limitation may not apply to you U S GOVERNMENT RESTRICTED RIGHTS The SOFTWARE and documentation are provided with RESTRICTED RIGHTS Use duplication or disclosure by the Government is subject to restrictions as set forth in subparagraph c 1 and ii of the Rights in Technical Data and Computer Software clause at DFARS 252 227 7013 or subparagraphs c 1 and 2 of the Commercial Computer Software Restricted Rights at 48 CFR 52 227 19 as applicable Manufacturer is Triton Elics International Inc 125 Westridge Drive Watsonville CA 95076 If you acquired this product in the United States this Agreement is governed by the laws of California If this product was acquired outside the United States then local law may apply TRITON ELICS INTERNATIONAL SOFTWARE LICENSE AGREEMENT AND LIMITED WARRANTY Preface Using This Manual This book is the second part of a two part set from Triton Elics International Inc Isis User s Manual Volume 2 It contains supplementary information such as file format structure navigation templates and other infrequently accessed Isis information Isis User s Manual Volume 1 contains most of the most frequently accessed functions and informatio
108. in this folder Information and Guides Klein5K_3K_setup Once this setup has been completed correctly the Klein 5000 TPU boot and Isis can be configured to work with the sonar 1 5 2 Configuring Isis for Klein 5000 After the Klein 5000 TPU has booted you need to configure Isis so that it will work with the sonar Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 139 To select the Klein 5000 sonar in Isis 1 From the Isis main menu choose File Record Setup 2 Choose Sonar Setup 3 Choose Klein 5000 The system displays a dialog box asking you if you will be logging bathymetry This refers to the capability of certain Klein 5000 sonars to log interferometric bathymetry data Unless you have one of these special sonars answer No to this question 4 Click OK to each of the dialog boxes until you are back at the Isis main window 5 Click the Record button in Isis The Isis Server for Klein 5000 dialog box Figure l 6 opens Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 140 K J Isis Server for Klein 5000 E Lini xj Hange scale Pulse Resolution 192 168 0 81 Figure l 6 Initial unexpanded Isis Server for Klein 5000 dialog box If there is a problem connecting to the sonar a message like that of Figure l 7 displays Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual V
109. ith its own configuration file E 2 Target s File Menu You use Target s File menu Figure E 1 to manage contact files Table E 1 lists the functions Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 62 Target File Edit Enhance Window Help Set Working Directory ilii Unsaved RS 90m oO x Recall INSERT ERES ACRI X Eind F5 qui Pot j vel Find Next Shift F5 y n n MT SUUS F3 A F M y Save All pi Save Processed Image As Resave All Contacts Close All Delete from Disk Shift DEL Delete All from Disk Print ASCII Report Exit Figure E 1 File menu choices from Target s main menu Table E 1 File menu choices described Task Choice Meaning or Action Performed Set Working Use this to specify the directory in which Target will save Directory contacts and look for saved contacts to recall The definition of the specified directory only lasts for the current session In Playback Mode if you don t specify a directory Target uses the directory that contains the file you opened for playback In Record Mode Isis uses the currently active directory for storing contacts if you don t specify a working directory Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 63 Recall Opens and redisplays the saved images of contacts and INSERT targets along wi
110. ition of other data types Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 144 1 5 2 1 2 Miscellaneous Fields in More Options At the bottom of the expanded dialog box are three fields Triggers Beams to Display and Pings per second Each is explained next e Triggers This field keeps a running total of the number of triggers received from the sonar e Beams to Display The Klein 5000 sonar adjusts this number automatically depending on a number of variables including speed range scale and resolution The first number indicates the number of beams currently being displayed and saved The second number in brackets is the number of available beams The maximum number for both is 5 If a combination of the above variables calls for more than 5 beams the following message appears 5 Too fast 5 At this point side scan data coverage along track is not optimal Generally it will be necessary to slow down the vessel until the message disappears See the Klein 5000 manual for more detail on this subject e Pings per second This field displays the current sonar ping rate This number will increase with speed shorter ranges and higher resolution 1 5 2 2 Some Guidelines for Speed Range and Resolution The Klein 5000 is an advanced sidescan sonar that can maintain a constant along track resolution for a range of different vessel speeds At the normal resolution 20 cm setting th
111. itmap in pixels BitmapHeight 350WORD Height of bitmap in pixels Note that display height can be different than bitmap height wThreshold 352WORD Value stored from Isis wShift 354WORD Value stored from Isis Original data value shifted right by wShift value All remaining values that follow are specific to Target and aren t used in Isis ChannelRange LeftEdgeSample 356FLOAT 360WORD Range of this channel Sample index of the left side of ithe bitmap RightEdgeSample 362WORD Sample index of the right side of ithe bitmap EchoAcrossP1 364WPOINT Defines the points of the echo and shadow across track and along track EchoAcrossP2 368WPOINT Defines the points of the echo and shadow across track and along track EchoAcrossP1Index 372ISHORT Defines the points of the echo land shadow across track and along track EchoAcrossp2Index 3 4 SHORT Defines the points of the echo and shadow across track and along track EchoAcrossP1Crange 376DOUBLE Defines the points of the echo and shadow across track and along track EchoAcrossP2Crange 384 DOUBLE Defines the points of the echo Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 and shadow across track and along track EchoAlongP1 392WPOINT Defines the points of the echo and shadow across track and along tra
112. le ISIS CTD e Water temperature degrees C e Pressure psia e Conductivity Siemens per meter a Multiply Siemens per meter by 10 0 to get mmho cm lt r N e Velocity of sound in water 3 If saving data in SEG Y format the values are saved in the first and second channel s binary trace header as shown in the tables where first byte in header is byte 0 Table G 1 SeaBird s CTD SEG Y values in first channel s binary trace header long ConductivityFreq bytes 200 203 Siemens per meter 10000 long TemperatureFreq bytes 204 207 stored times 10000 long PressureFreq bytes 208 211 stored times 10 long PressureTemp bytes 212 215 stored times 100 short Turbidity bytes 216 217 Turbidity sensor in volts times 10000 Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 116 Table G 2 SeaBird s CTD SEG Y values in 2nd channel s binary trace header long Conductivity bytes 200 203 Conductivity Siemens per meter times 100000 long Temperature bytes 204 207 Temperature in degrees C times 1000 long Pressure bytes 208 211 Pressure in psia times 1000 long SoundVelocity bytes 212 215 Computed speed of sound times 100 See the file SEGYFMT H for more info on how Isis uses the SEG Y data format 4 If saving in Q MIPS format version 1 51 or later the values are saved as follows Table G 3 SeaBird s CTD SEG Y format values saved in Q MIPS foo
113. lt Ring Indicator Only pins 2 3 and 5 are needed for a complete interface All other pins are physically connected but not used by the Isis software Some serial communications devices use DB 25 connectors These may be connected to Isis with the installation of a DB 9 to DB 25 converter or similar cable which may be purchased at an electrical supply shop The serial cable should be connected to Isis with the power OFF D 2 Receive Data Format Because Isis can connect to many different navigation or telemetry systems a generic user definable method has been developed to allow easy integration of new interfaces Isis can accept and store a wide range of navigation and telemetry information Although both binary and ASCII data may be received over a serial port use of a user defined navigation template requires serial data to be received in ASCII Note All values transmitted over the serial port must be separated delimited by a non numeric character Numeric characters are included in the following set 0123456789 Here s what happens when Isis gets data from a serial interface 1 Isis receives a single transmission string from the serial port This string is terminated with any character or characters having an ASCII value of less than 14 This includes carriage return and line feed CR LF 2 Isis parses the serial transmission based on the alphanumeric combination of character
114. lue user defined displayed in Isis Sensors box 1 0190 shipLatitude DOUBLE Ship s latitude in decimal degrees 1 Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 21 0198 shipLongitude 8 DOUBLE Ship s longitude in decimal degrees 1 0206 pnavEasting 4 FLOAT Computed fish position in meters if navUnits are m When ithe navUnits are degrees the navEasting and navNorthing fields are combined into one double precision floating point value to hold navLatitude 0210 navNorthing 4 FLOAT 0214 cableTension 4 FLOAT Cable tension in from serial port 0218 conductivity 4 FLOAT CTD Conductivity frequency t 0222 navFishHeading 4 FLOAT For backward compatibility with S MIPS files only All zeros Not currently used 0226 navFishSpeed 4 FLOAT Fish speed in knots from nav telemetry or computed from navigation telemetry N and E velocities used in imagery display calculations If speed is not available from navigation telemetry navFishSpeed is set ito shipSpeed or calculated from point to point towfish position 0230 navShipGyro 4 FLOAT Ship s heading in degrees displayed on status monitor t 0234 auxVal4 4 FLOAT Auxiliary telemetry value user defined displayed in Isis Sensors box 1 0238 navLongitude 8 DOUBLE Computed fish position in decimal degrees if
115. lues are replicated e Bilinear This kind of zooming takes into consideration a 2x2 neighborhood of pixels about a point e Cubic This kind of zooming takes into consideration a 4x4 neighborhood of pixels about a point Apply to The current set of enhancements you did on the thumbnail large image image is applied to the image you loaded into Target button Undo large Undo large image undoes all enhancements to both the image thumbnail image and the Target contact image done in this button session However because Undo large image does not remove the unenhanced thumbnail image from the thumbnail viewing area you can use the current thumbnail image now cleared of enhancements as the template upon which you can impose a new set of enhancements Undo large image does not uncrop a cropped image right click in the Target contact image to do that Compare to Undo All earlier in this table Close Exits the Enhance utility but not the Target utility button Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 93 By cropping your Target contact you can work with a small part of your image just as easily as you can work with the whole image Enhance has a built in tool for doing that To crop a part of a Target image and preview it in Enhance 1 Click in the Target image to make Target your active window 2 From Target s main menu click on Enhance to open the Enhance dialog
116. lumn and Port for the SeaBat Port channel The SeaBat s center channel will also be represented in Isis by this setting of Port If you intend to aim your SeaBat more to the starboard so that the port beam of the SeaBat now points straight down e Choose Off for the SeaBat Port channel and Stbd for the SeaBat Starboard channel The SeaBat s center channel will also be represented in Isis by this setting of Stbd Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 152 Port Stbd channels continued Usually you aim the SeaBat with the center beam pointing straight down In this orientation the port beam coincides with the ship s port side and the starboard beam coincides with the ship s starboard The direction of each beam is unalterable with respect to the beam next to it However you can shift the point of aim of the set of all three beams together so that the trio points more to the port or more to the starboard By repositioning the SeaBat on its mounting plate you can achieve a more port skewed or starboard skewed aim Angling the beams in this way may help you optimize the scan pattern for your intended data survey Installation Offsets A ship usually navigates using a primary positioning system such as GPS Other devices on board ship use input from the positioning system as part of their own output If the devices such as a SeaBat or a motion reference unit M
117. m Latency ms Latency from sonar 0 Adjust by C Setto 4 gt 0 LatencytouseinIsis x Number of beams Pings per second Figure l 11 Bathymetry Confidence Check window Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 151 Side Scan Enable Side Scan if you seek to capture non topographic imagery You can choose Side Scan with or without also choosing Bathymetry they are not mutually exclusive If you enable Side Scan you can also specify the port and starboard channels as explained in Port Stbd channels Port Stbd channels Prior to recording Isis needs to know how your SeaBat is angled The SeaBat side scan outputs three beams all of which are operator selectable in side scan mode These beams correspond to port center and starboard directions as seen from the perspective of the SeaBat You use Side Scan in the SeaBat Setup dialog box to tell Isis which way s your SeaBat is angled Off Port or Stbd Port Stbd channels continued If you intend to aim your SeaBat straight down center beam perpendicular to a flat ocean floor e Choose Port for the SeaBat Port channel and Stbd for the SeaBat Starboard channel If you intend to aim your SeaBat more to the port so that the starboard beam of the SeaBat now points straight down e Choose Off for the SeaBat Starboard channel because it points in the water co
118. meters 0450 triggerDirection 2 USHORT Sonar trigger edge direction for Q MIPS 1 positive going 0 look for level 1 negative going from SONARS DAT or Record Mode set up not used by Isis 0452 triggerMagnitude 4 USHORT Sonar trigger threshold in A D units 2 4mV for Q MIPS from SONARS DAT or Record Mode set up not used by Isis 0456 riggerWidth 4 FLOAT Duration of sonar trigger in seconds for Q MIPS from SONARS DAT or Record Mode set up not used by Isis 0460 ch frequency 2 SHORT Sonar carrier frequency in 0462 h2 frequency 2 SHORT kHz from SONARS DAT for 0464 ch3 frequency 2 USHORT Q MIPS defaults to 100 for 0466 ch4 frequency 2 SHORT 55 0468 ch horizBeamAngle 4 FLOAT Sonar 3dB narrow beam Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 13 0529 reserved2 CHAR 0472 ch2 horizBeamAngle FLOAT width in degrees from SONARS DAT Used in 0476 X ch3 horizBeamAngle FLOAT imenstiratiain and zBaim 0480 ch4 horizBeamAngle FLOAT display correction not currently used by Isis Storage File Name 0484 thisFileName 45 45 CHAR Original path name of current destination file Unused the null character 0 More Sonar Parameters Appendix A Q MIPS File Format 0530 ch1_halfWaveRectify 2 USHORT 0532 ch2_halfWaveRectify 2 UsHORT P0clean 1 channel is
119. n in Figure E 3 E 3 Target s Edit Menu You use Target s Edit menu to do any of these tasks e Copy an image to the Clipboard e Annotate a contact image e Classify a contact e Specify the units to use when reporting metrics associated with the file e Specify whether a mensuration line that is about to be drawn shall be a width length or shadow e Set certain constants Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 72 e Set camera parameters e Set the starting contact number e Enable or disable speed correction e Establish RAMP support e Specify the shape and type of pointer cursor to use e Enable or disable startup with min max Table E 3 below explains the options in the Edit menu Task Choice Copy to Clipboard Table E 3 Edit menu choices Meaning or Action Performed Copies an image of your currently selected target to the Windows Clipboard Annotate F2 Displays a text box where you can add a note to describe or otherwise identify a contact description E x Enter text You can put up to 200 characters of text here to go with a contact When an annotated contact is displayed you can see the start of your text in the information window Press F2 to see it all Figure E 5 Annotation dialog box Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 73 Classify F3 Displays a
120. n relevant to the software Isis User s Manual Volume 2 complements Volume 1 Throughout this manual warnings hints and important statements are separated from the text italicized and denoted by the following symbols Denotes a warning or caution P Xp Denotes an important statement tip or hint Lj Skills You ll Need to Know Before Using Isis To use Isis you should know basic Windows concepts such as working with icons on the Windows desktop You can find this information in the Microsoft on line Help system built into the Windows systems Finally you should already be comfortable using the basics of Isis before delving into Volume 2 APPENDIX A Q MIPS FILE FORMAT A 1 GENERAL DESCRIPTION A 3 1 Eight Bit Data A 3 2 Sixteen Bit Data An NNa m APPENDIX B ISIS BAC AND GAC FILE FORMATS B 1 BAC FILE FORMAT B 2 GAC FILE FORMAT APPENDIX C MASS STORAGE OPTIONS C 1 SCSI BUS CONFIGURATION C 4 1 Different Sector Sizes Different Purposes C 4 2 Typical HP Cartridge Types C 4 3 1 Backing Up Your M O Data Before Reformatting C 4 3 2 Formatting the M O after Backing up Your M O s Data C 4 3 3 Restoring Your Backed Up Data after Reformatting C 4 3 4 Restarting Windows 95 after Restoring Your M O s Data APPENDIX D SERIAL INTERFACES D 1 CONNECTION 25 25 26 28 29 29 30 31 32 34 35 36 36 37 D 3 TEMPLATE CONSTRUCTION 38 D 3 1 Example of Template Construction 40 D 3 2 Values Allowed
121. nal computer to configure data packets for transmission to Isis SAVERAW Causes Isis to log the all data received over a serial port to the XTF file before parsing Record Mode only The transmitted strings are time stamped and placed in XTF HEADER RAW SERIAL packets Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 58 START_LOGGING Causes Isis to start logging sonar data in record filename mode Record mode must have already been started in DISPLAY ONLY mode When START_LOGGING is followed by a fully qualified path and file name Isis uses that name for saving Otherwise Isis generates its own file name START_PLOTTING Causes Isis to turn on the plotter The plotter must have been already specified in the File Print dialog box NMEAO0183 recognizes this too STOP LOGGING Causes Isis to stop logging and return to DISPLAY ONLY mode Record Mode only STOP PLOTTING Causes Isis to turn off plotting STOP PROGRAM If Isis is in Record Mode sending this string to Isis will cause Isis to stop recording and then exit This string is applicable to Windows 95 Windows NT Windows 2000 or XP operating systems STOP PROGRAM If you are running Isis in Record Mode in a SHUTDOWN Windows NT environment sending this string to Isis will cause Isis to stop recording exit and then power down the computer if the computer has auto shutdown capability This string is applicable to
122. nd the SIUA 2 As a first step in isolating the problem you can hook up the SIUA 2 in the configuration shown in Figure F 1 Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 to DSP board on Isis chassis BNC T connector 4 channel I O cable 4 attenuation switches 10 positions 0 9 on each switch Figure F 1 SIU4 2 test setup diagram 112 Selecting attenuation switch position 9 on any channel of the SIU4 2 generates a ramp signal When this signal is sent through the trigger input the SIUA 2 generates a trigger pulse on channel 1 output The Isis system and software needs this signal to do any recording To test all four channels Set all four attenuation switches to 9 the highest setting Connect the trigger and trigger cable as shown above in Figure F 1 Connect the four channel I O cable to each of the SIUA 2 output channels and to the DSP board on the Isis chassis Use either of the inputs on the DSP board labeled DSP1 or DSP2 4 Inthe Isis software put the system in Record mode Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 113 5 Inthe Isis software you can view the waveform signal in a voltage window From the main menu choose Windowsignal Voltage Figure F 2 shows an example of this kind of test where four channels were selected and tested Note Observe that the left most channel channel 1
123. ng on how they are interpreted In Table A 5 on page 9 and Table A 6 on page 16 which describe the complete header and footer formats respectively one column indicates the type for each field The Q MIPS format data are stored according to the Intel processor scheme for representation of numbers in memory This is described below If a number is represented by N bytes from most significant MSB Byte N 1 to least significant LSB Byte 0 and N x 8 bits from bit N x 8 1 MSB to bit O LSB the stored bytes are found in the order described below The bits within each byte are always in order from most significant bit 7 to least significant bit 0 All Intel 80x86 chips are Little Endian Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 1 Byte Character Byte 0 7 0 2 Byte Integer LSB MSB 7 0 15 8 4 Byte Number Integer or Floating Point LSB Byte 1 Byte 2 MSB 70 15 8 23 16 31 24 8 Byte Number Integer or Floating Point LSB Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 MSB 70 15 8 23 16 31 24 39 32 47 40 55 48 63 56 Integer numbers are organized exactly as above where each bit has a unique significance equal to two raised to the power equal to the number of the bit position Floating point numbers are represented according to the
124. ntact currently having the active focus the Relative to Highlighted contact in Target or if the Specified location radio button is enabled specify a location based on latitude and longitude that you supply in the latitude and longitude text boxes Maximum Radius Target will search for contacts within a specified radius of the text area contact currently having the active focus A radius of 0 0 will prompt Target to consider contacts at any distance from the current contact Rank Ask Target to search for contacts targets or both check boxes Class Specify which classes of contacts or targets that Target will check boxes consider in the search All On or When clicked these buttons turn on or off all the classes listed All Off in the Class panel Find First Have Target to load the first contact matching the specified button criteria that it finds Once the first contact is loaded close the Find dialog box and load additional contacts matching the criteria with the Find Next command Find All Have Target to load all contacts matching the specified button criteria End Close the Find dialog box button Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 69 E 2 2 Print ASCII Report Target s Print ASCII Report command gives you a way to save contact information in plain text format of all currently active contacts The saved information
125. o this token D 3 2 2 Examples of Character Alignment Given the hypothetical template string falign 3 8 and the hypothetical input string 9A946 35 Isis parses the aforementioned sample string by applying the align n template as follows 1 Isis sets the processing point after the third character in the input string In this case the current processing points to the 4 character 2 Isis assigns 46 35 to the 8 token pitch See Table D 2 for rules that apply to this token D 3 3 Performing Math on Template Tokens You can use any of the four basic mathematical operators with your template tokens addition operator add to next value subtraction operator subtract from next value r multiplication operator multiply by next value division operator divide by next value You construct an expression according to the following syntax OperatorValue Token e Operator is one of the operators cited above Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 48 e Value is a numerical value or constant that will be applied to Token e Token is any token cited in Values Allowed Over Serial Interfaces and Stored by Isis Note Operator and Value must be contiguous without intervening spaces and the operator value pair must be contained within delimiters of braces parentheses or brackets Token must immediately follow the closing delimiter without a space If more than one math oper
126. ol program needed Deep Tow BlackBoxSSS EXE EdgeTech Black Box control program SSM SM2000 EXE Imagenex PC31 32 EXE Imagenex Model 858 Sidescan no other 858 associated control program needed Generic IGEN EXE Generic server using memory mapped file for MemMap ata transfer no other associated control Server program needed Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 127 L1 EdgeTech DF1000 Digital Sonars If you will be using an EdgeTech DF1000 DCU or DF1000 DCI digital sonar with Isis Isis displays screens that are unique to setting up these sonars To select an EdgeTech DF1000 sonar to use with Isis 1 From the Isis main menu choose File Record Setup The system displays the Select Sonar dialog box 2 Inthe Select Sonar dialog box choose either e EdgeTech DF1000 DCU or e EdgeTech DF1000 DCI When you select either of these two sonars from the Select Sonar dialog box Isis first displays a screen labeled Important note about DF 1000 Figure l 1 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 128 Important note about DF 1000 mH 1 x BE ADVISED The interface to the DF 1000 DCU and DCI has been updated The following jumpers must be set in order for the digital connection to work corectly DCU Open the Edgetech deck unit and verify the following jumper settings JP15 CONT this was changed JP17 IRQ JP16 DRO
127. ola based MIPS based or SPARC based platforms A 3 Imagery Data Regardless of how many samples are collected per channel per ping the data are decimated or replicated to be stored at 1024 pixels per channel per ping by Q MIPS or the user specified number of pings by Isis For a discussion of available decimation methods refer to the description of the ch1_sampleScheme field under the heading Channel 1 Sonar Parameters in Table A 6 on page 16 Isis can save both 8 bit and 16 bit data in Q MIPS format A 3 1 Eight Bit Data Each sample is an unsigned 8 bit value with a range of 0 255 Assuming that the DSP card in Isis still has a factory jumper setting configuration the input range is 5 volts During the conversion from 16 bit to 8 bit the sign bit is omitted So 0 255 represents a voltage range of 0 5 volts or 0 5 volts depending on the original input signal Note that for side scan the important quality to log is the magnitude of the signal from zero not the actual signed voltage A 3 2 Sixteen Bit Data The A D converter on the Isis DSP card samples at 18 bits with the 16 most significant bits being available for storage With 16 bits being saved the entire sample is logged Each sample is a signed value Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 16 bits represent 32768 to 32767 This corresponds to an input voltage range of 5 to 5 volts To convert a sample from the Q MIPS file
128. olume 2 141 Figure l 7 Typical message if Isis Klein 3000 5000 can t connect Note Assuming that the sonar is attached and running the network connection and Isis computer IP address can be assumed to be good otherwise the sonar would have been unable to download the file Vxworks described previously and would have failed to boot The most likely cause is an incorrect server IP address Check the label attached to the Klein TPU and make sure that the IP address set in the server Sonar IP address is correct 6 Uncheck the Standby checkbox The Isis waterfall should start scrolling showing the Isis ping number and towfish telemetry data being updated during the scroll Checking the box Enable MASTER sonar control enables control of the sonar so that the sonar range pulse length resolution and despeckle filter can be adjusted In normal operation the speed should come from the sonar however the speed can also be adjusted manually by checking the appropriate box Note More than one Isis system can be connected to the sonar via an Ethernet connection but only one system can control the sonar Other systems are slaves and should NOT have Enable MASTER sonar control checked For details about how these settings can affect the sonar data see your Klein 5000 manual 1 5 2 1 More Options in Isis Server for Klein 5000 dialog box Clicking More Options in the Isis Server for Klein 5000 dialog box expands the dialog box as shown
129. om Hydrographic Systems Inc e ADS 640 GSP 1086 EPC 9082 EPC Labs Inc e Sentinel Scribe Rainbow Technologies North America Inc e mach64 ATI Technologies Inc e HYPACK Coastal Oceanographics Inc e International Business Machines e 1200C DesignJet 650C Hewlett Packard e 1086 8300 980x plotters EPC e TDU 1200 850 2000 plotters Raytheon e 195 same as Dowty 195 Ultra 195 and Ultra 200 Waverley e InstallShield InstallShield Corporation All other brand or product names mentioned in this manual are trademarks or registered trademarks of their respective companies or organizations Safety Precautions mentioned below In addition observe all safety precautions i Please adhere to the hardware and software precautions mentioned in this manual When working with the overall system 1 Before handling components inside your computer system exit all applications and shut down the operating system in accordance with procedures applicable to them 2 Turn off the power to the computer and disconnect all cables that may be feeding electrical power to the system you will be working on 3 Wear a grounded anti static wrist strap This is especially important if you are removing replacing or installing a printed circuit board of any kind Failure to adhere to these and other safety precautions mentioned in the manual could result in harm to property or personnel When working with magneto optical cartridge disks e Please
130. ontact Information window is displayed Some of this information is transferred directly from Isis and some is calculated within Target Figure E 7 shows a typical Contact Information window with a contact s statistics Information Contact 1 x r Towfish Cursor j Range 90 0m F CAMSISDATAMAIRPLANE 16 BITS PER Speed 2 63 kts Lat 47 6759673 Date 07 JUL 2000 Altitude 11 91m Long 122 2413945 Time 14 41 04 Depth 0 00m KP 0 000 Ping 1467 Heading 192 50 Gnd Range 26 25m Class 11 Glub Glub Beam 1 0 Slant Range 28 83m Chord Contact Measure r aa Width 0 00m Gnd Range 0 00m Moored altitude 0 00m Length N A Fish Speed 2 75 kts Pings on contact 0 Height 0 00m Water Depth 12 1m Beam Width at Rng 0 21m r Contact Position Rotation w 0 0 I 0 0 Lat 0 0000000 Width adjusted by 0 00m Long 0 0000000 Length adjusted by 0 00m p Annotation Figure E 7 Contact Information window for a sample contact Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 77 Table E 4 explains the parameters for the Contact information window Table E 4 Contact information parameters Towfish Towfish attitude information for the ping associated with ithe center of the contact This information is used by Isis in geocoding and contact mensuration Cursor The last requested cursor position within the contact image
131. ormatted partitioned AFDISK will say it cannot proceed Continue with To high level format side 1 of a magneto optical cartridge on page 32 C 4 3 3 Restoring Your Backed Up Data after Reformatting Your reformatted M O is now ready to receive the data you backed up Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 35 To restore your backed up data to the newly formatted M O e Copy your files from the D drive back to your newly formatted M O cartridge on E C 4 3 4 Restarting Windows 95 after Restoring Your M O s Data If you have restored your data to your M O you are now ready to resume using it with Windows 95 To make Windows 95 see your M O if it has 1024 bytes per sector e Recstart Windows 95 by typing WIN D F This will permit Win 95 to recognize your low level formatted M O disk that has 1024 bytes sector As previously noted reading the 1024 bytes sector M O will be slow about 1096 normal Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 36 Appendix D Serial Interfaces As noted in Chapter 3 Using the File Menu sis User s Manual Volume 1 Isis Supports up to 16 serial com ports many of which can be used to feed navigation information to Isis from external devices that can transmit over serial ports You can manage the output of an external device s transmission by writing your own serial interface string and using it as a template for
132. p Sonar User s Manual Volume 2 103 Table E 8 The TELEMETRY structure for a TGT or CON file Structure s Element Bytes Data Remarks Values Ranges Name offset Type Examples etc total bytes used for this structure 89 Day 0 UCHAR Annotation day Month 1 UCHAR Annotation month Hour 2 UCHAR Annotation hour Minute 3 UCHAR Annotation minute Second 4 UCHAR Annotation second Hsec 5 UCHAR Annotation millisecond NavHour 6 UCHAR Hour from Nav clock NavMinute 7 UCHAR Minute from Nav clock NavSecond 8 UCHAR Second from Nav clock Year 9 WORD Vear from Nav clock Ycoord 11 DOUBLE Northing or Latitude Xcoord 19 DOUBLE Easting or Longitude FishSpeed 27 FLOAT Speed of tow fish in knots FishHeading 31 FLOAT Fish heading in degrees FishLayback 35 FLOAT Distance over ground from ship to FishDepth 39 FLOAT Distance from sea surface to tow OceanTide 43 FLOAT Denn tide in meters FishAlt 47 FLOAT Distance from tow fish to seafloor PingNumber 51 ULONG EventNumber 55 SHORT Usually assigned to contact by outside source Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 104 Range 57 FLOAT Range scale of the ping DelayRecording 61 DOUBLE n ms time from transmit to beginning of the first pixel TelemFishPitch 69 FLOAT Roll in degrees positive 7 roll to stbd TelemFishRoll 73 FLOAT Pitch in degrees
133. parallel cable connecting to the Isis DSP The parallel cable passes straight through just like with the DCI board which provides an interface to the EdgeTech DF1000 towfish The software consists of three files EGG ACI EXE Control program which communicates over the serial cable ACI OUT DSP program which is loaded into the Isis DSP DF1K_32 EXE Server program This is the same as used for the DCI board When the ACI board is selected in Record Mode the appropriate files are automatically set up 1 1 2 EdgeTech DF1000 Usage Notes 1 The control program allows the user to select between 100 kHz and 400 kHz The current frequency is displayed above the waterfall window in record mode When the data are saved as XTF the frequency is also saved and displayed on playback 2 When Trigger is de selected in the ACI board control program the waterfall window continues to scroll in Isis but with empty data This is by the design of the ACI board J2 is the 10 pin serial header for the Isis serial connection The cable used for this connection should be a straight through serial cable no null modem required Settings for other jumpers are shown in Table l 2 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 131 Table l 2 ACI Board board rev 2 Jumpers Settings JP3 closed 8 MHz JP11 left two JP13 left two JP14 right two RD closed DRQ closed all others open
134. pe LABEL E or F to assign a volume label to this side of the cartridge To high level format side 2 of a magneto optical cartridge 1 Ejectthe cartridge you just formatted 2 Turn it over and insert it again 3 Run AFDISK again from the DOS prompt Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 34 4 Repeat steps 7 through 15 of the procedure To high level format side 1 of a magneto optical cartridge Partitioned cartridges inserted into the HP drives function as DOS logical drives All DOS and Q MIPS commands function normally on rewritable cartridges Write once cartridges however cannot be erased functionally once they have been written To partition a new MO using AFDISK EXE with NT 1 Download a file from our FTP site called EBD 95 ZIP 2 Unzipitto a floppy 3 With the floppy in the drive make the floppy bootable by typing this command from any DOS or Win95 machine SYS C A 4 Shutdown the NT machine that is equipped with the MO drive or drives 5 Putthe floppy in the NT machine restart it and allow the machine to reboot from the floppy 6 Putanew never before formatted or partitioned MO cartridge in your MO drive 7 Atthe a prompt type AFDISK and press Enter 8 Select the MO drive you want to partition If your MO cartridge is new unformatted you will get the message This disk is not formatted If your MO cartridge is not new has already been f
135. position computed with the measure function ComputedLength 464DOUBLE Along track ComputedWidth 472IDOUBLE Across track ComputedHeight 480DOUBLE Computed height of object labove the seabed ComputedDepth 488DOUBLE Depth computed from latitude and pressure ComputedMooredAltitude 496DOUBLE Altitude of object from bottom NumPingsOnContact 504WORD Total pings for contact ContactIndex 506DWORD Index into the contacts bin file ExpandFactor 510SHORT How much to enlarge the image in a multiple document interface window ExpandCenterX 512WORD Center of the expand X ExpandCenterY 514WORD Center of the expand Y AssignedPositionX 516DOUBLE Assigned position used to set contact pos from RovFlite AssignedPositionY 524DOUBLE Assigned position used to set contact pos from RovFlite KP 532FLOAT Kilometers of pipe wBitsPerPixel 538WORD How many bits 8 or 16 LastClickPoint 542WPOINT Preserves where the user last clicked for updating the Cursor section of the info dialog box CorrectedChannelFlags 546DWORD If bit O is set to 1 channel O has already been slant range corrected ChannelBoundaryOffset 548WORD Used to track a bitmap crossing a channel boundary RampFileUsed 550WORD 0 not used 1 fish 2 ship ContactType 552WORD 0 normal sonar image 1 polygon points 2 ESC image Displ
136. positive nose up KP 77 FLOAT Kilometers of pipe SecondsPerPing 81 DOUBLE Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 105 Appendix F Working with Signal Interfaces Isis works with more than one type of signal interface unit SIU This interface simply called an SIU interface in this section is an external module to Q MIPS and Isis As such the SIU acts as a conduit between the detected analog side scan sonar sub bottom profiler boomer or tape playback signal and the Q MIPS or Isis analog input The latest type of signal interface unit is the SIUS It was preceded by is the SIU4 2 and SIU4 models Other prominent interfaces addressed in this section are the interfaces for the Simrad 992 the Klein 595 and the Klein System 2000 digital sonars F 1 Signal Interface Unit 5 SIUS The SIUS and its cables are depicted in Figure F 1 Ch port 100 Ch2 stbd 100 Ch3 port 100 Ch4 stbd 500 Ch5 SBP Trigger input Test signal switch SIU power from Isis processor Figure F 1 SIU5 interface box and cables Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 106 The back bottom of the SIU5 has a diagram of the box s functions shown in Figure F 2 The channel points trigger port signal cable port and power port are all receptacles for cables that attach the SIU5 to your PC and to your sonar Ch 1 Ch 2 Ch 3
137. ref pt Zim ooo0 i000 o000 0 000 sensor below water line Yaw 0 000 5505 0 000 0 000 sensor tum to the right Pitch o 000 0 000 o000 sensor nose pointed up Roll o000 oo00 o000 sensor rolled to stbd Height of reference point above water line Bi j olo eo e Figure I 10 SeaBat 81xx Setup dialog box Appendix I Working with Specific Sonars 148 June 2004 Isis amp Sonar User s Manual Volume 2 149 The settings in the Seabat 81xx dialog box determine whether you are collecting bathymetry and or sidescan sonar data Make the appropriate selection using the Bathymetry and Side Scan check boxes If you are transferring the bathymetry data via a serial connection use the Serial port Setup button to configure the port settings You should also check Log snippet data if your sonar has this option and you intend to transfer this data over a serial connection As shown in the SeaBat Setup dialog box you can specify several parameters Table l 4 Area or Option Table l 4 SeaBat Setup dialog box Meaning and Comments SeaBat Isis can work with either a one head model SeaBat such as the One Head model 9001 or a two head model such as the model 9002 Choose Two Heads a model Sensor If you have a SeaBat model 9002 you can choose Head 1 or Head Head 1 2 Head 2 is dimmed out unselectable if you have a model 9001 Head 2 Note Model 9001 will only output bathym
138. reviously saved data a Press Esc The system notifies you of the formatting options AFDISK allows users the option of a floppy format or a hard disk format for the medium selected Hit the F1 key for more information on disk formats Press lt Esc gt to continue b Press Esc to display the formatting options c Use the arrow keys to select Standard Hard Disk Format and press Enter to select this option AFDISK will display a message asking you to wait while the disk is formatted This will take about ten seconds e When the formatting is completed logical drive information will be displayed in the lower left corner of the display and a partition table for the cartridge will be displayed in the upper right hand corner of the display d Verify that no partitions exist the partition table is empty e fthe partition table is not empty you are attempting to partition a cartridge side that has already been partitioned STOP The cartridge may contain data that will be lost if you modify the partition table e Ifthe partition table is empty press the Insert key to create a partition e Press Enter to accept the full capacity of one side of the cartridge as the partition size f Press Enter to create the partition g Press Esc to quit AFDISK AFDISK will ask you to re start the computer by pressing Ctrl Alt Del Do this and wait for the system to go through its start up routine h Atthe DOS prompt ty
139. rforms an exponential decay smoothing h Heave When processing multibeam data distance below the sea surface is computed to be depth offset sensor depth heave i Changed every occurrence of the letters E or e to a blank space Useful in causing Isis to ignore scientific notation KLEIN595 Makes Isis aware of strings coming from a Klein 595 sonar le Electronics bottle leak detector lam Serial template to parse fish latitude stored with separate degrees and minutes Example S 44 38 231 W 121 17 455 The template to parse this is lam N lom E where N is the token for ithe fish position log If 0 is sent over serial port causes switch to display only If 1 is sent data are logged logn Behaves like log except that when a 1 is sent it will be Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 45 followed by a file name to be used for the file name switch input_string lom Serial template to parse fish longitude stored with separate degrees and minutes Example S 44 38 231 W 121 17 455 The template to parse this is lam N lom E where E is the token for ithe fish position lp Power bottle leak detector ms Ship speed in m s Converted to knots by multiplying by 1 9438445 m Conductivity in MMHO cm Converted to Siemens meter by dividing by 10 0 pattern sis finds any pattern of char
140. rt Control Program box is already checked for you in the Sonar Information dialog box This is the only way this sonar can operate with Isis Isis then displays the EdgeTech DF 1000 DCI Control dialog box Figure l 2 after you click OK in the Sidescan Sonar Information dialog box EdgeTech DF 1000 DCI Control a el xj File Com Port About Transmit Depth Sensor Offset Zeroize Depth Now Range Scale Active frequencies Current offset 0 000m C 25m 200m 100 kHz C 50m 300m 500 kHz User terminal mit cmd to sonar C 75m C 400m Send e 100m 600m T1 data link active C 150m C 1000m v Towfish has depth sensor m Responder Period Off Sending packet 70 out port 0 COM PORT NOT SET C 500 ms R100 1F PO 5F VN TF C 1000 ms Received from Sonar 2000 ms C 4000 ms Figure l 2 EdgeTech DF 1000 DCI Control dialog box Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 130 1 1 1 Summary Description of an EdgeTech ACI Board The current version of Isis includes support for the EdgeTech ACI board This board has these properties e It s an ISA board which takes power only from the ISA bus e It interfaces to the EdgeTech 272 towfish e It allows two channels of digital data 100 kHz 400 kHz e It has two internal cables gt Serial cable 4800 baud connecting to an Isis serial port
141. s 3 lsis assigns each number in the string to the respective field described by the Serial Template described next Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 38 D 3 Template Construction For each com port and its associated serial device that will be communicating with Isis you can use a ready made template or create your own to be used as the interface To select or create a template in Isis 1 From the File menu select Record Setup then Serial Ports 2 Choose a com port to be used with a given serial device you have in mind 3 Enable status by clicking in the Status box A check mark will be visible in the On box when status is enabled 4 Either e Refer to the buttons displaying ready made server software types NMEA0183 TSS Seatex MRU SeaBat 1 SeaBat 2 choose one to be your template and choose OK or e Create your own in the Navigation Telemetry text box provided and choose OK A sample user defined template appears in Figure D 1 Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 Serial Port Setup m Serial Port Comi C Com2 C Com3 C Com4 C Com5 C Com6 C Com C Com8 C Com3 C Com10 C Com11 Com12 C Com13C Comi4 C Com15 Com16 r Status 4 v On r Part Settings Baud Rate s v Data Bits B x Parity NONE v Stop Bits h xz Navigation T elemetry Template SeaBat tt1 NMEA 0183 TSS Se
142. s This appendix explains the BAC and GAC formats B 1 BACFile Format You can create a BAC file from transducer beam patterns or Q MIPS or Isis can create it by using theoretical or empirical beam patterns Although these files generally have the BAC Beam Angle Compensation extension they reflect the measured or inferred beam pattern of the sonar rather than the compensation that will be applied In this way Q MIPS and Isis need not be concerned with the origin of a BAC that is applied All BAC files are ASCII and consist of paired signal intensity values in decibels for each degree off vertical A sample beam pattern SM28 BAC file is shown in Figure B 1 Beam patterns in dB angle off vertical port starboard 22 183 21 703 Max level bias in dB port amp starboard 131 number of angle bins 012 858 12 166 angle off vertical port dB starboard dB 112 858 12 166 212 858 12 166 312 858 12 166 412 858 12 166 1290 552 0 599 1300 000 0 000 angle off vertical port dB starboard dB Figure B 1 Sample BAC beam pattern file Appendix B Isis BAC and GAC File Formats June 2004 Isis Sonar User s Manual Volume 2 24 B 2 GAC File Format Q MIPS or Isis can create Grazing Angle Compensation files either theoretically or empirically The GAC files are ASCII and consist of paired multiplicative corrections for each degree of grazing angle from 0 far range to 45 A sample GAC file
143. s and must not contain any space characters Values are decoded as METERS except where noted For Isis to interpret northings and eastings as feet the template entries must include an upper case F le pc ze E D 3 2 Values Allowed Over Serial Interfaces and Stored by Isis Isis has a wide range of user defined tokens that you can use in your templates When some of the user defined tokens are surrounded by delimiters the meaning of the token changes Isis can use and store many character tokens over a serial interface Table D 2 Note In Table D 2 some tokens are enclosed in delimiters Delimited tokens are distinct from non delimited tokens In the table we have used braces as delimiters but we could have used parentheses or brackets all are valid Isis treats them the same Both types of tokens delimited and non delimited are explained in the table Table D 2 Delimited and non delimited tokens used by Isis 0 zero char Fish depth in meters Manual depth overrides this alue Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 42 Auxiliary Value 1 Auxiliary Value 2 Auxiliary Value 3 Auxiliary Value 4 Auxiliary Value 5 Auxiliary Value 6 Fish Altitude in meters Fish Pitch degrees Fish Roll degrees Pressure temperature CTD data Bearing to Fish degrees This is the same as the bf token Range to Fish meters Day Easting or longitude if is includ
144. s cannot transmit a Get Digital Output Format command to the MRU When that happens Isis cannot automatically configure to the data format of the MRU Under this condition Isis assumes a default configuration for the MRU This default is most commonly used for collecting attitude data in conjunction with bathymetric data processing The MRU is assumed to be transmitting only the data shown in Table H 2 Table H 2 Seatex to Isis MRUs in effect during one way serial connections Seatex MRU Isis 63 Roll Roll angle stored in degrees 64 Pitch Pitch angle stored in degrees 65 Yaw Yaw angle stored in degrees 105 Heave Heave stored in meters Appendix H Using a Seatex MRU with Isis June 2004 Isis amp Sonar User s Manual Volume 2 124 Appendix Working With Specific Sonars Different brands and models of sonars have settings and modes of operation that are unique to them Isis handles these differences by displaying dialog boxes that are specific to those various sonar types From dialog boxes specific to a sonar you want to use you choose options functions your sonar needs in order to work with Isis This appendix documents a wide variety of side scan and multibeam sonars that interface with Isis Additionally several of the sonars have server software associated with them Server software is documented in Appendix J Server Software for Isis in this manual For general information about setting up sonars for I
145. shows the presence of the trigger approximately 5 0 volts Also observe that if this test is successful not only will you know that the SIU is working properly but you will also know that your PC31 DSP board is working and that your WINRT virtual device driver software has been correctly installed Eji Isis Main Window File Configure Color View Tools Window Help GN ace pape mes o mn 2 amp EB es e 9i Voltage Linear Ch 1 2 3 4 Range 99 5m Freq 384 kHz Figure F 2 Example of test ramp waveform signal with trigger present Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 114 Appendix G How Isis Processes CTD Data Conductivity turbidity and density of water play an important role in determining the velocity of sound Water s CTD can vary significantly from place to place and time to time as can the speed of sound This appendix describes how Isis interacts with CTD when those parameters are processed through a SeaBird or Falmouth Scientific device G 1 Overview Isis reads the file ISIS CTD when you first start Isis ISIS CTD contains calibration data used in computing values from CTD data The file is ASCII and can be readily changed with any editor Different devices such as SeaBird or Falmouth Scientific require different input from the ISIS CTD file Consequently you will want to tailor the contents of ISIS CTD to match the needs of
146. sis see 4 1 Sonar Setup in the Isis User s Manual Volume 1 The different makes and models of sonars have their own server file names associated with them These choices are reflected in the general Sonar Setup dialog box Figure 4 6 on page 70 of the Isis User s Manual Volume 1 In some cases Isis may need to know about a control programs in order to achieve full functionality for the chosen sonar This relationship of sonar names to server names to control programs are listed in Table 1 130 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 125 Table I 1 Sonar makes models server names control programs for Isis Sonar Maker and or Model serverfilename exe Comments and control programs if any Standard PC31 32 EXE Standard Analog Any analog sonar cabled Analog through the SIU no other associated control program needed AU32 ASVRSON EXE Delph AU32 DSP board for 2 channel Analog Delph Analog sidescan no other associated control program needed Klein PC31_32 EXE Klein 595 dual frequency 4 channel analog 595 through SIU no other associated control program needed Klein KLEIN32 EXE Klein digital system 2000 dual frequency 2000 digital input no other associated control program needed Klein KLN3000 EXE Klein 3000 Digital Sidescan no other 3000 associated control program needed Klein KLN5000 EXE Klein 5000 Digital Multibeam Sidescan 5000 5 b
147. t s Windows 95 Windows NT Windows 3 11 or DOS use cartridges low level formatted for 512 bytes sector Never use 1024 bytes sector M O cartridges with Isis Note An M O cartridge s capacity is independent of its low level bytes per sector format one cannot deduce the bytes per sector from the M O s capacity The only way to know the bytes per sector of a given M O is to inspect the labeling on the cartridge and read how many bytes per sector the manufacturer says it has C 4 2 Typical HP Cartridge Types The following table lists HP model numbers for Isis compatible media Compatible media are also available from several other manufacturers Table C 3 HP magneto optical media that are compatible with Isis Capacity Rewritable 600 MB 92279A 1 2 GB 92279T 2 4 GB 92279F Appendix C Mass Storage Options June 2004 Isis Sonar User s Manual Volume 2 31 zu Les Triton Elics recommends you use HP media cartridges because they are very N reliable and have a 30 year warranty Media cartridges with 512 byte sectors written by other compatible magneto optical drives for example Sony and other ISO standard drives can also be read by the HP multi function drives C 4 3 High Level Formatting Considerations In general you need one hard disk partition per side of the M O You accomplish this using AFDISK In addition to knowing the low level format of an M O cartridge such as the number of bytes typical
148. te If speed V is not specified and velocity North and East are specified then speed is computed from the velocity north and east Velocity North Fish Speed sqrt T T U U 1 9438445 Note If speed V is not specified and velocity North and East are specified then speed is computed from the velocity north and east Fish Speed knots main speed used for image correction Fish Depth in feet if no manual depth is set Year N lt S lt Benthos flag is set TRUE Characters 121 132 inclusive zero based indexing in the receive string are stored as downlink and saturation information The characters are then blanked out to prevent parsing errors Auxiliary Altitude meters Temperature Frequency CTD data Magnetometer X Channel 1 Gain Code 0 255 Fish Heading degrees Current Line ID Channel 2 Gain Code 0 255 Channel 3 Gain Code 0 255 small letter ell Layback in meters 3 x onlo ov Fish Speed m s This value is multiplied by 1 9438445 to become knots Channel 4 Gain Code 0 255 small letter oh Cable Out in meters Channel 1 Initial Gain Code 0 255 Channel 2 Initial Gain Code 0 255 Speed log knots from impeller or other such sensor stored only Channel 3 Initial Gain Code 0 255 Channel 4 Initial Gain Code 0 255 Ship Speed in knots stored only Magnetometer Y
149. ter record float Conductivity Q computed Conductivity in Siemens per meter float waterTemperature b computed Water Temperature in C float Pressure 0 computed water pressure in psia WORD soundVelocity v computed sound velocity in m s times 30 WORD Turbidity I percent of light times 10000 See the file QMIPSFMT H for the placement of these variables Note that the raw frequency values from the SeaBird CTD are not saved in the Q MIPS file format only the computed result values are saved 5 Towfish depth computed in step 1 is displayed in the Depth field in the Telemetry area in the Parameter Display window 6 Ifthe Sensors display is open then the following information is displayed note that these are the exact values stored on disk Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 117 Table G 4 SeaBird s CTD values resulting when the Sensors display is active Raw Temperature Frequency from serial port template character b Raw Pressure Frequency from serial port template character pf Raw Pressure Temperature from serial port template character Raw Conductivity Frequency _ from serial port template character Q Raw Turbidity from serial port template character use pipe symbol 7 The values computed in step 2 are displayed in the CTD Computed Data area of the Sensor Display window e Temperature degrees C
150. th the information associated with the features Keyboard shortcut INSERT Contacts and targets are stored as individual files with the file extensions CON and TGT respectively The features are specified by their assigned numbers identifiers which are also the contacts file names Find Displays a dialog box used for finding contacts and targets F5 See Figure E 2 and Table E 2 Keyboard shortcut F5 Find Next Tells Target to get the next target or contact that meets the Shift F5 most recently defined criteria without summoning the Find dialog box Figure E 2 on page 74 Save After a contact is logged you can save it to a file on an F9 optical or hard disk using the Save command If the contact has been measured annotated and or classified this information will also be stored with the logged image Mhen you choose Save the currently selected contact image and information are saved to a file named with the contact number that has been specified using the Set Contact Number command in the Edit menu The file is saved in the working directory and the file name extension is either CON or TGT depending on the contact rank as specified with the Classify command in the Edit menu The default file name extension is CON If the mensuration annotation and or classification of a saved contact is modified the Save command will cause the old contact information to be overwritten with the new information Keyboard shortcut
151. that no other heading is available Consequently the towfish will have to use that heading Also assume that Isis will synchronize its system time and date to that of the data logger This set of assumptions will enable Isis to correctly return coordinates for imagery pixels when the cursor is moved around the graphics display When you construct a template to match the data transmitted with the template codes just described the result would be a string in a tokenized format DMYHISNEh Isis interprets the tokenized DMYHISNER string as follows day 20 month 4 year 90 hour 17 minute 31 second22 northing 93285 35 easting 319294 29 towfish heading 344 0 z mzo r zu Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 41 All letters sent with the serial transmission will be ignored except for those used to separate the individual values Note For date and time Isis uses the NMEA0183 standard See How Isis Works with NMEA0183 Strings in Volume 2 As soon as you put Isis in Record mode Isis will begin monitoring the serial ports for transmissions To test the interface use the COM Port Test option in the Tools menu see Com Port Test Isis User s Manual Volume 1 or choose Test in the Serial Port Setup dialog box Both access methods lead to the same com Port Test dialog box Template entries are CASE SENSITIVE that is upper or lower case entries are treated as unique entrie
152. the device This appendix explains e the connections you need to hook up your serial input device to your Isis system e how the Isis software receives the data from the serial device e what tokens can be used to make a serial interface template and e what a typical template looks like D 1 Connection Serial RS232 input to Isis is done through the 9 pin com connector s found on the back panel of the Isis The basic Isis system is equipped with a com1 port com2 is reserved for the trackball Additional com ports are available as options The com ports are female IBM AT DB 9 serial connectors Triton Elics ships them with the pinouts shown in Table D 1 If your Nav system pinouts differ from these defaults you may want to write them in here Table D 1 Isis pinouts for COM serial port Isis uses these pins for these functions Your Nav System uses Pin 1 lt Carrier Detect Pin 2 lt Receive Data Pin 3 Transmit Data gt Pin 4 Data Terminal Ready gt Pin 5 Ground Pin 6 lt Data Set Ready Appendix D Serial Interfaces June 2004 Isis Sonar User s Manual Volume 2 37 Pin 7 Request To Send gt Pin 8 lt Clear To Send Pin 9
153. tion Width Be Name ENSISDATANDCR Height oe Class fIBBitsGray Bytes 95986 BisPeb IB ELT Information File Date 11 07 1998 08 26 43 062 PM Image Time 1996 07 01 05 22 57 700 Mission ID DRE Sensor AFT Camera Pos AFT Speed 2 5 Heading 10237 8 Center Lat poo Center Lon pon XVelociy 048 Yveloct 00 X Position 25720827401 7 Y Postion 25720827401 7 Pitch ps Course a Depth 74044 Alitude 37 MELT Information Full Contents Of TAG 270 HEADING 10237 3 ROLL 15 0 PITCH 0 0 YAWRATE 0 0 PITCHRATE 0 6 DEPTH 17404 4 ALTITUDE 3 7 REFNO 252 DCREFPOS 1 DCFRAMEIN 2800 You can type in this box to modify any information that appears here Figure E 10 Information dialog box from More Info button Although you cannot modify the Size and Resolution data in Enhance you can modify the text in the ELT Information area Any changes such as the text shown circled in Figure E 10 are written back to the TAG270 file if you save it in Target Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 92 Expand radio buttons Just as you can expand or reduce an image in Target so can you expand zoom in or reduce zoom out on an image from the Enhance dialog box In Enhance zooming can take one of three forms replicate bilinear or cubic e Replicate The image is interpolated and magnified linearly Original pixels va
154. ts original state cropped or uncropped Undo All does not affect any changes that you already may have made to the larger Target contact image Compare to Undo Large Image later in this table e Undo Last button This undoes the last enhancement change applied in this session Each time you left click the most recently entered enhancement is removed from the list and from the image Any other enhancements that may have been done to the thumbnail image in this session is not affected e Redo Last button Reverses the action of an Undo Last You also can undo any enhancement from the numbered list Without regard to its order in the list by double clicking on the enhancement As you do the action is removed from the list Apply All button Clicking this button causes all enhancements done to the image in this session to take effect in the larger image the parent image of the thumbnail loaded into Target Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 91 Information area Clicking More Info displays the Information dialog box Figure E 5 The data in the top six fields comes directly from the image These fields are not editable e Class field Gray Scale or Color e Bits per Pixel field Bits per Pixel e More Info button Clicking this button displays a dialog box similar to the one shown in Figure E 5 m x Information Er r Size r Resolu
155. tting the SIUA Signal Attenuation The embedded trigger output can equal either DC power level 5 V or 5 V by setting jumper J1 The default is 5 V All outputs are unprotected except in the Isis 32C version where they are clipped at 2 5 V because of the input sensitivity of the Isis 32C A D DSP card Several functional attributes of the SIU4 are defined by jumper settings on the PCB These settings are shown in Table F 2 Setting jumpers on a SIUA is more than just a matter of making the SIU4 operational Different jumper settings can optimize the SIUA s triggering to be used with a given sonar Synchronizing the pulse rate of the trigger to the sonar s range will enable Isis to collect the maximum amount of data during the survey Appendix F Working with Signal Interfaces June 2004 Isis amp Sonar User s Manual Volume 2 110 Table F 2 Jumper settings on the PCB affecting the SIU4 and SIU4 2 Jumper Number 1 What It Affects Trigger Out Polarity Possible Settings for This Jumper Open Invalid no trigger out 1 2 Positive 5V trigger out 2 3 Negative 5V trigger out default Trigger Holdoff Open Subbottom 125 ms 1 2 Standard 25 ms default 2 3 Side scan 10 ms 3 6 Output Signal Clip Channels 1 4 Header Not Present Clipping not available Default for Isis C31 Open Signal not clipped Default for Q MIPS Closed Signal clipped at 2 5 V Default for Isis C32
156. ue used from the ISIS CTD file when using a Falmouth Scientific or any other non SeaBird CTD 2 If sound velocity has not been received and temperature pressure and conductivity have been received then the speed of sound in water is computed according to the Chen Millero formula 3 Ifsaving data in SEG Y format the values are saved in the first channel s binary trace header as follows first byte in header is byte 0 Table G 5 Falmouth Scientific s CTD SEG Y format values in the first channel s binary trace header CTD raw data where first byte in header is byte 0 short Turbidity bytes 216 217 urbidity sensor volts times 10000 Table G 6 Falmouth Scientific s CTD SEG Y format values in the second channel s binary trace header long Conductivity bytes 200 203 Conductivity in Siemens per meter times 100000 long Temperature bytes 204 207 Temperature in degrees C times 1000 long Pressure bytes 208 211 Pressure in psia times 1000 long SoundVelocity bytes 212 215 Computed speed of sound times 100 See the file SEGYFMT H for more info on how Isis uses the SEG Y data format 4 Ifsaving in Q MIPS format version 1 51 or later the values are saved as follows Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 119 Table G 7 Falmouth Scientific s CTD SEG Y format values in Q MIPS footer record float Conductivity c computed Conductivit
157. ulletin board service or Inter net free of charge during warranty period MARISAT charges are invoiced at cost plus twenty percent 5 EXPORT RESTRICTIONS You agree that neither you nor your customers intends to or will directly or indirectly export or transmit the SOFTWARE or related documentation and technical data to any country to which such export or transmission is restricted by any applicable U S regulation or statute without the prior written consent if required of the Bureau of Export Administration of the U S Department of Commerce or such other governmental entity as may have jurisdiction over such export or transmission LIMITED WARRANTY TRITON ELICS warrants that a the SOFTWARE will perform substantially in accordance with the accompanying written materials for a period of one 1 year from the date of shipment and b any hardware accompanying the SOFTWARE will be free from defects in materials and workmanship under normal use and service for a period of one 1 year from date of shipment CUSTOMER REMEDIES TRITON ELICS s entire liability and your exclusive remedy shall be at TRITON ELICS s option repair or replacement of the SOFTWARE or hardware that does not meet TRITON ELICS s Limited Warranty Warranty service is F O B TRITON ELICS s Watsonville facility All shipping and insurance costs are paid by buyer On site Customer Service and Warranty Repair including travel hours transportation lodging
158. umber used to determine how different the center pixel in the image region must be before the pixel is replaced by the region s median value During despeckling the image is examined in CellSize x CellSize regions The value in the center pixel is compared to the median value for that region If the difference between the center value and the median value exceeds the value specified on the Despeckle bar the center pixel is replaced with the median value Otherwise the center pixel keeps its original value Every pixel in the image is analyzed in this way Vignette Lighting radio buttons Vignette lighting compensates for large variations of light or lack of it in the background of the image When vignetting is applied points furthest from the center of the image are darkest and points closest to the center are lightest Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 89 Filter Enhance has 14 distinct filters for changing the look of your buttons Target image You can use them singly or in combination that is filtering effects are cumulative to the thumbnail image unless you click Undo Last or Undo All before applying another filter The filters are Edge thin Highlights the edges of an image using a thin line Edge thick Highlights the edges of an image using a thick line Edge horiz Accents the horizontal edges and de emphasizes all other parts of the image Edg
159. xx server isis Seabat 81xx Server ONLINE Seabat model 8101 240 kHz 7 Tx Power 4 Bathy output Seia v ReGain 45 Format Ri Theta v Range 150m zd Tx Baud 19200 Y Max Ping Rate amp 2Hz zd MRU Baud i200 x Tx Pulse Width 2254s Sound vel 1500 i Gain Type Fixed gt Projector Normal 150 v Auto Gain Autos Sidescan data Full new v Filter Absorp loss 2 Both x Spread loss 0 Range Depth SSS Min m 4 6 Max m 11 8 E Serial port not set k n a f lt lt Less Options Setup Comms About i Apply All Figure I 12 Isis SeaBat 8100 Server dialog box 1 Click Setup Comms The system displays the Comms dialog box Figure I 13 Appendix I Working with Specific Sonars June 2004 Isis amp Sonar User s Manual Volume 2 m Port Setup IV Enable serial commands to Seabat Com port Com 1 19200 N 8 1 Ethernet base UDP Port 028 Ethernet Communication v Bathymety Socket port is Base 0 IV Sidescan Socket port is Base 1 Socket port is base 6 Show Network Config Figure I 13 Comms setup dialog for Seabat 81xx server 2 In the Comms dialog box enable any or all of the choices in the Ethernet Communication panel by putting a check mark next to your choice s 155 3 Click Show Network Config to review the current addresses for your Ethernet
160. y in Siemens per meter float waterTemperature w computed Water Temperature in degrees C float Pressure p computed water pressure in psia word soundVelocity v computed sound velocity in m s stored times 30 word Turbidity I pipe symbol percent of light times 10000 See the file QMIPSFMT H for the placement of these variables 5 Towfish depth computed in step 1 is displayed in the Depth field in the Telemetry area in the Parameter Display window The values received in step 1 and computed in step 2 are displayed in the CTD Computed Data area of the Sensor Display window e Temperature degrees C e Depth meters will be the same depth as in the Parameter Display window unless the depth value in the Parameter Display has been overridden with a manual depth setting e Sound Velocity meters per second is computed using Chen Millero formula e Conductivity Siemens per meter e Turbidity percent of daylight e In playback mode the same data are displayed in the Sensor Display window as in record mode Appendix G How Isis Processes CTD Data June 2004 Isis amp Sonar User s Manual Volume 2 120 Appendix H Using a Seatex MRU with Isis H 1 Setting up the MRU If you are using a Seatex Motion Reference Unit MRU with Isis configure the sensor with the Seatex software All data should be transmitted as 4 byte float values the default In the sensor s software set the following parameters Baud Rate 960
161. your storage medium Delete from Disk Shift DEL Removes a logged contact from your storage medium A saved contact must be open and be in the window having focus to be deleted in this manner When you choose Delete from Disk the currently selected contact will be removed permanently from the hard drive or optical drive Once deleted it cannot be viewed using the Recall command Keyboard shortcut Shift Del Playback in Isis Isis looks for the path and file specified in the Contact Information window for the current contact If the file can be found a section of the file centered on the contact will be replayed in an Isis waterfall window Print ASCII Report Saves contact information in plain text format of all currently active contacts See Print ASCII Report Exit Ends your Target session Appendix E Using the Target Utility June 2004 Isis amp Sonar User s Manual Volume 2 66 Note CON and TGT images cannot be printed from Isis To print a CON or TGT image save a copy of it in one of the alternative formats listed under Save Processed Image As You can then import the image to another Windows application for further processing or printing For example you could save a Target image as a BMP image and then open itin Windows Paint or Paintbrush where you could then edit or print your BMP file E 2 1 Find To search the database for contacts or targets that meet certain criteria
162. ype is shown in brackets Note Q MIPS and Isis will never store a 12 bit value in a 12 bit field All sonar values are stored as 8 or 16 bit Appendix A Q MIPS File Format June 2004 Isis amp Sonar User s Manual Volume 2 6 Table A 4 Data representation types for Q MIPS headers and footers Data Types Type Definitions and Possible Range of Values SHORT signed two s complement integer two bytes INT format 32 768 to 32 767 or four bytes LONG 2 147 483 648 to 2 147 483 647 format USHORT unsigned integer two bytes WORD format 0 to 65 535 or four bytes DWORD format 0 to 4 294 967 296 FLOAT floating point number in IEEE single precision standard four byte format FLOAT format 10 38 to1038 DOUBLE EEE double precision standard eight byte DOUBLE format 10 308 to 10 308 CHAR signed character one byte CHAR format 128 to 127 can be interpreted by ASCII code or as an 8 bit signed integer BYTE unsigned character one byte BYTE format 0 to 255 can be interpreted by ASCII code or as an 8 bit unsigned integer The exact byte and word ordering for each of these types and the IEEE floating point formats are described below Any unused fields are filled with zeros that is each bit within the field will be a zero instead of a one The integers will return the value 0 the floating point numbers will return the value 0 0 and the characters will return the value 0 or the null character X0 dependi

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