ISIS SONAR® User’s Manual, Volume 2 Appendices Software documentation through v6.
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.
Safety Precautions Please adhere to the hardware and software precautions mentioned below. In addition, observe all safety 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.
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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 information relevant to the software. Isis User’s Manual, Volume 2, complements Volume 1.
APPENDIX A Q-MIPS FILE FORMAT 1 A.1 GENERAL DESCRIPTION 1 A.2 HEADER AND FOOTER DATA 1 A.3 IMAGERY DATA 2 A.3.1 Eight-Bit Data 2 A.3.2 Sixteen-Bit Data 2 A.4 BINARY DATA REPRESENTATION 5 APPENDIX B ISIS BAC AND GAC FILE FORMATS 23 B.1 BAC FILE FORMAT 23 B.2 GAC FILE FORMAT 24 APPENDIX C MASS STORAGE OPTIONS 25 C.1 SCSI BUS CONFIGURATION 25 C2 USING EXABYTE TAPE DRIVES WITH ISIS 26 C3 USING THE SEG-Y FORMAT ON EXABYTE TAPE 28 C4 USING MAGNETO-OPTICAL DRIVES WITH ISIS 29 C.4.
D.3 TEMPLATE CONSTRUCTION 38 D.3.1 Example of Template Construction 40 D.3.2 Values Allowed Over Serial Interfaces and Stored by Isis 41 D.3.2.1 Examples of Pattern Matching 46 D.3.2.2 Examples of Character Alignment 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 D.4.1 How Isis Works with NMEA0183 Strings 50 51 D.4.1.
E.6 TARGET'S WINDOW MENU 93 E.6.1 Tile, Cascade, Arrange Icons, Close All 94 E.6.2 Reduce Image and Expand Image 94 E.6.3 Threshold 96 E.6.4 Pan Left, Right, Up or Down 96 E.7 FORMAT OF TGT AND CON FILES 96 E.7.1 WPOINT: A Structure for Bridging Back to 16-Bit Systems 97 E.7.2 CINFO: Channel Information Header Structure 97 E.7.3 The Image Structure 102 E.7.4 Telemetry Structure 102 APPENDIX F WORKING WITH SIGNAL INTERFACES 105 F.1 SIGNAL INTERFACE UNIT 5 (SIU5) 105 F.
APPENDIX I WORKING WITH SPECIFIC SONARS 124 I.1 EDGETECH DF1000 DIGITAL SONARS 127 I.1.1 Summary Description of an EdgeTech ACI Board 130 I.1.2 EdgeTech DF1000 Usage Notes 130 I.2 KLEIN ANALOG SONAR SYSTEM 131 I.3 KLEIN DIGITAL SONAR SYSTEM 2000 132 I.3.1 Hardware Setup I.4 KLEIN DIGITAL SONAR SYSTEM 3000 132 133 I.4.1 Starting the Klein 3000 TPU 133 I.4.2 Configuring Isis for Klein 3000 133 1.4.2.1 'More Options' in Isis Server for Klein 3000 dialog box I.
June 2004 Isis® 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.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 3 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, 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.
June 2004 Isis® Sonar User's Manual, Volume 2 CH4 CORRECTED Write or Read 4 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.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 6 Table A-4.
June 2004 Isis® Sonar User's Manual, Volume 2 7 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 7 0 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 7 0 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
June 2004 Isis® Sonar User's Manual, Volume 2 8 4-Byte IEEE Floating Point Number s exponent 2-1 2-2 31 30 23 22 fraction 2-23 0 value = (-1)s x 1.fraction x 2exponent - 127 8-Byte IEEE Floating Point Number s exponent 2-1 2-2 63 62 52 51 fraction 2-52 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.
June 2004 Isis® Sonar User's Manual, Volume 2 9 Table A-5. Q-MIPS header format description Offset Element Name Bytes Used Value Type Remarks, Values, 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. “6.61\0” or “Isis” for Isisrecorded files. 0008 spare1 20 BYTE Not currently used, all zeros.
June 2004 Isis® Sonar User's Manual, Volume 2 0036 speedOfSoundInWater 4 FLOAT 0040 noLongerUsed 4 FLOAT 0044 asyncChannelNumber 0046 numSonarChannels 0048 ch1_processingAvailable 0050 ch2_processingAvailable 0052 ch3_processingAvailable 0054 ch4_processingAvailable 10 Sound velocity divided by two in meters/sec loaded from QMIPS.DAT; specified with Isis Speed of Sound command; usually 750. Was initial sonar signal divisor in Q-MIPS version 5.19 and earlier. Not currently used, zeros.
June 2004 Isis® 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 II, SONARDYNE, or NOTHING in older versions. Not currently used, all null chars (0). 0158 projectionType 12 BYTE 0170 spheriodType 2 BYTE 0182 zone 2 USHORT Not used, all zeros (was UTM zone).
June 2004 Isis® Sonar User's Manual, Volume 2 0208 runNumber 0210 spare4[100] 12 2 USHORT are all set to 0. 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.
June 2004 Isis® Sonar User's Manual, Volume 2 0472 ch2_horizBeamAngle 4 FLOAT 0476 ch3_horizBeamAngle 4 FLOAT 0480 ch4_horizBeamAngle 4 FLOAT 13 width in degrees from SONARS.DAT. Used in mensuration and zoom display correction; not currently used by Isis. Storage File Name 0484 thisFileName[45] 45 CHAR Original path name of current destination file. 0529 reserved2 1 Unused, the null character (0).
June 2004 Isis® Sonar User's Manual, Volume 2 14 Reserved Space 0586 spare5[438] 454 BYTE Unused; all zeros. †For 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 Value Used Type Remarks, Values, Ranges, Units, Examples, etc.
June 2004 Isis® Sonar User's Manual, Volume 2 15 conversion. †* Ping Number, Ship Speed, Asynchronous Window Offset and Auxiliary Storage 0020 pingNumber 4 USHORT Ping number starts at 1 in each Q-MIPS file, 0 in each Isis file and is incremented automatically. Max = 4.29x109.
June 2004 Isis® Sonar User's Manual, Volume 2 0056 triggerPeriod 4 0060 ch1_signalDivisor 2 16 USHORT Number of samples in the trigger period determined from ping to ping by Q-MIPS. 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.
June 2004 Isis® Sonar User's Manual, Volume 2 17 Channel 1 Sonar Parameters and Sampling Rate 0092 ch1_floatRawRange 4 0096 ch1_delayRange 4 0100 ch1_bandWidth 2 0102 ch1_sampleScheme 2 0104 ch1_rawRange 2 0106 0107 ch1_initialGain reservedForFloatSa mp ch1_gain 1 2 0108 1 Appendix A: Q-MIPS File Format FLOAT Higher resolution raw maximum slant range in meters. Used in DSP and Isis; not Q-MIPS.
June 2004 Isis® Sonar User's Manual, Volume 2 0110 sampleRate 2 0112 ch1_correctedRang e 2 18 USHORT Aggregate sample rate in kHz, set by user in Q-MIPS record mode setup. Not used in Isis. 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.
June 2004 Isis® Sonar User's Manual, Volume 2 19 description. Channel 3 Sonar Parameters and Range to Fish 0136 ch3_floatRawRange 4 FLOAT Higher resolution raw maximum slant range in meters. Used in DSP and Isis; not Q-MIPS. 0140 ch3_delayRange 4 FLOAT 0144 ch3_bandWidth 2 0146 ch3_sampleScheme 2 0148 ch3_rawRange 2 USHORT See ch1_rawRange description. 0150 ch3_initialGain 1 BYTE Initial channel gain. †* 0151 ch3_gain 1 BYTE Channel gain.
June 2004 Isis® Sonar User's Manual, Volume 2 20 0162 ch4_delayRange 4 FLOAT Channel delay in meters, entered in Q-MIPS DIGITIZER menu in seconds and converted to meters. Not used in Isis. 0166 ch4_bandWidth 2 USHORT Sonar channel bandwidth in kHz. Not used in Isis.* 0168 ch4_sampleScheme 2 USHORT [1...5] See ch1_sampleScheme description. 0170 ch4_rawRange 2 USHORT See ch1_rawRange description. 0172 ch4_initialGain 1 BYTE Initial channel gain.
June 2004 Isis® Sonar User's Manual, Volume 2 21 0198 shipLongitude 8 0206 navEasting 4 0210 navNorthing 4 DOUBLE Ship’s longitude in decimal degrees. †* FLOAT Computed fish position in meters if navUnits are m. When the navUnits are degrees, the navEasting and navNorthing fields are combined into one double-precision floating point value to hold navLatitude.
June 2004 Isis® Sonar User's Manual, Volume 2 22 0246 fishLayback 2 0248 navFixHour 1 USHORT Towfish layback (horizontal distance) in meters from navigation telemetry or manual entry, used in position calculations. BYTE 0249 navFixMinute 1 BYTE 0250 navFixSeconds 1 BYTE 0251 relativeBearingToFis h 1 CHAR 0252 julianDay 2 0254 cableOut 2 Time of the most recent navigation fix.
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 advantages. This appendix explains the BAC and GAC formats. B.1 BAC File 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.
June 2004 Isis® Sonar User's Manual, Volume 2 B.2 24 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 (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.
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.
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.
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.
June 2004 Isis® Sonar User's Manual, Volume 2 28 • 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.
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.
June 2004 Isis® Sonar User's Manual, Volume 2 30 Whenever you are using an application such as Isis on Microsoft’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.
June 2004 Isis® Sonar User's Manual, Volume 2 31 Triton Elics recommends you use HP media cartridges because they are very 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.
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 cartridges 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.
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 previously 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 to continue-b. Press [Esc] to display the formatting options. c.
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.
June 2004 Isis® Sonar User's Manual, Volume 2 35 To restore your backed up data to the newly formatted M-O • 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 • Re-start Windows 95 by typing WIN/D:F.
June 2004 Isis® Sonar User's Manual, Volume 2 36 Appendix D Serial Interfaces As noted in Chapter 3, ‘Using the File Menu’, Isis 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 the device.
June 2004 Isis® Sonar User's Manual, Volume 2 37 Pin 7 ------------------------ Request To Send ------> _______________________ Pin 8 <---------------------- Clear To Send ------------ _______________________ Pin 9 <---------------------- 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.
June 2004 Isis® Sonar User's Manual, Volume 2 D.3 38 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.
June 2004 Isis® Sonar User's Manual, Volume 2 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’.
June 2004 Isis® Sonar User's Manual, Volume 2 D.3.1 40 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).
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.
June 2004 Isis® Sonar User's Manual, Volume 2 1 2 3 4 5 6 7 8 9 ; > ? D E F G H I J L M N O P Q 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 included in the nav template) for the fish position — see {lom} in this table.
June 2004 Isis® Sonar User's Manual, Volume 2 S T U V W Y Z a b e g h i j k l m n o q r s t u v w x 43 Seconds. This can be a decimal number to include a fraction of a second. Velocity East Note: 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.
June 2004 Isis® Sonar User's Manual, Volume 2 44 only Ship Latitude (decimal degrees) or northing (meters); stored only Magnetometer Z [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. Distance off track (meters) {DOT} KP (Kilometer post) (Kilometers) {KP} {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.
June 2004 Isis® Sonar User's Manual, Volume 2 45 followed by a file name to be used for the file name switch. Serial template to parse fish longitude stored with separate {lom} 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 the fish position. Power-bottle leak detector {lp} Ship speed in m/s. Converted to knots by multiplying by {ms} 1.9438445. Conductivity in MMHO/cm. Converted to Siemens/meter by {m} dividing by 10.0.
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.html#PD {c} {tv} {t} {v1} {v2} {v3} {v4} {v5} {v} {w} {y} | Conductivity in Siemens/meter Turbidity. This is the same as the | (“pipe” symbol) token. Ocean tide (only if manual tide isn't set) Voltage value 1 (displayed in Window→Status and Control →Towfish Status in +95 field). Voltage values are displayed but not stored.
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 to this token. D.3.2.
June 2004 Isis® Sonar User's Manual, Volume 2 48 • Value is a numerical value or constant that will be applied to Token. • 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.
June 2004 Isis® 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 D1, should be placed at the front of the template. Table D-1.
June 2004 Isis® Sonar User's Manual, Volume 2 50 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.
June 2004 Isis® Sonar User's Manual, Volume 2 SEATEX CMSSS 51 This template configures the serial port for input from a Seatex MRU. 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.
June 2004 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.
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.
June 2004 Isis® Sonar User's Manual, Volume 2 RMC GGA GLL VTG ZDA 54 // Recommended Sentence C with date, time, latitude, longitude and heading // Time and position (in latitude and longitude) // Latitude and longitude // Course and speed made good // 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.
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.
June 2004 Isis® Sonar User's Manual, Volume 2 56 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 the next available event number (counting begins at the 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.
June 2004 Isis® Sonar User's Manual, Volume 2 REQUEST_AMPc,n,m,s REQUEST_FREESPACE REQUEST_TEMPLATE SAVERAW 57 This feature returns a string representing a subsampled 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 0=channel 1, bit 1 = channel 2, etc. n = number of samples to return. These will be evenly spaced across the record. m = mode.
June 2004 Isis® Sonar User's Manual, Volume 2 START_LOGGING {filename} START_PLOTTING 58 Causes Isis to start logging sonar data in record 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. Causes Isis to turn on the plotter. The plotter must have been already specified in the File/Print dialog box. NMEAO0183 recognizes this too.
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.
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.
June 2004 Isis® 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 selective 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.
June 2004 Isis® Sonar User's Manual, Volume 2 62 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 Directory Use this to specify the directory in which Target will save contacts and look for saved contacts to recall. The definition of the specified directory only lasts for the current session.
June 2004 Isis® Sonar User's Manual, Volume 2 Recall (INSERT) Find (F5) 63 Opens and redisplays the saved images of contacts and targets along with 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. Displays a dialog box used for finding contacts and targets.
64 June 2004 Isis® Sonar User's Manual, Volume 2 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: If 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.
June 2004 Isis® 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 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.
June 2004 Isis® 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 it in Windows Paint or Paintbrush, where you could then edit or print your BMP file. E.2.
June 2004 Isis® Sonar User's Manual, Volume 2 Figure E-2. The Find dialog box Table E-2 explains the Find dialog box parameters shown in Figure E-2.
June 2004 Isis® Sonar User's Manual, Volume 2 68 Table E-2. Find dialog box parameters and meanings Option / Area Meaning Source Path (text area) Specify the directory in which Target will look for matching contacts. The default path is the working directory (‘Set Working Directory ’).
June 2004 Isis® Sonar User's Manual, Volume 2 E.2.2 69 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 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.
June 2004 Isis® Sonar User's Manual, Volume 2 70 –or• If 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. Figure E-4.
June 2004 Isis® 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… ’.
June 2004 Isis® Sonar User's Manual, Volume 2 • Set camera parameters • Set the starting contact number • Enable or disable speed correction • Establish RAMP support • Specify the shape and type of pointer (cursor) to use • Enable or disable startup with min/max Table E-3 below explains the options in the Edit menu. Table E-3.
June 2004 Isis® Sonar User's Manual, Volume 2 Classify… [F3] 73 Displays a dialog box where you can specify the class and rank of the currently displayed feature: 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.
June 2004 Isis® 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. Next Line Is These choices aid you in mensurating areas in a contact. • Width: Press [Alt]-[F1] to identify the next line you draw as a contact’s width. • Length: Press [Alt]-[F2] to identify the next line you draw as a contact’s length. • Shadow: Press [Alt]-[F3] to identify the next line you draw as a contact’s shadow.
June 2004 Isis® 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.
June 2004 Isis® 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 fullresolution 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)’.
June 2004 Isis® 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 the 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. A cursor position is requested by clicking with the left trackball button.
June 2004 Isis® Sonar User's Manual, Volume 2 78 To measure the distance between two logged contacts, display 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.4.2 Contact Mensuration When you have an image of your contact in Target, you can measure, or mensurate, it in three dimensions: width (across track), length (along track), and height (also along track).
June 2004 Isis® Sonar User's Manual, Volume 2 79 Isis takes a contact’s measurements in the 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.
June 2004 Isis® Sonar User's Manual, Volume 2 80 3. Hold down the left trackball button and rotate the trackball to draw a line through 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.
June 2004 Isis® Sonar User's Manual, Volume 2 81 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.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Figure E-9. The Enhance dialog box The options available in the Enhance dialog box are explained in Table E-5.
June 2004 Isis® Sonar User's Manual, Volume 2 84 Table E-5. Enhance functions in the Enhance dialog box Option / Area Histogram (area) Meaning • Initial (check box): Graphs the dynamic range 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 checked. If it is unchecked, then the histogram just shows the latest enhancement performed.
June 2004 Isis® Sonar User's Manual, Volume 2 85 Original and Current track four parameters: #Clrs, Min, Max, and Histogram (area, continued) Bits. • #Clrs — These are the number of unique pixel values in the image. • 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Equalize (button) Invert Colors (check box) 86 Equalize manipulates the dynamic range of the colors in the image. The choices in the drop-down box are: • None: No equalization is applied to the image. • Best: Enhance attempts to do a “best fit” of the range of colors in the image based on shadows and highlights.
June 2004 Isis® Sonar User's Manual, Volume 2 Gamma (slider bar) Rotate (slider bar) Sharp (slider bar) Haze (slider bar) 87 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). The value +1.00 represents midpoint of the scale (no gamma).
June 2004 Isis® 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 number 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Filter (buttons) 89 Enhance has 14 distinct filters for changing the look of your 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.
June 2004 Isis® 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. • Undo All (button): This undoes all enhancements to the thumbnail image applied in this session. Visually, the thumbnail returns to its original state (cropped or uncropped).
June 2004 Isis® Sonar User's Manual, Volume 2 Information (area) 91 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. • Class (field): Gray Scale or Color. • Bits per Pixel (field): Bits per Pixel. • More Info (button): Clicking this button displays a dialog box similar to the one shown in Figure E-5. Figure E-10.
June 2004 Isis® Sonar User's Manual, Volume 2 Expand (radio buttons) Apply to large image (button) Undo large image (button) Close (button) 92 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. • Replicate: The image is interpolated and magnified linearly. Original pixels values are replicated.
June 2004 Isis® 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 box. 3.
June 2004 Isis® Sonar User's Manual, Volume 2 94 Figure E-11. Target’s Window menu and its submenus E.6.1 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Figure E-12. A contact image expanded twice its original size Figure E-13.
June 2004 Isis® Sonar User's Manual, Volume 2 E.6.3 96 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 Reverse Colors box, the colors reverse. The Threshold window can also be summoned by right-clicking on the contact in Target. E.6.
June 2004 Isis® Sonar User's Manual, Volume 2 97 E.7.1 WPOINT: A Structure for Bridging Back to 16Bit Systems The Target utility originally was designed to run on 16-bit Windows systems. With the emergence of 32-bit systems, Target was upgraded to run on these newer systems. At the same time, Target has maintained its backward compatibility with the 16-bit systems by including a programming structure identified to Target as wpoint (Table E-6). Table E-6.
June 2004 Isis® Sonar User's Manual, Volume 2 Telem_size Rank Classification ContactNumber OriginalSourceFileName[ 256] PingNumber Channel TypeOfChannel PixelIndex FixedVSOP Day Month Year Hour Minute Second hSecond FishHeading FishSpeed FishDepth FishAlt OceanTide FishLayback BeamWidth Pings_Per_Second ContactSlantRange SamplesPerChannel 98 4 6 8 WORD Size of the TELEMETRY structure SHORT 0=contact, 1=target SHORT Typically 1-10, user-defined to help distinguish object data type 10 DWORD 14 CHAR Origin
June 2004 Isis® Sonar User's Manual, Volume 2 wNavUnits PositionY PositionX BitmapWidth BitmapHeight wThreshold wShift 99 file 330 WORD 0=meters; 3=degrees 332 DOUBLELatitude or northing 340 DOUBLELongitude or easting 348 WORD Width of bitmap in pixels 350 WORD Height of bitmap in pixels. Note that display height can be different than bitmap height. 352 WORD Value stored from Isis 354 WORD Value stored from Isis. Original data value shifted right by wShift value.
June 2004 Isis® Sonar User's Manual, Volume 2 EchoAlongP1 392 WPOINT EchoAlongP2 396 WPOINT EchoAlongP1Index 400 SHORT EchoAlongp2index 402 SHORT EchoAlongp1Crange 404 DOUBLE EchoAlongp2Crange 412 DOUBLE ShadowAcrossP1 420 WPOINT ShadowAcrossP2 424 WPOINT ShadowAcrossP1index 428 SHORT ShadowAcrossP2index 430 SHORT ShadowAcrossP1Crange 432 DOUBLE ShadowAcrossP2Crange 440 DOUBLE NewPositionY 448 DOUBLE Appendix E: Using the Target Utility 100 and shadow across track and along trac
June 2004 Isis® Sonar User's Manual, Volume 2 NewPositionX ComputedLength ComputedWidth ComputedHeight ComputedDepth ComputedMooredAltitude NumPingsOnContact ContactIndex ExpandFactor ExpandCenterX ExpandCenterY AssignedPositionX AssignedPositionY KP wBitsPerPixel LastClickPoint CorrectedChannelFlags ChannelBoundaryOffset RampFileUsed ContactType DisplayUnits TimeOffTrack 101 456 DOUBLE Corrected position computed with the measure function 464 DOUBLE Along track 472 DOUBLE Across track 480 DOUBLE Compute
June 2004 Isis® Sonar User's Manual, Volume 2 ContactGroundRange unassigned[2] InternalFileName[248] 566 FLOAT 568 CHAR 816 CHAR FishPitch 820 FLOAT FishRoll 824 FLOAT E.7.3 102 Ground range to the contact Unused Internal use (passing .CON/.TGT file name from Target to Isis) Pitch in degrees (positive = nose up) Roll in degrees (positive = roll to stbd) The Image Structure Bitmap bits (BitmapWidth • BitmapHeight • BitsPerPixel/8) bytes.
June 2004 Isis® Sonar User's Manual, Volume 2 103 Table E-8. The TELEMETRY structure for a TGT or CON file Structure’s Element Name Bytes offset Data Type total bytes used for this structure: 89 0 UCHAR Day Remarks, Values, Ranges, Examples, etc.
June 2004 Isis® Sonar User's Manual, Volume 2 Range 57 FLOAT DelayRecording 61 DOUBLE In ms, time from transmit to beginning of the first pixel TelemFishPitch 69 FLOAT TelemFishRoll 73 FLOAT KP 77 FLOAT SecondsPerPing 81 DOUBLE Appendix E: Using the Target Utility 104 Range scale of the ping Roll in degrees (positive = roll to stbd) Pitch in degrees (positive = nose up) Kilometers of pipe
June 2004 Isis® 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 SIU5.
June 2004 Isis® 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. 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.
June 2004 Isis® Sonar User's Manual, Volume 2 F.2.1 107 Mechanical Description The SIU4 output includes up to four analog signal channels with the trigger pulse superimposed on Channel 1. An adjustable attenuation of 0% to 90% can be applied to each of the four channels at the SIU4 output. Table F-1. SIU4 and SIU4-2 specifications Aspect of the SIU4 Specifications for the Aspect Mechanical • Size = 6.0 x 3.6 x 1.
June 2004 Isis® Sonar User's Manual, Volume 2 108 Signal Out • Q-MIPS Flavor: expects external 10 k load maximum output = + 6.0 V • Isis DSP– (C31) Flavor: 10 kΩ load on SIU4 and SIU4-2 boards; they expect high impedance load • Maximum output = + 6.0 V Adjustments • 4 each, rotary 10-position switch for channel attenuation, screwdriver actuated, 0 to 90% signal attenuation in 10% increments • Switch is numbered 0-9; on switch position 9, a ramp waveform is generated for SIU4-2 and DSP testing.
June 2004 Isis® Sonar User's Manual, Volume 2 F.2.2 109 Theory of Operation The trigger reference and up to four synchronous channels are passed through the SIU4. 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.
June 2004 Isis® Sonar User's Manual, Volume 2 110 Table F-2.
June 2004 Isis® 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 SIU4. F.2.
June 2004 Isis® Sonar User's Manual, Volume 2 112 Figure F-1. SIU4-2 test setup diagram 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 SIU4-2 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 1. Set all four attenuation switches to 9 (the highest setting). 2.
June 2004 Isis® Sonar User's Manual, Volume 2 113 5. In the Isis software, you can view the waveform signal in a voltage window. (From the main menu, choose Window→signal→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) shows the presence of the trigger (approximately -5.0 volts).
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 115 2. The following values are computed with the calibration coefficients read from the file ISIS.CTD: • Water temperature (degrees C) • Pressure (psia) • Conductivity (Siemens per meter) Multiply Siemens per meter by 10.0 to get mmho/cm) • 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.
June 2004 Isis® 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.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 118 After the serial port information has been received, the following steps are performed: 1. If a 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 zeroingout the depth computation on deck.
June 2004 Isis® Sonar User's Manual, Volume 2 119 Table G-7. Falmouth Scientific’s CTD SEG-Y format values in Q-MIPS footer record Conductivity [c] computed Conductivity in Siemens per meter float 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 [|] (“pipe” symbol) percent of light, times 10000 See the file QMIPSFMT.
June 2004 Isis® 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: 9600 or higher (although any will work) Auto Transmit: Asynchronous Interval (ms): 200 (Use 50 when collecting SeaBat bathymetry.) H.
June 2004 Isis® Sonar User's Manual, Volume 2 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 ignored 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Figure H-1.
June 2004 Isis® 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, Isis cannot transmit a “Get Digital Output Format” command to the MRU.
June 2004 Isis® Sonar User's Manual, Volume 2 124 Appendix I 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.
June 2004 Isis® 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 Analog PC31_32.EXE Standard Analog: Any analog sonar cabled through the SIU; no other associated control program needed AU32 Delph Analog ASVRSON.EXE Delph AU32 DSP board for 2-channel Analog sidescan; no other associated control program needed Klein 595 PC31_32.
June 2004 Isis® Sonar User's Manual, Volume 2 126 EdgeTech DF1000/DCI DF1K_32.EXE EdgeTech Black Box BlackBoxSSS.EXE EdgeTech Black Box; control program = EGG_DCI.EXE Benthos SIS-1000 CONTROLS.EXE Benthos SIS-1000 Chirp sidescan/subbottom (mmap Server); control program = CONTROLS.EXE Benthos SIS-1500 CONTROLS.EXE Benthos SIS-1500 Chirp sidescan (mmap Server); control program = CONTROLS.EXE Benthos SIS-3000 SIS3000.
June 2004 Isis® Sonar User's Manual, Volume 2 I.1 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.
June 2004 Isis® Sonar User's Manual, Volume 2 128 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 DF1000 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 DF1000 DCU deck unit. The message that appears in Isis versions 4.14 through 4.
June 2004 Isis® 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 Isis 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.
June 2004 Isis® Sonar User's Manual, Volume 2 I.1.1 130 Summary Description of an EdgeTech ACI Board The current version of Isis includes support for the EdgeTech ACI board. This board has these properties: • It’s an ISA board which takes power only from the ISA bus. • It interfaces to the EdgeTech 272 towfish. • It allows two channels of digital data (100 kHz, 400 kHz).
June 2004 Isis® Sonar User's Manual, Volume 2 131 Table I-2. ACI Board (board rev 2) Jumpers Settings JP3 JP11 JP13 JP14 RDDRQ+ all others I.2 closed (8 MHz) left two left two right two closed closed open Klein Analog Sonar System 595 Isis can interface to the Klein System 595 analog sonar, using an SIU4. The Klein 595 cable plugs into the tape out connector on the 595 deck unit. The Klein 595 cable pinouts (Table I-3) are unique to the model. Table I-3.
June 2004 Isis® Sonar User's Manual, Volume 2 I.3 132 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. I.3.1 Hardware Setup Isis connects to the Klein System 2000 by way of two cables.
June 2004 Isis® Sonar User's Manual, Volume 2 133 Should you ever need to re-order these cables, their part numbers are: • 44-018 • 44-021 I.4 Klein 2000 Internal Cable with Select Klein 2000 External Cable 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 the Klein 3000 the executable is called K3000.EXE.
June 2004 Isis® Sonar User's Manual, Volume 2 The Klein 3000 server opens (Figure I-3): Figure I-3.
June 2004 Isis® Sonar User's Manual, Volume 2 135 Figure I-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.
June 2004 Isis® Sonar User's Manual, Volume 2 136 Figure I-5. Expanded ‘More Options’ of Isis Server for Klein 3000 dialog box The additional panels and fields of that expanded dialog box are explained next.
June 2004 Isis® 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.
June 2004 Isis® 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 have a more accurate value that you could enter here.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 140 Figure I-6.
June 2004 Isis® Sonar User's Manual, Volume 2 141 Figure I-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.
June 2004 Isis® Sonar User's Manual, Volume 2 142 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. I.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.
June 2004 Isis® Sonar User's Manual, Volume 2 143 quite large for this type of sonar) will obviously increase with the addition of other data types.
June 2004 Isis® Sonar User's Manual, Volume 2 I.5.2.1.2 144 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. • Triggers: This field keeps a running total of the number of triggers received from the sonar. • Beams to Display: The Klein 5000 sonar adjusts this number automatically depending on a number of variables, including speed, range scale and resolution.
June 2004 Isis® Sonar User's Manual, Volume 2 145 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. I.5.2.3.
June 2004 Isis® Sonar User's Manual, Volume 2 • Send only Telemetry to Isis • Speed of Sound • TPU responder ctrl • TPU responder freq 146 • Altimeter The seven items in the Advanced Settings panel are explained next. • 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.
June 2004 Isis® Sonar User's Manual, Volume 2 147 • Altimeter: Determines whether the Altimeter transducer in the Klein towfish is Active (transmits and receives) or Passive (receives only). See the Klein manual. I.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. The default value (41.
June 2004 Isis® Sonar User's Manual, Volume 2 Figure I-10.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 150 Automatically open Put a check mark in this option to enable it. When enabled, an independent, non-docked window is displayed during your recording Bathymetry 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.
June 2004 Isis® 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 SideScan, 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.
June 2004 Isis® 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.
June 2004 Isis® Sonar User's Manual, Volume 2 Z-axis 153 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.
June 2004 Isis® Sonar User's Manual, Volume 2 To configure the Isis 81xx server Figure I-12. Isis SeaBat 8100 Server dialog box 1. Click Setup Comms... The system displays the Comms dialog box (Figure I-13).
June 2004 Isis® Sonar User's Manual, Volume 2 155 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). 3. Click Show Network Config to review the current addresses for your Ethernet connection. shows an example of typical Ethernet addresses that could apply to the setup.
June 2004 Isis® Sonar User's Manual, Volume 2 156 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.
June 2004 Isis® Sonar User's Manual, Volume 2 I.7 157 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 I-5. Table I-5.
June 2004 Isis® Sonar User's Manual, Volume 2 Appendix I: Working with Specific Sonars 158