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A User's Guide to Sonarview 1.0: A Sidescan Sonar Post

1. Cancel Figure 21 New Mission dialog box 4 2 2 Select create empty folder and choose mission file name Whenever you start a new mission the first thing you must do is to create a new folder to store the files associated with it The easiest way to create a new directory is to click the new folder button on the dialog es This button is along the top right of the dialog box Rename the new folder with the mission name then double click it to move into it Now create a new mission file by typing its name in the File name field of the dialog and pressing the Save button The new file will be created with the extension MIS automatically Alternatively you can create a new folder and a new mission at once To do this type a pathname including a new folder and mission name That is you type in A New_Mission_Folder1 New_Mission_Name You will then be prompted to create a folder with the name you specified Click OK Note that the leading means make the new folder a subfolder of the current one If you use the name of a previous mission you are prompted as to whether you wish to overwrite it or not If you do not know what is in the old mission do not overwrite but choose a different name 33 DSTO GD 0280 34 4 3 Setting mission defaults 4 3 1 Operator Identity You will now be asked to enter you name Figure 22 This is only stored by Sonarview if contacts are marked and saved
2. 109 DSTO GD 0280 110 A separate cable out file is a simple text file that can be created with a text editor The format of each line is lt INTEGER gt lt FLOAT gt Here Integer is the ping number and Float is the length of cable out starting at that ping number The first line must always be for ping 0 and it is frequently the only line if the cable out doesn t change The name of the cable out file should be the same as the name of the raw sonar data file but with the extension replaced by CBL For example the file 123 1234 XTF would have a cable out file called 123 1234 CBL Note blank lines are not allowed before the first line of data or between lines of data For example if the cable out was always 12 metres then the file would have a single line 0 12 0 If the cable out started at 8 metres went to 12 metres at ping 5000 and 17 metres at ping 10000 then the file would read 0 8 0 5000 12 0 10000 17 0 Generally there should be few changes of the cable out value for a single data file B 5 Data corrections B 5 1 Correct depth This should only be used when the sonar has a pressure sensor and Isis has used the wrong transformation to get from the pressure sensor output voltage to the correct depth The Triton Elics Isis program Klein5000 EXE has a transformation window to correct from the pressure sensor voltage V to the depth D using a formula like D SV ET This is a linear corre
3. 8 5 Section 5 Read 5 1 5 3 Exercise 5 1 Play all the files in the mission in turn using batch mode Look for and note any problems with navigation bottom tracking or data display Often the software can overcome these problems Notice also where each file falls on the chart The problems for each file will be discussed in turn Hint 1 You may need to change the gain to suit each file Hint 2 The space bar pauses data play You might need to do this to change settings while viewing a file 071_1809 xtf You may have noticed a slight offset in the heading of the vessel during playback Pause play and use the Measure tool from the Spatial tools window to measure the heading of the vessel and the heading of the vessel track The difference is the heading offset Then remove this data file from the mission and reabstract and smooth it When abstracting use Sensor heading again for Preferred vessel heading and put in the offset in the Heading offset field Be careful about the sign of the offset Appendix B Play the data file again and view the difference in heading Another option to try is to reabstract the file and add it using Made good for Preferred heading with no heading offset NOTE You can close the mission and return to review mode and change default sensor setup using the Configuration menu You may need to save configuration for it to be applied Then play the file in review mode Change the sen
4. 1 6 6 A date this configuration started GPSA 6 6 25 GPS antenna offset Xx Y 2 in m FAIR 6 106 20 Fairlead offset X Y Z in m DEAD 26000000 deadweight in kg 7LENG 266 length in m BE HN 46 beam in m ENDS end of the record STRT NAHE WorkBoat 448 DATE 1995 1 1 6 6 GPSA 8 8 2 5 FAIR B 5 4 9 DEAD 7006 Figure 9 Vessels dat file 2 5 5 Other information about survey configuration required for processing It is a good idea to also check and note any other details of the survey setup These may include the type and accuracy of sensors how the towfish cable out was recorded whether there were any problems with the data being collected the settings of the data recording software the weather and sea conditions and anything else that might be useful for post processing 2 6 Screen Settings For the imagery and windows within Sonarview to be displayed correctly the screen settings must be configured appropriately in the computer s Display Properties and in the Matrox Display Properties if you are using a Matrox graphics card Access the Display Properties dialog box either by right clicking on the desktop and selecting Properties from the pop up menu or use the start menu to start Settings Control Panel and select Display from here Within the Display Properties dialog box click on the Settings tab to edit settings as required Desktop
5. Read 2 6 Exercise 2 5 Access the Display Properties and Matrox Display Properties dialogs and check that settings match those described in Section 2 6 8 3 Section 3 Read 3 1 Exercise 3 1 Create a desktop icon for Sonarview from the folder created in exercise 2 2 Start Sonarview using this icon Are any errors displayed on startup If so recheck installation as described in Section 2 Exercise 3 2 Reread Section 1 2 and complete the exercises above for Section 1 Read 3 2 Exercise 3 3 Start a data file using the play button and try each of the options described in Section 3 2 using both buttons and the menu commands Do not try to use commands from the data menu other than those described How many ways are there to start a data file Hint look carefully at the Play command in the Data menu Read 3 3 Exercise 3 4 Open aus200 cht a chart of Sydney harbour Open the DXF outline Penguin_Coast dxf Try the options in the chart manager Finish with Aus200 cht visible and Penguin_Coast dxf closed Hint if you cannot see the whole chart try zooming and or panning described in 3 3 10 and 3 3 16 Exercise 3 5 Open a data file and while it is playing change the survey display De select some of the options and click OK to view the changes in the chart window Zoom in on the vessel if necessary Exercise 3 6 Reset the snail trail and observe changes to the display Exercise 3 7 Togg
6. Section B 4 1 7 Sensor position code Section B 4 2 8 Cable measure code Section B 4 3 9 Depth correction code 1 if depth correction to be applied else 0 B 5 1 10 Depth correction slope value multiplied by 1000 integer B 5 1 11 Depth correction intercept value multiplied by 1000 integer B 5 1 12 Heading correction code 1 if heading correction should be applied else 0 B 7 3 13 Heading correction value in degrees multiplied by 1000 integer B 7 14 Preferred vessel heading code Section B 3 1 15 Preferred fish position code Section B 3 2 16 Preferred fish heading code Section B 3 3 17 Cable multiplier code 1 if a correction is to be applied else 0 B 6 18 Cable multiplier value multiplied by 1000 integer B 6 An example of the resulting line in a mission file is SENS 4 0 0 0 0 0 1 3 0 0 0 1 13500 3 3 3 1 4000 DSTO GD 0280 Appendix C Coordinate systems and datums C 1 Coordinate systems within Sonarview When Sonarview was designed it was decided that a single geodetic datum and projection would be adopted both as the method of internal storage and for output Hence inputs such as maps and runlines can be accepted relative to arbitrary datums Internally they are converted to a common datum and any outputs are referred to that datum The default internal geodetic datum is WGS84 the defacto world standard and the preferred standard in the RAN The onl
7. using the Chart Manager Section 3 3 2 NOTE Sonarview does not recognise all of the notations in some DXF files It will display a warning message such as Number of unrecognised points 2 Click OK and the rest of the outline will be displayed If the number of unrecognised points is large you may need to remove the outline using the Chart Manager 3 3 1 3 557 3 ENC files The 557 3 standard for electronic nautical charts is a data exchange format specified by the International Hydrographic Organisation IHO The standard is extremely complex DSTO GD 0280 and only a small proportion of it is supported within Sonarview sufficient to draw features such as coastlines and contours An 557 3 file is opened without a requirement for additional information however in some circumstances the file will be read and not appear on the screen The reason for this may be that the default UTM zone set within the Sonarview configuration is incorrect If an 557 file fails to appear check the configuration with Configuration Define output projection 3 3 2 Managing charts Hide and Clear If you want to remove a chart or make it invisible use Manage charts This brings up a list of all the charts currently open and allows you to select and manipulate charts from there To control a chart in the manager select it by clicking on its name Options should then become available at the bottom of the dialog box Clear cl
8. 13500 3 3 3 NWCR WGS84 333014 65 X 6253549 97 Y SECR WGS84 338428 54 X 6251395 71 Y DATF 197 0443 xtf C SydHarb SS Data Klein2000 1 1 HDAT WGS84 PROJ Universal Transverse Mercator 56 SOUTH GRID GEO 7 Figure 52 An example mission file Note that in each case the file year could not be correctly determined and has been replaced with 1 in the DATF lines DSTO GD 0280 A 7 Sonarview Chart files CHT When Sonarview and its predecessor SONAVIEW were first written vector files of the type now becoming readily available as electronic nautical charts in 557 3 format were not available The options were bulky raster based charts or a custom made vector format The CHT file format represents the latter Several examples of such files come with Sonarview The charts AUS200 and AUS830 are perhaps the most general of these incorporating most of the features in the following table Table 6 Tags for Sonarview chart files CP Purpose Nominal centre point for display purposes Notes PROJ Notes STRING is the full name of the projection ANY1 ANY4 are the parameters of the projection ual See Appendix C 4 for details of the parameters Notes FLOAT is the heading of magnetic North relative to True North when the chart was published INTEGER1 is the year of publication FLOAT2 is the expected rate of increase of the heading in minutes of arc per year MAG HS Starting point of a Hazard
9. 6 3 6 8 Exercise 6 2 Write the data files to the mosaic in batch mode Look for a short section of a file that shows a relatively featureless seafloor This will be used to create a radiosity correction Write down details of such a piece of data is if you see one filename and ping number Try changing the gain while the mosaic is playing and notice the differences in the mosaic Exercise 6 3 Mute the mosaic to save processing power and try creating a radiosity correction from the section of data identified in ex 6 2 Save this radiosity correction Try creating another radiosity correction from a section of data that has a number of large features Save this one also under a different name Compare the two radiosity corrections by applying them to the same section of data To apply the next radiosity correction use the load command Section 6 5 Hint Use the Rewind to start button in the player control to leave the same data file open but bring it back to the start ready to apply the next radiosity correction Note radiosity corrections taken at a lower range scale eg 50m will not fully cover the data for a track of higher range scale eg 75m However it is possible to effectively apply a radiosity correction from a higher range scale to a data file with a lower range scale Exercise 6 4 Turn off Mute mosaic and toggle Erase edge markers to off Play a data file onto the mosaic and see if you can see
10. 7 and can be changed from within Sonarview at any time Enter name as requested or leave it blank and hit enter or click OK Operator identity Please enter your name Amy Young Figure 22 Operator Identity Dialog box 4 3 2 Datums You will next be prompted to select datums and projection for output figure 23 Usually you would click yes to both of these This would set up the mission in WGS84 with a Universal Transverse Mercator projection Southern Hemisphere zone 56 Be aware that other datums and projections can be and have been used and that modern data will not be compatible with older standards For example AGD66 is still widely used in Australia especially by the NSW state government Sonarriew Curent DATUMS for OUTPUTS are Horizontal 4504 Vertical NONE Soundings NOME ls this correct Sonarview Current PROJECTION for OUTPUTS ts Universal Transverse Mercator ls this correct Figure 23 Select Datums You have now created a new mission but the details have not yet been written to a file You must save the mission or close it see below before details will be stored You can DSTO GD 0280 then view the new mission file New_Mission_Name MIS using Windows Explorer It is just a text file and will contain some of the details you have just specified 4 4 Opening closing and saving a mission 4 4 1 Save Mission Save mission saves the current mission details Whe
11. 74 Accessing contact information Query tools ssesssessoessessoessessosssessocssoessessoes 66 LAT Ouer VAS COn tac a N 66 7252 Perenne a contact aiiia 67 7 5 The Contact Menu Opening and saving contact files o ooocoonmommmmmm o 69 LL Openme contact esta ai afili 69 102 DIVNE Contact PICS uta it reid 69 70 The Contact Manacor iia 70 VOM A e doetactansaietnlsia stud ot deeletan dace aaa aie 70 TOD Ci A de de esate sven abs 70 TOs es ELO S INOW siaina a a Scaatceancda ante wham T R 70 7 7 Grouping contacts by classification occoooccooonoonnnnonnnonnnononnnocnnnnaninnnnnonccncccononnnnos 71 777A Picnlieht contact cate On S seccst saree sesh rutin iio 71 7 7 2 Clear highlighted CatesOry Sc hae sealers ccaneniacens 71 7 7 3 Save Highlighted Category s to file ec eeeeeseeseeeseceeeeseeeeeeeeeeees 71 Os EXERCISES A AAA aed aged 72 SL O A E 72 52 DECO Zaiat AAA AAA 72 83 ECON Ia A ii e atacan 73 DE SECO A aia E 75 e Ro gt es 1 10 4 D APO gn cadet cebedsndoedeosetistecceses 76 SO SECON Ds 77 9 7 SECO Td 79 9 REFERENCES cuidao iii 80 10 ACKNOWLEEDGEMEN ES A A 80 APPENDIX A TEXT FILE FORMATS 000 81 Al General strucldternn anida da 81 ALLA Notational conventions ai A eer coe 81 AL articular MOA tl O1S is id 82 pS Spatial notions sise pan 82 A 2 Configuration file Sonarview con cscscscssssosssessesessescarssssssesseseasssoasseosesesseseasess 83 AS
12. Contact categories tiles CTC arica 86 A 4 Vessel description file Vessels dat omnocononocoononononacononoconnonononaconnonononaconnacononoconnoss 89 As Contact VSN T cern tae a chica thag acarecap saan eats eee cama esa 91 Aol EINE oE eg eee yer e iy ee er reer ey rete ere rere nT 94 A6 Mission files MIS a 95 AOL PAV CX AMPS mission e os sii cisco 98 Ac Sonarview Chart tiles COTA deecuetsenabatecpesiacs iboi ainia 99 A9 Survey plan Tiles Di enese 101 A9 Bathymetric data les 103 AL Cridded bate TCS sianie e R O 103 A92 Imegular bathymetry les el cl 103 APPENDIX SENSOR SEU OP lt a a 105 Dil SOCNSOR SCE olas 105 B 2 Sensor configuration options s osesocsossssecossosccossosecoseosecosessssosessesosessssssecsssssees 106 BL Usaceofthe information esnean o E N 106 BZZ VESSEL POSHIOMSEN O lito ciclo atlas 106 B29 Vessel eacdine DESO an E E 106 B24 TOW SIG OS MEO I SENSE oaie E L aide ey ace ie ine AEEA 107 DZS OWS Cems Os A ecpeetes ial staatsueteealeteet soeseepiatetauese ti alaicatauseeiat 107 Bos Preferred SARS Ops adas 107 Bowl Preferted vessel hadita is 107 Do2 Treterred TSI Posesori e a a aa aa 108 Boo Treterred TSn headin Teni Aa a A 108 BA Data interpreta sii 109 DAL oli POsilOm Means autistas roseta 109 BAZ SCMSOr POSI MEAS o e 109 BAS Cablerm asuro Setups leos 109 B5 Data COMECUONS viana brian dai din daa a aa 110 O 110 Bo Correcticable ola 111 B7 Correct headin
13. Data Erase Edge Markers Hanm Batch Made Play in Mosaic Batch Mode Figure 11 Data menu options 3 2 1 Play To start a file click on the Play button in the Player Control Figure 10 in the Control window Alternatively select Play data file from the Data menu This will bring up a standard Windows Open dialog box Figure 12 Browse for and click on the file you wish to view and then click on the Open button Data files usually have the extension xtf Different computers will have data files in different locations In the Undersea Environment group at DSTO the convention is to store data files on a second removable hard disk called D EX or G in a folder called SSSData DSTO GD 0280 Open Look in EJ sesdata 23 102 cab gps wtf a 266 2356 sti 3 102cab 266 1320 x4 267 0005 xt Z Cabbage day 100 266 1447 xt E Cabbage day 102 266 1455 xtf DA cabbagemission day 100 sa 266 1941 att E CabbEowMnt day 100 a 266 1 850 st a Filename 266 1311 xt Files of type Data files Cancel FT Open as read only Figure 12 Open data file dialog box Once opened a data file will start to scroll on the waterfall window with the chart window displaying the vessel track Once the file has finished playing the Open window is automatically displayed again allowing you to choose the next file to view NOTE 1 If the data file doesn t scroll w
14. File allows you to save just the information from these types of contact to a new contact file You must specify filename and location 71 DSTO GD 0280 72 8 Exercises These exercises are for use in conjunction with data included on the CDs in the Sonarview software distrubution 8 1 Section 1 Read Section 1 Continue to Section 8 2 You will return to these exercises at exercise 3 2 Exercise 1 1 Look at the various menu commands and the buttons on different windows Exercise 1 2 Hover the mouse over some of the buttons to display a hint giving a brief description of what they do NOTE if you are unable to start Sonarview or receive errors when you do read chapter 2 and check configuration files as described 8 2 Section 2 Read Section 1 to end of Section 2 3 Exercise 2 1 Using Explorer or My Computer find the Sonarview directory on the computer if there is one and look at the sub directories and their sub directories In the application or source folder within the Sonarview directory find and open Sonarview con with notepad Have a look at the information stored in this file Check that the directories described in Sonarview con exist as shown in Explorer Exercise 2 2 Create a new directory called Sonarview Training preferably not on the removable hard drive if there is one Create the required subdirectories for Charts Intermediates and Missions 2 2 2 3 1 These folders can be called anyt
15. Must be the first non blank line in the file Denotes beginning of a contact object lt TAG gt BEGN CTID Unique Identifier for contact lt TAG gt lt INTEGER1 gt lt INTEGER2 gt lt INTEGER3 gt CTID 2 37436 2332000 Notes INTEGER1 is the tally of all contacts started at some point INTEGER2 is the second in the day that the contact was marked INTEGER3 is the concatenation of the Julian day the contact was marked and the year it was marked CATG Purpose Identifier for category assigned to contact by operator lt TAG gt lt WORD1 gt lt WORD2 gt lt WORD3 gt lt STRING gt CATG MNLK POINT VISIBLE Minelike WORD1 is a unique identifier used to search for the category WORD2 is the spatial type which can be POINT for a single point contact OPEN for a multi point line or CLOSED for a closed polygon WORD3 indicates whether the contact has been marked as deleted It can be either DELETED or VISIBLE The string is the long name of the category 91 DSTO GD 0280 NOMP Purpose Nominal position for the contact For example if the contact is an extended object like a shipwreck the nominal position could be at its centre or its shallowest point Format Example Notes SRCE Purpose Identifies the original data from which the contact came and the place in the data where it can be found Format Example Notes FILENAME is the name of the sonar data file from which the contact was marked D
16. OK or click on the cross in the top right corner Manage Data Files 1034 0071 Ott 169 0625 tt 109 009 xt 105 0632 xt 165 0636 tt 1034 0039 xt 105 0643 xt 1039 0046 xt 1034 0049 xt 1034 0053 tt 164 0656 xt 1034 0059 xt 103 0901 xt 1039 0904 xt 103 090 7 tt 1994 1911 xt Apply Figure 35 Coverage manager 5 3 Further options in the Spatial tools window In Mission mode contact marking tools become available and they are discussed in Section 7 Also of interest in Mission mode are the two remaining tools from the Spatial Tools window that have not yet been discussed 49 DSTO GD 0280 50 5 3 1 Inspect the voltages for a single ping This tool is located to the right of the zoom tools Clicking on this tool and then clicking on imagery in the waterfall window creates a text file of the voltages for the selected ping The text file is called Voltages txt and it is located in the Sonarview application folder that is along with Sonarview exe 5 3 2 Determine the statistics in a rectangular area h This tool is located in the bottom left corner Selecting it puts the cursor in draw box mode Section 4 7 2 Use it to select a rectangular area in either the waterfall or zoom window Statistics for the raw voltage levels corresponding to the pixels in the box are then displayed on a graph and numerically The statistics displayed are average standard deviation root mean square power minimum
17. Sidescan Cable Out ae Vessel towfish ee Reference Dept Position Figure 8 Towed sidescan side view To add a new vessel open the Vessels dat file in a text editor eg Notepad The file should be in the same directory as Sonarview exe and a sample is shown in Figure 9 The easiest way to add a new vessel is to copy one of the vessel descriptions 9 lines including STRT and ENDS lines paste it at the end of the file and change the details to those of the new configuration Then save and close the file Details of the format of Vessels dat are given in Appendix A 4 and also in the file itself DSTO GD 0280 B vessels dat Notepad Ml ES File Edit Search Help k This file is a record of the properties of vessels as a function of time Comment lines begin with and optionally end with gt gt Blank lines and comment lines are ignored Each record line is denoted by a code string followed by an arbitrary number of comma separated fields All record lines are optional excepting the start line the name and the end line The convention for positional offsets from the vessel origin is X distance abeam vessel from origin positive to starboard m Y distance along vessel from origin positive forward m 2 distance above water line positive upward m 4 4 4 4 Exzample a vessel record STRT Start of the record HAME Melbourne name of the vessel DATE 1986 1
18. This is useful if you want an image including the coastline or coverage or an image of a number of mosaics in the same area The bitmap created has a set size of 2000 by 2000 pixels so it may not retain the full resolution of the mosaic 6 8 4 Hide Show button This button shown as Hide in Figure 39 allows you to toggle the display of mosaics in the Chart window on and off without having to close the mosaic and reload it If the selected mosaic is currently not visible then the button will read Show 6 8 5 Clear button This is the only way to close a mosaic altogether When you click this button with a mosaic selected the file will be closed and the mosaic removed from the chart If the mosaic has been changed since it was last saved you will be prompted to save it 6 9 Other Options from the Mosaic Menu 6 9 1 Load Mosaic To Map This command enables you to load previously created mosaics to the Chart window There are two options for the how the mosaic will be treated Selecting Read Only causes the mosaic to be stored as compactly as possible and prevent Sonarview from making any further modifications This allows you to load a mosaic for viewing without the risk of having it overwritten Read only mosaics are displayed with no light blue border around them Selecting Editable loads the mosaic into a grid array that can be modified and assigns the mosaic as the current Editable mosaic that is the one that the swath c
19. a short upper case character string called a tag which identifies the function of the atom A fictitious example of an atom is WPNT ADG84 346567 4 X 5143243 2 N Barton s Point This tag is WPNT and this might represent a waypoint with a position given in eastings and northings relative to the AGD84 horizontal datum and named Barton s Point Note that all characters other than commas are treated as part of a field except that leading and trailing spaces are removed so the last field is Barton s Point Fields 7 and 8 are empty the first consisting of commas with zero separation and the second of nothing but spaces Blank lines are always ignored and lines with unknown tags may be ignored or result in a warning from the program A 1 1 Notational conventions The following notations are employed to describe the formats of individual fields 1 lt TAG gt short alphabetic character string with no internal spaces eg CHRT 2 lt STRING gt arbitrary length character string that may contain spaces eg Canada Bay 98786 3 lt WORD gt single word arbitrary character string eg AGD84 4 lt FLOAT gt floating point number for example 1 23 or 1 23e0 5 lt INTEGER gt whole number for example 123 or 12345 6 lt ANY gt float integer or string 7 lt CHAR gt a single character eg P 81 DSTO GD 0280 82 A 1 2 Particular notations Some notations a
20. allows some of the errors in the raw data to be removed eg gaps in navigation and extra data to be added It also allows contact information and mosaics for these data files to be created stored and retrieved There are a three basic steps involved in creating a functional mission First a new mission file must be created and saved with certain defaults set Data files must then be added to the mission and their navigational information abstracted Lastly the way the navigation is to be used must be defined and the vessel track inspected and smoothed The mission file stores the details of the processing for each data file It also stores some of the details of the state of Sonarview when it was last used with the mission In particular whatever charts were open when the mission was closed are restored when it is reopened Data files that are compatible with Sonarview include 0 XTF Extended Triton Format 1 5kd Klein format for System 5500 2 SID SIDA format DSTO only File types created in a mission include 0 Mission MIS old mission OLD 1 Abstracted navigation abs rng bnd fsp fst fhd cbe dep 2 Abstracted timing tim cable out cbl 3 Filtered navigation flt 4 Mosaic MSC 5 Contact CNT 6 Image bmp All these files are stored in the same directory as the mission MIS file so it is important to create a new directory for each mission The foll
21. antenna ka Data Corrections olope Intercept Cancel W Correct Cable Out 0 1 Multiplier Y Correct heading E 3 5 Offset ideg Towtish position sensor Preferred Fish Headin Cable Measure Sety None Made Good Separate File Towlsh Sensors i Altitude M Compass M Pitch 4 Roll ran l Depth Acoustic Y Depth Pressure l Pitch Laser Gyro FT Roll Laser Gyro FT Yaw Laser Gyro Figure 54 Define Sensor Setup dialog box The columns are arranged as 1 Sensor Configuration specifies the actual instruments being recorded 2 Preferred Usage specifies which methods of calculating heading should be used when there are several options 3 Data Interpretations specifies what various fields in the XTF data stream actually mean The data format is arbitrary so this information must be recorded when the data is recorded 4 Data Corrections allows offset and linear corrections to some internal variables such as the fish depth and the towfish heading 105 DSTO GD 0280 106 B 2 Sensor configuration options B 2 1 Usage of the information The error characteristics of data depend to a large extent on the sensor being used to estimate them In theory knowledge of the type of sensor in use can allow or assist in estimating the errors and correcting for them In practice to date it has not been possible to gather all of the necessary data to provide proper erro
22. are 1 lt INTEGER gt UTM Zone in range 1 60 2 lt WORD gt Hemisphere Can be SOUTH or NORTH 3 Blank 4 Blank Default projection to be used in the Chart window lt TAG gt lt WORD gt lt INTEGER gt GRID GEO 7 Purpose WORD is the projection type Choices are GEO unprojected GRID projected with the current grid projection INTEGER is the magnification index which can range from 1 highest magnification to 13 lowest magnification Default towfish sensor configuration lt TAG gt lt INTEGER1 gt lt INTEGER12 gt SENS 0 6 0 78 0 0 1 0 0 0 0 1 13500 The values of this line are highly specific to the version of code and should be changed using the Define Default Sensor Config tool in the Configuration menu See Appendix B for details 85 DSTO GD 0280 86 A 3 Contact categories files CTG Files ending with the suffix CTG define classes of names that can be associated with marked contacts It also controls how they will be displayed in a Windows Explorer style treeview that appears on the screen Figure 48 This format is unique in that it is a text file without tags as shown in Figure 49 Only two formats are possible for each line of text namely 1 lt INTEGER gt lt STRING gt lt CHAR gt 2 lt INTEGER gt lt STRING gt lt CHAR gt lt WORD gt Each line describes a node in the treeview Format 1 is a parent
23. described in Section 2 1 Correct configuration of directories is described in Section 2 2 The various files that are needed to run Sonarview are discussed in Section 2 3 The file required for the contact classification scheme is described in Section 2 4 The vessel s survey configuration must be correctly measured and entered into the vessel configuration file and this is described in Section 2 5 Screen settings also affect the operation of Sonarview and the required setup is described in Section 2 6 2 1 System requirements e Windows NT 4 0 or higher The software runs on Windows 2000 e Two colour monitors capable of 1280 by 1024 screen resolution preferably 19 or larger e Matrox G400 video card or equivalent capable of running in dual screen mode at 2560 by 1024 resolution with 32768 or more colours ie 15 bit HiColor or better The preferred mode is 36 bit Note that 256 colour mode 8 bit is not supported in by Sonarview e Pentium 3 or higher e Atleast 256MB of RAM A CD burner is useful for archiving large data sets We have also found removable hard disk drives to be useful for rapid data collection and processing If you wish to print high resolution mosaics as posters a chart size printer is needed and a graphics program such as MS PowerPoint or JASC PaintShop Pro 2 2 Directories Sonarview needs an application directory for the program and its configuration files plus some storage directories for files that
24. found during the mission then the category file can be edited with a text editor to include the new categories and then the file can be re loaded into Sonarview IMPORTANT NOTE It is important never to delete categories from a contact categories file partway through a mission or after the analysis has been completed If a feature has 61 DSTO GD 0280 62 already been marked with the deleted classification then Sonarview will crash when it tries to load the category description It is also assumed that only a single category file will be used throughout the mission the name is stored in the mission file so another file should not be substituted partway through the analysis The safest practice would be to produce a new contact category file for each mission so that new feature types found in that mission can be added to the category list for that mission without being used for other missions To choose a contact classification file other than Default_Contact_Categories ctg the Load Feature Categories item in the Contacts menu is used Selecting this item causes an Open dialog box to appear that will display any contact category files that is those with extension ctg When the file is chosen and loaded its name is written to the mission file 7 2 2 Marking location of contact The Spatial Tools window is used to mark features of interest which then causes their locations to be displayed in the Chart window No information
25. good idea to remove very short files that may arise from mistakes during data collection 5 2 4 Save Positions Relative to Grid When this is checked position information stored in contact and mission files will be stored as UTM not latitudes and longitudes If you are exporting data from Sonarview to other software this may require one or other form of positioning information This menu item allows you to choose which and change from one to the other 5 2 5 Show all coverage This causes the swath coverage of all the files in the mission that are selected in the Coverage Manager Section 5 2 6 to be displayed on the chart Coverage is shown in different colours for different files cycling through a list of colours DSTO GD 0280 5 2 6 Manage Coverage This allows you to define which files are displayed in the coverage This may be useful for tracking down files in a particular area The Coverage manager tool is shown in Figure 35 Files in the left column entitled Show will have their coverage displayed Those in the right Hide column will not be displayed The default is to have all files in listed in the Show column To move files from one column to the other select them by left clicking Use the shift key as well to select more than one file at a time Then click on the arrow buttons between the columns to move selected files To cause the chart to reflect these changes click on the Apply button To close this tool click
26. gt WP AGD84 3350 300 S 15118 00 E end of the line STRING is an optional comment TLS Starting point of a transit line lt TAG gt lt HPOSITION gt lt STRING gt TLS AGD84 3350 745 S 15111 42 E route to area 2 TLC STRING is an optional comment Intermediate point along a transit line lt TAG gt lt HPOSITION gt TLC AGD84 3351 00 S 15111 45 E Notes HPOSITION is the centre point of the line FLOATTI is the length in metres FLOAT 2 is the heading in degrees TLE End of points for a transit line lt TAG gt TLE RL 101 DSTO GD 0280 102 WP AGD84 3350 300 S 15118 00 E end of the line TLS AGD84 3350 745 S 15111 42 E route to area 2 TLC AGD84 3351 00 S 15111 45 E TLC AGD84 3351 28 S 15112 66 E TLC AGD84 3351 54 S 15113 64 E TLC AGD84 3351 53 S 15114 89 E TLC AGD84 3350 49 S 15115 72 E TLC AGD84 3349 75 S 15116 46 E TLC AGD84 3349 75 S 15116 80 E TLC AGD84 3350 275 S 15117 90 TLE RL AGD84 3349 400 S 15118 25 E 3000 10 RL AGD84 3349 400 S 15118 30 E 3000 10 RL AGD84 3349 400 S 15118 35 E 3000 10 RL AGD84 3349 400 S 15118 40 E 3000 10 RL AGD84 3349 400 S 15118 45 E 3000 10 RL AGD84 3349 400 S 15118 50 E 3000 10 RL AGD84 3349 400 S 15118 55 E 3000 10 RL AGD84 3349 400 S 15118 60 E 3000 10 RL AGD84 3349 400 S 15118 65 E 3000 10 RL AGD84 3349 400 S 15118 70 E 3000 10 RL
27. maximum median and number of samples There is also an option to save the statistics to a file along with a comment and a definition of the area type that is being assessed The options available are target shadow and background This tool would has so far only be used in Mission mode for a specific scientific calculation see Penguin document Young amp Anstee 2001 However it may be useful for teaching purposes Figure 36 shows the Signal Statistics dialog box If the dialog box is not closed successive uses of the statistics tools draw new curves on the histogram window so that different image areas can be compared The Reset button removes accumulated histograms If you wish to save the information from the dialog click on the Save button The latest values displayed will be added to a text file named Stats_MissionName txt DSTO GD 0280 Signal Statistics Figure 36 The Signal Statistics dialog box 51 DSTO GD 0280 52 6 Creating and managing mosaics Mosaicing is only available in Mission mode This is because good mosaics require good positioning information Within a mission the data files have smoothed navigation so the waterfall imagery from a number of data files can be more accurately overlaid on the Chart window Most of the commands specifically relating to mosaicing come from the Mosaic menu Figure 37 and Data menu Figure 11 in the Control window Familiarity with basic functioning of Sona
28. node and in this case CHAR is P Format 2 is a child node and CHAR is C a al Isolated feature Minelike Channel marker El Natural Other types Figure 48 Category tree Figure 48 shows part of the treeview resulting from the file shown in Figure 49 Each node in the treeview is shown on its own line A sign next to the node means that it has been expanded and a sign means that it is contracted Clicking on the node will toggle it between expanded and contracted forms A parent node has other nodes attached to it They may themselves be parent nodes or they may be child nodes with no children Note that each of the nodes has a level In Sonarview the very top node is at level 0 and it is always used to tell the user what to do The second node which is also a parent is at level 1 It is followed by a child node Minelike and three other parent nodes Navigational Natural and Other types all appearing at level 2 Finally the child nodes Buoy and Channel marker are at level 3 which is probably the lowest level that is practically useful since otherwise the effort to reach a given category is too great The categories used to describe contacts are only located on child nodes To describe the file format we return to the two format specifiers which describe individual parent and child nodes In both cases INTEGER is the
29. select Sonarview exe Alternatively left click on Sonarview exe in Windows Explorer and drag it to the desktop To exit Sonarview either use the Exit command from the File menu or click on the cross button on the top right corner of the Command window on screen 1 If this button is not visible then there is a data file open which you must close by clicking the Stop button on the Player Control Figure 10 before exiting See Section 3 2 2 for more details on closing data files 3 2 Playing Data Player contro im gt po 00 y Figure 10 Player Control 15 DSTO GD 0280 16 The most commonly used functions for playing data are accessed from the Player Control Figure 10 in the Control window Figure 1 Hovering over the buttons with the mouse will display a hint telling you what the button does The Data menu Figure 11 provides an alternative way to access these functions and some also have keyboard shortcuts This section will describe the buttons on the Player Control and the menu commands used for playing data in review mode Most tools described here are used the same way in Mission mode and some are much more useful in Mission mode Further details of playing data in Mission mode are given in Section 5 1 Play Data File Ctrl F Jump 4head Ctrl Close Data File Corect Radiosity Variations Save Radiosity Correction Load Radiosity Correction Corect Slope Radiosity Yarations Detect Altitude From
30. slowly but the end of the file will be reached sooner To return to normal speed select play NOTE Some versions of the software fast forward without displaying any data or vessel motion On clicking play to resume data continues scrolling from a point further on and the vessel track starts from a point further on in the chart window 3 2 5 Pause Second from the right is the Pause button which pauses playback without closing the data file Hitting the space bar has the same effect as clicking the pause button Play can be started again by using the pause or play command NOTE Sometimes as well as pausing play of data the pause command also brings up the Open dialog box for selecting the next file to play In this case hitting the space bar begins play of the file selected in the dialog box To avoid this use the mouse to cancel the dialog box and then use the pause command to resume play 3 2 6 Jump Ahead It is also possible to move forward by using the jump ahead command from the Data menu or the keyboard shortcut CTRL J You will be prompted to select a ping number to jump to After a short pause while Sonarview skips through the file play should resume from that ping 3 2 7 Other commands Playing in Mission mode Please refer to Section 5 1 for details of playing data in Mission mode as there are some differences For a description of the other commands in the data menu and the Mute mosaic button see Section 6
31. the edge markers Rewind that file to the start and toggle Erase edge markers to on Can you see the difference Exercise 6 5 Mosaic manager Save the mosaic details to a file and then view the file in a text editor Try the Hide show button Save the mosaic to a file Save as a bitmap and also try Save as bitmap from the Map menu Use a different name for this file Compare the file sizes of the mosaic file MSC and the two bitmap files BMP Now clear the mosaic from the chart Exercise 6 6 Mosaicing modes To test out the mosaicing modes you will want a blank mosaic to write onto Set up a new mosaic Hint the Limits in the mosaic details dialog should be the same as the last mosaic created This means you don t need to mark out the area of the mosaic you just need to enter the grid cell size hit TAB and then OK Try the different modes available from the Set Mode option in the Mosaic menu in turn You may need a clear mosaic to see how they work Choose two data files that overlap to try out the various modes The default is Overwrite so you will have seen how this works Also try using a radiosity correction and see how this affects the mosaic Exercise 6 7 Clear the mosaic from the chart Now load as read only the previous mosaic that you saved Note how long it takes to load Try writing data to it Try changing the mosaic gain Clear this mosaic and load it again as editable and note how l
32. the true position of objects on the bottom instead of just assuming that the bottom is flat and using Pythagorus theorem In the overwhelming majority of cases the bottom is sufficiently flat that the effect of this option is negligible It greatly slows the calculation and can fail directly underneath the sonar so it should only be used when objects must be located on a steep slope DSTO GD 0280 7 Using contact tools Any feature appearing in the sonar data can be marked as a Contact and information about it extracted and stored It may be marked in the Waterfall or Zoom windows or in a mosaic in the Chart window A contact can be marked as a point a line joining two or more points or a closed polygon How a particular contact is marked is up to the user After the contact is marked it can be assigned attributes such as category eg Rock or Minelike or dimensions such as length and width that can be measured from the image An image of the contact can also be stored This information including the location of the point s initially marked can be saved and later retrieved Once a contact has been marked a contact marker appears on the chart to represent the contact and the contact can be queried from there A number of functions are used to create and manipulate contacts Section 7 1 describes the format of the contact file and the type of information that can be stored Section 7 2 describes marking and class
33. were once used to separate fields that have since become obsolete Notes STRING is the full name of the projection ANY1 ANY4 are the parameters of the projection See Appendix C 4 for details of the parameters Purpose Stores the last magnification used in the Chart window for convenience lt TAG gt lt WORD gt lt INTEGER gt GRID GEO 7 Format is identical to that defined in the configuration file Sonarview con see Appendix A 2 97 DSTO GD 0280 98 A 6 1 An example mission file Below is a mission file containing 4 data files CTGF C Work Visual Sonarview Default Contact Categories CTG CHTF Aus200 cht C Work Visual Sonarview Charts VESS Workboat 440 1999 Towed 0 5 2 5 0 5 0 9 7000 13 4 2 SENS 4 0 0070 Oy ls 35 0 0 072 1350073 4 35 3 NWCR WGS84 333339 04 X 6252729 35 Y SECR WGS84 335373 10 X 6251819 26 Y DATF 195 0502 xtf G SydHarb SS Data Klein2000 1 1 VESS WorkBoat 440 0 0 2 5 0 5 0 9 7000 13 4 2 SENS 4 0 0 0 0 0 1 3 0 0 0 1 13500 3 3 3 NWCR WGS84 338403 34 X 6254536 02 Y SECR WGS84 340044 76 X 6253032 20 Y DATF 197 0248 xtf G SydHarb SS Data Klein2000 1 1 VESS WorkBoat 440 0 0 2 5 0 5 0 9 7000 13 4 2 SENS 0 0 0 0 0 0 1 3 0 0 0 1 13500 3 3 3 NWCR WGS84 338375 01 X 6254205 47 Y SECR WGS84 340016 96 X 6253044 08 Y DATF 197 0345 xtf G 1SydHarb SS Data Klein2000 1 1 VESS WorkBoat 440 0 0 2 5 0 5 0 9 7000 13 4 2 SENS 4 0 0 0 0 0 1 3 0 0 0 1
34. you can use a grid cell size of 2 metres For a mosaic of a small area where you are interested in small objects on the seafloor a cell size of 0 1 or 0 2 metres may be required The best way to decide what sort of mosaic you need is to try different options and see what happens DSTO GD 0280 6 2 Setting up a mosaic To create a mosaic you must be in Mission mode and have data files added to the Mission see Section 4 for details It also helps to have Show all Coverage turned on Section 5 2 5 Select New Mosaic from the Mosaic menu The cursor then becomes active for marking the area you wish to mosaic within and the Mosaic Details dialog also appears Figure 38 Mosaic details ie Mark Limits Limits south irm 6256025 84 North m 6255369 84 Vest mi 339596 30 East rm fs39928 30 Dimensions Eastyestim 332 00 North South my 344 00 Area squ km 01142 Grid cells 114206 Cancel Figure 38 Mosaic Details 6 2 1 Selecting Limits for the mosaic area First you must decide where you would like your mosaic The area must be rectangular in shape With Show all Coverage turned on 5 2 5 you can see the coverage in the mission Remember that a mosaic combines imagery from different tracks but memory is allocated for all the area in the rectangle To reduce the size of the mosaic file try to mark your rectangular area as tightly as possible around the coverage of the data you want t
35. 00 3 3 3 The number of integer values describing the sensor VESS Denotes the vessel parameters associated with the following data file that has been imported to the mission VESS Workboat 440 Towed 0 5 2 5 0 5 0 9 7000 13 4 2 Notes String is the name of the configuration FLOATI FLOAT3 are the X Y Z coordinates of the GPS antenna in metres FLOAT4 FLOAT6 are the X Y Z coordinates of the fairlead in metres FLOAT is the deadweight of the vessel in kg configuration can vary The details of this line are complicated and they are deferred to Appendix B 96 DSTO GD 0280 NWCR Purpose Northwest corner of the approximate bounding box for the coverage of the sonar data in the following data file lt TAG gt lt POSITION gt NWCR WGS84 338403 34 X 6254536 02 Y Notes The approximate bounding box is 200m wider and longer than the actual limits of the vessel motion If the towing distance is greater than this then the bounding box may underestimate the actual coverage SECR Purpose Southeast corner of the approximate bounding box for the coverage of the sonar data in the following data file Notes DATE Notes NAME is the name of the data file PATH is the last known path to the data file INTEGER is the year the file was created if known INTEGER is the code for the data format Possible values are O Unknown 1 XTE 2 SIDA 3 Klein 5000 native 5kd format The 5 consecutive commas
36. 3 3 11 1 ASCII CSV If soundings are available in gridded form then this option should be used to import the bathymetry Sonarview reads soundings assuming that they lie on a regular UTM grid with the same spacing in easting and northing Figure 16 gives an example of bathymetry in Sydney Harbour The initial input should be a text file with a format given in Appendix A 9 1 Immediately after reading the file Sonarview converts it to a more compact binary format and writes it out to a file with the same name as the input but extension BTC For example the file SyndeyDepths dat would be compactly stored as SydneyDepths BTC in the same directory Any time in the future that the depths must be read Sonarview looks for a file with extension BTC before attempting to open the original file This makes display a lot faster 3 3 11 2 Tessellated When soundings are only available in an irregular pattern then Sonarview will try to tessellate them that is connect each of the soundings with a triangle The average depth at the points of the triangle is then used to shade the triangle on the Chart display to indicate depth The initial input should be a text file with a format given in Appendix A 9 2 As with the eridded bathymetry immediately after reading the file Sonarview converts it to a more compact binary form and writes it out to a file with the same name but extension TIN For example BallsHeadIrregular dat would be comp
37. 6 255 800 6 255 750 Speed knots Heading degrees Figure 27 Review Smoothing window 40 DSTO GD 0280 Smoothing control A ES Mark points smooth Delete Clear dew Points total BED Points deleted 38 Points smoothed 0 Points remaining 522 Adjust smoothing Increment F ak Tt Knots Residual im 0 2200 Proceed save smoothed points Skip Figure 28 Smoothing Control window 4 7 1 Inspecting the data The idea with smoothing is to inspect the data closely both in the Chart and Review Smoothing windows and then deal with any problem areas in the raw data so that the smoothed data is realistic To some extent this amounts to a guess about which points are outliers and how smooth the actual vessel track was Methods for navigating in the Chart window have been discussed in Section 3 3 The panning and zooming tools remain the same NOTE Remember to look at the scale markers on the Chart window to determine the spatial scale Then zoom in until you can see small sections of the track at large magnification If you don t do this you may pass a file as valid when it contains sections of bad navigation To inspect data in the Review Smoothing window you can zoom in or out on any of the four panels To zoom in enclose the region you want to zoom in a box with the mouse by left clicking and dragging from left to right When you release the
38. 72 30 ENDS Sl DD 98 Y 08 Y N OSX WPNT WGS84 334761 84 X 6252490 Ory PRA Oy WPNT WGS84 334693 92 X 6252591 OE TO Y Le 4 DSTO GD 0280 Figure 51 An example contact file containing a linear point and polygonal contact A 6 Mission files MIS The mission files contain a small amount of general information followed by a list of data files and attributes For each data file the name and path of the file comes last The rest of the grouping is a line each for vessel sensor north east corner and south east corner 95 DSTO GD 0280 Table 5 Tags for a mission file Tag Details ss Purpose Denotes the contact category file associated with all contacts marked while the mission is active lt TAG gt lt FULLNAME gt CTGEF C _ Contact_Categories CTG Notes Purpose Denotes a ee file that is displayed as a background to the mission lt TAG gt lt NAME gt lt PATH gt CHTF Aus200 cht C Sonarview Charts NAME is the name of the chart file PATH is the last known path to the file There can be an arbitrary number of chart file lines in a mission file FLOATS is the length of the vessel in metres FLOAT9 is the width beam of the vessel in metres Purpose Describes the sensor configuration associated with the following data file lt TAG gt lt INTEGER1 gt lt INTEGER16 gt Example SENS 4 0 0 0 0 0 1 3 0 0 0 1 135
39. 84 3351 950 S 15111 670 E This denotes 33 51 95 S 151 11 67 E relative to the AGD84 horizontal datum Positions in grid Eastings and Northings are simpler for example WGS84 333213 13 X 6251321 98 Y Note that every individual position is given its own datum This is because Sonarview chart files may be composed of data from various sources Hence older data may be relative to AGD66 or ADG84 and newer data may be relative to WGS84 or GDA94 Internally all positions are converted to the same datum before any further processing takes place DSTO GD 0280 A 2 Configuration file Sonarview con The Sonarview con configuration file sets the most important folder locations and default values for parameters used in navigational calculations An example configuration file is shown in Figure 47 below Following this is Table 2 which describes each of the tags appearing in the file CHRT C SonarView Charts MISS C SonarView Missions INTM C SonarView Intermediates DATA D SydHarb SS Datal LAYB 5 CABL 5 1 GAIN 1 VESS WorkBoat 440 HDAT WGS 84 VDAT NONE SDAT NONE TZON LO PROJ Universal Transverse Mercator 56 SOUTH GRID GHEO 7 SENS 0 6 0 78 0 0 1 0 0 0 0 1 13500 Figure 47 An example Sonarview con file Table 2 Tags for the Sonarview configuration file Tag Details CHRT Default search path for chart files and DXF outlines lt TAG gt lt PATH gt CHRT C Sonarview Chart
40. 99 MISS Test MIS NPTS 6 WPNT WGS84 333309 77 X 6252047 04 Y WPNT W6S64 3335312 54 6252070 5 7 27 WPNT WGS84 333324 71 X 6252114 02 Y WPNT WGS84 333342 53 X 6252200 90 Y WPNT WGS84 333343 00 X 6252258 49 Y WPNT WGS84 333340 05 X 6252284 65 Y PTSE NCMT 2 COMM Scour has persisted for a long time COMM Probably originates in White Bay SRNG 0 00 RSET 0 00 TOWH 0 00 ORIE 189 20 ENDS BEGN CTID 2 48460 52001 CATG MANU POINT VISIBLE Manufactured object DIMN 2 0000 1 2000 1 3000 NOMP WGS84 334034 64 X 6252642 25 Y OPER Amy Young SRCE 195 0502 xtf 14 07 1998 05 00 03 2605 MISS Test MIS NPTS 1 94 WPNT WGS84 334034 00 X 6252642 37 Y PTSE NCMT 1 COMM Close to centre of track not far from wharf SRNG 21 88 RSET 109 81 TOWH 60 71 ORIE 243 80 ENDS BEGN CTD 3446544 52001 CATG SCRK CLOSED VISIBLE Scattered rocks DIMN 2 3E2 52 0000 0 0000 IMAG Test 3 48544 5 2001 bmp IULC WGS84 334762 70 X 6252509 ILLC WGS84 334691 93 X 6252537 IURC WGS84 334747 97 X 6252471 ILRC WGS84 334677 09 X 6252500 OPER Amy Young SRCE 195 0502 xtf 14 07 1998 05 00 17 3924 MISS Test MIS NPTS 8 WPNT WGS84 334730 51 X 6252658 WPNT WGS84 334748 00 X 6252538 WPNT WGS84 334775 70 X 6252424 WPNT WGS84 334691 90 X 6252458 WPNT WGS84 334688 14 X 6252543 WPNT WGS84 334674 54 X 6252676 PTSE NCMT 1 COMM Overburden on Sydney Harbour Tunnel SRNG 0 00 RSET 0 00 TOWH 0 00 ORLE 1
41. A User s Guide to Sonarview 1 0 A Sidescan Sonar Post Processing System Amy Young and Stuart Anstee Maritime Operations Division Aeronautical and Maritime Research Laboratory DSTO GD 0280 ABSTRACT This document provides a user manual and reference for the sidescan sonar post processing and visualisation program Sonarview Sonarview was developed to support Route Surveillance and Mine Warfare activities The software allows the inspection of raw sidescan sonar data and georeferencing of the data to produce sidescan mosaics Features appearing in both the raw sidescan sonar data and the mosaics may be marked and their images stored along with details about their dimensions characteristics and classification Such data is suitable for inclusion in a Route Survey Database Sonarview provides limited GIS functionality allowing retrieval of information about previously marked contacts and showing the progress of the survey against a backdrop of nautical charts mosaics bathymetry and other information when it is available Exercises are included for the instruction of new users and can provide the basis for a 2 5 day training course Detailed formats for input and output file formats are provided in a number of Appendices Approved for public Release DEPARTMENT OF DEFENCE DSTO DEFENCE SCIENCE amp TECHNOLOGY ORGANISATION Published by DSTO Aeronautical and Maritime Research Laboratory 506 Lorimer St Fishermans Bend Vic 3207 Aus
42. AGD84 3349 400 S 15118 75 E 3000 10 RL AGD84 3349 400 S 15118 80 E 3000 10 Figure 53 An example survey plan file DSTO GD 0280 A 9 Bathymetric data files Bathymetric data files are simply arrays of soundings Gridded files refer to files containing points on a regular rectangular grid whereas irregular files refer to soundings taken at irregularly spaced intervals within some area A 9 1 Gridded bathymetry files The format of a gridded bathymetry file is extremely simple Each non zero depth is written as a single line of text with the format lt FLOATI gt lt FLOAT2 gt lt FLOAT3 gt Example 333111 00 6252111 99 10 5 Here FLOAT1 is the UTM Easting in metres FLOAT2 is the UTM Northing in metres FLOATS is the depth in metres The program will simply read through the file and determine the bounding box for all of the points in the file Then it uses the smallest Easting separation between two soundings to derive the size of the grid the grid spacing is the same in Easting and Northing Finally it re reads the points and assigns them to their respective places in the grid NOTE there is no requirement for the rectangular area to be filled There can be arbitrary empty sections so long as there is at least one area of contiguous soundings from which to derive the grid spacing A92 Irregular bathymetry files The format of an irregular bathymetry file is relatively simple Each line has the format lt
43. ATE is the date associated with the point first marked on the contact TIME is the corresponding time INTEGER is the ping number for the first point marked MISS Purpose Identifies the mission open when the contact was marked Format Example Notes IMAG Purpose Identifies the name of a bitmap file storing an image of the contact Format lt TAG gt lt FILENAME gt Example IMAG Cairns1999_2_37436_233_2000 bmp Notes The image file is saved in the current mission folder Its name is compounded from the name of the mission file and the fields of the unique identifier that is also given by the CTID line ILLC Purpose Format Example Notes IULC Purpose Denotes the position of the upper left corner of the image file Format Example Notes Purpose Denotes the position of the lower right corner of the image file Format lt TAG gt lt POSITION gt Example IURC WGS84 333501 26 X 6252231 57 Y Notes fo p Format _ Example Notes Format _ Example Notes 92 DSTO GD 0280 file lt TAG gt lt POSITION gt ILRC WGS84 333482 27 X 6251909 79 Y Notes J o O Purpose Denotes the number of points that make up the geographical description of a contact Also denotes the start of the lines Denotes the position of the upper right corner of the image giving the positions of the points lt TAG gt lt INTEGER gt Example WPNT WGS84 333290 87 X 6252260 79 Y Notes J o o O Den
44. D Deadweight of the vessel in kg lt TAG gt lt FLOAT gt DEAD 7000 Optional not used at present Length of the vessel in metres lt TAG gt lt FLOAT gt LENG 13 Notes Optional not used at present BEAM Width of vessel in metres lt TAG gt lt FLOAT gt BEAM 5 Optional not used at present The X Y Z coordinate system mentioned in Table 2 is defined relative to a reference point that is assumed to be at the waterline The dimensions are 1 X distance abeam vessel from origin positive to starboard 2 Y distance along vessel from origin positive forward 3 Z distance above waterline positive upward STRT NAME WorkBoat 440 DATE 1995 1 1 O O O GPSA 0 0 2 5 FAIR O 5 0 9 DEAD 7000 LENG 13 BEAM 4 2 ENDS STRE NAME Workboat 440 Sydharb Towed DATE 1999 4 11 O 0 O GPSA Uy 5p 245 FAIR 04 57y 0 9 DEAD 7000 LENG 13 BEAM 4 2 ENDS Figure 50 Excerpt from a Vessels dat file DSTO GD 0280 A 5 Contact files CNT A contact file has a simple structure consisting of a single initial line giving the number of contacts appearing in the file followed by separate groups of lines one group for each contact Figure 51 gives an example of a simple contact file Table 4 describes the tags than can occur in a file Table 4 Tags that can appear in a contact file Tag Details NCON Number of contacts in the file lt TAG gt lt INTEGER gt NCON 11
45. E E cides E E E 28 Dee MOC VCLe ANG tee ceca ates tease re ecetecnge ten eteeey annem E ietanntem raniasataest 28 oO Show incomine data asiatico 28 IIS Chance palets lidad 29 9 0 0 REMOVE ZErO Ol EIS perdais deis 23 OO RESET DOLLOII TACK AAA E 29 DOO DELS DALO sida dio 30 3 5 9 Track bottom from lower frequency eseesserseeeseereereerreesreerrrerresresrees 30 SO EMEP AS Menu ia nan a e a A R 30 26l SHOW voltage WINGO W esenea E E E 30 S PARTING A NEW MISSION cui ai 31 4L Introduction A 31 A The Mission Ple toral uontilaa a libido 31 4 2 Creating the mission file and folder oconoocnnoonnononoonnnocnnnncnncnnnnnocnonccccnaconncono 32 AZ L tarta new IMISSION sisi 33 4 2 2 Select create empty folder and choose mission file name 33 4 3 Setting mission defaults ade 34 Aol Operator ideni Deene E N a 34 DZ RN atest 34 44 Opening closing and saving a mission e seesosssessoessossoessossoessossoessosssessosso 35 Adol Davie NUS rii E 35 A NOS CIWS SIO Usina pesto noah ise olesteto gines ice 35 443 Open MISSION Ieee een ner ere E migra renee re ear re reenter eaereny rere verre 35 AD Addig a COASUING ntsc 35 4 6 Adding data files toa ssl ins 36 61 sSelectine Vessel Parameters encon 37 4602 Selectine INE sensor Setup ariba lia 37 4 6 3 Correcting vessel and sensor parameters after abstraction 38 47 Moo tama Wa VIS ALON dd 38 Ali Inspecune ie data cli 41 4 7 2 Get
46. H T Work Uisual Sonarview Intermediates DATA D Work Archive 1 Sydharb SydHarb 8 Data VESS WorkBoat 446 HDAT WOS84 UDAT HOHE SDAT HOHE TZ0H 10 PROJ Universal Transverse Hercator 56 S0UTH GRID GEO SENS 0 6 0 78 0 0 1 0 0 0 0 1 13500 Figure 2 Sonarview configuration file Figure 3 Directory structure matching the file in Figure 2 Note that the first field in each line of the file is four characters long in this case 2 3 1 1 Directories The first three lines give the locations of the required directories CHRT for the chart directory MISS for the mission directory and INTM for the intermediates directory These directories are usually put under a root directory with a name like Sonarview as shown in Figure 3 Note that they can be anywhere and called anything as long as their paths match what is given in the configuration file Also note that Sonarview requires a trailing backslash to locate the directories so TA Work Sonarview Missions works but not TX Work Sonarview Missions If Sonarview can t find the three required directories when it starts it will give a warning message and use C instead for each of them This doesn t make operation impossible but it can be very time consuming The fourth line is DATA which is an optional directory giving the first location to look for raw sonar data files This can be useful if for example ra
47. L Adde A seeisesbecnsdoeieas deeded E ie PEE Po Ovni tsa seetst tec aieadee aatettnch E 20 DOD DAOI Garis iA A A eatameat 20 So FOOT 0 EN Cf CS oa eases tie sate ias 20 3 3 2 Managing charts Hide and Clear sinesine conos 21 ao Change Surv Cy DS lr aii 21 3 3 4 Reset Snail Trail occnoonnnnoccnnnnccnnnocononocononocononocnnnnoononononononcnoniccnonicnnns 22 4 39 9 Render land areas as SOU Cl iscriccch rates es dodo ds 22 o A A A O 22 o os o AA e tua ceaneeatan 22 O SOU DA e loss ciales 22 DoD ZOOMIN nnii e I A el au coutseie seen sautoun cid seaesreuasasoeosubns 22 O10 10 AO Centre On V ESsel ws i tecsisrs ice lille 23 BOL IMPO Daly Mel us tetitas 23 A A ee mere cer eee err eerie err ner sere etn re Tener a ner ter rr ees 23 RIAL A anina A nataeet aba nce bu cattnecevbabunaiess 23 Bowe Manage Data y metry said A 23 ajo Chance shadine riarann E Ne Reet rt revere eres 24 Sole Display SOPE talleres 24 Jado The Map Controla 24 SONG Dave ds Dima Pi a 25 3 4 Interrogating data using Spatial Tools ooccooonnonanoonnnnonnconnnocnnonccncnnncnnaconcnnonanos 25 SA ne Toner ATOM laica sides 26 942 Measuring tools Ruleta osado tea a 27 3 4 3 Measuring tool Height from shadow ce eeeeseeseceeeseeeneeeseeeseenaes 27 IAA LOMO Sido 27 3 4 5 Other tools available in review MoOde oooconncnnncnonnnocnnnnconnconnnoncnoncnnncnnnonnos 27 30 Waterfall 2D Mentir acaso 27 DO NeW Laia das 28 E Ae Gs ae 0 OP
48. Multiplier box The default is 0 1m to match the normal practice when using Isis to record data NOTE By default this correction will always be applied if the cable out is recorded in the data file Be careful to uncheck the correction if it isn t needed B 7 Correct heading In some cases the best heading data may come from a gyro for example the vessel may be moving in a current and its course made good may not match its heading because it is crabbing Alternatively the heading may be coming from a compass In this case there is often a need to add a constant offset to the data to correct for the drift of the gyro or to convert from magnetic heading to true heading If the correct heading box is checked then Sonarview will add the value in the Offset box to all headings before using them For example if the magnetic heading is 13 5 greater than the true heading then the offset should be 13 5 NOTE By default this correction will always be applied Be careful to uncheck the correction if it isn t needed 111 DSTO GD 0280 112 B 8 Storage The sensor configuration is stored compactly as a simple list of integers The order of the integers 1s 1 Vessel position sensor code Section B 2 2 2 Vessel heading sensor code Section B 2 3 3 Towtfish position sensor code Section B 2 4 4 Towfish sensors code summed Section B 2 5 5 Preprocessor obsolete always 0 6 Ship position code
49. PS CMG course made good from a differential GPS Gyro mechanical gyroscope Compass magnetic compass oy Ole The numerical codes for the vessel heading sensor are as per the list DSTO GD 0280 B 2 4 Towfish position sensor The towfish position sensor returns an estimate of the position of the towfish usually derived from the position of the vessel The options are 0 None no sensor was used another means must be used to estimate the position 1 Trackpoint the Trackpoint II ultra short baseline acoustic sensor or an equivalent giving XYZ positions relative to the vessel 2 Acoustic an acoustic transponder giving the range from the towfish to the vessel 3 OSCAD the mechanical Off Stern Cable Angle Device was used to give XYZ positions relative to the vessel 4 Manual the position of the towfish relative to the vessel must be entered manually The numerical codes for the towfish position sensor are as per the list B 2 5 Towfish sensors Some towfish such as the Klein 2000 and Klein 5000 series have one or more sensors on board The possible sensors are Altitude sensor an acoustic depth sounder C Compass magnetic compass inside the towfish Code Pitch slow update rate pitch sensor Code 8 Roll slow update rate roll sensor Code 16 Yaw slow update rate yaw sensor C C C Oe ES ode 32 Depth acoustic upward facing echo sounder ode 64 Depth pressure pressure sensor must be
50. Ps antenna Intercept Towfish position sensor Preferred Fish Headin Cable Measure Setu M Correct Cable Out None Made Good Separate File 0 1 Multiplier Towfsh Sensors le Altitude i Compass lw Pitch W Roll e Yaw l Depth Acoustic h Depth Pressure Pitch Laser Gyro FT Roll Laser Gyro FT Yaw Laser Gyro i Correct heading E 3 5 Offset deg Figure 25 The Define Sensor Setup dialog box NOTE 1 The default values appearing in the fields of the dialog box are defined in the SENS line of the Sonarview con file They can be changed by selecting Define default sensor config from the Configuration menu 4 6 3 Correcting vessel and sensor parameters after abstraction Most of the files abstracted from the data files during the input stage of the mission are not connected with the values of the parameters The most important exception to this is the abstracted navigation data in the abs file It is possible to change the parameters later on Section 5 2 2 but if the sensor setup is changed the file should be removed from the mission Section 5 2 3 and reabstracted 4 7 Smoothing navigation Vessel position fixes from raw sonar data files that is the vessel track often have dropouts outliers and some degree of noise jitter If such values are used directly to calculate positions or make a mosaic the results can be of very poor quality Unless the navigation sensor wa
51. Some of these commands can be used in review mode but are designed for use within a mission 3 3 Changing the chart window display The Map Control window Figure 13 and the Map menu Figure 14 in the Control window control the main features of the chart display DSTO GD 0280 Map Co trol n Viewpoint Figure 13 Changing the chart the Map Control window Add Chart Manage Charts Change Survey Display Reset Snail Trail Render land areas as solid Add Survey Plan Manage Plans Set Datums Set Grid Projection oom In Zoom Que w Auto centre on vessel Import Bathymetry d Manage Bathymetry Change Shading Display Slope Save Os Bitmap Figure 14 The Map menu The options in the Map menu are described in turn followed by the functions of the Map Control window 3 3 1 Adding a chart A chart is usually some representation of a nautical chart or information that could be put onto such a chart Sonarview supports three vector chart formats that is the 19 DSTO GD 0280 20 information in the chart is described by points lines and polygons The submenu below gives the options DSTO vector Format DAFP vector Format Soy ENC Click on the Map menu in the Command window and select Add chart then select the type of chart from the options sub menu When the Windows Open dialog box appears browse for and select a chart to display for example AUS200 cht is
52. Speed knots p p ee ee Po I I I I I I T I I I L I I I T I I I I I I I I t Li I I I I I I I io r I I I I I I I I I 1 a o h k gt A is is ii A o is is Rol Ino wer on oa un o rm Speed knots ee ee ee A q ee ee O E A O E Mg O TN pao aaa O denm po oa a O A A eee oee p 417 WO eS E PU ee fe ge a CA A eee o is a is Ei ee be ee ee ee ee dee ee ee eM Figure 32 Vessel speeds for the entire vessel track including the bad navigation section shown in Figure 29 The top graph shows the speed after interpolation and the bottom graph the speed after outlier deletion 4 74 Adjusting the smoothing using knots The lower section of the Smoothing Control window contains sections controlling the Mf yy number of knots to be used in the interpolation and giving a figure for the residual but there are some cases where control over the J this section can be ignored smoothing is useful J In most cases 45 DSTO GD 0280 46 When the interpolating tool inside Sonarview makes a smoothed version it uses a technique called least squares spline fitting This method attempts to divide the interval to be smoothed into sections of equal length and then fit a simple smooth curve to each
53. TAG gt lt DATUM gt lt FLOAT1 gt lt FLOAT2 gt lt INTEGER1 gt lt FLOAT3 gt Example BATHY WGS84 333111 00 6252111 99 56 105 Here TAG is BATHY FLOATI is the UTM Easting in metres FLOAT2 is the UTM Northing in metres INTEGER1 is the UTM Zone FLOATS is the depth in decimetres Note that no other projection is supported and that the points must be in the Southern hemisphere 103 DSTO GD 0280 104 DSTO GD 0280 Appendix B Sensor setup The common feature of raw sonar data formats such as XTF is that only a subset of the information required to accurate position contacts is actually present in the data In some cases there is no room in the data to put the required information In other cases the spaces are there but for some reason the data is never supplied The Sensor Setup process is an attempt to work around this problem by supplying information that is not provided by the raw data file B 1 Sensor setup dialog The dialog box used to specify a sensor setup is shown in Figure 54 It is a large and complicated dialog box organised into columns that reflect different groups of functions Define Sensor Setup sensor Configuration Vessel position sensor DGPS Vessel Heading Sensor Gyro Preferred Usage Preferred Vessel Heading Made Good Preferred Fish Position Made Good Data Interpretations ship position means None Sensor position means GPS
54. a File Parameters This allows you to select new vessel or sensor setup parameters for any file in the mission Selecting the options Change Vessel Parameters and Change Sensor Configuration cause the Select Data File dialog to appear then either the Set Vessel Parameters dialog see Section 4 6 1 or the Define Sensor Setup dialog see Section 4 6 2 respectively If you complete the dialog for vessel parameters and click OK the information in the mission file is updated and all future calculations will use the new parameters To correctly apply a new sensor configuration the data file must be removed from the mission Section 5 2 3 reabstracted and resmoothed This option may be used if you wish to try different sensor configurations to see how location of objects is affected by different methods of calculating the vessel track It is also useful to check for configuration errors 5 2 3 Remove data file To remove a data file from a mission select Remove Data File from the Mission menu while the appropriate mission is open Then select the file you wish to remove from the drop down list and click OK This removes the details of the file from the mission file The associated navigation files are left in the mission folder and can be manually deleted if desired You may choose to remove a data file if you decide it is not relevant to the area of the mission or if you do not want it to be played in batch mode It is also a
55. a map of Sydney Harbour The default location for charts is the Charts folder within the Sonarview folder NOTE It is possible and sometimes necessary to include two or more charts on the display Further charts can be added in the same way as the first one 3 3 1 1 DSTO format This is a simple format derived to describe hand digitised charts The format is described in Appendix A 7 and some example charts are included with the Sonarview distribution 3 3 1 2 DXF format A DXF chart is a line drawing in the widely used Autocad Digital eXchage Format To be compatible with Sonarview the dimensions must be expressed in grid eastings and northings in metres DXF files can be overlaid on other charts and can be convenient to represent line features such as coastlines building outlines and the like DXF files don t contain information about the datum or projection used to produce the coordinates Hence when you open a DXF file you will be prompted to select the horizontal datum of the DXF outline Choices for the horizontal datum are given in Appendix C 2 Next you will be prompted to select a projection At present only UTM is available along with dimensions in degrees of latitude and longitude ie unprojected If you are using UTM you then must select a hemisphere and zone Sydney data will have hemisphere South and zone 56 NOTE DXF outlines can be cleared and hidden in the same way as ordinary chart files
56. a whole In between information about each data file in the mission is listed Table 1 Fields of the mission file CTGF Contact categories file name including path CHTF Chart file name including path NWCR North west corner of the extent of coverage of data file HDAT Horizontal geodetic datum used for the mission PROJ Grid projection used GRID Display projection and magnification last used in the Chart window It is important to be have some understanding of the mission file as it can be useful for trouble shooting 4 2 Creating the mission file and folder There are a number of steps involved in creating and setting defaults for a new mission Dialog boxes will guide you through parts of the process 32 DSTO GD 0280 4 2 1 Start a new mission To start a new mission click on the Mission menu in the Sonarview Control window and select New mission If there is already a mission opened it will be closed and you will be prompted to save any changes A save dialog is opened Figure 21 starting at the folder specified in your configuration file usually something like C Sonarview Missions This should contain a list of subdirectories one for each mission to date Enter a new mission file name AND directory Save Ir 39 Missions Z Ball Head C Test Latest j Latest CI Test0201 01 J Penguin CI Test291200 2j PenguinD ay Test Test Interp Save as type Mission files MIS
57. actly stored as BallsHeadIrregular tin As before Sonarview will look for a TIN file before it attempts to open the original data resulting in a huge speed increase 3 3 12 Manage Bathymetry This brings up the Bathymetry Manager tool which functions exactly like the Chart Manager tool described in Section 3 3 2 23 DSTO GD 0280 24 3 3 13 Change shading This tool brings up a gain control A gain of 1 0 is the default Changing the gain can emphasise different depth regions if this is required 3 3 14 Display slope This displays the slope of the bottom instead of its actual depth Selecting the menu item toggles this display on and off Chart UTM projected 253200 3346800 6252000 Figure 16 Bathymetry displayed in the Chart window 3 3 15 The Map Control The Map Control window Figure 13 has a number of functions including changing the viewpoint and scale of the chart window Click on the arrows to move around the chart and click on the and magnifying glasses to zoom in and out Refresh will refresh the display This can be particularly useful when mosaicing The other buttons in this window relate to contacts and as such are only used in Mission mode see Section 7 DSTO GD 0280 3 3 16 Save as Bitmap This item allows you to save the current chart display to a bitmap You will be prompted to select a file name and location The resolution of the bitmap thus created is not usually as good as t
58. adiosity Variations you may want to store it for later use To do this use Save Radiosity Correction This will bring up a Save dialog box and prompt you for a filename Choose a filename and location for the radiosity correction file It will be saved with the extension rad 6 5 3 Load Radiosity Correction This will bring up an Open dialog box to allow you to browse for radiosity correction trad files Browse for and open the one you want to use This correction will then be applied to any imagery scrolled Correct Radiosity Variations becomes checked when you load a radiosity correction to let you know that a radiosity correction is being applied NOTE 1 Radiosity corrections are specific to the type of data they are created from For a new data set you may have to create new radiosity correction files NOTE 2 Radiosity corrections are specific to the range setting that the data was collected at It is often possible to apply a radiosity correction from a file with a higher range setting to a file with a lower range setting but not the other way around as the radiosity correction only covers the width of the file it is taken from 6 6 Detect Altitude from Data This command provides a way of bypassing any altitude data coming from the raw data file For example the Klein 5500 towfish detects its own altitude height above the seafloor as it travels When data with an altitude field is played in Sonarview a r
59. alette This function brings up a dialog that allows you to change the colouring and shading of the waterfall display You can choose Greyscale Blue Yellow Brown SIDA or Blue Green Red Invert Order flips the order of the colours For example greyscale with standard order has high returns as light and low returns as dark Turning Invert Order on the default has high returns as dark and low returns as light Logarithmic uses a logarithmic rather than a linear scale to fit the data to the palette This can be useful when you are trying to see details in low contrast areas The controls for Gain and Offset can used to tune the tone of the image Changing the gain makes every pixel lighter or darker Changing the offsets shifts the signal level for the lowest colour up or down so for example a burned out image might benefit from a high offset and a low gain Such effects are best determined by experiment 3 5 6 Remove zero offsets Some analog sidescan sonars such as the Klein 595 have a control that gives the voltages outputs a constant offset voltage This may be an advantage when the image is viewed on paper but it reduces contrast when the image is viewed on the screen When Remove zero offsets is selected Sonarview attempts to find the minimum value in the water column on each side of the swath and subtract that from the rest of the image This corrects for the voltage offset introduced by the sonar and also mak
60. and sensor configuration The notes Data File details contain the information from which to choose sensor setup and vessel configuration For the purposes of the exercises use the following settings For 071_1809 xtf use sensor heading for Preferred Vessel Heading and no heading offset For 195 0502 xtf set up the cable out so that the default value is used and set this default value to 7 5 before playing that data file Also select Altitude from the list of available sensors For 238 2323 xtf again use the default cable out setting and set the default cable out to 8m each time before playing this file Use Made good for all the Preferred Usage options For 254 1706 xtf and 254 1715 xtf create separate files for cable out as described in Appendix B 4 3 NOTE As each file has its own vessel and sensor setup you will have to abstract them one by one The last 2 can be done together Read 4 7 Exercise 4 4 Try smoothing 195 0502 xtf This is the file discussed in the manual in 4 7 Inspect the data 4 7 1 Try different ways of editing bad navigation points in the chart window 4 7 2 4 7 3 Notice the corresponding changed in the Review Smoothing window Figure 27 Adjust the knots used in the smoothing using different selections of points to delete or smooth When you are happy with the smoothing click Accept smoothing Smooth the other data files in the mission 795 DSTO GD 0280 76
61. and smoothed vessel tracks now overlay each other outside the outlier region 43 DSTO GD 0280 44 Figure 31 Bad navigation section after outlier deletion Clicking on the Clear button puts the cursor into draw box mode and allows you to clear any points you might have marked as ignore or delete As the points are restored the whole vessel track is re interpolated on the fly and the blue line moves to show any changes Likewise the Review Smoothing window is updated to reflect the changes Clicking on the Clear All button undoes every marking operation and puts the data back into its original form ready for a new attempt at smoothing 4 7 3 Interpolation versus deletion At first glance the smoothed vessel track in Figure 30 appears credible and adequately accurate for further work However consider Figure 32 which compares the computed vessel speeds for the outliers smoothed and outliers deleted versions Note that the outliers deleted version has a break in the blue smoothed navigation curve where the outliers were removed The oscillations in the speed estimate in the outliers interpolated curve are the result of an overlong interval between the good data points This allows erorrs to accumulate and may result in poor position estimates from the final smoothing In general it is a good idea only to interpolate over short outlier intervals Long intervals should always be rejected DSTO GD 0280
62. area closed polygon lt TAG gt lt HPOSITION gt lt STRING gt Example HS AGD84 3351 990 S 15116 130 E shallow water in Rose Bay HC HE STRING is an optional comment or feature name Intermediate point along the boundary of a Hazard Area lt TAG gt lt HPOSITION gt HC AGD84 3352 200 S 15115 900 E Purpose End of Hazard area points lt TAG gt Notes 99 DSTO GD 0280 Starting point of a Coastline area closed polygon lt TAG gt lt HPOSITION gt lt STRING gt CS AGD84 3352 973 S 15116 969 E Ocean sth Notes STRING is an optional comment or feature name A coastline area effectively encloses an area of land If it is the mainland the edge of the chart is an artificial part of the coastline Notes CE Chart object usually a channel marker or buo Starting point of a Reef area closed polygon Notes STRING is an optional comment or feature name End of a REEF area object Notes 100 DSTO GD 0280 A 8 Survey plan files pln A survey plan file is intended to store the navigational information required to run a survey either for comparison purposes in post processing or as an input to a navigational program Survey plan files have so far been used only experimentally Table 7 gives the current tags for the format and Figure 53 shows an example plan file Table 7 Tags for a survey plan file WP Waypoint lt TAG gt lt HPOSITION gt lt STRING
63. area should be set to 1280 by 1024 pixels Colour is best as 24 or 32 bit so called True Color Note that 24 bit 13 DSTO GD 0280 14 colour means 2 to the power of 24 colours available ie 16 777 216 colours and this may be the setting available in the drop down list for colour rather than 24 bit 16 bit colour so called Hi Color can be used instead if necessary Refresh frequency should be 75 Hertz and Font size should be Small Fonts To access the Matrox display properties right click on the Matrox display icon on the task bar and select Matrox Display Properties Alternatively use the Start menu to select Start Programs Matrox Power Desk NT Matrox Display Properties Select the Settings tab then click on the picture of two screens side by side Use the slider to set desktop area to 2560 by 1024 For other settings set as described above Now select the Dual Head tab and select Dual Head Multi Display Next click on the Power Desk tab and make sure any boxes relating to positioning of windows are unchecked that is MaxVIEW Centre dialog boxes Open program windows in display _ Prevent display spanning and Save Restore window positions should all be unchecked DSTO GD 0280 3 Getting started Review mode This section will describe the basic skills for viewing data in Sonarview in Review mode Review mode uses the default configuration se
64. as a contact in a number of files you may choose to set all but one of these to deleted This will mean that instead of a number of markers being shown for the one feature only one will be displayed You might also want to delete a contact if you think the navigation is bad and it has been located in the wrong place If the feature is not fixed for example a school of fish you may not want the location of it to be displayed so again you could delete it You may need to access information from deleted contacts or wish to know where they are if there are any To display deleted contacts select Display Deleted Contacts from the Contacts menu Figure 45 Deleted contacts will then be displayed in lime green Once the deleted contacts are visible they can then be queried and their visibility changed if desired To change a contact s visibility to deleted query the contact then click on the Mark as Deleted button and click OK to agree to delete the contact To undelete a contact that is deleted you must first make it visible by selecting Display Deleted Contacts Then query the contact so the Contact Summary dialog becomes visible Click on the Undelete button then click OK The status of the contact will be changed to visible When you query a contact Mark as Deleted is available if the contact is visible and Undelete is available if the contact is deleted 67 DSTO GD 0280 Contact Summary El fa Mark as Delet
65. ata file is open ie being played additional information can be extracted by clicking in the Waterfall or Zoom windows This will display all available information for the cursor data fields for the selected point DSTO GD 0280 3 4 2 Measuring tool Ruler There are two measuring tools to the right of the pointer tool The ruler icon middle allows you to measure the distance between two points by using the mouse With the tool selected left click and hold the mouse button down at the first point then drag the mouse As you move the mouse the length and heading from the first point to the current pointer position will be displayed in the CHORD m and Heading deg fields at the bottom of the Spatial Tools window Release the mouse button at the location that you are measuring to Measurements to this point are retained in the chord and heading fields of the Spatial Tools window until another measurement is made This tool can be used in the Zoom Waterfall and Chart windows 3 4 3 Measuring tool Height from shadow The second right ruler icon measures the height that an object is proud of the seafloor It is operated the same way as the measuring tool Left click drag and release Height information is displayed in the bottom of the Spatial Tools window in the HEIGHT m field This tool can be used in the Waterfall and Zoom windows It doesn t work in the Chart window 3 4 4 Zoom tools The magnifying glass tools a
66. bes how contact categories are used in mission mode 2 5 Vessel configuration file Vessels dat 2 5 1 Survey configurations For each survey the equipment is set up in a certain way Two examples are shown Figure 5 shows a towed sidescan configuration where the sidescan is towed behind the vessel Figure 6 shows the sidescan mounted rigidly to the vessel s bow Dimensions for different survey configurations are recorded in the file Vessels dat and they are used by DSTO GD 0280 Sonarview to estimate the position and orientation of the towfish and hence of the sonar imagery A o Ea Le ee eee Figure 5 Towed sidescan configuration 2 5 2 Measuring and recording offsets For each survey configuration it is important to have a reference point for positions and to know the relative locations of the position sensor usually the GPS antenna and the towpoint usually the fairlead This information is then used to calculate the position of the towfish and hence of the sidescan imagery NOTE 1 The fairlead position is always taken to be last point of contact between the towfish cable and the vessel This might be the position of a roller on a fairlead or a tie off position for a cable secured with a rope In the hull mounted case the fairlead is assumed to be the location where the towfish is mounted Figure 6 Rigidly mounted sidescan configuration DSTO GD 0280 10 Relative
67. calibrated to give depths ode 128 Pitch laser gyro a fibre optic gyro pitch sensor high update rate Code 256 Roll laser gyro a fibre optic gyro roll sensor high update rate Code 512 Yaw laser gyro a fibre optic gyro yaw sensor high update rate aN at ie ee If Sonarview is not notified that these sensors are attached it may not use them The code for each sensor is 2 to the power of its position in the list Hence the altitude sensor is 1 the compass is 2 the pitch sensor is 4 and so on The available sensors are the sum of the individual sensor codes For example a towfish with an altitude sensor compass and roll sensor would be indicated by a code of1 2 0 8 0 0 0 0 0 0 11 B 3 Preferred usage options B 3 1 Preferred vessel heading There is often more than one way of deriving the vessel heading and it is up to the operator to choose the most reliable The options are 0 None use the default from the Sonarview con configuration file 1 Ship heading whatever heading is stored in the ship heading field of the data file 107 DSTO GD 0280 108 2 Sensor heading whatever heading is stored in the sensor heading field of the data file 3 Made good the heading is the course between the last two position fixes Generally speaking unless the gyro input has been properly set up then option 3 the default is probably the most accurate choice The names ship headi
68. ction with a slope S and an intercept T Sometimes Isis loses the correct values of S and T and defaults to incorrect values such as 40 and 0 instead Then the wrong depth D is recorded in the data If we know the incorrect values of S and T that were used we can get back to the correct depth D To get back to the correct depth D we can calibrate the sonar this has already been done for the DSTO towfish and get the correct slope and intercept say U and W That is the Isis software should have been set to D U V W DSTO GD 0280 The transformation to the correct depth is then Pasa Daw T This can be applied in the Sonarview Define Sensor Config dialog box by checking the correct depth box and filling in the slope box with the numerical value of So S Similarly the intercept box must contain the numerical value of E T W For example if the correct transformation had U 10 and W 15 then we would have the new slope S 10 40 0 25 and the new intercept T 15 0 40 15 B 6 Correct cable out The XTF cable out value is an integer not a floating point number Hence in some data files a computer has sent the cable out value to a serial port in decimeters If this is the case the recorded value needs to be multiplied by 0 1 to convert it back to metres If such a conversion is required check the Correct cable out box and put the multiplying factor into the
69. d in Section 8 is available from its author on request Contact Dr Stuart Anstee DSTO PO Box 44 Pyrmont NSW 2009 Telephone 61 2 9692 1532 Facsimile 61 2 9692 1561 stuart anstee dsto defence gov au DSTO GD 0280 1 Overview 1 1 Introduction SONARVIEW has been written to enable viewing and post processing of sidescan sonar data It has been designed with the mine warfare community in mind but is useful for anyone interested in visualising and geographically locating features on the seafloor Sonarview runs under Windows NT It was preceded by the DOS based software SonaView created by Dr Roger Neill Neill 1998 and retains many of its characteristics The software runs on a dual screen computer The basic idea is to graphically link the raw sidescan sonar imagery which gives no idea of positioning with geographical information To do this the sonar image is played in a sonar waterfall window on one screen while the corresponding vessel track is played in a chart window on the other screen Sonarview functions as a simple GIS system The chart window provides a map showing coastlines reefs and other navigational objects Other information such as bathymetry can also be represented on screen if available Features of interest can be marked with the mouse in the sonar waterfall window and details such as position and dimensions can be stored The features are then represented as symbols on the chart window and their de
70. dd file 254 1924 xtf to the mission This has the same vessel and sensor details as the other 254 files It has 2m cable out until ping 637 when cable out is increased to 3m Turn on the coverage of files 254 0706 xtf 254 0715 xt and 254 1924 xtf and turn coverage of all other files off Move the chart display so these files fill most of the display Now create a new mosaic covering all of these files as closely as possible If the box you have drawn is too large or too small try editing the numbers for Limits of the mosaicing area so that the box is tight around the data without cutting any off Set grid cell size to 40cm Then click OK to create the mosaic Note You may wish to create a new mission containing just the data files you wish to mosaic and no others To do this you can either create the new mission from scratch or you can use Explorer to make a copy of the current mission folder under a new name Change the name of the mission and old mission files MIS and OLD to match the new folder name Then open this new version of the mission and remove the data files you do not wish to mosaic using the Remove data file command from the mission menu Close the mission and return to Explorer In the new mission folder delete all files associated with the data files you have removed These will have the same stem as the data file with different extensions Your mission is now ready for use 77 DSTO GD 0280 78 Read
71. ddle of a survey The vessel description file keeps records of vessel parameters with a separate name for each new configuration of a vessel The tags for vessel files are given in Table 3 and a section of a vessel description file is shown in Figure 50 This shows two configurations of the same vessel An arbitrary number of vessel configurations can be added by adding similar sections to the file Table 3 Tags used in vessel description file Tag Details ss Denotes the start of a single vessel entr Example STRT Notes ENDS Denotes the end of a single vessel entr lt TAG gt ENDS Notes NAME Name of vessel and configuration lt TAG gt lt STRING gt NAME Workboat 400 12 June 1999 Must be unique DATE Purpose The date at which the vessel first had the configuration Format lt TAG gt lt INTEGER1 gt lt INTEGER2 gt lt INTEGER gt hall lt INTEGER4 gt lt INTEGER5 gt lt INTEGER6 gt Example DATE 1999 6 12 20 30 0 Integer fields 1 6 are year month day hour minute second GPSA Purpose GPS antenna offsets from reference point in metres lt TAG gt lt FLOAT1 gt lt FLOAT2 gt lt FLOAT3 gt GPSA 0 0 2 5 The floating point fields are X Y Z as defined below FAIR Fairlead offsets from the reference point in metres lt TAG gt lt FLOAT1 gt lt FLOAT2 gt lt FLOAT3 gt FAIR 0 5 0 9 The floating point fields are X Y Z as defined below 89 DSTO GD 0280 90 DEA
72. e Specify Contact Properties dialog but it is shown in the Spatial Tools window and will be stored in the NOMP line of the contact file 7 3 2 Measure length and orientation This tool works exactly the same as the Measure tool in the Spatial Tools window Section 3 4 2 The measured length in metres is displayed next to the tool button and stored in the DIMN line of the contact file Also when a length is measured the orientation of the line measured is displayed in the orientation field of the Specify Contact Properties window This value is the same as Heading in the Spatial Tools window 7 3 5 Measure width This tool works exactly the same as the Measure tool Section 3 4 2 from Spatial Tools The measured width in metres is displayed next to the tool button and stored in the DIMN line of the contact file 7 3 4 Height from shadow This tool works exactly the same as the Height from Shadow tool Section 3 4 3 from Spatial Tools The measured height in metres is displayed next to the tool button and stored in the DIMN line of the contact file DSTO GD 0280 Specify contact properties E Natural Other types Dolphin Manufactured object Pole or beam Round object eg dru Shipwreck Manufactured object The objectis close to a sunken qanqway Figure 42 The contact measuring configuration of the Specify Contact Properties dialog 65 DSTO GD 0280 66 7 3 5 Save
73. e same as What is appearing in the waterfall window as you can choose to only display one frequency here Sonarview always defaults to the lowest frequency available for both mosaicing and in the Waterfall display 6 5 Radiosity Corrections Radiosity variations are across track changes in greyscale that are consistent through a number of pings These variations are particularly noticeable when tracks are mosaiced side by side since the centre of the swath is often darker than the outside Removing this radiosity variation can improve the quality of the waterfall imagery and hence the mosaic giving the data a better overall consistency in shading 6 5 1 Correct Radiosity Variations This option is checked whenever a radiosity correction is being applied to the data If it is unchecked selecting Correct Radiosity Variations monitors the next 200 pings and from these calculates a correction This correction is then applied to following data to remove the across track radiosity variation If the correction works well you can save it for later repeated use If you wish to try another radiosity correction taken from a different portion of data deselect Correct Radiosity Variations and reselect it at the start of the data you wish to use This tool allows you to easily create and apply different radiosity corrections 55 DSTO GD 0280 56 6 5 2 Save Radiosity Correction Once you have created a radiosity correction using Correct R
74. ed rine The objectis close to a sunken qanqwary PO Paes a 6255932 50 Figure 44 The Contact Summary dialog 68 DSTO GD 0280 7 5 The Contact Menu Opening and saving contact files This section describes how to open close and save contact files and how to turn the display of a contact file on and off using the Contacts menu Figure 40 and the Contact Manager Load to Current Contacts Save Load Separately Manage Contact Files Display Deleted Contacts Highlight Contact Category s Ean Aighlighted Eategamiel Save Hiahliahted Pategonie ta BIE Load Feature Categories Figure 45 Contacts menu 7 5 1 Opening contact files To open a previously created contact file for display use one of the load commands in the contact menu Load separately opens the contact file so that new contacts cannot be added A contact file loaded separately will not need to be resaved unless the visibility status of contacts is changed Each contact file loaded in this way will be displayed in a different colour Load to Current Contacts opens the file and merges it with any contacts that have been created in the mission since it was most recently opened If you then save the contact list it will be saved under the name of the loaded contact file with new contacts added to the start of the file 7 5 2 Saving Contact Files The quickest way to save a contact file is to use Save from the Contacts menu This c
75. ed line appears in the waterfall display showing this altitude Usually this red line will follow the edge of the data corresponding to the seafloor but sometimes it does not If the assumed location of the seafloor is incorrect the locations of imagery will also be incorrect This is because when a mosaic is created data from either side of the imagery is zipped together at this red altitude line which is supposed to be the start of returns from the seafloor When this is inaccurate sections of imagery from the water column may be displayed in the mosaic moving the land imagery away from the centre of the track or imagery from the centre may be lost with other imagery moved towards the centre of the track Detect Altitude from Data tells the software to ignore the value for altitude that was recorded by the towfish and instead carry out its own tracking of the seafloor in the raw data Data is then joined at this seam rather than at the altitude field This new calculated altitude will be displayed in the waterfall window so that you can decide which altitude reading you prefer Often it is only necessary to use Detect altitude from data for short stretches as the towfish altitude sensor may reacquire the bottom quite quickly DSTO GD 0280 6 6 1 Erase Edge markers The standard waterfall display of data has barely visible edge markers at the port and starboard data extremities These become more visible when tracks a
76. er manual and reference for the sidescan sonar post processing and visualisation program Sonarview Sonarview was developed to support Route Surveillance and Mine Warfare activities The software allows the inspection of raw sidescan sonar data and georeferencing of the data to produce sidescan mosaics Features appearing in both the raw sidescan sonar data and the mosaics may be marked and their images stored along with details about their dimensions characteristics and classification Such data is suitable for inclusion in a Route Survey Database Sonarview provides limited GIS functionality allowing retrieval of information about previously marked contacts and showing the progress of the survey against a backdrop of nautical charts mosaics bathymetry and other information when it is available Exercises are included for the instruction of new users and can provide the basis for a 2 5 day training course Detailed formats for input and output file formats are provided in a number of Appendices Page classification UNCLASSIFIED
77. ered vessel heading fhd Type Stream of records Note A record is written for every time in the associated timing file tim If a time point is marked rejected then a dummy heading of 0 is written Field Type Bytes Comments Heading Double 8 Degrees ___________________ D 10 Filtered vessel navigation flt Type Stream of records Note A record is written for every time in the associated timing file tim If a time point is marked rejected then a dummy position all zeros is written Bytes Easting Double 8 Metres oo Northing Double 8 Metres oo Latitude Double 8 Degrees __________________ Longitude Double 8 Degrees oZ oOo UTM Zone Integer 4 0 As per Appendix D 6 State Byte 1 0 no position 1 grid eastings northings only 2 geographical lat long only 3 both Depth_dm Depth in decimetres unused 117 DSTO GD 0280 D 11 Mosaic format MSC Type Header followed by two arrays of records Table 10 Mosaic header format Size of header in bytes NSextent Double 8 Length of mosaic boundary in N S direction m EW extent Double 8 Length of mosaic boundary in E W direction m Pixel size Double 8 Physical length of side of square mosaic cell Number Rows Integer 4 Number of rows in mosaic array See Appendix C 4 array array array Mode Integer 4 0 is no mode 1 is Overwrite mode 2 is No overwrite mode 3 is Shine Through mode 4 is Min
78. ern as Figure 49 This process may require some degree of trial and error To check the appearance of the treeview you will have to start a dummy mission and mark a contact thus forcing the Specify Contact Properties dialog to appear Section 7 2 3 Figure 41 87 DSTO GD 0280 88 0 Click to choose a category P 1 Isolated feature P 2 Minelike C MNLK 2 Navigational P 3 Buoy C BUOY 3 Channel marker C CHMK 2 Natural P 3 Animal habitat C ANHB 3 Coral QUECCLOPDy E CORD 3 Rock C ROCK 2 Other types P 3 Dolphin C DOLP 3 Manufactured object C MANU 3 Pole or beam C POLE 3 Round object eg drum C DRUM 3 Shipwreck C SHWK 34 TYre Ey TYRE 1 Linear feature no thickness P 2 oCour C SCOU 2 Pipe or cable C PIPE 1 Boundary closed P 2 Depression C DEPR 2 High relief C HIRL 2 Many objects C MANY 27 ROCKY outcrop RKOC 2 Scattered rocks C SCRK 2 Scoured area C SCDA 2 Sediment area C SEDI 2 Vegetation C VEGE 1 Interface open P 2 Sediment change C SDCH 2 Vegetation change C VGCH 2 Slope change C SLCH 2 Relief change C RLCH 1 0ther catch all C OTHR Figure 49 Default_Contact_Categories ctg DSTO GD 0280 A 4 Vessel description file Vessels dat To derive accurate navigational information Sonarview needs to know a few details about each vessel such as where the GPS antenna is relative to the fairlead Remember that such details can change over the course of time and even in the mi
79. es the image more even By default this option is switched on when Sonarview detects data from a Klein 595 sonar 3 5 7 Reset bottom track The Klein 5000 sonar has an in built depth sounder in the towfish to determine the towfish altitude from the bottom Virtually all other sidescan sonars lack this feature and in order to correct from slant range to horizontal range it must be estimated Sonarview attempts to detect the crossing from water to land by the change in tone of the image the so called bottom detection algorithm The algorithm usually tracks the bottom using the last depth as the first place to look If it gets the depth wrong a few times the tracking algorithm may lose lock on the bottom altogether and be consistently wrong In this case the red line in the waterfall window indicating the bottom will diverge persistently from the true bottom position When this happens hitting Reset bottom track or CTRL T causes the algorithm to do a new search for the bottom and this may stop it from continuing to follow the wrong track NOTE Resetting bottom tracking won t work with Klein 5000 data when the data already contains depth information 29 DSTO GD 0280 30 3 5 8 Set signal gain This function changes the gain that is applied to the waterfall imagery Different sidescan data sets may be lighter or darker than each other The gain control allows adjustment to compensate for this 3 5 9 Track bottom from lower f
80. fied locations so that Sonarview knows where to find them Details of the file formats will be discussed in the text where necessary otherwise they can be found in Appendix A 2 3 1 Configuration file Sonarview con The detailed format of the configuration file is given in Appendix A 2 Most importantly the configuration file controls where Sonarview looks for different files and where it will first attempt to store them It also contains default values for a few crucial processing parameters which are described in Section 2 3 1 2 To view Sonarview con use a text editor such as Notepad as shown in Figure 2 Before making any changes to Sonarview con it is wise to make a backup copy with a different name if you do not wish to lose that configuration When Sonarview reads Sonarview con it reads line by line through the file If the line is not blank then it uses the commas in the line to divide it up into separate fields The first field of each line determines what the line means Figure 2 shows a typical configuration file Although this file has no blank lines there can be any number of blank lines if desired since the program ignores them It also ignores lines it can t understand so if there are mistakes in the configuration file you may get unexpected behaviour DSTO GD 0280 Sonarview con Notepad Ma E4 File Edit Search Help CHRT T Work Visual SonarView Charts MISS T2 Work Uisual SonarYiew Missions INT
81. g ta2t5 iri cec cca cecat ons shecy carats E S 111 DS Stora Coann a A A A AS 112 APPENDIX C COORDINATE SYSTEMS AND DATUMS onconccnccnncnonicinicinccnnniononnss 113 C 1 Coordinate systems within SonarvieW sesssessessoessessoessessoesscssoessossoessossoessossoe 113 C2 Hotizontaldatums sss a cota 113 Bn Other AAAS issan a N 113 CA Pro ECON Sisa ea e a aeesseeneetisaees 113 CAT Universal Transy tse Mercator esla 113 APPENDIX D BINARY FILE FORMATS cc ccsssscsasssessvasssveccocsvssaveeeceassecessssessessnssensssee 115 D 1 Raw navigation abstract abs e sesssessesssessosssessosssessoessessoessessoessossoessoessossoessoseo 115 D2 Raw Cable out CDe inscrito 115 D3 Raw Range Setting IDO inlets ea di veins 115 Dias Raw towtish epee deparan oi 115 DIA Enano aaa 116 D 6 Navigational bounds bad a 116 D 7 Filtered status std diia 116 DS Filtered vessel speed SP bic 117 D 9 Filtered vessel heading hdi 117 D 10 Filtered vessel navigation flt ccscsssscssssssssrsssscsssssesseseesssoarssoseseesesoasseess 117 D 11 Meosaictormat MS Cluster 118 DSTO GD 0280 Disclaimer The software described in this document is under development and changes are being made continually As such this manual may not describe all details of operation correctly It is hoped that it will provide instructions for all the basic functions Supply of software A copy of the software including the sample data files use
82. ging defaults Apart from the directory locations most of the settings in the configuration file are complicated so they should be changed and saved using the tools in the Configuration menu in the Control window see Figure 4 It possible but not recommended to edit these settings with a text editor Most of the settings should remain the same for the whole of a survey Inspect Define default vessel Define default sensor config Define default cable out Define default lay back Define default gain Use this Chart magnification as default Define output projection Figure 4 Configuration menu DSTO GD 0280 2 3 2 Completing setup Because Sonarview con contains default settings any changes made to it will be applied to all missions using the software from then on Before saving check that you have a copy of the previous configuration if you wish to return to it later as saving overwrites the previous version of the file If you have made any changes you wish to keep for example changes to the directory pathnames make sure you save the file before closing Make sure that the Sonarview software is not running when you save Sonarview con Once the directories are set up and any changes to the configuration file have been saved copy the Sonarview files SonarView exe Vessels dat Sonarview con Default_Contact_Categories ctg to the Sonarview Application folder create this folder if necessary NOTE 1 Files copied fro
83. h datums are selected and gives you drop down menus to choose new datums if you wish NOTE This menu item is disabled in Mission mode since the datum shouldn t be changed after the analysis has commenced 3 3 9 Zooming Zoom in and Zoom out perform the same functions as the zoom buttons magnifying glasses in the Map control window All zooming is relative to the centre of the chart display Double clicking with the left mouse button anywhere in the chart window centres the display at that point You can then zoom in on the location you have double clicked Note that there is a limit to how far you can zoom in or out DSTO GD 0280 3 3 10 Auto Centre on Vessel This causes the chart to periodically re centre itself on the location of the vessel so that when data is being played the chart retains focus on the vessel Normally you would have this on but if you want to look at another area of the chart while a data file is playing you may need to turn it off Do this by selecting it from the Map menu To check whether it is on or off click on the Map menu If there is a check mark beside Auto Centre on Vessel then it is on otherwise it is off 3 3 11 Import Bathymetry When detailed bathymetry is available Sonarview gives the option of displaying it in the Chart window as a false colour background At present the only area for which such bathymetry is available is Sydney Harbour but this is likely to change in future
84. hart UTM projected EDIT NAVIGATION Ox 338000 338400 338800 339200 339600 5256400 5256000 5255600 6255200 Figure 26 Chart window in Smoothing mode Next the Chart window changes character to display the vessel track in raw and smoothed form Any navigational charts on the window remain but other features are removed The raw vessel track is represented by a trail of red dots and the smoothed vessel track is represented by blue dots Each red dot is the position that was originally recorded and each blue dot is where the vessel is estimated to be at the same time in the smoothed version Figure 26 shows the Chart window in Edit Navigation mode 39 DSTO GD 0280 Along with the changes in the Chart window two other windows also appear when the smoothing process starts Figure 27 shows the Review Smoothing window This window compares the raw and smoothed estimates for grid easting and northing speed and heading each as a function of time in its own subwindow Finally the Smoothing Control window Figure 28 appears at the bottom left of screen 1 underneath the Map control window This allows you to change various aspects of the smoothing process Review Smoothing Eastings m 339 400 1 339 300 4 339 200 339 100 339 000 338 900 338 800 338 700 338 600 338 500 338 400 4 Northings m 6 256 100 F 4 6 256 050 a 6 256 000 3 6 255 950 6 255 900 6 255 850
85. he parameters associated with the set are shown in the fields below Check that these parameters match what was actually used in the survey IMPORTANT NOTE All of the numerical values can be edited and these values will then be added to the mission file and used in subsequent processing However they will not be reflected in the Vessels dat file so the next time the same vessel configuration is used the fields will have their original values not their changed values Thus it is very dangerous to change values in this way A better way is to edit the Vessels dat file to include a new configuration under a different name as described in Section 2 5 4 4 6 2 Selecting the sensor setup Figure 25 shows the Define Sensor Setup dialog box This very complicated dialog box is necessary due to the numerous different combinations of equipment that can occur in surveys The details of the sensor setup process are described in Appendix B It is important to get the process right because wrong entries at this stage give rise to processing errors later on 37 DSTO GD 0280 38 Define Sensor Setup Sensor Confiquration Preferred Usage Data Interpretations Data Corrections Vessel position sensor Preferred Wessel Heading Ship position means a esatoso FT Correct Depth DGPS Made Gand None gt SEO a pt Cancel slope Vessel Heading Sensor Preferred Fish Position sensor position means Gyro Made Good G
86. he Contact Manager tool 7 6 1 Save If you choose to save you will be prompted for a filename and location to save to Saving creates a text file with the extension CNT Details of the contents of this file are given in Appendix A 5 7 6 2 Clear This closes the contact file without prompting you to save it and clears the associated contacts from the chart display 7 6 3 Hide Show Hide leaves the contact file open but hides the contacts from the display The button will then read Show if the filename is clicked Clicking Show turns the display of the contacts back on NOTE Hiding a contact file does not mark contacts as deleted DSTO GD 0280 7 7 Grouping contacts by classification 7 7 1 Highlight contact category s This option from the contact menu allows you to highlight all contacts of a particular category or categories Selecting this option brings up a display much like the Mission Coverage manager see Figure 35 This allows you to choose contact categories from the Available list and move this to the list of Highlighted categories When you click OK these lists will be used to update the display Highlighted contacts will be displayed in bold on the Chart window 7 7 2 Clear highlighted category s This turns all highlighting off and the status of all contact categories reverts to Available 7 7 3 Save Highlighted Category s to file If there is a category s highlighted Save Highlighted Category s to
87. he resolution of the bitmap created from the Mosaic Manager Section 6 8 but this tool can be useful to get an overall image of an area 3 4 Interrogating data using Spatial Tools In Review mode only some of the options from the Spatial Tools window Figure 17 are available The rest will be greyed out The available tools relate to interrogating data Other tools relating to storing information become available in Mission mode see Sections 5 3 7 All the spatial tools are accessed with the mouse Information about features of interest can be obtained from the Zoom Waterfall or Chart windows by pointing and clicking Although some tools are active in Review mode any calculations are based on unsmoothed navigation information and so may not give accurate readings Within a mission filtered navigation files are created and would be used giving greater accuracy To select any tool click with the mouse on its button in the Spatial Tools window 25 DSTO GD 0280 26 Figure 17 Spatial Tools Window Mission mode 3 4 1 The Pointer Arrow The default tool is the mouse pointer arrow Information can be obtained from the Chart Waterfall or Zoom windows and will be displayed in the top Cursor Data panel of the Spatial Tools window Figure 17 Clicking the Chart window at any time causes the longitude and latitude or easting and northing if the Chart is in grid display mode of the selected point to be displayed When a d
88. hen you open it you may have the Pause button pressed NOTE 2 The Open window opens at the location specified for Data in Sonarview con You can change this to match the location of the data that you are using Remember to close the Sonarview application before editing Sonarview con 3 2 2 Stop Close Data file If you do not wish to view the whole file use the Stop button to stop play and close the file Further viewing requires pressing the Play button to select another file The Close data file command in the Data menu in the Control window performs the same function as the stop button NOTE It is not possible to exit Sonarview while a data file is open playing If you get an error message to this effect you must stop the data file using one of the methods described here before exiting the program While any file is open the cross button in the top right corner of the Command window will not be visible and you cannot exit the program 3 2 3 Rewind to Start The left most button on the Player Control is the Rewind to start button This stops play but the file remains open so that clicking Play restarts the play of that file from the beginning without having to find it and open it again 17 DSTO GD 0280 18 3 2 4 Fast Forward Third from the right is the Fast forward button This changes play so that only every tenth ping is displayed The image will be distorted and the display may appear to scroll more
89. hing and located anywhere choose your own names and locations if you wish Create also an Application directory and put the 4 required files in it Copy the chart files to the Charts directory and any DXF coastlines to a sub directory of the Charts folder Choose a location for data files and copy the data files there Create a new folder for this if you wish Next open the Sonarview con file that you have copied to the Application directory and edit the details of directory locations to match those you have created Save and close this file to complete setup 2 3 2 Read 2 4 2 5 Exercise 2 3 Open Vessels dat and have a look at the various vessel configurations described Choose one and try to draw a picture or visualise where the GPS might be located where the fairlead is located and where the fish might be in relation to the fairlead if the default cable out and layback values stored in Sonarview con are used Hint read the section at the start of the Vessels dat file describing offsets Remember starboard is to the right If necessary see also Appendix A3 DSTO GD 0280 Exercise 2 4 What offsets should be entered into Vessels dat for a vessel with e The reference position 4m above the waterline e The GPS antenna 3m above the reference position 2m in front of it and neither to port or starboard of it e The fairlead 13m behind the reference position 3 5m below it and 3m to port of it Hint see example in 2 5 2
90. his has been recorded appropriately Depth altitude and water depth from an echosounder can all be stored in the sidescan data files and then taken from there for this calculation A smoothed vessel track is calculated from the information available This is then combined with the layback to estimate the position of the fish DSTO GD 0280 NOTE There are a number of options available for how the positioning information is to be used in calculating the fish position These are set in the Sensor dialog box Section 4 6 2 and Appendix B 2 5 4 Editing Vessels dat In many cases you will be using a vessel configuration that has been used before and that is defined correctly in Sonarview so you will not need to make any changes to Vessels dat However you should always measure offsets and check that the vessel file is correctly setup If the vessel configuration you are using does not match any previously defined configuration you will need to follow the instructions for adding a new vessel Please do not overwrite older vessel configurations as they are an important record of previous survey configurations Before editing Vessels dat you should make a copy of the file so that you can return to it if you have problems adding a new vessel Fairlead Sidescan towfish Figure 7 Towed sidescan plan view 11 DSTO GD 0280 12 pee A ES Po i Fairlead Z Offset EEEREN Waterline a A OE i a a
91. ifying contacts Section 7 3 discusses how to specify contact properties Section 7 4 describes how to use the query tools to retrieve information about contacts marked on the Chart window Section 7 5 describes opening and saving contact files using the Contact menu Section 7 6 describes the contact manager for saving closing and hiding contact files Section 7 7 describes how to group contacts by the classification given to them 7 1 The contact file A contact file CNT or CNT OLD contains information about one or more contacts For each contact certain information is stored by default Other information is stored if the user has defined it An example would be the length of a contact Contact files are just text files and can be viewed in a text editor such as Notepad Each line starts with an identification tag after which information of that type is stored Commas separate different values The details of the contact file are given in Appendix A 5 Basically the structure of the file is a single line giving the number of contacts followed by a group of lines for each contact in the file 7 2 Stage 1 Marking and classifying Contacts 7 2 1 Loading feature categories It is important to decide on a consistent classification scheme for any objects that are marked during a mission Such classifications can be stored in a contact categories file the format of which is detailed in Appendix A 3 If new classes of objects are
92. image Selecting this tool puts the cursor in draw box mode Section 4 7 2 and allows you to select a rectangle of imagery to store with the contact information You can choose the area to be imaged from the Waterfall Chart or Zoom windows The selected image is displayed at the bottom of the Specify Contact Properties dialog box The filename of the image is derived from the mission name and the unique ID assigned to the contact It is stored in the IMAG line of the contact file and the location of the corners of the image in the IULC to ILRC lines see Section 7 1 Appendix A5 7 3 6 Comments The Comments panel allows you to add one or more lines of comments To do this click in the white box and type in your comment The number of comment lines is stored in the NCMT line of the contact file and each comment line is stored in a COMM line 7 4 Accessing contact information Query tools Once a contact is displayed on the Chart window the contact information can be accessed using the query tools The only feature of the contact that can be altered is the visibility status Section 7 4 2 However you can choose how you want locations stored relative to grid UTM or as latitude longitude Section 5 2 4 7 4 1 Querying contacts The query tools are located on the Map Control window and are shown in Figure 43 There are three tools one for each of the three contact types point closed bounda
93. imum mode 5 is Average mode 6 is Ranked mode 0 is False else True Unused Byte 124 Currently unused array The values of the mosaic cells are stored in a moderately compact format in that for each row the program establishes where the first and last non zero elements are then stores all elements between those values If no non zero elements can be found on a given row then nothing is stored The first array of records tells Sonarview how many elements were stored in each row and where the first stored element should be put in the full mosaic grid The first array of records has size Number Rows records The format of the records is Integer First non zero element in the full size mosaic grid Distance from first to last non zero element 118 DSTO GD 0280 The second array is the actual mosaic values stored in the format detailed above Each value is 1 byte in size The total size of the array is Number rows N Y length row row 1 The values in the array range from 1 254 for cells that have been written to at least once with 0 and 255 reserved for cells that were never written to After the second array there is optionally a third array which is a mask array of bytes It has the same arrangement and size as the array of mosaic values If the array was created using Average mode then the mask array contains the number of values that contributed to the average value in each cell If the array was created
94. in the text editor and compare the SouthEast corner details for the first file to what you wrote down Close the file and return to the mission in Sonarview Toggle Save Positions relative to grid to your preferred setting Exercise 5 3 Toggle Show all coverage to on Use the coverage manager to display only the file with the western most extent Which file is this Which file has the eastern most extent Make all coverage visible using the manager and then toggle Show all coverage to off Exercise 5 4 Try the two further options in the Spatial Tools window as described in Section 5 3 Having used the voltage tool open and view the text file it creates Voltages txt Close this file Exercise 5 5 Now try the Statistics tool Try marking a pale area in the Waterfall window and look at the statistics in the Signal Statistics window Make a note of minimum maximum and average values for the area Now take statistics for a dark area Compare the minimum maximum and average to those of the pale area Save some statistics with a comment if you wish Then open and view the associated text file This should be something like Stats_training txt 8 6 Section 6 Note Exercises for this section can be carried out on any small data set where there is overlapping data If possible create a new mission for the data set you wish to mosaic Read 6 1 6 2 Exercise 6 1 Add files to mission and turn on coverage A
95. ing timing tim Type Stream of records Note A record is only written at the start of the file and when the time stamp of a ping changes For some sonar data formats this may not happen at each so called ping number Field Summed time Double 8 Seconds since start of file D 6 Navigational bounds bnd This file gives the bounding box of the raw vessel positions Type Single record Comments Metres Metres Metres Values given below e 8 Max northing Double 8 Metres Values given below The possible horizontal datums have numerical codes None 0 WGS72 1 WGS84 2 AGD66 3 AGD84 4 GDA94 5 The possible projections have numerical codes None 0 Universal Transverse Mercator 1 Transverse Mercator 2 Integrated Survey Grid 3 Of these the last two are not supported D 7 Filtered status fst Type Stream of records Note A record is written for each time point in the associated timing file tim Bytes Values are 0 accept 1 interpolate 2 reject 116 DSTO GD 0280 The status values correspond to the outlier marking actions described in Section 4 7 D 8 Filtered vessel speed fsp Type Stream of records Note A record is written for every time in the associated timing file tim If a time point is marked rejected then a dummy speed of 0 is written Speed Double 8 Metres per second _ _ __ o o D 9 Filt
96. ion mode in Sections 4 7 1 2 3 The Chart window The chart window displays several types of geographically referenced information It can be altered using the Map menu in the Control window buttons on the Map Control Window and mouse clicks within the chart window The chart window can also be interrogated for positioning and other information 1 2 4 The Map Control window The map control window allows you to change the view in the chart window and query contact markers for additional details 1 2 5 The Sonar Waterfall window The Sonar Waterfall window reviews the raw sonar imagery as if you were looking down at the seafloor as the towfish passed over it With different tools selected you can interrogate the imagery by clicking in this window DSTO GD 0280 1 2 6 The Spatial Tools window The spatial tools window contains the tools for interrogating and storing information about the sonar waterfall imagery You can zoom measure query location or interrogate statistics of the display and store information about locations of interest 1 2 7 The Zoom window The zoom window is used to display zoomed images from the sonar waterfall window You can mark contacts in the zoom window just as in the waterfall window DSTO GD 0280 2 Installation Correct operation of Sonarview depends on a number of aspects of the computer being correctly configured as well as a sufficiently capable computer Computer system requirements are
97. is permanently stored until the contact file is saved Sections 7 5 7 6 This section will describe the information that can be stored Figure 40 shows the 3 functional contact marking tools which are found in the Spatial Tools window next to the Waterfall window The tool on the left represents an isolated feature the middle tool a closed boundary and the tool on the right a linear feature Contacts are usually marked in either the Waterfall or Zoom windows This is because the Waterfall and or Zoom window s display the raw data with no overlapping so all available data is displayed It is possible to mark contacts from mosaiced data but mosaics often have lower resolution than the waterfall trace and overlapping tracks can obscure small features on the seafloor Large seafloor features such as sediment boundaries are sometimes marked from mosaics aq Figure 40 Three contact marking tools As with all button tools the contact marking tools are selected by clicking once on the tool with the left mouse button The Isolated Feature tool marks a single point contact which is displayed as a cross on the Chart window The other two tools are used to mark lines by clicking with the left mouse button Each click defines a node and lines are drawn connecting consecutive nodes Clicking the right mouse button ends the drawing at the last node and in the case of a closed boundary this node is automatically joined to the first node The
98. late to the reference position of the vessel rather than the antenna GPS offsets recorded in Vessels dat should all be 0 0 h where h is the height of the reference position above the waterline NOTE 3 The only sensor offsets required in the Vessels dat file are the GPS offsets However it is good practice to measure and record offsets for any other sensors whose information is being recorded as this may be required at a later stage 2 5 3 Estimating the position of the sidescan towfish There are a number of steps involved in estimating the position of the fish Figures 7 and 8 may help in visualising them We start with the GPS positions We then use the offsets recorded in Vessels dat to calculate the position of the fairlead Next knowing where the fairlead is we need to know how much cable was out the depth of the fish and the vertical offset of the fairlead so that the layback of the towfish can be calculated Layback is the horizontal distance of the towfish behind the vessel The layback calculation uses Pythagorus theorem on the length of cable out and the depth of the fish Cable out values are taken from either the cable out field in the sidescan data the default cable out value in the Sonarview con file or a separate file can be created Depth can be taken from the pressure depth sensor on the towfish or from the difference between fish altitude above the seafloor and water depth as given by the ship s echosounder if t
99. le the land areas from solid to transparent 73 DSTO GD 0280 74 Exercise 3 8 Change the grid projection of the display and notice the distortion in the chart Exercise 3 9 While a data file is playing try to zoom right in on an area off the vessel track Is there a setting you can change to allow you to do this Make sure you return settings to normal after this exercise Exercise 3 10 Try loading the bathymetry file all_3_dtm BTC to come Toggle Display Slope on and off Use the manager to close the bathymetry file Exercise 3 11 Try zooming in and out and moving around the chart Try double clicking in a location of interest and then zooming in Try the zoom commands from the Map menu Read 3 4 Exercise 3 12 While playing a file click on a location of interest Details relating to this point will be displayed in the Spatial Tools window Exercise 3 13 Now use the zoom in tool and click on a location of interest Try the measuring tools also in each of the Zoom Waterfall and Chart windows Read 3 5 Exercise 3 14 With a data file playing try changing and deleting panes as described Toggle Show incoming data on and off and note the change of vessel speed in the chart window Exercise 3 15 Try the available palettes Exercise 3 16 Play the data file 238 2323 xtf with 2 panes open in the waterfall window one for each frequency This is a Klein 595 dual frequency data file Try t
100. left button the area inside the box will be resized to fill the whole sub window To zoom back out draw a 41 DSTO GD 0280 42 box with the mouse but this time going from right to left Remember that the red points are the raw data the blue points are smoothed The usual way to inspect data is to start at one end of the track in the chart window zoom in so that individual points can be distinguished then use the arrow buttons in the Map Control Window to move along the track and view all the points It may be unnecessary to view the data so closely and discrepancies in the Review Smoothing panels can be used to locate the points that need to be smoothed in the Chart window 4 7 2 Getting rid of bad navigation points Bad navigation points are usually associated with GPS problems Outliers are data points that are far further from the normal values than can be accounted for by normal noise levels in this case the 1 2m errors normally associated with DGPS fixes 334400 334600 Figure 29 A section of navigation dropouts Figure 29 shows a section of vessel track passing under Sydney Harbour bridge As the sky was obscured the GPS unit became unreliable and produced a large section of outlier points It is not immediately obvious where the outlier points begin and end but a reasonable guess would be near the edges of the figure In this case there are two alternatives We can reject the outlier points and attempt to interp
101. level at which the node should appear STRING is the name of the node and in the case of the child nodes it is the name of a contact category The additional WORD field for child nodes is a short DSTO GD 0280 unique string identifying the contact category that is easier to search for than the full name As examples the text line corresponding to the Isolated feature node in Figure 48 is 1 Isolated feature P This identifies the node as being at level 1 and a parent for all of the nodes that relate to classes of features that are isolated The text line corresponding to the node Minelike is 2 Minelike C MNLK This identifies the node at level 2 a child node standing for the category of minelike features with the unique identifier code MNLK The very first node in the file must always be a parent node at indent 0 in this case 0 Click to choose a category P Each following node will attach itself to the last node appearing in the list with an indent level 1 less than its own value Note that if a new node is introduced with an indent level 2 more than the most indented previous node then the process will fail because the new node has nothing to attach itself to To add new attributes or types of attributes you should initially draw a tree view like Figure 48 and determine which families each of the attributes belong to Then the text file should be modified to have extra lines in the same patt
102. llow you to zoom in out on locations of interest With the tool selected click in the waterfall display A zoomed image around that location will be displayed in the zoom window If the tool was used the image is magnified if the tool was used the image is the same size as in the Waterfall plot The image can then be resized by using these zoom tools within the Zoom window 3 4 5 Other tools available in review mode There are two other tools available in Review mode but these are most often used in Mission mode and so will be described in later sections 3 5 Waterfall 2D Menu The waterfall menu allows you to change the appearance of the waterfall window Most commands from this menu are only available when a data file is being played 27 DSTO GD 0280 28 New Pane Change Pane Delete Pane W Show Incoming Data Change Palette Ctrl C w Remove Zero Offsets Chrl 2 Reset Bottom Track Ltrl T Set Signal Gain Ctrl la Track Bottom From Lower Frequency Ctrl Merge Filter Streaks Figure 18 Waterfall menu 3 5 1 New Pane This command creates a new pane or sub window within the waterfall window There are a number of options for what is displayed in this pane and you are prompted to select You can choose between Both sides Port only Starboard only and Water Column for the part of the swath that you want displayed Both sides is the default and this displays sonar data fro
103. locations of nodes are stored in the WPNT lines for the contact in the contact file and the number of points is marked in the NPTS line Appendix A 5 DSTO GD 0280 7 2 3 Classifying a contact Once a contact has been marked a dialog box comes up for contact classification The initial appearance of the dialog box is shown in Figure 41 Initially you must choose the contact category you want by clicking on it and then click Accept The options available for classification depend on what category file is currently loaded see Section 7 2 1 If a separate category file has not been loaded the program will default to the file Default_Contact_Categories ctg Specify contact properties Select a feature class a lick to choose a category cm Isolated feature Linear feature no thickness Be Scour Pipe or cable Boundary closed Interface open ba Other catch all Cancel Current selection Scour Accept Figure 41 Initial appearance of the Specify Contact Properties dialog box 7 3 Stage 2 Specifying Contact Properties Having chosen and accepted a classification for the contact the Specify Contact Properties dialog box expands to the form shown in Figure 42 It now contains display areas and the tools for extracting the contact information Measure Properties panel To use a tool click on it to make the cursor active for that tool and then follow the instructions for the specific t
104. locations on a vessel are usually described in terms of offsets in 3 dimensions from the vessel s reference position The reference position is a known location on the vessel approximately at the centre Sonarview requires that the reference position be located level with the waterline This means that a vessel reference position located on the superstructure must first be translated vertically down to the water level before Sonarview can use it This is the case for example with the RAN hydrographic survey vessel Benalla Offsets are recorded in Vessels dat in metres from the reference position on the waterline in the order X Y Z X is the distance across track with positive to starboard Y is the distance along track with positive forward Z is the distance above the waterline with positive upwards As an example let the vessel reference position be 3m above the waterline The GPS positions are taken from the antenna which is 2 5m above the reference position 1m towards the front of the vessel and 5m to port The sidescan is towed and the fairlead is 12m behind the reference position 2m below it with no across track offset The GPS offsets that should be entered in Vessels dat are 0 5 1 5 5 and for the fairlead 0 12 1 NOTE 2 Usually the GPS data gives the location of the GPS antenna however some navigation computers may translate this and output the location of the vessel s reference position instead If the positions re
105. m CD will be Read Only Before they can be edited and saved the Read Only status must be turned off To do this copy the files to the desired location on the hard drive using Windows Explorer or My Computer Select the files then right click and select Properties from the pop up menu or select Properties from the File menu The General tab should be displayed If not click on it In the bottom Attributes panel of the dialog there should be a number of check boxes Make sure Read Only is not checked Then click OK You will now be able to successfully edit and save the files 2 4 Default Contact Category file When you mark contacts in Mission mode you are presented with a classification scheme to choose a category for the contact you are marking for example Minelike or Sand Ripples Sonarview comes with a default contact classification scheme that is described in the file Default_Contact_Categories ctg This file is intended to serve as a guide for how to construct categories to suit a given operation It is anticipated that different categories will be required for different types of operations and that those categories will evolve over time Different category files can be generated with the ctg file extension They should be put in the same directory as Default_Contact_Categories ctg and Sonarview exe The format of the category file and a description of how to modify it are given in Appendix A 3 Section 7 2 1 descri
106. m both sides of the towfish You can choose port or starboard on its own or the water column The latter will display the centre part of the track allowing you to view the water column in greater detail If dual frequency sidescan data is being played eg Klein 595 you can display Upper Lower or Merged frequency components NOTE 1 Up to three panes can be used at once NOTE 2 In this version Merged data is not available 3 5 2 Change Pane Selecting Change Pane allows you to change what is displayed in a pane You will have to choose which pane you wish to change Upper or Lower If you only have one pane displayed choose Upper You will then be presented with the options available for a new pane and can edit these for the selected pane 3 5 3 Delete Pane This function allows you to delete a pane if you have more than one pane displayed Again choose from Upper and Lower for which pane to delete 3 5 4 Show incoming data This option is checked by default but can be toggled on and off by choosing it from the menu If you turn it off data ceases to display in the waterfall window but the chart window still displays the vessel towfish track and swath if these are turned on Section DSTO GD 0280 3 3 4 Because the data is not being rendered to the screen the motion of the vessel is much faster This tool can be used as another form of fast forward 3 5 5 Change p
107. n 2 contains the Sonar Waterfall window left the spatial tools window bottom right and the zoom window top right A brief description of each will be given here with details in later sections 1 2 1 The Control window The Control window contains menus and buttons that can be used to control most aspects of Sonarview Some of the functions available in the Control window are more easily accessed through the other windows and some functions are only available in the other windows 1 2 2 Operating modes Review mode and Mission mode Sonarview has two modes of operation Review mode and Mission mode which are selected using the Control window By default Sonarview starts in Review mode which enables you to quickly inspect your data In Review mode you can not store information in the form of contact descriptions or mosaics Because accuracy is critical for mine warfare Sonarview will only allow you to store information in Mission mode Mission mode forces you to inspect your data providing missing information eliminating bad data points and smoothing navigation so that positions derived from the sidescan imagery are as accurate as possible Mission mode enables grouping of tracks so that information involving a number of tracks can be stored displayed and retrieved In Mission mode you can display the total coverage contact locations and mosaics of the sidescan imagery Details for Review mode are given in Section 3 and for Miss
108. n a previous version of the mission file exists it is renamed with the extension OLD before the new version of the mission file is stored Once a mission is saved you can view the mission text file using Notepad As you work with the mission more details will be added to the mission file and more new files will be created in the mission folder NOTE 1 Several actions such as adding a chart to the Chart window or adding a data file will cause the mission to be saved automatically Generally speaking the mission file is left closed unless there is some reason to change it in which case it is opened changed and closed as soon as possible NOTE 2 Use Save Mission As to make a backup of the mission under a different name if you wish 4 4 2 Close Mission You can close a mission using the Close mission command from the Mission menu or by exiting the program When a mission is closed it is automatically saved as well If a data file is open when you try to close the mission it must be closed before Sonarview will allow you to proceed Make sure you save contacts and mosaics before closing a mission although you should be prompted to do this by Sonarview When the mission is closed Sonarview returns to Review mode 4 4 3 Open Mission To open a mission that was previously set up select Open mission from the Mission menu in the Command window Opening a mission or starting a new mission will first close whatever mission is c
109. n grid resolution and corners The storage size in bytes is slightly larger than the number of cells except in Average or Ranked mode Section 6 9 when it is twice that number At this stage you can redraw the mosaic area or change the resolution When you are finished click OK and the boundary of the mosaic will be drawn on the chart window in pale blue 6 3 Writing data to a mosaic To add data to a mosaic you must have an editable mosaic open and you must have some data files in the mission that overlap with the mosaic An editable mosaic is bordered by a pale blue box A newly created mosaic is editable as is an old mosaic that has been loaded to the chart as editable see Section 6 7 Once you have an editable mosaic on the screen data is added to it simply by playing data files whose coverage lies in the area of the mosaic You can either play files one at a time in any order or you can play them all in sequence To do the latter select Play in Mosaic Batch Mode from the Data menu Then click on the play button The file following the last file played will commence playing then the rest of the following files in the list If no files have been played or if the last file in the list was the last file played mosaic batch mode play will start with the first file in the list and work through all the files Often when making mosaics you will not want to use all of the data in the mission Some files will have section
110. ned relative to the WGS84 datum but it can also be defined against datums such as AGD66 then being known as AMG66 the Australian Mapping Grid of 1966 114 DSTO GD 0280 Appendix D Binary file formats Sonarview uses numerous different binary file formats to describe various types of data Some of the formats change from version to version and most are used only internally The most accurate source of formats is the program source code D 1 Raw navigation abstract abs Type Stream of records Note A record is only written at the start of the file and when the position of the vessel changes that is not at every sonar ping Table 9 Record format Ship easting Double 8 Metres S Ship northing Double 8 Metres _ ___________ Ship speed Double 8 Metres second Summed time Double 8 Seconds from start of file _ Pingindex_ Integer 4 o O D 2 Raw cable out cbe Type Stream of records Note A record is only written at the start of the file and when the cable out value changes Integer ss D 3 Raw Range Setting rng Type Stream of records Note a record is only written at the start of the file and when the sonar range setting changes Integer ss D 4 Raw towfish depth dep Type Stream of records 115 DSTO GD 0280 Note A record is only written at the start of the file and when the towfish depth changes Bytes Comments Metres Fish depth D 5 P
111. ng and sensor heading are two variables from the XTF file format that in theory are the heading of the vessel and the heading of the sonar respectively In practice what they mean depends on how the Isis data recording computer was set up If the Isis program was given a serial port input from the ship s gyro with a Gyro token in the serial port setup then ship heading will contain the gyro readout On the other hand if Isis was set up with only GPS position going in then ship s heading will contain nothing and sensor heading will contain whatever Isis happens to think is the most important position input If the towfish has an inbuilt compass then sensor heading will usually be the compass output If not then it will be the course made good estimated from raw GPS fixes which may be 10 seconds out of date For specifics see the Triton Elics Isis documentation In contrast option 3 made good is the course made good from position fixes after they have been smoothed This is at least potentially the most accurate option in most circumstances B 3 2 Preferred fish position To date virtually no raw sonar data has included towfish positions from a device such as Trackpoint or OSCAD Hence there are no tools to filter this kind of data and positions derived from them will be error prone The options are 0 None uses the default from the Sonarview con file 1 Stored uses the value st
112. ntensity written to it 6 7 5 Average Each cell of the mosaic contains the average value of all intensities written to it This mode can be useful to reduce tonal mismatches between neighbouring lines but it tends to have low contrast 57 DSTO GD 0280 58 6 7 6 Ranked Each cell of the mosaic retains the intensity of the highest ranked swath point written to it At present the rank is reduced in proportion to the slant range from the sonar 6 8 Managing Mosaics The Mosaic Manager allows manipulation of mosaic files It is accessed by selecting Manage from the Mosaic menu and is shown in the following figure A list window contains a list of all the open mosaics The buttons at the bottom provide a number of options When you click on the name of the mosaic you are interested in some or all of the buttons become active depending on the state of the mosaic Once you have used a button they will all become disabled until you again select a mosaic name by clicking on it Click on an object to select it OF Details Save Save Image Hide Llear Figure 39 Mosaic Manager 6 8 1 Details button This button is always enabled once you select a mosaic It gives you access to details of the mosaic displaying the file name southwest corner grid extent and resolution of the mosaic Click OK to close the mosaic details window You are then asked if you wish to save these details to a file Click Yes to do so and yo
113. o include 53 DSTO GD 0280 54 Make sure that your cursor is active for marking a mosaic area When active it will appear as a cross when over the chart window and the button within the Mark Limits panel on the dialog will appear pressed down The cursor should have automatically become active when you selected New Mosaic To turn this off click on the Arrow button in the Spatial Tools Window Section 3 4 To turn it on again click on the button in the Mark Limits panel of the dialog When the cursor is active for marking a mosaic it is in draw box mode Section 4 7 2 and you can mark the mosaicing area with the mouse The coordinates of the limits of the rectangle will then be displayed in the Limits panel of the Mosaic Details window Alternatively you can type the coordinates of the corners of the area you wish to mosaic into the Limits panel directly or use a combination of the two methods 6 2 2 Setting grid cell size The cell size you use will depend on the intended use of the mosaic Once you have entered a number into the Grid cell size m panel hit the TAB key If you do not hit the tab key you will not be able to proceed Once you have entered your resolution and hit TAB the OK button at the bottom of the Mosaic Details window becomes active and the dimensions of the mosaic are displayed The number of grid cells can be used to calculate the size of the mosaic file that would be created with the give
114. o the previous contact file that you saved in Ex 7 3 79 DSTO GD 0280 80 9 References Neill R 1998 Operator s Guide for SonaView A Comprehensive Demonstration Side Scan Sonar Post Processing System Version 8 25 U MOD General Document DSTO GD 0177 Melbourne Aeronautical and Maritime Research Laboratory 10 Acknowledgements The authors would like to thank Mr Wayne Dunn RAN and Dr Roger Neill DSTO for their support throughout the software development process They would also like to thank LEUT R C Cullen for numerous helpful comments on the software and Dr Phil Chapple for comments on the software and the manual DSTO GD 0280 Appendix A Text file formats A 1 General structure Sonarview uses many different file formats all being distinguished by their extensions This section discusses the file formats that are text based and can hence be inspected and edited with a text editor such as Windows Notepad Binary file formats such as the bulk of the files occurring in mission directories are discussed in Appendix D Most of the text file formats such as CON CHT MIS and CNT have a similar format where each aspect of the information is stored as a single line of text an atom and complicated objects are described by sets of such single line atoms 44 JJ Each atom is broken into separate fields by the comma character The first field of each atom is
115. oggling remove zero offsets on and off and see if there is any difference in the display Try changing the gain Try using Track bottom from lower frequency particularly for sections of the data where there is a difference in where the bottom track would be depending on the frequency Read 3 6 Exercise 3 17 While playing a data file turn the voltage display on Try the voltage display for different channels Does the voltage display bear any resemblance to the data scrolling in the waterfall window DSTO GD 0280 8 4 Section 4 Read 4 1 4 5 Exercise 4 1 Start a new mission called Training mis in its own folder named training within the mission folder you created in Ex 2 2 Use default datums Save and close the mission you have just created Browse for and open the file Training mis in a text editor eg Notepad What information in the text file do you recognise Hint See table 1 for a brief explanation of the fields Close the text file without saving Exercise 4 2 Open the mission Training mis in Sonarview and add the coastline Aus200 cht Close the mission which automatically saves it and view again the text file Training mis in a text editor What has changed Close the text file without saving and reopen the mission in Sonarview Read 4 6 then Appendix B Exercise 4 3 Abstract the sample data files that you have copied from the training CD to the mission Make sure you use correct vessel
116. olate a smooth curve between them or we can reject the points and accept that there is a region in the vessel track that must be skipped over and ignored DSTO GD 0280 Notice that the blue points of the smoothed vessel track in Figure 29 give a completely unrealistic picture of the vessel motion it was heading along a nearly straight course at constant speed Sonarview gives both options via buttons on the Smoothing Control window Clicking the Smooth button puts the cursor into draw box mode If you then left click and drag to draw a box around the bad points Sonarview will ignore the points in the box and try to interpolate a smooth line between all of the remaining points As the points are marked ignore they change colour from red to light green At the same time the blue line becomes smoother Sonarview is calculating a new interpolation between the points on the fly and updating it in real time Figure 30 shows the effect of interpolating while ignoring the outlier points in Figure 29 Figure 30 Bad navigation section after interpolation Clicking the Delete button again puts the cursor again into draw box mode but this time Sonarview will break the interpolation on either side of the marked points Deleted points are shaded light grey instead of green and in this case the blue line stops either side of the deleted area Figure 31 shows the effect of deleting the outlier points in Figure 29 Note that the raw
117. ommand will save the Current contacts that is any contacts that have been marked since the mission was opened combined with contacts from any files loaded to current contacts If the contact file does not have a name you will be prompted to specify a name and location for the file If the file has been saved before it is automatically saved with the same name in the same location If you want to know something about the status of the file before saving use the Contact Manager as described in section 7 6 Whichever way you save the contact file a backup contact file is created with the same filename and an extra file extension of OLD For example the file Contacts CNT would be backed up as Contacts CNT OLD 69 DSTO GD 0280 70 7 6 The Contact Manager tool The Contact Manager allows you to see which contact files you have open and manipulate them To access the contact manager select Manage Contact Files from the Contacts menu The appearance of the tool is shown in Figure 46 To see what functions are available for a contact file click on the name of the contact file The appropriate tools will then become activated To use the tools click on the buttons The Save image and Details buttons are not implemented for contacts since they have no meaning Contact Lists Click on an object to select it DE True True True True Details Save Save age Hide Clear Figure 46 T
118. ong it takes to load DSTO GD 0280 Try changing the mosaic gain Now try writing data to this mosaic Now clear it without saving 8 7 Section 7 Read 7 1 7 3 Exercise 7 1 Marking Contacts Play a data file with some objects of interest eg 254 1706 xtf Look for an isolated point feature an open boundary interface and a closed boundary large isolated object and mark these as contacts For each when it is displayed on the waterfall window pause data play Then select the contact marking tool to match the object and mark it Then classify the contact from the default list Specify any other contact details that are relevant and click OK Note the appearance of the contact marker on the chart window for each contact marked Read 7 4 Exercise 7 2 Querying contacts Use the query tools to query the contacts you have marked Try deleting and undeleting one of these Read 7 5 7 7 Exercise 7 3 Save the contact file then open it in a text editor and view the contents Can you tell which description goes with which contact Open the bitmap image for a particular contact by finding it and double clicking on it in Explorer Close the contact file without saving Exercise 7 4 Try highlighting one of the contact categories that you have used If you can t remember what you classified your contacts as use the query tool to find out Try saving the highlighted category to a file Open the file in a text editor and compare it t
119. ool as given below Some of the values extracted by the tools are displayed and you are able to reuse the tools to get new measurements or in some cases reset the measurement to nil To reuse a tool you must reselect it by clicking on the button again Not all of the other values that are stored in the contact file are displayed here since they come from the raw data file rather than a measurement When you have finished specifying the properties of the contact click the OK button at the top of the form The contact location will then be displayed in the Chart window At this stage contact information is stored in a temporary file called Contacts txt To permanently store the information see Sections 7 5 and 7 6 To retrieve the information for viewing see Section 7 4 63 DSTO GD 0280 64 7 3 1 Mark nominal position This tool allows you to select a position that will be stored in the NOMP line for that contact in the contact file For a point contact the nominal point starts out as the original position that the contact is marked at and is replaced if a nominal position is marked when specifying contact properties A point contact is displayed at its nominal position on the chart window For open and closed boundaries no nominal point NOMP is stored unless it is marked here deliberately Select the tool and click on a location in any of the Chart Waterfall or Zoom windows The position is not displayed in th
120. ored in the data file as controlled by Data Interpretations Section B 4 2 Rigid The towfish is rigidly attached to the vessel so the towfish position is the same as the fairlead position This option should be used when the towfish is bow mounted 3 Made good the towfish position is estimated from the last two positions of the vessel and the length of tow cable This is the recommended option if the towfish was towed B 3 3 Preferred fish heading The options are 0 None uses the default from the Sonarview con file 1 Towfish use the heading of the towfish from the raw sonar data 2 Vessel use the heading of the vessel from the raw sonar data DSTO GD 0280 3 Made good use the heading derived from the position made good calculation from the previous section This is the default B 4 Data interpretations B 4 1 Ship position means As noted previously the XTF file format contains two fields one for ship position and another for sensor position that can have variable meanings The options for what the ship position field means are 0 None the ship position field isn t being used 1 GPS antenna the raw GPS position 2 Ship origin the reference point of the vessel as calculated by a navigation program from the raw GPS position 3 Towtfish the position of the towfish as calculated by a navigation program from the raw GPS position and any towfish positioning inf
121. ormation available Option 0 is the default and 1 is quite common Options 3 has so far been uncommon Note that it is easy to instruct the Isis program to do any of these things using the serial port setup tool B 4 2 Sensor position means The options for what the sensor position field means are 0 None the sensor position field isn t being used 1 GPS antenna the raw GPS position 2 Ship origin the reference point of the vessel as calculated by a navigation program from the raw GPS position 3 Towtfish the position of the towfish as calculated by a navigation program from the raw GPS position and any towfish positioning information available Option 1 is the default and most common situation B 4 3 Cable measure setup If the towfish position is not known directly then the length of cable from the fairlead to the towfish is needed to calculate it The options for the source of this information are 0 None uses the default value from the Sonarview con file 1 Rigid mount the towfish is rigidly fixed to the vessel using a bow mount for example 2 Separate file the cable out value is available as a separate CBL text file See following for the format 3 Data file the value can be taken from the cable out field in the raw sonar data file 4 Crocodile 99 the file was recorded during the Crocodile 99 exercise and has special fields that must be combined to give the cable out value
122. oses the chart and removes it from the display Hide makes the chart invisible but does not remove the chart from the memory 3 3 3 Change Survey Display This command allows you to make some changes to the appearance of the chart while data is playing This is done through the Survey Display Control Figure 15 By clicking with the mouse you can turn on and off various features To apply the changes to the chart window click OK in the Survey Display Control The features are shown at right in Figure 15 a close up image of the vessel as displayed on the chart with all display choices enabled The ship position is the red dot in the centre of the boat at top left The blue trail behind this is the ship trail The towfish is shaped like a T and follows behind the boat at a distance defined by the separation from the reference position of the vessel It also has a red dot giving its predicted position and a red trail showing its path The swath coverage generated by the fish is displayed in grey Note that the size of the towfish and vessel on the chart window are not to scale but the positions of the red dots are accurate Survey Display Control e Show Ship e Show Swath e Show Fish e Show Ship Trail e Show Fish Trail Figure 15 Changing the track display the Survey Display Control window left and a close up of the corresponding Chart display right 21 DSTO GD 0280 22 3 3 4 Reset Snail Trail Thi
123. otes the end of the points for a contact Points end Records the dimensions of a contact as recorded with the contact measuring tool Notes FLOATTI is the length marked for the contact if any FLOAT 2 is the width marked for the contact if any nell FLOATS is the height from shadow for the contact if any Notes Denotes the number of comment lines expected to follow and the beginning of the comment lines Notes COMM Purpose Denotes a comment line Format Notes Denotes slant range from sonar to position of contact lt TAG gt lt FLOAT gt SRNG 57 3 If float is negative the contact is to port else to starboard Denotes the range setting of the sonar at the ping where the first point was marked Format lt TAG gt lt FLOAT gt 93 DSTO GD 0280 RSET 100 0 Notes ORIE Denotes the spatial orientation of the contact if its length was measured with the length tool lt TAG gt lt FLOAT gt ORIE 27 3 The orientation is that of the second clicked point relative to the first A 5 1 Example NCON 3 BEGN CTTD 1743331 52001 CATG SCOU OPEN VISIBLE Scour DIMN 2 3E2 0 0000 0 0000 NOMP WGS84 333337 15 X 6252175 09 Y IMAG Test 1 48331 5 2001 bmp IULC WGS84 333329 13 X 6252272 18 Y ILLC WGS84 333316 41 X 6252066 57 Y IURC WGS84 333358 74 X 6252267 71 Y ILRC WGS84 333346 31 X 6252067 79 Y OPER Amy Young SRCE 195 0502 xtf 14 07 1998 05 00 55 4
124. overage will be written to Only one mosaic is ever editable so if there is already an editable mosaic open say One created with New Mosaic it will lose its editable status when the 59 DSTO GD 0280 60 second mosaic is loaded The current editable mosaic is surrounded by a light blue rectangular borderline Both read only and editable mosaics are managed from the mosaic manager 6 9 2 Set Mosaiced Frequency This command is for dual frequency sidescan sonar data Use it to choose which frequency you want mosaiced Upper Lower or Merged the latter is not currently implemented NOTE The mosaiced frequency is not connected to the frequency s visible on the Waterfall It is quite possible to view the upper frequency on the Waterfall and be mosaicing the lower frequency at the same time 6 9 3 Set Mosaic Gain This option is usually used on the completed mosaic to change the overall lightness or darkness of it It can also be used on an unfinished mosaic In this case any data that has been written to the mosaic will have this gain applied and any further data that is added will also have this gain applied on top of any gain that is being applied to the waterfall display The default setting is 1 leaving the mosaiced data matching the waterfall display 6 9 4 Two D Correction When gridded bathymetric data is available see Section 3 3 12 selecting this option will cause the mosaicing process to estimate
125. owing section and Appendix A 6 describe the structure of the mission file All of the other files have binary data formats which are described in Appendix D 4 1 1 The Mission File format Before looking at how to create a mission it is a good idea to have a basic idea of what is stored in the mission file It may also help to look at the changes in the mission file and the mission folder contents after each stage of creating the mission 31 DSTO GD 0280 The mission file is a text file created by Sonarview containing information about a group of data files Each line of the file starts with a code tag to identify the content of that line This is followed by appropriate information broken into separate fields with commas Figure 20 shows a sample mission file and Table 1 explains some of the details of the mission file B test Notepad Jof x File Edt Search Help CTGF C SonarYiew Septiu2 Default Contact Categories CTG CHTF us206 cht C 1SonarViewiChartsA VESS Workboat 446 2Bow Hount 6 0 4 0 1 29999995231628 5 800000011926929 7000 13 4 19999980926514 5ENS 4 5 60 95 0 0 1 3 0 0 0 1 13500 3 3 3 1 100 NWCR 16584 339050 36 5 6256182 01 Y SECR 16584 3480825 61 2 6253967 76 Y DATF 189 O6816 xtf D penguin 1 1 HDAT WGS84 PROJ Universal Transverse Hercator 56 S0UTH GRID GRID Figure 20 Sample Mission file The mission file starts and finishes with some information about the mission as
126. patial Tools WIN O Weiss doe shestcceeabatneugbedeoseast aaceusanae 3 LAR The ZOOM Wi OW tito leia 3 23 INSTALLATION 00 ASA AA E E 4 ps SystemreguremeNnlS APA assets eaaa a aae aae 4 22 TIFOSSI 4 De PMCS ieisisssdhs ce tearesssdedds a E A E E ets dsessesesdel eats 5 201 Configuration fle SOMArViIGWiCON nit dr 5 2 LL Directories eain E vest aca etesautc E 6 POND OUNCE SCLIN S a 7 Zo Chaneina detil mnsa e EE 7 AoA Completo SeU Daren a A E eto 8 24 Default Contact Category He inca 8 25 Vessel configuration file Vessels dat oocnoocnnoonononncoonannnnnnnnnncnnconocccnnanconaconannonos 8 ZO LL SUIVey COMME UT AM ONS tirarla ll A bas 8 29 2 Measurine and recording olsen 9 2 5 3 Estimating the position of the sidescan towfiSh ooooncnnnnninnnnem memn 10 29 EUN a eS AA een a a 11 2 5 5 Other information about survey configuration required for processing13 26 Screen Selno iaa 13 3 GETTING STARTED REVIEW MODE siii 15 3 1 Starting and exiting Sonarview software sesseesseesoessessoessessoessossoessossoessossoe 15 32 Flayn Data aa a E E 15 Dek Play o O 16 022 SOP Close Data lena ia aida 17 o A a N 17 Iak MASE OU WV aA deena a A outasatmaneacaruestices 18 A Pase A O A A A A 18 326 Jump PICA rain coa 18 3 2 7 Other commands Playing in Mission mode cooooconncnncnnonanoncnnncnnnnnncnnnonnos 18 3 3 Changing the chart window display oococccooonoonnnoonnnocnnonnnnonnnnncoconcncnoncncoconoccons 18 I
127. pear between the raw and smoothed tracks 4 7 5 To Proceed Finally if you are happy with the smoothed data click Accept smoothing The smoothed navigation files fhd flt fsp fst will be added to the mission folder If you do not wish to accept the smoothing click Skip The smoothed details will not be stored and the status of the data file will remain as raw 5 Basic functions in mission mode 5 1 Data playback Having abstracted and smoothed data files you are now ready to play them The functions for playing data in Mission mode are much the same as for Review mode Section 3 The most obvious difference is that when you select Play in mission mode you will be given a list of data files in the mission to choose from Figure 33 and you cannot play files outside of the mission When the file has finished playing the list of data files will appear again for you to select another file to play The next file in the list will DSTO GD 0280 automatically be selected so you can just click OK or hit the Enter key to play the next file Available data files OF OK Cancel ata file from the lis 1994 009 1739 xtf 1999 009 1741 xf 1999 O10 1733xtf 1999 011_1703 xtf 1999 1999 1943 0121711 xt 0131240 014 1636 Figure 33 Playing data files in Mission mode 5 1 1 Batch mode It is possible to play files in batch mode in a mission This allow
128. r estimates However Sonarview deliberately requires the operator to record the characteristics of the sensor systems in case they may one day be useful B 2 2 Vessel position sensor The vessel position sensor is the sensor that supplies estimates of where the vessel is in space The options available are 0 None chooses default from Sonarview con configuration file 1 KGPS Inertial an inertial system such as POS MV used in conjunction with kinematic GPS positioning 2 DGPS Inertial an inertial system such as POS MV used in conjunction with differential GPS positioning 3 KGPS a kinematic GPS was used 4 DGPS a differential GPS was used 5 Syledis the Syledis range finding position system was used The numerical codes for the vessel position sensor are as per the list Note that positions derived from sensor 2 can often be used without further correction after outliers have been removed B 2 3 Vessel Heading Sensor The vessel heading sensor is the primary estimator of which way the vessel is pointing If there are two options then the most accurate should be chosen For example a ship s gyro is generally better than GPS course made good The options are 0 None chooses default from Sonarview con configuration file 1 KGPS Inertial an inertial system such as POS MV used in conjunction with a kinematic GPS Fibre optic a fibre optic gyro system KGPS CMG course made good from a kinematic GPS DG
129. re seen so regularly that they are given special names 1 lt FILENAME gt the name of a file without its path for example Sonarview con 2 lt FULLNAME gt the name of a file including its path for example C Sonarview Application Sonarview con 3 lt PATH gt the path of a file including the trailing backslash for example C Sonarview Application 4 lt TIME gt a time of day written as HH MM SS for example 23 05 49 5 lt DATE gt a date written as DD MM YYYY for example 25 06 1999 A 1 3 Spatial notations Some notations are particular to spatial coordinates 7 lt DATUM gt a character string identifying a geodetic datum eg WGS84 The character strings for the datums supported by Sonarview are given in Appendix EZ 8 lt HPOSITION gt a geographical position at sea level referred to a particular datum This is a compound notation with a format given below The format of the lt HPOSITION gt object is given by lt DATUM gt lt FLOAT1 gt lt CHAR1 gt lt FLOAT2 gt lt CHAR2 gt Here Floatl and Float2 may be either latitude and longitude in which case Charl is N or S and Char2 is E or W or grid easting and northing in which case Charl is X and Char2 is Y The positions are always expressed as positive numbers Latitude and longitude are expressed as Degrees 100 Minutes ie DODDMM MM An example is AGD
130. re written to a mosaic and usually should be removed To make sure mosaics do not include the edge markers select Erase Edge markers 6 7 Mosaicing modes There are a number of modes available in Sonarview to control how intensities are calculated when data is available from overlapping tracks These are accessed from the Set Mode option in the Mosaic menu 6 7 1 Overwrite Each cell of the mosaic retains the last value written to it This mode is the fastest available since no checking is done Overwrite mode is also the default mode when an editable mosaic is created 6 7 2 No Overwrite Each cell of the mosaic can only be written to once Any subsequent attempts to write to the cell are ignored This mode sometimes produces a better looking mosaic than Overwrite mode 6 7 3 Shine Through Max Each cell of the mosaic retains the highest intensity written to it This causes the highest intensity to be displayed when comparing between data from different tracks This mode is useful for determining the extent of any uncorrected navigational offsets Choose two lines both containing a well defined object for example an isolated rock or debris and then mosaic them together If the navigation is not corrected properly two copies of the object will appear in the mosaic and the distance between them gives an indication of how large the correction needs to be 6 7 4 Minimum Each cell of the mosaic retains the least non zero i
131. requency This option is for use with a dual frequency sidescan that has no in built echo sounder to determine the fish altitude The bottom detection algorithm Section 3 5 7 uses the higher frequency by default This option allows you to change to use the lower frequency if the bottom if more clearly visible in that data 3 6 Extras menu Show Voltage Window Mie nemediate Results Tbe etre m elac Fermat Ret diferenre of io mosalcs Load Baster liar dera Sow Pathy overage genio SHOW breathy esseleton den SHO rana Manav e dera Shot Bosanec asses demo TALE TT ell Jo Figure 19 Extras menu 3 6 1 Show voltage window This allows you to view the voltages raw signal levels for different channels as data is being played Choose from the panes on display top middle or bottom bottom track or off which turns the feature off Top middle and bottom refer to the corresponding windows in the sonar waterfall if they are visible Bottom track refers to the algorithm being used to track the bottom Off turns the display off and removes it from the screen DSTO GD 0280 4 Starting a new mission 4 1 Introduction Mission mode is intended for route survey data analysis and mosaicing where quality must be controlled and geographical positions must be as accurate as possible A Mission refers to a collection of data files and the associated processed files produced by Sonarview Mission mode
132. rom Dat cimas 56 COL Erase Bdce markers erre ads 57 67 NlOSACINSMOdES ci O N 57 O AIM oie ssctosidec S E A T T 57 0 42 NO OV CRW Ie asta lili 57 OLS hime T Prous Maxi iaa 57 A a a agate Marecee 57 DO AMET Geis ot iaa 97 O 58 6 9 Managing Mosa iii cnensisciecesasticwesscsteasciat sceceusriuvecesteasetet 58 o Dermis DUON A o o O eetess 58 610 2 DVD ON toba 58 600 Save made DUOMO ER E 59 604 Hide SNOW PUTON siae ais 59 EA Cear DUON enna a e E A desscemnatate 59 6 9 Other Options from the Mosaic Menu ssesseessesssosesosesosssosesosessosesosesosesosssoseee 59 691 Esad Mosaic Lo Mia Dausanenete llanera 59 6 9 2 Met Nlosaiced Frequency sonia 60 As NIOSAIC A a A a N 60 EJA TWO Correc Hho sr aa aa detail scsi 60 7 USING CONTACTTOO Eurasia id 61 Ta Ihe contacte A eaeshneestei leeds iestaaeteeee 61 7 2 Stage 1 Marking and classifying Contacts ccoooncoonononnnnnnoonnnncnncnnanonnnnnccconccnonos 61 frocks Loadine feature Cate cone alte its cion larisa 61 Tide Natkine locaton o contac auna eii 62 7 2 0 Classifying a contactan 63 7 3 Stage 2 Specifying Contact Properties oocoonmosmmsmmsessssss lt 63 TL Marknominal posi das 64 7 3 2 Measure length and Orientati0ON oooonccnnconnnnnnnnonnnonnnonanoncnnncnnnonacnnncnnnons 64 TOO Measure o hes ascends eatarsee sesh actesatas a E 64 Foo NACI OM SAG OW serenata listillo 64 LIO ANC IMA a 66 E ONNEN US ratecg sheets fist so cuet s 66
133. rview is also required New Mosaic Manage Load Mosaic To Map Set Mosalced Frequency d Set Mosaic Gain Chrl M Henge Palette Two D Correction Set Mode Figure 37 Mosaic menu 6 1 How mosaicing works To create a mosaic Sonarview calculates the position of the sidescan imagery in the waterfall window and writes it on the chart in the location that it would fall on the seafloor To do this a grid is created to cover the area to be mosaiced Then data files are played and where their coverage overlaps with a grid cell the intensity is calculated based on the data that falls within that grid cell A corresponding colour greyscale is displayed on the chart The size of the grid cell is user defined There are different methods in Sonarview for assigning intensities to the grid cells particularly when there are a number of overlapping data files for a given grid cell These will be discussed in Section 6 7 What is of interest at this stage is the size of the mosaic While the mosaic is being created every grid cell within it is assigned space in the computer s memory even if there is no data available for that location Also if there are more grid cells the computer may have to do more calculations to assign values to the grid cells When you are setting up the mosaic try to use the minimum number of grid cells that will produce a mosaic to suit your purposes For example if you want a mosaic to show large scale changes
134. ry and open linear feature Section 7 2 2 Click on the query tool for the type of contact you are interested in then click in the Chart window near the contact you are querying The query tool will look through all visible contacts for the nearest contact of the chosen type Remember that the choice of query tools limits the query to the type of contact you are interested in If the contact is sufficiently close the Contact Summary dialog will appear Figure 44 displaying information about many of the attributes of the contact If you are having trouble accessing information for a contact that you can see on the chart window try using the query tools for the other types of contacts Once you have finished viewing contact information click on OK or Cancel to close the window Figure 43 Query contact tools DSTO GD 0280 7 4 2 Deleting a contact One of the properties of a contact is visibility within Sonarview A contact can either be visible or deleted as stored in the CATG line of the contact file If a contact is visible it will be displayed in the chart window If it is deleted it will not be displayed and cannot be queried NOTE 1 When a contact is marked deleted the status persists in the contact file and it will still be marked deleted if the file is read in again later There are a number of reasons for changing a contact from visible to deleted If you have the same feature marked
135. s MISS Default search path for mission folders lt TAG gt lt PATH gt MISS TA Missions Folder for miscellaneous storage for debug files etc lt TAG gt lt PATH gt Example INTM D Intermediates DATA Default search path for raw sidescan data lt TAG gt lt PATH gt DATA D Sydharb SSS Data 83 DSTO GD 0280 LAYB Default layback in metres lt TAG gt lt FLOAT gt LAYB 5 2 Horizontal distance from towfish to towing point Notes Length of cable from towfish to towing point GAIN The global gain lightens or darkens the scrolling waterfall image It can be useful for sonars such as the Klein 5500 that have fixed internal gain settings over long periods Purpose Name of default vessel parameter description lt TAG gt lt STRING gt Example VESS Workboat 440 Sydharb 1999 Notes The parameters are taken from the vessel file and used in Review mode HDAT Notes Not currently used lt TAG gt lt INTEGER gt TZON 10 Not currently used 84 PROJ GRID SENS DSTO GD 0280 Default projection from geographical to grid coordinates lt TAG gt lt STRING gt lt ANY1 gt lt ANY2 gt lt ANY3 gt lt ANY4 gt PROJ Universal Transverse Mercator 56 SOUTH Notes STRING is the name of the projection Options are described in Appendix C 4 The number and type of the arbitrary fields depends on the projection Currently only UTM is supported For UTM the fields
136. s clears the ship and fish trails as well as any swath coverage The swath coverage ship and fish trails are then generated starting from the current position 3 3 5 Render land areas as solid This item can be toggled to change the fill for the chart When it is checked land is displayed as solid brown areas If you want just coastlines to appear toggle the menu item to off NOTE Menu items that have ticks against them can be toggled on and off by selecting the item When you view the menu again the checkmark next to the item will have disappeared reappeared 3 3 6 Survey plans Add Survey Plan and Manage Plans allow you to include survey plans if you have them A survey plan describes waypoints and runlines for a survey The format of a survey plan file is given in Appendix A 8 There is no other documentation for these as yet 3 3 7 Set Grid Projection The Chart window can be set up to display positions in either latitude longitude unprojected or grid projected using the Universal Transverse Mercator UTM projection This menu item toggles between the two modes Coordinates in uprojected mode are displayed in degrees and decimal minutes Coordinates in UTM projection are displayed in metres NOTE When mosaics or other gridded data are displayed in the Chart window you may not toggle to unprojected mode since the gridded data will be incorrectly projected in this mode 3 3 8 Set Datums This shows you whic
137. s known to be working exceptionally well it is usually necessary to go through a smoothing process for the navigation To do this select Smooth navigation from the Mission menu You will be presented with a list of all the data files in the mission those that have been abstracted alongside their current smoothing status The status will be either Raw Smoothed or Superseded A raw status means that the navigation for the data file was never smoothed or more accurately that the smoothed navigation file corresponding to the raw navigation file could not be found Smoothed means that a smoothed navigation file was found with a DSTO GD 0280 newer date stamp than the raw navigation file Superseded means that there is a filtered navigation file but its date stamp is older than the abstracted data This could occur if two missions were to share the same folder Select the data files to be smoothed by left clicking on the appropriate file names and using the shift key as described in Section 4 6 Then click OK The program will now loop successively through the files until all of them have been inspected and passed When Sonarview begins the process of smoothing navigation it looks for the raw navigation file the raw vessel track from the abstracting phase and reads it It then automatically estimates what smoothing parameters are appropriate to the data and produces a smoothed version C
138. s where the data quality is poor The Mute Mosaic button on the Player Control toggles writing of data to the mosaic on and off When the button is DSTO GD 0280 depressed data will not be written to the mosaic This allows you to Mute sections where the data is poor It is a good idea to keep a record of the order that you add data files to the mosaic and of any parts that you mute so that you know what you ve done in case you want to redo the mosaic making slight variations If you are working on a large mosaic it is also a good idea to save the mosaic at stages where you are happy with the progress Then if the next step does not look right you do not have to redo the whole mosaic but can return to the last stage you were happy with and start adding data from there Details of saving and loading mosaics are given in Sections 6 8 and 6 9 6 4 Controlling the appearance of data There are a number of tools that have been designed for changing the appearance of data to suit mosaicing The changes these tools make to the raw sonar can be viewed in the Waterfall window and subsequently in the mosaic Remember that there are other commands that change the appearance of the waterfall display Section 3 5 Waterfall 2D menu and these can also be useful for mosaicing NOTE If the sonar is dual frequency then the data appearing in the mosaic is controlled by what the mosaic frequency is set to see Section 6 9 2 This may not be th
139. s you to play through the list of files in the mission automatically To activate batch mode select Play in Batch Mode from the Data menu Figure 11 in the Control window Once batch mode is selected you must click Play and choose a file to start with All files that come after this one in the list of files will be played automatically in turn When the end of the list is reached you will be prompted to select another file to play The other commands from the data menu are mostly used in mosaicing and will be described in Section 6 5 2 The mission menu New Mission Open Mission Save Mission Chrl 5 Save Mission As Close Mission Change Operator Abstract Data Files Smooth Navigation Change Data File Parameters Remove Data File w Review Smoothing Details W Save Positions Relative To Grid Show All Coverage Manage Coverage Figure 34 The Mission menu In Section 4 a number of options from the Mission menu were discussed The rest will be discussed here 47 DSTO GD 0280 48 5 2 1 Change Operator This command can be used when a new operator is taking over for marking contacts Contact files are the only place where the operator s name is stored If a large amount of data is being processed in terms of contact marking and there are a number of people working on it it can be useful to know who marked the contacts for which piece of data The procedure is analogous to Section 4 3 1 5 2 2 Change Dat
140. section The technique tries for the closest possible fit between the smoothed curve and the data and the residual is the average distance from the smoothed curve to the data point For example in an average data set the residual might be 0 40 that is 40cm so the fit between the smoothed curve and the original data points minus outliers is quite close Sometimes a close fit leads to error Data collected from the survey vessel Benalla during the Crocodile 99 showed a lot of position jitter This was because the GPS antenna was l m above sea level on a mast and the vessel was rolling heavily from side to side Hence a close fit to the position of the antenna is actually a poor fit to the track of the vessel which was much straighter To remove some of the roll artefacts the number of knots could be reduced This would be a poorer fit to the data but also a smoother and straighter vessel track To reduce or increase the number of knots click the down up arrow on the Knots spin edit box which looks like 304 Each time the arrow is clicked the number of knots is changed by the number in the Increment spin edit box next to the Knots spin edit and a new smoothed vessel track is created The default increment is 5 but this can be increased or decreased at will The number of knots should be adjusted until the vessel track is sufficiently smooth to give reasonable position estimates but not to the point that large differences ap
141. sing a Set Vessel Parameters dialog box The second set of parameters describes the sensors actually used in the survey how the data from the sensors was stored and how it should be interpreted This is controlled by the Define Sensor Setup dialog box Each of the dialog boxes appears only once and the parameters set in the dialog boxes are copied into the mission file for each of the data files The figures from the Vessel Parameters dialog box appear as a VESS line in the mission file one line for each data file Similarly the parameters from the Sensor dialog appear as a SENS line These processes are discussed in the following sections After the parameters have been chosen Sonarview loops through the abstraction process one file at a time The program may be unresponsive for quite some time if there are many files or the files are very large Please be patient and wait until the process is finished DSTO GD 0280 4 6 1 Selecting Vessel Parameters Set Vessel Parameters Wessel Contiguration Workboat 440 sydharb Towed GFS Antenna Offsets m my fo 00 ne 5 00 E 2 50 Fairlead Offsets m A 0 00 og 5 00 B 0 90 Weight kg 000 00 Dimensions Length rm 13 00 Beam rr 4 20 Figure 24 The Set Vessel Parameters dialog box Figure 24 shows the Set Vessel Parameters dialog box with a vessel selected from the drop down list When a parameter set is selected such as Workboat 440 t
142. sor setup using the Configuration menu and play the file again until you are happy with the sensor setup Be aware that smoothed data is not used in Review mode so what you see in Review mode will not be exactly the same as what you will see when the file is reabstracted to the mission with the new sensor setup and resmoothed 195 0502 xtf The altitude reading ie the bottom track for this file does not match the data It appears that the altitude data recorded in the file is not accurate To force Sonarview not to use this field try removing the data file and reabstracting it with no towfish sensors selected 238 2323 xtf With this file you just need to notice that the bottom tracking is different at the different frequencies and decide which frequency you think is more accurate 254 1706 xtf and 254 1715 xtf There shouldn t be any problems with these files Check that cable out is being read in from the file you created by selecting the pointer arrow from the Spatial Tools and clicking in the waterfall imagery while the file is playing The cable out value should be displayed in the Spatial Tools window Exercise 5 2 Open Training mis in a text editor and view the details for the files that have been abstracted Write down the SouthEast corner details for the first file Close the file without saving and return to the mission in Sonarview Now toggle Save positions DSTO GD 0280 relative to grid Open Training mis again
143. tails can be queried from there It is often useful to combine geo registered imagery from a number of tracks in a mosaic which can be viewed on the chart In Sonarview the sonar imagery from the waterfall window can be written onto the chart allowing you to build up images of larger scale features such as the Sydney Harbour Tunnel Mosaics can be stored and retrieved for later inspection and features on mosaics can be marked and stored in the same way as features in the raw sidescan data 1 2 The Sonarview display When you are using Sonarview your display will look something like Figure 1 spread over your two screens The position of the vessel and the swath coverage are displayed on Screen 1 and the corresponding sonar imagery is displayed on screen 2 onarview Control Sonar 3 0919 x1 E l Ele Fiepiocess Mission Data Contacts Waterfall 2D Waterfal 3D Map Mosaics Configuration Extias Demos wA ae lis p Incoming Sonar Data A Sonar Klein 5000 ae Ping Number 15580 Mute Path Dipenguin Range Scale m 75 0 e L gt gt i s Latitude 33 82361 Latitude 33 82361 Mission August5 MIS i f jection UTM 56 S File Date D Easting 339676 39 Northing 6256088 01 CHORD m 0 0 Heading deg 0 HEIGHT m 0 0 DSTO GD 0280 Screen 1 contains the Chart window bottom left the Sonarview Control window top and the Map Control window right Scree
144. the program makes or uses The application directory and the storage directories can be anywhere on the machine and it may be convenient to put some of the storage directories on a removable hard disk drive In the application directory the following files must be available for Sonarview to run 1 Sonarview exe the executable program binary 2 Sonarview con the program configuration file text 3 Vessels dat parameters for different survey vessels text 4 Default_Contact_Categories ctg categories for contact marking text Note that text files can be viewed and edited with a text editor such as Windows Notepad The three storage directories that Sonarview uses must be specified within the configuration file Sonarview con but apart from this they can be anywhere and they can DSTO GD 0280 be called anything By convention the directories are called Charts Intermediates and Missions The functions of these directories are 1 Charts storage for chart files used as background in the Chart window 2 Intermediates storage for miscellaneous files that Sonarview produces 3 Missions the default directory in which mission subdirectories are stored See Section 2 3 1 for details of how the configuration file is set up to tell Sonarview the directory locations 2 3 Files Sonarview creates and uses a number of different types of files in a variety of formats Some of these files must be placed in speci
145. ting rid of bad navigation points ocoooccnccnooncnonconnnnncnnnonnncnnnnnnanononnnnnnos 42 470 Interpolation versus Cele HON erica 44 4 74 Adjusting the smoothing using Knots oonncnnccnoconocnoonnncnnoncnrncnncnnncnnnonnos 45 Aro TOT OCE deenaa alerted N 46 5 BASIC FUNCTIONS IN MISSION MOD Esssiiicnnnspn ai 46 SE Data playback E O G 46 DLL Batch Modena erat re Serre 47 DZ The Mission Men dis 47 Dil Change Operator alada 48 5 22 Ehanee Data File ParameterS id did 48 Zo Remove da u leen dll laicnat 48 O24 Save Positions Relative to Grid seriosas n a 48 D25 ONOW all COV CLAS caia 48 O20 Manage CVa oli a 49 5 3 Further options in the Spatial tools windoW ommocommossmsmsos 49 5 3 1 Inspect the voltages for a single Ping oconncnnncnonnnncnnonconnconnnnncnnncnnncnnnonnos 50 5 3 2 Determine the statistics in a rectangular area seeen 50 6 CREATING AND MANAGING MOSAICS onccccccoonosnnosnnosnnonncnononanonanonanonnconnonanonanonaoss 52 6 1 How mosaicing works ii Aa 52 6 2 Sele Upa MOSAIC dsd a d 53 621 Selecting Limits for the Mosaic arcaica 53 022 Sete erd Cell size tai doi cid 54 6 5 Writing data to a MOSS 54 6 4 Controlling the appearance Of data omcoccnocnconnnocononcnnnonnnonanonnnoncccnnanonnnconaconccnonos 55 00 Radios COTOS ios 55 6 01 Correct Radiosity Varato Sepesi e n a 99 6 0 2 Save Radiosity Correcaminos 56 6 0 0 Load Radiosity OrreCii asa anal 56 6 6 Detect Altitude
146. tralia Telephone 03 9626 7000 Fax 03 9626 7999 Commonwealth of Australia 2001 AR 011 819 February 2001 Approved for Public Release A User s Guide to Sonarview 1 0 A Sidescan Sonar Post Processing System Executive Summary Sonarview is software for the visualisation and post processing of sidescan sonar imagery This document serves as a user guide and reference for the software Exercises are included for the instruction of new users and can provide the basis for a 2 5 day training course Detailed formats for input and output file formats are provided in a number of Appendices Originally developed as a research tool Sonarview has been extended to provide a capability demonstrator in support of RAN activities in Route Surveillance Mine Warfare and Hydrography It allows the inspection of raw sidescan sonar data and editing and georeferencing of the data to produce sidescan mosaics Features appearing in both the raw sidescan sonar data and the mosaics may be marked and their images stored along with details about their dimensions characteristics and classification Such data is suitable for inclusion in a Route Survey Database In addition to its data inspection functions Sonarview provides limited GIS functionality allowing retrieval of information about previously marked contacts and showing the progress of the survey against a backdrop of nautical charts mosaics bathymetry and other information when it is a
147. ttings and positional data is not smoothed or edited Review mode is designed for a quick look at data which can be useful when you are only interested in the imagery and not the accurate positioning when deciding which files you want in a particular mission or for deciding which sensor offsets to use Most of the functions available in Review mode are the same for Mission mode but there are some differences Some advanced functions available in Mission mode are not available in Review mode such as marking contacts and creating mosaics These advanced functions require accurate smoothed positioning which is only available through the filtered navigation files created in Mission mode See Sections 4 7 for details of Mission mode New users should try the exercises in Section 8 for Review mode before proceeding to Mission mode 3 1 Starting and exiting Sonarview software To start Sonarview double click on the shortcut on the desktop if there is one or find and double click on Sonarview exe in Explorer or My Computer or use Start Run and browse for and select Sonarview exe Sonarview opens in review mode with all the windows shown in Figure 1 open but no data shown in the display windows ie Chart Sonar Waterfall and Zoom You can now begin to play data files NOTE It is handy to have a desktop shortcut to Sonarview To create one right click on the desktop and select new shortcut from the menu then browse for and
148. u will be prompted for a file name and location If you do not need a text file of the mosaic details at this stage click No and you will be returned to the mosaic manager window 6 8 2 Save Button This button will only become available if the mosaic has been changed since it was last saved Clicking on this button brings up a Save dialog box allowing you to select a file name and location DSTO GD 0280 6 8 3 Save Image button This button allows you to save the mosaic to a bitmap for export to software other than Sonarview The full resolution of the entire mosaic is saved to the bitmap even if it is not currently displayed in the Chart window You will be asked to specify a file name and location for the bitmap file NOTE 1 The bitmap created by this option is a standard Windows bitmap with 256 colours representing 256 shades of grey The size of the bitmap file in bytes will be slightly larger than the number of cells in the mosaic The bitmap contains only the image of the mosaic not other features such as coastlines that may be visible on the Chart window The bitmap is set up so that any cells written to by the mosaicing process can not have the values 0 or 255 pure white or black Hence colours 0 and 255 can be used as transparent colours for display purposes NOTE 2 Recall Section 3 3 17 that it is also possible to save the entire display in the Chart window to a bitmap using Save as Bitmap from the Map menu
149. urrently open 4 5 Adding a coastline Adding a coastline ie a chart or dxf outline is done the same way as for Review mode Section 3 3 When a coastline is added in mission mode the name and location of the file are recorded in the mission file so that you only have to add it when you are setting up the mission When you open the mission subsequently all coastlines previously added to the mission will be loaded To remove a coastline from a mission use the Chart Manager tool select Manage Charts from the Map menu Click on the name of the coastline you wish to remove and then click the Clear button Use Hide to remove the coastline from the display but not from the mission or from memory 35 DSTO GD 0280 36 4 6 Adding data files to a mission To analyse data files you must first add them to the mission and abstract the required navigational information When you abstract a data file Sonarview reads all of the navigational updates range settings cable out values and so on in the file and stores each type of data as a separate binary file Each file is identified by a separate extension for example abs for navigation abstracts and all of the files are stored in the same folder as the mission file This is a good reason to have a separate folder for each mission To start the process you must choose one or more data files to be abstracted IMPORTANT NOTE Each set of data files being abstracted must have exactl
150. using Ranked mode then the mask array contains the ranking index of the value in the cell 119 Page classification UNCLASSIFIED DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION DOCUMENT 2 TITLE 3 SECURITY CLASSIFICATION FOR UNCLASSIFIED REPORTS THAT ARE LIMITED RELEASE USE L NEXT TO DOCUMENT A User s Guide to Sonarview 1 0 A Sidescan Sonar Post CLASSIFICATION Processing System Document U Title U U Abstract 4 AUTHOR S 5 CORPORATE AUTHOR Amy Young and Stuart Anstee Aeronautical and Maritime Research Laboratory 506 Lorimer St Fishermans Bend Vic 3207 Australia 6a DSTO NUMBER 6b AR NUMBER 6c TYPE OF REPORT 7 DOCUMENT DATE DSTO GD 0280 AR 011 819 General Document February 2001 8 FILE NUMBER 9 TASK NUMBER 10 TASK SPONSOR 11 NO OF PAGES 12 NO OF 490 6 87 1 NAV 00 037 COMAUSNAVMCDGRP 120 REFERENCES 1 13 URL on the World Wide Web 14 RELEASE AUTHORITY http www dsto defence gov au corporate reports DSTO GD 0280 pdf Chief Maritime Operations Division 15 SECONDARY RELEASE STATEMENT OF THIS DOCUMENT Approved for public release OVERSEAS ENQUIRIES OUTSIDE STATED LIMITATIONS SHOULD BE REFERRED THROUGH DOCUMENT EXCHANGE PO BOX 1500 SALISBURY SA 5108 16 DELIBERATE ANNOUNCEMENT No Limitations 17 CASUAL ANNOUNCEMENT Yes 18 DEFTEST DESCRIPTORS Side looking sonar Computer programs Data processing Route Surveys Manuals ship towed sonar 19 ABSTRACT This document provides a us
151. vailable An integrated capability of this type is not currently available from commercial sidescan sonar analysis products The main data format supported by Sonarview is the XTE format Triton Elics International Inc which is available from most sidescan data acquisition programs The software has been tested with data from single frequency and dual frequency analog and digital sonars and with the multiple beam Klein 5000 sidescan sonar Versions of Sonarview have been used by the RAN in support of route surveillance trials during exercise Crocodile 99 and in support of hydrographic survey trials during August September 2000 Sidescan mosaics produced using Sonarview were imported into the RAN Mine Warfare Tactical Command Software MINTACS system in support of Operation Gold during the Sydney 2000 Olympic Games The outputs of Sonarview that were used by the RAN during these exercises include positions and descriptions of isolated contacts and mine like objects Crocodile 99 maps of sediment boundaries Crocodile 99 and mosaics comprising georegistered data from multiple runs Hydrographic survey Operation Gold Contents DNs MOV IRN MEN aia iia 1 LE Ito dU CID ASA 1 1 2 The Somarview dis play ido 1 EZ The ControrWindo Wii ic 2 1 2 2 Operating modes Review mode and Mission mode eee essen 2 128 Me Sharon rnem rarer EE E 2 1 24 The Map Contr ol window ad 2 125 The Sonar Watertall window stenet E 2 t20 Wie S
152. w sidescan data is always stored in the same place such as a removable hard disk drive DSTO GD 0280 You are allowed to have other folders within the main Sonarview folder such as an Application folder for the program file Sonarview exe and its configuration files Folders other than those shown in Figure 2 do not need to be listed in the configuration file 2 3 1 2 Other settings When Sonarview first starts up in Review mode see Section 1 2 2 it requires some parameters to play data files since those parameters are not usually available from the files themselves In Mission mode the operator must explicitly provide the parameters as the mission is constructed In Review mode default values are taken from the configuration file In summary the fields are identified as LAYB default layback in metres CABL default cable out in metres GAIN default global gain setting for viewing sonar data VESS name of default vessel HDAT default horizontal datum VDAT default vertical datum not used SDAT default soundings vertical datum not used TZON default time zone not used PROJ default grid projection and zone 10 GRID grid projection and magnification used for the map screen 11 SENS default sensor types used on the sonar Set EE A The meanings of these settings are discussed in the sections on navigation that is 2 5 4 6 and 4 7 Detailed explanations are also given in Appendix A 2 2 3 1 3 Chan
153. y projection currently supported is Universal Transverse Mercator also a defacto world standard and the current standard within the RAN C 2 Horizontal datums Table 8 Codes for datums supported by Sonarview WGS72_ World Geodetic Standard 1972 WGS84 World Geodetic Standard 1984 Most widely used datum today AGD66 Australian Geodetic Datum 1966 Sydney AGD84 Australian Geodetic Datum 1984 Accurate Australia wide GDA9 Geodetic Datum of Australia 1994 Functionally equivalent to WGS84 C 3 Other datums Heights in the WGS84 ellipsoid may depart significantly from heights on the geoid roughly mean sea level Internally Sonarview uses heights in only limited areas and generally positions are stored without associated heights It currently up to the user to make sure that any heights used within the program are referred to the same datum for example soundings and bathymetric grids should be referred to the same vertical datum C 4 Projections A projection is defined by its name and its parameters which may number up to 4 C 4 1 Universal Transverse Mercator The Universal Transverse Mercator UTM projection divides the world into Zones of 6 of longitude Different origins are also used for coordinates in the northern and southern hemispheres There are hence two parameters for the projection lt INTEGER gt lt WORD gt NORTH SOUTH 113 DSTO GD 0280 Note that UTM is traditionally defi
154. y the same vessel and sensor setup For example you must not include files that were collected with a towed towfish along with files collected with a bow mounted towfish To select files click on the Mission menu in the Control window and select Abstract Data Files Browse for and select the data file s you wish to include in this mission Note that only the file types specified in Section 4 1 XTF 5kd and SID can be chosen To select more than one file use the shift or control keys If you want a continuous block of files click on the first file you want and then move to the last file you want and click it holding the shift key down If you want only scattered files hold the control key down and click each file separately Finally press the Open button The way data is abstracted from the data files is affected by how the equipment was set up For example if the navigation fixes from the GPS were going into a serial port designated as vessel position then they would be stored in a different position in the data than if they were sent via the sonar Likewise a cable out value means different things when the towfish is being towed and when it is attached to the vessel with a bow mount To control the way that the data is interpreted two sets of parameters are determined before the data is abstracted The first set of parameters describes the physical positions of the position sensor and towing point on the vessel This is set u

A User's Guide to Sonarview 1.0: A Sidescan Sonar Post

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