Triton BathyPro User Manual

Using BathyPro™

User’s Manual

Software documentation through v1.6

June 2004

This software is copyrighted and licensed for use on one computer per copy. Triton Elics International grants permission to the purchaser to make a limited number of copies of the program for backup purposes. Additional reproduction of the programs or this manual is a violation of the copyright law.

The licensee is bound by the terms and conditions set forth in the Software License Agreement and Limited Warranty that accompanies this document.

BathyPro™, Isis

Suite™, TriPort™, Q-MIPS™, VISTA™, TriCAS™, ROVFlight™, A-B™, and

Isis

The following are copyrights of their respective companies or organizations:

WinRT Registry: BlueWater Systems HawkEye, Imagine 128: Number Nine Visual Technology Corp. The following are trademarks and/or registered trademarks of their respective companies or organizations:

EXB-8500, EXB-8505XLI, EXB-8500C, EXB-8205: EXABYTE Corporation Windows, Windows NT, Windows 95, MS-DOS: Microsoft Corporation Pentium, MMX: Intel Corporation Adaptec AHA 1505 and AHA 2940: Adaptec, Inc. Klein 5000, Klein 2000, Klein 595: Klein Associates, Inc. DF-1000: EdgeTech Echoscan, Echotrac: Odom Hydrographic Systems, Inc. ADS-640, GSP-1086, EPC-9082: EPC Labs, Inc. Sentinel Scribe: Rainbow Technologies North America, Inc. mach64: ATI Technologies, Inc. HYPACK: Coastal Oceanographics, Inc. International Business Machines 1200C, DesignJet 650C: Hewlett-Packard 1086, 8300, 980x plotters: EPC TDU 1200, 850, 2000 plotters: Raytheon 195 (same as Dowty 195, Ultra 195 and Ultra 200): Waverley InstallShield: InstallShield Corporation All other brand or product names mentioned in this manual are trademarks or registered trademarks of their respective companies or organizations.

Sonar Pipeline, DelphSeismic®, DelphMap®, Survey Office™, Hydro

Convert CD™, are trademarks of Triton Elics International, Inc.;

Sonar is a registered trademark of Triton Elics International, Inc.

Safety Precautions

When working with the overall system

1. Before handling components inside your computer system, exit all applications and shut down the operating system in accordance with procedures applicable to them.

2. Turn off the power to the computer and disconnect all cables that may be feeding electrical power to the system you will be working on.

3. Wear a grounded, anti-static wrist-strap. This is especially important if you are removing, replacing, or installing a printed circuit board of any kind.

Failure to adhere to these and other safety precautions mentioned in the manual could result in harm to property or personnel!

When working with magneto-optical cartridge disks

• Please refer to the Appendix entitled “Mass Storage Options” for important details covering the handling of M-O disks!

• Never boot your system with a writable M-O cartridge inserted into the drive!

• Use magneto-optical media that has 512 bytes per sector, not 1024 bytes per

sector, and use the AFDisk software utility to format magneto-optical media. Never use Windows 95 to format M-O media!

Please adhere to the hardware and software precautions mentioned below. In addition, observe all safety precautions mentioned in this manual.

Triton Elics Internatonal

125 Westridge Drive

Watsonville, CA 95076

USA

support@tritonelics.com

(831) 722-7373

SOFTWARE LICENSE AGREEMENT

By opening this package, you agree to be bound by the terms of this Agreement, which include the software license and the limited warranty. This Agreement applies to you and any subsequent licensee of this software program. If you do not accept or agree to the terms of this Agreement, do not open this sealed package. Promptly return the unopened package to TRITON ELICS for a refund. However, no refund or replacement will be given if the sealed envelope containing the SOFTWARE Sentinel and Manual has been opened or if any of the components of the product (including the software sentinel) are missing. Grant of license for the software product and full title and ownership of the hardware product shall not transfer to the Buyer until the purchase price, plus any interest or fees resulting from late payments or pre-arranged terms, has been received in full by the Seller.

1. GRANT OF LICENSE: TRITON ELICS grants you the right to use the enclosed TRITON ELICS software product in the manner provided below.

YOU MAY:

• Use one copy of the TRITON ELICS software products identified above on a single computer.

• Make one (1) copy of the program in machine-readable form solely for backup purposes, provided that you reproduce all proprietary notices.

• Transfer the SOFTWARE and user documentation on a permanent basis provided you retain no copies and the recipient agrees to the terms of this Agreement.

YOU MAY NOT:

1. Reverse engineer, decompile, modify or disassemble the SOFTWARE except to the extent such foregoing restriction is expressly prohibited by applicable law.

Remove any proprietary notices, labels, or marks on the program, documentation, or program disk.

2. UPGRADES. SOFTWARE and documentation upgrades are provided free of charge for one year from the date of shipment. If the SOFTWARE is an upgrade, you may use or transfer the SOFTWARE only in conjunction with upgraded product. You may use that upgraded product only in accordance with this License.

3. COPYRIGHT. The SOFTWARE (including any images, “applets,” animations, video, audio, music, and text incorporated into the SOFTWARE) is owned by TRITON ELICS and is protected by United States copyright laws and international treaty provisions.

4. TECHNICAL SUPPORT. Technical Support is available by phone, fax, modem, Triton Elics bulletin board service or Internet free of charge during warranty period. MARISAT charges are invoiced at cost plus twenty percent.

5. EXPORT RESTRICTIONS. You agree that neither you nor your customers intends to or will, directly or indirectly, export or transmit the SOFTWARE or related documentation and technical data to any country to which such export or transmission is restricted by any applicable U.S. regulation or statute, without the prior written consent, if required, of the Bureau of Export Administration of the U.S. Department of Commerce, or such other governmental entity as may have jurisdiction over such export or transmission.

LIMITED WARRANTY

TRITON ELICS warrants that (a) the SOFTWARE will perform substantially in accordance with the accompanying written materials for a period of one (1) year from the date of shipment and (b) any hardware accompanying the SOFTWARE will be free from defects in materials and workmanship under normal use and service for a period of one (1) year from date of shipment.

CUSTOMER REMEDIES. TRITON ELICS’s entire liability and your exclusive remedy shall be, at TRITON ELICS’s option, repair or replacement of the SOFTWARE or hardware that does not meet TRITON ELICS’s Limited Warranty. Warranty service is F.O.B. TRITON ELICS’s Watsonville facility. All shipping and insurance costs are paid by buyer. On-site Customer Service and Warranty Repair (including travel hours, transportation, lodging and meals) may be provided by TRITON ELICS, at its own discretion, to Buyer at cost plus twenty percent. However, actual labor hours to provide this service or repair will be free of charge to Buyer. This Limited Warranty is void if failure of the SOFTWARE or hardware has resulted from accident, abuse, or misapplication. Any replacement SOFTWARE or hardware will be warranted for the remainder of the original warranty period or thirty (30) days, whichever is longer.

NO OTHER WARRANTIES. Except for the above express limited warranties, TRITON ELICS makes no warranties, expressed, implied, statutory, or in any communication with you, and TRITON ELICS specifically disclaims any implied warranty of merchantability or fitness for a particular purpose. TRITON ELICS does not warrant

that the operation of the program will be uninterrupted or error free. Some states/jurisdictions do not allow the exclusion of implied warranties, so the above exclusions may not apply to you. This limited warranty gives you specific legal rights. You may have others, which vary from state/jurisdiction to state/jurisdiction.

NO LIABILITY FOR CONSEQUENTIAL DAMAGES. To the maximum extent permitted by applicable law, in no event shall TRITON ELICS be liable for any damages whatsoever (including, without limitation, damages for loss of business profits, business interruption, loss of business information, or any other pecuniary loss) arising out of the use of or inability to use this TRITON ELICS product, even if TRITON ELICS has been advised of the possibility of such damages. Because some states/ jurisdictions do not allow the exclusion or limitation of liability for consequential or incidental damages, the above limitation may not apply to you.

U.S. GOVERNMENT RESTRICTED RIGHTS. The SOFTWARE and documentation are provided with RESTRICTED RIGHTS. Use, duplication, or disclosure by the Government is subject to restrictions as set forth in subparagraph (c) (1) and (ii) of the Rights in Technical Data and Computer Software clause at DFARS

252.227-7013 or subparagraphs (c) (1) and (2) of the Commercial Computer Software— Restricted Rights at 48 CFR 52.227-19, as applicable. Manufacturer is Triton Elics International, Inc., 125 Westridge Drive, Watsonville, CA 95076. If you acquired this product in the United States, this Agreement is governed by the laws of California. If this product was acquired outside the United States, then local law may apply.

Preface

This book is intended for users who wish to use the BathyPro™ application program from Triton Elics to process XTF data.

How this book is Organized

The BathyPro techniques for processing multibeam data differ from the techniques for processing single-beam data. Accordingly, the major division of the book is along the lines of multibeam and single-beam processing techniques. Patch testing is an optional task and is only applicable to multibeam echosounders.

This book has three major divisions - Part I: Multibeam Processing, comprised of Chapters 2 through 4, which is the bulk of the book; Part II: Single-Beam Processing, which has but a single chapter in it, Chapter 5; and Part III: Calibration of a Multibeam Echosounder, where the Patch Test routine is described.

Because the software explained in this book runs on Windows NT, Windows 2000, and Windows XP, you should know how to work in those environments so you can find, run, and exit BathyPro.

We use these conventions in the book:

Denotes a warning or caution .

Denotes an import ant statement, tip, or hint.

PREFACE.........................................................................................................................6

HOW THIS BOOK IS ORGANIZED .....................................................................................6

CHAPTER 1: GETTING STARTED WITH BATHYPRO

......................................9

SOFTWARE INSTALLATION NOTES .................................................................................9

SOLUTIONS TO SOME COMMON PROBLEMS................................................................12

PROGRAM-SPECIFIC PROBLEMS AND SOLUTIONS ......................................................15

WHAT BATHYPRO DOES ..............................................................................................16

YOUR DATA TYPE DETERMINES YOUR PROCESSING PATH .......................................16

The Paths for Processing Multibeam Data.........................................................16

The Paths for Processing Single-Beam Data....................................................17

Data Input for Either Type of Processing ...........................................................17

Data Output for Either Type of Processing ........................................................17

WHAT BATHYPRO NEEDS FROM YOU..........................................................................18

INSTALLING THE BATHYPRO SOFTWARE .....................................................................18

CHAPTER 2: WORKING WITH ATTITUDE EDITOR .............................................19

USING THE DIALOG BOXES IN ATTITUDE EDITOR ........................................................19

SETTING PARAMETERS IN THE ATTITUDE EDITOR DIALOG BOX .................................20

INTERPRETING THE PROCESSING ATTITUDE DISPLAY.................................................22

MAKING CORRECTIONS USING PROCESSING ATTITUDE DISPLAY ..............................23

CHAPTER 3: WORKING WITH BATHYMETRY EDITOR .....................................25

USING BATHYMETRY EDITOR’S TWO DIALOG BOXES .................................................25

SETTING BATHYMETRY EDITOR’S PARAMETERS.........................................................26

INTERPRETING DISPLAYED PROCESSING OF BATHY DATA .........................................31

Status Area.............................................................................................................31

Flagged Soundings................................................................................................31

Info Flagged Beam ................................................................................................31

Legend Area...........................................................................................................32

Display Scale..........................................................................................................32

Display Area............................................................................................................32

Action Area .............................................................................................................32

DECIDING WHAT TO PROCESS.....................................................................................33

CHAPTER 4: MAKING A DTM WITH BATHYPRO.................................................34

WHAT BATHYPRO DOES ..............................................................................................34

PROVIDING PROJECT SETTINGS TO BATHYPRO .........................................................42

GIVING BATHYPRO PROCESSING PARAMETERS .........................................................53

SELECTING A TRANSDUCER HEAD...............................................................................54

SELECTING RAW DATA PROCESSINGS PARAMETERS.................................................57

Navigation Processing...........................................................................................57

Attitude Processing................................................................................................60

Bathymetry Processing.........................................................................................61

SELECTING SOUNDINGS PROCESSING PARAMETERS .................................................63

Gridding Soundings...............................................................................................64

Store Chart Soundings..........................................................................................65

Store Flagged Soundings.....................................................................................66

Store Hardware Bad Soundings..........................................................................67

Use RTK Value.......................................................................................................67

Tide Correction.......................................................................................................68

Sound Velocity Correction....................................................................................69

GRIDDED DATA PROCESSINGS PARAMETERS.............................................................71

Fill Gaps Filter ........................................................................................................72

Smooth Filter ..........................................................................................................74

Isocurves Extraction..............................................................................................75

Generate Soundings Chart...................................................................................76

COMPLETING YOUR PROJECT......................................................................................76

VOLUME COMPUTATIONS .............................................................................................78

CHAPTER 5: REAL TIME BATHYPRO ....................................................................82

CREATING A REAL-TIME DIGITAL TERRAIN MOSAIC....................................................82

CHAPTER 6: PROCESSING SINGLE-BEAM DATA..............................................90

AUTOMATIC MODE PROCESSING USING BATHYPRO ..................................................90

INTERACTIVE MODE USING SINGLE BEAM EDIT ..........................................................92

CHAPTER 7: RUNNING A PATCH TEST.................................................................94

ADOPTING A TEST APPROACH .....................................................................................95

IMPLEMENTING YOUR TEST APPROACH ......................................................................99

BathyPro Patch Test..............................................................................................99

USING SIDESCAN SONAR IMAGERY TO DETERMINE LATENCY ..................................106

FINE-TUNING SETTINGS TO GET BETTER HYPERBOLAS...........................................110

Chapter 1: Getting Started With BathyPro

Software Installation Notes

Triton Elics International software typically is distributed on CD to TEI’s customers. The CD contains the current release software for the TEI products. For example, a typical software installation CD may contain folders like the ones depicted in the Windows Explorer layout. (See software installation folders.)

Figure 1. Typical listing of TEI

June 2004 BathyPro User’s Manual 9

FIGURE 1. Typical listing of TEI software installation folders

TEI software is compatible with Windows NT 4.0, Windows 2000, and Windows XP. The following notes will help you achieve a smooth installation of the software.

June 2004 BathyPro User’s Manual 10

• Please exit from all other applications before running any of the installation programs.

• You will not be able to complete the installation on an NT4.0 or Windows 2000 system if you do not have administrator’s rights. All Isis “black boxes” ship with a user name Isis. In this case the Isis user name has administrator’s rights and does not require a password.

• Each application is installed by browsing to the appropriate folder (for example, Isis6.10 Install) on the CD and double-clicking on the SETUP.EXE file found in that folder.

• TEI recommends that if you have more than one hard drive, you install the software on the second (usually the D:) drive, using the default folder names on the CD. You will be given the option to select any drive during the setup process, select the Custom option and change the drive letter.

• The first installation on an NT4.0 system requires a reboot during the installation; however, this only occurs for the first installation. Under Windows 2000, no rebooting is necessary However, you

must reboot the system after installing under

during the installation process.

Windows NT 4.0.

• For each application, a number of sample data files can be optionally installed. These files will reside in a subfolder called Demo Files within each application’s main folder. These special files can be played back or processed by the relevant TEI applications without a TEI sentinel being installed. If no sentinel is attached, a message displays, indicating either that a sentinel was not found or that the sentinel is damaged. However, you can still play back the sample files that come from the CD.

• In order to run the software in acquisition mode, or to play back or process other files, you will need a TEI sentinel attached to the LPT1 printer port. Contact TEI if you need a sentinel.

• If the operating system is Windows NT 4.0 or Windows 2000, you will need to install a sentinel driver. The driver is included on the CD in the Sentinel folder; a text file, with installation instructions, is in that folder.

• In the case of Windows NT 4.0, Service Pack 5 (or higher) needs to be installed. Service Pack 5 is on the CD.

• The TEI manuals that are installed with the software are in Adobe Acrobat PDF format. Acrobat Reader software (required to read the PDF files) is also on the CD.

• The CD has a number of other folders containing drivers and applications that could be required; each folder has a text file with more information.

June 2004 BathyPro User’s Manual 11

• To remove the software, use the Add/Remove Programs utility in the Windows Control Panel collection of utilities.

• The installations make two changes which are not restored when the programs are removed using Add/Remove Programs. They are:

• the addition of a folder called [TEIdlls] in the Windows or WINNT folder, and

• a modification to the PATH environment variable which adds the [TEIdlls]

folder to the PATH. The [TEIdlls] folder can be safely deleted after all TEI software has been removed.

Solutions to Some Common Problems

Problem: After about five minutes the installation does not complete and

the Windows desktop does not return.

Solution: Try again after using Ctrl + Alt + Delete to shut the system down

and restart. The problem can be caused by applications running in the background or not being shut down before running the installation.

Problem: Under NT/98 the installation may fail after the first re-boot, with a

message that it cannot locate the file SETUP.EXE.

Solution: This can occur if the CD ROM drive is slow getting started after

the first reboot. Just use Explorer to double click on setup.exe again, and the installation will proceed normally.

Problem: There is insufficient space on the C: drive, even though D: (or

another) drive has been chosen to install the programs.

Solution: Under Windows NT, the Windows Installer needs to build the

complete Installer Engine and files on the C: drive. The file can be as large as 250 MB for a full installation. Windows 2000 will require much less space, since the operating system includes the Installer Engine.

Problem: After the Installation completes, you see the message, “The

dynamic link library map.dll could not be found in the specified path…” when the program is started.

Solution: You MUST reboot the system after finishing the installation. This

is necessary so that changes to PATH environment variable can be applied.

June 2004 BathyPro User’s Manual 12

Problem: When you try to connect to a serial port in DelphSeismic or

DelphMap, you may receive this message: “Serialdll.dll was previously loaded from an unexpected location…” This will only occur on a system that has had a previous version of either DelphMap or DelphSeismic installed.

Solution: First close the serial server (if it’s running), then search for the

following files: SERIALDLL.INI and SERIALSRV.INI (These are found in the Windows folder.) When you find these files, delete them.

Problem: You may not be able to install all the options (demo files,

manuals, help files) unless you can free enough space on the C: drive.

Solution: Consider using the Minimum Installations option located on the

CD to install only the programs you need.

Problem: When first running Isis after installing a new version, you receive

an error message that says your Isis CFG configuration file is out of date.

Solution: This message alerts you that CFG files created with versions of

Isis earlier than this version of Isis are incompatible. Click OK to accept the message. A new, compatible CFG file will be created during your current Isis session. In future Isis sessions, the incompatibility message will no longer appear.

Problem: You receive error messages such as The procedure entry

point xxxxxxxxx could not be located in the dynamic link library yyyyyy.dll when trying to start one of the TEI

applications.

Solution: This error may occur on a system which has had earlier versions

(prior to Fall 2000) of TEI software installed. Use Windows Explorer to search for the following files:

About.dll HydroNavCurve.dll mpx_mape.dl ShpLib.dll

ASRVAPI.dll HydroNavInfos.dll Navpntw.dll SinglePrc.dll

Attitool.dll HydroNavPlan.dll Navprcw.dll SpeckleFilter.dll

AuxDlfDll.dll HydroTools.dll Navtools.dll Speed.dll

Bathtool.dll ImpObj.dll ObjectDll.dll TEISplash.dll

June 2004 BathyPro User’s Manual 13

Chrutlw.dll Importxt.dll ObjectToBdd.dll TeiGUIExt.dll

CMGBase.dll LinearFeature.dll Palette.dll TEImpxmap.dll

D24Param.dll lxtools.dll patchtst.dll Tide.dll

DdsErr.dll TEImap.dll PIPETRK.DLL TimeTag.dll

dxflib.dll mifutil.dll PitchYaw.dll TVGAuto.dll

Encode.dll MOSAIC.DLL Printer.dll VecPropDll.dll

EncodeS.dll Mpx_Country.dll profile.dll Vif2xyz.dll

Geometry.dll Mpx_line.dll qtclib.dll Volume.dll

geotiff.dll Mpx_main.dll SeisDemo.dll XtfTools.dll

HydroNavAtti.dll mpx_map.dll Serialdll.dll

These files

must be unique on the system (that is, there must be only one

instance throughout your entire computer). The installer copies the latest version

to a folder {Windows Folder}\TEIdlls during the installation process. If any files with the above names are found that are not in {Windows Folder}\TEIdlls, then

you should delete (or rename) them.

With the Summer 2001 release of TEI software, some DLL names changed to avoid conflicts with other non-TEI applications. The DLLs that conflicted were:

map.dll and

splash.dll. If you are upgrading from the Fall 2000 release of

TEI software, delete map.dll and splash.dll from c:\{Windows Folder}\TEIdlls.

Note:

{Windows Folder} is the folder on your system where the Windows

operating system is installed. For example, C:\WINNT, C:\Windows or C:\Win9x

are {Windows Folder} types.

Problem: There is no display of the timing parameters in the DelphSeismic

Recording Parameter Settings dialog box, and there is no display

June 2004 BathyPro User’s Manual 14

of either the signal window or the pipe display in the Isis pipetracking module.

Solution: This problem can occur with certain “high-end” hardware

accelerated graphics cards such as ATI Rage Pro, and Voodoo 3d Fx. Right-click on the Windows Desktop, select Properties →

Settings → Advanced → Troubleshooting (or Properties → Settings → Advanced → Performance), and reduce the

amount of hardware acceleration that is being used.

Problem: You receive an error message during installation of TEI software.

For example, you may see this message:

Error — Unable to write to temporary location

Solution: You may see that message if you are running Norton (or other

brands, too) anti-virus software. Check to see that you have disabled your anti-virus software. The solution is to turn off Norton Auto-Protect:

1. Right-click the Norton icon (or other anti-virus icon) on the Windows taskbar.

2. Select Disable Auto-Protect when prompted.

3. Resume installing your TEI software.

4. When the installation completes, re-boot your PC. When the system restarts, Norton Auto-Protect will be reenabled by default.

temporarily

Program-Specific Problems and Solutions

Some problems are limited to one application or another. For application-specific problems, please see the Triton Elics International user’s manual relevant to your situation.

Getting started with BathyPro involves knowing the input and output of BathyPro, which programs are appropriate for processing data, what your system environment’s minimum requirements are, and how to install the program.

June 2004 BathyPro User’s Manual 15

What BathyPro Does

The purpose of BathyPro is to process, either interactively or in batch mode, single beam and multibeam data, resulting in output of DDS_VIF or DXF files that can be imported into DelphMap®.

In the course of using BathyPro to produce your DDS_VIF files or DXF files you can:

• process and smooth navigation

• remove “spikes” or “glitches” from the motion sensor data

• process and edit the bathymetry data from multibeam, interferometric or

single beam sensors

• build a digital terrain model (DTM)

• extract depth contours

• extract XYZ data to go into an ASCII file

Your Data Type Determines Your Processing Path

The type of BathyPro data you intend to process — single-beam or multibeam — determines which of four programs (bathypro.exe, bathedit.exe, attedit.exe, or sbeamedit.exe) you use to get your DDS_VIF or DXF output files. Among these programs, only bathypro.exe can be used for both data types.

The Paths for Processing Multibeam Data

Multibeam data can be processed in automatic (batch) mode or in interactive mode.

In the automatic (batch) mode, or path, of processing multibeam data, BathyPro uses a suite of modules within the larger BathyPro application. Each module within the BathyPro application performs processing specific to multibeam data. Chapter 2 through Chapter 4 explain how to use BathyPro in automatic mode to process multibeam data this way.

In the interactive mode, or path, of processing multibeam data, you use two programs (instead of the BathyPro executable) in this order:

• Bathy Edit --- editing of individual bathymetry pings using BATHEDIT.EXE.

• Attitude Edit --- editing of motion sensor data using ATTEDIT.EXE

Chapter 2 through Chapter 4 explain how to use BathyPro in interactive

mode to process multibeam data this way.

June 2004 BathyPro User’s Manual 16

The Paths for Processing Single-Beam Data

Single-beam data also can be processed in automatic (batch) mode or in interactive mode.

In the automatic (batch) mode, or path, of processing single-beam data, bathypro.exe again is the program to use. Each module within the larger BathyPro application performs processing specific to single-beam data. Chapter 6 explains how to use BathyPro in automatic mode to process single-beam data this way.

In the interactive mode, or path, of processing single-beam data, you use a program called sbeam.exe, instead of processing your data with the bathypro.exe program. Chapter 6 explains how to use BathyPro in interactive mode to process single-beam data this way.

Data Input for Either Type of Processing

The data input to BathyPro can be in a number of different formats:

• Raw data — stored in XTF format

• Pre-computed X, Y, Z data — stored in ASCII text files

• Grid data — in the form of a DDS_VIF file

For any BathyPro project (DTM file), the file list can only contain one of these types. Consequently, you cannot mix XYZ, XTF, and DDS_VIF files (data sets) in the same project.

For each type of file the BathyPro menu will be different:

• When importing an ASCII file, navigation, attitude, bathymetry editing and speed velocity correction are not available.

• When importing a grid file, the BathyPro menu will propose a set of filtering algorithms and contour extraction values.

Data Output for Either Type of Processing

The output of BathyPro can be three types of files:

• Raster graphic files containing the DTM (DDS_VIF)

• Vector graphic files containing the contour data (DXF)

• XYZ ASCII files also are exportable.

The first two file types can be imported directly into DelphMap.

June 2004 BathyPro User’s Manual 17

The DTM model is a grid of square cells. A unique depth value is assigned to each cell. This value is computed from all the beams falling in that cell according to the user’s choices: average, max, min, last, first, or from the most vertical beam. The geographical position of a cell is the center of the cell.

What BathyPro Needs from You

You must have the following to use BathyPro:

• a monitor driven by a video card capable of displaying 16 million colors

• an Intel Pentium® CPU running Windows NT, Windows 2000 or Windows

• 32 megabytes of RAM

• at least 10 megabytes of free disk space

• an appropriately configured software dongle from Triton Elics International

Installing the BathyPro Software

Bathy Pro comes to you on a CD-ROM. You use the setup utility from the CD-ROM to install the program. (Do not merely copy the CD-ROM’s contents to your hard disk.)

To install BathyPro

1. Put the CD-ROM into your computer’s CD-ROM drive.

2. Browse for the installation or setup program on the CD-ROM that runs the installer; click on the installation program name or press [Enter].

The setup/installation utility runs.

3. Follow the instructions in the install program.

The setup/installation utility will inform you when installation is complete.

June 2004 BathyPro User’s Manual 18

Chapter 2: Working with Attitude Editor

BathyPro comes with a stand-alone utility called Attitude Editor. Attitude Editor is one of two such utilities that can be used to interactively clean multibeam data in an XTF file. (The other utility is Bathy Editor, the subject of Chapter 3.)

Attitude Editor gives you control over the following:

• setting the maximum difference for roll, pitch, heave as criteria for flagging.

• showing data from a given line, if flagged, to reveal roll, pitch, and heave

with data in “before and after” flagged points to help you find any bad points.

Using the aforementioned controls, you can do any of the following:

• flag a bad data point

• keep the data and continue looking for other errors, or

• flag all, which instructs Attitude Edit to process all data based on criteria you

have already set.

• change criteria settings during processing, if needed.

Using the Dialog Boxes in Attitude Editor

Like Bathymetry Editor, Attitude Editor has two dialog boxes for you to interact with. You use the first one, called the Attitude Editor dialog box, to set up your parameters. You use the second one, called the Processing attitude… dialog box, to do the processing based on the parameters you specified in the first dialog box.

To run Attitude Edit

• Double-click the program named ATTEDIT.EXE (Attitude Editor) or its icon.

Your display resembles the example shown in Figure 2.

June 2004 BathyPro User’s Manual

Figure 2. Typical preliminary Attitude Editor dialog box

Setting Parameters in the Attitude Editor Dialog Box

After the Attitude Editor program is running, you can set up your parameters for processing.

To set your parameters in the Attitude Editor dialog box

1. Click Add file(s) to list… and select one or more files having the file extension XTF. The XTF file(s) must be composed of multibeam data. All files in the list will be processed. Choose Delete file from list if a specific line is not desired.

2. Put a check mark in Write output in a different directory and click the down arrow to browse for the directory you want.

The system adds the specified XTF file name to the initially blank area.

June 2004 BathyPro User’s Manual

Do not have your working directory be the same as the directory holding your original XTF file(s). In the course of processing, any file modifications will be written back to an XTF file of the same name that you specified from the Add file(s) to list… button. If the target XTF file is your original XTF file, it will be overwritten. Make sure, therefore, that the directories for the named XTF file(s) differ.

3. In the manner of steps 1 and 2, continue to add XTF files until your list is complete. The Set Processing Parameters button becomes ungrayed as soon as you have specified a file for Attitude Editor to work on.

4. After you are through adding files, click Set Processing Parameters. The system displays the Attitude Corrections Settings dialog box (Figure

3).

Figure 3. Attitude Corrections Settings dialog box

5. The threshold values refer to the largest change in Pitch, Roll, and Heave between successive updates. In order to make useful entries here, the user needs to know something about the conditions that existed at the time the data were acquired. Factors such as a small vessel operating in rough weather, or a motion sensor with a slow update rate, might cause the default values to be too small. You only want to remove spikes or glitches in the data due to transmission faults from the sensor. Consequently, you want to set the threshold values high enough to reject the small anomalies of movement, but also set the values low enough to catch the large anomalies. In the majority of cases the default values will be correct.

6. Click Process. The system displays the Processing attitude… dialog box (Figure 4). Processing starts immediately. It will run to completion unless you click Pause or Stop.

June 2004 BathyPro User’s Manual

Figure 4. Initial Processing Attitude dialog box

Interpreting the Processing Attitude Display

In the Processing Attitude dialog box (Figure 4), all attitude data displays in the three sections. As the figure shows, the top line of the dialog box shows the path and file name of the XTF file being processed; to the right of the file name is the elapsed processing time. Below that are separate displays for Pitch, Roll, and Heave aspects of your XTF data, with controls for increasing or decreasing the scale of those aspects. The straight, white lines running through the middle of each type of attitude (pitch, roll, and heave) are reference points representing the “zero aspect” of each parameter (that is, no pitch, roll, or heave present). At the

June 2004 BathyPro User’s Manual

bottom of the screen there is an action area of buttons for making any attitude corrections you may feel are necessary.

To enhance or suppress a parameter’s line

If you want to enhance or suppress the visual representation of the attitude parameters, click on the plus or minus buttons. Units are in degrees or meters. The greater the scale numbers, the flatter the representation; the fewer the scale numbers, the more detail (more undulations) you see in the displayed lines for pitch, roll, and heave.

To see how the program has labeled a given ping

In the Processing attitude dialog box, put your cursor on the white point in order to see the Pitch, Roll, and Heave values Attitude Editor reports for this section of your data.

Making Corrections Using Processing Attitude Display

If a solid white circle or square appears in any of the displayed areas during processing, the program is telling you that some value you specified in the initial Attitude Editor dialog box has been exceeded. You can then choose to Correct it, Correct All, or Continue, or re-specify values in Settings, based on your assessment of the data.

To accept or reject a displayed value

If attitude activity in the display stops, it indicates that specific criteria has failed. Choose options to Correct, Skip, or Correct All.

You have these options:

• To have the program flag the ping and thereby keep it from being included in the processing, click Correct. The corrected ping will have the mean value of the points immediately preceding and following the rejected point.

• To have the program accept the ping for processing, click Skip.

• If you want all pings to be accepted or rejected according to the parameters you specified in the Attitude Corrections Settings dialog box (Figure 3), click Correct All and the program will run to completion.

June 2004 BathyPro User’s Manual

• If you click the Pause button, processing pauses, the button now says Continue, and activity in the display is suspended until you click Continue.

• If you click Settings, Attitude Editor recalls the Attitude Correction Settings dialog box for your inspection, where you can make adjustments to Pitch, Roll, and Heave, if desired, to fine-tune the process.

When the program completes, the Processing attitude… dialog box disappears Attitude Editor dialog box reappears. There is no additional indicator of processing completed.

• To exit the program, click the Exit control button (the x in the upper right corner of the Attitude Editor dialog box).

After you have finished processing your XTF file with Attitude Editor, you can go to Bathymetry Editor or BathyPro to finish processing data.

June 2004 BathyPro User’s Manual

Chapter 3: Working with Bathymetry Editor

BathyPro comes with a stand-alone utility called Bathy Editor. Bathy Editor is one of two such utilities that can be used to interactively clean multibeam data in an XTF file. (The other utility is Attitude Editor, the subject of Chapter 2.)

Bathymetry Editor (BATHEDIT.EXE) is used to detect and suppress bad beams in raw XTF data files. Bathymetry Editor will produce and output a new XTF file with beams that you have flagged as BAD. These beams will be ignored when producing a DDS_VIF file for display in DelphMap.

You can add as many XTF files as you wish with the ADD button. You must then select an output directory name where the processed files will be stored. This

working directory must not be the same as the directory containing the input file.

Bathymetry Editor will never overwrite existing XTF files.

Using Bathymetry Editor’s Two Dialog Boxes

Bathymetry Editor has two dialog boxes for you to interact with. You use the first one, called the Bathymetry Editor dialog box, to set up your parameters. You use the second one, called the Processing Bathy… dialog box, to do the processing based on the parameters you specified in the first dialog box.

To run Bathymetry Editor

The program loads. Your display resembles Figure 5.

June 2004 BathyPro User’s Manual

Figure 5. Typical initial Bathymetry Editor dialog box

Setting Bathymetry Editor’s Parameters

After the Bathymetry Editor program is running, you can set up your parameters.

To set your parameters in the Bathymetry Editor dialog box

1. Click Add file(s) to list… and select one or more files having the file extension XTF. All files in the list will be processed. Choose Delete file from list if a specific line is not desired. Before you specify files to add to the list, the functions Delete file from list, Set Processing Parameters, and Process buttons are grayed out. They remain unavailable until a file or files are added to this dialog box.

2. Put a check mark in Write output in a different directory and click the down arrow (↓) to browse for the directory you want.

June 2004 BathyPro User’s Manual

After you have specified your file or files, the Set Processing Parameters and Process buttons become available. Figure 6 shows an example of this.

Figure 6. Bathymetry Editor main dialog box with file added

3. Click Set Processing Parameters to see the Bathymetry Correction Settings dialog box, where you can inspect beam characteristics and, if desired, change them.

June 2004 BathyPro User’s Manual

When you click Set Processing Parameters, the system displays the Bathymetry Correction Settings dialog box. Figure 7 shows an example of this dialog box.

Figure 7. Bathymetry Correction Settings dialog box

In the Bathymetry Correction Settings dialog box:

• Suppress Beam using Beam Quality — All beams flagged as bad quality by the sonar will be ignored by BathyPro. In addition, you can choose to ignore (suppress) beams flagged as POOR Quality, LOW Quality, or BAD Quality by putting a check mark in the boxes next to these parameters. (If

you leave a box unchecked, you are choosing not to suppress these

marginal quality beams, so they will be included with your BathyPro processed data.)

• Suppress Beam using Angle from vertical — Put a check mark next to this parameter if you want to specify which beams, based on their angles

June 2004 BathyPro User’s Manual

from the vertical, will be omitted from processing. Note that this implies that the beams are being corrected using the motion sensor.

• Suppress Beam using Beam Number — This simply is a way of ignoring any beam that is known to be generating erroneous data. After putting a check mark next to the parameter to enable it, click Settings to display the Beam Number Selection dialog box (Figure 8) where you can select individual beams to be ignored.

• Check Beam using Depth Range (m) — Enter the maximum and minimum depths, in meters, that are expected in the survey area. BathyPro will ignore any depths exceeding these values. Note that this is the depth below the transducer and does not include any Z offset.

• Check Beam using Gradient (m) — If this choice is enabled, the program looks at the eight depth cells immediately surrounding each depth value and rejects the point if it differs by more than the specified gradient value (in meters) from the mean of these eight values. The gradient default is two meters.

• Check Beam using Slant Range — This process selects the maximum and minimum slant range that will be accepted by BathyPro.

Figure 8. Beam Number Selection — three beams suppressed

After you have set up the various parameters in the Bathymetry Editor dialog box (Figure 6) that you wish to apply to the data, click Process. The Bathymetry Editor dialog box disappears and the system displays the Processing Bathy dialog box. At this point the program runs to completion unless you click Pause

June 2004 BathyPro User’s Manual

or Stop. Figure 9 shows an example of Bathymetry Editor in the middle of processing a file.

June 2004 BathyPro User’s Manual

+ 82 hidden pages