User's Manual

HYSWEEP

HYPACK, Inc. 56 Bradley St. Middletown, CT 06457

Phone: (860)

Technical Support:

6351500 Fax: (860) 6351522

help@hy pack.com Web Address: www.hyp ack.com

HYPACK, Inc's HYSWEEP Manual is not intended to be a complete manual, but an addendum to the HYPACK User's Manual for our multibeam users.

Registration Page

The following information is required in order to register your HYPACK with HYPACK, Inc. Registering your package enables us to send you software upgrades and to report bugs that have been found in the programs. Please fill in the following information and fax it to HYPACK, Inc at (860) 635-1522 or email the same information to [email protected]. Package: Hypack Hypack Lite Hypack Survey Hypack Office Dredgepack License Holder: Company Name: Billing Address: Phone: Fax: Email: Date Purchased: Purchased From: Key Number: FOR SHIPPING OF FUTURE UPDATES: The Maintenance Plan entitles you to all program updates during that period. Whereas the billing address is often different than where the product is actually being used, please provide instructions below as to where new release CDs should be sent. Contact Person: Address: Phone: Platform: Windows 2000 Windows XP

Contents
1.HYSWEEP HARDWARE..........................1
I. Specifying Devices in HYSWEEP Hardware................................................................1 II. Driver Setup in HYSWEEP Hardware .........................................................................2 III. Connection Information in HYSWEEP Hardware ......................................................2 IV. Testing Serial Communication in HYSWEEP Hardware ...........................................5 V. Offsets in HYSWEEP Hardware....................................................................................6 A. Position Offsets in HYSWEEP Hardware.......................................................................7 B. Rotation Offsets in HYSWEEP Hardware ......................................................................8 C. Latency in HYSWEEP HARDWARE ............................................................................8 D. Multiple Transducer Offsets..............................................................................................8 E. Editing Device Settings in HYSWEEP Hardware ..........................................................9 VI. Calibrating your System ...................................................................................................9 A. Bar Check ..........................................................................................................................9 B. Patch Test ........................................................................................................................10 C. Adjusting Hardware Offsets ............................................................................................17 D. Applying Data Adjustments to Survey Data ...................................................................19

2.HYSWEEP SURVEY ...............................21

I. HYSWEEP Display Windows.......................................................................................21 A. Main Window in HYSWEEP Survey............................................................................21 B. Profile Window in HYSWEEP Survey .........................................................................23 C. 3D Seafloor in HYSWEEP Survey ...............................................................................24 D. Multibeam Waterfall in HYSWEEP Survey .................................................................25 E. QC Test Window HYSWEEP Survey...........................................................................25 F. Coverage Map and Cross Section Windows in HYSWEEP Survey.............................26 G. Limits Window................................................................................................................28 H. Nadir Window In HYSWEEP Survey..........................................................................28 I. Seabat 9001 Control Window in HYSWEEP Survey ...................................................29

II. View Options in HYSWEEP Survey...........................................................................29 A. Range Settings in HYSWEEP Survey...........................................................................29 B. Multibeam Display Settings in HYSWEEP Survey......................................................30 C. QC Test Settings in HYSWEEP Survey .......................................................................31 D. Coverage Map Settings in HYSWEEP Survey .............................................................32 E. Other Display Settings in HYSWEEP Survey ..............................................................33 F. Color Settings in HYSWEEP Survey............................................................................34 III. Files and Filenames in HYSWEEP Survey .................................................................34

IV. Corrections in HYSWEEP Survey ...............................................................................35 A. Tide Corrections in HYSWEEP Survey........................................................................35 B. Squat and Settlement (Dynamic Draft) Corrections in HYSWEEP Survey .................35 C. Sound Velocity Corrections in HYSWEEP Survey ......................................................36 V. Logging Data in HYSWEEP Survey............................................................................37 VI. Logging Options in HYSWEEP Survey.......................................................................38 A. Data Logger .....................................................................................................................38 B. Matrix Files in HYSWEEP Survey ...............................................................................39 C. Targeting and Target Files in HYSWEEP Survey ........................................................40 VII. Playback in HYSWEEP Survey ..................................................................................41

3.MULTIBEAM PROCESSING ..................43

I. Multibeam Post-processing Sequence Guides...............................................................43 II. The HYSWEEP EDITOR Program.............................................................................44 A. HYSWEEP EDITOR Procedure ...................................................................................45 B. Tools ................................................................................................................................46 C. Selecting Sounding Files in the HYSWEEP EDITOR..................................................48 D. File Open Options in the HYSWEEP EDITOR ............................................................49 E. Corrections in the HYSWEEP EDITOR.......................................................................50 F. Read Parameters in the HYSWEEP EDITOR...............................................................53 G. Editing Data in the HYSWEEP EDITOR-Phase One...................................................68 H. Editing Data in the HYSWEEP EDITOR-Phase Two ..................................................73 I. Matrix Settings in the HYSWEEP EDITOR.................................................................78 J. Editing Data in the HYSWEEP EDITOR-Phase Three ................................................78 K. Saving Edited Multibeam Survey Files ...........................................................................83 L. Quality Control Tests in the HYSWEEP EDITOR.......................................................85 III. HYSWEEP CUBE (Beta Version).............................................................................90 A. Running HYSWEEP CUBE.........................................................................................91 B. HYSWEEP CUBE Read Parameters............................................................................91 C. HYSWEEP CUBE Windows .......................................................................................94 D. View Options in HYSWEEP CUBE ............................................................................95 E. Editing your Data with HYSWEEP CUBE..................................................................96 F. Saving Files from HYSWEEP CUBE..........................................................................97 IV. Clipping Survey Files.......................................................................................................98 V. Sounding Selection Programs for Multibeam Surveys ................................................99 A. Comparison of Sounding Selection Methods for Multibeam Data .................................99 B. Mapper Program ............................................................................................................100 C. Sounding Reduction Program........................................................................................105

4.MULTIBEAM APPENDIX......................110
I. Multibeam Survey Advantages .........................................................................................110 II. Sweep Sonar Systems .......................................................................................................111 III. Devices Supported in HYSWEEP Hardware .............................................................113

IV. CUBE Terminology.........................................................................................................114 V. HSX Format HYSWEEP Text (ASCII) Logging.....................................................115

1. HYSWEEP Hardware
HYSWEEP HARDWARE is used to install those devices that are specific to multibeam surveys. The procedure in HYSWEEP HARDWARE is similar to that of the HARDWARE program. 1. Open HYSWEEP HARDWARE by selecting HYSWEEPHYSWEEP HARDWARE. 2. Select your devices. 3. Specify the driver and communication settings. 4. Test the communication between the devices and your survey computer. 5. Enter measured offsets. 6. Calibrate your system and enter your offsets. 7. Exit HYSWEEP HARDWARE. by clicking [Close]. Your hardware settings will automatically be saved to the HYSWEEP.ini when you exit and the same configuration will be reloaded when you re-open HYSWEEP HARDWARE. However, if you frequently alternate between multiple configurations, you can manually save each configuration to a uniquely named file by selecting FILE-SAVE AS and naming your configuration file. You can then reload any configuration by selecting FILE-OPEN and selecting the appropriate configuration.

I. Specifying Devices in HYSWEEP Hardware

Adding (and removing) devices is easy from the Manufacturer/Model Tab. To add a device, select the device in the left-side list then click [Add]. The device should write to the Installed list. If a device has setup specifications that need to be defined, the Setup button will be enabled and will display a dialog with the required setting choices. To remove a device, select the device name in the Installed list then click [Remove].

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The Equipment Tab

II. Driver Setup in HYSWEEP Hardware

Some device drivers require settings specific to the device. In these cases, [Setup] is enabled. Click it and the Driver Setup dialog appears. An example of this is the driver that connects HYSWEEP to HYPACK SURVEY. The Driver Setup dialog determines whether to use the tide corrections, draft corrections and heading provided by HYPACK. Setup dialog for the HYSWEEP Interface

III. Connection Information in HYSWEEP Hardware

Click the Connect tab to access device communication settings. Connection settings are required for each serial or network device. Serial or Network connection options are included in this dialog according to your device.

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HYSWEEP HARDWARE SetupSerial Connections

Enabled in the upper left corner. This selection allows devices to be temporarily removed from the configuration without losing the device settings. Ignore Checksum is not recommended, but there are situations (normally testing) where the checksum is wrong but the data is good. The Timeout Interval determines how long after the last data received from the device that the device alarm turns from green to red.

Note: The interval for the Nav, MRU, Gyro, Sidescan and Multibeam alarms are fixed at 10 secs.. Record Raw Messages saves the original data string as it is read from the device into the raw data file. (Binary data is output in hexadecimal format.)

Serial Connection Settings: Port, Baud Rate, Parity, Data Bits, Stop Bits: Enter your device settings. These should be in the information received from the device manufacturer. The Read from File checkbox enables you to simulate data input from this device by reading a file. Many times, when you are having a problem with a device in the field, we will ask you to log some of the output from the device to a file and upload it to us. We can then replay the information using the File setting to see what is happening. Network device connections: In HYSWEEP HARDWARE, drivers specify the network connection automatically. Define the network settings in the Connect Tab.

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HYSWEEP HARDWARE Connect Dialog

If you have a DNS server, you can define your destination computer by name or by IP Address. If you do not have a DNS server, you must include the IP Address. If these values are unknown, contact Hypack or the device manufacturer for help. Configuring Network Device Connections

Some devices receive data from other places and no connection settings are necessary. Examples include: Hypack Navigation receives data from shared memory. Hypack Mobile receives data from shared memory. It uses the first mobile in your hardware setup associated with the Towcable device driver. Hypack Side Scan data is read by an Analog to Digital converter card. When this driver is loaded, the Analog Side Scan program is automatically launched with SURVEY and the Analog Side Scan Monitor appears. This dialog enables you to monitor and control the device activity.

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Analog Side Scan Monitor

Input: Select a -5 to +5 volt or 0 to 10 volt range depending on the device. Gain: Multiplies signal by this amount. A value of 1.0 is usually the best choice. Ping Number displays the sequential ping numbers. Trigger: Enter the change in the strength of the return when it hits the bottom (the threshold) in A/D count. The value must be within the 0-4096 range. The graphs allow you to monitor device activity. Test: Check the "Simulate Data" box for simulated side scan data.

IV. Testing Serial Communication in HYSWEEP Hardware

The COM test shows status of serial communication ports 1 through 10. Ports shown as available are those that HYSWEEP can open for reading, although this can be misleading. Modems, for example, show up as available but are seldom used for device connection. Ports shown as not available are truly that. Ports connected to working HYSWEEP devices show the latest messages. ASCII devices like the TSS and Sperry gyro send easy to read messages. Binary devices like the Seabat and Seatex show garbled messages even when the data is good. The screen capture shows an interfacing problem - the TSS and Seabat ports are reversed. (If you noticed that, I think you can safely skip the rest of this manual

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The COM Test Tab

V. Offsets in HYSWEEP Hardware

Click the Offsets tab to enter device mounting offsets and latency times. Users of multibeam sonar systems should understand the importance of these offsets and the difficulties in finding the right values. Offsets are stored in HYSWEEP.ini in the \Hypack\Projects directory. HYSWEEP HARDWARE also makes a backup copy in the project directory. Setting your Offsets

The drop-down list at the top selects one of the offset points that apply to the device. Offset points are:

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Antenna Offsets: Applies to positioning devices such as GPS location of the antenna. This value is positive downward in HYSWEEP HARDWARE. Heading Offset (Yaw): Applies to gyros and other heading devices rotation required to measure heading relative to grid north. MRU Offsets: Applies to devices that measure heave, pitch and roll - physical location and orientation of the box. Sonar Head 1 and 2: Applies to multibeam sonar - physical location and orientation of the sonar head. Installed on Towfish denotes the device returns data pertaining to the towfish.

A. Position Offsets in HYSWEEP Hardware

Vessel Origin: On a multibeam vessel, HYSWEEP HARDWARE and HYPACK HARDWARE use the same boat originthe horizontal position of the MRU at the level of the static water line. Each device is referenced by its distance forward, starboard and downward from the origin. Those measurements are entered as the device offsets in the hardware programs. In addition to the device configuration, a tracking point is defined in HYPACK HARDWARE to position the vessel in the world. It is used to provide left/right guidance, make automatic start line and end line decisions, and calculate distances between the vessel and features in your survey area. It is also the location at which quick mark targets will be marked. Tracking Point: The tracking point would typically be positioned at the sonar head to enable the helmsman to record soundings accurately on the survey line. If your configuration includes both multibeam and single beam sounders, the tracking point should be set at the position of the transducer head that you want to steer down the survey line, typically the single beam head.

Beware!

This is a major change from HYPACK MAX version 4.3A Gold. Projects configured in using this version or earlier should be reconfigured to follow the new offset conventions and to position the tracking point..

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Sample configuration for a Multibeam Hardware Setup

B. Rotation Offsets in HYSWEEP Hardware

GPS (from HYPACK): Use 0, 0, 0. Multibeam sonar: Use 0, 0, 0 initially then find the true rotations with the Patch Test. MRU: Use 0, 0, 0 and calibrate the MRU to reset its pitch and roll zeros. Gyro: Use 0, 0, 0 and calibrate the gyro to true north.

C. Latency in HYSWEEP HARDWARE

Although latency is a lag time (a negative time offset), the convention is to enter latency as a positive number. If you are preparing to enter a negative latency, stop and re-figure. GPS devices are entered to your setup in HYPACK HARDWARE. However, in order for the position data to be recorded to the multibeam raw data, you must install the HYPACK Navigation driver in HYSWEEP HARDWARE. Enter the same antenna offsets in HYSWEEP HARDWARE as you have in the HYPACK HARDWARE.

D. Multiple Transducer Offsets

If the device is a multiple transducer sonar system, [Multiple Transducers] is enabled. Click it to show the Multiple Transducer Offsets form

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Multiple Transducer Offsets

The offset form for multiple transducer systems is self-explanatory. Enter the number of transducers, then the position offsets of each transducer. The roll and pitch offsets are included but seldom used.

E. Editing Device Settings in HYSWEEP Hardware

You can easily modify HYSWEEP HARDWARE settings by selecting the device name in the Installed List and changing the entries in associated dialogs. The new settings will be saved to the HYSWEEP.ini file when you exit HYSWEEP HARDWARE.

VI. Calibrating your System

A. Bar Check
The Bar Check routine enables you to calibrate your echosounder and save documentation of the process. Once this process is accomplished, your echosounder will output soundings that have sound velocity corrections factored into the output depth. 1. Open the Bar Check program by selecting TOOLS-BAR CHECK. The Bar Check window will appear.

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Bar Check Window

2. Click [Reset Barcheck.txt] to begin a new Bar Check Report. 3. Set your filters. Depth Gate determines the scope of the display in the lower part of the window. Angle Limit defaults to 75 degrees. If you see indications on the sides that the outer beams are inaccurate you may need to narrow your focus. We have seen instances where, at 75 degrees, the outer beams were hitting the chains suspending the bar thus affecting the accuracy of the test. Bar Depth is the depth at which the bar is currently set. Measured Depth is a calculated average of all sounding data over the three-second interval. 4. Set your Bar Depth and watch the data on the screen. 5. When the Measured Depth stabilizes, hopefully approximately equaling the Bar Depth, click [Save Depth]. This saves statistical documentation about the data gathered by each beam over the past three seconds. 6. Repeat the process for each Bar Depth. 7. When the test is complete, click [Barcheck.txt] to view and print the stored data in Windows Notepad.

B. Patch Test
While it is difficult to accurately measure the angular mounting components (roll, pitch, and yaw) of multibeam systems, errors in these measurements can lead to inaccurate surveys. The patch test is

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a data collection and processing procedure to calibrate these angles, along with positioning system latency. In the latency test, we successively modify GPS latency by the time step for the number of steps selected using the original GPS latency time as the center time. At each step, the depth profiles are recalculated and drawn in cross section, so that the number of crosssections = the number of time steps. In yaw, roll and pitch tests, we successively modify the respective mounting angles by angle step for the number of steps selected. Again, at each step the depth profiles are recalculated. The error term for all tests comes from comparing the 2 files contained in each cross section. It is simply the average depth error between files. In the PATCH TEST, the roll test is, by far, the most important because it is misalignment in the roll direction that leads to the greatest survey errors. The roll test always works and gives repeatable results. The other tests that depend on accurate positioning (latency, pitch and yaw), do not always work. Sometimes they do, but dont be surprised if you run one of these tests twice and get somewhat different results. (Use the average in this case.) We think that drift in GPS positions is responsible.

1) Patch Test Procedure

1. Collect survey data in the prescribed pattern. 2. Process the data in the HYSWEEP EDITOR through all three phases of the editing process. At this point, the Patch Test option will be enabled in the HYSWEEP EDITOR Tools menu 3. Run the Patch Test which will calculate offset adjustment values for latency, pitch, yaw and roll. Note: The recommended order of Patch Test Processing has been (1) Roll, (2) Latency, (3) Pitch then (4) Yaw. The Patch Test will use each progressive adjustment value to calculate subsequent adjustments. It is therefore wise to run the calculations in order from the one unaffected by the others to the one affected by all of them. Due to improvements in our methods, the influence of order has become insignificant except for the yaw calculation. It is still wise to perform this calculation last. 4. Enter the adjustment values in the Offsets Dialogs in the HARDWARE program. 5. Correct the offsets in data collected with incorrect offsets in post-processing. Enter the correct offsets in the Offsets Tab of the Read Parameters dialog of the SINGLE BEAM or MULITBEAM EDITOR. This process corrects only the edited data. The Raw data will remain unchanged..

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2) Patch Test Data Collection

Lines are run over specific bottom terrain in a specific way for each offset. patch test only works on overlapping data so take care to stay on line. And always collect two sets of data to double-check the results. Verify the multibeam power and gain settings before data collection to minimize spikes.

(a) Single Head Data Collection Pattern

Map View of Patch Test Survey Lines with Bottom Contours. (a) Tests Roll Angle (b) Tests Positioning System Latency (c) Tests Pitch Angle (d) Tests Yaw Angle

To test the roll angle, locate an area where the bottom is smooth and flat. Create a 200- to 300-foot planned line over this area, then run the line in both directions at normal survey speed. Over these bottom conditions, latency, pitch and yaw angles do not matter. To test latency, create a 200- to 300-foot planned line perpendicular to a bank. Then run the line twice in the same direction, once at maximum survey speed and again as slowly as possible. It doesnt matter whether the line is run up-slope or down-slope. Choose an area where the current is slow, to minimize crabbing and make it easier to stay on line. Errors in pitch and yaw angles cancel out. To test pitch, run reciprocal survey lines across the bank at normal survey speed. To test yaw, create a second planned line parallel to the latency and pitch line and offset by channel depth. Run each of the parallel lines in the same direction at normal survey speed.

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(b) Dual Head Collection Pattern

The data collection pattern for a dual head multibeam system is a little different than for the single head system in order to overlap the soundings and Patch Test for head 1 and head 2 separately. The data collection pattern for a dual head multibeam system is a little different than for the single head system in order to overlap the soundings and Patch Test for head 1 and head 2 separately. Roll data

Yaw (Y), Latency (L), Pitch (P)

To test the roll angle, locate an area where the bottom is smooth and flat. Create a set of three, 200- to 300-foot planned lines over this area, spaced at a distance equal to the depth of the Patch Test area. Run the lines, at normal survey speed, alternating directions. Test latency in the same manner as for the single head system. To test pitch, locate and area with a sloping bottom and create a set of three, 200-to 300-foot planned lines over this area, running with the slope and spaced at a distance equal to the depth in the shallow end of the Patch Test area. Run the lines, at normal survey speed, alternating directions. To test yaw, using the same lines as for the Pitch test, run them, at normal survey speed, but all in the same direction.

3) Calculating Offset Adjustments with Patch Test

Offset adjustments can be calculated with the PATCH TEST in the HYSWEEP EDITOR. Note: You must be in Phase 3 of the HYSWEEP EDITOR editing process.

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Typically, you will load two lines of raw test data at a time to the HYSWEEP EDITOR according to which offset you are testing. If you have a dual head system, it also depends on the head for which you are testing. Use the HYSWEEP EDITOR to apply your sound velocity and tide corrections and remove all spikes and outliers. After you have completed phase 3 of the HYSWEEP EDITOR editing, run the PATCH TEST from the HYSWEEP EDITOR Tools menu. You can use files that have been previously edited in the old HYSWEEP EDITOR or have gone through a sounding reduction program which saves its results in XYZ format. The HYSWEEP EDITOR can read the following files: HSX files: raw multibeam data created in HYSWEEP SURVEY HS2 files: multibeam files that have been edited in the HYSWEEP EDITOR SWP files: multibeam files that have been edited in the old HYSWEEP EDITOR. XYZ format: ASCII files typically saved from a sounding selection program. To Run the PATCH TEST: 1. Run one pair of test lines (roll, latency, pitch or yaw) through the HYSWEEP EDITOR. 2. In phase 3 of the HYSWEEP EDITOR, start PATCH TEST. a. If you want the HYSWEEP EDITOR to choose the cross section on which to base the statistics, select TOOLS-PATCH TEST. The PATCH TEST will appear displaying the selected data and an "Automatic Cross Section" label. In this case the cross sections will be positioned as follows: Roll: Transverse to the survey lines at their mid-point. Pitch and Latency: Directly under the trackline. Yaw: Mid-way between the tracklines. b. If you want to choose the cross section on which to base the statistics yourself, click the wrench icon in the Survey window then define the cross section by dragging the cursor across the data in the Survey window. The PATCH TEST will appear displaying the selected data and an "Manual Cross Section" label. The PATCH TEST is a 4-tabbed dialogone tab for each offset tested. 3. Select the tab that corresponds to the sounding lines you selected. (If you selected the lines to test roll, select the roll tab.) 4. Each tab has suggested settings for the Angle/Time Step and Number of Steps. You may enter new values if you wish. Angle/Time Step is the increment for each step.

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Number of Steps is the number of calculations either side of the original latency time. 5. If you are using a system with two sonar heads, tell the HYSWEEP EDITOR whether to use data from head 1, head 2 or both. (Select Head 1 if your echosounder has only one head.) This option is useful where two sonar heads are mounted in different places on the survey vessel. 6. Click [Start Test]. The HYSWEEP EDITOR will do the calculations to determine if any offset adjustments are necessary. When the calculations are complete, the results will be displayed. The calculated adjustment will appear under Adjustment. It will be used with the Initial Adjustment to calculate and update the Final Adjustment which is entered in the Offsets dialog in HYSWEEP HARDWARE. You can view cross sections of your soundings and the results of the calculations in the graphs in the lower part of the window. The HYSWEEP EDITOR Roll Test

The HYSWEEP EDITOR GPS Latency Test

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The HYSWEEP EDITOR Pitch Test

The HYSWEEP EDITOR Yaw Test

4) Example of Patch Test

The following is an example of an actual Patch Test. The data sets are distributed on your install CD. You will not be able to do the example problem unless you have a HYSWEEP installed on your computer and a HYSWEEP or Universal hardlock installed on the printer port. Example Catalog file HSX_PATCHTEST.LOG contains raw data files from a patch test. Use the Patch Test program in the HYSWEEP EDITOR to find the roll error. Solution: 1. Open the HYSWEEP EDITOR by selecting PROCESSINGMULITBEAM EDITOR. 2. Open a Sounding Catalog by selecting FILE-OPEN (F2). A file selection dialog will appear.

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3. Select the HSX_PATCHTEST.LOG file and click [OK]. A list of files in the catalog will appear. 4. Select ROLL1.hs2 and ROLL2.hs2 for roll testing, then click [OK]. The File Open Options dialog will appear. 5. Set File Options. These are some basic choices about how the HYSWEEP EDITOR will read and save the data 6. Enter your Tide and Sound Velocity corrections. [Open File] in each section will enable you to browse for each file. Click [OK] and the READ PARAMETERS window will appear. 7. Select the correct devices for each data type for each file selected. In this example, select GPS for Navigation, NMEA0183 gyro for Heading, TSS for Heave Pitch and Roll and Seabat as the echosounder. Click [OK]. 8. Examine and edit your data as described in the chapter on Multibeam Processing. 9. Calculate your Adjustments in the Patch Test. a. Launch the Patch Test. (Only available in phase 3 of the HYSWEEP EDITOR.) If you want the HYSWEEP EDITOR to choose the cross section on which to base the statistics, select TOOLS-PATCH TEST. If you want to choose the cross section on which to base the statistics yourself, click the wrench icon in the Survey window then define the cross section by dragging the cursor across the data in the Survey window. b. Select the Roll tab and accept the default settings. Sonar Head 1 will already be selected. c. Click [Start Test]. PATCH TEST will do the calculations to determine if any offset adjustments are necessary. When the calculations are complete, the results will be displayed. The calculated adjustment will appear under Adjustment. It will be used with the Initial Adjustment to calculate and update the Final Adjustment which is entered in the Offsets dialog in HYSWEEP HARDWARE. 10. Repeat the entire process for each pair of files. After the you have completed the first set (typically the roll test), when you load the next pair of files, the HYSWEEP EDITOR will ask whether you want to apply the previously calculated values to the current portion of the patch test.

C. Adjusting Hardware Offsets

Calibration tests calculate adjustments that must be made in your Hardware Offsets settings to collect accurate depth and position data. The Latency value calculated by the PATCH TEST should be entered into the hardware setup for your GPS to correct timing errors in the system.

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In the HARDWARE program: 1. Click on the DEVICE menu and select your position device. 2. Click [Offsets] and enter your latency in seconds. 3. Click [OK] to exit OFFSETS, and [OK] again to exit the DEVICE SETUP. The change will be saved automatically when you exit the HARDWARE program. In the HYSWEEP HARDWARE program: Enter the Final Offsets value from the PATCH TEST dialogs to the device offsets in the HYSWEEP HARDWARE program. Select "Hypack Survey" to apply the Latency and the echosounder to apply the roll, pitch and yaw values. Note: For devices that are loaded through HYPACK HARDWARE but feed information to HYSWEEP SURVEY, change the offsets in HYPACK HARDWARE and in HYSWEEP HARDWARE. For example, for a GPS: In HYPACK HARDWARE, select the GPS and adjust the Offsets dialog. In HYSWEEP HARDWARE, select HYPACK SURVEY and adjust the antenna offsets in the Offsets Tab. Adjusting Hardware Offsets in Hardware

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Adjusting Hardware Offsets in HYSWEEP Hardware

D. Applying Data Adjustments to Survey Data

If you run your calibration test before the survey, and the calculated adjustments made in the hardware setup, data should not have to be adjusted. We all know, however, that things happen and we may need to adjust survey data. Multibeam data is adjusted as it is read into the HYSWEEP EDITOR. As your raw data is read into the editor, the Read Parameters dialog (Device Information tab) displays the offsets for each device as they were set in your hardware configuration during SURVEY. Select the device of interest from the drop-down box and correct the Offsets. These offsets will be applied to all currently selected files in place of those entered in the hardware setup during Survey. Note: Editing the offsets in this manner will affect only the edited data. It will not affect raw data.

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Device Information Window

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2. HYSWEEP Survey
HYSWEEP SURVEY is a multibeam and side scan data collection and logging program. Real-time displays and quality control testing give onthe-spot information on bottom conditions and data quality. Data is logged XTF format, then processed through the HYSWEEP EDITOR The playback mode replays HYSWEEP SURVEY files, as well as multibeam files logged by HYPACK 8.18.9, giving the same view seen on the boat. The HYPACK and HYSWEEP SURVEY programs run simultaneously, with HYPACK providing navigation and single beam data collection and HYSWEEP providing the multibeam features. Start HYSWEEP SURVEY by selecting HYSWEEP-HYSWEEP SURVEY.

I. HYSWEEP Display Windows

There are several display windows which may be displayed through HYSWEEP for real-time monitoring of your data collection. In addition to those discussed in the following sections, HYSWEEP SURVEY also includes the Side Scan Waterfall and Side Scan Signal windows which are described under SIDE SCAN SURVEY. Most HYSWEEP windows have a tool bar at the top, providing shortcuts to window configuration. Pass the mouse pointer over a tool to see a hint as to what the tool does. Tool bars are toggled on / off with the F10 key. All of HYSWEEP SURVEYs windows can be resized and moved around the screen, retaining its size and position until changed. VIEWTILE WINDOWS will arrange the currently open windows in a manner that attempts to optimize your viewing in each window.

A. Main Window in HYSWEEP Survey

The main window consists of a menu, some indicators and some measurements. It can be resized to show only items of interest and will retain the size on subsequent program runs.

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HYSWEEP Survey

The title bar gives logging and playback status. "Offline" is shown when neither logging nor playback is active. The current data file is shown when logging or playback is active. You can choose to display data relative to the boat or to the towfish by selecting the option at the bottom of the dialog.

1) Alarms in HYSWEEP Survey

HYSWEEP SURVEY can be configured to continuously check for and notify you of data errors or loss of data input. They show green (OK), yellow (careful) or red (look out) depending on status. Click the indicator to show status history. The Nav, MRU, Gyro, Side Scan and Multibeam alarms at the top of HYSWEEP's main window turn red when no data has been received from the corresponding device for 10 seconds. The Devices alarm turns red when no data has been received for a period longer than the Time Out Interval that you set for each device in the hardware setup. There are alarms for heave drift, excessive multibeamsingle beam difference and excessive multibeam overlap difference and several other problematic conditions. To set up the alarms and limits, select VIEW-OPTIONS-QC Test and choose your alarms and limits.

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View Options QC Test Tab

2) HYSWEEP Survey Measurements

Updated about once a second. Depth: Nadir beam depth in working units. Time (Event): Latest sounding time and event number. Time will not update if no soundings are being received. Tide Corrections: Latest tide correction from HYPACK SURVEY. Draft Corrections: Latest dynamic-draft correction from HYPACK or from the HYSWEEP squat & settlement table. Heave: Latest heave in work units, positive upward. Roll: Latest roll in degrees, positive port side up. Pitch: Latest pitch in degrees, positive bow up. Heading: Latest ship heading. Easting / Northing: Latest grid position from HYPACK SURVEY. SV from Profile is the current sound velocity correction from the Sound Velocity profile entered under CORRECTIONS-SOUND VELOCITY. (See Sound Velocity Corrections in HYSWEEP Survey.) SV from Controller is the current sound velocity correction from the sensor. If there is no sound velocity sensor, it will display the sound velocity value entered in the sonar controller.

B. Profile Window in HYSWEEP Survey

The Profile window shows sweep profiles in various ways: a profile line the beam pattern (shown) a bizarre wave-front display. Only the profile line is available with multiple transducer systems. The view is looking forward from behind the sonar..

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Profile Window

This display is limited to 75 beams and the swath width is displayed in the status bar. Note the color of the beams. The coding is such that blue indicates good data, yellow marginal and red bad. The relationship between color and beam quality code is established under VIEWOPTIONS-Other. To show the Profile Window, select VIEW-PROFILE WINDOW from the HYSWEEP menu. Display settings for the Profile Window are set by selecting VIEW-OPTIONS then RANGE SETTINGS and MULTIBEAM DISPLAY.

C. 3D Seafloor in HYSWEEP Survey

The 3D Seafloor window shows a three-dimensional representation of the aft seafloor. The view is through the rear-view mirror, which is somewhat odd but is the only way to draw these 3Dimensional images effectively. Display methods are: 3D Wiggle Color Wire Frame Solid TIN Color TIN (shown) F11 toggles scrolling on / off and is useful to freeze the frame in case something interesting shows up. Moving the cursor across the window displays grid position and depth. Contacts may be targeted by double clicking the object of interest and object size is measured by dragging the cursor from point to point. 3D Seafloor

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To show the 3D Seafloor, select VIEW-3D SEAFLOOR from the main HYSWEEP SURVEY menu. Display settings may be set by selecting VIEW-OPTIONS then Range Settings and Multibeam Display.

D. Multibeam Waterfall in HYSWEEP Survey

The Multibeam Waterfall is a forward-looking representation of the seafloor shown as a gray or color TIN. The waterfall is a more traditional display method than the 3D view. Multibeam Waterfall

F11 toggles scrolling on / off and is useful to freeze the frame in case something interesting shows up. Moving the cursor across the window displays grid position and depth. Contacts may be targeted by double clicking the object of interest and object size is measured by dragging the cursor from point to point. To access this window, select VIEW-MULTIBEAM WATERFALL from the main HYSWEEP SURVEY menu. Display settings may be set by selecting VIEW-OPTIONS then Range Settings and Multibeam Display.

E. QC Test Window HYSWEEP Survey

The QC Test window shows the results of one of four HYSWEEP quality control tests. Depth change by Beam: Shows the depth change of each beam over a specified number of pings. Faulty beams and incorrect attitude compensation show up clearly in this test. Standard Deviation by Beam: Approximates the standard deviation of each beam over the last 500 pings using the method of Eeg1. May be used in flat areas to assess overall sounding precision. Multibeam vs. Single Beam: Compares multibeam nadir with single beam. Useful for validating the multibeam sonar against the more
1

Eeg, Jorgen: On the Estimation of Standard Deviation in Multibeam Soundings. The Hydrographic Journal, No. 89, July 1998.

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traditional (and more widely accepted as correct) single beam echosounder. Multibeam vs. Single Beam Comparison

Multibeam Sounding Overlap: Provides multibeam overlap statistics within matrix cells. May be used in flat areas to validate multibeam system calibration.

All of these tests make some approximations and work better over a flat surface. An example of the multibeam vs. single beam test is shown in the screen capture. The problem with this test over variable bottom terrain is that the wide-angle single beam transducer sounds a wider area per ping than the narrow nadir beam, resulting in a slight shoal bias for the single beam. To access this window, select VIEW-QC TESTS from the main HYSWEEP SURVEY menu. Set display settings by selecting VIEWOPTIONS then qc tests.

F. Coverage Map and Cross Section Windows in HYSWEEP Survey

The Coverage Map views the survey area from above. It has a number of features and options. Multibeam and side scan coverage as scan lines Color-coded matrix display showing minimum depth, maximum depth, average depth, overlap difference or 1x / 2x multibeam coverage. Survey line display. A tool bar for cutting cross sections, panning and zooming. Distance and color scale bars Boat tracking Current sweeps colored differently to distinguish them from previous sweeps and assist navigation. Contacts may be targeted by double clicking the object of interest. Object size is measured by dragging the cursor from point to point. F11 toggles scrolling on/off and is useful to freeze the frame in case something interesting shows up. Moving the cursor across the window displays grid position and depth.

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Coverage Map

To cut a cross-section through the sounding matrix, click the crosssection tool and drag the section line across the matrix. The cross section will be displayed in a separate window. Matrix Cross Section

To access the Coverage Map, select VIEW-COVERAGE MAP from the main menu. Display settings may be set by selecting VIEWOPTIONS then coverage map, and through the Matrix menu options.

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G.

Limits Window

Limits Window

The Limits window shows information about the depth and width of the sweep. The Corrected Depth displays data from the outer beam on each side and the nadir beam. The depths on the left of each graph show the minimum to maximum depths read from that beam. The depths on the right show the current depth reading. The Offset display shows the width of the sweep. The top numbers are the width of the most recent reading. The bottom numbers show the maximum distances to either side of the nadir beam and the total of the two values. Access the Limit window using VIEW-LIMITS. Display settings may be set by selecting VIEW-OPTIONS-RANGES.

H. Nadir Window In HYSWEEP Survey

The Nadir Depth window displays the current nadir depth. It may also be configured, in the View Options(F9) Multibeam Display Tab, to display a red background if the depth returned by the sensor falls below a user-defined limit. In the following example, the alarm limit was set to 70 survey units. At 85.2, the background is green but red at depths less than 70. HYSWEEP Nadir Window

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I. Seabat 9001 Control Window in HYSWEEP Survey

Seabat 9001 Control Window

This window provides control functions for the Seabat 9001. To access this window, select TOOLS-SEABAT 9001 CONTROL from the main menu.

II. View Options in HYSWEEP Survey

Each of the HYSWEEP SURVEY windows is configurable to a certain extent. Range settings are adapted to expected bottom depths, display styles are selected to the operators personal preference, etc. The options are all available in the View Options form To access View Options, select VIEW-OPTIONS from the main HYSWEEP SURVEY menu or press the F9 short-cut key. Note: The side scan windows have separate display options accessed from an icon in their windows.

A. Range Settings in HYSWEEP Survey

Click the Range tab to set depth, offset and angular display limits. Note that while these limits are used by the HYSWEEP SURVEY display windows, they do not affect data logging. All soundings are logged, always, period. Some of the range settings (multibeam depth, offset, angle and quality limits) are saved in data files for optional use in post-processing. This feature allows the surveyor, who knows the water hes working in, to control range settings for post-processing.

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The Range Tab

Work Units: Select survey grid units, Meters, US Feet or International feet. This option is only available when HYSWEEP SURVEY is run without HYPACK. Otherwise the selections are disabled and work units are taken from HYPACK GEODESY. Multibeam: Minimum Depth: Enter minimum depth gate. No soundings above this depth are displayed. Maximum Depth: Enter maximum depth gate. (You can also increment and decrement this value by 5 using F2 and F3 respectively.) No soundings below this depth are displayed. This value also determines the resolution of the saved depth value (which is always saved in meters). Max Depth Resolution < 500 meters 0.01 meters > 500 meters and < 5000 meters 0.10 meters <5000 meters 1.00 meters Port Offset Limit: Maximum horizontal sounding offset allowed for display (port side). Starboard Offset Limit: Maximum horizontal sounding offset allowed for display (starboard side). Port Angle Limit: Maximum beam take-off angle (from vertical) to the port side. Beams at angles greater than this setting are not displayed. Starboard Angle Limit: Maximum beam take-off angle (from vertical) to the starboard side. Depth Range for Overlap Colors: When a matrix is displayed in the Overlap method, depth differences are color coded from 0 to this value.

B. Multibeam Display Settings in HYSWEEP Survey

The Multibeam Display Settings control the style and coloring of the multibeam displays.

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Multibeam Display Tab

Profile Window: Sweep Profile shows the bottom profile of each sweep. Beam Pattern shows each beam with color-coding based on quality. Wave front shows the sounding wave front and backscatter points. Sounding Points: Each sounding is shown as a color-coded dot of user-defined Point Size (pixels). The point size is defined in the 3D Seafloor options. Fix Vertical=Horizontal Scale keeps the view from being stretched disproportionately in either direction which causes some distortion. 3D Seafloor: Wiggle shows a succession of sweep profiles. Wire frame shows a wire frame seafloor model with depth colorcoding. Solid TIN shows a TIN model with illumination. Color TIN shows a TIN model with depth color-coding. Sounding Points: Each sounding is shown as a color-coded dot of user-defined Point Size (pixels). Multibeam Waterfall: Solid TIN shows a TIN model with illumination. Color TIN shows a TIN model with depth color-coding. Intensity: If your echosounder has the capability of measuring the strength of the return signal, this can be represented in gray scale. A stronger return is represented by a lighter color. Nadir Depth: Alarm Depth defines the minimum depth you expect. If the depth drops below this limit, the background of the Nadir Depth window will turn red.

C. QC Test Settings in HYSWEEP Survey

QC Test Settings control the QC Test Window.

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QC Test Tab

Display: Selects one of the four multibeam QC methods. Depth Change by Beam: Shows the depth change seen at each beam over the last N sweeps. Estimated Standard Deviation: Estimates the standard deviation of each beam over the last 100 sweeps. Multibeam vs. Single Beam: Provides multibeam vs. single beam statistics. Multibeam Sounding Overlap: Provides statistics on multibeam overlap. This test is only available when a matrix file is loaded. Alarm Limits: Enable QC alarms and set limits. Yellow indicators in the main window bring these alarms to the surveyors attention. Heave Drift: Alarm heave drift (over 10 seconds) beyond the limit. One must watch this closely on small boats because sharp turns can cause one or more foot of heave error. MultibeamSingle beam Difference: Alarm difference (over 500 samples) beyond the limit. Multibeam Overlap Difference: Alarm difference (averaged over all matrix cells) beyond the limit. SV Profile Sensor Difference: Shows an alarm if the difference between the sound velocity correction from the sensor and the first value in the Sound Velocity Profile is greater than the user defined amount. Show Warning Until SV Profile is Entered provides an alarm if you have not loaded your sound velocity corrections. Of course (unless you are using the EM2000, EM3000 or EM3002 driver, which preprocesses your data) you can add or change these corrections during post-processing by loading a Sound Velocity Corrections file (*.VEL) in the HYSWEEP EDITOR.

D. Coverage Map Settings in HYSWEEP Survey

Coverage Map settings control the Coverage Map.

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Coverage Map Tab

Selections: Show Scale Bar: Displays the distance scale bar. Show Matrix: Displays the sounding matrix. This option is enabled only if you are drawing your soundings to HYSWEEP SURVEY. Follow Boat: Re-centers map when the boat leaves the screen. Show Multibeam Coverage: Displays multibeam sweep lines while logging. Show Side Scan Coverage: Show side scan lines while logging. Show Planned Lines: Displays the planned survey lines. Buttons: Clear Matrix: Clear matrix file of all sounding data. Matrix Options: Select matrix display options. Clear History: Clear multibeam and side scan coverage lines.

E. Other Display Settings in HYSWEEP Survey

The Other Tab

Apply Heave, Pitch, Roll Corrections and Apply Tide Corrections: Select whether or not to apply these corrections to the multibeam soundings before display. Black Window Background: Select black or white window background. As of this writing, displays over a White background are pretty bad. Side Scan Display Has Highest Priority guarantees every scan will be drawn to the Side Scan Waterfall window providing the clearest image possible. If this is not checked, logging data gets the precedence. If your computer is fast enough, it should be able to do both, but it is your responsibility to check for complete data files. Manufacturers Beam Coding: Assign as sounding quality based on quality codes received from the multibeam echosounder. The Profile

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window color-codes soundings based on quality: high = green, marginal = yellow, bad = red. High Quality Limit: All soundings greater than or equal to this value are assumed good. Marginal Quality Limit: All soundings less than this value are assumed bad. Show Bad Soundings: Selects display of bad sounding data.

F. Color Settings in HYSWEEP Survey

The Multibeam Waterfall, 3D Seafloor and Coverage Map windows all include an icon in their tool bars, to access the standard Color dialog. You can adjust the color scheme for your project as you would in HYPACK. The dialog in HYSWEEP SURVEY shows an additional option. Auto-Scale: When selected, the color range is calculated dynamically based on depth statistics. The colors can be distributed over a user-defined depth range by deselecting this option and setting the minimum and maximum color depth values. Standard Color dialog

III. Files and Filenames in HYSWEEP Survey

When HYSWEEP SURVEY is run in combination with HYPACK, it bases data and target file names on the HYPACK names. With minor changes of course, so the names arent identical. When HYSWEEP SURVEY is run stand alone, it has its own naming scheme. Raw file folder: Uses HYPACK raw data folder. Catalog Filenames: HSX_ + HYPACK catalog name. Data Filenames: HYPACK data filename + .HSX

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Target File Folder: Uses HYPACK target folder. Default Target Filenames: HSX_ + HYPACK target filename. Note: HSX means HYSWEEP SURVEY extension

IV. Corrections in HYSWEEP Survey

A. Tide Corrections in HYSWEEP Survey
HYSWEEP SURVEY gets real-time tide corrections from HYPACK SURVEY. This is done automatically through the shared memory mechanism.

B. Squat and Settlement (Dynamic Draft) Corrections in HYSWEEP Survey

HYSWEEP SURVEY has two methods for application of dynamic draft correction. HYSWEEP SURVEY can Take dynamic draft corrections from HYPACK SURVEY (whether you enter them manually or use the draft table). This is the default setting. Use the Squat and Settlement Table available in HYSWEEP SURVEY. To enter a squat & settlement table, select CORRECTIONS-SQUAT AND SETTLEMENT and enter the draft correction values (in survey units) versus speed (in knots). When a table is entered, HYSWEEP SURVEY calculates the dynamic draft correction from boat speed (from GPS via HYPACK SURVEY) and the table. Squat and Settlement Corrections Table

Note: If you are using RTK tides with HYPACK (which presumably you are since you're reading this) you do not need to enter any draft corrections. The GPS.dll (formerly known as the Kinematic.dll) subtracts the dynamic draft correction to compute the "true" tide correction. Without

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a draft correction, the driver will still calculate a correct chart sounding, but the RTK Tide value will be different from the conventional tide value.

C. Sound Velocity Corrections in HYSWEEP Survey

The sound velocity model is entered or imported using the main menu CORRECTIONS-SOUND VELOCITY option. The model is recorded into the data files for use in post-processing. Sound velocity corrections may also be applied during post-processing, but this is the preferred method as it provides real-time corrected depths and stores the correction values to the headers of the raw files. Note: If there is a pre-existing Sound Velocity Profile when you enter HYSWEEP SURVEY, the Multibeam Alarm will show yellow. It's a good idea to verify it is accurate before you begin to collect data. The alarm will turn off when you click [OK] in the Sound Velocity Model. Sound Velocity Model

Average sound velocity calculated from the model. HYSWEEP SURVEY uses this average for display calculations instead of the more time consuming ray path calculations used in post-processing. Units selects the units of the model. Conversion to HYSWEEP SURVEY working units is done automatically. Meters, M/Sec: Depth is in meters, velocity is in meters per second. Feet, Ft/Sec: Depth is in feet, velocity is in feet per second. To enter the model, simply start typing into the spreadsheet in increasing depth order. To check for errors, click [Graph] when you're done.

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To import Sound Velocity Files: Many sound velocity profilers log to a file. [Import] enables you to bring these files into the spreadsheet, preventing a lot of tedious and error-prone typing. Click [Import] , select the file recorded by your profiler then the Import Form is shown. Import Dialog

Field shows up to 8 fields. Comma Separates Fields is used when commas separate the fields. Accept checkboxes pick the depth and velocity fields. [Skip Record] skips a file record. [Accept Record] accepts a file record. [Accept All] accepts all records to end of file. After Import, you may need to swap columns (use [Swap Columns] ) or reverse the order (use [Reverse Order] ) of the model.

V. Logging Data in HYSWEEP Survey

Data logging may be controlled by HYPACK SURVEY or HYSWEEP SURVEY. Logging commands are passed between the two programs to keep them in the same mode. You may control logging in HYSWEEP SURVEY using: Menu commands The same keyboard shortcuts as HYPACK SURVEY. The DATA LOGGER (F7) and use the control buttons in that dialog, though there is no real benefit to this option. The Control buttons affect all data logging in all of the currently active Survey programs. Note: Data can not be logged for three seconds before and after midnight. During this time, HYSWEEP SURVEY will close the current data files and open new ones named according to the new date and time.

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FILE-HYPACK Commands- START LOGGING END LOGGING INCREMENT LINE DECREMENT LINE SWAP LINE

DATA LOGGER Buttons [Start Logging] [End Logging] [Increment Line] [Decrement Line] [Swap Line]

Keyboard Shortcuts Ctrl + S Ctrl + E Ctrl + I Ctrl + D Ctrl + W

Data Logger

You can log data a selection of formats according to the selection in the Logging Options dialog.

VI. Logging Options in HYSWEEP Survey

A. Data Logger
Select FILE-DATA LOGGER (F7) and click [Logging Options] from the Data Logger form. The Logging Options dialog will appear. Set your options for logging survey data to files. Logging Options Window

File Info: Information used to name data and catalog files. When running HYSWEEP SURVEY with HYPACK, the project name and logging folder are pre-selected and unchangeable. Record Method:

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ASCII (HSX Format): Selects ASCII format with full support of HYSWEEP SURVEY features. Binary Datagrams (HS2 format): Selects the binary format with full support of HYSWEEP SURVEY features. ASCII (HYPACK 8.9 Compatible): Selects the ASCII format used by HYPACK 8.9 SURVEY. This format should only be selected if recorded files are to be processed with older versions of HYSWEEP post-processing or 3rd party software that does not read the updated HSX format. Atlas, Simrad and Seabeam systems can not support this option.

Side Scan: Logging Disabled: Check this if you wish to view side scan in real time but not log it to file. Note: SIDE SCAN SURVEY supports logging to XTF format.

B. Matrix Files in HYSWEEP Survey

Two of HYSWEEPs most useful featuresthe color-coded coverage map and multibeam overlap statistics are available only when a Matrix File is loaded. Matrix Files are simply areas divided into cells. The files are created in the HYPACK MATRIX EDITOR. Matrix files included in the HYPACK SURVEY design are automatically loaded into HYSWEEP. In HYSWEEP SURVEY, the Matrix menu is used to clear accumulated cell data and select matrix options. Files are automatically updated and saved at program close. Matrix Options

Draw Matrix determines in which window the matrix will be displayed. HYPACK SURVEY will draw the matrix in the area map of SURVEY only, while HYSWEEP SURVEY will draw the matrix to the Coverage Map. If you choose to change this option, you must restart the survey programs for it to take effect.

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Note: You must also have the Show Matrix option checked in the Coverage Map tab of View Options.

Beware!

HYPACK SURVEY supports multiple matrix files and can paint the matrix which is closest to the boat origin. This option is not supported in HYSWEEP SURVEY. If you want to paint multiple matrices, select Draw Matrix in HYPACK SURVEY. Cells options enable you to modify the cell dimensions and calculate the effects. Length and Width: Matrix files are given cell length and width when designed. The HYSWEEP operator can override them here. If the matrix update process is excessively slow in the coverage map, make the cells larger until an acceptable speed is reached. [Calculate] Calculates the number of cells and approximates the total memory required for the matrix. If a matrix requires 256 Mb of memory and your computer only has 128 Mb, you need to make the cells larger. Show options determine which value to display in HYSWEEP SURVEY. Minimum: For each cell, show the minimum of all soundings falling within the cell. Maximum: Show maximum sounding. Average: Show the sounding average Overlap: Show sounding difference (MaxMin). Coverage: Show 1x / 2x multibeam coverage.

C. Targeting and Target Files in HYSWEEP Survey

HYSWEEP SURVEY provides complete targeting support.

1) Loading Target Files to HYSWEEP Survey

Target files may be pre-defined in HYPACK. Alternatively, one may allow HYSWEEP SURVEY to create new target files on-the-fly. Select TARGET-FILE to make your choice. Selecting a Target File in HYSWEEP

Use Default File tells the program to create a target file named by the current date. [Load] presents a File Selection dialog for you to choose the target file to which you want to add any targets you may mark.

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2) Marking Targets during Survey

HYSWEEP SURVEY provides complete targeting support. Mark a target in the real-time displays using any of the following methods: Double click the object in the Side Scan Waterfall or Side Scan Coverage Map, and the target is marked. By default, a Target Properties dialog will appear for you to edit the file entry. You can avoid this by clearing the Show Target Editor check box. Target Properties Dialog in Side Scan Survey

Select TARGETS-QUICKMARK (F5) to mark the position of the boat origin.

3) Editing Target Properties

The Target Edit dialog is shown whenever a target is marked or when you select TARGETS-EDIT TARGETS unless the box at the lower left is checked. This enables you to modify the target properties by selecting a target from the list on the left and revising the data on the right. Target Edit Dialog

VII. Playback in HYSWEEP Survey

Playback Controller

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HYSWEEP SURVEY will play back any ASCII or binary file recorded by HYSWEEP and multibeam files recorded by the HYPACK 8.9 SURVEY program. Select FILE-PLAYBACK or the F8 shortcut key to access the Playback Controller. Controls: [Browse]: Pick a file for playback. [Pause]: Temporarily pause playback. [Play]: Playback in real time. [Fwd]: Forward at 20 x real time. [Search]: Activates search dialog. You can go directly to a specific event, to the next event from your current position in the playback, or to a specific time. Select choice and define the event or time you are looking for then click [Start Search]. Playback Search Parameters

[End]: End playback.

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3. Multibeam Processing
I. Multibeam Post-processing Sequence Guides
With so many sounding selection and final product programs, it can be a bit confusing, at first, to work out just what your task sequence should be between your raw data and your final product. The following flowcharts should guide you along your way. All multibeam or multiple transducer data should first be run through the HYSWEEP EDITOR to apply tide corrections and edit out bad data. The resulting output is XYZ Format files. After that you have some choices. The Sounding Selection programs (MAPPER and SOUNDING REDUCTION) are optional programs that eliminate data in an attempt to speed your final product calculations without adversely affecting the accuracy of the results. Overviews of each may be found later in this chapter. Choose which of these programs to use based on which selection methods you like the best. Multibeam Data to Hyplot, TIN Model or Export Final Products

Once your raw data has been edited and sorted (if you so choose), the resulting output is XYZ format. HYPLOT, TIN MODEL and EXPORT use XYZ format to create their final products.

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Multibeam Data to Cross Sections and Volumes

CROSS SECTIONS AND VOLUMES requires channel template information to do its calculations. Since XYZ files contain no template data, we have to convert the XYZ format to All format by loading it, with a Planned Line file, into the TIN MODEL program and cutting sections where the TIN Model and Planned Line intersect. (See "Cutting Sections through a TIN Model" in the Final Products chapter.)

II. The HYSWEEP EDITOR Program

The HYSWEEP EDITOR primarily reads raw or edited sounding files containing multibeam and multi-transducer data. If you are using raw data, it applies tide and ray-bending corrections to the soundings to find corrected depth or elevation. the HYSWEEP EDITOR displays all measurements graphically and provides a number of editing methods. When editing is complete, the program saves the corrected and cleaned data for further work in the Sounding Selection and Final Product programs. You must have a HYSWEEP key for your printer port to run this program.

HYSWEEP EDITOR Shell

The title bar of the HYSWEEP EDITOR shell displays which phase of the 3-phase editing process you are currently working in and the files you have loaded to the program. Most procedures initiated from the many display windows are initiated with the click of an icon. If you are not sure which icon is referred to in the procedures of this manual, hold the cursor over each button and its name will appear.

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The file currently being displayed is shown in the field to the right. If you have loaded a catalog file, you can scroll through the files in the catalog by using the left and right arrows on the shell. Typically you would edit the first line then use the right arrow to move on to the next one.

A. HYSWEEP EDITOR Procedure

1. Confirm that your Geodetic Parameters match those of your survey data. 2. If you have not applied tide corrections during SURVEY, create a Tide Corrections file using the MANUAL TIDES or HARMONIC TIDES program. 3. If you have not logged Sound Velocity during HYSWEEP Survey, take a Sound Velocity cast and create a Sound Velocity file in the SOUND VELOCITY program. 4. Open the HYSWEEP EDITOR by selecting HYSWEEPHYSWEEP EDITOR or by clicking the icon. 5. If you have XTF files, use the XTF to HSX Conversion Tool to convert them to the HSX format that the HYSWEEP EDITOR recognizes. 6. Select your Soundings file by selecting FILE-OPEN (or using F2). You can select a Catalog file (*.LOG), which is a list of several data files, or a single data file. the HYSWEEP EDITOR can read either raw or edited soundings. It is intended for use with multibeam and multiple transducer data. (Beginning with version 2.12a, you can also load single beam data. It is not particularly impressive or useful yet, but its the first step to being able to overlay single beam and multibeam data of the same survey area for comparison purposes.) The File Options dialog will appear next. 7. Set File Options. These are some basic choices about how the HYSWEEP EDITOR will read and save the data. 8. Enter your Corrections. If you are working with raw data and have not applied tide corrections during Survey, select the Tide Corrections (*.TID) file to which you want to apply the data. This option is disabled if you are working with edited files. If you are working with raw data and have not applied sound velocity corrections during Survey, select the Sound Velocity Corrections (*.VEL) file to which you want to apply the data. This option is disabled if you are working with edited files. 9. If you are working with raw data, set your Read Parameters. This enables you to apply pre-filtering and perform other operations on the data as it is read into the editor. 10. Examine and edit your data. This is a three phase process. Each phase will automatically display the windows as described but you can access any window at any time through the View menu options. a. Phase One: Examine and edit the graphs representing corrections and track lines.

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b. Convert raw data to corrected by selecting FILE-CONVERT RAW TO CORRECTED (F4). c. Phase Two: Graphically examine the Soundings. Scroll through the survey lines by using the arrow buttons, making any necessary corrections for each sweep. Repeat the editing process for each selected survey line until you have edited all of your data d. Grid your data by selecting FILE-FILL MATRIX (or click the icon). The Matrix Options dialog will appear. You can choose to use a Matrix file that has been created in the Matrix Editor. Otherwise, you may choose to allow the HYSWEEP EDITOR to set the matrix dimensions, and rotation while you choose the cell dimensions. The edited data will be filled into the matrix and displayed in the Cell, Profile and Survey Windows that follow. e. Set your Search and Filter Options. These criteria are used in the next editing phase to search out cells with data outside of the specified limits. You can evaluate each instance yourself or instruct the HYSWEEP EDITOR to delete all points outside the limits. f. Phase Three: View and Edit any additional points in the Cell, Profile and Survey Windows. You can view the data a little more closely and from all angles in these windows. The same editing tools used together with the Search and Filter feature are effective in cleaning up any stray points. 11. Save the final edited data. FILE-SAVE will save the data, in the format specified in the File Options, to the Edit directory unless you choose to perform an XYZ reduction. In this case, it will be saved to the Sort directory. FILE-SAVE TO MATRIX saves a filled Matrix File to the project directory. 12. Exit the HYSWEEP EDITOR by selecting FILE-EXIT.

B. Tools
1) XTF to HSX File Conversion Tool
It is simple to convert XTF files to HYPACK HSX files with the XTF to HSX File Conversion Tool. This tool can read XTF data from: Triton the Seabat QINsy the Reson DB to XTF converter 1. Open the converter from the HYSWEEP EDITOR menu by selecting TOOLS-CONVERT XTF TO HSX FORMAT. The conversion dialog will appear.

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XTF to HSX File Converter

2. Input your Settings: Alternate Position: XTF files have readings from mounted sonar and towed sonar. If you have loaded an XTF file and are not getting the correct reading, select the Use Alternate Position option. Ignore Count: XTF files often have a number of records that are not part of the survey data. Input the number of records HYPACK should ignore in each record before reading the survey information. 3. Select your survey files by clicking [Select Files and Convert] and choosing the files for your conversion. You can select more than one file using the CTRL or SHFT keys as in Windows. File statistics will be displayed in the lower part of the dialog. 4. Run the conversion by clicking [Open]. For each selected file, and HSX file will be created, with the same name but with the HSX extension, and saved to the same directory. The converter will also create a xtf.LOG file listing the converted files, ready to load into the

2) PWC File Splitter

The PWC File Splitter splits the data in raw or edited files containing QTC-ISAH data. It creates two new file sets and stores them to the same folder as the original data. One data set contains minimum depths and the other contains instantaneous depths. The original files remain intact. 1. Select TOOLS-PWC FILE SPLITTER and the PWC File Splitter dialog will appear.

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PWC File Splitter Dialog

2. Click [Start]. A file select dialog will appear for you to select the log file that contains the data you want to split. 3. Select a Log file from the raw or edit folder and click [OK]. The dialog indicates the progress of the process by displaying the name of each file in the catalog as it is affected and Done when the work is complete. The PWC File Splitter loads the two new Log files with the original one to your project so they can be enabled and viewed in the HYPACK window.

C. Selecting Sounding Files in the HYSWEEP EDITOR

Select FILE-OPEN to call up an open dialog. The default directory will be the project file. The HYSWEEP EDITOR works with multiple file formats. Multibeam data can be read from any of the following: HYPACK Raw Data: Multibeam (and single beam) files collected by the HYPACK SURVEY program. Multibeam raw files have the HSX extension. HS2 Format: Files edited and saved by the HYSWEEP EDITOR. This format retains all data and can be reloaded for further editing into the HYSWEEP EDITOR. They also can be corrected for invalid offsets, mounting angles, sound velocity, etc so it's smart to save this format when your editing is complete. XYZ is the format used in the sounding Selection and Final Products programs. HYPACK SWP: Files edited and saved by the old HYSWEEP EDITOR You may select either individual files or a catalog file. A catalog file is a list of individual data files. If a catalog file is selected, the HYSWEEP EDITOR reads the file and provides you with a list of files in the catalog.

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Selecting your files in The HYSWEEP EDITOR

You can include all of the line files by clicking [Select All] or you can include individual files by highlighting them and clicking [Select]. Note: the HYSWEEP EDITOR can handle a maximum of 512 lines at a time. the HYSWEEP EDITOR will default to the next selected file in the list every time you scroll to the next line file number in the Line field at the end of the HYSWEEP EDITOR toolbar. This list will also be used to track which files have been edited.

D. File Open Options in the HYSWEEP EDITOR

Once you have selected the files to be included in the edit, the HYSWEEP EDITOR provides you with some options for reading and storing your sounding data. These dialogs may also be accessed by selecting FILE-OPTIONS after the HYSWEEP EDITOR has been launched. The File Options dialog has two tabs. File Open Options

Vertical Basis determines depth or elevation mode where elevation mode will invert the soundings. Auto Processing skips phase 1 and 2 editing. Tide and Sound Velocity corrections are applied and the soundings are gridded into a matrix. The

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results are displayed in the Survey, Profile and Cell windows, ready for Phase 3 editing. Check Apply Filters to also edit your data according to the Search and Filter criteria. (This is the equivalent to the Filter All button in the main toolbar or [Run Filters] in the Search and Filter Options dialog.) Log Edit Transactions to MBEditLog.txt creates a record of: Files Loaded Vertical Basis Correction Files Read Parameters Search and Filter Options Fill Matrix Options Files Saved

E. Corrections in the HYSWEEP EDITOR

The HYSWEEP EDITOR enables you to work in depths or elevations, applying Tide, Draft and Sound Velocity Corrections along the way. Details about logging data from real time telemetry gauges and manually entering the Tide Corrections are contained in the SURVEY section of this manual. The Utilities section describes creating Tide Correction files from harmonic predictions, high-low water times and heights, and tide observations. Corrected Depth = Tide Correction + (Raw Depth + Transducer Depth Offset + Draft Correction) Corrected Elevation = Tide Correction - (Raw Depth +Transducer Depth Offset + Draft Correction) If you are working with raw data, the Corrections dialog enables you to apply depth, tide and sound velocity corrections to your edited data. Corrections Dialog

Select your Tide File by clicking [Open Tide File] and selecting the correct file from the file selection dialog. Select your Sound Velocity File in the same manner, clicking [Open SV File]. (Information on creating a Sound Velocity file can

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be found in the Single Beam Processing chapter of this manual under Sound Velocity Corrections program.) Set the Echosounder setting which tells the HYSWEEP EDITOR what sound velocity setting the transducers were using while collecting data. Apply Corrections to Entire Catalog enables you to use the same set of corrections for all of your selected files. If this is not checked, the HYSWEEP EDITOR will ask you to set corrections for each survey line selected. Set the corrections for the line named in the title bar and click [Next]. The Corrections dialog will appear once for each selected line.

1) Tide Corrections in the HYSWEEP EDITOR (a) Applying Predicted Tides in the HYSWEEP EDITOR
Tide Corrections are usually read from Tide Files(*.TID) created by the HYPACK MANUAL TIDES or HARMONIC TIDES PREDICTION programs. They may also be read from HYPACK Raw Survey files that have tide information in their headers. Tide Corrections relate raw soundings to the chart (low water) datum. When creating a tide file for depth mode, enter tide values as negative numbers. When creating a tide file for elevation mode, enter tide values as positive numbers. Units are according to those selected under Geodesy (feet or meters). (Information on creating Tide Files may be found in the Utilities section of this manual.) If tide corrections were not recorded during SURVEY or you need to change your Tide Corrections, select a new Tide File by clicking [Open File] under Tide Corrections and selecting the correct file from the file selection dialog. Note: This will overwrite any tide corrections value previously saved in your file.

(b) Interpolating Tide Corrections from Multiple Tide Gauges

This program was written for surveys where there are multiple gauges along a river (or coastline). TIDE ADJUSTMENTS will interpolate tide correction values, based on the distances between gauges. This tool is available during the first phase of editing in the HYSWEEP EDITOR to adjust the tide data of the edited output files. You will need: A *.TID file for each gauge location The distance of each gauge along the center line. A *.LNW file that contains just the center line. The data files you wish to adjust.

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River with 3 Tide Gauges and a Center Line LNW File

1. Start the program by selecting TOOLSTIDE ADJUSTMENTS. The Tide Adjust dialog will appear. Tide Adjust Dialog

2. Enter the name of the *.LNW file that has your center line (and nothing else). Click [Open File] below the LNW File field and select the file name from the File Select dialog. 3. Enter the names of the *.TID files. For each Tide file, place your cursor in the first available cell in the table, click [Open File] under Tide Stations and select the Tide file from the file selection dialog. 4. Enter the Chainage (and their distances along the center line) for each Tide File. 5. Correct the soundings by clicking [Adjust Tides]. The program will assign tide correction values only to the edited files. It does not change the raw files.

2) Sound Velocity Corrections in the HYSWEEP EDITOR

If you are editing raw data and have not yet applied sound velocity corrections, select your Sound Velocity Corrections file by clicking [Open SV File] and choosing it from the file selection dialog. Sound

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Velocity Corrections are read from files created in the Sound Velocity program (*.VEL) described in the Single Beam Processing chapter.

F. Read Parameters in the HYSWEEP EDITOR

The Read Parameters Dialog follows the Corrections Dialog. Set your options in each tab then click [Finish] to continue.

1) Selections Tab in the HYSWEEP EDITOR Read Parameters

In the Selections Tab, you select the devices to use for navigation, heading, heave and pitch/roll data, tide corrections and one or more devices to use for sounding data. If you have side scan data, load it by checking the box. Read ParametersSelections Tab

2) Device Information in the HYSWEEP EDITOR Read Parameters

The Device Information tab displays settings for each device in your project. Select the device of interest from the drop down box at the left. You can view the record capabilities that were set in the hardware configuration at the left. You can view or modify the Offsets at the right. Any changes you make here will be applied to all currently selected files. Note: Editing the offsets will affect only the edited data. It will not affect raw data.

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Device Information Window

3) Survey Information in the HYSWEEP EDITOR Read Parameters

The Survey Information tab displays some basic project information entered during SURVEY. Min Depth deletes all soundings shoaler than the limit. Max Depth deletes all soundings deeper than the limit. Port and Starboard Angle Limits deletes data from transducers with a beam take-off angle greater than the specified limit. The Quality Limit deletes all soundings with a quality number less than the limit. Read Parameters Survey Information Tab

4) Presort Tab in the HYSWEEP EDITOR Read Parameters

If your data collection is too dense, the Presort dialog allows you to discard 1/2, 2/3, 3/4 or 9/10 of the collected sweeps. This is not our favorite method to reduce data sets. We prefer using the MAPPER program for this but, nevertheless, this option is still available.

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To thin the data set somewhat, choose the percentage of data you feel you can discard and still maintain an accurate picture of your survey area. Read Parameters Presort Tab

5) GPS Pre-Filter Settings in the HYSWEEP EDITOR

The GPS Pre-filter Tab options enable you to omit position and RTK tide data as it is read into the HYSWEEP EDITOR. Any data that does not meet the criteria set in this tab will be edited out for you before anything is displayed in the data windows. GPS Pre-Filter

GPS Mode: If the GPS mode drops below the specified value, the POS or TID record will be omitted from being read into the editor. Minimum Number of Satellites: If the number of satellites recorded in the quality information is less than the user-specified number, the POS or TID record will be omitted from being read into the editor. Maximum HDOP: If the HDOP recorded in the quality information is more than the user-specified number, the POS or TID record will be omitted from being read into the editor. Maximum Speed over Ground (Kts): If the speed calculated ((pos2pos1)/time) is more than the user-specified speed, the POS record will be omitted from being read into the editor.

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6) RTK and MRU Settings in the HYSWEEP EDITOR

The Advanced tab provides an opportunity to set preferences for RTK Water Level processing and Motion Reference Unit (MRU) options. The Advanced Read Parameters Tab

(a) RTK Tides in the HYSWEEP EDITOR

The RTK Tides check box tells the program you want to calculate water level corrections using RTK GPS elevation. If this box is selected, the two items below it become active to specify the basis for the calculation. For RTK Tides to accurately determine water levels, you must have made a Kinematic Tide Data (*.KTD) file and used the Kinematic.dll device driver. The Average Tide Data to Remove Heave method averages the RTK elevations over a user-specified Average Period to remove the effects of heave for the tide data. The Merge Tide Data with Heave method uses the RTK elevation as the starting point. It then uses the heave data received to determine the antenna height, until the next RTK elevation is received. The accuracy of your GPS latency setting affects the accuracy of this method. Both methods give similar results. The averaging method seems to be preferable, particularly if your survey boat is in rough waters.

(b) MRU (Motion Reference Unit) in the HYSWEEP EDITOR

The MRU options let you specify how the heave information from a motion reference unit (MRU) will be applied. Correct for Induced Heave is used when the MRU is not mounted at the survey vessels pivot point. In this case, the heave measurement is

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affected by the pitch (if the MRU is mounted forward or aft of the pivot point) or roll (if it is mounted port or starboard). This is known as induced heave. A check in this box tells HYPACK to determine a heave correction for every sounding to compensate for this difference. Induced Heave is caused when the MRU is not mounted at the pivot point of the boat

Remove Heave Drift smoothes the heave in areas where heave was affected by such things as turning, acceleration and deceleration. This should not be necessary under ideal conditions and your helmsman takes care to: Turn the vessel outside of the survey area so that the vessel starts the line heading straight down line Drive at a constant speed while logging. However, depending on where you are surveying, you may not have ideal conditions. Other boat traffic or obstructions mid-line may force you to pause and turn off line. This option attempts to normalize the heave. This is a mathematical approximation of what the heave should have been. In such cases, your results will be better than if you use the exaggerated heave values or use heave equal to zero.

(c) Sonar Settings in the HYSWEEP EDITOR

Adjust SV Profile Each Ping Using SV at the Sonar Head: Some sonars output a surface sound velocity correction value. This option replaces the first correction value in your sound velocity profile with the value supplied by the sounder. Fixed Number of Beams accommodates echosounders (like the Seabeam 1xxx series) that allow you to change the number of beams in use. If you have used this feature to limit the number of beams for the entire survey you can enter that number here. If you have used this feature during Survey, changing the number of beams one or more times, or if you are unsure how many beams were used, enter the maximum number of beams available in the system.

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7) Display Settings in the HYSWEEP EDITOR

Select VIEW-OPTIONS (F9) to display the View Options dialog. This dialog has six tabs to configure your HYSWEEP EDITOR display settings.

(a) Survey Window Display Settings in the HYSWEEP EDITOR

The Survey tab controls the Survey window display. View Options Survey Tab

The Show options define what data will be displayed. The sounding data can be accompanied by: Track Lines and Planned Lines superimposes the lines on the sounding display. Depth Numbers converts the color coded cells to numeric depth readings. Show Charts includes the project background files in the display. The Scaling options determine the size of depth range represented by each color. the HYSWEEP EDITOR uses a constant number of colors and divides the range into that number. (The wider the range results in more depth values represented by the same color.) Autoscaling will use the minimum and maximum values and evenly distribute the colors across that range. It will create the optimal settings unless you have values that are drastically out of range.

(b) Profile Window Display Settings in the HYSWEEP EDITOR

The Profile options control the display in the profile window.

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View Options Profile Tab

Define which way in the matrix the cross section is cut to be displayed in the Profile window and the number of matrix rows or columns in each profile. If you cut profiles by column, the display in the Survey Window will rotate 90 degrees so the horizontal cross hair will always mark the location of the cross section viewed in the Profile Window. Scaling enables you to set a depth range specifically for the Profile Window. If this set of options are not selected, the Profile Window will be scaled according to the Depth/Elevation scale settings for the Survey and Cell windows (Autoscale Depth/Elevation options). Show Project Depth draws a line at the user-defined level in the Profile Window.

(c) Cell Window Display Settings in the HYSWEEP EDITOR

The Cell tab presents options primarily affecting the Cell Window. Connect Points makes a mesh display by connecting the points with straight lines to form triangles. Solid Fill shades the triangles formed by the connected points in gray. This is only an option if the points are connected. View Options Cell Tab

(d) Raw Data Display Settings in the HYSWEEP EDITOR

The Raw Data tab sets the scale of the heave, pitch and roll graphs. Autoscaling will show the total range of the data or you can define your own display range for each graph.

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View Options Raw Data Tab

(e) Sweep Window Display Settings in the HYSWEEP EDITOR

The Sweep tab presents options affecting the Sweep Window. Style: Wiggle and Color Wiggle draw one line per sweep. Wiggle is in black and white, Color Wiggle is color coded according to the depths it represents. Depth Colors displays a series of circles color-coded according to the depth. Solid TIN creates a solid shaded, 3-dimensional picture. Color Code Based on Sonar Head draws data from one head in green and data from the other head in red. Scaling: Scale to Window scales to the current sweep displayed. Scale to Entire Line scales the window to the depth range of the line (not the sweep). View Options Sweep Tab

(f) Color Settings in the HYSWEEP EDITOR

The Colors Tab determines the depth color settings for all of the displays.

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View Options Colors Tab

Choose between a black and white background, and between single or double lines in the graphs. You can from a number of color palettes to color code the soundings. Relief uses the color schemes common to relief maps. Spectrum uses a rainbow color spectrum. Chart uses the color schemes common to nautical charts. HYPACK uses the project color settings. Shoals displays red where the soundings are shoaler than the specified Shoal Depth. Point Color Coding in Profile and Cell Windows: None shows the data in black and white. Depth shows the data in color settings according to the depths. Line Number uses different colors to differentiate between survey lines. The colors repeat every 7 lines.

(g) Other View Options in the HYSWEEP EDITOR

A few options are included at the bottom of the dialog, regardless of which tab has been selected. Autoscale Depth/Elevation can be selected to automatically set the depth range in the Sweep, Profile and Cell windows according to the depth range of the data. The legend in the Survey window is also scaled to fit these settings. To manually set the scale of these windows, deselect this option and enter the minimum and maximum depths/elevations that you want to use. Show Active Filters displays yellow X's, during phase two and three, where data points are out of the range allowed by the search and filter options. Show Deleted Points displays red X's, during phase two and three, where data points have been removed. [Filter Options] brings up the Search and Filter Options dialog. (See the section on Search and Filter Options.) [Apply] enables you to preview the effects of your settings on the window displays before the dialog is closed.

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8) Overlaying a Channel Plan File in the HYSWEEP EDITOR

Select FILE-OVERLAY CHANNEL PLAN to display Channel Plan files (*.CHN), from ADVANCED CHANNEL DESIGN or CHANNEL DESIGN, in the Survey, Sweep and Profile windows of the HYSWEEP EDITOR. It can be helpful to use it as a guide in your editing process. Note: Channel Plan files (*.PLN) created in CHANNEL DESIGN may be converted to *.CHN format in the ADVANCED CHANNEL DESIGN program (select FILE-PLN TO CHN). This enables you to overlay template information from files created in CHANNEL DESIGN.

9) Creating Targets in the HYSWEEP EDITOR

As you view your data in the various windows of the HYSWEEP EDITOR , you can create a Target to mark some point of interest. 1. Select the point where the Target should be placed and hit F5. The first time in each session you mark a Target, a File Select dialog will appear. 2. Name your file. If you are creating a new Target File, provide a name and click [OK]. If you want to add to an existing Target File, select the file from your project folder and click [OK]. A Target dialog will appear for you. Target Dialog

3. (Optional) Edit your Target Name and Position information and click [OK]. The Target will be saved to your Target File and displayed in the HYSWEEP EDITOR editing windows. Note: Be careful if you are editing the Easting and Northing, an error in typing could place it outside of your survey area! When you exit in the HYSWEEP EDITOR , the Target File can be displayed in the HYPACK map window and used as any other Target File.

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10)

Search and Filter Options in the HYSWEEP EDITOR

Open the Search and Filter Options dialog by selecting EDIT-SEARCH AND FILTER OPTIONS (Ctrl+F). The HYSWEEP EDITOR will use these settings in Phases Two and Three of editing multibeam data. You may search your entire data set or confine the search to a area defined by a Border File. The Bordering Tab tells the HYSWEEP EDITOR whether these search and filter settings should be applied inside the border, outside the border or to all data (Ignore Border).

(a) General Filters in the HYSWEEP EDITOR

Options in the General Tab enable you to search and filter data based on certain user-defined limits on sounding values, beam angles, quality readings and bottom topography. Search and Filter Options Dialog

The Min Depth/Elevation filter (Phase 2 and 3) deletes all soundings shoaler than the limit. The Max Depth/Elevation filter (Phase 2) deletes all soundings deeper than the limit. Beams (Phase 3) enables you to filter out all readings from selected beams. List beams to be omitted. The numbers should be space delimited. Port and Starboard Angle Limits (Phase 2) deletes data from transducers with a beam take-off angle greater than the specified limit.

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Port and Starboard Offset Limits (Phase 2) deletes all data that falls outside of the user-defined distance from the center beam. Spike Limit traverses the soundings in blocks of 16 (4 beams x 4 sweeps) and deletes soundings deviating from the 16 point average by more than the limit. The Quality Limit (Phase 2) deletes all soundings with a quality number less than the limit. Maximum Bottom Slope (Phase 2) deletes all soundings where the slope from the previous sounding exceeds the limit.

Beware!

Watch this setting when your data includes side slopes. You could delete good data. Filter Overhang and Undercut Topography (Phase 2) deletes stray soundings that would create these topographical features. Number of Filter Passes repeats the filtering process according to the number of times entered. This is supposed to improve the filtering, but the degree of improvement is not what was anticipated. Use HYSWEEP SURVEY Limits: The depth and angle limits that are set in HYSWEEP SURVEY are recorded in the headers of the raw data files and the HS2 edited files. Click this button and the HYSWEEP EDITOR will read the values from the header of the selected files and mark the data that was filtered during SURVEY as filtered in the HYSWEEP EDITOR. The data will remain present until you use the filters to remove it. Savitsky-Golay Filter is a low pass filter that: Removes data appearing as high frequency (abrupt bottom changes, outliers) Keeps low frequency data (somewhat uniform) seafloor.

Beware!

Use with caution! This filter was designed for use with excessively noisy data and is not intended as a substitute for thoughtful editing. All automated filters carry some risk of inaccurately removing bottom features. The filter reads a number of soundings specified by the Window. It estimates the actual depth of the center point of that range by doing a series of calculations based on the Order. If the original depth is deeper or shoaler than the calculated depth by more than the Gate value, it will be removed by the filter. Depth Removed Original depth < Calculated depth - Gate Value Or Original depth > Calculated depth - Gate Value Depth Kept Original depth > Calculated depth - Gate Value And Original depth < Calculated depth + Gate Value

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High to Low: The intention is to detect the largest data spike, remove it then, recalculate the filter, etc. thereby removing less good points with the bad.

Beware!

The idea is good, but it can be unreliable. Under certain conditions it can remove too much data. Use cautiously! The Order: Degree of polynomial approximation. It should always be less than the Window size. After that, you will have to experiment in each survey condition to determine the best order for you. A larger order filters less which results in a more varied surface, but may not remove all extraneous data. Gate Size: Depth, in survey units, above and below the filtered surface. Depths outside of this range will be removed. Window: Number of soundings used to estimate the surface. Should be an odd number.

Example 1: Order of 2 creates a straight line through the data. Assumes very flat bottom.

Example 2: Order of 5 allows for some bottom variation.

(b) Statistical Filters in the HYSWEEP EDITOR

The Statistical Tab is used by the HYSWEEP EDITOR in phase three editing when the data has been gridded to a matrix. It finds the sounding statistic value in each cell as defined by the Cell Statistic option. It then refers to the Filter Above and Filter Below options to search out or delete data outside of the specified ranges from that value.

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Search and Filter Options Statistical Tab

Most of the Cell Statistic options are self-explanatory. None disables this filtering method. The Median value, with equal number of soundings greater and smaller, is usually the best choice for the cell statistic. The Filter Above and Filter Below settings, either one or both, can be enabled to delete data of significant difference from the cell statistic. You will choose the limit that defines good vs bad data. 2 Sigma Limit: Two standard deviations from the cell statistic is dangerous as it can result in the deletion of a lot of good data. 4 Sigma Limit: Four standard deviations from the cell statistic is pretty safe, but it's still a good idea to search and manually edit the data instead of blindly filtering all of the data. Set Limit enables you to set a customized limit. Start with one foot in soft bottom surveys, and 3 feet in rock conditions. Adjust Filters to Account for Sloping Bottom: Sloping bottoms can skew statistical calculations. If you are surveying over slopes, check this box and the program uses algorithms that make the statistics more meaningful.

(c) Search Only Criteria in the HYSWEEP EDITOR

As the tab name "Search Only" says, these options are for search purposes only. These options are available only in Phase 3 editing and will not cause any data to be deleted if you filter your files.

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Search and Filter OptionsSearch Only Tab

Cell Sigma Above Limit: A large distribution of data would be suspect and result in a large sigma value. This option enables you to search out any cell with a standard deviation greater than a user-defined limit. Cell Vertical Range Above Limit: This option enables you to search out any cell with a depth range greater than the user-specified limit. Points Flagged in Phase 2 searches during Phase 3 for any point that was marked with the flag icon during Phase 2 editing. You can then view the same point in the Cell, Profile and Survey windows to make your editing decision. Hits Above Minimum Depth finds all cells where the number of soundings above the Minimum Depth exceeds the Hit Count where the Minimum Depth and Hit Count are user-defined values.

(d) Bordering Filters in the HYSWEEP EDITOR

Bordering Filters in The HYSWEEP EDITOR

You can create a Border File in the BORDER EDITOR to define an area in the survey area. The Bordering dialog tells the HYSWEEP EDITOR what Border File to use and whether the Search and Filter settings should be applied inside the border, outside the border or to all data (Ignore Border) during Phase 3 editing.

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G.

Editing Data in the HYSWEEP EDITOR-Phase One

Phase One editing includes several display windows. You can view graphs representing your tide, draft and sound velocity corrections and your heave pitch, roll and heading values. The track lines will be displayed in the Survey window. You can only view the Sound Velocity, pitch, roll and heading data. The rest of the data may be edited in a limited way. Click anywhere in the graphs. The cursor points in the other windows will update to coincide with the new position. You can use your mouse to reposition the cursor or use the arrow keys to scroll through your position points. The information in the status windows pertain to the current cursor point position. Corrections will be applied to your raw data as you advance to Phase Two editing.

(a) Tide and Draft Corrections Window in the HYSWEEP EDITOR

The Tide and Draft Corrections Window shows tide and draft corrections in time series. Tide and Draft Corrections Window

Point Editing Tide and Draft Corrections You can edit points in either graph by selecting the point with the cursor and clicking the Delete Point icon (or the Delete key). Block Editing Tide and Draft Corrections 1. Click on the [N] button. The Fill Options dialog will appear for Tide and Draft corrections. Editing Tide and Draft Corrections with Fill Options

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2. Check one or both checkboxes according to what you want to edit, and enter the new values in the corresponding input box. Draft/Squat Corrections: When entering draft corrections, enter a positive number when the boat is riding lower in the water. The reference point is the waterline when the transducer's depth offset is measured. The draft correction does not include the transducer depth offset. Squat and settlement can be applied by changing draft values. Tide Corrections: When entering tide corrections for depth mode, enter tide values as negative numbers. When entering tide corrections for elevation mode, enter tide values as positive numbers. Units are according to those selected under Geodesy (feet or meters). 3. Click [OK]. The graphs will be updated and the new values will be applied uniformly to your data.

(b) Heave Window in the HYSWEEP EDITOR

The Heave Window shows heave, in time series format. The graphs readily show a faulty sensor and heave drift, and give a good idea of wave dynamics at the time of the survey. Heave graph

To view the average heave, pitch and roll: Block Average Icon Click and drag a box around the portion of the data you want to know about and click the Block Average Icon. The Average dialog will display the number of samples and the average heave, pitch and roll values included in the time span defined by your box.

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Average Dialog

It is important to edit heave drift. This is typically found at the start and end of survey lines or where there are sharp curves in your survey lines. A survey boat traveling a bit too fast could create this effect. To edit the heave graph: 1. Click and drag a box around the portion of data you want to edit. 2. Click the [N] button and the Fill Options dialog for heave will appear. Editing Heave with Fill Options

3. Edit the data defined by the box. You can: Change the heave value for the defined time. Enter a new value in the Heave field. This could be useful where the survey vessel had not quite settled into the regular pattern centered over the "0" line when the logging began. Since heave generally averages out to approximately "0", using this feature to edit the heave for that segment to "0" may improve your accuracy. Remove sounding data logged during the defined time by checking Delete soundings within time range. Heave correction, applied as you advance to Phase Two, is the average of heave at ping and receive time (different for each beam). For POS/MV and F180 Users: If you have logged POS/MV Group 111 data or F180 CSV data during SURVEY, the HYSWEEP EDITOR includes a specialized routine that applies that true heave data to your HYSWEEP sounding data. 1. Select TOOLS-HEAVE ADJUSTMENT and the type of true heave data you have collected. The Heave Adjustment dialog will appear.

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Heave Adjustment Dialog

2. Click [Open File] and select your true heave file. The start times from both your HYSWEEP file and your true heave file are displayed. 3. Calculate the time difference between the two start times and enter it under Enter Hour Difference 4. Click [Adjust] to apply the delayed heave. All soundings are now corrected with the new and improved heave values.

(c) Pitch, Roll and Heading Window in the HYSWEEP EDITOR

The Pitch, Roll and Heading Window shows the Pitch, Roll and Heading in time series. Comparing the Heading graph with the Navigation graph can show a gross error in gyro calibration. The graphs show a faulty sensor readily and give a good idea of wave dynamics at the time of the survey. Pitch, Roll and Heading Graphs

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Position the cursor over any of the graphs. The Status Bar will display the Line Azimuth, Time and the value in the graph indicated. Block Average Icon Average Dialog To view the average heave, pitch and roll: Click and drag a box around the portion of the data you want to know about and click the Block Average Icon. The Average dialog will display the number of samples and the average heave, pitch and roll values included in the time span defined by your box.

Pitch correction is applied at ping time (the same for all beams) and roll correction is at receive time (different for each beam) as you advance to Phase Two.

(d) Sound Velocity Profile Window in the HYSWEEP EDITOR

The Sound Velocity Profile Window shows up when you open a VEL file, showing velocity variation with depth. The average correction value from the profile and the sonar setting are shown in the status bar. Sound Velocity Profile Window

(e) Survey Window in the HYSWEEP EDITOR (Phase 1)

The Survey Window displays a map view of your data files. It appears in phases one and three of the editing process. The status bar shows the XY coordinates, time and the QC statistics (HDOP, Number of Satellites and GPS Mode) to help guide editing decisions.

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Survey Window During Phase 1 Editing

Delete Point Icon Eraser Icon Block Tool Icon

In Phase One, you can Point Edit or Block Edit your track lines. You may also drag the cursor to measure the distance and azimuth between two points. To Point Edit you can: Click the cursor point on the point you wish to delete and click delete point icon on the HYSWEEP EDITOR shell. Click the eraser icon on the Survey window. The cursor becomes a small square. Center the cursor over the point (or points) you want to delete and right click. To Block Edit, put a rectangle around a group of points then delete all points inside or outside the block. 1. Select a block of data points by clicking the block tool button and dragging from one corner to the diagonally opposite corner. (If you're unhappy with the results, just try again.) 2. Edit the Data by clicking the Delete Inside Block (I) or Delete Outside Block (O) icon.

Delete In/Out

H. Editing Data in the HYSWEEP EDITOR-Phase Two

When you have completed Phase One, advance to Phase Two by selecting FILE-CONVERT RAW TO CORRECTED. The Phase One displays will be closed and the Sweep and Survey Information windows will appear. Search and Filter Options are used in Phases Two and Three of editing your multibeam data. The HYSWEEP EDITOR can then search for matrix cells with data outside of these user-defined limits. Manual Editing:

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1. Set your Search and Filter criteria. 2. Select EDIT-FIND NEXT (F3). the HYSWEEP EDITOR will systematically scan the matrix for cells with data outside of the Search and Filter limits. The data in that cell will be displayed in the Survey, Profile and Cell windows. 3. Examine and edit your data. These windows provide many ways to view data. It is your decision what data to edit 4. Continue to repeat the last two steps until the HYSWEEP EDITOR has progressed to the end of your data. Automatic Editing: 1. Set your Search and Filter criteria. 2. Select FILE-FILTER ALL and wait. the HYSWEEP EDITOR automatically deletes all points outside the limit.

Beware!

It's fast! It's easy! It's DANGEROUS!!! No computer program can replace human intelligence and common sense when it comes to editing data. Use this feature with caution!

(a) Sweep Windows in the HYSWEEP EDITOR

The Sweep windows show your data in map view. The top display shows several sweeps at a time according to the number of sweeps specified at the top right. The lower display shows one sweep at time. The cursor positions in these windows are synchronized to each other and with the other HYSWEEP EDITOR windows. You may want to view only one Sweep window, but some users felt it would be useful, at times, to view the same data from more than one angle at a time. The view angles in the Sweep windows can be changed independently of each other, while maintaining synchronized cursor positions. Sweep Window

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If you have loaded corresponding side scan data, you can view it by clicking the Show Side scan icon. Arrows at either side of the side scan display indicate the current cursor position in the Sweep Window. Side scan Window

To edit a single point: Delete Point Icon Eraser Icon Click the cursor point on the point you wish to delete and click delete point icon on the HYSWEEP EDITOR shell. Click the eraser icon on the Survey window. The cursor becomes a small square. Center the cursor over the point (or points) you want to delete and click.

To remove an entire sweep: 1. Place your cursor on the sweep you wish to delete. 2. Click Ctrl + delete point icon. To edit a block of points: You can put a rectangle around a group of points then delete all points inside or outside the block. 1. Select a block of data points by clicking and dragging from one corner to the diagonally opposite corner. (If you're unhappy with the results, just try again.) 2. Edit the Data by clicking the Delete Inside Block (I) or Delete Outside Block (O) icon. The Border Tool enables you to create an irregular area on which to perform a block edit. Click the Border Tool icon then define the perimeter of the area to be block edited by clicking series of points around it in the Sweep Window. When you click the Delete Inside Block (I) or Delete Outside Block (O) icon, the HYSWEEP EDITOR closes the border and performs the edit. To delete a whole sweep: 1. Select a point on the sweep you want to remove. 2. Click Shift + Delete Point icon. Flagging Questionable Points: If there are any points that you feel unsure about editing, you can mark them in the Sweep window during Phase 2 by selecting the point in the sweep window then clicking on the flag icon. During Phase 3, you can search them out using the search option (Points Flagged in Phase 2). This gives you the opportunity to evaluate the

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questionable point additional contexts that may assist you to make your decision. Flagged Point in the Cell Window of Phase 3

Filter Window Filter Window Icon Undo Icon The Filter Window button removes all soundings displayed in the window that are outside of the Search and Filter criteria. Undoing an Editing Procedure Don't panic if you edit or filter your data then discover you've done it wrong. You have some options during Phase Two and Three editing. Click the Undo icon in the HYSWEEP EDITOR shell to reverse the last operation. If it was a Point Edit, set the view option Show Deleted Points, put your cursor on the point you want to restore and select EDITUNDELETE POINT (or Shift+Del). Select EDIT-UNDELETE and the Undelete Options dialog will appear. You can reverse deletions of all soundings removed manually, removed automatically or that fall within a user-defined depth range. Make your choice, click [Undelete] and the points will be restored accordingly.

Undelete Options Dialog

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(b) Sounding Information Window in the HYSWEEP EDITOR

The Sounding Information window displays data about the point at which the cursor is positioned in the Sweep Window.

(c) Side Scan Window

If you have collected side scan data with your multibeam data, you can display it in the Side Scan window. Arrows on either side of the side scan display indicate the position corresponding to the current cursor position in the multibeam data. Side Scan Window in the Hysweep Editor

Side Scan Controls Icon

Display controls can be accessed through the icon in the Side Scan window to optimize this display. All functions in this dialog are the same as in SIDE SCAN SURVEY. (See SIDE SCAN SURVEY for a description of these functions.) You

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can use the Color Preview window, which is displayed with the Side Scan Controls, to preview the effects of your display settings.

I. Matrix Settings in the HYSWEEP EDITOR

Phase three of editing multibeam data requires that your data be gridded in a Matrix File. Select FILE-FILL MATRIX and the Matrix Options dialog will appear Matrix Options Dialog in the HYSWEEP EDITOR

If a Matrix File already exists in the project, you may opt to "Use HYPACK Matrix File". In this case, you may either use the cell dimensions already defined ("Use Length and Width from Matrix File") or you may define new dimensions by selecting "Enter Cell Length and Width" and typing in the new dimensions. If no Matrix File exists in your project, select Auto-Size to Data and the HYSWEEP EDITOR will create a Matrix File to fit your selected data. You can set the cell dimensions or let the HYSWEEP EDITOR set the size. Auto Cell Size automatically calculates cell size to average 25-50 points per cell. Note: If the user-defined cell dimensions result in cells containing more than 2000 points, the program will abort loading the soundings to the matrix and ask you to input new cell dimensions. Do this by reselecting FILE-FILL MATRIX. [Shallow Default] will set your cell length and width to five feet or two meters, according to your survey units. You may set other measurements if you wish.

J. Editing Data in the HYSWEEP EDITOR-Phase Three

In Phase Three, use the Search and Filter options to re-evaluate any points you may have left in during Phase Two. This phase grids the soundings to a matrix and displays the data in ways that were not previously available to you that may make your editing decisions more clear.

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Phase Three also uses the Statistical Filters which may present you with some new points to evaluate.

1) Survey Window in the HYSWEEP EDITOR (Phase 3)

The Survey Window reappears in phase three of the editing process, displaying your soundings in a matrix. You can block edit and point edit the soundings as you did the track lines in phase 1. In this phase, Search and Filter Options are also useful to search out the last points that may need to be removed. The display will be oriented in the Survey Window so the horizontal cross hair will always mark the location of the cross section viewed in the Profile Window. The information on the status bar reflects the position of the cursor. Survey Window in Phase Three Editing

Position the cursor by clicking anywhere in the graph. The cursors in the Profile and Cell Windows will update to coincide with the new position. The information in the status windows pertains to the current position. You may also drag the cursor to measure the distance and azimuth between two points.

2) Profile Window in the HYSWEEP EDITOR

The Profile Window displays cross sections of the sounding data. They are displayed by row or column in the matrix as designated in the Profile Tab in View Options. You may also set the colors to designate depth or survey line number or to appear in black and white in the View Options.

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Profile Window

1. Position the cursor by clicking anywhere in the graph. The cursors in the Survey and Cell Windows will update to coincide with the new position. The information in the status windows at the left pertains to the current position. You may also drag the cursor to measure the distance and azimuth between two points. 2. Scroll through your data by the number of matrix cells specified in the Profile View Options each time, or to jump to the first or last cell in the column or row using the arrow keys. You can block edit your data by putting a rectangle around a group of points then deleting all points inside or outside the block. 1. Select a block of data points by clicking and dragging from one corner to the diagonally opposite corner. (If you're unhappy with the results, just try again.) 2. Edit the Data by clicking the Delete Inside Block (I) or Delete Outside Block (O) icon. Border Tool The Border Tool enables you to create an irregular area on which to perform a block edit. Click the Border Tool icon then define the perimeter of the area to be block edited by clicking series of points around it in the Profile Window. When you click the Delete Inside Block (I) or Delete Outside Block (O) icon, the HYSWEEP EDITOR closes the border and performs the edit.

Before the Edit.

After the Edit

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Filter Window Icon

The Filter Window button will filter all of the data that appears in the Profile window according to the current Search and Filter settings.

3) Cell Window in the HYSWEEP EDITOR

The Cell Window is used to view and edit edited survey data. It displays the data in the matrix cell corresponding to the cursor position in the Survey and Profile Windows and which is defined in the status bars. Cell Window

You can scroll through your data one matrix cell at a time using the arrow buttons. The displays in the Survey and Profile windows will update accordingly. If you want to change the rotation and angle of the view, use the Rotation and Angle slides. You can also view the data from the eight adjoining cells by clicking on the Include Neighboring Cells button. You can edit any data that is showing. Point editing To Point Edit you can: Delete Point Icon Eraser Icon Click the cursor point on the point you wish to delete and click delete point icon on the HYSWEEP EDITOR shell. Click the eraser icon on the Survey window. The cursor becomes a small square. Center the cursor over the point (or points) you want to delete and right click. Block editing Put a rectangle around a group of points then deleting all points inside or outside the block.

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1. Select a block of data points by clicking and dragging from one corner to the diagonally opposite corner. (If you're unhappy with the results, just try again.) 2. Edit the Data by clicking the Delete Inside Block (I) or Delete Outside Block (O) icon. The Filter Cell button will filter all of the data that appears in the Cell window according to the current Search and Filter settings. The Search button (or selecting EDIT-FIND NEXT) asks the HYSWEEP EDITOR to seek the next matrix cell where the data falls outside the Search and Filter settings. The data in the cell will then be displayed. It's up to you whether to edit the data or leave it intact. Statistics about the current cell are shown at the bottom left. They are automatically updated after any changes are made. Samples: The total number of soundings in the cell. Range: The minimum and maximum depths in the cell. Average: The average of the depths in the cell. Sigma: The standard deviation of the depths of the cell. Median: The median depth value of the cell. Mode: The mode depth value of the cell. The Depth Histogram shows the percentage of readings at each depth reading. The bin size is defined below the graph.

4) File Information in the HYSWEEP EDITOR

The File Information can be displayed during phase three editing, by clicking the icon in the HYSWEEP EDITOR shell. It presents a series of statistics about the XYZ file currently loaded to The HYSWEEP EDITOR. File Information Display

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K. Saving Edited Multibeam Survey Files

FILE-SAVE displays the File Save dialog to provide the choice to save your data: in the HS2 format to the project's Edit directory using the same name as the open file. To XYZ format to the project's Edit directory (if no reduction is done) or Sort directory (if you choose XYZ Reduction) using a name that you will choose. If you save to XYZ format, you may choose to save all of your edited data or only what is visible in the Survey Window. You may also choose to perform a data reduction in the same manner as the MAPPER program. FILE-SAVE TO MATRIX asks you to name your file and saves the filled matrix to the project directory.

1) File Save Options in the HYSWEEP EDITOR

In the Save tab, you can choose whether to save your edited data to a single file or to a catalog file where one file represents one survey line. You can choose what data you want to save and, if you save XYZ files, specify whether to do an XYZ reduction during the edit. In this case, define the reduction criteria in the XYZ Reduction tab. You may also save your edited data to the *.SWP format from the old HYSWEEP EDITOR. We recommend that you save your data first to the HS2 format to preserve all edited data. The HS2 format retains all data should it be needed for further editing or correction of offsets, mounting angles, sound velocity, etc. Once this is saved, save it again to the XYZ format for use in the Sounding Selection and Final Products programs. File Options-Save Tab

In addition to saving edited sounding data, you can also store X, Y, Intensity data. Intensity is simply the receive amplitude of the beam. Higher amplitudes are returned by rock faces, sand and gravel; lower amplitudes from mud and silt. This being the case, rudimentary seafloor

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classification can be made by mapping intensity values. You can get some dramatic visualizations in TIN MODEL then, better still, you can export that model to a geo-referenced TIF and display it as a background chart. Sample Intensity Model High intensity returns are red and low intensity are blue.

2) Sounding Reduction on XYZ files in the HYSWEEP EDITOR

A sounding reduction, which provides the same results as the MAPPER program, may be done during the save process. Select FILE-SAVE and the File Options dialog will appear. In the Save Tab, select one of the XYZ options and the One Point per Cell option. In the XYZ Reduction Tab, choose the value you want saved to each cell, as well as the position of the sounding within the cell. We recommend using the actual position of the sounding for accuracy's sake.

3) XYZ Reduction Criteria in the HYSWEEP EDITOR

This tab is only available in the third phase of editing and provides the same results as the MAPPER program. If you choose to save XYZ data in the Save Tab, the options in the XYZ Reduction Tab specify the reduction criteria. It enables you to determine what information is saved (Minimum, Maximum, Average, Nearest to Cell Center, or Maximum minus Minimum, etc.) and if it is saved in its actual position or at the center of the cell. If you choose the Average option, set the minimum number of points a cell will need to calculate average value. Any cells with fewer than the defined number of cells will be left empty.

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File Options-XYZ Reduction Tab

Most of the Selection options are self-explanatory. Strikes enables you to save and display only soundings that are above or below a user-specified level (the Strike Depth/Elevation). It does not save the sounding, but saves the difference between the sounding and the specified level. Multiplier multiplies the depth or standard deviation value and saves the result as the Z value. Positioning enables you to save the data in its actual position (where possible) or in the center of the cell. When you save the data in the center of the cell, it moves the data, not always the best thing to do.

L. Quality Control Tests in the HYSWEEP EDITOR

Two QC tests are available in the HYSWEEP EDITOR. The Beam Angle Test estimates multibeam depth accuracy at various angle limits using a Reference Surface. The Single Beam Test compares multibeam to single beam data.

1) Creating your Reference Surface

The Reference Surface is created by a small test survey over a relatively flat bottomthe center of a dredged channel provides good results. (A flat bottom is chosen to minimize the contamination of the depth accuracy test by position error. Position specs are much looser than depth specs.) Run the survey at low or high tide to decrease potential for errors due to changing tide or water conditions. 1. Use the LINE EDITOR to create your survey lines. (No template information is needed for this process.) Eight survey lines are run--one set of four parallel lines separated by water depth and

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another set of four run perpendicular to the first set, providing 400% coverage. Perpendicular Reference Survey Lines

2. Use the MATRIX EDITOR to create a Matrix File to border the reference area (reference.mtx). Align the matrix edges with the survey lines and specify the cell dimensions to by 1'x1'. 3. Take a sound velocity cast within the reference area. 4. Take an initial tide measurement. 5. Run the reference survey and your check lines (multibeam, single beam or both) in rapid succession. 6. Take your final tide measurement. 7. Create a Tide Corrections File using the MANUAL TIDES program and your tide measurements. 8. Create a Sound Velocity Corrections File using the SOUND VELOCITY program. 9. Use the HYSWEEP EDITOR to apply your Tide and Sound Velocity corrections and to remove spikes and outliers. Limit your beam angle to 45 degrees. 10. Save the gridded average to XYZ format (reference.xyz). a. Select FILE-OPTIONS. b. In the Save Tab, select XYZ points only and Save One Point Per Cell. c. In the XYZ Reduction Tab, select Average and Use actual Position Where Possible. d. Select FILE SAVE. The processed reference survey becomes the reference surface.

2) Beam Angle Test

The Beam Angle Test compares multibeam check lines to a reference surface and estimates the depth accuracy of the multibeam system at different angle limits. The estimated accuracy can be used to determine if the multibeam system meets survey specifications. 1. Run the reference survey. 2. Run one or two multibeam check lines through the center of the reference area immediately after running the reference survey.

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Check Lines

3. Process the check lines in the HYSWEEP EDITOR to apply corrections and clean the data. No angle limits are appliedall beams are retained for statistical testing. Use your reference matrix file (reference.mtx) in the Phase Three editing. 4. Run the Beam Angle Test. a. Select TOOLS-BEAM ANGLE TEST. If you want to use all beams less than the angle limit, change the selection at the top of the Comparison tab. A file selection dialog will open. If you want to use only beams within 2.5 degrees of the angle limit, click [Open Reference Surface/Start Test]. A file selection dialog will open. b. Select the Reference Surface to which you will compare the check lines and click [OK]. The calculations will be made and the results will be graphed to the screen. The Beam Angle Test presents two graphs. The Comparison graph shows the correlation between depth accuracy and beam angle. This comparison may be based on all soundings from beams less than the angle limit or soundings from beams within 2.5 degrees of the angle limit. Typically, we see a decrease in accuracy when the beam angle exceeds 75 degrees.

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Beam Angle Comparison Graph

The Beam Angle Test also calculates the differences in depth readings between the reference surface and the check lines. It then graphs the number of differences, in increments of 0.1 survey units, in the Details Tab. Perfect accuracy would be reflected in a single vertical line centered over the zero. Since surveying technology is not perfect, you should see the data presented in a bell curve. The Depth Accuracy is the average difference calculated using data from the beams within a user-specified angle limit.

You can choose the angle limit to be used in these calculations. The graph and depth accuracy will update according to the selected depth angle. Note: The program will omit any beam angles where the data falls outside of the reference matrix. Beam Angle Details

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You can view the information in more detail by clicking [Angtest.txt]. The program will show the same information in a more detailed form. A Sample Angtest

3) Single Beam Test

The Single Beam Test provides a statistical comparison of multibeam to single beam data. 1. Run the reference survey. 2. Run one or two single beam check lines through the center of the reference area immediately after running the reference survey. Check Lines

3. Edit the single beam check lines in the SINGLE BEAM EDITOR. 4. Reformat the check lines to XYZ format using EXPORT. 5. Load the single beam check lines to the HYSWEEP EDITOR. No cleaning is required as this file has already been cleaned.

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6. Run the Single Beam Test. a. Select TOOLS-SINGLE BEAM TEST. b. Click [Open Reference Surface/Start Test]. c. Choose your reference surface to which you will compare the check lines from the file selection dialog. d. Click [OK] and the calculations will be made and the results displayed. The Single Beam Test calculates the differences in depth readings between the reference surface and the check lines. It then graphs the number of differences, in increments of 0.1 survey units. Perfect accuracy would be reflected in a single vertical line centered over the zero. Since surveying technology is not perfect, you should see the data presented in a bell curve. Single Beam Test

III. HYSWEEP CUBE (Beta Version)

CUBE stands for Combined Uncertainty and Bathymetry Estimator. The output of CUBE is a set of four grid surfaces; depth, depth uncertainty, hypothesis strength and number of hypotheses. (See the terminology discussion below if the word hypothesis makes you nervous.) Note that CUBE does not provide actual soundings as output, rather sounding estimates. While the estimates are likely as good as the actual soundings from which they are derived, and have the advantage of removing random noise from the data, there is resistance to this approach. For that reason, we provide a method of saving the soundings closest to the CUBE depth surface. There are three sections to our CUBE implementation. The error model takes into account and quantifies errors associated with multibeam survey. Some model parameters are built into the

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program; others may be entered as appropriate for the equipment used. Insertion of soundings into the CUBE model, which happens automatically at the time survey files are loaded. Extraction of the CUBE surfaces for graphical display, scanning, review and edit.

HYSWEEP CUBE reads HYPACK *.HS2 files or catalogs. We load HYSWEEP EDITOR edited files instead of raw *.HSX files. This insures you have reviewed track lines, heave and sound velocity compensation and corrected for water level. None of that is done in HYSWEEP CUBE. In the HYSWEEP EDITOR you can quit after edit phase one, as CUBE data cleaning is quite good. However we suggest that you use the HYSWEEP EDITOR to remove, at least, the outliers and the outer beams of your swath where the data tends to degrade significantly.

A. Running HYSWEEP CUBE

1. Pre-edit your data using the HYSWEEP EDITOR. 2. Launch HYSWEEP CUBE by selecting HYSWEEPHYSWEEP CUBE. HYSWEEP CUBE Shell

3. Configure CUBE Parameters. The first time you load your data, the Read Parameters dialog is automatically displayed. After that, to modify your settings, you may access the dialog by selecting FILE-READ PARAMETERS in the HYSWEEP CUBE shell.. 4. Load your pre-edited data files. HYSWEEP CUBE reads HS2 data. You can load a single file or a catalog of HS2 files. 5. View and clean your data based on the CUBE Parameters. 6. Save your data. HYSWEEP CUBE saves XYZ data where the Z value can represent the HYSWEEP CUBE estimated depth, the nearest true sounding depth or one of the quality statistics for each cell.

B. HYSWEEP CUBE Read Parameters

The first time you load your data, the Read Parameters dialog is automatically displayed. After that, to modify your settings, you may access the dialog by selecting FILE-READ PARAMETERS in the HYSWEEP CUBE shell. Note: If you modify your read parameters after you have loaded your data files, the data must be reloaded to be affected by the new read parameters.

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Node Spacing: Recall that CUBE works on a grid; this is where you enter the spacing between grid nodes. HYSWEEP CUBE Read Parameters

Click [Configuration] to configure the CUBE operational parameters: Sonar Tab: Select your sounder. If your device does not appear in the list, select Not Listed. Configuration Dialogs Sonar Device Tab

Vessel Tab: These are parameters used in calculating the uncertainty associated with each sounding. If you are uncertain about any of it, rest assured that, once you enter your GPS to Sonar offsets, the remaining default values are useable. However, if youve completely researched your equipment and installation, you may wish to over-ride the default values.

Note: We dont use offsets included in the HS2 file as they dont take pre-calculated lever arms into account. (For example, POS / MV and Coda Octopus F180 relocate position to the IMU. For these devices, the offsets must still be entered here to provide information for HYSWEEP CUBE to calculate such things as the lever arm effect. It will not double correct for position.)

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Vessel Tab

Error Model: IHO survey order is used to reject soundings exceeding error limits defined for the survey type. Use the Full MBES Error Model if your sonar is among those listed. The IHO model is not as complete and estimates depth errors primarily as a function of depth.

Error Model Tab

Read Filters: Minimum and Maximum Depths describe the depth range that will be included in your data set. Soundings outside this range are omitted. Max Angle sets the data swath width that will be included.

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C. HYSWEEP CUBE Windows

Two windows are shown simultaneously in HYSWEEP CUBE during the editing phase. The Grid window provides an overview of the data set and includes a cursor at the position that is displayed by the Node window in detail.

1) Node Window in HYSWEEP CUBE

HYSWEEP CUBE Node Window

The Node Window displays all information for a CUBE node: The status bar at the top are node easting and northing and the four CUBE surface values. The profile view shows the CUBE depth estimate and uncertainty bounds along with all soundings falling within the node. The soundings area is color-coded by survey line. The map view shows the entire depth surface with a cursor to show present location.

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2) Grid Window in HYSWEEP CUBE

HYSWEEP CUBE Grid Window

The Grid window provides visualization of CUBE surfaces to assist the editing process. CUBE Depth Uncertainty Ratio Hypothesis Count Select the surface of interest using the drop-down list and zoom / rotate with the sliders. The light bulb enables illumination which is helpful in detecting small depth variations and anomalies. A cursor is overlaid on the surface at the location of the node currently displayed in the Node window. The cursor moves across the surface as you navigate and scan.

D. View Options in HYSWEEP CUBE

To access the View Options dialog select VIEW-OPTIONS (F9). View Options

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Auto Zoom aligns the current node to the center of the Grid window. Zoom and rotate occur about this point. If this option is cleared, zoom and rotate occur about the center point of your data set. Color Bar displays a legend on the right side of the Grid Window. Black Background toggles between black and white backgrounds in both windows.

E. Editing your Data with HYSWEEP CUBE

Now that you have your data loaded into the program, eliminated the largest errors through your Read Parameter filters, and set your display options in HYSWEEP CUBE, you are ready to let CUBE work its magic. 1. In the Node window, set your limits for CUBE surface scanning. Minimum and maximum depth may or may not be useful. The read filters might have been used to remove soundings outside known limits. Uncertainty may be useful, but there is a catch. The CUBE algorithm assigns high uncertainty to nodes at the edge of the survey. This is reasonable except it makes scanning on uncertainty limits tedious; almost all hits are at the edges. Ratio: A high ratio indicates a suspect depth estimate and scanning for ratios greater than 2 will often locate suspicious depths. Hypothesis Count: Multiple hypotheses are also cause for suspicion. Scanning for hypothesis count greater than 1 will locate nodes where CUBE was unable to estimate depth without some level of ambiguity. The user is allowed to select between CUBE depth hypotheses using the drop-down list provided in the Node window. 2. Scan your data for a node that falls outside of your CUBE parameters. You can navigate through the survey: Manually through the cells one-by-one using the arrow buttons. Automatically using the Binocular Icons. Start Scan (left) begins your scan at the beginning of your dataset and finds the first point that falls outside any of your scan limits. Scan Forward (right) and Scan Back (center) search for the next and last point outside of your scan limits respectively. 3. Choose the final output for each point found by the scan. When a node is found outside scan limits, it is up to you to decide to: Delete the node completely (unlikely) by clicking the Remove Node from CUBE Surface button. Choose an alternate depth hypothesis. Click [Select Alternate Hypothesis] in the Node window and a list of hypotheses will be

Scan Icons:

Remove Node Icon

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displayed, each with their level of uncertainty. Select a different solution and click [OK]. The Grid window display will update according to your selection. Choosing an Alternate Hypothesis

Accept the initial CUBE hypothesis: do nothing; just continue scanning.

4. Continue to scan through your data, choosing the depth for each found point, until you reach the end. 5. Save your data. Your data will be saved to an XYZ file which will be placed, by default, in your Sort directory.

F. Saving Files from HYSWEEP CUBE

You can choose to save values from any of the CUBE surfaces or the true sounding nearest to the depth estimated by CUBE. 1. Select FILE-SAVE TO XYZ. The Save XYZ dialog appears. Save XYZ Dialog

2. Make your selection. Remember, the CUBE Depth Estimate is HYSWEEP CUBEs best estimate of the depth at each location; it is not a true sounding. To save true sounding values, select Sounding Nearest CUBE Estimate. The remaining options save statistical information generated in HYSWEEP CUBE and saved as survey quality control information. 3. Click [Save]. The Save dialog remains open until you click [Close] to allow you to save more than one set of surface values.

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IV. Clipping Survey Files

You can clip sorted XYZ files to fit an area defined by a Border File. 1. Create a Border File that outlines the area you want to work with. In this example, we will include lines 0 to 4. Clipping XYZ files with a Border File (Before)

2. Right click on the XYZ file you wish to clip and select CLIP TO BORDER FILE. A file selection dialog will appear. 3. Select your Border File. 4. Name your clipped survey file. The file will be saved with an XYZ extension to your Sort directory and added to your available data files list. Clipping XYZ files with a Border File (After)

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V. Sounding Selection Programs for Multibeam Surveys

HYPACK has two different routines for Sounding Selection for multibeam surveys. One may be more appropriate than another, depending on your final product. Before we go any further, lets look at the normal input to the different final product programs. Program Input Files Cross Sections & Volumes Edited files from the EDITOR program Hyplot Track lines Edited files from the EDITOR program Hyplot Soundings Sorted files from Sounding Selection routine Export Edited files or sorted files TIN Model Sorted files from Sounding Selection routine (unless you have a lot of time on your hands!)

A. Comparison of Sounding Selection Methods for Multibeam Data

The following sections take a closer look at the MAPPER and SOUNDING REDUCTION programs. These programs can be used as an alternative to the XYZ Reduction option in the HYSWEEP EDITOR. MAPPER SOUNDING REDUCTION HS2 format SWP format XYZ format Edited single beam All format ASCII XYZ or XYZ ID Matrix (*.MTX) Matrix (*.MTX) Yes, to the nearest active survey line. No Minimum, Maximum, range, average, closest to cell center Fast Optional, depending on sounding selection Can be Edited *.XYZ files

Method Input file Type

Output File Type Other Files Needed Plot Results Perpendicular to Planned Line Guaranteed No Overwrites in Plotting Sounding Selection Speed Maintains Sounding Location Pleasing to the Eye

ASCII XYZ No Yes, to the nearest active survey line. No None Not bad for all that it does! Yes Beauty is in the eyes of the beholder.

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Note: XYZ Reduction in the HYSWEEP EDITOR produces the same results as MAPPER.

B. Mapper Program
The MAPPER program is a binning or gridding program. It is normally used to reduce the volume of multibeam or multiple transducer data, but it can also be used with single beam data. You must make a Matrix file (*.MTX). A Matrix file consists of a rectangular area filled with individual cells. The MAPPER program can save one sounding for each cell using the HYPACK color scheme. It is extremely fast It can be used to judge the quality (range per cell) of the data. It can be biased to select the data important to you. If you go to plot it, soundings may overlap. You can move soundings if you elect to save the soundings at the center of the cell. You may not plot soundings perpendicular to the planned line.

Advantages:

Disadvantages:

1) Mapper Program Procedure

The MAPPER Window

1. Check for a Matrix File (*.MTX). You will need one for the MAPPER program. Details on making one, if you do not already have one, are found in the PREPARATION section of this manual. 2. Begin the MAPPER program by selecting PROCESSINGSOUNDING SELECTION- MAPPER. 3. If you are using dual frequency data, set your file options. Select FILE-OPTIONS and select your options.

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Matrix File Options

4. Open your Matrix File (*.MTX) by selecting FILE-OPEN MATRIX and choosing the correct file from the file selection dialog that appears and click [OK]. 5. Set what data should be included in the matrix . If you have chosen a filled matrix, the Matrix Update dialog appears. Selecting the Data in your Matrix

Data Loaded Only the current matrix data. Load new data to the matrix Current matrix data merged with additional data.

You have several choices. Notice, if you are using data from a filled matrix, you must indicate which depth to use as the Survey Depth in the new matrix. Any added soundings will overwrite the original matrix data. Load Soundings Add Soundings To Matrix From Matrix Yes No No Yes and click the button corresponding to the type of the file where your data is currently saved to select from a file selection dialog. Yes and click the button corresponding to the type of the file where your data is currently saved to select from a file selection dialog. If you wish to add more sounding data to the current matrix, select FILE-LOAD SOUNDINGS and choose the

Yes

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additional sounding files. MAPPER can read sounding data in HS2, SWP, XYZ or MTX format. Once the data has been read into the Matrix, it is displayed in the MAPPER window. 6. Set your mapping options. There are several choices regarding the sorting and display of your data in MAPPER. These options are detailed under "MAPPER Options". 7. Save your results by selecting FILE-SAVE SOUNDINGS. You can you to save the current selections to either an ASCII XYZ or MTX file.

2) Mapper Options
The Options menu provides a selection of dialogs where you can choose how your data is displayed. These choices involve matrix properties, depth colors and which depth is represented in each matrix cell.

(a) Mapper Data Selection Options

The Data Selections Window in MAPPER

Sounding Selection determines which value will be saved to each matrix cell. Minimum Nearest to Cell Center Maximum Strikes Range Best Angle Average Range is the maximum minus the minimum sounding value. Strikes enables you to save and display values only for soundings that are above or below a user-specified level. It does not save the sounding, but saves the difference between the sounding and the specified level. The Strike Basis specifies whether strikes should be based on the

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amount the depth is less than the strike level (Depth) or the amount the depth is deeper than the strike level (Elevation). Best Angle allows you to set which beam from a multibeam sensor is read to update the matrix. Note: The sounding nearest to cell center at its actual position will give you the best volumes calculations. Draw lets you specify whether to draw the matrix presentation screen as solid color-filled cells or a wire mesh pattern. Positioning enables you to save the data in its actual position (where possible) or in the center of the cell. When you save the data in the center of the cell, it moves the data-- not always a great thing to do. Z-Value Options: [Negate All] inverts all depths. Remove Below and Above omit all cells whose depths according to the user-defined criteria.

(b) Mapper Matrix Fills

The Options menu also enables you to: Erase the data from a filled matrix by selecting OPTIONSCLEAR MATRIX. Fill your matrix with a user-defined depth by selecting OPTIONS-FILL MATRIX. The Fill Matrix dialog will appear for you to set the depth. Click [OK] and the results will be drawn to the MAPPER screen. Fill Matrix Dialog

Matrix Filled with Uniform Depth

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(c) Mapper Color coding

Select OPTIONS-COLOR CODING to access the Color Settings Dialog. This is the same dialog that is used to set the depth colors in HYPACK. (See "Sounding Color Settings in HYPACK" in the Introduction for detailed directions.) Any changes made here will be displayed in the legend displayed in the MAPPER dialog. They will also affect HYPACK and SURVEY. These settings do not affect the display of seabed identification colors.

(d) Mapper Matrix Setup

Matrix Setup enables you to edit the matrix parameters. The number of matrix cells and the approximate memory required to use a matrix with the listed specifications in the MAPPER process can be calculated and displayed by clicking [Calculate]. If you are not satisfied with the options, you can change the specifications for the matrix and recalculate. Note: If the Matrix is changed, data must be re-read into the matrix, using the OPEN SOUNDINGS menu item . The Matrix options dialog in the MAPPER OPTIONS Menu

3) Mapper Statistics
Statistics provides a plot of the Number of Data points vs. Depth Range per Cell.

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The Statistics Window in MAPPER

Dxf Output tells the MAPPER program how to construct the DXF Output Polylines. It can be lines along the Matrix length, width or both.

C. Sounding Reduction Program

The SOUNDING REDUCTION program reads your XYZ data file and eliminates points where the surroundings are almost the same based on user-defined criteria. The results are saved in XYZ format, by default, to the project's Sort directory.

1) Sounding Reduction Procedure

1. Select PROCESSING-SOUND SELECTION-SOUNDING REDUCTION. The Soundings Reduction window will appear. 2. Select FILE-OPEN (or click the icon) and choose the file you wish to reduce from the file selection dialog that appears. If the Smart Max Distance is checked, the Max Distance in the selected file will be displayed. The number of Input Points will be displayed under Reduction Status. 3. Enter your Reduction Parameters. 4. Click FILE-RUN REDUCTION (or click the icon). The reduction will be calculated and the related statistics will be displayed on the right-hand side of the screen. If you are not satisfied with the resulting statistics, repeat the same steps beginning with selecting FILE-OPEN and changing your parameters until you are satisfied. 5. Save your Reduced File. HYPACK will suggest the name and directory for your reduced file. Select FILE-SAVE or FILE-SAVE AS (or click the icon). The reduced set will be saved and you will return to the main window.

2) Sounding Reduction Parameters

The program reads the soundings and connects them to each other forming triangular areas (tetrahedrons). You may then define the Maximum Distance you wish to allow between points in your reduced

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data set and the Maximum allowable angle between these connecting lines. The larger each of these numbers is, the greater reduction may occur and the fewer small variations in readings will remain in your data set. The Reduction Window

On the left-hand side of the window are the parameters that are userdefined criteria for the reduction process. Max. Distance defines the maximum allowable horizontal distance between points. If you have large flat areas, this value will prevent large empty areas in your data set. Smart Max. calculates maximum distance based on the selected set of points. It overrides the default Max. Distance value and displays the calculated value for the selected data set. Reduction Level is maximum allowable angle between the base and vertex. If any of the angles exceed this angle, the point will remain. Height of Peaks determines the minimum allowable vertical distance between the connected points. If the apex of a tetrahedron is greater than this distance above its base, it will remain in the data set. Note: If the apex of a tetrahedron falls outside of the area described by its base, the apex will remain in the data set. Height of Peaks

Apex falls within the area defined by the base.

Apex falls outside the area defined by the base.

Optimize Speed or Reduction seems pretty self-explanatory.

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3) Sounding Reduction Statistics

After the reduction has been calculated, the right-hand side of the window displays several statistics about your proposed reduction. Input Points is the number of points in your original data set. Output Points is the number of points in your set after the reduction. Reduction Time is the amount of time the reduction will take. Actual Reduction is the percentage of points that would be discarded. Reduction Error Statistics may tell you something if youre a statistician. Basically, they tell you a little about how much flattening would occur during the process and an approximation of the error introduced. If the statistics are not acceptable, change your parameters.

4) Sounding Reduction Setup

FILE-SETUP enables you to set the default values to be displayed in the Soundings Reduction window. The options are mostly the same as those in the Sounding Reduction dialog. Initialize With gives you the option to choose Last Working Settings or This Setup. The Setup Window

5) Sounding Reduction Example

Example: Do a sounding reduction on the Dam7000b.xyz file in the \HYPACK\PROJECTS\DAM\EDIT directory. Try the parameters of Maximum Distance = 300 and Reduction Level = 10. Run a second calculation with the parameters of Maximum Distance = 192 and Reduction Level = 20. Save the results of the second calculation to Dam7000b_r.xyz in the same directory. Solution: 1. Select PROCESSING-SOUND SELECTION-SOUNDING REDUCTION from the Main Menu. The Soundings Reduction window will appear.

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The SOUNDING REDUCTION Window Before the Reduction Calculation

2. Select FILE-OPEN and choose Dam7000b.xyz, in the \HYPACK\PROJECTS\DAM\EDIT directory. The number of Input Points =1989 will be displayed under Reduction Status. If Smart Max Distance is selected, the Max. Distance will be 192. 3. Enter your Reduction Parameters. Enter Max. Distance = 300 and Reduction Level =10. The SOUNDING REDUCTION Window After the Reduction Calculation

4. Click FILE-RUN REDUCTION. The reduction will be calculated and the related statistics will be displayed on the right-hand side of the screen.

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The Results of the Second Calculation

5. Repeat the same steps beginning with selecting FILE-OPEN and changing your parameters to Max. Distance=192 and Reduction Level=20. 6. Save your Reduced File. HYPACK will suggest the name Dam7000b_r.xyz and the projects edit directory. Click [Save], the reduced set will be saved and you will return to the main window.

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4. Multibeam Appendix
I. Multibeam Survey Advantages
So youre interested in multibeam surveying. Known also, at times, as sweep, swath, multi-transducer and full coverage surveying. There is never a shortage of terms and buzzwords, but a picture is worth a thousand words, so take a look at the following figure and see what multibeam surveying is about. TIN Model of 6 lines of multibeam sonar data. The sonar is a hull-mounted, Reson Seabat 9001, collected, processed and modeled entirely by HYPACK/ HYSWEEP . Data collection courtesy of USACE, Los Angeles District. This lunar-looking image shows dredging progress at the entrance of Los Angeles Harbor. While the image is presented three dimensionally with artificial illumination, the data from which the image is created is accurate to IHO standards bathymetrically. What an advantage it is to have this type of technology. If this area were surveyed with a traditional single transducer boat, what would it look like? The answer is shown below. I wonder if the volumes would come out the same? TIN Model of the same data shown before, using only the nadir (vertical) beam.

So the figures show why there is so much interest in multibeam surveying. If it was cheap and easy, we would all be working on multibeam boats and processing multibeam data. There must be a catch. Well, yes, I suppose there is.

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You will pay considerably more for a multibeam than for a single beam system. But cost justification is usually not the concern of surveyors, so lets not worry about that. Are multibeam systems easy to use? Thats a yes-and-no type of question. When everything is working well, it is just as easy to collect multibeam as single beam data, in many cases easier. Its the part about getting things to work well thats a bit harder. Also, the office people will be working with much more data than they were previously used to. Of course, the automatic processing tools of HYSWEEP software make it easy to process all this data. Really!

II. Sweep Sonar Systems

The fundamental idea behind sweep sonar is this; instead of sounding directly beneath the boat, as with single beam systems, the sweep sonars extend the soundings off to the sides. Hence, it is possible to sound an area (as opposed to a line) with a single pass. It is easy to see now why the terms sweep and swath are used. And when the sweep boat returns with some overlap in the ensonified area (ensonifies translates to illuminated by sound), it is clear why we speak of full coverage surveying. Map view of Sweep and single beam transducer boats. The Sweep boat sounds an area, the single bean boat sounds a line.

So, how is it that a sweep boat can sound off to the side? There are two methods supported by HYSWEEP software and now we get a little subtle with the terms. The figure below shows what we call a multitransducer system. The separation of the transducers allows for sweep coverage, even though the sonar beams are directed straight downward.

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Typical Multi Transducer System

The second type is what we call multibeam. The sonar beams originate from the same approximate location, with sweep coverage attained through varying beam angles. Typical Multibeam System

There are benefits and drawbacks associated with each type. Multitransducer boats have a constant sweep width (usually referred to as coverage) regardless of water depth, making them well-suited for work in very shallow water. Note that the coverage is approximately 60 feet - typical for boats working on the Mississippi River. Boats such as this are not suitable to rough waters due to the lengthy booms on which the transducers are mounted. Multi-transducer systems are relatively simple in theory and operation, just 10 (or 12 or whatever) transducers lined up next to each other. People with single transducer experience should have no trouble adapting to multi-transducer. Multibeam boats can survey in much rougher water, with certain disclaimers. We have seen good results with up to 3-foot heave and +/10 degrees pitch and roll, but there is a limit. Multibeam systems offer greater coverage in moderate water depth. In the figure to the right, with water depth of 20 feet and fan of 90 degrees, the sweep width is approximately 40 feet. With this configuration, coverage is twice water depth, so beyond 30 feet, the coverage is greater than with the multitransducer. Some multibeam sonars can be tilted as shown in this figure for bank and jetty surveys. They may also be purchased with angular coverage of much greater than 90 degrees.

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Multibeam Sonar Tilted to survey a Jetty

The power of the multibeam sonars is that the narrow beams may be directed at practically any angle with great accuracy. These directed beams are also the source of all the complications including acoustic refraction, pitch and roll compensation, patch tests, etc. Thats why training courses are offered!

III. Devices Supported in HYSWEEP Hardware

Driver Analog Side Scan Atlas Bomasweep Atlas Fansweep (Network) Atlas Fansweep (Serial) Benthos C3D Cmax CM2 Cmax CM2 USB Coda_Octopus F180 Generic Attitude GeoAcoustics GeoSwath HYPACK Navigation Imaginex Delta T Imaginex 881 Sportscan Imaginex Yellowfin KVH Gyrotrac NMEA-0183 Gyro Odom Echoscan II Odom Miniscan Reson 7125 Description Side Scan driver Multiple transducer driver Multibeam driver using the network interface Multibeam driver using the COM port interface Side Scan driver Side Scan Side Scan F180 Attitude and Positioning System Generic Pitch, Roll, Heading driver Mulitbeam Side Scan driver Link to HYPACK Survey Delta T Multibeam driver Imaginex Sportscan Side scan driver Yellowfin Side scan driver Heading, pitch and roll driver Gyro driver for NMEA HDT messages Multibeam driver Multiple transducer driver Multibeam driver

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HYSWEEP Processing 113

Driver Reson Dual 8101 (NY) Reson Seabat 8101 Reson Seabat 81xx (Network) Reson Seabat 81xx (Serial) Reson Seabat 9001 Reson Seabat 9003 Ross Smart Sweep Seabeam 2100 Seabeam SB1000 Series Seatex MRU6 SG Brown 1000S Gyro Simrad EM1002 Simrad EM2000 Simrad EM3000 Simrad EM3002 Simrad SM2000 Tritech SeaKing TSS 335 TSS DMS TSS Pos/MV

Description Dual Head Seabat Multibeam driver 8124, 8125 and newer 8101 multibeam driver using the network interface 8124, 8125 and newer 8101 multibeam driver using the COM port interface Multibeam driver Multibeam driver Multitransducer Multibeam driver Multibeam driver Heave, pitch and roll driver Gyro driver Multibeam driver Multibeam driver Multibeam driver Multibeam driver Multibeam driver Scanning sonar Heave, pitch and roll driver Heave, pitch and roll driver Pos/MV Heave, pitch, roll and heading driver

IV. CUBE Terminology

CUBE: Combined Uncertainty and Bathymetry Estimator which provides error modeling, automated data cleaning and reasonable bathymetric estimates. It was invented to speed processing of multibeam data while providing uncertainty information to validate the results. A bathymetric estimation point, including the uncertainties involved with the estimation. A regularly spaced grid of CUBE nodes encompassing the survey area. Each CUBE node has one or more depth hypothesis. In this context, a hypothesis is a set of soundings, consistent within themselves, leading to a reasonable depth estimate.

CUBE Node: CUBE Grid: Depth Hypothesis:

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Hypothesis Strength: Multiple Hypotheses:

See ratio. More than one depth hypothesis may exist within a node. Consider sounding over a school of fish; perhaps half the soundings are returned by the fish and the other half are bottom returns. Each set of soundings (depth hypothesis) is consistent within itself, but CUBE is constrained to choose only one. Choosing the correct depth hypothesis from 2 or more. Automatically done in CUBE by comparison with surrounding nodes. Of course the user has the option of over-riding that selection. Indicator of the strength of the depth hypothesis, zero being best and 5 being worst.. Ratio = 5 ns / ( na ns ) where: ns = # depth samples in selected hypothesis and, na = # depth samples in all hypotheses. Examples from strongest to weakest: In the case where there are 2 hypotheses, the selected hypothesis with 40 samples and the alternate with 10, ratio = 5 40 / (50 40 ) = 1. In the case where there are 2 hypotheses each with 20 samples, ratio = 5 20 / (40 20) = 4. In the case where there are 3 hypotheses each with 20 samples, ratio = 5 20 / (60 20) = 4.5 In the case where there are 2 hypotheses, the selected hypothesis with 10 samples and the alternate with 40, ratio = 5 10 / (50 10 ) = 4.75.

Multiple Hypothesis Disambiguation: Ratio:

Uncertainty:

This is the 95% confidence level associated with each CUBE depth. It is a function of the variance of the soundings used in estimation.

V. HSX Format HYSWEEP Text (ASCII) Logging

HYSWEEP survey has a Text logging option (HSX format), allowing raw data to be stored in a format that can be inspected and modified by most editing program (Windows Wordpad for example). Easy inspection of files is the advantage of text logging - the disadvantage is larger files and slower load time. If file size and load time are important to you, it is best to choose the HYSWEEP binary format (HS2). HSX files are generally compatible with HYPACK SURVEY raw format, allowing HYPACK programs (HYPACK, HYPLOT, etc.) to work with HSX files. The differences involve logging and processing of multibeam data, which is by the HYSWEEP extensions to HYPACK.

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Each file contains two sections; a header, which is written when data logging starts, and a data section, which is written as data is collected. Most records starts with a three character tag.

1) HSX Header Strings (a) DEV HYPACK Device Information

Format Where DEV dn dc name dn dc device number Device capabilities (bit code) 1, 2, 4, 8 Position 16 depth 32 heading 512 MRU 32768 extended capabilities name Sample Line (GPS positions, speed and heading) Device Name DEV 0 100 "GPS"

(b)

DV2 Hysweep Device Information

DV2 dn dc tf en device number HYSWEEP Device capabilities (bit code) 0001 - Multibeam Sonar 0002 - Multiple Transducer sonar 0004 - GPS (Boat Position) 0008 - Sidescan Sonar 0010 - Single Beam Echosounder 0020 - Gyro (boat heading) 0200 - MRU (heave, pitch and roll compensation)

Format Where dn dc

tf en

1 if device is mounted on a tow fish 1 if device is enabled

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Sample Line

DV2 0 1 0 1

(c)

EOH - End of Header

This tag indicates end of header and has no data.

(d)

EOL - End of Planned Line

This tag indicates end of planned line information - no data.

(e)

FTP File Type (Hypack File Identifier)

FTP NEW 2 Identifies Hypack 8.9 raw file. Always 1st record in file.

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(f)

HSP Hysweep Survey Parameters

Format Where HSP p1 p2 p3 p4 p5 p6 p7 p8 p9 p10 p11 P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 Sample Line minimum depth maximum depth port side offset limit starboard side offset limit port side beam angle limit starboard side beam angle limit high beam quality; codes >= this are good low beam quality: codes < this are bad sonar range setting towfish layback work units: 0=meters, 1=us foot, 2=intl foot HSP 5.0 45.0 160.0 150.0 60 60 3 1 328.0 0.0 1

(g) HSX HSX File Identifier

Format Where HSX vn vn HSX format version number. HSX Format Versions: 29-Mar-2000 11-Sep-2000 18-Jun-2001 05-Jun-2003 0 1 2 3 HYPACK MAX 0.4 HYPACK MAX 0.5 HYPACK MAX 0.5B HYPACK MAX 2.12A Remove TFP (tow fish position) records Always 2nd record in file Sample Line HSX 0

(h) INF - General Information

Format Where tc dc sv INF "surveyor" "boat" "project" "area" tc dc sv initial tide correction initial draft correction (boat) sound velocity

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Sample Line

INF "steve" "LCH 19" "mcmillen" "617.6 to 618.2" -0.70 0.00 1500.0

(i) LBP - Planned Line Begin Point.

Format Where LBP x y x x grid position y grid position LBP 5567222.42 3771640.72

y Sample Line

(j) LIN - Planned Line Data follows

Format Where LIN nw nw Number of waypoints LIN 5

Sample Line

(k) LNN - Planned Line Name

Format Where LNN text line name or number LNN 14 text Sample Line

(l) MBI Multibeam / Multiple Transducer Device information

Format Where MBI dn st sf bd n1 n2 fa aI dn st device number sonar type code 0 invalid 1 fixed beam roll angles (e.g., Reson Seabat) 2 variable beam roll angles (e.g., Seabeam SB1185) 3 beam info in spherical coordinates (e.g., Simrad EM3000) 4 multiple transducer (e.g., Odom Miniscan) sf sonar flags (bit coded hexadecimal) 0001 roll corrected by sonar 0002 pitch corrected by sonar 0004 dual head

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0008 heading corrected by sonar (version 1) 0010 medium depth: slant ranges recorded to 1 dm res. (version 2) 0020 deep water: slant ranges divided by 1 m resolution (ver 2) Note default is shallow water: 1 cm resolution

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bd

beam data (bit coded hexadecimal) 0001 beam ranges are available (work units) 0002 sounding point easting available (work units) 0004 point northing available (work units) 0008 point corrected depth available (work units) 0010 along track distance available (work units) 0020 across track distance available (work units) 0040 beam pitch angles available (degrees, TSS convention) 0080 beam roll angles available (degrees, TSS convention) 0100 beam takeoff angles available (degrees from vertical) 0200 beam direction angles available (degrees from forward) 0400 ping delay times included (milliseconds) 0800 beam intensity data available 1000 beam quality codes (from sonar unit) available 2000 sounding flags included

n1 n2 fa ai Sample Line

number of beams, head 1 (multibeam) or number of transducers (multitransducer) number of beams, head 2 (multibeam) first beam angle is for sonar type = fixed angle (degrees, TSS convention) angle increment is for sonar type = fixed angle (degrees, TSS convention) MBI 1 1 0 1801 60 0 44.250 -1.500

(m)

0F2 HYSWEEP Device Offsets

OF2 dn on n1 n2 n3 n4 n5 n6 n7 dn device number

Format Where

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Index 121

on

offset number 0 position antenna offsets 1 gyro heading offset 2 MRU device offsets 3 Sonar head 1 / Transducer 1 offsets 4 Sonar head 2 / Transducer 2 offsets 131 Transducer 128 offsets

n1 n2 n3 n4 n5 n6 n7 Sample Line

Starboard / port mounting offset. Positive starboard Forward / aft mounting offset. Positive forward Vertical mounting offset. Positive downward from waterline Yaw rotation angle. Positive for clockwise rotation Roll rotation angle. Port side up is positive Pitch rotation angle. Bow up is positive Device latency in seconds OF2 0 3 6.2 1.3 6.1 2.15 -0.27 1.00 0.000

(n) PRI - Primary Navigation Device

Format Where PRI dn device number PRI 0 dn Sample Line

(o) PTS - Planned Line Waypoint

Format Where PTS x y x waypoint easting in work units waypoint northing in work units PTS 5569134.63 3774182.61

y Sample Line

(p) SSI Sidescan Device Information

Format Where SSI dn sf np ns dn sf device number sonar flags (bit coded hexadecimal) 0100 amplitude is bit-shifted into byte

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storage np ns Sample Line number of samples per ping, port transducer number of samples per ping, starboard transducer SSI 1 256 1024 1024

(q) SVC Sound Velocity Correction

Format
Where

SVC bd ed sv bd ed layer begin depth in work units, referenced to water surface layer end depth in work units layer sound velocity in meters/second SVC 0.0 1.0 1481.66

sv Sample Line

Normally, there will be many of these records contained in the file header. One for each layer (velocity zone) measured by the sound velocity profiler.

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(r) TND - Survey Time and Date

Format Where TND t d t time string date string TND 15:54:33 08/28/95

d Sample Line

2) HSX Data Strings (a) DFT Dynamic Draft (Squat) Correction

Format Where DFT dn t dc dn t dc Sample Line device number or 99 time tag (seconds past midnight) draft correction DFT 99 57273.81 0.30 draft correction of -0.30

(a) FIX - Fix (Event) Mark

Format Where FIX dn t n dn t n Sample Line device number or 99 time tag (seconds past midnight) event number FIX 99 57273.81 15 event number 156

(b) HCP - Heave Compensation

Format Where HCP dn t h r p dn t h r p Sample Line device number time tag (seconds past midnight) heave in meters roll in degrees (+ port side up) pitch in degrees (+ bow up) HCP 2 57273.81 0 3.61 0

(c) EC1 - Echo Sounding (single frequency)

Format Where EC1 dn t rd dn device number

124 Index

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t rd Sample Line

time tag (seconds past midnight) raw depth EC1 0 48077.365 13.20

(d) GPS GPS measurements

Format Where GPS dn t cog sog hdop mode nsats dn t COG SOG HDO P Mod e device number time tag (seconds past midnight) Course Over Ground (degrees) Speed Over Ground (knots) GPS HDOP GPS mode 0 : unknown 1: stand alone 2: differential 3: RTK NSat s Number of Satellites

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Index 125

Sample Line

GPS 0 57274.044 124.4 5.66 2.1 2 4

(e) GYR - Gyro Data (Heading)

Format Where dn t h Sample Line GYR dn t h device number time tag (seconds past midnight) ship heading angle GYR 0 57274.04 193.71

(f) POS - Position

Format Where POS dn t x y dn t x y Sample Line device number time tag (seconds past midnight easting northing POS 0 57274.042 5569070.02 3774080.46

(g) RMB Raw Multibeam data

Format Where RMB t st sf bd n sv pn settings NSats dn t St sf Bd n Sv Pn Setting s NSats device number time tag (seconds past midnight) Sonar type (See MBI) Sonar flags (See MBI) Available beam data (See MBI) Number of beams to follow Sound velocity in M/sec Ping number ( or 0 if not tracked) Optional field which provides info on current sonar settings Number of Satellites

126 Index

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Sample Lines

Seabat 9001 storing slant ranges, quality codes and sounding flags: RMB 1 27244.135 1 0 E0 1500.00 0 60 19.50 19.31 18.60 1.66 18.47 (60 slant ranges in work units) 3 3 3 0 3 (60 quality codes) 0 0 0 1 0 (60 sounding flags) Multiple transducer storing 8 raw depths: RMB 1 27244.135 4 0 0 1500.00 0 60 31.44 33.01 32.83 32.80 (8 raw depths in work units) Dual-head Seabeam SB1185 storing range, beam pitch and roll angles, ping delay times, beam quality code and sounding flags: RMB 1 27244.135 2 5 D2 1500.00 0 108 93.18 88.30 84.74 80.46 (108 slant ranges in working units) -69.72 -68.53 -67.36 -66.15 (108 beam roll angles in degrees) 0 0 0 67 (108 ping delay times in msecs) 7 7 7 7 (108 beam quality codes) 0 0 0 0 (108 sounding flags)

Immediately following the RMB record is a record containing slant ranges (multibeam) or raw depths (multiple transducer). Following the ranges are 0 to n additional records depending on the bd (beam data) field.

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Index 127

(h) RSS Raw Sidescan

Format Where dn t sf RSS dn t sf np ns sv pn alt sr amin amax bs device number time tag (seconds past midnight sonar flags (bit coded hexadecimal) 0100 amplitude is bit-shifted into byte storage np ns sv pn alt sr ami n ama x bs Sample Line number of samples, port transducer (downsampled to 2048 max number of samples, starboard transducer (down-sampled to 2048 max sound velocity in m/sec ping number (or 0 if not tracked altitude in work units sample rate (samples per second after downsample) amplitude minimum amplitude maximum Bit shift for byte recording RSS 3 61323.082 100 341 341 1460.00 0 10.75 4983.47 0 4096 4 109 97 84 95 120 111 (341 port samples) 106 93 163 106 114 127 (341 starboard samples) Immediately following the RSS record are two records containing port and starboard amplitude samples.

(i) TID Tide Correction

Format Where dn t tc Sample Line TID dn t tc device number or 99 time tag (seconds past midnight tide correction TID 99 57273.814 1.30 tide correction of -1.30

128 Index

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Index 3D seafloor window. See Hysweep Survey:windows:3D seafloor advanced read parameters Hysweep Editor. See Hysweep Editor:settings:advanced read parameters alarms Hysweep Survey heave drift, 22, 32 multibeam sounding overlap, 22, 32 multibeam vs single beam, 22, 32 nadir depth, 28 settings, 22, 31 sound velocity correction, 36 alignment device with vessel, 11 all format-edited Hysweep Editor, 51 Analog Side Scan overview, 4 settings, 5 angle limits Beam Angle Test, 86, 87, 88 filters Hysweep Editor, 54, 63, 86 Hysweep CUBE, 91 autosearch Hysweep CUBE, 96 Hysweep Editor, 73 azimuths grid azimuth Hysweep Editor, 73, 79, 80 line azimuth Hysweep Editor, 72 beam angle display Hysweep Editor, 77 beam angle filters Hysweep Editor, 54, 63, 86 Beam Angle Test check lines, 86 overview, 86 procedure, 86 reference survey, 85 settings, 87 angle limit, 88 bearing measurements Hysweep Editor, 73, 79, 80 Hysweep Survey, 23 Side Scan Survey, 26 block editing

Hysweep Editor, 73, 80, 81 boat shapes displaying Hysweep Survey, 33 follow boat Hysweep Survey, 33 Hysweep Survey follow boat, 33 positions, 26 tracklines, 26 orientation, 7 border files clipping survey data, 98 editing survey data, 67 loading Hysweep Editor, 67 border tool - Hysweep Editor, 75, 80 BRD files Hypack Max, 98 calibration tests Patch Test, Error! Not a valid bookmark in entry on page 10 catalog files naming, 34 saving Hysweep Survey, 38 cell window. See Hysweep Editor:windows:cell window centerlines loading Hysweep Editor, 52 chainage Hysweep Editor, 52 channel templates displaying Hysweep Editor, 62 loading Hysweep Editor, 62 settings Hysweep Editor, 62 charts displaying Hysweep Editor, 58 check lines Beam Angle Test, 86 reference surveys, 86, 89 Single Beam Test, 89 CHN files Hysweep Editor, 62 color settings

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Index 129

Hysweep Editor, 60, 77 Hysweep Survey, 29, 30, 33, 34 Mapper, 104 COM Test, 5 coverage map window. See Hysweep Survey:windows:coverage map window cross lines Beam Angle Test, 86 reference surveys, 86 cross sections (data) displaying Hysweep Editor, 15, 58, 79 Hysweep Survey, 27 patch test, 15 CUBE. See Hysweep CUBE Data Adjustments program correcting offset errors, 19 overview, 19 procedure, 19 data logger Hysweep Survey, 37, 38 DBL (Distance from Beginning of Line) Hysweep Editor, 51 depth mode Hysweep Editor, 49, 50, 51, 69 depths corrected, 44, 50 correcting Hysweep Editor, 44 displaying Hysweep Editor, 48, 58, 59, 60, 74, 79, 81 Hysweep Survey, 23, 24, 25, 26, 28 filtering. See Also Sounding Selection programs, Hysweep Editor:XYZ reduction Hysweep Editor, 45, 54, 63 presorting Hysweep Editor, 54 device drivers listing Hysweep Hardware, 1, 113 device settings displaying Hysweep Editor, 19, 53 editing Hysweep Editor, 19, 53 Hysweep Hardware, 9 distance measurements Hysweep Editor, 73, 79, 80

Hysweep Survey, 24, 25, 26 draft/squat corrections applying Hysweep Survey, 35 creating Hysweep Survey. See Also squat and settlement table displaying Hysweep Editor, 68, 77 Hysweep Survey, 23 editing Hysweep Editor, 68 driver setup dialog Hysweep Hardware, 2 echosounders Hysweep CUBE, 91 multiple transducer offsets, 8 types comparison, 112 multibeam, 111, 112 multiple transducer, 111 elevation mode Hysweep Editor, 49, 50, 51, 69 elevations-corrected, 44, 50, 56 events displaying Hysweep Editor, 77 Hysweep Survey, 23, 42 examples Patch Test, 16 Sounding Reduction, 107 file information Hysweep Editor, 82 file options dialog. See Hysweep Editor:settings:file options filters Hysweep CUBE, 91, 96 Hysweep Editor, 6267 follow boat Hysweep Survey, 33 full coverage surveys. See multibeam surveys gain Analog Side Scan, 5 Hysweep Editor, 77 GPS calibrating Patch Test, 11 offsets position, 7 gyros

130 Index

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calibrating Patch Test, 11 offsets, 7 H2S files Hysweep Survey, 39 Hardware program settings heading devices, 2 offsets, 10 pitch, 10 saving, 18 yaw, 10 heading (devices). See yaw heading (vessels) correcting data Hysweep Editor, 19 Data Adjustments, 11 displaying Hysweep Editor, 71, 77 Hysweep Survey, 23 measuring Hysweep Editor, 53 settings Hysweep Hardware, 2 heave correcting data Hysweep Editor, 57, 69 Hysweep Survey, 33 displaying Hysweep Editor, 59, 77 Hysweep Survey, 23 induced, 57 merging with tide, 56 heave drift alarm, 32 heave window. See Hysweep Editor:windows:heave window HS2 files Hysweep CUBE, 90, 91 Hysweep Editor, 14, 83 Mapper, 99 HSX files Hysweep Survey, 14, 34, 39 XTF to HSX File Conversion Tool, 46 hypotheses Hysweep CUBE, 95, 96 Hysweep CUBE hypotheses, 95 overview, 90 procedure, 91 settings error model, 91

offsets, 91 read parameters, 91 search criteria, 96 sonar device, 91 vessel, 91 view options, 95 XYZ save options, 97 windows, 94 grid, 95 node, 94 Hysweep Editor color settings, 77 filters depth filters, 63 read filters, 54 search and filter options, 63 statistical filters, 65 overview, 44 procedure, 45 settings advanced read parameters, 5657 angle limit, 63, 86 border options, 63 channel overlay, 62 color settings, 58, 60 colors, 60, 77 file options, 45, 49 heave corrections, 70 read parameters, 45, 5361 search criteria, 66, 67 side scan window, 77 sound velocity corrections, 52 spike filter, 64 targets, 62 tide and draft corrections, 68 tide corrections, 51 undelete options, 76 view options, 5861, 77 targets, 62 tools PWC File Splitter, 47 tide adjustments, 51 XTF to HSX file conversion, 46 windows cell window, 81 heave window, 69 pitch, roll and heading window, 71 profile window, 79 shell, 44 side scan window, 77 sound velocity profile window, 72

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Index 131

sounding information window, 77 survey window, 72, 79 sweep window, 74 tide and draft corrections window, 68 view options, 5861 XYZ reduction, 84 Hysweep Hardware COM Test, 5 overview, 1 procedure, 1 selecting devices, 1, See Also device drivers settings connect, 2 driver setup, 2 editing, 9 heading, 8 latency, 6, 8 network connections, 3 offsets, 7, 8, 69, 10, 11 pitch, 8, 9, 10 roll, 8, 9 yaw, 7, 10 Hysweep Survey keyboard commands, 37 overview, 21 playback, 22, 41 settings 3D seafloor window, 29, 33 alarms, 22, 31, 32 colors, 34 coverage map window, 32 data logger, 38 draft/squat corrections, 35 logging options, 38 matrix options, 39 multibeam waterfall window, 29, 33 nadir depth, 28 profile window, 29, 33 QC test window, 31 sound velocity corrections, 36 tide corrections, 35 view options, 29 windows, 21 3D seafloor, 24 coverage map window, 26, 39 limits window, 28 multibeam waterfall window, 25 profile window, 23 quality control test window, 25 Seabat 9001 Control window, 29

ignore checksum, 3 indicators. See alarms:Hysweep Survey, alarms:Side Scan Survey IP addresses Hysweep Hardware, 4 keyboard commands Hysweep Survey, 37 latency calculating offset adjustments Patch Test, 11 correcting data Hysweep Editor, 19 displaying Hysweep Editor, 19, 53 editing Hardware, 11 Hysweep Editor, 19, 53 settings Hysweep Hardware, 6, 8 legends Mapper, 104 LNW files Hysweep Editor, 51, 52 LOG files Hysweep CUBE, 90, 91 Hysweep Editor, 45 Hysweep Survey, 34, 38 logging status Hysweep Survey, 22 Mapper, 99105 overview, 100 procedure, 100 settings color, 104 data selection, 102 matrix, 104 statistics, 104 matrix files color settings Hysweep Editor, 60 Hysweep Survey, 30 coverage map settings, 33 creating Hysweep Editor, 78 displaying Hysweep Editor, 58, 78 Hysweep Survey, 26, 32, 39 editing Hysweep Editor, 78 filling Hysweep Editor, 78

132 Index

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Mapper, 100, 101 legends Hysweep Survey, 26, 30 Mapper, 104 loading Hysweep Editor, 78 Hysweep Survey, 39 Mapper, Error! Not a valid bookmark in entry on page 101 multibeam overlap statistics, 26, 30, 32, 39 naming Hysweep Editor, 83 positioning Hysweep Editor, 78 saving Hysweep Editor, 83 settings Mapper, 104 unloading Hysweep Survey, 39 matrix options dialog Hysweep Editor. See Hysweep Editor:settings:matrix file options Mapper. See Mapper:settings:matrix MRUs (Motion Reference Units) settings Hysweep Editor, 53, 56 Hysweep Hardware, 7 MTX files Hysweep Editor, 78 Hysweep Survey, 32, 39 Mapper, 99 reference surveys, 86 multibeam overlap statistics, 26, 30, 32, 39 multibeam surveys, 11013 multibeam waterfall window. See Hysweep Survey:windows:multibeam waterfall window multiple tranducers offsets, 8 multiple transducer surveys. See multibeam surveys multiple transducers system overview, 111 navigation system Hysweep Editor, 53 networks connecting Hysweep Hardware, 3 nodes

Hysweep CUBE, 91, 94 offsets correcting data Data Adjustments program, 19 Hysweep Editor, 19, 53 displaying Hysweep CUBE, 91 Hysweep Editor, 19, 53 editing Hysweep Editor, 19, 53 Hardware program pitch, 10 roll, 10 yaw, 10 Hysweep CUBE, 91 Hysweep Editor transducer depths, 69 Hysweep Hardware, 69 forward, 7 height, 7 latency, 6, 8 pitch, 7, 8, 9, 10 roll, 7, 8, 9, 10 starboard, 7 yaw, 10 multiple transducers, 50 Hysweep Hardware, 8 overhang topography, 64 overlay Hysweep Editor, 62 Patch Test calculating offset adjustments, 14 data collection, 12 example, 16 overview, 10 procedure, 11 settings. See Hysweep Editor:settings read parameters, 17 pitch (devices) calculating offset adjustments Patch Test, 10, 11 correcting data Data Adjustments program, 11 Hysweep Editor, 19 displaying Hysweep Editor, 19, 53 editing Hardware program, 11 Hysweep Editor, 19, 53 offsets Hysweep Hardware, 6, 7, 8

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Index 133

pitch (vessel) correcting data Hysweep Survey, 33 displaying Hysweep Editor, 59, 71, 77 pitch, roll and heading window. See Hysweep Editor:windows:pitch, roll and heading window playback Hysweep Survey, 21, 22, 41 PLN files Hysweep Editor, 62 point editing Hysweep Editor, 75, 81 positions (boats) displaying Hysweep Survey, 23, 26, 32 Hysweep Editor, 72, 77 Hysweep Survey, 26 positions (cursor) Hysweep Editor, 68, 79, 80, 81 Hysweep Survey, 24, 25, 26 positions (files) matrix files Hysweep Editor, 78 targets Hysweep Survey, 40 positions (soundings) Hysweep Editor, 56, 72, 74, 79 Hysweep Editor XYZ reduction, 84, 86 Mapper, 99, 103 Sounding Reduction program, 99 presort Hysweep Editor, 54 processing sequences multibeam data, 43 profile window Hysweep Editor. See Hysweep Editor:windows:profile window Hysweep Survey. See Hysweep Survey:windows:profile window project depth Hysweep Editor, 59 project information displaying Hysweep Editor, 54, 82 PWC File Splitter, 47 QC tests Beam Angle Test, 86 Hysweep Survey-QC test window, 25 Single Beam Test, 89

QTC-ISAH data, 47 quality control test window. See Hysweep Survey:windows:quality control test window settings, 22 quality data displaying Hysweep Editor, 72 Hysweep Survey, 34 saving Bar Check, 30 quality filter Hysweep Editor, 55, 64 quick mark, 40 raw format files Hysweep Editor, 45, 48 Hysweep Survey, 21 read filters Hysweep Editor, 54 read parameters Hysweep Editor. See Hysweep Editor:settings:read parameters reduction. See sounding selection programs reference surveys Beam Angle Test, 86 procedure, 85 reference surface creating, 85 saving, 86 Single Beam Test, 89 reports Beam Angle Test, 89 roll (devices) calculating offset adjustments Patch Test, 10, 11 correcting data Data Adjustments program, 11 Hysweep Editor, 19 displaying Hysweep Editor, 19, 53 editing Hardware program, 11 Hysweep Editor, 19, 53 offsets Hysweep Hardware, 6, 7, 8 roll (vessel) correcting data Hysweep Survey, 33 displaying Hysweep Editor, 59, 71, 77

134 Index

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Hysweep Survey, 23 search and filter options. See Hysweep Editor:filters:search and filter options search criteria Hysweep CUBE, 94, 96 Hysweep Editor, 63, 66, 67 serial hardware connections-testing, 5 settings Analog Side Scan, 5 Hardware program heading devices, 2 pitch, 10 saving, 18 yaw, 10 Hysweep CUBE error model, 91 nodes, 91 read parameters, 91 search criteria, 96 vessel, 91 view options, 95 XYZ save options, 97 Hysweep Editor advanced read parameters, 5657 channel overlay, 62 color settings, 58, 60 colors, 77 file options, 49 heave corrections, 70 matrix options, 78 read parameters, 45, 5361 search and filter, 63 side scan window, 77 sound velocity corrections, 52 targets, 62 tide and draft corrections, 68 tide corrections, 51 view options, 5861, 77 Hysweep Hardware connect, 2 driver setup, 2 heading, 8 latency, 6, 8 offsets, 7, 8, 69, 11 pitch, 8, 9, 10 roll, 8, 9 yaw, 7, 10 Hysweep Survey sound velocity corrections, 36

3D seafloor window, 29, 33 alarms, 22 colors, 34 coverage map window, 32 data logger, 38 draft/squat corrections, 35 logging options, 38 matrix options, 39 multibeam waterfall window, 29, 33 nadir depth, 28 profile window, 29, 33 QC test window, 31 tide corrections, 35 Mapper color, 104 data selection, 102 matrix files, 104 matrix files Hysweep Editor, 78 Mapper, 104 Patch Test read parameters, 17 shoals Hysweep Editor, 54, 61, 63 simulations Hysweep Survey, 41 Single Beam Test check lines, 89 overview, 89 procedure, 89 reference survey, 85 settings, 90 sound velocity corrections alarm Hysweep Survey, 36 applying Hysweep Editor, 45, 50, 51, 52, 86 Hysweep Survey, 36 displaying Hysweep Editor, 72 Hysweep Survey, 23 reference surveys, 86 sound velocity profile window. See Hysweep Editor:windows:sound velocity profile window sounding grid dialog. See Mapper:settings:data selection sounding information window. See Hysweep Editor:windows:sounding information window

1/07

Index 135

sounding reduction. See Sounding Reduction program, sounding selection programs Sounding Reduction program, 99, 109 default settings, 107 example, 107 procedure, 105 statistics, 105, 107 sounding selection programs, 43, 99109, See Also Hysweep Editor:XYZ reduction comparison, 99 input and output files, 99 Mapper, 100105 Sounding Reduction program, 109 spike filter-Hysweep Editor, 64 squat and settlement table. See Also draft table statistics Beam Angle Test, 87 displaying Hysweep CUBE, 94 Hysweep CUBE depth, 94, 95 hypothesis count, 94, 95 position, 94 ratio, 94, 95 uncertainty, 94, 95 Hysweep Editor-cell window, 82 Hysweep Survey depth change by beam, 25 multibeam sounding overlap, 25 multibeam vs single beam, 25 quality control tests, 25 standard deviation by beam, 25 Mapper, 104 quality data survey files, 72 Single Beam Test, 90 Sounding Reduction program, 105, 107 strikes Hysweep Editor, 85 Mapper, 102 survey files-edited correcting Hysweep Editor, 51, 53 tide corrections, 51 displaying Hysweep CUBE, 96 Hysweep Editor, 44, 48, 5861, 72, 73, 74

editing Hysweep CUBE, 95, 96 Hysweep Editor, 73, 6882 loading Hysweep CUBE, 96 Hysweep Editor, 45, 48 Mapper, 101 Sounding Reduction program, 105 saving Hysweep CUBE, 96 Hysweep Editor, 46, 83 sorting, 99109 Hysweep Editor XYZ reduction, 84 Mapper, 100 Sounding Reduction program, 105 tide corrections, 51 survey files-editing saving Hysweep CUBE, 97 survey files-raw correcting heave, 69 Hysweep Editor, 51 tide corrections, 51 displaying Hysweep Editor, 44, 48, 5861, 72, 74 Hysweep Survey, 23, 29 editing Hysweep Editor, 6882 overview, 43 loading Hysweep Editor, 45, 48 logging Hysweep Survey, 21, 37, 38 naming, 34 playback Hysweep Survey, 41 simulator, 41 tide corrections, 51 survey files-sorted clipping Hypack Max, 98 displaying Mapper, 102 saving Hysweep Editor XYZ Reduction, 83, 84 Mapper, 102 Sounding Reduction program, 105 survey lines displaying Hysweep Editor, 58

136 Index

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Hysweep Survey, 33 reference surveys, 85 survey window. See Hysweep Editor:windows:survey window survey XYZ format Hysweep CUBE, 96 swath surveys. See multibeam surveys sweep surveys. See multibeam surveys sweep window. See Hysweep Editor:windows:sweep window SWP files Hysweep Editor, 48, 83 Mapper, 99 target files appending Hysweep Editor, 62 creating Hysweep Editor, 62 Hysweep Survey, 40 displaying Hysweep Survey, 40 editing Hysweep Editor, 62 loading Hysweep Editor, 62 Hysweep Survey, 40 naming Hysweep Editor, 62 Hysweep Survey, 34 unloading Hysweep Survey, 40 targets displaying, 40 marking Hysweep Editor, 62 Hysweep Survey, 24, 25, 26, 40 positions Hysweep Editor, 62 Hysweep Survey, 40, 41 target properties, 41 quick mark Hysweep Survey, 40, 41 selecting Hysweep Survey, 40, 41 settings labels, 41, 62 target properties, 41 TGT files Hysweep Editor, 62 Hysweep Survey, 40, 41 TID files

Hysweep Editor, 45, 51, 52 Tide Adjustments program. See tide corrections:tide adjustments tide corrections applying Hysweep Editor, 45, 50, 51, 86 Hysweep Survey, 35 displaying Hysweep Editor, 68, 77 Hysweep Survey, 23 editing Hysweep Editor, 69 merging with heave, 56 reference surveys, 86 RTK (Real Time Kinematic) tide corrections settings, 56 tide files selecting Hysweep Editor, 45, 50, 52 time displaying Hysweep Editor, 77 Hysweep Survey, 23, 42 in file names, 41 time tags correcting Data Adjustments program, 11, 19 TIN models displaying Hysweep Survey, 24, 25 topography overhang, 64 undercut, 64 tracklines displaying Hysweep Editor, 58, 72, 73 Hysweep Survey, 26 editing Hysweep Editor, 73 undelete options dialog. See Hysweep Editor:settings:undelete options undercut topography, 64 VEL files Hysweep Editor, 53 warnings Hysweep Survey multiple matrix files, 40 XTF files Hysweep Survey, 21 XTF to HSX File Conversion Tool, 46

1/07

Index 137

XTF to HSX File Conversion Tool overview, 46 procedure, 46 settings, 47 XYZ format clipping, 98 Hysweep CUBE, 97 Hysweep Editor, 83 Mapper, 99 Sounding Reduction program, 99, 105 XYZ reduction-Hysweep Editor, 84 yaw (devices)

calculating offset adjustments Patch Test, 10, 11 correcting data Data Adjustments program, 11 Hysweep Editor, 19 displaying Hysweep Editor, 19, 53 editing Hardware program, 11 Hysweep Editor, 19, 53 offsets Hysweep Hardware, 6, 7, 8

138 Index

1/07