DOS-based 486 machine
Saves sonar on two
Exabyte 8200 tape subsystems
Two monitors, one for sonar
(1280x1024) and one for telemetry
Will accept up to 4 analog channels
Serial I/O ports (i.e., for navigation)
Parallel (Centronics) ports
for printing the sonar
Array processor handling the
digitized sonar signal
12 bit analog to digital converter
Klein Model 530 (100 kHz) or
531 (100/500 kHz)
The topside data acquisition computer the USGS uses to collect and store the analog signal is the QMIPS(TM) system built by Triton Technologies, Inc., Watsonville, CA: A dual-display IBM-compatible AT computer built around a 66-mHz 80486 Intel CPU. using a 12-bit (72 db effective dynamic range) A/D converter in conjunction with an array processor, QMIPS (TM) is capable of digitizing up to four channels of analog information aggregate rates of up to 750 kHz, thus preserving the content and the dynamic range of the sonar signal. Port and starboard sonar image data, as well as the 4.5 kHz sub-bottom profilerata, are displayed in real-time on a high-resolution color display (1280 x 1024 pixels) while telemetry from navigation systems and the towfish, including full towfish attitude information, is displayed on a separate monitor. The data storage media used is 8mm Exabyte tape. Currently the USGS uses two systems: One for analog input (QMIPS) and one for digital input (QMIPS-DSP).
Sonar files collected using the QMIPS system have the following format:
1st rec ---- ---- ---- *** Data is stored in
| ---- ---- ---- *** 1024 byte records for
| . each channel
| . (*** 256 byte trailer.)
| .
| .
V .
End rec ---- ---- ---- ***
chan1 chan2 chanX followed by the sonar data itself
which consists of at least two channels of sonar information and
a 256 byte trailer. The trailer contains parameters relevant to the
collected sonar, such as altitude, file
name, pitch, roll, date of collection, time of day, etc. The
header
and trailer formats for both the
QMIPS(TM) and the QMIPS-DSP(TM) systems are described on the next few
pages.
#define BYTE unsigned char
#define WORD unsigned int /* PC: 16 bit */
#define DWORD unsigned long /* PC: 32 bit */
struct qmips_header
{
/* header header */
/*****************/
BYTE fileFormat; /* always decimal 50 */
BYTE reserved;
BYTE softwareRev[6];
BYTE spare1[20];
/* digitizer parameters */
/************************/
WORD sampleRate; /* in Ksamples/sec */
WORD numChannels; /* 1-4 */
WORD bitsPerPixel; /* 8 or 12 */
WORD pixelsPerChannelPerPing; /* (WORD COUNT) */
float speedOfSoundInWater; /* two way travel time in meters/sec */
float noLongerUsed;
WORD asyncChannelNumber; /* if 8 no async chan. otherwise, asynchronous */
WORD numSonarChannels; /* 1 to 4 */
WORD ch1_processingAvailable;
WORD ch2_processingAvailable;
WORD ch3_processingAvailable;
WORD ch4_processingAvailable;
/* nav system parameters */
WORD timeDelay; /* tenths of seconds */
BYTE navSystemName[100];
BYTE projectionType[12];
BYTE spheriodType[12];
WORD zone;
float originLat;
float originLong;
float offsetLat;
float offsetLong;
WORD navUnits; /* 0 = meters */
/* 1 = feet */
/* 2 = yards */
/* 3 = degrees */
/* site parameters */
WORD diveNumber;
WORD blockNumber;
WORD trackNumber;
WORD runNumber;
BYTE spare4[100];
/* annotation */
BYTE operatorAnnotation[100];
BYTE sonarName[40];
/* sonar parameters */
/************************/
WORD triggerDirection; /* -1 is neg, 0 is equal, 1 isos */
DWORD triggerMagnitude;
float triggerWidth;
WORD ch1_frequency; /* in kHz */
WORD ch2_frequency;
WORD ch3_frequency;
WORD ch4_frequency;
float ch1_horizBeamAngle; /* degrees */
float ch2_horizBeamAngle;
float ch3_horizBeamAngle;
float ch4_horizBeamAngle;
/* name of this file */
char thisFileName[45];
/* which channels are half wave rectified */
/* -------------------------------------- */
WORD ch1_halfWaveRectify;
WORD ch2_halfWaveRectify;
WORD ch3_halfWaveRectify;
WORD ch4_halfWaveRectify;
/* left over */
BYTE spare5[486];
};
struct qmips_sonar
{
/* time and date stamp */
BYTE day;
BYTE month;
BYTE year;
BYTE hour;
BYTE minute;
BYTE seconds;
WORD tenthsSeconds;
/* misc. info */
BYTE fileName[12];
WORD pingNumber;
WORD asyncByteOffset; /* when non-zero, indicates where */
/* sync (subbottom) channel starts */
BYTE spare1[12];
/* digitizer parameters */
BYTE spare2[4];
float timeInterval; /* multiplier (fraction) to make window in time
of an uncorrected channel */
float APaltitude; /* altitude from array processor
computed from water column */
WORD triggerChannel;
WORD altSource; /* which altitude to use:
0 = from telemetry
1-4 = channel 1-4 water column
5 = manual entry */
DWORD waterColumn;
DWORD triggerPeriod;
WORD ch_1signalDivisor; /* chan 1 signal divisor multiply by 100 */
float telemFishDepth;
float telemFishHeading;
float telemFishPitch;
float telemFishRoll;
float telemFishAlt; /* meters - comes from manual entry or */
/* towfish telem. */
BYTE spare3[10];
/* sonar parameters */
BYTE ch1_spare4[8];
WORD ch1_bandWidth; /* in kilohertz */
WORD ch1_sampleScheme;
WORD ch1_rangeScale; /* meters */
WORD ch1_gain;
WORD ch1_pulseWidth; /* microseconds */
WORD sampleRate;
WORD ch1_corrected; /* boolean */
BYTE ch2_spare4[8];
WORD ch2_bandWidth; /* in kilohertz */
WORD ch2_sampleScheme;
WORD ch2_rangeScale; /* meters */
WORD ch2_gain;
WORD ch2_pulseWidth; /* microseconds */
WORD ch2_spare;
WORD ch2_corrected; /* boolean */
BYTE ch3_spare4[8];
WORD ch3_bandWidth; /* in kilohertz */
WORD ch3_sampleScheme;
WORD ch3_rangeScale; /* meters */
WORD ch3_gain;
WORD ch3_pulseWidth; /* microseconds */
WORD ch3_spare;
WORD ch3_corrected; /* boolean */
BYTE ch4_spare4[8];
WORD ch4_bandWidth; /* in kilohertz */
WORD ch4_sampleScheme;
WORD ch4_rangeScale; /* meters */
WORD ch4_gain;
WORD ch4_pulseWidth; /* microseconds */
WORD ch4_spare;
WORD ch4_corrected; /* boolean */
/* nav system parameters */
BYTE nav_sensor[4]; /* sensor code */
WORD eventNumber;
BYTE station_1_code; /* station code data as */
/* BYTE station_2_code; */
BYTE station_3_code;
BYTE station_4_code;
float range_1; /* ranges to the nav stations/
float range_2;
float range_3;
float range_4;
/* #define nav_telemetry.latitude *((double)&nav_telemetry.navEasting) */
/* re-use easting and northing variable space for latitude. */
/* If a system collects XY data pairs, */
/* then the navEasting and navNorthing fields would been commented and */
/* set to floats. */
/*float navEasting; /* (x) in meters */
/*float navNorthing; /* (y) in meters */
double navEasting; /* USGS uses lat & lon */
float navDepth; /* (z) in meters */
float navRMS; /* root mean square -- quality factor of nav solution */
float navFishHeading; /* degrees */
float navFishSpeed; /* knots */
float navShipGyro; /* degrees */
DWORD navFixNumber; /* sequential value */
double navLongitude; /* double precision */
BYTE spare6[2]; /* alphanumeric */
BYTE navFixHour;
BYTE navFixMinute;
BYTE navFixSeconds;
BYTE navSpare;
WORD julianDay; /* cable out */
WORD layback;
};
struct dsp_header {
/* header record */
/* offset in bytes*/
BYTE fileFormat; /* will be 50 */ /* 0 */
BYTE systemType; /* will be 84 for Q-MIPS DSP */ /* 1 */
BYTE softwareRev[6]; /* 2 */
BYTE spare1[18]; /* 8 */
/* digitizer parameters */
DWORD sampleRate; /* in samples/sec */ /* 26 */
WORD numImageryChannels; /* 1-8 */ /* 30 */
WORD bitsPerPixel; /* 8 or 16/ /* 32 */
WORD pixelsPerChannelPerPing; /* (WORD COUNT) */ /* 34 */
float speedOfSoundInWater; /* two way travel time/sec */ /* 36 */
float noLongerUsed; /* used toe initial */ /* 40 */
/* SonarSignalDivisor */
/* before5.19 */
WORD asyncChannelNumber; /* if 0, no async chan.*/ /* 44 */
/* otherwise, which */
/* channels asynchronous */
WORD numSonarChannels; /* 1-4 */ /* 46 */
WORD ch1_processingAvailable; /* 48 */
WORD ch2_processingAvailable; /* 50 */
WORD ch3_processingAvailable; /* 52 */
WORD ch4_processingAvailable; /* 54 */
/* nav system parameters */
/*-----------------------*/
WORD timeDelay; /* tenths of seconds */ /* 56 */
BYTE navSystemName[100]; /* 58 */
BYTE projectionType[12]; /* 158 */
BYTE spheriodType[12]; /* 170 */
WORD zone; /* 182 */
float originLat; /* 184 */
float originLong; /* 188 */
float offsetLat; /* 192 */
float offsetLong; /* 196 */
WORD navUnits; /* 0 = meters, 1 = feet, */ /* 200 */
/* 2 = yards, 3 = degrees */
/* site parameters */
WORD diveNumber; /* 202 */
WORD blockNumber; /* 204 */
WORD trackNumber; /* 206 */
WORD runNumber; /* 208 */
BYTE spare4[100]; /* 210 */
/* annotation */
BYTE operatorAnnotation[100]; /* 310 */
BYTE sonarName[40]; /* 410 */
/* sonar parameters */
WORD triggerDirection; /* -1 is neg, 0 is equal, 1 is ' */
DWORD triggerMagnitude; /* 452 */
float triggerWidth; /* 456 */
WORD ch1_frequency; /* in kHz */ /* 460 */
WORD ch2_frequency; /* 462 */
WORD ch3_frequency; /* 464 */
WORD ch4_frequency; /* 466 */
float ch1_horizBeamAngle; /*degrees, read from DSP.DAT file*//* 468 */
float ch2_horizBeamAngle; /* 472 */
float ch3_horizBeamAngle; /* 476 */
float ch4_horizBeamAngle; /* 480 */
/* name of this file */
/*-------------------*/
char thisFileName[45]; /* 484 */
char reserved2; /* 529 */
/* which channels are half-wave rectified */
/*----------------------------------------*/
WORD ch1_halfWaveRectify; /* 530 */
WORD ch2_halfWaveRectify; /* 532 */
WORD ch3_halfWaveRectify; /* 534 */
WORD ch4_halfWaveRectify; /* 536 */
/* Sonar Transducer Tilt Angles (off horizontal) */
float ch1_tiltAngle; /* in degrees, read from SP.DAT file */ /* 538 */
float ch2_tiltAngle; /* 542 */
float ch3_tiltAngle; /* 546 */
float ch4_tiltAngle; /* 550 */
Ô
float ch1_beamWidth_3dB; /*in degrees, read from DSP.DAT file*/ /* 554 */
float ch2_beamWidth_3dB; /* 558 */
float ch3_beamWidth_3dB; /* 562 */
float ch4_beamWidth_3dB; /* 566 */
float ch1_realSampleRate; /* 570 */
float ch2_realSampleRate; /* 574 */
float ch3_realSampleRate; /* 578 */
float ch4_realSampleRate; /* 582 */
/* left over */
/*-----------*/
BYTE spare5[438]; /* 586 */
};
struct dsp_sonar {
/* If not all channels are being used, the remaining channels */
/* still contain 0's for all fields. */
/* time and date stamp */
BYTE day;
BYTE month;
BYTE year;
BYTE hour;
BYTE minute;
BYTE seconds;
WORD tenthsSeconds;
/* misc. info */
float magX;
float magY;
float magZ;
DWORD pingNumber;
WORD asyncByteOffset; /* when non-zero, indicates a */
WORD shipSpeed; /* speed of ship (knots * 100)*/
float auxVal1;
float auxVal2;
float auxVal3;
/* digitizer parameters */
float auxVal5; /* Auxilary value from serialnput */
float auxAltitude; /* auxiliary altitude from subbottom sensor */
WORD triggerChannel;
WORD altSource; /* which altitude to use: 0 =from telemetry,
1-4 = channel 1-4 waterolumn,
5=manual entry */
DWORD waterColumn; /* # samples in water column/
DWORD triggerPeriod; /* # samples in trigger period/
WORD ch1_signalDivisor; /* chan 1 signal divisor multiplied by 100 */
/* telemetry from towfish */
float telemFishDepth; /* meters */
float telemFishHeading; /* degrees */
float telemFishPitch; /* degrees */
float telemFishRoll; /* degrees */
float telemFishAlt; /* meters - from QMIPS altitude tracker */
float telemSbotAlt; /* meters - from subbottom sensor */
float telemSpeedLog; /* from EM speed log */
WORD soundVelocity; /* compute speed of sound * 30 one-way) */
/* sonar parameters */
float ch1_floatRawRange;
float ch1_delayRange;
WORD ch1_bandWidth; /* in kHz */
WORD ch1_sampleScheme;
WORD ch1_rawRange; /* (m) range of uncorrected channel */
BYTE ch1_initialGain;
BYTE ch1_gain;
WORD ch1_correctedRange; /* (m) range of corrected channel */
float ch2_floatRawRange;
float ch2_delayRange;
WORD ch2_bandWidth; /* in kHz */
WORD ch2_sampleScheme;
WORD ch2_rawRange; /* (m) range of uncorrected channel */
BYTE ch2_initialGain;
BYTE ch2_gain;
WORD ch2_unused;
WORD ch2_signalDivisor; /* signal divisor * 100 */
WORD ch2_correctedRange; /* (m) range of corrected channel */
/* On any async channel, corrected Range */
/* holds the async delay in meters * 100 */
float ch3_floatRawRange;
float ch3_delayRange;
WORD ch3_bandWidth; /* in kHz */
WORD ch3_sampleScheme;
WORD ch3_rawRange; /* (m) range of uncorrected channel */
BYTE ch3_initialGain;
BYTE ch3_gain;
WORD range_to_fish; /* stored * 10 */
WORD ch3_signalDivisor;
WORD ch3_correctedRange; /* (m) range of corrected channel */
float ch4_floatRawRange;
float ch4_delayRange;
WORD ch4_bandWidth; /* in kHz */
WORD ch4_sampleScheme;
WORD ch4_rawRange; /* (m) range of uncorrected channel */
BYTE ch4_initialGain;
BYTE ch4_gain;
WORD bearing_to_fish; /* stored as degrees * 100 */
WORD ch4_signalDivisor; /* signal divisor * 100 */
WORD ch4_correctedRange; /* (m) range of corrected channel */
/* nav system parameters */
WORD waterTemperature; /* water temp * 100 */
int currentLineIdentifier;
int eventNumber;
float auxVal6;
double shipLatitude;
double shipLongitude;
Ô float navEasting; /* (x) in meters */
float navNorthing; /* (y) in meters */
float cableTension;
float conductivity; /* water conductivity */
float navFishHeading; /* degrees */
float navFishSpeed; /* knots */
float navShipGyro; /* degrees */
float auxVal4;
double navLongitude; /* longitude of fish */
WORD fishLayback;
BYTE navFixHour;
BYTE navFixMinute;
BYTE navFixSeconds;
BYTE onLineFlag;
WORD julianDay; /* when supplied by nav system/
WORD cableOut; /* entered in NAV menu */
};
To sidescan sonar field data listing
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