null null

872 YellowFin
445-029 AUGUST 2004-REVISED FEBRUARY 2011
IMAGENEX MODEL 872
“YELLOWFIN”
SIDESCAN SONAR
APPLICATIONS:
•
•
•
•
•
•
•
FEATURES:
•
•
•
•
•
•
•
•
•
Underwater Archaeology
Sunken Timber Recovery
Search & Recovery
Surveying
Law Enforcement Work
Scientific Research
Environmental Survey
Triple frequency
High resolution 1000 data points per side
300 m depth rating
Up to 400 m (1300’) total coverage
23 m (75’) tow cable included
LAN compatible
Built-in track plotter
Built-in internal GPS receiver
Record to .XTF in real-time
The Imagenex Model 872 “YellowFin” is a fullfeatured dual channel, high resolution, sidescan sonar.
The YellowFin is an affordable, very user friendly system
that incorporates a high speed Ethernet connection to
your Windows™ based laptop or desktop PC. Integrated
power and a built-in differential-ready GPS receiver
complete this fantastic system. Zoom windows are
available for target investigation without interrupting realtime data acquisition. Data is displayed in real-time, with
or without speed correction, in 9 user selectable colour
tables.
UNDERWATER HARDWARE
SPECIFICATIONS:
FREQUENCY
TRANSDUCER
TRANSDUCER BEAM WIDTH
RANGE RESOLUTION
MAX. OPERATING DEPTH
MAX. CABLE LENGTH
INTERFACE
CONNECTOR
POWER SUPPLY
DIMENSIONS
WEIGHT:
In Air
In Water
BALLAST
MATERIALS
FINISH
Specifications subject to
change without notice
260 kHz / 330 kHz / 800 kHz nominal
One transducer per side, tilted down 20°
260 kHz: 2.2° x 75°
330 kHz: 1.8° x 60°
800 kHz: 0.7° x 30°
Range scale ÷ 1000
300 m (~1000’)
600 m (~2000’)
Analog telemetry
Wet mateable (Impulse MCBH-4-MP)
40 – 55 VDC at less than 3 Watts,
supplied from Surface Interface Box
114 mm (4.5”) diameter x 833 mm (32.8”) length
5.4 kg (12 lbs)
not including ballast
1.8 kg ( 4 lbs)
Standard diver belt weights (readily available at dive shops)
Polyurethane & 6061-T6 Aluminum
Hard anodized
www.imagenex.com
Copyright © 2004 - 2013
Imagenex Technology Corp.
SURFACE INTERFACE BOX
HARDWARE SPECIFICATIONS:
INTERFACE TO PC
INTERFACE TO SONAR HEAD
CABLE CONNECTOR
SONAR HEAD
POWER SUPPLY OUTPUT
DIFFERENTIAL CAPABLE GPS
DIMENSIONS
WEIGHT
MATERIALS
FINISH
POWER REQUIREMENT
10 Mbps Ethernet
FSK analog telemetry
5-pin MS (female)
48 VDC
Built-in
31 cm (12.2”) length x 26 cm (10.2”) width x
8.7 cm (3.4”) height
0.9 kg ( 2 lbs)
Aluminum
Powder Coated
110 / 220 VAC 50 / 60 Hz, 0.1 Amp
SOFTWARE
SPECIFICATIONS:
YellowFin.exe
WINDOWS™ OPERATING SYSTEM
ZOOM MODES
RANGE SCALES
Windows™ XP, Vista, 7
1x, 2x, 3x, 4x, and 5x dynamically moveable
10 m, 20 m, 30 m, 40 m, 50 m, 60 m, 80 m, 100 m,
125 m, 150 m, and 200 m
(filename).872, (filename).XTF
FILE FORMAT
GPS INPUT (4800, N, 8, 1)
NMEA 0183 FORMATS:
RECOMMENDED
MINIMUM COMPUTER
REQUIREMENTS:
GLL and VTG; GGA and VTG; RMC
800 MHz Pentium 3
256 MB RAM
2 GB Hard Disk
1024 x 768 x 256 colour graphics
ORDERING
INFORMATION:
Standard
Standard
Option
Option
300 m unit w / 23 m tow cable
Surface Interface Box
60 m (200’) Sidescan tow cable
100 m (330’) Sidescan tow cable
872-000-150
872-000-001
-021
-033
Product and company names listed are trademarks or trade names of their respective companies.
2
872 YellowFin
445-029
www.imagenex.com
Setting up your YellowFin® for use
Unpack your YellowFin and check for the following parts:
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
Nose
Aluminum Tube
Tail
Ballast Plate
Surface Processor
Kevlar strength tow cable
User’s Guide
Sonar CD
GPS Antenna
Power cord
Serial cable
Ethernet cable
U/W connector
MS connector
Plastic retaining rods
Cable ties
Shackle
Connecting the cable to the YellowFin
1.
2.
3.
4.
Apply a small amount of silicon grease to the rubber part of the male
pins on the electronics bulkhead.
Check the orientation of the two connector halves and carefully but
firmly push them together. Slide the locking sleeve into position and
screw into place (Fig. 1).
Install the tail back into the aluminum tube, taking care to fit the cable
into the slot provided. Thread the plastic retaining rod into the groove
completely (Fig. 2).
Attach the cable thimble to the aluminum tube using the shackle
provided (Fig. 3).
Fig. 1
Fig. 2
Fig. 3
Installing Ballast
1.
2.
3.
4.
Extract the ballast plate from inside the aluminum tube (Fig. 4). Make
a note of the orientation.
The YellowFin is designed to use conventional 3 lb lead diving weights
as ballast* (Fig. 5).
Add at least 15 – 20 lbs of ballast as far forward and as low as
possible, securing the weights with cable ties. Adding more weight will
allow the YellowFin to be towed at a greater depth.
Slide the ballast plate back into the aluminum tube, install the nose
cone, and thread the plastic retaining rod into the groove completely
(Fig. 6).
*Ballast weights are not included
Fig. 4
Fig. 5
Fig. 6
Trimming the YellowFin by adjusting the tow shackle position
Immerse the YellowFin in still water, and adjust the shackle position so that the
YellowFin lies parallel to the water surface (ensure that no air is trapped in the
aluminum tube, as this will give a false indication). If the YellowFin wanders
while being towed, adjust the shackle position so that the towfish is slightly nose
heavy.
WARNING: AVOID IMPACT TO
SENSITIVE TRANSDUCER AREA
IMAGENEX TECHNOLOGY CORP.
YellowFin Sidescan Sonar
(Model 872)
YellowFin.exe
version 2.0x
Number
872 - 430 - 023
Revision
00
Date
February 18, 2009
Description
Initial Release
Table of Contents
WHAT’S NEW IN YELLOWFIN 2.0.............................................................................................................. II
1.0
SYSTEM DESCRIPTION................................................................................................................. 1
2.0
GETTING STARTED: ...................................................................................................................... 1
2.1
2.2
2.3
2.4
2.5
3.0
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4.0
4.1
4.2
5.0
5.1
5.2
5.3
5.4
5.5
5.6
SCREEN LAYOUT............................................................................................................................ 1
OPERATIONS: ................................................................................................................................ 1
INTERROGATING THE SONAR UNIT: .................................................................................................. 2
FILE PLAYBACK: ............................................................................................................................. 2
SONAR IMAGE MANIPULATION......................................................................................................... 3
MAIN MENU..................................................................................................................................... 4
FILE MENU COMMANDS ................................................................................................................... 4
VIEW MENU COMMANDS.................................................................................................................. 6
COLOR TABLE MENU COMMANDS ................................................................................................... 8
SETTINGS MENU COMMANDS ......................................................................................................... 8
COMMUNICATION MENU COMMANDS ............................................................................................... 8
MEASURE MENU COMMANDS.......................................................................................................... 9
GPS OPTIONS MENU COMMANDS.................................................................................................. 11
EVENTS MENU COMMANDS (NEW) ................................................................................................. 12
HELP MENU COMMANDS................................................................................................................ 15
TOOLBARS AND FILE PLAYBACK PROGRESS DIALOG BAR................................................ 16
MAIN TOOLBAR ............................................................................................................................ 16
FILE PLAYBACK PROGRESS DIALOG BAR ...................................................................................... 17
DIALOG BOXES............................................................................................................................ 18
CONNECTION DIALOG BOX ........................................................................................................... 18
OPEN DATA FILE DIALOG BOX ...................................................................................................... 19
SAVE YELLOW FIN DATA FILE DIALOG BOX .................................................................................... 19
SONAR SETTINGS DIALOG BOX..................................................................................................... 20
DIAGNOSTICS DIALOG BOX ........................................................................................................... 21
GPS SERIAL PORT CONFIGURATION DIALOG BOX ......................................................................... 23
APPENDIX A – TARGET HEIGHT CALCULATION .................................................................................. 25
APPENDIX B – EXTERNAL RESOURCES ............................................................................................... 26
APPENDIX C – DATA STORAGE FILE FORMAT (.872) .......................................................................... 27
APPENDIX D – ANNOTATION FILE FORMAT (.AN)................................................................................ 31
APPENDIX E – ETHERNET INTERFACE SPECIFICATION (V1.01) ........................................................ 32
APPENDIX F – WIRING DIAGRAMS ......................................................................................................... 39
-i-
Table of Figures
FIGURE 1 - YELLOW FIN MENUS........................................................................................................................ 4
FIGURE 2 - EVENT INFORMATION ENTRY DIALOG BOX ..................................................................................... 13
FIGURE 3 - EVENT INFORMATION DIALOG BOX ................................................................................................ 13
FIGURE 4 - EVENT INFORMATION PREVIEW / EDIT DIALOG BOX ....................................................................... 14
FIGURE 5 - MAIN TOOLBAR ............................................................................................................................ 16
FIGURE 6 - FILE PLAYBACK PROGRESS BAR ................................................................................................... 17
FIGURE 7 - CONNECTION DIALOG BOX............................................................................................................ 18
FIGURE 8 - SONAR SETTINGS DIALOG BOX .................................................................................................... 20
FIGURE 9 - DIAGNOSTICS DIALOG BOX ........................................................................................................... 21
FIGURE 10 - GPS SERIAL PORT CONFIGURATION DIALOG BOX ........................................................................ 24
FIGURE 11 - TARGET HEIGHT CALCULATION ................................................................................................... 25
FIGURE 12 - YELLOW FIN TOW CABLE W IRING DIAGRAM ................................................................................. 39
- ii -
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
What’s New in YellowFin 2.0
Numerous updates and features have been added to YellowFin version 2.0. Some of the major features
are listed below.
•
Added Event Marker capability to allow annotation of data files (See Section 3.8 on
page 12).
•
Added GPS satellite information to indicate how many satellites are detected (See
Section 5.6 on page 23 ).
•
Added Bitmap View display mode for rapid file playback (See Section 3.2 on page 6 ).
•
Added reverse file playback mode for enhanced file playback control (See Section 3.2
on page 6 ).
- ii -
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
1.0 System Description
The Imagenex Model 872 "YellowFin" is a full-featured dual channel, high-resolution, side-scan sonar. The
YellowFin is an affordable, user friendly system that incorporates a high speed Ethernet connection to
your Windows™ based laptop or desktop PC. Integrated power and an optional differential-ready GPS
receiver complete this fantastic system. Zoom windows are available for target investigation without
interrupting real-time data acquisition. Data is displayed in real-time, with or without speed correction, in 9
user selectable color tables.
2.0 Getting Started:
After you are sure you have correctly wired the system, turn the power on to the surface processor and
on your desktop
your computer. After the operating system started, double click the program icon
screen to launch the YellowFin program. You can exit this application by clicking the close window button
at the upper right corner of the screen or use the menu command
“File->Exit”.
YellowFin.exe is a Windows program that controls, displays and records data from the YellowFin Sidescan
Sonar System. The program uses a high speed Ethernet connection (10Mbps) to communicate with the
Model 872 sonar processing unit.
This document describes how to use the commands provided by the YellowFin program to control the
Model 872 sonar unit and how to view the data.
2.1
Screen Layout
The default screen layout of YellowFin.exe program provides a vertically displayed sonar image with a
user menu on top and a toolbar at left, as well as a status bar at the bottom in real-time data acquisition
operation. If you run YellowFin.exe for file playback, there will be a Playback bar shown under the user
menu. You can resize the sonar image display window and hide the toolbar or status bar by using the
menu command: “View->Tool Bar” or “View->Status Bar” or
“View->Playback Bar”.
2.2
Operations:
When you start running the YellowFin.exe program, it first prompts you with a dialog box asking if you
want to run it in real-time sonar data acquisition mode or run file playback. If you want to run real-time
sonar data, please click the “YES” button. The program will try to connect to the sonar head using the
specified IP address. If you only want to playback a file, please click the “NO” button and the program will
not connect to the sonar head. This also saves time in case there is no Ethernet connection available.
Page 1 of 39
Imagenex Technology Corp. ©2009
2.3
Model 872 ver 2.0 User’s Manual
Interrogating the sonar unit:
Real-time sonar data interrogation needs communication between the YellowFin program and the sonar
unit. The communication protocol is based on high speed Ethernet. The YellowFin.exe program uses
another thread to send operation commands to the sonar head and then receive sonar data returns.
You can save real-time data to a file by using the menu command “File->Record Data” or clicking the
Toolbar button
for post process or later inspection. Use the menu command “File->Stop Recording”
or clicking the Toolbar button
2.4
to quit saving data.
File playback:
You can also use the YellowFin program to playback data that has been recorded to a file (with file
extension ".872" or ".xtf").
To open a .872 or .xtf data file to playback, use the menu command “File->Open a file” or click the Toolbar
button
. When the program is running with file playback, the frame window will show a File Playback
dialogue bar under the main menu. You can drag and dock it to a convenient place on the screen. This
dialogue bar lets you control the playback speed and playback file position. See the section “File Playback
Progress Dialog Bar” section for details.
Once you open a sonar data file to playback, the operation of real-time sonar data acquisition will stop.
You can open only one data file to play back at a time. But you can open another data file to playback
during file playback, the previously opened file will be closed.
You can once again change the operation to real-time data interrogation by using the menu command
. When the system
“File->Connect…”, “Communication->Reconnect” or click the Toolbar button
starts to acquire data from sonar head, opened data file will be closed. If the Ethernet connection is lost or
failed, you can use the menu command
“Communication->Reconnect” to reconnect.
Note: There are several things that can cause lost or failed connection. One is that the user
turned the power to the surface processor off. The other is that the Ethernet connection is not
configured correctly.
The YellowFin program provides several convenient ways (menu commands, dialog boxes, and toolbar
commands) to control the sonar unit’s operations, operating parameters, and data display windows.
Page 2 of 39
Imagenex Technology Corp. ©2009
2.5
Model 872 ver 2.0 User’s Manual
Sonar Image Manipulation
The YellowFin program uses a bitmap image with the size of the display screen to display the sonar
image. When the program receives one sonar shot data either from real-time or playback, the data will be
displayed at the top line of the image and the previous shots will be shifted down.
You can use the command “Zoom In” or command “Zoom Out” to zoom in or out the image and use the
command “Hold” to pause the image display. When you zoom in, the image size will be larger than the
display window size. Thus, some portion of the image will be hidden beyond the size of the display
window. If you want to see the hidden part of the image, you can drag the image to let that part fall in the
display window. You can move the image by holding down the left mouse button and dragging (moving)
the image. When you release the left mouse button, the image dragging operation will stop. Use the
command “Restore Image” to restore the sonar image to its original size and position.
Note: If the hold command is activated during file record, data is still recorded although the
display does not move. This allows the user to inspect an area of interest without losing any
data
Page 3 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
3.0 MAIN MENU
Figure 1 - YellowFin Menus
3.1
File menu commands
The File menu offers the following commands:
Connect to Sonar
Head…
Use this command to establish an Ethernet connection between the sonar
head and the control computer. If the connection is established successfully,
the YellowFin program will start to interrogate the sonar head for data in realtime. This command is very useful when you change the operation from file
playback to real-time data acquisition. If this command is disabled, which
means the program is operating in real-time data acquisition mode not in file
playback mode. If the connection has failed, after a minute or so, the program
will display an error message “No Connection!”. You can check the wiring and
reconnect the network again by using the “Communications->Reconnect”
command.
Shortcuts
Toolbar Button:
Keys: Ctrl+N
Playback…
Use this command to open a previously recorded YellowFin sonar data file
(with the file extension .872 or .xtf) to play back. The YellowFin program
displays the File Open dialog box so you can choose which file you want to
open.
Shortcuts
Toolbar Button:
Keys: Ctrl+O
Record Data or
Copy Start…
Use this command to save real-time sonar data to a file or copy part of a file to
another one during playback. YellowFin displays the Save As dialog box so you
can name your file. The file name can be any characters and digits combined.
YellowFin will automatically add file name extension .872 or .xtf to your file
name, depending on what file format you choose, so you don’t have to type the
file extension. Then YellowFin will continue interrogating the sonar unit for data
and at the same time recording those data to your named file.
You can use the Stop Recording command to quit recording data. YellowFin
then closes the named file.
During file playback, “Record Data” is replaced with “Copy Start”. This allows
you to copy data from one file to a separate file.
Shortcuts
Toolbar:
Keys: Ctrl+S
.
Page 4 of 39
Imagenex Technology Corp. ©2009
Stop Recording or
Copy Stop
Model 872 ver 2.0 User’s Manual
Use this command to stop recording or copying sonar data to a file. YellowFin
will close the file. You can use the “Playback…” command to open it for
playback.
Shortcuts
Toolbar:
Keys: Ctrl+Z
Settings Change
Alarm
New
Save Screen
Use this command to play a sound when a setting changes during file playback
Supported settings are: Range, Mode, and End of File
Save Selected
Use this command to save part of the sonar image to a named image file. The
image file formats can be .bmp, jpg, .png, .tiff, and .gif.
Use this command to save the whole sonar image to a named image file. The
image file formats can be ".bmp", ".jpg", ".png", ".tiff”, and ".gif".
Note: Before you use this command, you should use toolbar “select”
command to select an image area. Put the display on hold, then push the
“select”
button and the program is in the select mode. Hold down the left
button of your mouse at the start point and drag the mouse to the end point of
your interested area and then release the button. The program will draw the
selected area with dashed lines. If you are not satisfied about this selected
area, you can select again and your first selected area will be discarded. After
you selected an area, you can use this command to save it to an image file.
button again to release this select mode so
You should click the “select”
the program can respond to other commands.
If there is no selected area available, this command will be disabled.
Exit
Use this command to terminate your YellowFin program. The system will save
your display layout, sonar settings, and GPS configuration to a text file called
YellowFin.ini. Next time you start the program, the system will load these
settings from this file.
Mouse: Double-click the application's Control menu button.
Keys:
ALT+F4
Page 5 of 39
Imagenex Technology Corp. ©2009
3.2
Model 872 ver 2.0 User’s Manual
View menu commands
The View menu offers the following commands:
Clear Screen
Use this command to clear the image in display window.
Shortcuts
Toolbar Button:
Keys: c
Grid
Use this command to display and hide the vertical grid line.
Grid Text Size
Use this command to change the text size used as range text marks displayed
at the bottom of the display window and measurement text marks.
Hold
Use this command to pause the image display. Toggle this command to pause
or continue the image display. Note that this holds the display only. Data will
still be recorded to the current file.
Shortcuts
Toolbar Button:
Keys: h
Bitmap View
NEW
Reverse Playback
NEW
Zoom In
Use this command to display the sonar data one screen at a time. Rather than
the typical waterfall display, this display uses the standard Windows scroll bar
to control the file position. Scrolling the bar up will advance the file forward,
while scrolling the bar down will advance the file in reverse.
Use this command to play the data file in reverse.
Use this command to zoom in the image. This command centers the zoom
area on the mouse position. The zoom factors are 1x1, 2x2, 3x3, 4x4, and 5x5.
Shortcuts
Toolbar Button:
Keys: z
Zoom Out
Use this command to zoom out the image.
Shortcuts
Toolbar Button:
Keys: z
Restore Image
Use this command to restore the sonar image to its original size and position.
When you move the image by clicking and dragging the image, and then zoom
in/out on the image, the image may not be seen in the viewing window. Use
this command to restore the image to its original size and position.
Shortcuts
Toolbar Button:
Keys: r
Page 6 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Port Only
Use this command to display only the Port channel. Note that, if recording a
file, both channels are always recorded regardless of the display view.
Stbd Only
Use this command to display only the Starboard channel. Note that, if recording
a file, both channels are always recorded regardless of the display view.
Both Sides
Use this command to display both Port and Starboard channels.
Status bar
Use this command to display and hide the status bar, which shows some of the
important information in YellowFin, such as operating range, data gain, etc. A
check mark appears next to the menu item when the Status bar is displayed.
Toolbar
Use this command to display and hide the toolbar, which includes buttons for
some of the most common commands in YellowFin, such as playback and
measurement commands, such as measure target height and measure
distance. A check mark appears next to the menu item when the Toolbar is
displayed.
File Playback bar
Use this command to display and hide the File Playback Progress dialog bar ,
which includes playback speed spin buttons and file playback progress display.
A check mark appears next to the menu item when the File Playback bar is
displayed.
Show Range
Use this command to show or hide the range display in the upper left corner of
the image.
Show Mark Shadow
Use this command to show or hide the black background for the text marker
display.
Units
Use this command to choose which display units you like to use. Range and
distance can be displayed in meters (Metric) or feet (Imperial).
Vertical Blending
Use this command to blend data from adjacent pings. This technique uses the
ships’ speed to determine bottom coverage, and is therefore only valid if the
ships’ speed is not zero.
Color Indicator
Use this command to display and hide the color table indicator bar, which
displays the color table used to represent echo strength. If enabled, this color
table bar is displayed on the right side of the sonar image display window. The
upper level colors represent higher echo strength, and lower level colors
represent lower echo strength. A check mark appears next to the menu item
when color table indicator bar is displayed.
Use the menu command ColorTable to choose your preferred colors to display
the sonar image.
Page 7 of 39
Imagenex Technology Corp. ©2009
3.3
Model 872 ver 2.0 User’s Manual
Color Table Menu Commands
The Color Table menu is used to change the sonar data colour palettes for the sonar images.
YellowFin uses colours (called a colour table) to represent echo data strength (amplitude). For example:
Normal High intensity color table used for mapping the echo data amplitude to 256 colors ranging from
Black (low strength level) though blue, green, orange yellow white and red (highest strength level).
The Color Table menu offers the following commands:
Normal High
Normal Low
Green
Grey
Reverse Grey
Brown/Yellow
Green/Blue
Green/Yellow
Blue
3.4
Standard colour table used for mapping the echo data amplitude to 256
colours ranging from Black (low level), through Blue, Green, Orange, Yellow,
White and Red (highest level).
Same colours as Norm Hi, but uses a lower colour intensity.
256 shades of green.
256 shades of gray (White on Black).
256 shades of gray (Black on White).
256 mixed shades of brown and yellow.
256 mixed shades of green and blue.
256 mixed shades of green and yellow.
256 shades of blue.
Settings Menu Commands
The Settings menu offers the following commands:
Sonar Settings
Display the Sonar Settings Dialog Box. If the dialog box is visible,
this command will be disabled.
See Sonar Settings Dialog Box and Diagnostics Dialog Box for details about sonar settings and
diagnostic items.
3.5
Communication Menu Commands
The Communication menu offers the following commands:
Reconnect
Use this command to re-establish the connection between the PC
and the sonar head. This command is different from
“File->Connect to Sonar Head…” which is used to change operation
from file playback to real-time acquisition. The “Reconnect”
command is used to reconnect the Ethernet link in real-time
acquisition mode.
Diagnostics
Display the Diagnostics Dialog Box. If the dialog box is visible, this
command will be disabled.
Page 8 of 39
Imagenex Technology Corp. ©2009
3.6
Model 872 ver 2.0 User’s Manual
Measure Menu Commands
The Measure menu offers the following commands:
Draw ‘+’ Mark
This command is used to draw a mark (+) on the screen at the current mouse
position by first clicking the command and then clicking the target that you
want to draw the mark on. Repeat the operation to draw more marks.
Shortcuts
Toolbar Button:
Measure Target Height
This command is used to measure the approximate height off the bottom of a
target (assuming a flat bottom). When selected, the cursor will display ‘Click
on the Target’. At this point, position the target cursor on the target of interest
and press the left mouse button. A Horizontal rubber-banded line is drawn
from the cursor position to the beginning of the transmit pulse with the
message ‘Click on First (Bottom) Return’. Position the cursor so that the
end of the rubber-banded line is at the beginning of the bottom return (the end
of the water column) and press the left mouse button again. The message
‘Click on Shadow Start’ is now displayed. Position the cursor at the
beginning of the shadow that the target has cast and press the left mouse
button. The message
‘Click on Shadow End – H = ???M’ is displayed. Move the cursor to the end
of the shadow to display the height measurement. Press the left mouse button
again to begin a new measurement.
Shortcuts
Toolbar Button:
Measure Range
Measures horizontal (slant) range between the sonar and the target or current
mouse position. Draws a horizontal line on the screen, with the range shown.
This command is used to measure the range from the center of the sonar to a
target. When you first click on the command, the YellowFin program will draw
a temporary horizontal line from the center of the sonar to the current mouse
position. Move the mouse to a selected target and the temporary horizontal
line moves with the mouse. Click on the target, the YellowFin.exe program
will draw that horizontal line permanently. The Range mark ”xxx.x m” or “xxx.x
ft” is shown at the end of the line.
Shortcuts
Toolbar Button:
Page 9 of 39
Imagenex Technology Corp. ©2009
Measure Distance
Model 872 ver 2.0 User’s Manual
Measures the distance between two targets. Draws a line on screen, with
the distance shown.
This command is used to measure the distance between two targets by
clicking on one target and moving the cursor to the other target and clicking
on it in the display window. This command draws a line connecting these two
selected targets, a start symbol (+) and a stop symbol (+). The distance
between these two targets is shown as “xxx.x m” or “xxx.x ft” at the end of the
line.
Note: The ship (or sensor) speed is needed to measure along track distance
(along the ship heading direction) correctly.
Shortcuts
Toolbar Button:
Clear Lines/Marks
Deletes all lines and symbols and text marks drawn on the screen.
Shortcuts
Toolbar Button:
Note: Since the sonar image is displayed as a moving picture, it is highly recommended that you
place the display on hold before doing any measurements and clear those lines and marks
before you release the hold status. If recording to a file, data will still be saved while the display is
on hold.
Page 10 of 39
Imagenex Technology Corp. ©2009
3.7
Model 872 ver 2.0 User’s Manual
GPS Options menu commands
The Communication menu offers the following commands:
Show GPS Track Plotter
Use this command to open another window, which displays the
sonar (or the ship) track plotted according to the GPS provided
latitude and longitude information.
GPS Comm Port Settings
Configure the serial communication port for GPS data
acquisition. The baud rate, stop bits, parity, etc. should match
those of the GPS receiver.
Speed Correction
Use this command to enable or disable Speed Correction.
The ship’s (or sensor) speed information is obtained from the
system GPS receiver. The YellowFin program will use the ship’s
speed and slant range information to adjust the aspect ratio of
the sonar image.
Convert UTC to Local Time
Use this command to display the UTC time in local time
coordinates.
Synchronize with GPS Time
Use this command to adjust the computer’s time to match the
GPS time.
Use this command to clear the GPS track plotter window.
Erase GPS Tracks
New
Zoom in
Use this command to zoom in the GPS track plot window using
the following grid divisions: 10m, 20m, 50m, 100m, 200m, 500m,
1000m.
Shortcuts
Keys:
Zoom out
+, =
Use this command to zoom out the GPS track plot window using
the following grid divisions: 10m, 20m, 50m, 100m, 200m, 500m,
1000m.
Shortcuts
Keys:
-
Page 11 of 39
Imagenex Technology Corp. ©2009
3.8
Model 872 ver 2.0 User’s Manual
Events menu commands (New)
When recording real-time data to a file, events can be recorded at the same time.
Note: The “.AN” annotation file is linked to the “.872” data file. Do not rename one file without
renaming the other. Do not edit the “.AN” file. Failure to comply will result in errors, and/or lost
event markers.
The Events menu offers the following commands:
Enable Event Input
New
Use this command to enable / disable event recording. This
menu item is only active during file playback or while real-time
data is being recorded.
Hide Event Marker
New
Use this command to enable / disable event marker display on
the screen. This menu item is only active during file playback or
while real-time data is being recorded.
Auto Event Info PopUp
New
Use this command to display the Event Information Dialog Box.
Descriptions about this event may be entered in the annotation
area. This menu item is only active during file playback or while
real-time data is being recorded.
Event Review/Edit
New
Use this command to review, edit, or delete an event/annotation.
This menu item is only active during file playback or while realtime data is being recorded.
Real-Time
To enable event recording, click the menu item "Events->Enable Event Input", then “double click” the
target of interest. The Event Information Dialog Box will appear. Descriptions about this event may be
entered in the annotation area. The event information will be written to an annotation file (using the same
file name as the data file but with a “.AN” as the file extension), and an event mark
will be drawn at
the cursor position. For each additional Event Mark, the number inside the circle will increase. Click
"Cancel" to discard this event. Select "Events->Hide Event Marks" to hide the event marks.
File Playback
If there is an annotation file accompanied with this playback file, the event marks will be drawn on the
sonar image when the file reaches the point where the event was recorded.
More events may be added the same way as described in the real-time event recording method. Added
events will be written to the same annotation file. If there is no annotation file for this data file, the program
will create an annotation file and write the events info to it.
Page 12 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Figure 2 - Event Information Entry Dialog Box
Menu items "Events->Auto Event Info PopUp" and "Events->Event Preview/Edit" are used for file
playback. When you enable "Auto Event Info PopUp", an event info dialog box will appear when an event
marker occurs.
Figure 3 - Event Information Dialog Box
By selecting "Events->Event Review/Edit", the descriptions of the events can be edited or deleted.
Page 13 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Figure 4 - Event Information Preview / Edit Dialog Box
Note: The Latitude/Longitude used for the event is the GPS antenna position for the selected
ping (i.e. offsets to the target are not calculated).
Page 14 of 39
Imagenex Technology Corp. ©2009
3.9
Model 872 ver 2.0 User’s Manual
Help menu commands
The Help menu offers assistance with this application:
Beam Coverage
Use this command to run the Sidescan beam coverage program which gives a
graphical depiction of the area covered by the acoustic signal in different modes.
About YellowFin
Use this command to display the copyright notice and version number of your
copy of YellowFin as well as contact information.
Toolbar Button:
Page 15 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
4.0 Toolbars and File Playback Progress Dialog Bar
4.1
Main Toolbar
Figure 5 - Main Toolbar
The main toolbar is displayed at the left of the application window. The toolbar provides quick mouse
access to many tools used in the YellowFin program. To hide or display the Toolbar, choose Toolbar from
the View menu.
Click
To
Connect to sonar head.
Open an existing data file to play back.
Save real-time acquired sonar data to a file or copy playback data to another file.
Stop saving real-time data or stop copying playback data.
Increase operating range by one level.
Range: 10m, 20m, 30m, 40m, 50m, 60m, 80m, 100m, 125m, 150m, and 200m for low
and medium frequency.
Range: 10m, 20m, 30m, 40m, and 50m for high frequency
Decrease operating range by one level.
Increase data (display) gain by 1% (0~100%).
Decrease data (display) gain by 1% (0~100%).
Clear the screen.
Toggle this command to pause or continue the image display.
Zoom in. The zoom factors are 1x1, 2x2, 3x3, 4x4 and 5x5
Zoom out. The zoom factors are 1x1, 2x2, 3x3, 4x4 and 5x5
Select an image rectangle area to save to an image file.
Draw a mark (+) on the screen at the current mouse position.
Measure target height.
Measure distance between two targets.
Measure slant range from the center of the sonar to the target.
Deletes all lines and marks drawn on the screen.
Restore image to its original size (1x1) and position.
Show the about dialog box displaying the copyright notice and version number of your copy of
YellowFin as well as contact information.
Page 16 of 39
Imagenex Technology Corp. ©2009
4.2
Model 872 ver 2.0 User’s Manual
File Playback Progress Dialog Bar
Figure 6 - File Playback Progress Bar
File Progress
A slider bar with a pointer showing file playback position. Dragging the pointer to a
new position will cause the file playback to start at that position. The slider range
represents the file size. Note: You should always drag the pointer to a proper file
playback position and avoid clicking on the edge of the slider bar, since that will
cause the pointer stop moving as the file playback goes along. In that case, the
pointer position will not reflect the file playback position correctly. You can drag
the pointer once again to make the pointer move correctly.
Play Back Speed
Pressing the spin button up or down will change the playback speed faster or
slower. The speed change will show in the adjacent progress bar.
Page 17 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
5.0 Dialog Boxes
5.1
Connection Dialog Box
Figure 7 - Connection Dialog Box
This dialog box will appear when you start your YellowFin program. If you are ready for real-time data
acquisition, click the “YES” button. The program will connect to the sonar head via an Ethernet link. If you
only want to playback data files, please click “No” and the program will conveniently display the “Open
Data File” dialog box for you to choose a data file to playback. Please do not change the IP address as the
sonar address is statically assigned from the factory. For more information, please refer to the “YellowFin
Ethernet Setup Guide” available from Imagenex Technology Corp.
Page 18 of 39
Imagenex Technology Corp. ©2009
5.2
Model 872 ver 2.0 User’s Manual
Open Data File Dialog Box
The following options allow you to specify which file to open:
File Name
Type or select the filename you want to open. This box lists files with the
extension you select in the Files of type box.
Files of type
Select the type of file you want to open: The supported file extensions are “.872”
or “.xtf”. if opening a sonar data file. The file with file extension “.872” is the
standard YellowFin recorded file format. YellowFin.exe can playback files with file
extension “.xtf” (Triton Extended File Format) ONLY if the “.xtf” file is recorded by
the YellowFin program.
Drives
Select the drive in which the YellowFin control software stores the file that you
want to open.
Directories
Select the directory in which the YellowFin control software stores the file that you
want to open.
Network...
Choose this button to connect to a network location where the data file resides.
5.3
Save YellowFin Data File Dialog Box
The following options allow you to specify the name and location of the file you're about to save sonar data
into:
File Name
Type a new filename or select an existing file name to save sonar data into that
named file.
Drives
Select the drive in which you want to store the document.
Directories
Select the directory in which you want to store the document.
Page 19 of 39
Imagenex Technology Corp. ©2009
5.4
Model 872 ver 2.0 User’s Manual
Sonar Settings Dialog Box
Figure 8 - Sonar Settings Dialog Box
The following options allow you to select sonar settings. These are the main parameters:
Range
Select the acoustic operating range.
Options:
Low Frequency:
10m, 20m, 30m, 40m, 50m, 60m, 80m, 100m,
150m, and 200m.
Medium Frequency: 10m, 20m, 30m, 40m, 50m, 60m, 80m, 100m,
150m, and 200m.
High Frequency:
10m, 20m, 30m, 40m, 50m
Data Gain
(Display Gain) Choose a Data Gain you want (from 0 to 100%). Data Gain is used
to increase or decrease the intensity (color levels) of the sonar image.
Mode/Freq
There are three frequencies to choose from: low, medium and high.
Gain Balance
Gain balance is used to adjust the balance of the Port/Starboard image. Drag the
gain balance slider bar to change the gain balance, which can be adjusted from
-3dB to +3dB. The “Port (dB)” and “Stbd (dB)”edit boxes are only used for display
purposes.
Page 20 of 39
Imagenex Technology Corp. ©2009
5.5
Model 872 ver 2.0 User’s Manual
Diagnostics Dialog Box
Figure 9 - Diagnostics Dialog Box
The Diagnostics Dialog Box is used to display important system variables. This dialog box is very useful
when trouble shooting the system in real-time. In file playback, certain system variables such as Header,
Serial Stat, and Run-Type etc. are not available to display since they are not recorded into the data file.
Header
Sent by the sonar head (wet end) to tell the processor what kind of data format it
sent, IGX for YellowFin sonar data.
Serial Stat
Indicates if the communication between sonar system and processor is normal
(0x40 or 0x42) or not (other than 0x40 or 0x42).
Run-Type
Sent by the sonar head (wet end) to tell the YellowFin program what command
the sonar is responding.
0: standard sonar shot
1: set Mode/Freq
2: set Range
3: set Gain Balance
Mode/Freq
0: Low frequency
1: Medium frequency
2: High frequency
Page 21 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Range Index
Current YellowFin sonar operating range index.
5: 10m
6: 20m
7: 30m
8: 40m
9: 50m
10: 60m
11: 80m
12: 100m
13: 125m
14: 150m
15: 200m
Range
Current YellowFin sonar operating range.
Data Gain
Current YellowFin sonar operating Data Gain.
Gain Balance
Current YellowFin sonar operating Gain Balance.
Link Command
Sent by the YellowFin program to sonar head indicating the operating parameters
are changed by the user.
0: standard sonar shot
1: set Mode/Freq
2: set Range
3: set Gain Balance
PRF
Milliseconds elapsed between two consecutive interrogations of the sonar head.
Page 22 of 39
Imagenex Technology Corp. ©2009
5.6
Model 872 ver 2.0 User’s Manual
GPS Serial Port Configuration Dialog Box
The GPS Serial Port Configuration Dialog Box is used to configure the GPS serial communications on
your PC.
Com Port
Specifies the communication serial port to be used.
Baud Rate
Specifies the baud rate at which the GPS communications operates. The default
is set to use 4800 bits/second baud rate.
Data Bits
Specifies the number of bits in the bytes transmitted and received. The default is
set to use 8 bits byte size.
Parity
Specifies the parity scheme to be used. The default is set to use No Parity
scheme.
Stop Bits
Specifies the number of stop bits to be used. The default is set to use one stop
bit.
Flow Control
Not used
Select NMEA
Sentences
GPS Output Time
Specifies GPS sentence types to be used. The default is set to RMC.
GPS Quality /
Status
Number of
Satellites in Use
Specifies rate at which GPS data is output to the PC. This value must be set to
match actual GPS settings (The Imagenex GPS is preset to 1 second).
This diagnostic value is read from the GPS receiver and provides the quality of
received GPS data.
This diagnostic value is read from the GPS receiver and provides the number of
satellites the GPS has found.
Note. “GPS Quality / Status” and “Number of Satellites in Use” values are dependant on the selected
NMEA sentence:
GPS Quality / Status => GGA => 0 = Fix not available, 1 = Non-differential fix available.
GLL => 0 = Fix not available, 1 = Non-differential fix available.
RMC => A = Valid position, V = NAV receiver warning.
Number of Satellites in Use => GGA => 0 – 12
GLL => Not available.
RMC => Not available.
The Baud Rate, Data Bits, Parity, and Stop Bits should match those in the GPS receiver specifications.
Page 23 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Figure 10 - GPS Serial Port configuration Dialog Box
Page 24 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix A – Target Height Calculation
Target Height Calculation
Bottom
Height =
Shadow
HxS
R+S
H
S
R
R
H
S
Sonar
Height
* Assuming a Flat Bottom
Figure 11 - Target Height Calculation
Page 25 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix B – External Resources
The YellowFin Sonar System provides several aids for post processing and/or controlling sonar data.
When recording a file, one may choose to record the data in an “.xtf” or “.872” format. YellowFin.exe is
able to playback an “.xtf” file that was recorded using YellowFin.exe. Also, Data from a “.872” or an “.xtf”
file may be “copied” to an .xtf file using the Copy Start and Copy Stop commands in the File Menu.
Once the “.xtf” file is generated, post processing may be done on this file. The following companies
provide post processing software packages:
•
•
•
•
Chesapeake Technology, Inc. (http://www.chesapeaketech.com)
HYPACK inc. (http://www.hypack.com)
Quality Positioning Services (http://www.qps.nl)
CARIS (http://www.caris.com)
Page 26 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix C – Data Storage File Format (.872)
When recording the YellowFin data to a .872 file, the following bytes are appended and saved to the file
every ping. The total number of bytes ‘N’ for each ping is equal to 4096.
Byte #
0-999
1000-1999
2000-2999
3000-3nnn
3nnn-4093
4094-4095
Byte Description
File Header (1000 bytes)
Port Channel Echo Data (1000 bytes)
Starboard Channel Echo Data (1000 bytes)
GPS Strings (100 bytes/string)
Zero Fill
Pointer To Previous Ping
The last 2 bytes of this ping contain a 16-Bit number that is the sum of the
number of bytes for this ping and the number of bytes for the previous ping.
This number can be used for reverse playback synchronization.
Number of bytes to previous ping = ((Byte 4094)<<8) | (Byte 4095)
FILE HEADER
Bytes 0 through 999 contain the following File Header information:
Byte 0
Byte 1
Byte 2
ASCII '8'
ASCII '7'
ASCII '2'
Byte 3
872 File Version
0 = v1.xx – 1000 points/channel, 8-Bit data
Bytes 4-7
Ping Number – increment for every ping
Byte 4
Byte 5
7-0
7–0
Ping Number
Bytes 8-9
Byte 6
7-0
Byte 7
7-0
Total Bytes ‘N’ - number of bytes that are written to the disk for this ping
Byte 8
7 6 5
N = 4096
4
3
2
1
0
Byte 9
7 6 5
4
3
2
1
0
Page 27 of 39
Imagenex Technology Corp. ©2009
Bytes 10-11
Model 872 ver 2.0 User’s Manual
Data Points Per Channel
Byte 10
7 6 5
1000
4
3
2
1
0
Byte 11
7 6 5
4
3
2
1
0
Byte 12
Bytes Per Data Point
always 1
Byte 13
Data Point Bit Depth
always 8
Byte 14
GPS Type/ Number of GPS Strings
GPS Type indicates which NMEA 0183 message was selected by the user and used for
decoding Lat/Lng coordinates. Number of GPS Strings indicates how many GPS strings
were detected and stored. Each string is stored (in ASCII) exactly as it appeared at the
serial communications port during real-time data acquisition. The strings are stored in a
100 byte slots starting at GPS String File Offset (Bytes 15-16).
Byte 14
7
6
GPS Type
5
4
3
2
1
0
Number of GPS Strings
GPS Type:
0 $GPGLL
1 $GPGGA
2 $GPRMC
NMEA 0183 GPS Strings stored at the following offsets:
$GPGLL:
stored at GPS String File Offset + 0
$GPGGA:
stored at GPS String File Offset + 100
$GPRMC:
stored at GPS String File Offset + 200
$GPVTG:
stored at GPS String File Offset + 300
Bytes 15-16
GPS String File Offset
Byte 15
7 6 5 4 3
Offset = 3000
Bytes 17-18
2
1
0
Byte 16
7 6 5
4
3
2
1
0
0
Byte 18
7 6 5
4
3
2
1
0
Event/Annotation Counter
Byte 17
7 6 5 4 3 2 1
E Count: 0 to 32767
E = 0, no event, ignore count
E = 1, new event, increment count and append annotation file
Annotations are stored in “filename.an”
Each annotation contains a maximum of 512 characters.
Bytes 19-30
Date – system date, null terminated string (12 bytes)
"DD-MMM-YYYY"
Page 28 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Bytes 31-39
Time – system time, null terminated string (9 bytes)
"HH:MM:SS"
Bytes 40-44
Thousandths of Seconds – system time, null terminated string (5 bytes)
".ttt"
Byte 45
Operating Frequency
0 = Low Frequency
1 = Medium Frequency
2 = High Frequency
Byte 46
Range Index – index numbers for acoustic operating range
5 - 10m
6 - 20m
7 - 30m
8 - 40m
9 - 50m
10 - 60m
11 - 80m
12 - 100m
13 - 125m
14 - 150m
15 - 200m
Byte 47
Data Gain
YellowFin - 0 to 100
YellowFin AUV - 0 to 40
Byte 48
Channel Balance
0 to 60 +/-3dB in 0.1dB increments
0 = +3dB Port / -3dB Stbd
30 = 0dB for both channels
60 = -3dB Port / +3dB Stbd
Bytes 49-50
Repetition Rate – Time between pings
Byte 49
7 6 5 4 3 2
Repetition Rate (ms)
Bytes 51-52
1
0
Byte 50
7 6 5
4
3
2
1
0
4
3
2
1
0
Sound Velocity
Byte 51
Byte 52
7 6 5 4 3 2 1 0 7 6 5
Sound Velocity (in meters/second) * 10
Bytes 53-65
12 Byte File Header. Refer to the section “Interface Return Data” in the document
“YellowFin Ethernet Specification” for further details.
Bytes 66-69
Reserved - always 0
Byte 70
Sonar Type
0 – YellowFin
1 – YellowFin AUV
Page 29 of 39
Imagenex Technology Corp. ©2009
Byte 71
Real Range
10, 20, 30, 40, 50, 60, 80, 100, 150, 200
Bytes 72-999
Reserved
always 0
Bytes 1000-1999
Port Channel Echo Data
1000 data points (1 byte/point)
first range point = 1 * Range / 1000 in meters
last range point = 1000 * Range / 1000 in meters
intensity: 0 – 255
Bytes 2000-2999
Starboard Channel Echo Data
1000 data points (1 byte/point)
first range point = 1 * Range / 1000 in meters
last range point = 1000 * Range / 1000 in meters
intensity: 0 – 255
Bytes 3000-3nnn
GPS Strings – (100 bytes/string)
Bytes 3nnn-4093
Zero Fill
Bytes 4094-4095
Pointer to Previous Ping
Byte 4094
Byte 4095
7 6 5 4 3 2 1 0 7 6 5 4
Number of bytes to previous ping = 8192
Model 872 ver 2.0 User’s Manual
3
2
1
0
Page 30 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix D – Annotation File Format (.AN)
The .AN File is generated / updated whenever an event marker is created. It is an ASCII text file which
contains pointers to the location in the .872 file where the event occurs. It also contains the GPS
coordinates, date and time, and user entered text. Refer to page 12 for details on event marker creation.
Note: The “.AN” annotation file is linked to the “.872” data file. Do not rename one file without
renaming the other. Do not edit the “.AN” file. Failure to comply will result in errors, and/or lost
event markers.
ID Number - 0-99
Ping number – Ping number in the .872 file that this event is referenced to.
X-coordinate ratio - Location of the event in the current ping.
Date – System date, null terminated string (12 bytes)
"DD-MMM-YYYY"
Time – System time, null terminated string (9 bytes)
"HH:MM:SS"
GPS Ships Position Latitude – text string (14 bytes)
“_dd.mm.xxxxx_N”
dd = Degrees
mm = Minutes
xxxxx = Decimal Minutes
_ = Space
N = North or S = South
GPS Ships Position Longitude – text string (14 bytes)
“ddd.mm.xxxxx_E”
ddd = Degrees
mm = Minutes
xxxxx = Decimal Minutes
_ = Space
E = East or W = West
User comment – 512bytes
Page 31 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix E – Ethernet Interface Specification (V1.01)
OVERVIEW
The Interface Board (160-017.V3) communicates via an Ethernet connection to Windows based PC.
The PC software needs to know the IP address and the correct port number of the sonar in order to create
a socket. If a direct Ethernet connection is used, then the PC’s Ethernet card must have a statically
assigned IP and Subnet Mask matching that of the sonar. If running through a local area net work, then
the PC’s Ethernet card may have dynamically allocated IP but the sonar’s IP address MUST be
reassigned to that matching the LAN.
To interrogate the underwater unit and receive echo data, a “Switch Data Command” string is sent to the
interface board, which, in turn, translates the data and sends “Sonar Control Commands” to the
underwater unit. When the Sonar Control Command is accepted, the sonar transmits, receives, and sends
its return data back up to the interface board. The interface board then packages the received data and
sends it back to the PC which, in turn, processes and plots the data.
To receive one sonar shot of acoustic data:
1. Send a TCP packet containing the Switch Data Command (with byte 18: Packet =
0x00).
2. Receive a TCP packet containing the Port channel’s data.
3. Send a TCP packet containing the Switch Data Command (with byte 18: Packet =
0x02).
4. Receive a TCP packet containing the Starboard channel’s data.
The Interface Return Data is the same for Port and Starboard returns. However, the packet number and
actual data reflect the different channels.
Page 32 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
SWITCH DATA COMMAND (PC to Interface Board)
The interface board accepts up to 27 bytes of switch data from the PC and must see the “Switch Data
Header” (2 bytes: 0xFE and 0x44 hexadecimal) in order to process the switches. The interface board will
stop accepting switch data when it sees the termination byte (0xFD HEX). The termination byte must be
present for the interface board to process the switches.
Note: the Termination Byte is the only switch value allowed to have a
value of 0xFD. All other switches should be set higher or lower than 0xFD
(253 Decimal) so they are not interpreted as a termination byte!
Table 1 - Switch Data Command To 160-017.v1 Interface board
Byte #
0–7
8 – 15
0xFE
Data
Gain
0x44
Reserved
Reserved Balance
Gain
16 – 23 Reserved Reserved
TCP
Packet
24 – 26 Reserved Reserved Term.
0xFD
Description
Range
Reserved
Reserved
Reserved
Reserved
Reserved
Reserve
d
Link
Comman
d
Reserve
d
Master/ Mode/Freq
Slave
Reserve Reserved
d
Reserve Reserved
d
BYTE DESCRIPTIONS
Note: All Byte values are shown in decimal unless noted with a '0x' (hexadecimal) prefix.
Byte 0
Switch Data Header (1st Byte)
Always 0xFE (254 decimal)
Byte 1
Switch Data Header (2nd Byte)
Always 0x44 (68 decimal)
Byte 2
Reserved
0
Byte 3
Range
0x05 – 0x0F
Operating range: 10, 20, 30, 40, 50, 60, 80, 100, 125, 150, 200m
Byte 4
Reserved
0
Byte 5
Reserved
0
Byte 6
Master/Slave
Not used (0x43)
Byte 7
Mode / Frequency
0. Low Frequency
1. Medium Frequency
2. High Frequency
Page 33 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Byte 8
Data Gain
0 – 100%
Byte 9
Reserved
0
Byte 10
Balance Gain
Integer values 0 through 60 decimal generates a matched gain balance in .1db
increments.
x − 30
10
30 − x
Port gain (dB) =
10
Starboard gain (dB) =
Example x = 42
42 − 30
= 1.2dB
10
30 − 42
Port gain (dB) =
= −1.2dB
10
Starboard gain (dB) =
Byte 11 Reserved
0
Byte 12
Reserved
0
Byte 13 Link Command (3 bits)
Down Telemetry value to YellowFin head
000
001
010
011
100
101
110
111
Byte 14
Reserved
0
Byte 15
Reserved
0
Byte 16
Reserved
0
Byte 17
Reserved
0
Standard Sonar Shot
Set Mode / Freq
Set Range
Set Gain Bal
Reserved
Reserved
Reserved
Link to Link
Page 34 of 39
Imagenex Technology Corp. ©2009
Byte 18
Model 872 ver 2.0 User’s Manual
TCP Packet Number (3 bits)
Indicates which TCP formatted packet is requested from the PC. The Sonar shot is
initiated on receipt of TCP Packet number = 0x00. Data is collected for both Port and
Starboard channels. Port data is then sent to the PC. On receipt of 0x02, Starboard Data
(which is already collected) is sent to the PC.
0x00 - Initiate Sonar Shot and return first TCP packet (Port data)
0x01 - Reserved
0x02 - Return second TCP packet (Starboard data)
0x03 - Reserved
0x04 -> 0x07 - Reserved
Byte 19
Reserved
0
Byte 20
Reserved
0
Byte 21
Reserved
0
Byte 22
Reserved
0
Byte 23
Reserved
0
Byte 24
Reserved
0
Byte 25
Reserved
0
Byte 26
Termination Byte
The Interface board will stop looking for Switch Data when it sees this byte.
Always 0xFD (253 decimal)
Page 35 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
INTERFACE RETURN DATA
After every shot, the interface board returns a 12 byte header, 1000 points of echo data, and a
terminating byte value of 0xFC. The total number of bytes (N), including the 12 byte header, returned
will be 1013.
Table 2 – YellowFin Return Data From 160-017.v3 Interface board to PC
Byte #
0 to 7
8 to 11
12 to
(N-2)
N-1
ASCII
'I'
Sync Val
(LO)
Description
ASCII
ASCII
Serial
Sync byte Sync byte Sync
'G'
'X'
Status
(LO)
byte
Sync Val
Data
Data
(HI) Bytes (HI) Bytes
(LO)
Echo Data
1000 Data Bytes
Sync byte
(HI)
Term.
0xFC
BYTE DESCRIPTIONS
Note:
All Byte values are shown in decimal unless noted with a '0x' (hexadecimal) prefix.
N = total number of return bytes
Byte 0 - 2
Imagenex Return Data Header
ASCII 'IGX'
'I' = 0x49, 'G' = 0x47, 'X' = 0x58
ASCII 'IGX'
N = 1013, (1000 Data Bytes, 12 header bytes, 1 termination byte)
Byte 3
Serial Status
Bit 7
1=
Character
Overrun
Bit 6
1 = Switches
Accepted
Bit 5
0
Bit 4
0
Bit 3
0
Bit 2
0
1 = Switch
Error
Bit 1 Bit 0
Channel
0
0
Port
0
1
1
1
0
1
Reserved
Starboard
Reserved
Page 36 of 39
Imagenex Technology Corp. ©2009
Byte 4-7
Model 872 ver 2.0 User’s Manual
Sync message bytes
Byte 4
Byte 5
Byte 6
Byte 7
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
0 0
Sync Message
0 0 Sync Message
0 0
Sync Message
0 0 Sync Messages
(LO)
(HI)
YellowFin Sync messages: 23 bits
YellowFin Sync messages:
(byte [4] & 0x3F) | (byte [5]<<6 & 0x0FFF) | (byte [6]<<12 & 0x3FFFF) | (byte
[7]<<18&0x7FFFFF)
Sync Messages:
Sync Word:
22 21 20
1
1
0
19
0
Bits 22-21:
Trigger (11)
Bits 20-19:
Head ID (00)
Bit 0:
Stop bit (1)
Bits 4-1:
Run Type (Echo’s Link Control Bits)
18
17 16 15 14
Reserved (0’s)
13
12
11
10 9 8 7
Information
6
5
4 3 2 1
Run Type
0
1
(0000) Sonar data
(0001) Mode / Freq
(0010) Range
(0011) Gain Balance
(0100) Reserved
(0101) Reserved
(0110) Reserved
Bits 12-5:
Information
If Run Type = 0 or Run Type = 2
Range Index:
0x05 through 0x0F
Operating range: 10, 20, 30, 40, 50, 60, 80, 100, 125, 150, 200m
If Run Type = 1
Mode / Frequency:
0x00 through 0x02
0. Low Frequency
1. Medium Frequency
2. High Frequency
If Run Type = 3
Gain Balance:
Integers 0 through 60
Page 37 of 39
Imagenex Technology Corp. ©2009
Bits 18-13:
Reserved
Byte 8,9
Sync Value
7
0
6
Model 872 ver 2.0 User’s Manual
Byte 8
5 4 3 2 1 0
Sync Value (LO)
7
0
6
Rx
Byte 9
5 4 3 2 1
Sync Value (HI)
0
L
Sync value is used for diagnostics (normal sync value is around 800).
Sync Value Byte (LO), Sync Value Byte (HI)
Sync Value Byte (LO)= (Byte 9 & 0x01)<<7 | (Byte 8 & 0x7F)
Sync Value Byte (HI)= (Byte 9 & 0x3E)>>1;
Sync Value = (Sync Value Byte (HI)<<8) | Sync Value Byte (LO)
No_RX_Data = Byte 9&0x40
If No_RX_Data = 1, low or no sync value
If No_RX_Data = 0, normal sync value
Byte 10,11
Number of data bytes
Number of Echo Data Bytes returned
Data Bytes (LO), Data Bytes (HI)
7
6
Byte 10
5 4 3 2 1
Data Bytes (HI)
0
7
6
Byte 11
5 4 3 2 1
Data Bytes (LO)
0
Data Bytes = (Data Bytes High Byte<<8) | Data Bytes Low Byte
Byte 12 Start of Echo Data
(N-12) Bytes of data
1st Range Point = Byte 12
2nd Range Point = Byte 13
3rd Range Point = Byte 14
4th Range Point = Byte 15
etc. ...
Byte (N-2)
End of Echo Data
Byte (N-1)
Termination Byte
0xFC
Page 38 of 39
Imagenex Technology Corp. ©2009
Model 872 ver 2.0 User’s Manual
Appendix F – Wiring Diagrams
Solder View
5PIN MS
(M)
SHLD
A
C2
V+
B
E
C1
V-
C
D
Subconn MCIL4F
(F)
SHLD
V-
Part Number
54-020421-04
V+
V-
V+
1
4
C1
C2
2
3
V+
C1
C1
(Kevlar, Yellow Shielded)
C2
V-
C2
Socket View
5PIN MS
(M)
SHLD
A
V+
C2
E
B
V-
C1
D
C
Pin View
IMAGENEX TECHNOLOGY CORP.
Title:
YellowFin Tow Cable
Document Number: 872-200-168
Rev
01
Date:
1
Oct 19, 2004
Sheet 1 of
Figure 12 - YellowFin Tow Cable Wiring Diagram
Page 39 of 39
Imagenex Ethernet Setup Guide for the
Model 872 YellowFin
Created on November 10, 2004
Updated on March 16, 2005
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
Introduction
The Imagenex Model 872 YellowFin side scan sonar system consists of an underwater sonar head
connected via analogue telemetry directly to a surface interface processor. This processor contains
the necessary power to run the underwater unit, a built-in differential capable GPS unit, and an
Ethernet enabled interface board.
This document covers the necessary setup procedures to enable your Windows© XP© based PC to
communicate with the processor.
Ethernet Cable
The included Ethernet cable specifications are:
•
•
•
Cat 5e
RJ-45
568B wiring scheme
If this cable needs to be replaced, ensure that the above specifications are met.
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 2 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
Configuration of Windows XP Ethernet Communications
For the YellowFin System, the following Address’s are used
PC
IP Address
Subnet Mask
192.168.0.X
255.255.255.0
Where ‘X’ is a decimal number between 3 and 255. The number ‘1’ is reserved for a network
server, and ‘2’ is reserved for the YellowFin processor.
The YellowFin processor has a statically assigned IP Address of 192.168.0.2 . This is the
number to enter in the Connection Dialog Box as shown in Figure 3
The Recommended PC’s IP address and Subnet Mask on the PC are:
IP Address
Subnet Mask
192.168.0.3
255.255.255.0
On a Windows© XP© based machine, this is done as follows:
1. Navigate the Control Panel and double click “Network Connections”
2. Right click on the Ethernet interface you wish to connect with and select “Properties”
Figure 1 - Local Area Connection Properties Dialog Box
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 3 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
3. Select Internet Protocol (TCP/IP) and select “Properties”
Figure 2 - TCP/IP Priorities Dialog Box
4. Enter the information shown above in Figure 2 and click “OK” to accept the changes.
5. Click “OK” again to accept the changes.
Now your computer is on the same “Network” as the Processor. When starting the YellowFin.exe
program, a dialog box as shown below in Figure 3 will appear asking for the IP Address. Enter
the Processor’s IP Address, NOT the PC’s address. (Note: The current IP Address is saved in
the “YellowFin.cfg” file located in the programs root folder)
Figure 3 - YellowFin.exe Connection Dialog Box
The processor has a statically assigned IP Address of 192.168.0.2 . Enter this number in the Connection Dialog Box.
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 4 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
The system will run fine. However, if communication to the head does not function properly, try
these suggestions.
1. Disable any network bridges that are present
• A network bridge allows a separate port, such as “USB”, or “Firewire” to piggyback
the Ethernet connection.
• Under “Network Connections”, if there is a network bridge icon, disable it.
Under “Network Connections”, right-click on the Ethernet card and select properties.
2. Clear unnecessary network protocols
• De-select all services except for “Internet Protocol (TCP/IP)”
3. Remove any firewalls present (Note that Windows© XP© has a rudimentary firewall
built into it. Disable this one first).
• Select the “Advanced” Tab. De-select the Firewall option (if present).
Click on “Configure” (in the “General” tab) and a new dialog box will appear.
4. Set Link speed to “Auto” or “10Mbps”
• In the “Advanced” tab, select “Link Speed / Duplex Mode” and set to either “Auto
Mode” or “10 Full Mode”.
5. Disable any power saving that shuts down the Ethernet card.
• In the “Advanced” tab, select “Link Down Power Saving” and set to “Disable”.
• In the “Power Management” tab, de-select any power saving option.
Sharing an Ethernet Device with the Sonar and Internet
If the computer will be using the same Ethernet card for both the sonar and Internet uses (NOT
at the same time), set the card for the sonar using the above procedures. When using the Internet,
you will need to reset the IP, Subnet, Default Gateway, and DNS Server to correspond to your
Internet Service Provider. On most modern systems, this may as simple as setting the system to
“Obtain settings Automatically” This will set the computer to use the DHCP protocol.
The YellowFin processor has a statically assigned IP Address of 192.168.0.2 . To re-use the
Sonar system, the above procedures MUST be followed
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 5 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
Appendix A – Setting up a Direct Connection
This is the simplest way to connect to an Imagenex Ethernet Sonar System (IESS) to a computer
(PC) as shown in Figure 4. In this configuration, there is simply a direct connection between the
IESS and the operating PC. Note that the PC has a static IP address of “192.168.0.157”.
Cat 5e
Sonar Device
IP = 192.168.0.2
IP = 192.168.0.157
Figure 4 - Connecting the IESS via Direct Connection
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 6 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
Appendix B – Setting up a LAN
To connect an Imagenex Ethernet Sonar System (IESS) to a Local Area Network (LAN), refer to
Figure 5. The advantage of this setup is that the IESS may be operated from any computer that is
connected to the LAN. Note that the server computer must be running Windows© XP© PRO in
order to set up a LAN. This is because only XP© PRO contains the necessary DHCP server
component to auto-configure the client PC’s. The server also has a static IP address of
“192.168.0.1” and no other PC on the network may have this IP. Currently, the IESS does not
support DHCP and is simply “piggy-backing” the network by using an IP that is on the same
Subnet Mask as the LAN.
Server
IP = 192.168.0.1
Cat 5e
HUB
Cat 5e
Cat 5e
Cat 5e
Sonar Device
IP = 192.168.0.2
IP = 192.168.0.144
IP = 192.168.0.157
Figure 5 - Connecting the IESS via a LAN
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 7 of 8
Imagenex Technology Corp.
Ethernet Setup Guide for Model 872 YellowFin
Appendix C – Setting up a Networked LAN
To connect an Imagenex Ethernet Sonar System (IESS) to a networked Local Area Network
(LAN), refer to Figure 6. This setup consists of two LAN’s interconnected via a router. The
router acts as a server to the LAN that is directly connected to the IESS. The advantage of this
setup is that the IESS may be operated from any computer that is connected to either LAN. The
server has a static IP address of (for example) “172.16.0.1”. The router essentially has to sides.
One side is configured as a client (“172.16.0.127”) and the other side is configured as a server
(“192.168.0.1”). Currently, the IESS does not support DHCP and is simply “piggy-backing” the
network by using an IP that is on the same Subnet Mask as the LAN.
Server
IP = 172.16.0.1
Cat 5e
HUB
Cat 5e
Cat 5e
Cat 5e
172.16.0.127
Router
192.168.0.1
IP = 172.16.0.13
IP = 172.16.0.45
Cat 5e
Cat 5e
Sonar Device
IP = 192.168.0.2
IP = 192.168.0.157
Figure 6 - Connecting the IESS through a multiple LAN
Updated on March 16, 2005
D:\My Documents\Projects\YellowFin\Documentation\YellowFin Ethernet Setup Guide.doc
Page 8 of 8
Imagenex Technology Corp.
September 14, 2006
IMAGENEX YELLOWFIN SIDESCAN SONAR
PULSE REPETITION RATES
RANGE
Meters
200
150
125
100
80
60
50
40
30
20
10
REP-RATE
ms (Hz)
290 (3.4)
223 (4.5)
190 (5.3)
156 (6.4)
129 (7.8)
102 (9.8)
90 (11.1)
76 (13.1)
63 (15.9)
57 (17.5)
57 (17.5)
Using YELLOWFIN.EXE v1.09c, Pentium 4 (2.8 GHz), Windows XP
Solder View
5PIN MS
(M)
SHLD
A
C2
V+
B
E
C1
V-
C
D
Subconn MCIL4F
(F)
SHLD
V-
Part Number
54-020421-04
V-
V+
V+
C1
C1
C2
(Kevlar, Yellow Shielded)
V-
V+
1
4
C1
C2
2
3
C2
Socket View
5PIN MS
(M)
SHLD
A
V+
C2
E
B
V-
C1
D
C
Pin View
IMAGENEX TECHNOLOGY CORP.
Title:
YellowFin Tow Cable
Document Number:
Date:
Rev
01
872-200-168
Oct 19, 2004
Sheet
1
of
1

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project