2D Seismic Tutorial

2D Seismic Tutorial
EIVA SOFTWARE SUITE
NaviPac - NaviEdit
December, 2009
2D Seismic Tutorial EIVA Software Suite
8-10 Teglbkvej
2D Seismic Tutorial DK-8361 Hasselager Aarhus,
Denmark
EIVA SOFTWARE SUITE Tel: +45 8628 2011

Fax: +45 8628 2111
NAVIPAC NAVIEDIT e-mail: eiva@eiva.dk
Web: www.eiva.dk
October, 2009
1 Minor Revisions LARS DALL 01/10/09
0 First Edition LARS DALL 26/01/09
Revision Description By Checked Approved Date
Key words: Classification
2DSeismic, On-line, Post-processing, Exporting Open
Internal
Proprietary
Distribution No of copies
N/A N/A N/A
The frontpage shows the 1,225 million miles of science track that the R/V Vema sailed for LDEO (Lamont
Doherty Earth Observatory) of Colombia University, New York between 1953 and 1981. The majority of these
being Seismic Track miles.
At present LDEO are using NaviPac/NaviEdit for the acquisition and post-processing of their seismic
navigation data.
2D Seismic Tutorial_Revision ongoing.doc Page 2 of 264 Rev. no. 1, 2009-01-10

CONTENTS
1. INTRODUCTION............................................................................................................... 7
2. NAVIPAC - ONLINE NAVIGATION AND DATA-ACQUISITION ...................................... 10

2.1 General Introduction to NaviPac ................................................................................. 10
2.1.1 Configuration and Survey Planning ............................................................... 10
2.1.2 On-line Operations ........................................................................................ 11
2.2 Configuring NaviPac ................................................................................................... 15
2.2.1 Common Tools ............................................................................................. 18
2.2.1.1 The Main Menu ........................................................................................ 19
2.2.1.2 The Explorer and the Properties Panels ................................................... 33
2.2.1.2.1 File Header .......................................................................................................... 33
2.2.1.2.2 Instruments .......................................................................................................... 35
2.2.1.2.3 Geodesy .............................................................................................................. 38
2.2.1.2.4 Objects ................................................................................................................. 43
2.2.1.2.5 Warm Start........................................................................................................... 44
2.2.1.3 The Database Status Bar ......................................................................... 45
2.2.1.4 The Tooltip Bar ......................................................................................... 45
2.2.1.5 The History Bar ........................................................................................ 46
2.2.1.6 The Icon Bar ............................................................................................. 46
2.2.1.7 Event Settings .......................................................................................... 46
2.2.1.8 User Commands ...................................................................................... 53
2.3 Feasible Method, NaviPac Configuration, 2D Seismic ................................................ 55
2.3.1 Configuring the Instrument Interfacing .......................................................... 56
2.3.1.1 Surface Navigation ................................................................................... 58
2.3.1.2 Gyro ......................................................................................................... 60
2.3.1.3 Motion Sensor .......................................................................................... 62
2.3.1.4 Dynamic Positioning ................................................................................. 63
2.3.1.4.1 Digicourse ............................................................................................................ 63
2.3.1.4.2 Remote GPS........................................................................................................ 65
2.3.1.5 Special Input ............................................................................................ 67
2.3.1.6 Data Output .............................................................................................. 68
2.3.1.6.1 DigiSHOT (serial interface) .................................................................................. 68
2.3.1.6.2 Output for EIVA Statistical module (UDP/IP interface) ........................................ 69
2.3.1.6.3 EIVA 3D Display .................................................................................................. 70
2.3.1.6.4 Robtrack output (Autopilot) .................................................................................. 72
2.3.1.6.5 Annotation to NaviSound 215 .............................................................................. 73
2.3.1.6.6 Position output to Octans .................................................................................... 75
2.3.1.7 Data-acquisition........................................................................................ 76
2.3.1.7.1 NaviSound 215 Echo-sounder ............................................................................. 76
2.3.1.7.2 Digicourse Feather Angle .................................................................................... 78
2.3.1.7.3 Distance Shoot Info ............................................................................................. 79

2.3.1.8 Offsets ...................................................................................................... 80

2.3.2 Defining Objects............................................................................................ 81
2.3.3 Configuring Geodesy .................................................................................... 82
2.3.4 Warm Start Programs ................................................................................... 83
2.3.5 Configuring Other Settings ............................................................................ 84
2.3.6 Summarizing the NaviPac Interfacing Configuration ..................................... 86
2.4 NaviPac Online ........................................................................................................... 87
2.4.1 The Online Program ...................................................................................... 88
2.4.1.1 Common Tools ......................................................................................... 88
2.4.1.1.1 The Main Menu .................................................................................................... 89
2.4.1.1.1.1 File....................................................................................................................... 89
2.4.1.1.1.2 Edit ...................................................................................................................... 90
2.4.1.1.1.3 View .................................................................................................................... 93
2.4.1.1.1.4 Navigation ........................................................................................................... 95
2.4.1.1.1.5 Calibration ........................................................................................................... 96
2.4.1.1.1.6 Calculate ........................................................................................................... 102
2.4.1.1.1.7 Events ............................................................................................................... 105
2.4.1.1.1.8 Options .............................................................................................................. 107
2.4.1.1.1.9 Help ................................................................................................................... 110
2.4.1.1.2 The Online Tools Toolbar ................................................................................ 111
2.4.1.1.3 The Information Bar ......................................................................................... 111
2.4.1.1.4 The Navigation Buttons ..................................................................................... 112
2.4.1.1.5 The Alarms and Messages Window ................................................................ 112
2.4.1.1.6 The Status Bar ................................................................................................. 112
2.4.2 Other programs ........................................................................................... 113
2.4.2.1 Helmsmans Display ............................................................................... 113
2.4.2.1.1 Introduction ........................................................................................................ 113
2.4.2.1.1.1 Line planning mode (Off-line)............................................................................ 113
2.4.2.1.1.2 Surveying mode (On-line) ................................................................................. 114
2.4.2.1.2 Description ......................................................................................................... 114
2.4.2.1.2.1 Common Tools .................................................................................................. 114
2.4.2.1.2.1.1 The Main Menu........................................................................... 114
2.4.2.1.2.1.2 The Toolbars ............................................................................... 117
2.4.2.1.2.1.3 The Views ................................................................................... 118
2.4.2.1.2.1.4 The Status Bar ............................................................................. 118
2.4.2.1.2.2 Connecting to NaviPac ..................................................................................... 119
2.4.2.1.2.3 Arranging the Windows ..................................................................................... 120
2.4.2.1.2.4 Displaying the vessel outline ............................................................................. 126
2.4.2.1.2.5 Managing Runlines ........................................................................................... 132
2.4.2.1.2.5.1 Manual Creation of Runline (single segment type) .................... 132
2.4.2.1.2.5.2 Manual Creation of Runline (continuous runline type) .............. 135
2.4.2.1.2.5.3 Cursor created Runline ............................................................... 137
2.4.2.1.2.5.4 Loading Runlines from File ........................................................ 139
2.4.2.1.2.5.5 Start/stop Runlines/Recording .................................................... 140
2.4.2.2 The Logging Window .............................................................................. 144
2.4.2.2.1 Main Menu ......................................................................................................... 146
2.4.2.2.1.1 Setup Logging ................................................................................................... 148

2.4.2.2.1.2 Custom Logging Format ................................................................................... 149

2.4.2.2.2 Logging Toolbar ................................................................................................. 152
2.4.2.2.3 Information Window ........................................................................................... 153
2.4.2.2.4 Logfile Information Bar ...................................................................................... 153
2.4.2.2.5 Status Bar .......................................................................................................... 154
2.4.2.3 The Raw Data Window ........................................................................... 154
2.4.2.4 The Instrument Spy Window................................................................... 156
2.4.2.5 The Base Position Window ..................................................................... 157
2.4.2.6 The GPS Status Window ........................................................................ 158
2.4.2.7 The Object Positions Window ................................................................. 159
2.4.2.8 The IO Monitor Window .......................................................................... 160
2.4.2.9 The Data-acquisition Window ................................................................. 161
2.4.2.10 The Attitudes Window............................................................................. 163
2.4.2.11 Other Windows ....................................................................................... 164
2.5 Feasible Method, 2D Seismic On-line Phase ............................................................ 168
2.5.1 Starting the system ..................................................................................... 169
2.5.2 Performing the Navigation Splitting ............................................................. 170
2.5.3 Defining the Shot-point Settings .................................................................. 172
2.5.4 Setup the Logging Parameters.................................................................... 174
2.5.5 Utilizing the Helmsmans Display ................................................................ 177
2.5.6 Using the Birdmon Window to monitor the Digicourse status ...................... 181
2.5.7 Export raw data to UKOOA P2/94 ............................................................... 183
2.5.7.1 The Header Editor .................................................................................. 184
2.5.7.1.1 The Header View ............................................................................................... 185
2.5.7.1.2 NaviPac based header setup ............................................................................ 187
2.5.7.1.3 Manual header setup ......................................................................................... 188
2.5.7.1.3.1 Comments ......................................................................................................... 189
2.5.7.1.3.2 Final Header ...................................................................................................... 189
2.5.7.2 Data Export ............................................................................................ 190
2.5.7.2.1 Settings .............................................................................................................. 190
2.5.7.2.2 Execute the exporter ......................................................................................... 191
2.5.8 Using Great circle based runlines ............................................................... 191
2.5.9 Utilize general QC Tools ............................................................................. 194
2.5.10 Other Items ................................................................................................. 199
3. POST-PROCESSING WITHIN NAVIEDIT..................................................................... 201

3.1 General Introduction to NaviEdit ............................................................................... 201
3.2 Common Tools ......................................................................................................... 203
3.2.1 The Main Menu ........................................................................................... 204
3.2.1.1 Multiple Tides ......................................................................................... 205
3.2.2 NaviEdit Toolbar ......................................................................................... 206
3.2.3 The Explorer Panel/Tree View .................................................................... 207
3.2.4 The List View .............................................................................................. 208
3.2.5 Planview ..................................................................................................... 209
3.2.6 Reading data into the database .................................................................. 209
3.2.7 Header Editor.............................................................................................. 210

3.2.8 Data Editor .................................................................................................. 217

3.3 Feasible Method, NaviPac 2D Seismic Data ............................................................. 228
3.3.1 Import of the raw NaviPac data ................................................................... 229
3.3.2 Using the ASCII-interpreter ......................................................................... 233
3.3.3 Utilizing the Header Editor .......................................................................... 237
3.3.3.1 Header Editor - _S-file ............................................................................ 238
3.3.3.2 Header Editor - _S_Tailbuoy_DC-file ...................................................... 240
3.3.4 Utilizing the Data Editor............................................................................... 242
3.3.4.1 Utilizing the Data Editor - _S-file ............................................................ 242
3.3.4.1.1 Editing of the Navigation Data ........................................................................... 243
3.3.4.1.2 Editing of Single-beam Data .............................................................................. 246
3.3.4.2 Utilizing the Data Editor - _S_CMP, - _S_COS and _Tailbuoy files ...... 247
3.3.4.3 Utilizing the Data Editor - _S_Tailbuoy_DC-file...................................... 248
3.3.5 Troubleshooting .......................................................................................... 254
3.3.5.1 Erroneous Bird Compass data................................................................ 255
3.3.5.2 Erroneous Bird Depth data ..................................................................... 257
3.3.6 Exporting to UKOOA P1/90 ......................................................................... 260
4. CONCLUSION .............................................................................................................. 264

1. INTRODUCTION
The purpose of the present Tutorial is to provide a guide to the EIVA software suite with respect
to utilizing it for 2D Seismic purposes, online as well as for post-processing and documentation
applications. Within the Tutorial, the relevant tools are presented and an impression of the
dedicated work- and dataflow through the EIVA suite is thereby provided. Furthermore the
Tutorial proposes exact methods and parameters to be used in connection with a typical 2D
Seismic acquisition/post-processing task.
The Tutorial is divided into two main chapters, each related to a distinct level of work (see
Figure 1 below). NaviPac is the EIVA navigation and data-acquisition software, typically
utilized for traditional, single-beam or similar applications. In the present context, NaviPac is
used for 2D Seismic based online data-acquisition, navigation and support. NaviEdit, on the
other hand, is used for the subsequent editing and exporting of the acquired Seismic navigation
information. Each of the two main chapters is again subdivided into a general introduction, a
presentation of the general tools and finally into a description of the dedicated, feasible methods
to be applied in connection with a typical 2D Seismic data-acquisition and post-processing task.
Figure 1 2D Seismic in the EIVA Software Suite

The part of the tutorial that introduces feasible methods for a 2D Seismic task is to be regarded a
dedicated manual, in which the description of the various phases is given in the sequence that an
actual process is most likely to undertake. The specific online settings supplied in some of these
parts of the tutorial are given as an inspiration to the user: they might as such be relevant in
connection with some projects and not applicable in connection with others. The user is hence
requested to consult the particular requirements of his specific project in order to define precise
and dedicated parameter settings.
Further the degree of detail of the various chapters is intended to reflect the particular
requirements of such a typical 2D Seismic task. It is important to stress, that this is not intended
to be a thorough and detailed users manual. For this, additional, more general and detailed
information on data-acquisition and post-processing is available in the help-features and manuals
supplied with the various programs that constitute the EIVA software suite as well as in the
EIVA Training and Documentation Site (http://download.eiva.dk/online-training/index.htm),
that can be accessed and downloaded directly from the Internet.
Figure 2 below shows, in red, that NaviPac and NaviEdit together constitutes the scope of the
tutorial. The overall figure depicts the data-flow through the EIVA software suite with the
general post-processing part of the suite in the lower right corner (NaviEdit, NaviModel &
NaviPlot), whereas the on-line/data-acquisition parts is depicted in the upper left part of the
figure (NaviPac, NaviScan (and Contour)).
Further, with respect to the scope of the tutorial, it must be emphasized, that, since the 2D
seismic application is an integrated part of NaviPac as well as of NaviEdit, the vast majority of
the contents of the tutorial, is described from a general point of view. The dedicated parts are
predominantly found in the Feasible Methods chapters. A more dedicated description of
utilizing the 2D Seismic applications with the EIVA software, can be found in the document 2D
Seismic in NaviPac, that is installed with NaviPac and furthermore found on the training and
documentation site: http://download.eiva.dk/online-
training/NaviPac%20Manuals/Appendix/2DSeismic.pdf.
.

Figure 2 Scope of the Manual

2. NAVIPAC - ONLINE NAVIGATION AND DATA-ACQUISITION

2.1 General Introduction to NaviPac
NaviPac is an integrated navigation software package, capable of providing navigation and
positioning information in support of marine survey projects, as well as of offshore engineering
and construction operations, such as:
Hydrographic & Oceanographic Surveys
Geophysical 2D Seismic Surveys
Harbour Surveys
Marine Construction Work
Offshore Pipe-laying and Inspection
Barge, Tug and Fleet Management
Offshore Rig Operations
2.1.1 Configuration and Survey Planning

The NaviPac configuration module (see Figure 3) provides easy set-up of all survey parameters
either in real-time or off-line prior to the start of a survey project. The software features flexible
selection of geodetic control parameters including datums, map-projections, measurement units
and geoid models, allowing for operations world-wide. Vessel shapes are easily generated or
imported and stored as templates for later use.
A variety of methods are available for the creation of survey lines: e.g. click-and-drag by
mouse/trackball, manual input of survey line coordinates, offset/parallel survey lines, cross lines,
circles, arcs, barge-lines, star patterns, etc. Survey lines pertaining to a defined survey area can
further be created. A wizard allows creation of templates for input of other data formats.
In general terms, inputs are automatically stored in a project configuration file allowing the user
to set up new surveys or to quickly switch to an existing survey.

Figure 3 The NaviPac Configuration Module
2.1.2 On-line Operations

NaviPac will operate under Windows XP Professional and is based on a client/server solution
enabling execution of all software sub-modules on workstations on the network.
A large variety of device I/O drivers are available for the commonly used sensor systems, such
as: GPS/DGPS/RTK systems, gyros and compasses, motion/attitude sensors, single-beam echo-
sounders, doppler logs, magnetometers, dynamic positioning systems, IMCA, USBL/LBL/INS
systems, ARPA and AIS, tide-gauges, autopilots, etc. Supplementary to this, generic I/O drivers
allow for definition or customization of dedicated device I/O drivers. The I/O port settings are
easily defined and data can be interfaced via RS232, LAN/WLAN (UDP/IP, TCP/IP), or EIVA
TimeBox time-synchronized interface unit.

Figure 4 Helmsman's Display (Tug Management/Rig Move Module)
Time stamping of sensor data is performed using the internal computer clock linked to GPS-
based PPS/ZDA input. Furthermore, the TimeBox time-synchronized interface unit provides
LAN interface and distributed time tagging with an accuracy of better than 100 sec.
Full system flexibility allows for design and configuration of survey parameters and preferred
display layout. The Helmsmans display (see Figure 4) can be distributed without limit via the
LAN to slave monitors or workstations for individual windows layout and interactive use by the
operator.
The navigation monitor features graphical presentation of selected survey objects and
cartographic features in real-time for both absolute and relative positions. Vessel positions,
survey lines (in DXF, DWG and ASCII formats) and objects may be displayed superimposed on
C-Map or S57 based electronic chart displays. The Helmsmans monitor displays off-track and
along-track information, including planned and actual fix location.

Figure 5 The NaviPac Views
Further NaviPac includes a number of views and programs that can be organized to meet the
requirements of the user. The views feature basic online QC functionalities and they can indeed
be used to display the NaviPac data and the quality of the data in a variety of ways and supply
the user with tools to inspect that none of the sensors are dropping out (see Figure 5).
NaviPac features 3D displays (see Figure 6) allowing the operator to monitor his own vessel, as
well as other vessels and objects on top of unlimited sized 3D data models. Moreover, depth
coverage information as well as DTMs generated on-the-fly, is distributed to monitors for
display in real-time.

Figure 6 3D Helmsman's Display
NaviPac provides automated managing and storing of survey data. During data logging records
can be limited in time or file size defined by the user. Records are saved to a project directory
allowing set up of new surveys or quick switching to an existing survey. Data is stored in ASCII
survey format, generic raw format and/or user-defined format.

2.2 Configuring NaviPac

Configuration of NaviPac can be performed from two different platforms, NaviPac GenSetup
and NaviPac Config . Both programs are installed automatically during the NaviPac
installation and are furthermore both supported and regularly updated by EIVA.
Figure 7 The GenSetup Program
Whereas the GenSetup program (see Figure 7) represents a more traditional approach, Config
can be considered more inventive, in the sense that it appear more logical, intuitive and thereby
friendly to the users. Having said this however, the programs are 100% compatible and once
entering on-line mode, the user will observe no difference between having employed either of
them. Unless otherwise described, the present Tutorial will deal with the use of Config only. The
document 3 NaviPac Setup installed with NaviPac and furthermore found on the training and
documentation site supports detailed information about how to use GenSetup.

Figure 8 NaviPac Configuration Principles
As it appears from Figure 8, the Config program has two prime purposes:
It is used in off-line mode to configure NaviPac
It is used to enter and exit on-line mode (data-acquisition/navigation mode)
The configuration defined in offline mode is stored in a database called gensetup.db. On-line
mode can be entered in two different ways: automatically or manually. When choosing an
automatic start, NaviPac/Config will check whether or not there is compliance between the
GenSetup and the Online databases. If this is the case the automatic start is allowed - otherwise
a manual start is compulsory. During start-up, NaviPac will generate the Online database
containing information about the online setup. In this case the databases will be in compliance. If
the user chooses to modify the GenSetup database before entering on-line mode the next time,
the compliance between the databases may have vanished and a manual start is thus required.
The GenSetup database contains the following:

Selected Map-Projection: Definition of the selected projection including projection type,

projection name and various projection parameters
Selected Ellipsoid: Definition of the selected ellipsoid, including ellipsoid type, ellipsoid
name and various ellipsoid parameters
Defined Datum-shift Parameters: Definition of the defined datum shift (between WGS 84
and user datum) including all 7 parameters
Included Surface Navigation Systems: List of all included surface navigation systems
identified by system type and system name and if needed additional system parameters
Available Navigation Stations: List of available stations for each surface navigation
system. Station name, station location, station parameters and availability flag define each
station
Defined Instruments: List of included instruments given by type, instrument, layback
offsets, I/O mode and I/O set-up
Additional Instrument Parameters: For each instrument in the above list, this part includes
additional parameters if needed
The following comprises the contents of the Online database:
Selected LOPs: Definition of the selected LOPs including LOP type, name and other
parameters
Selected Additional Instruments: Definition of selected (if any) instruments for dead
reckoning (gyro and speed log) if any
Selected objects for dynamic positioning: Definition of objects and systems selected for
UW or remote positioning
LOP control parameters: Various parameters used for LOP control (C-O, weight, sigma,
filters, priorities etc.)
Dead Reckoning Parameters: Settings of dead reckoning (if any)
Estimated Position: Last known position for estimation
Navigation Mode: Last used navigation mode

2.2.1 Common Tools

NaviPac Config is organized in different menus, panels and views that together make the user
interface as visualized in Figure 9. The various items can be listed as follows.
Main Menu
Explorer Panel (Tree View)
Database Status Bar
Properties Panel
Tooltip Bar
History Bar
Icon Bar
Figure 9 Config User Interface

2.2.1.1 The Main Menu

The main menu has four entries: File, View Options and Help. Compared to GenSetup,
the Config menus have a relatively limited amount of entries.
The File menu-item shown above hosts the following entries:

New: Creates a new empty database
Open: Use this entry to open an existing database file. The operator must specify the
database from a standard Open-dialog. Please observe: the current database (which is
opened as default) is always $EIVAHOME\DB\Gensetup.db. Note that NaviPac uses an
environment variable called $EIVAHOME. This is generated when NaviPac is first
installed and points at the NaviPac directory. The default value for $EIVAHOME is
C:\\EIVA\NaviPac\
Save: Save the actual database to file. Note: The current name is presented in the title-bar.
To use the set-up, a restart or manual start must be performed afterwards
Save As: Saves the current set-up under a new name. A standard Save as-dialog is
opened. Even though only files named Gensetup.Db can be used directly, the user can in
principle name his present database as he prefers
Project Manager: Will open the Project Manager program. This utility features back-up
facilities of the entire NaviPac configuration. To perform a backup, do the following steps:
Make sure that NaviPac is not running in online mode during the backup. At first start the
Explorer Panel to the left in Figure 10 is empty except the headline (Archive Folder(s)).
Right-click on the headline and choose menu-item New Archive Folder. Choose or create
an appropriate path when prompted. The Project manager window now looks as shown in
Figure 10

Figure 10 Project Manager
Right-click on the path and choose menu-item Backup to Archive. The window in Figure
11 appears showing a series of predefined scripts. Normally it is advisable to choose the
NaviPacFull script, as it performs a full backup of all relevant data (note the
comprehensive Tooltip information). Highlight the script and press next.
Figure 11 Script-selection for Backup
Now the window in Figure 12 appears. Give the project a descriptive name. Add some
notes if required and press Finish.
Figure 12 Project Title and Notes
The ProjectManager will now start backing up the requested data (see Figure 13, left).

Figure 13 Performing the Backup
Once the backup procedure has finished, the window in Figure 13, right will appear, giving
details on the execution together with error messages if any.
To perform a restore, right-click in the Explorer Panel and choose menu-item Restore
from Archive as shown below in Figure 14.
Figure 14 Restoring from Archive
The window below in Figure 15 now appears.

Figure 15 Restoring - step 2
Select items to restore and press 'Restore' to proceed.
Figure 16 Restore Procedure, step 3
During the process of restoring, the window to the left in Figure 16 will appear. When the
restore process is completed, the window to the right supplies details about the restore
procedure. Press Close to finish
Working Folder: Will open the Working Folder dialog box
Exit: Stops the Navigation Set-up program. The user is prompted whether he wants to stop
the navigation process or not
The View menu-item contains the following entries:

Display Setup Report: will open an ASCII-file containing a list of the current set-up. This
file can also be seen directly from the $EIVAHOME\Log directory (current.setup.txt):
Modification information (when and by whom)
Geodesy
Datum shift

Selected navigation systems (type, stations, )

Selected instruments (type, offsets, I/O, C-O, )
Display Vessel Offsets: will open a dialog with graphical presentation of all used primary
offsets (see Figure 17). These cannot be edited. However the vessel shape can be opened,
visualized and edited. Press the Select button to select a shape-file (extension *.shp) from
the directory $EIVAHOME\setup. Now press the Edit-button and the file will open in
notepad. A brief description on how to interpret the codes in the file can be found in the
file installed with NaviPac: $EIVAHOME\DisplayLines\HD_Displayline.txt. An example
of a vessel-based shape-file can be found in Figure 18
Figure 17 View vessel Offsets
Figure 18 Shape-file
Display Ports: opens an ASCII-file containing a list of the currently defined ports. This
file can also be seen directly from the $EIVAHOME\Log directory (filename: npport.txt).
See an example below in Figure 19. Note that the list includes LAN ports

Figure 19 Display ports
The Options menu-item is constituted by the following entries:

Global parameters: allows the user to define a series of global system parameters in the
six different tabs of the window visualized in Figure 20.

Figure 20 Global Parameters Window NaviPac Tab

The NaviPac Tab:
Max. Std. Deviation: During run-time, NaviPac calculates a standard deviation of
the position (when redundancies in the position calculation are available). To
monitor the accuracy, NaviPac will generate an alarm, when the standard deviation
exceeds the limit
Cycle Frequency: This value defines how often NaviPac should perform its cycle.
Default value of 1 is valid under most circumstances, however a higher frequency
could be applied if special circumstances call for it
Input port sharing: If selected, the operator allows the system to use the same port
for multiple input instruments. Should only be used in case of gyro, motion or data-
acquisition instruments. By default the parameter is not selected
Make missing dataacq. Critical (red state): The parameter is used to define
whether NaviPac must enter red state if no data is received from one of the data-
acquisition instruments

Figure 21 Global Parameters Window - GPS Tab

The GPS Tab:
GPS Position: In here it is possible to specify the level of GPS quality that
NaviPac should accept (the associated LOPs will otherwise be discarded). The 3
levels are, in sequence: All (Autonomous), Differential (Code Differential) and
Highest/Fixed RTK (Phase Differential)
Flag if not highest quality: This will make NaviPac flag the system yellow if
highest quality (Fixed RTK) has not been achieved
Discard Height if not highest quality: This will force the system to discard the
height-component from the various GPS-systems, unless it originates from a system
in which the ambiguities have been resolved phase differential solution
HDOP limit: Is used to select a maximum allowable GPS HDOP for all GPS-
systems. If the readings exceed this, an alarm is generated, and the LOPs from the
particular GPS-system are weighed out
Leap time: This parameter allows the operator to specify the difference in seconds
between GPS time and UTC time (is 14 seconds at present (2009))
Show Antenna Position: will make NaviPac treat the raw GPS antenna position as
a separate object (without any C-O values, offsets, attitudes etc. applied). This will
facilitate that the antenna position can be made visible in on-line mode on for
instance the Helmsmans Display

Figure 22 Global Parameters - The Filters Tab

The Filters TAB:
Deskew Position: Will facilitate that the LOPs will be de-skewed to correct time.
Default value is yes. Must be selected in order to be able to combine and compare
multiple surface navigation systems
Deskew Filter: For each of the up to five priority groups, NaviPac calculates the
speed and course on the basis of the selected navigation LOPs. To do that an
exponential filter is used for de-skewing
CMG/SMG Deskewing Filters: NaviPac uses a deskewing technique to adjust
measurements to same instant time. With two independent GPS systems, it is
necessary to correct for age and delays to compare the two. To do that, an
exponential filter is applied in order to calculate the filtered value. The value should
be based on the size of the vessel, its rate of turn and acceleration capacity. Default
value is under most circumstances acceptable

Figure 23 Global Parameters - Height Calculation Tab

Height Calculations Tab:
Automatic sort of instrument list: Sorting of the instruments will primarily be done
by mode within the instrument types (instruments that are off will be placed at the
end) and secondly by assigned object. By default, the parameter is on - this is also
the recommended setting xxx
CMG/SMG Filter: For each of the up to five priority groups, NaviPac calculates the
speed and course on the basis of the selected navigation LOPs. To do that an
exponential filter is used for de-skewing
Global GPS Setting: Common settings applied to all selected GPS systems
Discard GPS if ambiguity not fixed: This will force the system to discard LOPs
from the various GPS-systems, unless they originate from a system in which the
ambiguities have been resolved phase differential solution (quality parameter 3)
Discard GPS if not differential: This will force the system to discard LOPs from all
GPS-systems, unless they originate from a differential system code differential
solution (quality parameter 2)

Height reduction: A series of parameters to define the method to be applied in order
to perform a transformation between ellipsoidal height and orthometric height
Use GPS Geoidal Height: Use this height as it is reported from the GPS system(s)
Use EIVA Geoidal file: Will make NaviPac use an EIVA geoidal file to perform the
reduction. The file contains geoid undulations as well as a matrix of positions. Using
this method, NaviPac will constantly, on the basis of the present position determine

the geoid-undulation (separation) of the four corners of the matrix-cell, the vessel is
presently residing in. Based on this, NaviPac will perform a linear interpolation to
determine the geoid-undulation of the present position
Use EGG97 model: Use the European Gravimetric Geoid model for the separation.
This will require a license
Additional reduction: Supplementary to the above, it is possible to specify a manual
separation. This fixed value will be subtracted from the resulting reference height.
The value can be entered manually in meters or selected from a list of pre-defined
values (for details on this geoid.cf-file, see chapter 2.2.1.2.3
Select file: If the operator has selected EIVA Geoidal file or EGG 97 model as
height reduction method, the actual file containing the relevant information must be
selected here. The data will be pre-parsed into a binary file and the filename will be
shown in the File: textbox below
Additional height calculations: Defines various filter types to be implemented in
connection with the calculation of filtered heights. The filtered calculation can be
controlled by:
Filter on offsets: Filter ordinary Offsets (shown in objects and DataAcq windows)
Filter on echo-sounders: Filter the height applied to data-acquisition offsets, i.e.
offsets used as bathy values
Height filter gain: This parameter (between 0 and 1) defines how hard the filter is:
1: No filtering
0: Complete filtering
Reverse sign: Use this parameter to reverse the height-values in the DataAcq and
LogData views (see chapter 2.4.2), if applicable
Apply GPS height to offsets: Use this parameter to determine whether all offsets
(heights) should be determined relative to the resulting GPS height (normal zero) or
relative to local vessel
Survey parameters: For logging and output purposes, the user can specify the
following parameters:
Vessel
Job/project name
Client name

Area identification
IMCA identification (used in IMCA outputs)
Depth calculation parameters: Here a series of environmental parameters can be

defined
Water density: Specifies the water density, given in kg/dm3
Pressure at surface: Specifies the local pressure at surface given in various units
Gravity: The gravity given in m/s2
Sound velocity: Defines the current valid speed of sound in water. Used to for
instance conversions between range and time
UW positioning: facilitates the definition of parameters related to remote or underwater

positioning
Global USBL Settings:

Use stacked surface nav for USBL calculation: Check this on to make NaviPac
save surface navigation data (stacking) and use interpolation to calculate the best
resulting USBL position. Alternatively the latest value will be used
Keep free objects: Defines how NaviPac is to keep free dynamic objects (e.g.
transponders not assigned to target or radar targets) after disappearance of data
Use binary telegrams (HPR410/HiPap): Check this item to make NaviPac read
binary data from HPR300 and HiPap. Alternatively NaviPac expects ASCII-strings
(HiPap NMEA etc) from the Simrad system (surface navigation, gyro, motion and
USBL data)
APS3 format: Select the Sonardyne APS3 output format from a variety of
predefined formats
Event setting: allows the operator to control event settings. This can also be performed
in on-line mode (see chapter 2.2.1.7 for details on event settings)
Event texts: here up to 20 pre-defined event texts for manual and external events can be
defined (see above)

Analyse graphic files: this will start the FileAsc module to display and convert various
HD files (see above)
Test COM port: will open the COM-port testing module (see below)
In the Port Settings dialog, it is possible to select a port (that is not already opened
by NaviPac or another program) and to define baud rate, parity, data bits and stop
bits. NaviPac will start showing data in the display-field as soon as they arrive
Capture: Allows the operator to capture incoming data to an ASCII-file

NaviPac mode: The feature can be used to change NaviPac operating mode from the
default normal mode to for instance Rig Move mode
2.2.1.2 The Explorer and the Properties Panels

The Explorer Panel and the Properties Panel together enable the user to modify various items in
the setup database.
In the Explorer Panel the hierarchical structure of the database contents is displayed. By right-
clicking on an entry, a menu will appear. The contents of the menu will depend on the type of
entry. For the modification of the database, five main entries are available:
File Header
Instruments
Geodesy
Objects
Warm Start
The first level in the tree structure is thus constituted by these main entries. When opening
Config the tree structure is collapsed by default. By pressing the plus-sign to the left of each of
the entries it is possible to explode/expand the entry in question.
2.2.1.2.1 File Header
The file header, as depicted above, displays information about last saved configuration such as
operator, modification time, version and number of entities. These items cannot be edited.
However when right-clicking on the DB Version.. item a menu with some important features
will pop up as shown below.

Manual Start: Choose this item to perform a manual start of NaviPac Online (see details
in chapter 2.5.1
INI File: This will open the NaviPac.ini file from the Windows directory. The file contains
configuration information (see below)
Dongle exception: This will open the dialog visualised below. Use this in a situation
where the dongle for some reason is malfunctioning. With the PC-code information, it is
possible to generate an intermediate software dongle that can be used until a replacement
dongle can be obtained. Contact EIVA to have this done. Note that the three codes must be
entered on the computer that corresponds to the PC-code and that the codes must be
entered the same day they were generated

Dongle list: By choosing this item, the window below will emerge. It contains information
about the privileges associated with the dongle currently inserted into the computer. The
information shown below is associated with a full dongle for all EIVA packages
Administrator: Will initiate some tools associated with the protection of NaviPac against
undesired modification of the configuration. It is possible to enter a password and to define
some limitations to the users. When entering the default password EIVA, the window
below will materialize. It appears that there are no restrictions on the users with respect to
implementing modifications onto the configuration
Simulate all: This action will turn the IO mode to Simulated for all currently defined
sensors. This can be useful when trying to simulate NaviPac, based on an existing
configuration
2.2.1.2.2 Instruments

The Instrument item displays and controls editing of all instruments included in the list.
Instruments are ordered in a predefined, relative to their type:
Surface navigation: Any instrument used for surface navigation such as GPS or tracking
system
Gyro: Gyro and compass for vessel and dynamic objects
Motion sensor: Roll/pitch heave sensors for vessel and dynamic objects
Doppler log: Doppler velocity log for positioning improvement
Dynamic positioning: Positioning of remote or UW vehicles USBL, LBL, remote GPS,
tracking system, telemetry etc
Special input: Dedicated drivers for time-tagging, waypoints, targets etc
Data output: Output to external systems and instruments
Data acquisition: Echo-sounders, magnetometers etc
Offsets: User defined offset on vessels or dynamic objects
When defining an instrument for the first time, right-click on the instrument type in the Explorer
Panel and choose menu-item Add new item. The window shown below will appear. In here it is
possible from a drop-down list related to the instrument type in question, to choose a driver and
to name the instrument. Information about the protocol for the driver is also displayed (in the
middle field.). Once the settings have been modified, press OK to proceed.
Figure 24 Add New Instrument
Next the window below in Figure 25 appears. In here interfacing parameters must be specified.

Figure 25 Define Instrument Interface Parameters
Some of the items can only be specified here, whereas others can be modified later, in the
Properties Panel. Items that can be modified in the Properties Panel are:
User name
I/O Mode
Offsets
The rest must be reconfigured by right-clicking on the item in the Explorer Panel and choosing
the item Edit settings
I/O type
I/O setup:
Port, baudrate
Other communication parameters (parity, no of databits and stopbits)
The driver however can only be changed by removing the instrument and defining another
instrument from scratch.
To change the parameters of an instrument in the Explorer Panel, highlight the instrument in
question. The Properties Panel will visualise the associated configuration parameters (see below
in Figure 26). The parameter field that can be modified is shown with a white background.
During modification, help information related to the item in question will be displayed in the
Tooltip Bar.

Figure 26 Visualization of Configuration Parameters
If the sequence of instruments within an instrument type entry is significant, it is possible to

change this. Right-click on an item and choose one of the menu-items Move up and Move
down.
For some instruments, it is possible to modify special settings. This is the case for a User
Defined Output. The functionality is accessed by right-clicking on the item and choosing menu-
item Edit Special Settings.
Finally it is possible to append an object to an instrument. This can be done for a Dynamic
positioning instrument. Right-click on the instrument in question and choose menu-item Add
object. Choose the object from a drop-down list. The action will display the object chosen in a
level underneath the instrument in the Explorer Panel.
2.2.1.2.3 Geodesy
The Geodesy main entry has four non-expandable sub entries: Projection, Ellipsoid, Datum
shift and Scale. When right-clicking on the various entries, it is possible to edit the settings.

Figure 27 The Geodesy Entry

For the Projection, the menu below in Figure 28 will appear. Initially the geodesy set-up from
the Gensetup.db is visualized. The user can now choose between a number of predefined
projections and a number of predefined projection-types from a drop-down list. Depending on
the projection chosen, a series of fields will be available, whereas others will be the default
information in grey. In Figure 28 the projection chosen is UTM (north) and the only information
Config requires is then the zone. Once this is entered, Config will automatically calculate the
scale-factor, CM, origin latitude as well as false Easting and Northing.

Figure 28 Ellipsoid and Projections Setup

The Ellipsoid settings are also defined from the menu shown in Figure 28. The relevant drop-
down list contains (practically) all known ellipsoids. However, if an ellipsoid is not available in
the list, it is possible to append it. Config reads the list of ellipsoids from an ASCII-file created
during installation of NaviPac. The file is called ELLIPSOI.CF and is located in
C:\WINDOWS\DB (this directory is generated during installation of NaviPac).
The default file is visualized below in Figure 29. The parameters from each ellipsoid are
contained in one line. On this line the semi-major axis, the inverse flattening and the name of the
ellipsoid must be specified (as described in the header of the file).
The directory furthermore contains the configuration-files for the datumshift (datumshift.cf), for
the map-projection (Projecti.cf) and for the scale (SCALE.CF). These files can also be modified,
if the required parameters are not available by default. Be careful however when applying this
as a minimum the Config program should be closed while the modifications take place.

Figure 29 Ellipsoi.cf
The Datum-shift settings are defined in the menu shown below in Figure 30. Initially the
parameters are read from the database and displayed into the fields in the dialog box. The
available predefined values are inserted into 7 text fields (one for each of the 7 parameters). A
series of different methods are supported. In the majority of cases, the Normal (BW) can be
applied, however when in doubt, the user should consult the comprehensive documentation
supplied in 3 NaviPac Setup.

Figure 30 Datum Shift Parameters

The Unit settings are defined in the menu shown in Figure 31. The upper part of the menu
specifies the position and depth scale, default is metric. Information about the selected unit will
be shown in the field below the selection list - name, scale and unit, with scale being defined as
the relationship between meters and the selected scale (i.e. how many US survey feet to one
meter (3.280833 according to Figure 31)).
The second part of the dialog allows the user to choose whether data must be logged in the
selected display unit or not. Data will always be visualized in the selected unit, whereas logging
might take place in the default metric system.
If a new scale has been selected for positions, it is imperative that all instrument related input
like offsets, station locations, C-O values, geodesy parameters etc., is converted to the new scale.
Figure 31 Unit Selection

To ease the change, Config is capable of updating all items automatically. After applying
changes and when pressing OK, the prompt in Figure 32 will appear.
Figure 32 Automatic Unit Change Prompt

Answer Yes to make NaviPac adjust to the new scale. It is however strongly recommended to
check the settings after changes. Also note that the automatic change will not be applied to
special instruments as specified in Figure 32.
2.2.1.2.4 Objects
Initially NaviPac only has one object defined the Vessel object. Subsequently the user will
have to add to the list of objects and to edit these at his discretion and in accordance with the
requirement of the project.
Figure 33 The Objects Entry

By right-clicking on the Objects-item and by editing in the Properties Panel, the user can do the
following:
Change the name of an object by selecting the object in the Explorer Panel and type a new
name in the Properties Panel
Add a new object by right-clicking on the object label and choosing the menu-item Add
new item. The system then selects the first free number and adds it to the list in the
Explorer Panel. The default name of the object will be fetched from objects.txt

Import an object by right-clicking on the object label and choosing the menu-item Import
item. This will display all objects from object.txt and allow importing them one-by-one
(see below). This feature is mainly kept for backwards compatibility
Remove an object by right-clicking on the object label and choosing the menu-item
Remove. Note that this cannot be performed for objects assigned to an instrument. Also
observe that the Vessel object must never be removed from the list
2.2.1.2.5 Warm Start

The Warm Start entry is invoked by right-clicking on the main-entry and choosing the menu-
item Edit settings. The window shown below in Figure 35 will appear. This facilitates the
choice of the programs to be started when NaviPac enters on-line mode.
Figure 34 The Warm Start Entry

Each of the desired processes must be checked. Next time NaviPac enters on-line mode, the
selected programs will be started automatically. Further, if some external programs are required
to be started together with NaviPac, the Custom program option must be checked and the
name, including the entire path, must be entered. The program should preferable be placed on the
$EIVAHOME\bin catalogue.

Figure 35 Definition of Warm Start Programs

Further it is possible to enter a list of programs in the Custom Program text-field. This list must
be in the form of an ASCII-file, as shown in Figure 35. In the list the full path of the programs in
question, with one line for each program, must furthermore be specified (see Figure 36).
Figure 36 File for warmstart of external programs
2.2.1.3 The Database Status Bar
As visualised above, the Database Status Bar shows the filename, path and status of the present
configuration file for information only.
2.2.1.4 The Tooltip Bar
The Tooltip Bar shows different, dedicated help texts, as illustrated above. The Tooltip above is
associated with the ZDA Special input, but practically all entries, in the Explorer Panel as well as
in the Properties Panel have a dedicated help text displayed in the Tooltip Bar.

2.2.1.5 The History Bar
The History Bar visualised above contains information in a scrollable textbox about all major
actions performed with Config since last start of the program.
2.2.1.6 The Icon Bar
The Icon Bar above hosts icons associated with the current status of the Config program. To the
left is information about whether or not NaviPac has entered online mode. The Start navigation
button will make NaviPac enter online mode. If NaviPac is already in online mode then
activating the button will close the system down and restart it with the current configuration. The
Stop navigation button is only active when NaviPac is running in online mode. The Save
button to the far right facilitates saving of the current GenSetup database.
Note that whereas the Icon Bar above is associated with a situation where NaviPac is running in
online mode, the Icon Bar looks as the one visualized below, when NaviPac has departed online
mode.
2.2.1.7 Event Settings

The event settings can be defined in the Config program as well as in online mode (in the Online
program). NaviPac handles different types of events:
Time-based events: Events generated with fixed time-interval can only be performed
when a runline is active and logging is initiated
Distance-based events: Events generated with fixed KP-interval - will only be active
when a runline is active
Manual events: Events generated by the operator in online mode:
From the Online program this is the traditional approach
From the special NaviEvent module (see below in Figure 37)
External events: Events generated by external input

Figure 37 User Interface, NaviEvent module
In the present context however, only the traditional approach to manual eventing will be dealt
with.
Event settings can be defined in the Menu-item Options Event Settings of the Config
Program. The window that pops up (see Figure 38 below) has 6 different tabs, each hosting
parameters for the definition of the settings:
Figure 38 Event Settings - General tab

Long event format: Two event formats are supported: long (ASCII log/print-out) and
short (one line per event)
First event number: Defines the next event number. If logging has been initiated, this
field will change from event to event
Increment by: Specifies how much the event number must be incremented for each event
External event module: Defines whether NaviPac sends events to the external event
module (Esc.exe). Only for extended shooting control
Object to position from: Specifies which offset/object to associate to the event. For
distance-based events the parameter is used to define which position to use in the distance
calculation
Time Events: Enable or disable generation of time events.

Interval (s): If time-based eventing is enabled, the interval must be stated here (in
seconds)

External Events: Enables or disables event generation triggered by external source

Ring indicator: Enable this item to define that the external input is a pulse on the RING
indicator pin (pin no 9 on a 9-pin connector)
Event port: If enabled, the operator can specify the serial port by pressing the Edit
button

Enable: Events will always be logged in the general NaviPac logging format. In addition
to this, it is possible to generate an ASCII file that contains events only
File: If file-logging is enabled, the file-name and location must be specified here
Browse: Opens a browser for selecting or creating the event log file
Enable NaviLine Event File: If this item is enabled, NaviPac will store manual events in
a NaviLine compatible file (NaviLine.evt), which can be used for marking targets and
symbols
Printing Enabled: Defines whether the events must be printed directly to a printer or not
Command: If events must be printed during survey, a printer command or physical name
of the printer, i.e. how is the information printed, must be entered
Lines on page: To optimize the printing procedure, NaviPac adds lines to a temporary file
and prints it whenever a page is completed. For this the number of lines per page is
required

Trigger enabled: NaviPac can output a message on a serial port immediately when the
events occur. The feature can be enabled, by using this check box
Trigger port: Specifies the port to output on. Definition of port number and other
communication parameters can be performed by pressing the Edit button
Trigger Message: Specifies the exact message to output in case of an event
Trigger pre time: If the system that receives the trigger has a known delay, NaviPac is
able to output the trigger message prior to the event actually taking place
Distance Events Enabled: Tells NaviPac whether to generate distance-based events

Distance: Distance between events in meters

Running up events: Number of events generated before actually entering the runline
Event multiplier: The system performs triggering relative to the distance specified,
whereas events will only be performed at Distance * Multiplier (Example: Distance = 5 m
and Multiplier = 10 will produce a trigger every 5 m and an event every 50 m)
Auto calc. event number: Are event-numbers to be increment as specified in the
General tab or are the event-numbers to be calculated on the basis of current KP
Event number at KP 0: If an automatic calculation of event-number has been specified
above, event-numbers will be calculated on the basis of the event-number at KP 0.000
Max time between events: Here the maximum time between two distance events is given.
If the time is exceeded, NaviPac makes a forced distance event
Re shoot partly surveyed line: The feature is only valid for an automatic calculation of
event numbers. When pressing the button, the window below will appear
Enter the items required:

Last event-number: Is the last event number recorded. NaviPac will calculate the
position on the basis of KP-values of the line, distance between events and event-
number at KP 0.000
Overlap: Is the desired overlap (in events)
Run-in distance: Is the distance required for the vessel to perform an acceptable run-in
When pressing the OK button, NaviPac will generate three waypoints and send them to
the Helmsmans Display: Last event, Overlap and Run-in, in order to improve
identification of the positions (see Figure 39 below).

Figure 39 Waypoints on the Helmsman's Display from Re-shoot Partly Surveyed Line tool
2.2.1.8 User Commands

The Config program allows for quick access to user programs via configurable buttons as can be
seen in Figure 40.
Figure 40 NaviPac Config with User Commands

Up to 5 commands can be included in the field. Each command represents an executable file like
an EXE file or a BAT file. Definition of each button is made in the NAVIPAC.INI file (located
in the Windows directory) as shown below in Figure 41. The commands must be specified as this
is depicted in the figure, under the headline [NPConf].
The example is related to a situation where NaviPac and NaviScan are executed on the same
computer. It might be beneficial to be able to start the NaviScan Online and Setup programs
directly from NaviPac. The shortcut to these have been included as commands 3 and 4. Further
the NaviPac Online module has been included. At present it is actually not possible to restart the
Online module from the Config program, if it has been closed and NaviPac is still in online mode
(except for from a command prompt or similar). When implementing this, the user should be
aware, that NaviPac must be in online mode for this to function (see chapter 2.4 for further
details). The feature has been implemented as command no. 1.
Finally a short-cut to the EIVA Training and Documentation Site has been included as
command no. 2.
Figure 41 NaviPac.ini defining User Commands

2.3 Feasible Method, NaviPac Configuration, 2D Seismic

Based on the requirements to the project, the principle interfacing in NaviPac, for a 2D Seismic
job, can look as visualised below in Figure 42.
Figure 42 Interfacing Principles, NaviPac 2D Seismic Acquisition and Navigation
From NaviPacs point of view, this means that the following interfaces must be established:
Surface Navigation:
C-Nav GPS as primary system (serial interface)
Ships GPS as secondary system (serial interface)
Gyro:
Octans Gyro as primary gyro (serial interface)
Ships Gyro as secondary gyro (serial interface)
Motion Sensor:
Octans RPH as primary motion sensor (serial interface)
Special Input:
ZDA (PPS) from C-Nav GPS (serial interface on COM 1)
Dynamic Positioning:
Digicourse (serial interface)

Remote Dynamic Objects (remote GPS) (serial interface)

Output:
DigiSHOT (serial interface)
Output for EIVA Statistical module (UDP/IP interface)
EIVA 3D Display (LAN/UDP/IP interface)
Robtrack output (Autopilot) (serial interface)
Annotation to NaviSound 215 (serial interface)
Position output to Octans (serial interface)
Data-acquisition:
Navisound 215 single-beam echo-sounder (serial interface)
Digicourse Feather Angle (calculated I/O)
Distance Shoot Info (calculated I/O)
Note that, since the last two interfaces are calculated I/O, they are not visualised in Figure 42.
Supplementary to what is given above, NaviPac must be configured to support the remote
Helmsmans Display on the Ships Bridge.
Additional to the above, some complementary requirements to the project, that will have an
impact on the configuration of NaviPac, were identified (geodetic parameters etc.). The methods
applied to accomplish this will also be described in detail in the following.
2.3.1 Configuring the Instrument Interfacing

Apart from the standard Navigation instruments, a 2D seismic configuration includes some
dedicated instruments that are used to position the different seismic equipment. This will all be
described in the following chapter. However, in order to enhance the prior understanding of
some of the terms and phrases used in the following, and in order to facilitate a uniform and
unambiguous understanding of the operational solutions given in the present chapter, some
definitions of these terms and phrases have been included together with a brief explanation of
some of the NaviPac definitions and requirements associated with a 2D Seismic job:
Streamer position:
Often the streamer is equipped with compasses and depth sensors (birds). For this
NaviPac supports interfacing of the standard Digicourse streamer positioning system
Tailbuoy:
The simplest determination of the position of the streamer tailbuoy is obtained by
determining the position of the end of the streamer. Since this, under normal
circumstances, is normally not adequately accurate, a remote GPS (dGPS) instrument
is often placed on the buoy. For QC-purposes, NaviPac consequently supports an
online comparison of streamer and GPS based data
GUNs:

The position of the gun(s) is not critical to NaviPac handling but might be to the
seismic recording system. The position can be obtained in NaviPac as manual
layback, range measurements or via interfacing to differential GPS-receivers
COS:
The centre of source (COS) is defined as either the gun position or some defined
reference between the guns. It can be obtained directly like the gun position or as a
combined position with local coordinate system as reference
First Reveiver Group (FRG):
The first receiver group (FRG) is defined as part of the Digicourse setup as a distance
from the tow point. NaviPac uses the average of the user-defined number of
compasses to performs a range/bearing calculation along this line
Common Midpoint (CMP):
The common midpoint (CMP) is defined as part of the Digicourse setup as the point
between the FRG and the COS
The items described above can also be visualised as given in Figure 43 below. Note that the
distances between the various items given, are, to a large extent, related to the example given in
the following.
Figure 43 Schematic Overview, Phrases and terms, EIVA 2D seismic

2.3.1.1 Surface Navigation

Three surface navigation systems must be defined. C-Nav GPS and Ships GPS I and II. The C-
Nav GPS must be defined as the primary surface Navigation System as visualized below in
Figure 44.
Figure 44 Configuration of the C-Nav GPS
The comments to the headlines of the C-Nav GPS configuration are as follows:
System Name (Driver): The driver used is C-Nav GPS1 (EIVA instrument 29)
Name: Default name has been maintained, C-Nav GPS1
Interface Characteristics: COM port 2 with 9600 baud and N-8-1 (no parity, 8 databits
and 1 stopbit)
Offsets: X: -1.74, Y: 3.79, Z: 26.65
Apply datum shift: Has been ticked ON since the overall requirements call for a
datumshift. Such a datumshift must be turned on for all navigation systems otherwise
NaviPac will use the WGS-84 coordinates output by the GPS directly as if it was already
converted to the user datum

Use time in telegram: Since it is required to utilize the PPS-pulse (and the ZDA-telegram)
to synchronize the computer-clock to the GPS-time, it is essential to turn this option to ON
The string prefix: has been set to $GPGGA. This is the standard NMEA-output that a
GPS can normally generate. In addition to this format, NaviPac supports the C&C TRIN
format, which is actually the default format when choosing a C-Nav driver
Figure 45 Configuration of the Ship's GPS
The configuration of the Ships GPS I is depicted in Figure 45. The comments to the headlines of
the configuration are as follows:
System Name (Driver): The driver used is GPS1 (NMEA) (EIVA instrument 44)
Name: has been defined as Ships GPS I. This will be displayed when in on-line mode
and will furthermore be logged with the data all in order to ease the identification of the
instrument. Default value for this entry is GPS1 (NMEA)
Interface Characteristics: COM port 3 with 9600 baud and N-8-1
Offsets: X: 0.92, Y: 3.79, Z: 25.2
Apply datum shift: Has been switched ON
Use time in telegram: Has been switched to ON
The string prefix: has been set to $GPGGA

Note that the configuration of the Ships GPS II is identical to what is shown above, except for
the offsets, that the COM-port used is 4 and that the system name is GPS2 (NMEA), equivalent
to EIVA instrument 45.
2.3.1.2 Gyro
As depicted in Figure 42 above, two gyros must be defined in NaviPac, Octans as primary gyro
and the Ships gyro as secondary gyro. Note that the sequence in the instrument list is of essence
here. The first instrument listed will be given top priority, which means that it will be used for
online calculations and only if this instrument drops out, will the secondary instrument be used.
The Octans Gyro will hence have to be listed above the Ships Gyro in order to meet
requirements.
The Octans gyro is defined as visualized below in Figure 46.
Figure 46 Configuration of Octans Gyro

The comments to the headlines of the Octans gyro configuration are as follows:
System Name (Driver): The driver used is Octans gyro (EIVA instrument 117)
Name: default value for the system has been maintained: Octans gyro

Offsets: X: 0.16, Y: 0.48, Z: 2.79. Note that normally the offsets of a gyro are irrelevant
however in the present case, with an integrated gyro and RPH-sensor, it has been chosen to
give the offsets
C-O: The value of 5.2 originates from the gyro calibration. The value will be added to the
raw readings from the instrument
Data delay: The value originates from the documentation of the instrument in which it
says: Octans digital data outputs have a constant latency of 25 ms, frequency
independent.
Location: the Vessel object (R/V Langseth in the present case) has been chosen from a
drop-down-list that contains all objects defined in the system
Figure 47 Configuration of the Ship's gyro

The configuration of the Ships gyro is visualized in Figure 47. The headlines of the
configuration are as follows:
System Name (Driver): The driver used is NMEA1 gyro (EIVA instrument 104)
Name: name of the system has been altered to Ships gyro in order to ease identification
Offsets: no offsets defined
C-O: The value of -4.93 originate from the gyro calibration

Location: the Vessel (R/V Langseth) object has been chosen from a drop-down-list that
contains all objects defined in the system
String prefix: $HEHDT will be used as filter by NaviPac to locate the gyro value on the
message received
2.3.1.3 Motion Sensor

It appears from Figure 42, that only an Octans motion sensor must be defined in NaviPac under
the entry Motion sensor. The Octans motion sensor is actually physically identical to the
Octans gyro.
The Octans Motion sensor configuration is defined as visualized below in Figure 48.
Figure 48 Octans Motion sensor configuration

The comments to the headlines of the Octans Motion sensor configuration are as follows:
System Name (Driver): The driver used is RPH from Octans frame (EIVA instrument
217)
Name: default value for the system has been maintained: RPH from Octans frame
Interface Characteristics: COM port 5 with 9600 baud and N-8-1. Note that this port is
shared between the Octans gyro and the Octans RPH. Normally this cannot be done in
NaviPac, however the two Octans-drivers allow for this. It is therefore important to choose

these rather than for instance an NMEA-driver for the gyro. In that latter case sharing of
the port would not be possible
Offsets: X: 0.16, Y: 0.48, Z: 2.79
Location: the Vessel object has been chosen
C-O: Roll: 0.05, Pitch: 0.40, Heave: 0 m. These values originate from the sensor
calibration
Data delay: The value originate from the documentation of the instrument (see 2.3.1.2
above)
2.3.1.4 Dynamic Positioning

According to the requirements, two different dynamic positioning systems must be defined:
Digicourse (serial interface)
Remote GPS (for a series of instruments) (serial interface)
2.3.1.4.1 Digicourse
In the more sophisticated setup the streamer is equipped with compasses and depth sensors
(birds). NaviPac supports interfacing of the standard Digicourse streamer positioning system.
This instrument is configured under the entry Dynamic Positioning.
Figure 49 Digicourse configuration step 1

The comments to the headlines of the Digicourse sensor configuration are as follows:
System Name (Driver): The driver used is Digicourse (EIVA instrument 406)
Name: default value for the system has been maintained
Offsets: X: 0.00, Y: -48.0, Z: 0.00. This defines the tow-point of the Digicourse streamer
Location: the Tailbuoy DC object has been chosen. This will force NaviPac to constantly
compute an object named Tailbuoy DC, based on the setting described below. The position
can be compared to the RGPS-based observation described below in 1chapter 2.3.1.4.2
In addition to the above settings, some special settings for the Digicourse instruments must be
defined. The functionality is accessed by right-clicking on the Digicourse item in the Explorer
panel and choosing menu-item Edit Special Settings. The window shown below in Figure 50
will appear.
Figure 50 Digicourse Special Settings (step 2)

The comments to the headlines of the special settings for the Digicourse sensor are as follows:
Number of birds: define number of birds (NaviPac can read up to 60 birds)
Swap input: check this on, if the input from Digicourse is received in reverse order
Magnetic deviation: insert magnetic deviation for the area in question in order to make the
Digicourse compasses output true heading of the various birds
Data format: NaviPac support ASCII as well as Binary output from the Digicourse
instrument

Bird Definition: Define the distance between the various birds and whether the bird is
equipped with a compass. The distance is the distance to the previous bird or to the tow-
point for the first bird
Interrogated by NaviPac: defines whether or not NaviPac should interrogate the
Digicourse. Default is off
First Receiver Group: can be defined, based on number of birds. The distance is
equivalent to the distance from the tow-point to the FRG-position on the streamer
Common Mid Point: can be defined among the objects available. In the present context,
the user defined offset COS is used to calculate the CMP together with the FRG (see
chapter 2.3.1.8 below)
Distance from last bird to Tailbuoy: defines the distance from the bird to the Tailbuoy
along the streamer
2.3.1.4.2 Remote GPS

From Figure 42 it appears that a series of Remote GPS systems must be interfaced to NaviPac.
These remote GPS instruments are used to position the guns and the Tailbuoy of the seismic
streamer. In total 5 systems are envisaged in the present system.
The Remote GPS systems are defined as Remote Dynamic Objects as shown below in Figure
51.

Figure 51 RGPS configuration step 1

The comments to the headlines of the special settings for the RGPS system are as follows:
System Name (Driver): The driver used is Remote dynamic objects 1 (EIVA instrument
421)
Name: default value for the system has been altered to RGPS
Alternatively a series of RGPS systems could have been chosen as input system/driver. This
would have required an input-port for each system. With the chosen configuration, this can be
limited to 1 port in total.
By right-clicking on the item RGDP in the explorer panel, the user can add objects to the
RGPS-system one for each of the RGPS systems to be defined. The objects available for this
are the objects defined below in chapter 2.3.2.
For each of the object added to the RGPS instrument, a unique TP-code must be specified as
shown below in Figure 52.
Figure 52 RGPS configuration - step 2

2.3.1.5 Special Input

According to the requirements a ZDA/PPS input from the C-Nav GPS must be configured. Once
the ZDA/PPS input has been established, it will be possible to timestamp data very accurately.
Further an accurate link between the data that are already time-stamped by the instruments (like
for instance the GPS) and those that are time-stamped by NaviPac can be facilitated. The
configuration of the input is visualized below in Figure 53.
Often this very accurate time-stamping of the navigation-data is not a requirement in connection
with 2D seismic tasks. In the present context however, it has been judged, that the improvement
in accuracy is worth the relatively small extra effort associated with setting up the ZDA/PPS-
based time-synchronisation.
Figure 53 Configuration of ZDA time/PPS

The configuration of the ZDA time gyro is visualized in Figure 53. The headlines of the
configuration are as follows:
System Name (Driver): The driver used is ZDA time (EIVA instrument 500)
Name: The default name of the system has been maintained ZDA time
Interface Characteristics: COM port 1 with 9800 baud and N-8-1. This port has been
chosen to ensure that the PPS-pulse is coming in on pin no. 9. This is the default setting in
NaviPac and the majority, if not all, of the COM-extension boards do actually not support
pin 9 (RING). If a RING cannot be established on COM1 either, it is actually possible to

program NaviPac to accept the pulse on Pin 6 (DSR Data Set Ready). The user will have
to modify the Navipac.ini file found in the Windows directory as visualized below in
Figure 54. The file is opened by right-clicking in the Explorer Panel under item File
header DB Version... Choose INI File and the file will open. Change the value for
useDSRForPPS to 1 if the pulse is on pin 6 and maintain a value of 0 if pin 9 hosts the
pulse
Figure 54 Navipac.ini file with definition of PPS-pin
2.3.1.6 Data Output

According to the requirements, six data output must be defined:
DigiSHOT (serial interface)
Output for EIVA Statistical module (UDP/IP interface)
EIVA 3D Display (LAN/UDP/IP interface)
Rob Track output (Autopilot) (Serial)
Annotation to NaviSound 215 (serial interface)
Position output to Octans (serial interface)
2.3.1.6.1 DigiSHOT (serial interface)

As depicted in Figure 42 above, a DigiSHOT output, used to send information about events, line
name, shot point number etc. to the DigiSHOT digital source controller, must be defined and
configured in NaviPac. Note that the output will only be relevant in case of distance shooting, as
it sends messages to the controller before the events takes place. The timing is defined in the
Navipac.ini-file in the windows directory with the following constants:
The constants given in the Navipac.ini-file are defined as follows:

PreEvent = in 1/10 seconds before each event
PreFirst = in 1/10 seconds before first real event

AfterLaste = in 1/10 seconds after EOL

The DigiShot interface is furthermore defined as visualized below in Figure 55.
Figure 55 DigiSHOT output configuration

The main items of the configuration are as follows:
System Name (Driver): DigiShot (EIVA instrument 693)
Name: default value for the system has been maintained (DigiSHOT)
Interface Characteristics: COM port 10 with 9800 baud and N-8-1.
2.3.1.6.2 Output for EIVA Statistical module (UDP/IP interface)

In support of the EIVA Statistical module, a special output is defined. The output is based on the
EIVA runline control output. In the present context the output is used to force the Statistical
module to start collecting data for the EOL-reporting.
The interface is defined as visualized below in Figure 56.

Figure 56 EivaSTAT output configuration

The main items of the configuration are as follows:
System Name (Driver): Eiva runline control (EIVA instrument 649)
Name: the default name for the system has been changed to EivaSTAT)
Interface Characteristics: UDP/IP port 5000 with IP-address 127.0.0.1
2.3.1.6.3 EIVA 3D Display

The EIVA 3D Display instrument is used to distribute the position of selected objects onto the
network. The output can be used by NaviModel3 to produce an online 3D Helmsmans Display.
Since the output is distributed, instances of NaviModel3 can be running on an unlimited number
of workstations throughout the network.

Figure 57 Configuring EIVA 3D Display

The main items of the Position to NaviScan configuration are as follows (see Figure 57 above):
System Name (Driver): EIVA 3D Display (EIVA instrument 610)
Name: default value for the system has been maintained (EIVA 3D Display)
Interface Characteristics: UDP/IP port 7913, IP-address 127.0.0.1. The IP-address is the
local address of the host computer and the port number, that must always be 7913, will
ensure that data is sent to the so-called Scene Server that is started automatically by
NaviPac as soon as On-line mode is entered. The Scene Server, in turn, will distribute the
position of the objects selected on the network and thereby make the information available
to the NaviModel3 instances
Special settings: when right-clicking on the entry in the Explorer Panel and choosing the
menu-item Edit special settings the window shown in Figure 58 will appear. In here it
is possible, from the available list to the left, to choose which objects to include and to
define the rate by which the data should be transmitted by NaviPac to the Scene Server (a
rate of 0 means that the output will be generated for all updates)

Figure 58 Special Settings for EIVA 3D Display
2.3.1.6.4 Robtrack output (Autopilot)

The NaviPac software can output steering information for a variety of autopilots. One of them is
the Robertson Robtrack; the instrument can hence be used to supply optimized steering
information for the vessels autopilot when on line.
Figure 59 Robtrack autopilot configuration

The main items of the Robtrack configuration are as follows (see Figure 59 above):
System Name (Driver): Robtrack (EIVA instrument 657)
Name: default value for the system has been maintained
Location: Object selected for the shooting must be selected here
Max turnrate: This value must be specified when in online mode.

2.3.1.6.5 Annotation to NaviSound 215

The Annotation to NaviSound has been defined as a user-defined output. In NaviPac 5 different
user-defined outputs can be defined. To generate this output, NaviPac supplies a list of items that
can be output. The following items can be selected and formatted in a variety of different ways
thus supplying the output facility with a high degree of flexibility:
Free text items ASCII or binary
Item separators: comma, space, colon, and semicolon
Terminators: CR, LF, STX, and ETX
Date/Time
Position items: X, Y, KP, DAL, DOL, LAT, LONG, AGE, HEIGHT, Standard deviation
Gyro
Course Made Good (CMG)
Speed Made Good (SMG)
Motion sensor data (Roll, Pitch, Heave)
Speed log data
Data-acquisition data (e.g. depths from echo sounders)
Event
Raw data copy of incoming data string
Geodesy information
Run line control information (name, logging on/off) and direction
RTK based heave bias
Check-sum
Combined data acquisition scaling and arithmetic
Run line direction (true or grid)
In the particular context, the Annotation to NaviSound output is defined as visualized below in
Figure 60.

Figure 60 Configuration of Annotation to NaviSound

The main items of output are:
System Name (Driver): User Defined output 2 (EIVA instrument 612)
Name: Default name has been altered to Annotation to NaviSound
Special settings: when right-clicking on the entry in the Explorer Panel and choosing the
menu-item Edit special settings the window shown in Figure 61 will appear. The figure
shows the output as defined in the present context. The output includes: Date/Time,
Position of E/S transducer (in grid-coordinates), KP-value of the E/S transducer and event
number. In the dialogue it is possible, from the available list to the left, to choose which
items to include and exclude (by using the Exclude and Include buttons (blue arrows))
and to format these items. Further an item separator (space in the present context) can be
defined, the output type can be specified (Event in the present situation) and the file that
defines the special user defined output can be saved for future use.

Figure 61 User Defined Output - Special Settings
2.3.1.6.6 Position output to Octans

In order to reduce the impact on heading measurements induced by vessel speed towards north as
well as on Latitude values, the Octans will require constant input of the vessel speed and
position. NaviPac can generate and output these values as an NMEA output.
The configuration of the output is performed as visualized below in Figure 62.

Figure 62 Configuring Position and Speed to Octans

The main items of the output are:
System Name (Driver): NMEA1 (EIVA instrument 624)
Name: Default name has been altered to Position and Speed to Octans
Location: the Vessel object has been chosen
Items chosen: GGA (position) and VTG (speed) have been chosen with GP as string
prefix
2.3.1.7 Data-acquisition
According to the requirements, three data-acquisition systems must be defined:
NaviSound 215 Echo-sounder
Digicourse Feather Angle
Distance Shoot Info
2.3.1.7.1 NaviSound 215 Echo-sounder

As depicted in Figure 42 above, a NaviSound 215 echo-sounder must be interfaced to the

system. In Config/NaviPac single-beam echo-sounders must be defined under entry data
acquisition. A driver for the NaviSound echo-sounder does is implemented in NaviPac; however
the Atlas Deso 20/25 driver can be used.
Figure 63 Configuring the NaviSound 215

The NaviSound 215 is defined as visualized above in Figure 63. Characteristics of the definition
are as follows:
System Name (Driver): Atlas Deso 20/25 (EIVA instrument 700)
Name: Default name has been altered to NaviSound 215
Location: the Vessel object has been chosen this is where the transducer is placed
String prefix: D as filter to assist NaviPac in locating the depth-values in the message
received from the echo-sounder
Additional information: The two channels of the echo-sounder must also be configured.
This is visualized below in Figure 64:
Name: The name has been altered to ease identification (in the on-line as well as in
the post-processing phase). New names are Channel1:210 and Channel2:30
respectively
Active: This option must be turned on to make the channel in question active

Figure 64 Configuration of NaviSound 215 Channels
2.3.1.7.2 Digicourse Feather Angle

As mentioned in chapter 2.3, a calculated data-acquisition instrument, Digicourse Feather
Angle must be specified in the NaviPac configuration. This instrument has been specifically
designed for seismic jobs, by facilitating monitoring of streamer angle against the required line
bearing. Three parameters will be calculated and logged in separate channels, like any other data-
acquisition instrument:
Channel 1: Feather angle based on Digicourse (relative to line selected)
Channel 2: Average streamer angle based on Digicourse
Channel 3: Feather angle based on Remote GPS. Note that only if a remote GPS is defined
in the configuration. In this case, the last instrument in the list of remote GPSs must be
defined as the position of the Tailbuoy. Alternatively, as is the case in the present situation,
with a relative GPS, the channel 3 information will be identical to the channel 1
information (i.e. based on Digicourse information rather than on Remote GPS information)

Figure 65 Digicourse Feather Angle configuration

The Digicourse feather angle instrument is configuration as visualized above in Figure 66.
Characteristics of the definition are:
System Name (Driver): Digicourse feather angle (EIVA instrument 733)
Name: Default name has been maintained
Location: The location must match the object defined for the distance shooting (see
chapters 2.2.1.7 and 2.5.3)
Additional information: The three channels of the echo-sounder must also be configured.
This is visualized to the right in the figure above:
Name: All default names have been maintained (Feather angle, Avg. Direction,
Feather angle - GPS)
Active: This option must be turned on for all channels in order to make them active
2.3.1.7.3 Distance Shoot Info

Further, as mentioned in chapter 2.3, another calculated data-acquisition instrument, Distance
Shoot Info must be defined. This instrument has been specifically designed for seismic jobs,
where monitoring of the accuracy of the distance shooting is often a strict requirement. In the
particular case, three parameters will be calculated, all associated with the distance shooting.
Since the Distance Shoot Info instrument is defined as a standard data-acquisition instrument,
each of these parameters will be logged in a separate channel:
Channel 1: Distance between events
Channel 2: ETA (Estimated Time of Arrival) of next shot-point (event) in seconds
Channel 3: dT (delta time) between events

Figure 66 Distance Shoot Info

The Distance Shoot Info is defined as visualized above in Figure 66. Characteristics of the
definition are as follows:
System Name (Driver): Distance Shoot Info (EIVA instrument 763)
Name: Default name has been maintained
Location: The location must match the object defined for the distance shooting (see
chapters 2.2.1.7 and 2.5.3)
Additional information: The three channels of the echo-sounder must also be configured.
This is visualized to the right in the figure above:
Name: All default names have been maintained (dist, ETA and dT)
Active: This option must be turned on to make the channel in question active
2.3.1.8 Offsets
Four offsets have been defined in Config. In general terms, these offsets are supporting the
calculation of output to various sensors or in connection with the navigation relative to the line.
The offsets have been configured in practically identical ways, all in order to support the
calculations associated with the streamer position. Below in Figure 67, the configuration of the
offset COS is illustrated. This offset is used in the Digicourse configuration to define the
Common MidPoint (see chapter 2.3.1.4.1 for details). In addition to this offset, two are used for
QC of the streamer position (by facilitating comparison to RGPS-positions) and the latter is used
to determine the tow-point of the streamer.

Figure 67 Configuration of Offset COS

The main items for the configuration of the offset COS are:
System Name (Driver): O02 (EIVA instrument 802)
Name: Defined as COS
Offsets: X: 0.0, Y: -117, Z: 0. This is the offset of the multi-beam transducer (except the
Z-value that is insignificant in the present context)
Relative to: The Vessel object has been chosen
Type: Drag has been chosen. This will invoke a Kalman-based calculation based on the
offsets, and the movements of the vessel object. Note that for the Towpoint offset, type
Gyro must be selected. This will force a triangulation-based calculation based on the
offsets and the gyro-reading of the object, in order to obtain the calculated coordinates of
the offset
2.3.2 Defining Objects

Apart from the default Vessel object a number of objects are defined as shown below in Figure
68. These are associated with the Remote GPS and with the Digicourse systems respectively:
Remote GPS-objects:
Remote GPS System:
Guns 1 through 4
Tailbuoy
Digicourse System:
Tailbuoy DC (used to define the Digicourse system see chapter 2.3.1.4.1)

Figure 68 Definition of Objects
2.3.3 Configuring Geodesy

The geodesy settings have been defined in accordance with project requirements:
Datum: European Datum 1950:
Ellipsoid: International 1924
Semi-major axis: 6378388
Inverse flattening: 1/297
Datum Transformation Parameters (7-parameter Bursa Wolf) (WGS84 to ED50
(North Sea)):
X: 89.50
Y: 93.80
Z: 123.10
r X: 0.000
r Y: 0.000
r Z: 0.1560
Scale Factor: -1.20 ppm
Map Projection: UTM, zone 10 North:
Central Meridian: 123 West
False Easting: 500 000
False Northing: 0
Scale factor at Central Meridian: 0.9996

Bearing this in mind, the settings applied to NaviPac were as visualized below in Figure 69. To
the left the ellipsoid and map-projection definition are shown. The middle figure shows the
datum parameters and method, whereas the right figure shows the unit selections.
Figure 69 Geodesy Settings
2.3.4 Warm Start Programs

As it appears from Figure 70 that a series of standard processes have been chosen to start
automatically, when NaviPac enters on-line mode.
Figure 70 Warm Start Definitions

In addition, two programs have been chosen to start automatically. These are specified in the file
c:\eiva\navipac\bin\warmstart.txt as follows:

Figure 71 Additional Warmstart files

Whereas the Eivastat program is the EOL-reporting facility, BirdMon is the dedicated
program used to display the online status of each of the birds of the Digicourse system. Note that
the full path must be specified, both regarding the executionals and regarding the Custom
Program file (in Figure 70).
2.3.5 Configuring Other Settings

A few other settings must be defined to complete the configuration within Config.
In order to facilitate a remote Helmsmans Display on the bridge. For this the $EIVAHOME
directory is shared on the network as EIVA. Since the NaviPac computer is called Navipac, then
the shared folder will appear as EIVA on NaviPac. Once this is done, it is possible to set up the
remote computer on which the remote Helmsmans Display is running in accordance with the
procedures described in the document 1 Installation and getting started notes, supplied and
installed with NaviPac.
The Global Parameters are defined as shown below in Figure 72.
Figure 72 Global Parameters Settings

The majority of the settings are identical to the default values. A few comments to the values
must be supplied:
Cycle Frequency: This value defines how often NaviPac should perform its cycle. Default
value is 1 is valid under most circumstances, however a higher frequency could be applied
if special circumstances call for it
Deskew Data: Will facilitate that the LOPs be de-skewed to correct time. Default value is
yes. Must be selected in order to be able to combine and compare multiple surface
navigation systems
Allow use of same port: Will allow NaviPac to accept that the user defines same port in
different instrument configurations. In the present context this is required, since the driver
for Octans gyro and Octans RPH allows for the sharing of a port
Deskewing Filters: NaviPac uses a deskewing technique to adjust measurements to same
instant time. With two independent GPS systems, it is necessary to correct for age and
delays to compare the two. To do that, an exponential filter is applied in order to calculate
the filtered value. The value should be based on the size of the vessel, its rate of turn and
acceleration capacity. Default values are under most circumstances acceptable
Show raw GPS antenna position: will make NaviPac treat the raw GPS antenna position
as a separate object (without any C-O values, offsets, attitudes etc. applied). This will
facilitate that the antenna position can be made visible in on-line mode on for instance the
Helmsmans Display
NaviPac is performing a cycle every second. By default the events/Shot-points in the log-files
will be at a cycle this will be inconvenient for most seismic applications. To change this default
setting, the NaviPac.ini file in the windows directory must be changed as follows:
'UseEventTimeForNav = 1' (see Figure 73 below). This action will force NaviPac to interpolate
the position to the shot-time rather than to the cycle.
Figure 73 Event Settings in the Navipac.ini-file

2.3.6 Summarizing the NaviPac Interfacing Configuration

The table below and Figure 74 together summarize the Interfacing Configuration in NaviPac:
Instrument Group Instrument Interfacing type Interfacing Parameters
Surface Navigation C-Nav Serial Port 2 9600-N-8-1
Ships GPS I Serial Port 3 9600-N-8-1
Ships GPS II Serial Port 4 9600-N-8-1
Gyro Octans Gyro Serial Port 5 9600-N-8-1
Ships Gyro Serial Port 6 9600-N-8-1
Motion Sensor RPH from Octans frame Serial Port 5 9600-N-8-1
Special Input ZDA time Serial Port 1 9600-N-8-1
Data Output DigiSHOT Serial Port 10 9600-N-8-1
EIVA Stat Out UDP/IP IP:127.0.0.1 Port:5000
EIVA 3D Display UDP/IP IP:127.0.0.1 Port:7913
Robtrack Autopilot Serial Port 7 9600-N-8-1
Annotation to NaviSound Serial Port 11 9600-N-8-1
Position and Speed to Octans Serial Port 12 9600-N-8-1
Data Acquisition NaviSound 215 Serial Port 9 9600-N-8-1
Figure 74 Interfacing in NaviPac

2.4 NaviPac Online

In the following, an overview of the principles and the most commonly used functionalities and
tools in NaviPac on-line is given. The focus will be placed upon the Online View program but
also the other online views will be described. For a more description more dedicated towards the
2D Seismic subject, chapter 2.5, Feasible Method, 2D Seismic On-line refers. More
comprehensive, general details on NaviPac Online can be found in the document 4 Online,
that is installed with the software.
NaviPac online is organised in a number of windows/programs (see Figure 8 for more details),
that constitute the user-interface, such as:
Online Window
Base Position Window
Object Position Window
GPS Status Window
GPS Monitor Window
Helmsmans Window
Attitudes Window
Raw Data Window
Data Logging View
Data Acquisition Window
Supplementary to these, a series of dedicated windows/views are available a/o:
Digicourse Status Window (for 2D Seismic applications)
Birdmon Window (Digicourse view for 2D Seismic applications)
The Rigmon Window (for Rigmove applications)
The TMS Master and the TMS Slave Windows (For Tug Management applications)
In addition some processes are executed in the background: The Data I/O the QC/Kernel and the
Data Distributor.
The Data I/O program is a real-time process that reads data from the instruments connected to
the various ports defined in the configuration and time-stamps all received data packets.
The QC/Kernel program calculates the final position based on the selected LOPs by filtering
data from the sensors and also calculates a predicted position - used in subsequent calculations.
A QC part checks data from all sensors to verify that the data received is not corrupted.
The Data Distributor periodically reads data from the QC/Kernel and distributes it to running
GUI processes that have requested data to be displayed. E.g. position, gyro in the Online main
window, QC information in the QC window(s), position data to the Helmsmans display etc.
As described in the previous (see chapter 2.2.1.2.5, Warm Start), the windows can be opened
automatically when entering on-line mode, but they can also be opened in on-line mode from the

On-line Program or from Windows Explorer. The main window is the online view, from which
the majority of the on-line functions are controlled, in the sense that the Online program handles
the entire navigation operation, i.e. selection of LOPs, collection of sensor data, computation of
positions, presentation of data, calibration, adjustment of navigation attributes etc. All of this is
visualised below in Figure 75.
Figure 75 NaviPac Software Environment
2.4.1 The Online Program
2.4.1.1 Common Tools

The user interface of the Online Module is visualised below in Figure 76. It appears that the
user interface is organised in different panels, toolbars, menus and views that together make the
user interface. The various items can be listed as follows:
Main Menu
Online Tools Toolbar
Information Bar
Navigation Buttons
Alarms and Messages Window

Status Bar
Figure 76 NaviPac Online User Interface
2.4.1.1.1 The Main Menu

The main menu has the following nine entries:
File
Edit
View
Navigation
Calibration
Calculate
Events
Options
Help
2.4.1.1.1.1 File
The File menu that contains files-oriented entries, is visualised below.
Open NaviPac Set-up: Starts the NaviPac GenSetup program (not Config)
Save Settings: Will save the current window size and position of the NaviPac Online
program. This feature is valid for all windows/programs opened in on-line mode. In this
way it is possible to predefined an online layout that will be re-established every time
NaviPac enters on-line mode

Print online setup: This action will print the contents of the present online database
(including selected LOPs, gyros, speed logs, motions sensors and dynamic objects) to the
default Windows printer (see below)
Exit: This will stop the NaviPac Online program. The action does not stop data-collection
from sensors and calculation of reference position - only the GUI part is stopped (not the
hidden processes described in chapter 2.4)
2.4.1.1.1.2 Edit
The Edit menu contains menu entries for performing changes in the online navigation set-up. It
looks as shown below.
Date & Time: Opens a new dialog for changing date/time of the computer. It further
facilitates changing the time/date control (see below). A drop-down-list will show items in
an available list for the user to choose between

Estimated Position: Opens a new dialog for inputting new estimated position (see below).
This function may be needed to ensure that calculations dont get out of range. It is
possible to enter data manually or to ask NaviPac to take the GPS position from the raw
data and use as estimated position. By right-clicking on one of the Lat/Lon labels, a
selection list (as shown below right) will pop up. This facilitates change between different
input-formats
LOP Control, C-O: Opens a new dialog for manually specifying the weight, sigma
(Tolerance limit) and C-O (Calculated - Observed) of each LOP component (LOP = Line
Of Position) in the navigation computation algorithm (see below)

Positioning Systems: Opens a new dialog for changing the set-up of surface and dynamic
navigation systems (see below). There is an available list for both surface positioning
systems and for Nav objects. By highlighting in the Available and the Selected lists and
by using the left/right arrows, it is possible, in online mode, to select and to deselect the
various navigation systems defined in the configuration mode
User Defined Offsets: Opens a new dialog for changing the fixed offsets defined in the
configuration mode (x, y, z, name, and on/off) (see below)

2.4.1.1.1.3 View
The View menu contains entries with various functions for changing the navigation options. It
is also from this menu the various windows/programs are opened. It appears as shown in the
figure below.
Position Format: Cascading button allowing the operator to select a format of the
positioning display. The system toggles between: X, Y Grid, Latitude/Longitude
(DDMMSS.ss) and Latitude/Longitude (DDMM.mmmm). The selection will then
have an impact on the position visualized dynamically in the Information Bar (see below)

Alarm Monitor: Will open the Alarm Monitor program that displays and controls user-
defined alarms (see chapter 2.4.2.11 for details)
Attitudes (Roll, Pitch, Gyro): Will open a window with detailed attitude & speed
information, where a gyro, motion & speed log system can be selected and data displayed.
If two systems for instance should be compared two windows can be opened (see chapter
2.4.2.5 for details)
Base Position: Will open a window for display of detailed information associated with all
LOPs included in the position calculation (see chapter 2.4.2.5 for details)
Catenary: Will open a window for catenaries computations & display (see chapter
2.4.2.11 for details)
Data acquisition: Will open a window with functions for selection of attitude, echo
sounder channels and Z-offsets that can be displayed in alphanumerical as well as in
graphical views. Display can be time-series plots/views or KP-based plots/views (see
chapter 2.4.2.52.4.2.9 for details)
GPS Status: Will open a window with status information for up to five selected GPS
systems (see chapter 2.4.2.6 2.4.2.5for details)
Helmsmans Display: Will open the Helmsmans Display for line-planning, steering
control, vessel tracking, logging control etc. (see chapter 2.4.2.1 for details)
IO Monitor: Will open a dedicated input monitor module that shows statistics on the
incoming data and supplies a quick overview of the IO status for each sensor (red/green
status) (see chapter 2.4.2.8 for details)
Log Data: Will open a new window with logging functions. This window must be opened
in order to perform logging of raw data (see chapter 2.4.2.2 2.4.2.5 for details)
Object Positions: Will open a new window for monitoring of the object positions (fixed
offsets, remote positions and dynamic positions) (see chapter 2.4.2.7 for details)
QC: Will open a new window with detailed Quality Control display information, such as:
error ellipse, standard deviation for selected navigation priority groups etc. (see chapter
2.4.2.52.4.2.11 for details)
Raw Data: Will open a new window with port data display/selection functions (see
chapter 2.4.2.3 for details)
Alarm & Message File: Will open a window with logged alarms & online operator
actions (see below)

Clear alarms & messages: This action will empty the message list in the Online window
Status Bar: Facility to toggle the status bar on and off
Toolbar: Facility to toggle the toolbar on and off
2.4.1.1.1.4 Navigation
The Navigation menu looks as shown in the figure below. It contains entries with functions to
change the navigation options. Further details on the issue of Navigation are given in chapter
2.5.2, Performing the Navigation Splitting.
Navigation Mode: Points to the two navigation mode radio buttons: Automatic Multi
Positioning and Auto Prioritised Positioning. The current selection will be dimmed
Change Priorities: Only available when Auto Prioritised Positioning mode is turned on.
This menu entry will open of a dialog that allows the operator to manipulate the LOP
grouping, i.e. to define which stations/systems should be part of which priority group. Part
of the functionality can also be reached via the Navigation Buttons (see chapter 2.4.1).
See further details in 0chapter 2.5.2, Performing the Navigation Splitting
Automatic change priority: Only available when in Auto Prioritised Positioning mode.
The selection decides whether or not NaviPac should automatic switch to navigation group
2 if the primary navigation drops out (red state on primary navigation system). If selected,
NaviPac switches group if there has been a red state for more than 3 seconds. NaviPac will
not automatic switch back the operator must decide for himself when the (previous)
primary system is adequately stable

2.4.1.1.1.5 Calibration
The Calibration menu is depicted in the figure below.
Position: Will open a window for specification and execution of position calibration (see
below). If the calibration should be related to one positioning system, Auto Prioritised
Positioning must be initiated (see chapter 2.5.2, Performing the Navigation Splitting for
details). Do not press the Apply button unless absolute sure that the values should be
used as C-O corrections for the particular positioning system. In the window below right, it
appears, that the figures will be used as C-O values for the LOP (in online mode).
Whenever a manual start is performed, the values will disappear automatically

Position Fix: This action will start the XYZCal calibration-module. Details on how to
utilize this utility are available in the document XYZCal that is installed together with
NaviPac
Range: Will open a window for specification and performance of range calibration (only
relevant with range-based systems)
USBL Calibration: Will start the USBL calibration program (USBL Fix - see below).
Further details on how to perform the USBL calibration are available in the document A2.
USBL Calibration that is installed together with NaviPac

Vessel Gyro Calibration: Will start a dedicated module to perform quay based gyro
calibration as shown below
Enter the known quay-heading (true heading for comparison to gyro-readings) in the
Direction field, the distance between the points where L1 and L2 are to be measured (in
the Length field) and the time for the calibration (in the Calibration time field). When
the Start sample button is pressed, the window below will appear.

Figure 77 New Data Series
Press the New Measurement button and the window below will appear.
Figure 78 New Measurement
At first the fields will be empty. Press Fetch (to make the module read the gyro readings)
while performing simultaneous readings of L1 and L2. Enter the values in the fields, press
Calculate to calculate the heading of the vessel. Now press OK. The focus will go back
to the window in Figure 77. Repeat the cycle until the utility warns that time is up. Then
press OK in the window in Figure 77 and return to the Gyro Calibration window. In this
way it is possible to make several data-series in order to arrive at some average value.
Further it is possible to print the report. Alternatively it can be opened from the
$EIVAHOME\data directory (see below)

The important figures are the C-O and Standard Deviation values generated for each of the
gyros attached to the Vessel object in the configuration. Note that further details on how to
perform attitude calibrations (Vessel Gyro, Vessel Motion and Remote Gyro) are found in
the document A10. Attitude Calibration
Vessel Motion Calibration: Will start a dedicated module to perform quay-based
roll/pitch calibration (see below)
Remote Gyro Calibration: Will start a dedicated module that is designed for performing
dynamic gyro calibration. The module is normally applied to perform a check of a gyro on
for instance an ROV against the Vessel gyro. The ROV must be fixed on the vessel and
L1/L2 measurements must be performed. When starting the utility, the user is prompted to
define the object that the gyro is placed on (see below)

Now the window in Figure 79 will appear
Figure 79 Remote Gyro Calibration
Enter the known heading-difference between the vessel and the baseline from which L1
and L2 are measured in the Direction field. Also the distance between the points where
L1 and L2 are to be measured (Length), as well as the time for the calibration must be
defined. When the Start sample button is pressed, the window below emerges.

This window is for information only. The process of collecting gyro-data will continue
until the utility warns that time is up. Then press OK to return to the window in Figure
79. It is possible to make several data-series in order to arrive at some average value.
Further it is possible to print the report. Alternatively it can be opened from the
$EIVAHOME\data directory (see below)
The important figures are the C-O (Error) and Standard Deviation values generated for
each of the gyros attached to the remote object
2.4.1.1.1.6 Calculate
The Calculate menu is depicted in the figure below.

Co-ordinate Conversion: Will open a calculator-dialog that facilitates position-

conversions between grid (with the local ellipsoid) and geographical co-ordinates (see
below)
Distance To Stations: Will open a small calculator-dialog for calculation of the distance to
all stations in use
Grid Point: Will open a calculator-dialog for calculating grid points (with the local
ellipsoid) based on range/bearing input (see below)

True Distance: Will open a calculator-dialog for calculation of true distance between two
points (local ellipsoid) (see below)

WGS 84: Will open a calculator dialog for conversion between user datum and WGS84
(see below)
Chen and Millero 1977: The entry facilitates calculation of sound-velocity in water based
on temperature, pressure and salinity observations, utilizing the Chen & Millero 1977
formula
2.4.1.1.1.7 Events
The Events menu is depicted in the figure below. See chapter 2.2.1.7 for further details on
event settings.

Manual Event: This action will generate a manual event. The event will be displayed on
the Helmsmans Display if enabled there. Further, if logging is enabled, the event number
will be logged
Manual Event (Note): This action will generate a manual event with a note. The event
will be displayed on the Helmsmans Display if enabled there. Further, if logging is
enabled, the event number will be logged
Event Settings: This action will open a dialog in which event setting parameters can be
defined as shown below
Distance Event info: The distance event window displays information about the actual
event calculation as shown below (if distance events have been initiated)

2.4.1.1.1.8 Options
The Options menu is depicted in the figure below.
Display events in message list: Defines whether generated events are to be displayed in
the online message list
Display warning in message list: Defines whether warnings generated are to be displayed
in the online message list
Instrument control: Facilitates a series of commands and views that are closely related to
instrument controls:
Show Digicourse status: Will open a dedicated status window for Digicourse bird
monitor. For 2D seismic applications

GPS Monitor: Will open a dedicated GPS monitor window. Control mainly for
Ashtech/Thales GPS display for any NMEA based GPS
RDI DVL Control: Will activate a dedicated control module for RDI Doppler Logs
Geodimeter Control: Will open a dedicated status and control window for
Geodimeter ATS 600
Polartrack Control: Will open a dedicated status and control window for Polartrack
range/bearing system
Instrument monitor and control (Also known as Instrument Spy): Will open a
dedicated module to display incoming or outgoing data including option for data
capture (see below). Allows also sending commands to connected inputs (further
details are found in chapter 2.4.2.4)
Logging control from Simrad EM: Will open a dedicated utility module designed
to receive logging on/logging off commands from Kongsberg/Simrad MBE
system (EM3000 and similar) and on the basis of this to control logging in NaviPac
Client specific: This includes special functionality for limited use typically dedicated
and specialized for a single client:
Stolt Offshore - Dive number...: Online control of diving number related to SCS
ROV LOG2 data output
NaviPac 2 UKOOA P2/94: Translator from NaviPac survey format to UKOOA
P2/94
Alarm filtering: Includes menus to filter uninteresting alarms away
Objects: Facilitates the de-selection of alarms for objects for instance when an
ROV is on deck. The dialog that facilitates this is shown below left with an
Available and a selected list

Instruments: Deselect alarms for dedicated instruments. The dialog that facilitates
this is shown below right
Reset on Warmstart: Defines whether NaviPac must reset the filter definition on
restart of navigation
Survey Notes: Activate the EIVA common survey log application (see below). Further
details on the subject can be found in the document Survey Log that is installed when
NaviPac is installed
NaviPac raw log: Opens dedicated module for raw data logging (prepared for playback)
Depth calculation parameters: Will open a dialog in order to specify parameters relevant
for depth calculation/determinations (see below)

EIVA Stat: Opens recording and statistical module for EndOfLine reporting (see below).
Observe that the facility requires .NET 2.0 to be installed on the computer. Further details
on the subject can be found in chapter 2.4.2.11
2.4.1.1.1.9 Help
The Help menu is depicted in the figure below. It contains information about the software as
well as a link to on-line help.
Contents: Will start the default HTML-browser with the HTML-version of the 4-Online
manual (see below)

About online: Opens a dialog with information about the program
2.4.1.1.2 The Online Tools Toolbar
Figure 80 Online Tools Toolbar
The Online Tools toolbar is shown above in Figure 80. The toolbar can be disabled (from the
View menu item) or it can be moved to another location. It contains the following information
that is also accessible from the main menu of the Online program (see chapter 2.4.1.1.1):
Save settings
Estimated Position
Helmsmans Display
IO Monitor
Raw Data
Base Position
Object Positions
GPS Status
Attitudes (Roll, Pitch, Gyro)
Data Acquisition display
Instrument Spy
Survey Log application
Manual event
Manual event (with note)
2.4.1.1.3 The Information Bar

The Information bar as visualised above contains the following information, from left to right,
which is dynamically updated:
Gyro: Shows current heading (true) of the vessel in a range between 0.00 and 359.99
Reference Position: Shows ships reference position in geographical or grid co-ordinates,
depending on user selection
DOP: Shows standard deviation of the reference position
Unit: Displays ID/name of selected unit
Traffic Light Indicator: Green when all operations are OK, yellow to indicate for the
operator to watch out (check message and alarm list), red state occurs after a period with
yellow state and when the cause for this has not been corrected
2.4.1.1.4 The Navigation Buttons
The Navigation buttons shown above indicate the source NaviPac is presently using for primary
navigation input. It contains one button called MultiPos and one for each navigation group.
The current selection is marked as if it was pushed and it is possible, by pushing the buttons, to
perform a quick change between primary/secondary and multiposition options.
2.4.1.1.5 The Alarms and Messages Window
When alarms occur they will be added at the bottom of the window. Also when the user applies
changes to the set-up (Online.DB) the changes will be displayed in this window. Note: The
messages are also logged to a file that can be accessed from menu item View Alarms and
message file.
To the right is the Alarm check-button. When alarms occur the button is checked and text
becomes red. When checked off (by user) the text will turn green.
2.4.1.1.6 The Status Bar
The status bar is visualised above. To the right, it displays current date and time, as controlled by
either a GPS or by the internal clock of the computer. The time-format depends on the regional
settings applied to the computer.

To the left tool-tips etc. associated with the present use of the Online program are visualised.
2.4.2 Other programs
2.4.2.1 Helmsmans Display

The Helmsmans Display program is a comprehensive tool designed to be used for a variety of
tasks associated with the NaviPac program. The following description of the software is by no
means adequately detailed to serve as a users manual. For this additional, more general and
detailed information on the Helmsmans Display is available in the help-features and manuals
supplied with the software as well as on the EIVA Training and Documentation Site. In
particular the document 12 Helmsmans Display supplies valuable information on the
subject.
2.4.2.1.1 Introduction
The NaviPac Helmsmans Display can be used for a various number of operations. It gives the
Helmsman a tool for active steering control, that is to visualize and display the current position
of the vessel/ship and offsets in 2D. The Helmsmans Display can indeed as well be used for
survey preparation when runline-planning and for active surveying on runlines. Also plotting
facilities of recorded data are available.
To distinguish between a dynamic real-time situation with consecutive position updates and an
option for standalone operations, the NaviPac Helmsmans Display can operate in two modes:
Line planning mode and Surveying mode.
The two modes have their own set of windows settings, which are saved in the registry database
(by the operator). It is therefore possible to operate with two sets of active views of the
Helmsmans Display, for instance one map view and a cursor position view in the line-planning
mode, and two drawing views, a left/right indicator view and several data views in the surveying
mode.
The Helmsmans Display can be started from the View-menu of the Online program or from
the dedicated icon on the Online Toolbar. It can also be started automatically by NaviPac as
part of the Warm Start facility in the generic views section (see chapter 2.3.4). Further, when
operating in line planning mode, the Helmsmans Display can be started autonomously,
separated from the NaviPac program.
2.4.2.1.1.1 Line planning mode (Off-line)

The Line planning mode is for survey preparations, in which relevant job files, such as runline files,
waypoint files, target files, display line files etc are generated.
The term offline in this context means that the Helmsmans Display is not connected to the NaviPac
kernel, and can run as a stand-alone program.

2.4.2.1.1.2 Surveying mode (On-line)

The Surveying mode is used for real time displaying and updating of vessel and offset positions. The
term online in this context means that the Helmsmans Display is connected to the NaviPac kernel, and is
receiving data from here.
Note that all line planning facilities are also available in the Surveying mode.
2.4.2.1.2 Description
2.4.2.1.2.1 Common Tools

The Helmsmans Display is organized in different menus, toolbar and views that together make
the user interface as visualized in Figure 81. The various items can be listed as follows.
Main Menu
Toolbar panel (from left to right)
Main Bar
ECDIS Palette bar
Signalbar
Various Views
Status Bar
Figure 81 The Helmsman's Display User Interface
2.4.2.1.2.1.1 The Main Menu

The main menu has five entries:

File
Options
View
Window
Help
The file-menu, visualised above, hosts the following items:

New: Creates a new empty jobfile
Open: Open saved jobfile
Save/Save as: Save present jobfile
Line planning mode (offline): Starts the Helmsmans Display in line planning mode
Surveying - manual connection: Starts the Helmsmans Display in surveying mode
Surveying - auto connection: Automatically starts the Helmsmans Display in surveying
mode
NaviScan: Connect/disconnect to/from NaviScan to get echo sounder centre beam depth
Print: Print active (focused) map view.
Print preview: Preview print of active (focused) map view (the preview function is not
very accurate).
Print set-up: Select and set-up the printer.
Jobfile settings: Opens a dialog in which the jobfile settings can be defined
Autoload Jobfile: Check this to enable automatic load of jobfile at start-up
Exit: Terminates the Helmsmans Display. One will get a change to abort the termination

The options menu, visualised above, hosts the following items:

Privilege Level & Broadcast: Opens a dialog for helmsman settings e.g. master/slave
mode, Auto connection
Directories: Opens a dialog for directories set-up.
Palette types: Day Palette: bright colours for day settings, Twilight palette: less bright
colours for day settings, Dusk palette: less dark colours for early night settings, Night
palette: dark colours for night settings
The view-menu, visualised above, hosts the following items:

Map: Opens a new map view or edit settings for the focused Map view
Dynamic object: Opens a new Dynamic object view or edit settings for the focused
Dynamic object view
Cursor position: Opens a new Cursor position view or edit settings for the focused Cursor
position view
Runline control: Opens a new Runline control view or edit settings for the focused
Runline control view. Managing runlines and waypoints is also possible from this menu
Offline indicator: Opens a new Offline indicator view or edit settings for the focused
Offline indicator view

Range & bearing: Opens a new Range & bearing view or edit settings for the focused
Range & bearing view
Distance counter: Opens a new Distance counter view or edit settings for the focused
Distance counter view. Starting and resetting the Distance counter is also possible from
this menu
Rigmove: Opens a new Rigmove view or edit settings for the focused Rigmove view
Anchor Handling: Opens a new Anchor handling view or edit settings for the focused
Anchor handling view
Time & date: Opens a new Time & date view or edit settings for the focused Time & date
view
Main bar: Toggles main bar on/off
Signal bar: Toggles signal bar on/off
ECDIS palette bar: Toggles ECDIS palette bar on/off
DTM palette bar: Toggles DTM palette bar on/off
Status bar: Toggles status bar on/off
The Windows menu is shown above. It contains the following items:

Cascade: Cascades all opened views
Tile: Tiles all opened views
Data views: Dynamically change of menu items depending on views currently opened
The Help menu, visualised above, hosts the following items:

Contents: Opens the Internet Explorer with Users Guide to NaviPac Helmsmans Display
About Helmsmans Display: Opens an About dialog with version number
2.4.2.1.2.1.2 The Toolbars

The three toolbars and their functionalities are visualized below in Figure 82, Figure 83 and in
Figure 84.

Figure 82 The Main Toolbar Functions
Figure 83 The ECDIS Toolbar Functions
Figure 84 The Signalbar Toolbar
2.4.2.1.2.1.3 The Views

The Views can be opened from the main menu. A detailed description on the use of the various
views is supplied in chapters 2.4.2.1.2.2 and 2.4.2.1.2.3.
2.4.2.1.2.1.4 The Status Bar
The status bar is visualised above. From left to right, it displays:

The files currently being logged, whenever this is relevant
The status of the Helmsmans Display (master or slave)
Range and bearing from center of map area to cursor position
Coordinates in local datum of cursor position
Help-information associated with the present use of the Online program is visualized

2.4.2.1.2.2 Connecting to NaviPac

Prior to starting the Helmsmans display, the NaviPac program must be running, and the
Red/Yellow/Green signal bar in the Online module must be green. The Helmsmans program will start
with the screen below:
Figure 85 Helmsman's Display at first Start-up
To have the Helmsmans display receive information from the NaviPac program, select menu-item File-
Manual connection. Alternatively the New icon could be pressed. Having done this, the window below
in Figure 86 will appear.
Figure 86 Connecting to NaviPac
The Local check-box must be checked. The IP-address will automatically change to 127.0.0.1, which is
the IP address of the local computer. Note that the port-number cannot be changed. This is the default port
for this connection. Now finish this dialog by pressing the Connect-button. The Helmsmans Display

program will start to update. If this is the first time the program is started, it will look as shown in Figure
85.
Figure 87 Helmsman's Display at first start
2.4.2.1.2.3 Arranging the Windows

The next step is to arrange the various views within the Helmsmans window. By default the
following views are open the first time the Helmsmans Display is started:
Offline Indicator View (see Figure 88)
Cursor Position View (see Figure 89)
Map View (see Figure 90)
Dynamic Object View (see Figure 91)
Figure 88 Offline Indicator View
Figure 89 Cursor Position View

Figure 90 Dynamic Object View
Figure 91 Map View
The Map View has four tool-bars attached to it. These can be selected and deselected from the menu-item
View Map Toolbars. The toolbars can be detached from the predefined position and dragged to a
new position anywhere on the monitor of the pc. Observe that once this is done, the toolbar is has an
absolute position on the monitor, not a relative position on the Helmsmans Display window. So when
moving the latter, the detached toolbar will not follow along. The toolbars are:
The Zoom Bar (see Figure 92)
The Map Control Bar (see Figure 93)
The Scale Bar (see Figure 94)
The Level Bar

Figure 92 Zoom Bar
Figure 93 Map Control Bar
Figure 94 Scale Bar
Figure 95 Level Bar
The windows/views can be moved and arranged so that they do not overlap by left-clicking the
Caption/Title of the views and then dragging them onto a new location inside the overall Helmsmans
Display window. The windows can also be resized, so the text is readable and the map-view is optimized
for viewing. Further, by right-clicking the views, it is possible to switch the Caption/Title off. This will
save space to the more important information to be displayed.
There are, in principle, an unlimited range of possibilities as to how to arrange these initial views. The
arrangement shown below in Figure 96 must therefore only be regarded an example.

Figure 96 Re-arrangement of the default views
New views can be added to the Helmsmans Display by applying the menu item View. This will give
the user the possibility to choose between s series of view-types, such as: Runline Control view, Range &
Bearing View and Time & Date View.
Relative to the views added to the settings applied to the HD shown in Figure 96, a vital one is missing
with respect to performing a seismic survey. The Runline Control view is loaded by choosing the menu-
item View - Runline Control - New runline Control view. Once this has been done the window for
configuration the view as well as the view itself will be displayed (see Figure 97 below).

Figure 97 Runline Control View (left) and Configuration (right)
Once the required settings have been applied, press the OK button and move the Runline Control View
to the desired position. The Survey bar can be detached and moved to another location. Now the
Helmsmans Display looks as shown below in Figure 98.

Figure 98 Helmsman's Display with Runline Control View
The Survey-bar hosts a series of important functions for the selection of runlines as well as for
starting/stopping survey/logging as visualised below in Figure 99. The figure shows the bar when a
runline has been selected and logging has been started.
Figure 99 Survey Bar Functions

When a runline has been selected and no logging is taking place, the Survey bar looks as follows:
When no runline has been selected, it looks as follows:
Finally to save the setting, so the Helmsmans Display will appear the same way the next time it is
started, select the menu-item File - Save As and choose an adequate name. Alternatively, pressing the
floppy icon on the tool bar will have the same effect. Further, to ensure that The Helmsmans Display will
automatically load the most recently used job-file at start-up, inspect menu-item File Autoload Jobfile
and make sure that it is ticked on.
2.4.2.1.2.4 Displaying the vessel outline

To display the outline of the dynamic objects, such as the vessel, right-click in the map-view area
and select menu-item Dynamic object - List dynamic objects as shown below in Figure 100.
Figure 100 List Dynamic Objects
The window below in Figure 101 will appear.

Figure 101 Listing of Dynamic Objects
Double-click on the Vessel object at the top of the list. The window below in Figure 102 will
now appear. From here, it is possible to modify various settings associated with the dynamic
object.
Figure 102 Configuration of Dynamic Object
To change the vessel shape, choose the Shape/outline tab as shown below in Figure 103. The
figure shows the default settings of the parameters.

Figure 103 Shape/Outline-Tab
First choose Scaled Shape/Outline and press the Open button. The window below in Figure
104 appears. Choose the file desired and press Open.
Figure 104 Loading Shape-file
The Shape/Outline tab now looks as shown in Figure 105.

Figure 105 Shape/Outline tab with Scaled Shape
In the tab, the following now appears:

Object Shape/outline/Symbol (visible) ticked on to indicate that the shape will be shown on
the Helmsmans Display
Scaled Shape/Outline ticked on to indicate that this method will be applied fro the
visualization of the object
Name an path of shape (excluding the $EIVAHOME path)
Min/Max break scale default values calculated automatically on the basis of the size of the
outline of the shape. If the scale becomes larger or smaller than the values stated, a default
shape (circle) will be shown instead
From the other tabs, it is possible to modify the following:
Trackplot parameters (see below)

Parameters for the display of events (see below)
Font & Color (see below)

Display of various text items associated with the object (name etc.) (see below)
Once the settings are acceptable, press OK and then Close from the Listing of Object
window. The Helmsmans Display now looks as shown in Figure 106. Observe that, in order to
see the Vessel shape, it is necessary to choose a scale between the break-scales described in the
above.

Figure 106 Helmsman's Display with Shape
2.4.2.1.2.5 Managing Runlines

Before the survey can be started and steering information can be made available on the
Helmsmans Display, it is necessary to create or to load an already existing runline for the vessel
to follow. In principle, the HD/NaviPac operates with two different types of runlines: single
segment and multiple segments (or continuous) runlines.
The runlines can be created either by manual entry of coordinates or by using the cursor.
2.4.2.1.2.5.1 Manual Creation of Runline (single segment type)

To create a runline by manual coordinate entry, right-click on the map-view and choose menu-
item Runline - New runline. This can also be accomplished by choosing menu-item View
Map Runline New Runline from the HD main menu or by right-clicking in the Runline

Control View and choosing menu-item Runline New Runline. Either way however, the
dialog in Figure 107 will emerge.
Figure 107 New Runline
The Runline Edit dialog shows a single segment with default start and stop coordinates of 0, 0. In
order to enter the desired parameters for the runline, press the Edit button (or double-click on
the segment). The dialog shown below in Figure 108 appears.
Figure 108 Entering Coordinates of Runline
The dialog has a tab for start coordinates as well as a tab for the entering of the end coordinates
of the runline. There is also a tab to enter range and bearing from the start point to the end point.
By choosing one of items in the Position representation field, it is furthermore possible to enter
coordinates in geographical coordinates as well as in grid-coordinates. It is furthermore possible
to choose to enter data in either User Datum or in WGS-84. Default when opening the
window is grid-coordinates in user datum.
Once the parameters have been entered, press OK to return to the Runline Edit Dialog. It now
looks as shown below in Figure 109.

Figure 109 Runline Coordinates entered
From the Runline Edit Dialog, it is now possible to press OK to store the runline data will be
stored in memory only as well as displayed on the Helmsmans display. Alternatively it is
possible to save the runline prior to exiting the dialog. To do this, first select the Main tab, and
insert a name in the Runline Identification - Name field (see Figure 110). After inserting the
name press OK, and save the file in a directory as desired. Note that the default directory for
runline data is $EIVAHOME\NaviPac\Runlines.
Figure 110 Defining Runline Name
Once the runline is entered, the Helmsmans Display looks as shown in Figure 111 below. Note
that the runline is shown in green.

Figure 111 Helmsman's Display with Runline
2.4.2.1.2.5.2 Manual Creation of Runline (continuous runline type)

If a runline consists of several segments, segments can be added from the Runline Edit dialog to
a single segment runline. The first segment in a continuous runlines is entered as described
above. When more segments should be added, highlight the last segment entered, in the Runline
Edit dialog and press the Append (Line) button (see red arrow in Figure 112).

Figure 112 Appending straight Line
Once this is done, the dialog to enter the endpoint parameters of the next segment will emerge as
shown in Figure 113.
Figure 113 Entering Coordinates
It is possible, in the Rng/Brg tab, to enter the range and bearing from the endpoint of the
previous segment to the endpoint of the present segment (see Figure 114 below), or to select the
End tab and enter the end coordinates of the present segment (see Figure 113 above).
Figure 114 Entering Range Bearing
If multiple segments have been entered, the Runline Edit dialog will look like shown below in
Figure 115.

Figure 115 Multiple Runlines Entered
2.4.2.1.2.5.3 Cursor created Runline

Cursor created runlines are very useful, if some kind of background information on the map
view, like C-map or a displaylines file with coastline and contours is available. Let us assume
that the optimum centerline for a route survey must be determined. Start by right-clicking on the
map view and select menu-item Runline - New runline (cursor ctrl.) as shown below in Figure
116.
Figure 116 Cursor Controlled Runline

The cursor will turn into a cross. Move the cross to the position where the line should start and
double click. The cursor/cross can now be moved to the next turning point. Register this with a
single click. For every single click, an endpoint of a new segment will be created. Double-click
to end the line. During the creation of the runline, it will constantly be updated on the
Helmsmans Display.
While entering a cursor created runline, the + and -> buttons (or the wheel of the mouse) will
scale up and down at the same time the letters on the Level Bar can be used to change the level
on the map-area.
If the cursor is moved outside the map, the map will follow the cursor, without changing the
scale. To delete segments, press the Delete key and the last segment will be deleted.
The first segment created will always be a straight segment. The next segment however can be
one of three:
If the previous segment is a straight segment:
A curved segment between the starting and the ending points that will have the
previous segment as a tangent in the starting point
A straight segment between the starting and the ending points
In addition to this, if the previous segment is a curved segment:
A straight segment between the starting and the ending points that is a tangent to the
previous segment in the starting point
It is possible during the generation of a cursor-controlled runline to toggle between the segment-
types, simply by pressing the Space button on the keyboard.
The multiple segment runline created looks (in green) as visualized in Figure 117.

Figure 117 Cursor Controlled Runline Generated
2.4.2.1.2.5.4 Loading Runlines from File

Runlines already stored onto a runline file can be loaded into the Helmsmans Display in one of
several ways:
Runlines can be dragged-and-dropped onto the map-view, using any file browser, like
Windows Explorer
Choose the menu-item View - Runline control Runline - Open Runline from the main
HD menu
Right-click on the Map View and select menu-item Runline - Open runline
Right-click on the Runline Control View and select menu-item Runline - Open runline
Press the Open runlines button on the Survey Bar
The following menu will appear:

Figure 118 Open Runline Menu
Select the desired runline and press the Open button to load the runline into the Helmsmans
Display.
2.4.2.1.2.5.5 Start/stop Runlines/Recording

After a runline has been entered manually or a runline has been loaded from a file, the runline
will appear on the Helmsmans display as a green line, but without any steering information
being available.
To select the runline and make it directly available for surveying/navigation, choose the Select
button on the Survey toolbar. The cursor will turn into a cross. Move the cursor/cross close the
runline in question. The runline will turn yellow to indicate that it is active. Further all steering
information relative to the runline/segment in the Runline Control view and in the Left/Right
Indicator view will be available as shown in Figure 119. Finally the Survey bar will turn its
appearance to indicate that surveying/logging is possible.

Figure 119 Runline Selected
To start recording/logging of data, press the Start button on the Survey bar once more and the
runline will turn red to indicate that logging has been initiated. This can be observed in a number
of other placed on the Helmsmans Display (see Figure 120):
The logging icon will turn active (red arrow in Figure 120)
The Survey bar changes appearance (the Stop button becomes active)
To the far right on the Status bar, the names of the files logged will be displayed

Figure 120 Logging Started
Observe that no logging will take place if the Log Data program is not running. Figure 121
shows the Log data window during logging. Note that here, the Logging toolbar has changed its
appearance (the stop-icon has become active) and that logging information is displayed on the
Information window (see chapter 2.4.2.2 for details).
Once logging has been initiated from the Survey bar of the HD, it should never be stopped from
the Logging toolbar of the Log Data window.

Figure 121 The Log Data window during logging
To stop recording/logging of data, press the Stop button on the Survey bar. The runline colour
will turn grey to indicate that the runline has been surveyed (see Figure 122). Further the logging
icon will turn in-active (grey), the Survey bar changes appearance (the Start button becomes
active) and the file-names of the files being logged, previously visualised to the far right on the
Status bar, disappears.

Figure 122 Logging stopped
2.4.2.2 The Logging Window

The Log Data program can be started from the View-menu of the Online program or from the
dedicated icon on the Online Toolbar (see the window below in Figure 124). It can also be
started automatically by NaviPac as part of the Warm Start facility in the generic views section
(see chapter 2.3.4). Note that from NaviPac version 3.5, patch 15, the LogData window is
divided in two, since the traditional LogData program is supplemented with another window,
NPRec, that can be used to log Survey and General logfiles, primarily in cases with excessive
data quantities (see Figure 123 below). By ticking the Do not record Survey and General format
in LogData, the user can choose to log these two file-types in NPRec instead.

Figure 123 The NPRec window
The program facilitates configuration of logging methods. Further it is possible to start and stop
logging from the program and to inspect the current status of the logging.
Data can be logged in 3 different ASCII text formats:
General format: A general format that will contain all information including events and
raw instrument data
Survey Format: An XYZ ASCII record format to be read by the dedicated NaviPac
interpreter in NaviEdit (or another charting package able to read the format). All positions,
depths and attitudes (gyro, roll, pitch, heave) values are logged
Custom format: Is a format that can be customized by the user on the basis of the
configuration settings
Figure 124 The Log Data Window
The user interface of the Log Data program is organised in different panels, toolbars, menus and
views as shown above in Figure 124. The various items can be listed as follows:
Main Menu

Logging Toolbar
Information Window
Logfile Information Bar
Status Bar
2.4.2.2.1 Main Menu

The Main Menu contains five entries:
File
Edit
View Options
Help
The File menu hosts the following entries (see above):

Start Logging: Creates new log file(s) (3 formats possible, depending on the
configuration) and starts logging. Observe that logging can also be started from the
Helmsmans Display when a runline is selected
Stop and Start Logging: If logging is already started it will be stopped followed by a new
start (new connection, new logfiles are established)
Stop Logging: Disconnect from NaviPac Kernel and close any open log files. Stop
Logging can also be executed from the Helmsmans Displays, provided it was started from
here
Pause Logging: Temporary pause the logging of data from NaviPac but keep all log files
open. Press Start Logging to continue
Set-up Logging: In this dialog the user can set-up what to log, where to log it and how
often (Recording Mode), select which information that should be displayed in main
window etc. (see chapter 2.4.2.2.1.1 below for details)

Save Settings: This will save all current settings, including position and size of window,
custom log format and the settings defined in Set-up Logging
Save As: Save the custom logging format in an external file for later use. The default
location of the file is the $EIVAHOME/data directory
Load From: This menu-item allows for the loading of a custom logging setup from an
earlier saved setup
Exit: This will stop logging (if started) and exit the program
The Edit menu hosts one entry:
Custom logging format: The Custom LogData Format can be specified in the dialog that
will appear here (see details below in chapter 2.4.2.2.1.2)
The View Menu hosts the following entries:

General log file: Choosing this item will display the current general log
Custom log file: This menu displays the current custom log
Survey format log file: This menu displays the current survey log
Logging History: Will display current logging history file, if initiated
Toolbar, Status Bar: Toggles display of these items on and off
The Options menu hosts the following entries:

Save logging history to file: Use this option if information of the Start/Pause/Stop actions
and logfiles created should be logged
Reset logging history: Will clear the history file
The Help menu hosts the following two entries:

Logging Formats: Displays online help for the logdata program 13 Logging Utility
using the default HTML viewer

About logdata: Shows current program version, icon etc.
2.4.2.2.1.1 Setup Logging

When the menu-item File Setup logging is selected, the window shown below in Figure 125
will appear.
Figure 125 Setup Logging
In the dialog, it I possible to define what to log, where to log it and how often as well as to define
which information should be displayed in the Information Window:
Log files: In the upper part (Log Files) it is possible to specify the logging formats as well as
the directories and the file naming convention. Observe that space must not be included in
any part of the path
Extra: Check this on if extra information is needed in the survey format (e.g. Logging of
offset positions). The check-box cannot be deselected
Raw only :Reduces general logging files to include only header and raw data strings
Prefix in log file names: Possibility to select between different predefined conventions for
definition of the logfile directory- and filename. Also the possibility to make a user-defined
selection
Recording Mode:
All updates: Log every cycle

Time: Log with a certain frequency

Position: Log when Distance meters have been reached. Eventually select the object
that the Position/distance is calculated upon
On Event: Log only when an event occur in NaviPac
Use NaviTag timestamps: Defines whether timestamp is to be based upon absolute
time or local time (computer time), it is recommended to use this option if a TimeBox
is interfaced
Enable disk space warnings: If checked, a warning will be displayed in the Information
Window when disk space on Disk Drive specified is less than Min. space left before
warning value
Maximum log file size: Enter maximum allowable file size in Kbytes (max is 99999kbyte).
Logdata will automatically switch to a new file once the limit is reached. If set to 0, then no
check is performed
Maximum log file length: Enter max file size in time (minutes) before LogData will switch
to a new file. If set to 0, no check is performed
Min space left before warning: Enter space on disk drive (in Mbytes) before LogData
should warn the user
To display in Main window: The list is used to define which items should be visualized in
the Information (Main) Window (see chapter 2.4.2.2.3 for details)
2.4.2.2.1.2 Custom Logging Format

When the menu-item Edit Custom logging format is selected, the window shown below in
Figure 126 will appear.
Figure 126 Custom Logging Format Window - General tab

The General tab holds general settings for the custom format:
Header in custom log file: Field for information about what has been logged
Save Header: If checked the header will be saved
Include time, version & filename: Will include a line in the file with this information
Auto generate header: Will insert all items from the included list and separate each by the
separator selected
Separator: An item separator is used to separate the items being logged
Record based logging: The format of the logfile can be record based (i.e. one record on
each line) or line based. Line based logging will result in data items from one cycle will be
contained in one separate line
Insert in all data items: The following general settings can be selected and thereby logged
for all items:
Data types: P, G, V, A, D, E, C, R (P=Position, G=Gyro, V=Velocity, A=Attitudes,
D=Dataacq, E=Events)
Object Id: The object number/offset number (vessel = 0)
Index in gensetup.Db/Event method: Instrument index (see chapter 2.2.1.2.2 for
details)
Figure 127 Custom Logging Format Window - Items tab
In the items, the items for logging can be selected and configured. To the left in Figure 127
above is the Available list; to the right is the Selected list. Items can be moved to and from
the Selected list by highlighting the item and pressing either the arrow left or the arrow right.
By highlighting an item in the selected list, it is possible to move the item up and down by
pressing the up and down arrow respectively. Further, by highlighting an item in the Selected
list, it is possible to modify dedicated items, specific for the item in question, by clicking the
More button. The Available list can include the following items:
Time in different formats
Height in positions records
Gyro

Attitude info: Roll, Pitch, Heave

Speed info: Speed, SMG
All dynamic, fixed, filtered positions
Ref. Position (group 1-5): X, Y. Only actual selected number of reference groups.
Depth from each echo sounder channel
User defined offsets (X,Y, Height)
Events (event number) for information about what has been logged
Figure 128 Custom Logging Format Window - Positions tab
The Positions tab contains the following information:

Type: ordinary positions (O), fixed positions = User defined offsets (X), dynamic positions
(D) e.g. ROV, filtered positions (F)
Pos. as Lat/Long: Log Latitude, Longitude in positions records. Choose between
predefined formats in drop-down list
KP (Kilometre Post): check to include this item
DAL (Distance Along Line): check to include this item
DOL (Distance Of Line): check to include this item

Figure 129 Custom Logging Format Window Date and Time tab
The Date and Time tab facilitates definition of parameters associated with the logging of time
(when time has been chosen under the Items tab). Time is by default selected to the in a fixed
format. If Custom Date/Time is selected, it is possible to tailor-make the time-format.
2.4.2.2.2 Logging Toolbar

The tool bar holds commonly used functions from the menus as visualised below in Figure 130.
The functions are (from left to right):
Save settings
Print
Help (version)
Set-up Logging
Custom logging format
Start logging
Pause logging
Figure 130 Logging Toolbar Items

Note that the toolbar shown in Figure 130 is associated with a situation where logging is taking
place. If logging has not been started, the toolbar looks as shown below in Figure 131.
Figure 131 The Logging Toolbar (logging not started)
2.4.2.2.3 Information Window

The Information Window will contain information in accordance with the settings defined in the
Setup logging. Figure 132 shows an example of the window.
Figure 132 The Information Window
The information available is, from top to bottom:

Mode: Displays the logging mode
Rec. counters: Displays a line with total number of records received in since last start of
logging for each sensor type
Free space: Display space free on disk
File size: Display file-size for each of the 3 logging-formats if these have been selected
File names: Display path and file-name for each of the 3 logging-formats if these have
been selected
Positions: P, Position Type, Time, E, N, Height, Lat., Lon.
Gyro: G, Time, Gyro, CMG
Attitude: A, Time, Roll, Pitch, Heave
Velocity: V, Time, Speed, SMG
Depth: D, Time, channel, depth, bathy, depth + bathy
Events: Display event numbers
2.4.2.2.4 Logfile Information Bar

When the system is logging data, the Logfile Information Bar will contain information about the
current logfile name, including path. If Custom logging has been initiated, the file-name
displayed is associated with the custom log-file otherwise the filename is associated with the
survey file.
When logging has not been started, the Logfile Information Bar does not contain any extra
information, as shown above.
2.4.2.2.5 Status Bar
The status bar is visualised above. To the right, it displays current date and time, as controlled by
either a GPS or by the internal clock of the computer. The time-format depends on the regional
settings applied to the computer.
To the left tool-tips etc. associated with the present use of the Log Data program are visualised.
2.4.2.3 The Raw Data Window

The RawData window can be started from the View-menu of the Online program or from the
dedicated icon on the Online Toolbar (see the window below in Figure 133). It can also be
started automatically by NaviPac as part of the Warm Start facility as part of the tools-view (see
chapter 2.3.4). The latter method is however not recommended, since the program occupies a
considerable amount of computer-resources. It should therefore be used in connection with
mobilisation and debugging rather than to be constantly running.
The program facilitates methods to inspect the raw ASCII data read on the serial ports. Also
functions to interpret the data and setting port parameters and number of bytes per seconds are
available.

Figure 133 The RawData Window
The window can display data from one port at a time in the figure above, data from a GPS-
receiver on port 19 is shown. The main items in the window are:
Port: From the drop-down list it is possible, from an available list based on the NaviPac
configuration, to select which port to monitor. By selecting a new port, the default
communication parameters from the configuration will be shown (databits, stopbits, baud
rate and parity)
Bytes per second: For the port selected, this attribute gives the average number of bytes
per second received from the instrument. The measurement will be averaged over a period
of 10 seconds
Raw Data: This list window displays the raw data received on port as either ASCII texts
or hexadecimal numbers
Instrument: When a port has been selected, this field will display the corresponding
system type. If the interpretation fails (see Interpreted Data), the operator may select
another type in the right part of the list to see if it interprets better
Expected format: Short notation for the expected incoming telegram
String filter: If NaviPac is configured to look for certain leading string patterns to be able
to filter in the incoming telegram this feature can be used ($GPGGA indicates for instance
that all other strings are to be ignored)

Use string filter: RawData displays all incoming strings. If selected then the system places
a | in front of all strings that normally would be ignored
Interpreted Data: This small sub-window will display how the last line has been
interpreted. For a GPS it the following will be displayed: Latitude, Longitude, Easting,
Northing, Mode
2.4.2.4 The Instrument Spy Window

The Instrument Spy window can be started from the menu-item Options Instrument control
Instrument monitor and control of the Online program or from the dedicated icon on the Online
Toolbar. Alternatively it can be started automatically by NaviPac as part of the Warm Start
facility in the Tools section. The latter method is however not recommended, since the program
consumes a considerable amount of computer-resources (like the Raw Data window). It should
therefore be used in connection with mobilisation and debugging rather than to be constantly
running. An example of the window is shown below in Figure 134.
Figure 134 The Instrument Spy Window
The window can display data from one port at a time (output as well as input) in the figure
above, data from the EIVA 3D Display instrument on UDP/IP port 7913 is shown. The main
items in the window are:
Instrument: From the drop-down list it is possible, from an available list based on the
NaviPac configuration, to select which port to monitor. By selecting a port, the port-
number will automatically be visualized under Port
Port: see above
Raw Data: This list window displays the raw data received on port as either ASCII texts
or hexadecimal numbers
Capture: This will open a dialog that will facilitate capturing of raw data from the
particular instrument onto an ASCII-file

Close: Will close the window
2.4.2.5 The Base Position Window

The Base Position window can be started from the View-menu of the Online program or from
the dedicated icon on the Online Toolbar. Alternatively it can be started automatically by
NaviPac as part of the Warm Start facility in the generic views section. The window is shown
below in Figure 136.
Figure 135 The Base Position Window
The window facilitates the viewing detailed information of the LOPs included. The window will
be dynamically updated each second with the latest information available. The main items in the
window, when in normal mode are:
Prio: For each LOP this field states which priority group it belongs to. The list of LOPs
will always be organized in ascending order by Prio, so it will appear as shown above in
Figure 135, where each LOP with Prio 1 are placed together. The Prio will always be
ordered in sequence - hence a system cannot have Prio 1, 2 and 4 without a Prio 3. Note
that LOPs acquired in Prio 1 will be the sole source for the computation of the resulting
reference position
Reference position (Easting, Northing): This field gives the grid-position of the ships
reference point. The display format will always be in local datum with the map-projection
defined in the NaviPac configuration. If the system uses Multi-positions or if the
prioritized position is for priority one, this position corresponds to the reference position
shown in the Online Main Window. Otherwise it must be regarded as a secondary position,
which can be compared with the primary
Height: This field contains the height of the ships reference position. Depending on the
NaviPac configuration, the height-component will either relative to the reference ellipsoid
or it will be a orthometric height (thus taking the geoid undulation into account in order to
reduce the height to a vertical datum)
Std. Dev: Displays the standard deviation of the reference position. If the system uses
Multi-positions or if the prioritized position is for priority one, this figure corresponds to
the reference position standard deviation. Otherwise it must be regarded a QC/comparison

figure, which can be used to check whether the navigation priorities should be changed. If
the group consists of one GPS system, the standard deviation equals the GPS HDOP
Station Name: For each LOP in the group(s), the corresponding name will be displayed
Measured: This field gives the raw data measured for the current LOP. For GPS the value
will be presented as local grid-coordinates
Converted: This represents measured value, corrected for scale factor, station delays etc
Predicted: This represents the value calculated by the Kalman filter
Error: Is the difference between the converted value and the value calculated in the least
squares adjustment
Weight: The weight indicates the current weight (between 1 and 0) of the LOPs in the
least squares adjustment calculations
Difference (dx, dy, dz): If the system is set to more groups, the lower line in each
secondary group will show the distance between the particular secondary position and the
reference position
2.4.2.6 The GPS Status Window

The GPS Status window can be started from the View-menu of the Online program or from the
dedicated icon on the Online Toolbar. Alternatively it can be started automatically by NaviPac
as part of the Warm Start facility in the generic views section. The window is shown below in
Figure 136.
Figure 136 The GPS Status Window
The window facilitates the viewing of various status-information associated with the GPS
system(s). The data in the window originates from the information from the GPS-receiver and
will therefore only be available if the GPS is set to output NMEA-0183 format 3. The window
can be presented in either normal mode (as shown above) or in extended mode. The main items
in the window, when in normal mode are:
GPS type and name: Show instrument name and type
Mode: GPS quality indicator:
NONE: Could not recognize the GPS mode
GPS: Autonomous solution
Diff: Code-Differential solution
RTK: Phase differential solution

#Sat: Number of GPS satellites being used. Range: 0 to maximum number of GPS
satellites
HDOP: Horizontal Dilution Of Precision
Dif. Id: Identification of reference station
Age: Either observed data age (Ashtech GGA in RTK mode) or calculated age (from
timestamp of message to start of cycle)
Geoidal H: Geoidal separation (undulation) in meters at present position
Antenna Height: Ellipsoidal height of the antenna in meters
2.4.2.7 The Object Positions Window

The Object Positions program can be started from the View-menu of the Online program or
from the dedicated icon on the Online Toolbar. Alternatively it can be started automatically by
NaviPac as part of the Warm Start facility as part of the generic views (see chapter 2.3.4). The
window is shown below in Figure 137.
Figure 137 The Object Positions Window
The window facilitates the viewing of detailed information of the objects included, such as:
dynamic positions, internal positions and offsets. The window contains one line per selected
object. The lines will be presented with windows text colour the normal colour is black, but it
turns red if the last calculation was not OK. The main items in the window are:
Object name: Name of the object. As presented in the selection dialog. The name is
specified in the objects.txt file

No: Internal identification number, as defined in objects.txt

Id: External identification number. For USBL systems, it gives the transponder number. -1
specifies non-used value.
Delta X, Delta Y, Delta Z: X, Y, Z offsets for objects and user defined offsets from the
configuration of NaviPac. For dynamic positioning systems, the field will display the raw
X, Y, Z readings. Otherwise the fields are empty
Easting, Northing, Height: The field shows the calculated position in Easting, Northing
and Height
SMG and CMG: The calculated speed in m/s and course in degrees
2.4.2.8 The IO Monitor Window

The Input Monitor program can be started from the View-menu of the Online program or from
the dedicated icon on the Online Toolbar. Alternatively it can be started automatically by
NaviPac as part of the Warm Start facility as part of the generic views (see chapter 2.3.4). The
window is shown below in Figure 138.
Figure 138 The IO Monitor Window
The window contains one line per defined instrument, including information about real inputs,
simulated data, calculated data, as well as instruments that have been set to off. The main items
in the window are (column by column, left to right):
Instrument: This column shows the names of the instruments, as defined in the NaviPac
configuration
Port: Shows the port ID (COM as well as LAN) that the instrument is assigned to
Pac/sec: Shows number of data packets received the last second

Pac/10sec: Shows number of data packets received the last ten seconds. The information is
updated every 10 cycles
Empty cycles: Shows number of successive NaviPac cycles without data. The field can be
reset (menu-item Options Reset Counters)
Time since last: Shows time in seconds since last incoming data packet
Each line in the list will be presented in one of four colours:
Grey: The instrument is either off or calculated, i.e. no incoming data will occur at all
Blue: All is OK
Yellow: No packets received during the warning period. The warning period is defined in
the NaviPac.ini file. Default value is 2 seconds
Red: No packets received within the error period. The error period is defined in the
NaviPac.ini file. Default value is 5 seconds
The toolbar icon at the top of the window contains one icon per instrument defined. The
colouring of the light on the icons follows the principles described above for the alphanumeric
visualization. The toolbar can be released from the main window, but it is not possible to close
the main window and keep the toolbar for overview purposes.
2.4.2.9 The Data-acquisition Window

The Data-acquisition Window can be started from the View-menu of the Online program or
from the dedicated icon on the Online Toolbar. Alternatively it can be started automatically by
NaviPac as part of the Warm Start facility as part of the generic views (see chapter 2.3.4).
The program is capable of displaying online data (graphically as well as alphanumerically) from
most of the sensors interfaced to NaviPac, such as:
Depths received from echo sounders or data defined as User defined inputs (if Mode for
instrument is set to On or to Simulated in the NaviPac configuration)
Z-offsets (heights) calculated in NaviPac (including user defined offsets)
Gyro and CMG
Roll, pitch and heave
GPS Status information (height, HDOP, #Sat and age)
RTK based heave correction
DVL data
ASCII profiles
Connection lines between one or more data items (both horizontal and vertical)
Display a value relative from another data value (Altitude subtracted from ASCII data
profile)
Correction of z-offsets for tide
Most of the time, however, the program is used to visualize data-acquisition (hence the name),
gyro motion-sensor and height-information as shown below in Figure 139.

Figure 139 The Data-acquisition Window
In the alphanumerical/ASCII windows the following is facilitated:

Display of user defined inputs each having up to 3 channels
Display of Echo-sounder depth for a selected echo-sounder channel
Display of Bathy depth for a selected echo sounder channel
Display of Z-offset (the calculated height of a position or of an offset)
Display of gyros, roll, pitch, and heave and differences between two values
Possibility to change sign of values, colours and font of text and background
Possibility to save settings for individual windows (except a calculated value/window)
In the graphical windows the following is facilitated:
Display of a history curve with up to 500 minutes of data
Display of the values received (alphanumerically)
Display of stacked depths if selected (up to 20 depths/second)
Possibility to change grid, labels, and direction of values.
Possibility to add scroll bars

Possibility to save settings for individual windows (not a difference window).

Possibility to Print currently selected window.
2.4.2.10 The Attitudes Window

The Attitudes program can be started from the View-menu of the Online program or from the
dedicated icon on the Online Toolbar. Alternatively it can be started automatically by NaviPac
as part of the Warm Start facility as part of the generic views. The window looks as depicted
below in Figure 140.
Figure 140 The Attitudes Window
The main items on the attitudes window are:

Graphical View: The upper part of the window shows gyro, roll and pitch in graphical
displays. The roll & pitch display will adjust to the maximum incoming values
Gyro System: Will identify the primary gyro, as defined during the configuration of
NaviPac:
Name: A drop-down list allows for selection of a gyro
Location: A field showing which location (object) the Gyro instrument that was
selected/visualized on the name-box, is placed
Gyro Info: is divided in three:
Gyro: shows the reading from the present gyro corrected for C-O
CO: shows the C-O for the present gyro. The field will include values entered
during configuration as well as values entered in on-line mode
CMG: here the calculated Course Made Good-value for the object where the gyro
is placed

Motion System: Will identify the primary motion sensor, as defined during the
configuration of NaviPac:
Name: A drop-down list allows for selection of a motion sensor
Location: A field showing which location (object) the motion sensor that was
selected/visualized on the name-box, is placed
Motion Info: is divided in six:
Roll: shows the roll-value read from the present motion sensor and corrected for C-
O
Roll CO: shows the roll C-O for the present motion sensor. The field will include
values entered during configuration as well as values entered in on-line mode
Pitch: shows the pitch-value read from the present motion sensor and corrected for
C-O
Pitch CO: shows the pitch C-O for the present motion sensor. The field will
include values entered during configuration as well as values entered in on-line
mode
Heave: shows the heave-value read from the present motion sensor and corrected
for C-O
Heave CO: shows the heave C-O for the present motion sensor. The field will
include values entered during configuration as well as values entered in on-line
mode
2.4.2.11 Other Windows

A few other windows/programs must be mentioned.
The Alarm Monitor window is visualised below in Figure 141.
Figure 141 Alarm Monitor Window
The alarm monitor utilizes display and control of user defined and system alarms in NaviPac.
The EIVAStat window is visualised below in Figure 142.

Figure 142 The EIVA Stat Window
The EIVAStat program facilitates EOL-reports. The program can be configured to start in one of
a series of ways (see Figure 143, left):
Controlled by a runline control. In this way start and stop of collection of EOL-data will be
controlled by the survey-bar in the Helmsmans Display. Each EOL-report can
consequently be associated with a runline
Started automatically when NaviPac enter on-line mode
Started and stopped manually by the use of the buttons on the control
Figure 143 EIVAStat configuration

In the two latter cases, the logging can be performed either hourly or daily. In all cases however,
the user can override the settings and start and stop as he would desire.
The logging can be performed in one of two types: standard report or a positioning report (see
Figure 143, right).
The Catenary window is visualised below in Figure 144.

Figure 144 Catenary Window
By defining the start and end positions in the dialog above, it is possible to start a calculation.
This calculation is visualised a new tab-window that will appear when pressing the Start
Calculation button.
Figure 145 Catenary Calculation Window
The most significant figure to observe is normally the Vertical Angle (Theta) that is the angle of
the catenary curve. Items visualised are as follows:
Horizontal Distance (X): The horizontal distance between the two points
Vertical Distance (Y): The vertical distance between the two points
Vertical Angle (Theta): The vertical angle of the catenary curve

Length of Catenary (L): The computed length of the catenary curve

Min radius of catenary curve: The computed min. radius of the catenary curve
Horizontal Tension (H): If a unit weight is specified the horizontal tension is shown here.
Vertical Tension (V): If a unit weight is specified the vertical tension is shown here.
Total Tension (T): If a unit weight is specified the sum of vertical and horizontal tension
is shown here.

2.5 Feasible Method, 2D Seismic On-line Phase

With reference to Figure 1 2D Seismic in the EIVA Software Suite, given in chapter 1, the scope
of the present chapter can be depicted as shown in Figure 146.
Figure 146 EIVA 2D Seismic - Online phase
In general terms, the settings applied in NaviPac Online are the default settings that are
associated with the configuration definition, in accordance with what was described in chapter
2.3, Feasible Method, NaviPac Configuration.
The following therefore focuses on a visualisation of the methods applied to:
Start the system
Perform the navigation splitting
Define the shot-point settings
Setup the logging parameters
Use the Helmsmans Display to control the logging, to monitor the shot-point generation
etc.

Use the Birdmon Window to monitor the Digicourse status

Export raw data to UKOOA P2/94
Utilize general QC tools
Apply other items
2.5.1 Starting the system

When utilizing the NaviPac Config program to enter and exit the online mode, two methods
apply (see Figure 9):
Pressing the Start button on the Icon Bar. This will facilitate an automatic start, if the
Gensetup.db and the Online.db databases are in compliance. Otherwise a manual start will
be prompted
Right-clicking on the File DB Version in the Explorer Panel and choosing menu-item
Manual Start to force a manual start
An automatic start will make NaviPac enter online mode with settings identical to how they were
during the last online session.
A manual start will produce the dialog for selection of Positioning systems (and Navigation
Objects, if available) visualized below left in Figure 147.
Figure 147 Defining Navigation Systems
At first the Available list to the left contains all navigation systems available (surface
positioning as well as navigational objects) in accordance with the definitions made in the
configuration phase. Highlight the first on the list and press the right-arrow to move the system
to the Selected list. The next item on the Available list will now automatically be highlighted.
Press the right-arrow again to move it to the Selected list. Repeat this action until all systems
have been selected. When pressing the OK button the window in Figure 148 will appear.

Figure 148 Prompt for Estimated position
The estimated position displayed will display the most recent position. Press OK to accept and
to start the navigation cycle.
2.5.2 Performing the Navigation Splitting

When NaviPac enters online mode after a manual start, the navigation mode will, by default, be
Automatic Multi Positioning in which all LOPs are combined in one group and the reference
position will be calculated as a weighted average, based on weight, sigma and residual (error).
During this mode the BasePos window will look as depicted below in Figure 149.
Figure 149 BasePos Window with Automatic Multi Positioning
In this situation the Navigation Buttons look as shown below:
In the present context a change to Auto Prioritized Positioning must be performed. In this mode
the selected LOPs are divided into priority groups and the reference position is calculated on the
basis of group 1 only. To change to this mode, choose menu-item Navigation Navigation
mode from the Online program and select the item Auto Prioritized Positioning. Now choose
menu-item Navigation Change Priorities. The window in Figure 150 left will appear. From
here it is possible to define the number of priority groups and to define which LOPs belong to
which priority.

Figure 150 Changing Priorities
The first thing to do is change the number of priorities to 3 (similar to the number of systems).
This is done from the drop-down-list Number of groups (see Figure 150, middle). Now
highlight the last LOP of the first priority group. The button Insert Sep. now becomes active to
indicate that a separator can be inserted. A separator is used to define a split between priority
groups. Press the button and see that a separator will occur in the window. Repeat the action for
the splitting between priorities 2 and 3. The window now looks as shown in Figure 150, right.
Press OK now the BasePos window looks as shown below in Figure 151.
Figure 151 BasePos Window with 3 Priority Groups
Further the Navigation Buttons now look as shown below:

2.5.3 Defining the Shot-point Settings

For a 2D Seismic job, one of the more important issues is the Shot-point settings. The project
requires shots to be performed every 50 meters. Further, NaviPac must be configured to control
the shooting by sending an event trigger to the trigger box. Further no time-based eventing is
envisaged. This results in the following event settings.
Figure 152 Event Settings - General Tab
Notice in Figure 152 that the long event format has been de-selected, that events are incremented
by one and that eventing is controlled from the Vessel object.
Figure 153 Event Settings Event Logfile Tab
From the Event Logfile Tab shown above in Figure 153, it appears that events are logged in one
ASCII-file, with file-name and path defined as shown.

Figure 154 Event Settings Trigger Events Tab
The Trigger Events Tab visualized above in Figure 155 shows that for each shot-point, NaviPac
is configured to output an event trigger on the trigger port (com 31 in the present context). This
trigger, in turn, will invoke a closure pulse from a trigger box to be sent to the seismic system
(also see Figure 146). As detailed in chapter 2.4.1.1.1.7, the trigger pre time is used to
compensate for a potential known delay (650 ms in the present context) of the system that
receives the trigger. NaviPac will then output the trigger message prior to the shot actually
having to take place.
Figure 155 Event Settings Distance Events Tab

The Distance Events Tab visualized above in Figure 155 shows that eventing is taking place
every 20 m and that there is no maximum time between events defined. An important issue here
and typical for 2D seismic jobs, is that NaviPac is configured to calculate shot-point numbers
automatically. By defining the event number at KP 0 (1000 in the present context) and the shot
point interval, all shot-points have a unique label/position on the particular runline.
2.5.4 Setup the Logging Parameters

Logging must be performed with logging mode All updates and must include all three logging
formats supported by NaviPac.
Figure 156 Setup Logging Parameters
This is accomplished with the settings defined in Figure 156. All formats have been ticked on
and recording mode is All updates. Further it appears that disk-space warning is enabled, that
the maximum file length is 30 minutes and that all items to be displayed in the Information
window has been selected. Note also that the Handle custom format only has been
automatically ticked on to indicate that the Survey- and General files has been configured to be
logged via the NPRec program.
The custom logging file must be defined as follows.

Figure 157 Custom Format - General Tab
Note in Figure 157, that the header is saved, that runline information is included in the file and
that the separator chosen is ;.
Figure 158 Custom Format - Items Tab

Figure 159 Custom Format - Positions Tab
Figure 160 Custom Format - Date & Time Tab
Note in Figure 157, that the header is saved, that runline information is included in the file and
that the separator chosen is ;.
The settings applied in the previous results in the Log Data window looking as displayed in
Figure 161 below. Figure 162, in turn shows the NPRec window during logging.

Figure 161 Log Data Window during Logging
Figure 162 NPRec Window during Logging
2.5.5 Utilizing the Helmsmans Display

The Helmsmans Display must be configured to control all logging, in NaviPac as well as in
NaviScan. In addition to this, a number of views must be opened to optimize the use of the
Helmsmans Display for the present task.
Prior to entering any display-line and runline information and prior to logging the Helmsmans
Display, configured in chapter 2.4.2.1.2.4 looks as shown in Figure 163.

Figure 163 Helmsman's Display - Initial view
Right-click on the map view window and choose menu-item Runline Open Runline(s) to
enter the required runlines into the system. Note that the runlines are placed in the directory
$EIVAHOME\Runlines. Listing of the runlines may look as shown below in Figure 164. Once
the lines have been entered, the HD looks as shown in Figure 165.

Figure 164 Listing of runlines
Figure 165 Helmsman's Display with Runlines

No display-lines are envisaged for the Helmsmans Display. The final thing to do is hence to
modify the Helmsmans Display with views etc. The final result looks as depicted below in
Figure 166.
Figure 166 Helmsman's Display - Final Outline
Note a. o. the following:

Two different map-views (one for the navigation (1:2500) and one for the
overview/planning (1:1600)
Shot-point information on map-view and on runline control view (last shot-point and
number of shot-points to EOL)
Distance Shoot Info as object positions view (three views in total: one for dist, ETA and dT
each)
Feather angle as object positions view (three views in total: one for Feather angle, one for
average direction and one for feather angle GPS)
QC-calculations in alphanumeric R/B view (comparison between Tailbuoy DC (Digicourse
based) and Tailbuoy RGPS as well as between FRG (Digicourse based) and OFRG (offset
based)

2.5.6 Using the Birdmon Window to monitor the Digicourse status

The Birdmon window must be opened at all times in order to monitor the Digicourse status. The
window is opened from the NaviPac Online window under menu-item Options Instrument
Control Show Digicourse status. At first the window looks as shown below in Figure 167.
Figure 167 Empty Birdmon Window
Choose two views from the menu-item View: Depth graph and Bird data table. The window
now looks as shown below in Figure 168.

Figure 168 The Birdmon Window
It is possible to modify the Depth Graph view by right-clicking and choosing menu item
Settings. The window below in Figure 169 where tab Data has been selected, will pop up.
From the window it is furthermore possible to give the data from the various birds a different
colour in order to ease identification.
Figure 169 Birdmon Settings

Finally on-line change of the Digicourse settings is facilitated from the Birdmon view. Choose
menu-item Edit Digicourse Settings. The window below in Figure 170 will appear.
Figure 170 Digicourse Settings online
Note that the window looks very similar to the Digicourse configuration window shown in
chapter 2.3.1.4.1 above. The only difference being that the settings for FRG, CMP and distance
to Tailbuoy is not supported in on-line mode. Observe that whenever changes are applied in on-
line these changes will also appear offline in NaviPac Config.
2.5.7 Export raw data to UKOOA P2/94

The UKOOA P2/94 format is recommended by UKOOA for general use in the Oil and Gas,
Exploration and Production industry for the exchange of raw positioning data. The NaviPac
UKOOA Exporter can be used to export raw NaviPac data into the UKOOA P2/94 format.
A detailed description of the exporter is found in the document UKOOAExp.doc that is
installed with the software. Alternatively the document can be found on the EIVA web-site as
http://download.eiva.dk/online-training/NaviPac Manuals/Various/UKOOAExp.pdf.

Figure 171 Principle Dataflow, NaviPac UKOOA Exporter
The module can be executed from the NaviPac Online window, menu item Options Client
Specific NaviPac to UKOOA or it can be executed as a stand-alone application. In general
terms, the program is sub-divided into two parts: a header import/editor part and a data converter
part (see Figure 171).
2.5.7.1 The Header Editor

For the UKOOA exporting operation to work, a series of manual definitions regarding the header
of the exported files must be performed. Some of the header data can be generated automatically
on the basis of the NaviPac configuration (i.e. from the gensetup.db), others however must be
defined manually by the operator (see Figure 171).
Figure 171 To enhance the user-friendliness of the program, it allows for individual import and
editing for each header group as follows (note that specific information about the UKOOA P2/94
format can be found in http://www.epsg.org/Exchange/P2.pdf):
H00: General Definition
H0000 taken from survey file name
H0008 taken from survey file
Rest manually specified
H01: Geodetic Definitions

H0100 and H0101 manually specified

Rest taken from set-up file
H02: Survey Definitions
H0200 partly taken from set-up file
H0231 manually
H1: Vessel Definitions
H1010 H141# taken from set-up file
H1500 & H1501 manually
Rest taken from set-up file
H2: Streamer definitions
All partly taken from set-up file
H3: Gun array definitions
All specified manually
H4: Towed body definitions
All partly taken from set-up file
H5: Survey Network Definitions
H5000 manually
H5110 from set-up file
Rest manually
H6: Satellite System Definitions
H600# partly taken from set-up file
H620# partly taken from set-up file
Rest manually
H7: User defined Observation Sets
Manually
2.5.7.1.1 The Header View

When the UKOOA exporter is first opened, it looks as shown below in Figure 172.

Figure 172 UKOOA Exporter - initial view
The viewer in the UKOOA exporter is a text-based header viewer, specifically designed to hold
and to display the header part of the UKOOA export file. This view can also be used for the data
part, since data can be appended to the view during exporting. Finally it can be used to open and
to inspect other UKOOA files.
The header can be freely modified by the user when inside the viewer, so it is the users
responsibility to leave it in the correct format, but a Format helper- dialog and format help on
the status bar, makes inspection and formatting easier. This Format helper conforms with the
UKOOA P2/94 specification, as it is taken directly from the original document.
The status bar displays the actual field that the cursor is within, the size and limits of that field,
and the data-type and the description for that field.
The same help is found in the Format helper dialog, which is invoked on the current cursor line
by clicking the on the toolbar or by holding down CTRL when clicking on the line to inspect.

Figure 173 UKOOA Exporter Format line
2.5.7.1.2 NaviPac based header setup

The normal procedure is hence: Insert all or part of the NaviPac setup into the header view by
selecting from the menu list. Anywhere in the viewer, additional items can be inserted, by
positioning the cursor somewhere at an existing line. If the cursor is placed at the first column of
a line, insertion will take place before the present line; alternatively it will happen after the
present line.
By choosing the menu-item Head Insert - Navipac Setup, it is possible to automatically convert
some or all of the header groups from the gensetup.db to the view. See Figure 174 below for the
options available for this.

Figure 174 NaviPac Based Header Options
After insertion all header data can be inspected and, if applicable, a manual completion can be
performed, utilizing the help-features described in the above.
Note that the entries inserted at each command will be sorted after header id, within the group
related to the particular command. Further, data from the set-up are formatted as specified,
unless some information must be user specified. These are marked with a ?. Hence: lines
ending with ? does not have the appropriate length of 80 chars and must be completed by the
user.
2.5.7.1.3 Manual header setup

Manually defined data can be guided from a menu, to an appropriate format. To do this, use the
menu-item Head insert Manual Item. This will invoke a list of header items that can be
selected (see Figure 175).

Figure 175 Manual Insertion
Clicking an item and pressing the Fill & Insert button brings up the Format helper dialog (see
above), for formatting the particular item, and afterwards insertion in the header view. The
Insert definition button just inserts the line selected in the header view. Note that the lines
edited by the Format helper dialog will have the required length of 80 chars.
It must be stressed, that it is the users responsibility to ensure correct length and correct format
on lines formatted/edited without the Format helper dialog.
2.5.7.1.3.1 Comments
Comments can be inserted anywhere in the header by selecting a line (clicking it) and pressing
the icon . Then at the following line C001 will be inserted. The user must now write the
comment directly in the view, bearing in mind the standard requirements (length 80 if needed:
append spaces to reach 80 exactly). Furthermore the user must modify the type if an alternative
to C001 is required. UKOOA have these rules for comments:
C0001 - for information related to the entire project
C0002 - for information related to the seismic line only
C0003 - for information related to (inter-)event data
2.5.7.1.3.2 Final Header

The final header can be saved for future use by using the menu-item File Save. At the same
time it is possible to load a previously created file by choosing File Open. An example of a
final header is shown in Figure 176

Figure 176 Visualisation of the Project Header
2.5.7.2 Data Export
2.5.7.2.1 Settings
When exporting raw NaviPac data-files to the UKOOA P2/94 format, the first thing to do is to
select the raw data-file to be converted. This is done from the menu-item Export Settings.
The dialogue window in Figure 177 will appear.
Figure 177 UKOOA Export Settings
The Applied Vessel ID inserted here is used as base both for header insertion and for data
export, and cannot be changed within an export. Inter-event data of type T (if any in the NaviPac
data) can be included in the export by selecting it here.

The option Append exported data to headerview, will force the data to be written to the header
view during the exporting. Note that this might slow down the exporting process.
2.5.7.2.2 Execute the exporter

Menu-item Export Run exporter will initiate the export, by first bringing up the export
settings dialog (Figure 177), and then prompting for export file name and path (see Figure 178).
File name is automatically suggested as NaviPac data file name + .UkooaP294.txt.
Figure 178 Save UKOOA
2.5.8 Using Great circle based runlines

As often is the case in connection with seismic tasks, a requirement of the present project is to
follow a great circle-based rather than a grid-based route. A great circle is defined by the
intersection of the surface of the Earth and any plane that passes through the center of the Earth.
Hence, on the idealized surface of the Earth, the shortest distance between two points lies along a
great circle.
The initial input to NaviPac/Helmsmans Display for such a great circle-based route does not
differ from the input associated with a grid-based route: start and end-coordinates in
Easting/Northing or in geographical coordinates in either user-datum or in the WGS-84 datum
(see below in Figure 179).

Figure 179 Runline created (grid-based route)

In the figure note that the line is straight (it will appear straight on the projected surface) and that
the grid-based length is 350 km. Now double-click on the segment as shown in the window at the
bottom of the figure. Choose tab Main and the window shown in Figure 180 left will pop up.
Select option Great Circle and the window shown in Figure 180 right will now appear.
Figure 180 Selection of great circle

Figure 181 Great Circle - KP entry

Insert an appropriate number of segments and press OK (note that NaviPac/HD will subdivide
the great circle into small straight segment; hence choose an adequately high number (500 in the
present context)). Now go to the End tab and observe that the end KP equals the grid-length
given originally (see Figure 181 left). Change the option to spheroid distance KP (Figure 181
right). The KP-value will change to reflect the actual surface distance between the start and end
points. Press the OK button and return to the Helmsmans Display to observe that there are
now two runlines present. One is the straight grid-based runline with one segment and the other
is the great-circle based runline with multiple straight segments. Only the latter can be selected
for surveying.

Figure 182 Helmsman's Display with Great Circle runline
2.5.9 Utilize general QC Tools

A series of tools are available in NaviPac for online QC purposes. The operator must keep a
constant and close watch on all of these items. The most important ones will be illustrated in
the following (note the red arrows).
Figure 183 Items to watch in the Online program

Figure 184 Items to watch in the Object Positions Program (the colour of the objects should not turn red)
Figure 185 Items to watch in the Log Data Window (during logging)

Figure 186 Items to watch on the NPRec Window
Figure 187 Items to watch in the IO Monitor Window
Figure 188 Items to watch in the BasePos Window

Figure 189 Items to watch in the GPS Status Window
Figure 190 Things to watch on the Birdmon Window

Figure 191 Items to watch in the Distance Event Info Window (opened from Online Window menu-item Events
Distance event info)
Figure 192 Items to watch on the Helmsmans Display

2.5.10 Other Items

Other items should be checked by the operator on a regular basis. The most important ones are
illustrated in the following.
Figure 193 Raw Data Window
Figure 194 Instrument Spy Window

Figure 195 Date and Time controlled by ZDA (do not change!!)

3. POST-PROCESSING WITHIN NAVIEDIT

3.1 General Introduction to NaviEdit
The NaviEdit survey data editing software is designed for graphical editing of marine survey
data comprising single-beam echo-sounder and multi-beam echo-sounder data, profiling sonars,
pipe-tracker data, seismic streamer data etc. as well as all survey-related secondary sensors.
Editing of all raw data is performed on sensor-level. Prior to editing, the raw data is entered into
an SQL database that constitutes the formal link between NaviEdit and the raw data. In most
cases, the raw data is originating from NaviScan (*.sbd) (multi-beam data) and from NaviPac
(*.npd) (single-beam and other data).
Figure 196 JobPlanner
The JobPlanner represents the overall user-interface to NaviEdit (see Figure 196). The program
facilitates editing at two levels, editing of header information in the Header Editor and editing of
raw sensor-data in the Data Editor. Editing of header information includes off-line editing of all
on-line settings, such as: geodesy, tidal information, off-sets etc (see Figure 197).

Figure 197 Header editor
The editing of all raw sensor-data is enabled through a number of possibilities (see Figure 198):
Zoom (zoom in/out, zoom previous)
Region (create region/delete (inside/outside) region)
Spike detection ((wave length, frequency), delete spikes inside/outside region etc)
Translate (absolute value (factor), with off-set)
Scale (scale, origin, scale inside/outside region etc)
Smooth (wave-length, scale inside/outside region etc)
Delete (delete inside/outside region, delete spikes inside/outside region)
Settings (Axes (scale), colours, XY-window etc.)

Figure 198 Data Editor
3.2 Common Tools

NaviEdit is organized in different panels, toolbars, menus and views that together constitute the
user interface as visualized in Figure 197. The various items can be listed as follows.
Main Menu
NaviEdit Toolbar
Explorer Panel (Tree View)
List View
PlanView Editor
Status Bar

Figure 199 NaviEdit User Interface
The NaviEdit tools are in other words available from the menu, from icons on the icon-bar, from
short-cut keys, from the Explorer Panel as wells as from the List View.
Some of the tools are described in the following dedicated chapters, whereas others are explained
as an integrated part of the overall introduction to the various functionalities of NaviEdit.
3.2.1 The Main Menu

The main menu has seven main entries: File, Import, Edit, Export, View, Tools and
Help. Since the majority of the input to NaviPlot is controlled from the Explorer and from the
File Panel, a detailed description of the functionalities will not be found here. A few major ones
should be mentioned:
From the File menu, it is possible to manage the SQL-database. Choose menu-item File
Database Manage and the window below in Figure 200 will pop up. From here it is possible
to create a new database, to attach an already existing one, to define current database etc. The
Database Manage is in other words a key functionality in NaviEdit.

Figure 200 Database Manager
Further from the Tools menu, it is possible to perform batch-editing. Choose menu-item Tools
Batch job to invoke the functionality. Batch editing should be employed in cases where
identical repetitive editing rules must be applied to the survey data. In this case all tedious and
time consuming manual editing can be substituted by this automatic and time efficient editing
method.
3.2.1.1 Multiple Tides

Finally the Multiple Tides functionality must be mentioned. Prior to using the functionality, a
series of tidal-files covering the time-span of the data-files in question must be loaded into the
database. In order for the functionality to work properly, the tidal-files must have a valid
position. Highlight the tidal-files in question and choose menu-item Tools Create Multiple
Tides. The window depicted in Figure 201 will appear.
From here the survey-blocks, to which the multiple tide file should apply, must be selected. Press
the Attach folder (blocks) button and choose a folder that contains the files in question.
NaviEdit will choose all files in that particular folder, including any subfolders. A list will appear
in the window. From this list it is possible to deselect files. It is furthermore important to ensure
that the files do not overlap in time.

Figure 201 Multiple Tides - step 1: 'Select Survey Blocks'
Select to attach the new multiple tide-file to the survey-files by ticking Attach new tide to these
blocks after creation.
Choose between the Interpolation methods Linear and Spline. Linear option will weigh the
observations relative to the inverse of the distance between the tidal stations and the survey-file,
whereas the Spline option will weigh relative to the square of the inverse distance.
Finally the Linear options offers choices associated with the blind angle stations functionality.
If two stations form an angle of less than a given value to the survey-area, the system can treat
this as a blind angle. In this case, and if the Ignore blind angle stations option have not been
ticked, NaviEdit will only use values from the closest station.
Figure 202 Define Tide interval
Click OK with the required settings on the window and insert a value for the tide-interval in the
window in Figure 202. NaviEdit will now create a new tidal file along with what was defined in
Figure 201 and attach it to the survey-files.
3.2.2 NaviEdit Toolbar

The NaviEdit toolbar hosts the tools visualised in Figure 203. All tools are available from the file
menu as well as from the Explorer and the File panels. A more detailed description of the
functionality of the various tools will thus be integrated in the following.

Figure 203 NaviEdit Toolbar
3.2.3 The Explorer Panel/Tree View

The Explorer Panel contains information about the contents of the database. In this panel the
hierarchical structure of files and folders of the database are displayed. It is possible to move and
to rename files and folders in this panel. By right-clicking on a file or on a multiple selection of
files, a menu will furthermore appear. For files, the menu looks as visualized below in Figure
204 left, whereas the menu looks as given to the right for folders.
Figure 204 File- and folder-menus
For both the List View and the Explorer Panel, the icons displayed reflect the actual contents of
the folder as well as of the file. The most commonly used icons are described below in Figure
205.

Figure 205 Icon descriptions
The Explorer Panel finally hosts the possibility to view the Report of the file. When a file is first
imported into NaviEdit, a report is generated. Subsequently, when a data item is modified, a note
about this modification is added to the report when the edited data is saved. The report will
consequently hold all information about what editing tools and parameters have been applied to a
file in its existence.
3.2.4 The List View

The List View Panel contains information similar to that of the Explorer Panel. In addition, it is
possible to see the fields that contain information about the status of each of the sensors
contained in a file. In addition date/time, size and start/end KP can be visualised in the field
view. The field view can be modified by employing the menu-item View Fields. The
window in Figure 206 will then appear.
Figure 206 Fields selection.
By default, all fields will be ticked on. Choose the ones that are relevant for the particular
project. This will give a good overview of the present overall status of the editing process. The
status for each file can become one of the following (also see Figure 207 below):

N/A Not Available

--- Available
OK Data has been viewed, but not modified.
OK+ Data has been modified and reviewed
OKb Data has been modified, but not reviewed (e.g. in batch-processing)
Figure 207 Different Field-Status
The List View further facilitates sorting of data relative to the contents of a field. Click on a
headline (like Size) and the entire List View will be sorted according to this entry (see Figure
208 below). Figure 207 is sorted according to name - descending note grey arrow in headline
pointing upwards, whereas in Figure 208 the sorting is ascending (grey arrow pointing
downwards).
Figure 208 Sorting with respect to size
3.2.5 Planview
In addition, the JobPlanner offers a connection to the Planview Editor. This is however only
relevant for multibeam applications and will therefore not be the subject of further analysis here.
3.2.6 Reading data into the database

Prior to using NaviEdit, it is necessary to create a new database. Start JobPlanner and choose
menu-item File -> Database -> Create from the main window. An empty window will appear.
Insert a name for the database and a location, where the database files should be created. Make a
tick-mark in the Use as default box as shown below.
Figure 209 Create new database
The program will now create two new database files:

C:\EIVA\NaviEdit\Database\Seismic#3.mdf
C:\ EIVA\NaviEdit\Database\Seismic#3.ldf
These two files hold the database information. The user interface to the database looks at first as
shown below:
Figure 210 Empty NaviEdit Database
The next step is to read data into the database. For this NaviEdit/JobPlanner has a series of
interpreters. The most commonly used are: NaviPac interpreter (for ASCII-data from NaviPac),
Multi-beam interpreter (for binary NaviScan data (and XTF-data)) and the ASCII interpreter (for
e.g. SVP- and tidal data).
Common for all of these importers is that they are controlled by import wizards that will guide
the user through the import process. More dedicated details for the import process are given in
chapters 3.3.1 and 3.3.2.
3.2.7 Header Editor

The Header Editor enables the user to change/edit the more general items associated with a
survey-file. The tools available when opening the Header Editor depends on the relevant data. A
multi-beam Header Editor will differ from a single-beam Header Editor, but also two multi-beam
based Header Editors might have different information obtainable. Having said this however, a
large portion of the information available is common for all types of data.
Right-click on the data (a single file or a multiple selection of files) and choose menu-item Edit
Header Editor to read the data into the Header Editor. For a NaviPac-file, the Header Editor
will look as depicted below in Figure 211. It would appear that only one file have been read into
the Editor.

Figure 211 Header Editor Instruments Tab
The first tab to open is the Instruments Tab. Here it is possible to view and to change the settings
for an instrument (by double clicking an item). It is furthermore possible to access offsets, mount
angles (see Figure 212), Time offsets and C-O values. From the instruments pages it is also
possible to switch active sensor (in cases where multiple sensors are available for positioning,
motion etc).
Figure 212 Settings for Offset (tow-point Stern)

Figure 213 Header Editor - SVP Tab
The Sound velocity Tab gives a possibility to define a SVP-file or a series of files for the SVP-
correction of the data. When multiple SVP-profiles are in use at the same time, it is necessary to
specify how NaviEdit should make use of them (Selection policy).
In time based selection mode, NaviEdit matches a profile with the data by absolute time. It is
important that each profile has a proper start time assigned. This mode should be used when
profiles have been collected continuously during a survey.
Distance based selection lets NaviEdit choose from a position-based criteria. The profile must
have a valid position.
Use nearest profile usage tells NaviEdit to use the nearest profile based on the selection above.
This method might result in 'steps' on the seabed when switching from one profile to another if
the SV has a relatively large variation.
The Interpolate usage tells NaviEdit to create a merged profile based on the input profiles and
the selection method. This might produce smoother results. The distance option affects how
often a new profile is generated. Distance can be given in seconds as well as in meters,
depending on the Selection policy.

Figure 214 Header Editor - Window Tab
In the Window Tab maximum and minimum values for items like Easting, Northing, Time,
Depth, X from nadir and Opening angle can be specified. Data outside these values will be
discarded while reading the data.
Figure 215 Header Editor - Options Tab
In the Options Tab the gyro parameters can be set. Normally a gyro will output data relative to
true north and the settings must then be as shown in Figure 215. Position filter can be used to
filter outliers in the GPS data. This requires that the raw GPS data have been stored online.
The Use online sound-velocity option must be used in combination with an attached sound-
velocity profile (attached to the raw NaviScan-file inside the file). If checked the system will

override the sound-velocity obtained from the loaded profile with the sound-velocity recorded at
the multi-beam head for the depth-interval stated. The option is only related to multi-beam
applications.
Enable the Use heave checkbox to enable/disable the effects of the heave sensor. If Local is
selected, then the raw heave will be used. Remote on the other hand, will take the raw heave
value and correct it for the effect from the arm between the motion sensor and the echo-sounder,
corrected for pitch and roll. The Disable Heave Correction option is used to disable the
contribution of NaviPac heave correction.
Figure 216 Header Editor - Geodesy Tab
On the Geodesy Tab, the raw data can be shifted to an alternative geodesy. It is important to
understand that no information regarding the datum shift performed during the survey is
available from this window. Initially the datum shift will always be None and the Source and
Destination datum will always be identical.
So, in order to change to an alternative geodesy, this information must hence be obtained first.
On the basis of this information it will then be possible to determine the datum shift required in
order to correct the geodesy.

Figure 217 Header Editor - Tide Tab
The Tide Tab allows for the selection of one tide table for tide correction of the current block(s).
Press the Select button to select a file and remove the link again by pressing the Remove
button. The tide value will be subtracted from the depths. Note that multiple tides, based on
several tide-files observed simultaneously, can be generated from the JobPlanner main window
(menu-item Tools Create Multiple Tides). Further details can be found in chapter 3.2.1.1.
Figure 218 Header Editor - Properties Tab
The non editable properties available on the Properties Tab are for information only and cannot
be edited.

Figure 219 Header Editor - Notes Tab
View and modify notes on the Notes Tab.
Figure 220 Header Editor - Report Tab
In the Report Tab the report can be viewed and modified. The report is initiated when the file is
imported into the database. Subsequently, when a data item is modified, a note about this
modification is added to the report when the edited data is saved. The report will consequently
hold all information about what editing tools and parameters have been applied to a file in its
existence.

3.2.8 Data Editor

The Data Editor facilitates a series of common, general tools for the sensor data. These tools are
valid for multi-beam as well as for NaviPac data (single-beam and others) data but also for other
data read into the NaviEdit environment, such as tidal data and sound-velocity data. The
following is a description of these tools.
Once the data has been read into the Data Editor, a graphical representation of the sensor data
will be available one window for each sensor as shown below in Figure 221 (note that the
Figure 222 visualises the data editor in connection with Seismic Streamer data). If the windows
are overlapping, they can be arranged by selecting the menu-item Window -> Tile.
Figure 221 Data Editor - Windows arranged

Figure 222 Data Editor - Seismic Streamer data
All editing tools are available from the overall menu, from the icons or directly from the sensor
window itself.
By right clicking a sensor window, the settings for that particular window can be modified. From
the menu below (Figure 223), the appearance and other parameters of the coordinate system can
be altered.

Figure 223 Settings Menu & Settings Window Axis Tab
Figure 224 Settings Window - Color Tab
The colours of the Coordinate system Axis, Graphs, Background, Grid etc. can be
selected/altered utilizing the items on the Colors Tab.

Figure 225 Settings Window - Data Tab
Selection between multiple sensors is available from the Data Tab shown above. Note that the
upper sensor will be used as reference for the final data in case of redundancy. Furthermore it is
possible to change the properties of each sensor (by highlighting the sensor name and pressing
the Properties.. button). As a minimum the drawing style properties will then be shown. In
some situations additional properties may be available.
Figure 226 Settings Window Time format Tab

Figure 227 Before and after time change from relative to absolute time
The time format on the X-axis can be changed from relative seconds (default) to hh:mm:ss
(absolute) by selecting from a drop-down menu (see Figure 226 and Figure 227 above) on the
Time format tab.
Figure 228 Settings Window - Translate Tab
From the Translate Tab, it is possible to apply a relative offset to the data, or to apply an absolute
constant value to the data.

Figure 229 Settings Window - Scale Tab
The data can be scaled either by a simple multiplication or by scaling around an origin.
Furthermore a series of different scale methods are facilitated.
Figure 230 Settings Window - Smooth Tab
The data can be smoothed. A wave length can be inserted this parameter is used to filter out
high frequency noise from the data. It is recommended to use the lowest wavelength possible to
preserve the quality of the data. Hence, setting the wave length too high might remove important
features in the data set.

Figure 231 Smoothing menu from a Doppler Log window (Vy)
In Figure 231 above the Y speed-component of a Doppler log appears to require smoothing.
Right-click on the window and select menu-item Smooth Smooth... The window below will
appear. Choose an appropriate value for the wave length. Study the data and use knowledge
about the speed of the vessel (an ROV in the present case) to arrive at the optimum wave
parameter.

Figure 232 Data after smoothing
Figure 232 above shows the data after smoothing. Note that the raw data is still visualized (as
pink) to indicate that it is possible to undo the action. This can be achieved by simultaneously
pressing CTRL-Z or by choosing the menu-item Edit Undo CTRL Z. Undo can be
performed from practically all actions/tools until the data is stored in the SQL database.
Figure 233 Settings Window - Spike Detection Tab
Further the Spike Detection window/tab makes it possible to perform a spike detection on the
data. A wavelength and a window size can be inserted (see Figure 233). Note that the window

size unit depends on the unit of the instrument window in question. Data outside this window can
be deleted automatically. The wavelength determines the stiffness of the filter low values
result in a less restrictive filter. The window size is used to set the threshold for points to be
detected as spikes. Finally the Show window option will facilitate a graphical display of the
filter operation. This enables the user to visually determine whether the filter settings are correct.
Figure 234 Spike Detection of Pipe-tracker Data - the filter seem to have detected some apparent spikes
Observe that all windows facilitate the possibility to load or to save default settings in order to
ensure that the settings will be available the next time the window is opened. All editing tools
can be applied to all data, directly from the sensor window or from outside the window. In the
latter case the items are available either from the menu or from icons on the Edit bar (see
Figure 235 below).
Figure 235 The NaviEdit Edit Bar

Various zoom modes can be selected by right clicking a window or from the Zoom bar (see
Figure 236 below).
Figure 236 The NaviEdit Scale Bar
Selecting the Create region tool facilitates the creation of a region. This is done by single click
for every corner and double-click when finishing the region. The various editing facilities:
Translate, Scale, Smooth, Delete can be used inside or outside the region (see Figure 237 below).
Figure 237 Region created in the Navigation Window

In addition some tools on two other general icon bars are available: the Play bar and the
Toolbar (see below).
Figure 238 The Play Bar
Figure 239 The Toolbar

3.3 Feasible Method, NaviPac 2D Seismic Data

With reference to Figure 1 2D Seismic in the EIVA Software Suite, given in chapter 1, the scope
of the present chapter can be depicted as shown below in Figure 240.
Figure 240 EIVA 2D Seismic - Offline phase
In the present context, the work associated with the Seismic NaviPac data within NaviEdit is
constituted by the following tasks (see Figure 240):
Import of raw data via NaviPac- and ASCII-interpreter (SV- and tidal files, if applicable)
Editing/check of offsets (header-editor)
Editing/check of geodetic parameters (header-editor)
Tidal data (header-editor), if applicable
SVP-data (header-editor), if applicable
Rough check of all sensor-data (data-editor)
Closer look at the navigation data (data-editor) for the relevant files
Tidal data (data-editor) , if applicable
SVP-data (header-editor) , if applicable

Streamer data compass and depth (data-editor)

Export to UKOOA P1/90
3.3.1 Import of the raw NaviPac data

The first thing to do is hence to import/interpret the NaviPac data. This is done from the
JobPlanner menu-item Import NaviPac Interpreter as follows:
Figure 241 Step 1A: press add to enter files
Figure 242 Step 1B: Once the data has been added, press 'Next>'
Note that, contrary to normal practise, only one file is imported at a time when dealing with
seismic data. For practical reasons, each file will be placed in its own folder in the database.

Figure 243 Step 4: Show Report, Edit C-O
Figure 244 Select (and Create if applicable) folder
Note here that the folder for the data is suggested to be named in accordance with the name of
the raw data file.

Figure 245 Objects to import
Observe that there is a tab for each object defined in the online/NaviPac configuration. These are
being maintained during the importing, but might be deleted at a later stage, since they might not
be required for the subsequent UKOOA exporting. Also note that all data-acquisition instruments
are ticked on. These might also be deleted at a later stage. Now press the OK button and the
import will start.
Figure 246 NaviEdit will start interpreting

Figure 247 Check Report
Figure 247 above shows the first of a series of Reports one for each of the tabs/objects in the
raw data-file.
Once the importing is finalised, the JobPlanner looks as shown below in Figure 248. Again
observe that there is one entry per tabs/objects in the raw data-file 12 in total. Also observe
how relatively easy it is, on the basis of the extensions of the files, to identify the NaviPac
objects they originate from.
Figure 248 JobPlanner after import

3.3.2 Using the ASCII-interpreter

Normally, the ASCII-interpreter is used to load SVP- and tidal-data into the SQL-database. Note
that single-beam data are normally SVP-corrected online. Therefore, in the present context, only
tidal data are read using the ASCII-interpreter.
The tidal data are to be used to correct the single-beam observations onto a vertical datum.
Observe that often this is deemed unnecessary in connection Seismic applications. For the
particular project however, it has been stated a requirement.
The import procedure is initiated by activating the JobPlanner menu-item Import ASCII-
interpreter:
Figure 249 Tidal-import, step 1: Add files - press 'Next>' to proceed

Figure 250 Step 2: Choose 'Data type to import' (Tide) and 'Template' (Poxallo) as visualized
Observe the Example of data after in the bottom window. It must look reasonable and in
accordance with the data in the tidal-file. Otherwise another template must be chosen or
ultimately: a new one created (details on this are given in http://download.eiva.dk/online-
training/Step-by-step,%20tidal%20import.pdf)
Figure 251 Step 3: Ignore Geodesy and press 'Next>'

Figure 252 Step 4: Ignore Header settings and press 'Next>'
Figure 253 Step 4: Apply notes if applicable and press 'Finish'

Figure 254 Select (and Create if applicable) folder
Figure 255 JobPlanner after import of tidal file
Figure 256 Tidal-data in the Data Editor

Once the tidal-file is imported, take a look at it in the data-editor to see if any apparent mistakes
seem to have happened during the import (see Figure 256 above).
3.3.3 Utilizing the Header Editor

Before actually activating the editing process, it is necessary to consider the policy for the
handling of the twelve files in NaviEdit.
Figure 257 Seismic NaviPac files in the JobPlanner
Comments to the 12 files are, in the sequence they are given in Figure 257 above:
_S: contains Vessel Position XY, Single Beam Echo-sounder and Gyro together with
Distance Shoot Info and Digicourse feather angle information
_S_CMP: contains Common Mid Point XY only (calculated on the basis of Digicourse
positions)
_S_COS: contains Center Of Source XY only (calculated on the basis of Digicourse
positions)
_S_FRG: contains First Receiver Group XY only (calculated on the basis of Digicourse
positions)
_S_Gun1: contains XY of Gun1 only (as observed by RGPS system)
_S_OCMP: contains XY of Common Mid Point (calculated as dragged offset in NaviPac)
_S_OFRG: contains XY of First Receiver group (calculated as dragged offset in NaviPac)
_S_Tailbuoy: contains XY of Tailbuoy only (as observed by RGPS system)
_S_Tailbuoy_DC: contains Digicourse Position XY (tailbuoy/last bird on tail) calculated
online and Digicourse data for all birds such as Compasses and Depths
When exporting to UKOOA P1/90 format, the various records will be taken from the different
files given above as follows:

V (Vessel position): is taken from the _S-file (XY)

E (Echosounder): is taken from _S-file as offset (of transducer) and depth
C (Common Mid Point position): is taken from the _S_CMP-file
S (Center of Source position): is taken from the _S_COS-file
G (Receiver Group positions and depths): is calculated by streamer shape modeling
based on the _S_Tailbuoy_DC-file
T (Tailbuoy position): is taken from the _S_Tailbuoy-file
Taking the above into consideration, it is evident that the following five files must form the main
focus of the editing within NaviEdit:
_S-file: used for the V & E records
_S_CMP-file: used for the C record
_S_COS-file: used for the S record
_S_Tailbuoy-file: used for the T record
_S_Tailbuoy_DC-file: used for the G record
Note that in the header-editor, only the first (_S) and last (_S_Tailbuoy_DC) of these will be the
subject of investigation.
3.3.3.1 Header Editor - _S-file

Invoke the Header Editor by right-clicking on the _S-file and selecting menu-item Editors
Header Editor..:
Figure 258 Header Editor - Instruments (Offsets, C-O, Mount angles)

Figure 259 Options tab - check that meridian convergence is applied
Figure 260 Check 'Geodesy'

Figure 261 Choose Tide-file at 'Tide' tab
Once the Operator has finalized the editing to be performed with the Header Editor, he must
press OK and accept changes by pressing Yes as per dialog visualized below:
3.3.3.2 Header Editor - _S_Tailbuoy_DC-file

Invoke the Header Editor by right-clicking on the _S_Tailbuoy_DC-file by selecting menu-item
Editors Header Editor... Immediately go to the Streamer tab:

Figure 262 Header Editor Streamer Tab (Birds & Receiver groups configuation)
Check the birds configuration by pressing the Advanced button. The window below in
Figure 263 will appear.
Figure 263 Birds Configuration - Advanced
Now enter the figures for Receiver groups as visualised in Figure 262 and press OK to accept
changes by pressing Yes as per dialog visualized below:

3.3.4 Utilizing the Data Editor

As described in chapter 3.2.8, the Data Editor facilitates a number of common tools for the
editing and cleaning of the sensor data. In the present context the following files will be the
subject of data-editing (see chapter 3.3.3 for details):
_S-file
_S_CMP-file
_S_COS-file
_S_Tailbuoy-file
_S_Tailbuoy_DC-file
3.3.4.1 Utilizing the Data Editor - _S-file

Right-click on the _S-file and choose the Data Editor option. The following window will
appear (note that the selection list depends on what sensor data is actually available in the file):
Figure 264 Select data for Data Editor (by using the Select All option)

Figure 265 The Data Editor Window (_S-file)
With respect to the information in the Data Editor as shown above in Figure 265, there are two
main items of interest:
The Navigation Window (below middle in Figure 265)
Singlebeam Depth Window (middle-most window in Figure 265)
The rest of the information is primarily for QC-purposes and should only be the subject of some
coarse editing i.e. a rough control, that everything looks acceptable.
3.3.4.1.1 Editing of the Navigation Data

The editing of the navigation data is performed in the Data Editor with the Navigation window
maximized (see Figure 266). Zoom in on the data (by simultaneously turning the wheel of the
mouse and placing the cursor on top of the position to zoom around) until it is possible to
determine each cycle of NaviPac (seen as dots in the window). Once this has been accomplished,
scroll though all data by using the scroll bar to the right, file by file, and check that there are no
outliers, instabilities or data that appear suspicious. Good data will look similar to what is
depicted in Figure 266, whereas an example of unstable positioning can be seen in Figure 267.

Figure 266 Editing/check of Navigation Data (reliable data)
Figure 267 Navigation unstable

If the navigation data have been observed as being unstable from an overall point of view, it
might be considered to perform a smoothing of the data (this would be the case in the data shown
in Figure 267). Select a region that surrounds the critical data. Right-click and choose menu-item
Smooth Smooth inside region. The window below will appear.
Choose an appropriate value for the Wave length. Note that the longer wave-length the heavier
the smoothing. With a value of 100, the data in Figure 267 will be corrected to what is shown in
Figure 268.
Figure 268 Smoothed Navigation
When the cleaning/editing of the data is finished, press the Save button in order to save the
data in the database.

3.3.4.1.2 Editing of Single-beam Data

Bearing in mind the primary purpose of the single-beam data, the editing of the single-beam data
is performed from the Single-beam window as depicted below in Figure 269.
Figure 269 Single-beam Window
The scarce erroneous data can be removed or they can be interpolated. The results will under
most circumstances be identical. In the present case, where we would like to delete as little of the
data as possible, the erroneous data should be interpolated. This is done by using the Create
Region tool (see red arrow in the figure above). Choose an appropriate region, right-click on the
window and choose among the editing tools offered as per menu shown in Figure 270.

Figure 270 Region selected for Interpolation
Once the data is regarded OK, press the Save icon in order to save the data in the database and
then excite the Data Editor window. Alternatively, the Editor can be closed, in which case the
user must answer Yes to Save changes to Block(s)? as per dialog visualised below:
3.3.4.2 Utilizing the Data Editor - _S_CMP, - _S_COS and _Tailbuoy files
The _S_CMP, _S_COS and _Tailbuoy-files contain XY-data only (see Figure 271). Editing of
this data is performed as described in chapter 3.3.4.1.1.

Figure 271 XY-data (_S_CMP-file)
3.3.4.3 Utilizing the Data Editor - _S_Tailbuoy_DC-file

The _S_Tailbuoy_DC-file contains the XY- and the Streamer-data. When invoking the Data
Editor, it might be considered not to load the XY-data it holds information about the position
of the Tailbuoy as calculated from streamer information. This information is not used for
subsequent exporting (see chapter 3.3.3 for further details).
Figure 272 Selection for Data Editor

Once loaded, the streamer-data is visualised as shown below in Figure 273. Note that the
window is subdivided into a bird-view (top) and a depth-view (bottom). Compare this view to
the online equivalent (chapter 2.5.6 refers).
Figure 273 Streamer data - initial view
The first thing to do is to get rid of erroneous compass-values (as shown above). For this to be
optimized, all birds must be shown in the window: right-click on the window and choose menu-
item Settings. Got to tab Data and make sure that all birds are in the Shown-list (see Figure
274). Press the OK button to exit.

Figure 274 Settings Window - Data tab
Next a region around the problematic data must be generated. Use the region creator tool, start
by clicking once and end by clicking twice (see Figure 275). Right-click and choose menu-item
Interpolate points in all shown.
Figure 275 Data Editor - Streamer data (before interpolation)

Figure 276 Data Editor - Streamer data (after interpolation)
The next thing to do is to translate compass values near 0, if any, by adding a constant of 360.
Create a region around the problematic data, right-click and choose menu-item Translate inside
region. The window shown below in Figure 277 will appear. Choose option Relativ offset
and insert a value of 360. Press the OK button to activate the settings. Note that this action will
correct compass 1 only. It is possible to perform a fast swap between different birds by
simultaneously pressing either CTRL and N (next bird) or CTRL and P (previous bird).
Use this to apply the same correction/translation to the rest of the birds.

Figure 277 Translate Gyro data
Figure 278 Insertion of translation values
The compass values of each bird must now be edited. Right-click on the Birds Values window
and choose menu-option Settings. The window shown below in Figure 279 will appear.
Figure 279 Settings tabs

Uncheck the option Auto scale (see Figure 279, left (see red arrow)). This will force identical
scale on all views. Go to the Data tab and move all Birds to the Hidden list except and Bird 1
(see Figure 279, right). Assign another color to the particular bird, e.g. blue, in order to ease the
identification in the editor.
Figure 280 Bird 1 prior to Smoothing
If there are no apparent outliers left after the interpolation that was performed earlier, the
compass-data must now be smoothed with a period of 120-180 seconds. Right-click on window
and choose menu-item Smooth Smooth. The window below will appear. Insert the
smoothing value and press OK. The window now appears as visualised below in Figure 281.

Figure 281 Bird 1 after Smoothing
Repeat the smoothing action for all compasses. The process is speeded up, if the user changes
between compasses by using the CTRL / N (next bird) or CTRL / P (previous bird)
options.
If required the process could include similar editing in the depth-window.
Once the data is regarded OK, press the Save icon in order to save the data in the database and
then excite the Data Editor window. Alternatively, the Editor can be closed, in which case the
user must answer Yes to Save changes to Block(s)? as per dialog visualised below:
3.3.5 Troubleshooting
In the following two examples of actions to take on erroneous data, are given. The examples are
both associated with data related to the streamer positioning. Problems related to overall

positioning, such as positioning related to the Bad Taibuoy GPS data could also occur. The
solutions related to these are however of a more general nature and will therefore not be the
subject of further examination in the present context.
3.3.5.1 Erroneous Bird Compass data

The window below in Figure 282 shows an example of erroneous bird compass data. It is
assumed, that compass bird no. 5 was unhooked from the collars, thus causing noisy and false
data to be recorded.
Figure 282 Erroneous Bird Compass data
To remove the erroneous data from the processing and streamer modelling, open the file in the
Header Editor. Got to the Streamer tab and choose the Advanced button in the Birds
configuration field (see below in Figure 283).

Figure 283 Streamer tab - erroneous bird compass
The window shown below in Figure 284 facilitates the removing of the bird compass data from
the streamer modelling. Highlight bird 5 and press the Edit button. Disable the Enable
compass option and press OK to activate the revised settings.
Figure 284 Streamer tab removing bird 5 compass

Figure 285 Streamer tab bird 5 compass removed
As shown above in Figure 285, data originating from the bird compass 5 will from now on be
excluded from the streamer shape modelling.
3.3.5.2 Erroneous Bird Depth data

The window below in Figure 286 shows an example of erroneous bird depth data. It is assumed,
that compass bird no. 1 was moving against coils, or was unhooked from collars thus causing
noisy compass and false depth data to be recorded. Compass data was successfully excluded
from processing using the procedure described in the chapter above. The depth data cannot be
removed and will therefore affect the receiver depth data in the P1/90 file.

Figure 286 Erroneous Bird Depth data
Correct the error as followed. Open the Settings window with right mouse button click (see
Figure 287). Uncheck the Auto scale option in the Axis tab.
Figure 287 Settings - Axis tab
In the Data tab, move all Birds to Hidden and leave Bird 1 in Shown (see Figure 288
below).

Figure 288 Settings - Data tab
Generate a region that surrounds the problematic area, right-click and choose menu-option
Translate inside region as shown below in Figure 289. Select Absolute value and type in
nominal depth value on this line (e.g. 9.3 m) as shown in Figure 290. Note that this value is
equivalent to the average depth/nominal depth of the streamer cable).
Figure 289 Translate inside region
Figure 290 Translate settings

Figure 291 Values translated
The Bird1 Depth data now looks as shown above in Figure 291. Now scroll through other birds
to check that the new depth values seem correct. Alternatively all birds could be shown again in
order to have an impression of the overall result (see Figure 292).
Figure 292 All Bird Depth data - after correction
3.3.6 Exporting to UKOOA P1/90

Once edited, the data must be exported for further processing. This is the final step of the editing
inside NaviEdit and is done by selecting the _S-file in question, right-clicking and choosing the
item Export Ascii Other - UKOOA P1:

Figure 293 Export to UKOOA P1/90
Figure 294 Export UKOOA - step 1

Figure 295 Export NED - step 2 Press Finish to start exporting.
Figure 296 UKOOA export options insert the appropriate Header information the exporter will remember it the
next time it is opened

Figure 297 Assign Objects Page (top objects left and bottom objects right) to change: highlight an object, press the
Change button and the window below in Figure 298 will appear
Figure 298 Change assignment Press OK when correct assignment has been accomplished
Figure 299 Export OKOOA - exporting has initiated

4. CONCLUSION
The present 2D Seismic Tutorial introduces one way of utilizing the EIVA Data-acquisition and
Post-processing Suite. It is therefore regarded important to underline, that final decisions and
detailing on the procedures must always be based upon actual experience, primarily accumulated
in connection with similar tasks performed under similar conditions. Having said this, the
importance of eventually defining and implementing final and unambiguous procedures to be
used in the online phase must be emphasized.
For the on-line process, these procedures must clearly specify, as a minimum, the following:
Requirements to the overall final accuracy (horizontal and vertical)
Requirements to time-stamping (internal requirement based on requirements to accuracy)
Requirements to on-lines tests and calibrations (interval, method, acceptance criteria etc.)
Requirements to Shot-Point settings (interval, object to position from etc.)
Requirements to Trigger latency for the Closure pulse
Requirements to method to convey Shot-Point information to the Seismic system
Requirements to KP-calculations (great-circle or grid based)
Requirements to methods for SV-correction, if any
Requirements to methods for tidal-correction (predicted tides/observed tides (bathy-height
from GPS) and/or from tide-gauges/link to depths on pre-engineering survey), if any
Requirements to the export of data to UKOOA P2/94
In addition, requirements linked to the post-processing phase would typically include, as a
minimum:
Requirements to extent of the rough check of general sensor-data in the editing phase
Requirements to method for the editing of streamer data
Requirements to method for the editing of other objects data
Requirements to methods for SV-correction in the editing phase, if any (selection policy
and usage etc)
Requirements to method for the tidal correction, if any
Requirements to method for the export of data to UKOOA P1/90 (a. o.):
Assignment of objects
Header information
Export of events and/or all data

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2D Seismic Tutorial

EIVA SOFTWARE SUITE

EIVA SOFTWARE SUITE Tel: +45 8628 2011

1 Minor Revisions LARS DALL 01/10/09

0 First Edition LARS DALL 26/01/09

Revision Description By Checked Approved Date

Key words: Classification

2DSeismic, On-line, Post-processing, Exporting Open

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2. NAVIPAC - ONLINE NAVIGATION AND DATA-ACQUISITION ...................................... 10

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2.3.1.8 Offsets ...................................................................................................... 80

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2.4.2.2.1.2 Custom Logging Format ................................................................................... 149

3. POST-PROCESSING WITHIN NAVIEDIT..................................................................... 201

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3.2.8 Data Editor .................................................................................................. 217

4. CONCLUSION .............................................................................................................. 264

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Figure 1 2D Seismic in the EIVA Software Suite

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Figure 2 Scope of the Manual

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2. NAVIPAC - ONLINE NAVIGATION AND DATA-ACQUISITION

2.1.1 Configuration and Survey Planning

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Figure 3 The NaviPac Configuration Module

2.1.2 On-line Operations

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Figure 4 Helmsman's Display (Tug Management/Rig Move Module)

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Figure 5 The NaviPac Views

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Figure 6 3D Helmsman's Display

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2.2 Configuring NaviPac

Figure 7 The GenSetup Program

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Figure 8 NaviPac Configuration Principles

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Selected Map-Projection: Definition of the selected projection including projection type,

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2.2.1 Common Tools

Figure 9 Config User Interface

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2.2.1.1 The Main Menu

The File menu-item shown above hosts the following entries:

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Figure 10 Project Manager

Figure 11 Script-selection for Backup

Figure 12 Project Title and Notes

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Figure 13 Performing the Backup

Figure 14 Restoring from Archive

The window below in Figure 15 now appears.

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Figure 15 Restoring - step 2

Select items to restore and press 'Restore' to proceed.

Figure 16 Restore Procedure, step 3

The View menu-item contains the following entries:

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Selected navigation systems (type, stations, )

Figure 17 View vessel Offsets