EIVA Online QC

EIVA Online QC Author : Ole Kristensen Company: EIVA a/s Date: 22.01.2009

EIVA Online QC

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Introduction This document lists the various functions in the EIVA Online SW packages for online QC. The document is initiated on the mutual meeting at StatoilHydro on 15.1.2009 1

Contents EIVA Online QC........................................................................................................................1 Revision table.............................................................................................................................2 1 The SW Flow .....................................................................................................................2 2 NaviPac Tools....................................................................................................................3 2.1 Input monitor .............................................................................................................4 2.2 Real time data display................................................................................................5 2.3 User defined alarms ...................................................................................................6 2.3.1 Additional alarms...............................................................................................8 2.4 TimeBox monitor.......................................................................................................8 2.4.1 NaviTagMon ......................................................................................................8 2.4.2 TimeBox monitor.............................................................................................10 2.5 EIVAStat..................................................................................................................11 3 NaviScan Tools................................................................................................................13 3.1 Alarms......................................................................................................................13 3.2 IOMonitor ................................................................................................................14 3.3 Sensor latency ..........................................................................................................15 3.4 MBE Coverage.........................................................................................................16 3.4.1 Overlay on Helmsman’s Display .....................................................................19 3.5 Imaging ....................................................................................................................20

Revision table Date 20-1-2009

Who OKR

21-1-2009 22-1-2009

OKR OKR

Comment Created on basis of power point document from the meeting Added section on NaviScan and alarms in HD Updated after internal review (JUS/AFA) Included in NaviPac manuals (SVN) Rev 1 ready

1 The SW Flow The flow diagram illustrates the EIVA data flow: 1

StatoilHydro, Acergy, DeepOcean, DOF and EIVA

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File: C:\USERS\EIVA\APPDATA\LOCAL\MICROSOFT\WINDOWS\TEMPORARY INTERNET FILES\CONTENT.OUTLOOK\7YLJFARW\ONLINEQC.DOC Created by Ole Kristensen

Created on 22.1.2009

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This document focuses on online tools in relation to NaviPac and NaviScan. Some general guideline can also be found in our online tutorial http://download.eiva.dk/online-training/Online%20Bathymetric%20Tutorial.pdf see section 2.5.6 and 2.5.7 (NaviPac) plus 3.5.3 and 3.5.4 (NaviScan)

2 NaviPac Tools This chapter lists the NaviPac tools as per version 3.5 p15

The first basic QC tool is the traffic light at the Online window (and replicated on all Helmsman’s Displays. Green Yellow of 23

All is OK Watch Out



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EIVA Online QC Red

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Fatal problem

It is a good question how well NaviPac can determine what is a problem is and what’s not. A missing primary gyro is for example defined as fatal but a missing data acquisition might not. Secondly NaviPac includes a lot of system alarms – which will be listed in the online window and recorded as part of the user defined alarms - see later. The alarms is listed in the online help file (F1 in NaviPac Online or see http://download.eiva.dk/online-training/NaviPac%20Manuals/4_Online.pdf) section 4.3 NaviPac is based on the principle that all alarms are important and the operator should treat an alarm is it occur. Some automated treated can be found at the Options, Alarm Filtering menu which allow the operator to ignore various alarms (for instrument or object). If this isn’t handled then you may observe a continuous stream of alarms!

2.1 Input monitor The first level of additional QC is what we call input monitor. A program called IOMon can be found in the online view menu (or invoked as part of warm start)

The program uses colours to indicate if data is coming in or not – and gives also some basic statistics on the data input. For further details please refer to specific manual (F1 on the program or see http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/18_IOMonitor.pdf ) This program does not include any data validation – it only summarizes number of incoming data strings

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2.2 Real time data display The next tool is what we call NaviPac DataAcq – which can be invoked from NaviPac Online view menu or as warm start module. For details on the program please refer to online help or see http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/14_Data%20Acquisition.pdf.

The module can show both ASCII data tables and time series plots (or kp based plots) of a series of data samples • Gyro • Motion sensor data • Any incoming data acquisition data • GPS Status • Height of any object • Position difference (compared with primary vessel CRP)

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Gyro and motion sensor variation:

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Acquisition arithmetic

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The DataAcq program can be executed on the main NaviPac pc or on any remote pc (Helmsman’s pc) on the network

2.3 User defined alarms It is important to detect errors as quickly as possible – and to do so the use of operator specified alarms may turn out to be very efficient

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Details on the alarm monitor can be found in online help or on http://download.eiva.dk/online-training/NaviPac%20Manuals/Appendix/AlarmMon.pdf

The alarm window shows both user defined alarms (upper part) and 4 lines with summary of NaviPac alarms and messages. Especially the DataIO may be useful as it among other will tell if the GPS time synchronization fails. The operator may specify a long list of alarm types: • Position: Position Comparison (2D) of two NaviPac objects. The range is compared with the limit • GPS GPS Status parameters (HDOP, Age, #satellites , status) • Gyro Comparison of two gyro readings • Roll Comparison of two roll readings Displacement (M) • Pitch Comparison of two pitch readings Displacement (M) • Heave Comparison of two heave readings of 23



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DVL Doppler velocity Log – Speed X, Y or XY Dynamic Pos Deviation of position – that is maximum variation from sample to sample Position DOL DAQ Comparison of two data acquisition inputs. Note no offsets are taken into account so you may compare tomatoes and melons! Displacement SVP Comparison of online sound velocity measurement (assuming depth and SV is read into NaviPac) with loaded profile

Alarms may be recorded to file for later usage The AlarmMon is bound to the primary NaviPac pc

2.3.1 Additional alarms It is furthermore possible to define alarms in the Helmsman’s Display

You may here define MIN/MAX alarms for all data items found. The alarms will be local to the Helmsman’s Display

2.4 TimeBox monitor The TimeBox plays a very important role in most surveys – and we do include a couple of TimeBox monitor programs – they can be used at any location in the network

2.4.1 NaviTagMon NaviTagMon.exe is installed as part of NaviPac: of 23



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For details please refer to online help on the program. The NaviTagMon is an external module in the EIVA online family (NaviPac, NaviScan and NaviTag) and it offers independent interface monitoring of incoming sensor data • Any sensor interfaced on a TimeBox • Any UDP/IP sensor using broadcast The system monitors and displays the data received from each port – and allows the operator to specify alarm limits for various time criteria’s. For each port it monitors the following information: • # Total number of packets received since start-up • #/Sec Number of packets per second. This is an approximate figure, • #/10 seconds Number of packets per 10 seconds. This is an approximate figure, • Since last Time elapsed since last incoming message in seconds • dT Time elapsed between last two incoming message in seconds • dT (min) Minimum time elapsed between two incoming message in seconds • dT (max) Maximum time elapsed between two incoming message in seconds • dT (avg) Average time elapsed between two incoming message in seconds • dT (dev) Standard deviation on time elapsed between two incoming message in seconds • PC vs Pac Difference between pc clock and timestamp in packet – only valid for TimeBox IF

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Data vs Pac Difference between timestamp/reception time and timestamp in data. Only valid for GPS and Simrad APOS data.

2.4.2 TimeBox monitor The TimeBox monitor is a small dedicated monitor program that displays time sync status of the time boxes on the network. The program can be installed at any pc around the network.

If there are problems with the timesync then the data turns red

The Log panels (one per box) contains time box error and message notes such as "Accepted GPS..." and "Accepted PPS +-predicted error..". of 23



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2.5 EIVAStat The EIVAStat (found in Online Options or as part of the warm stat) is a program that collects data and build up what we call traditional EOL reports (EOL or hourly or daily) See http://download.eiva.dk/online-training/NaviPac%20Manuals/Appendix/EIVAStat.pdf.

The program collects all incoming data (position, gyro, motion, GPS status and data acquisition data) and stores in simple ASCII files (can be used in EXCEL) Beside that the system may generate statistical reports on selected format and selected media:

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Standard format with high detail level

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Simple position fix report The standard report includes also comparison between primary and secondary sensors information

3 NaviScan Tools This chapter lists the NaviScan tools as per version 8.1.27 build 377

3.1 Alarms NaviScan has got some standard build-in alarms of 23



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Missing data If no data has arrived for a user defined period Sensor latency If a certain sensor (especially position or MBE) arrives with huge data latency

All alarm will be displayed in the Alarm Window (pops up automatically)

Alarms should not be ignored in NaviScan – missing data or huge latency may result in loss of data! See also http://download.eiva.dk/online-training/NaviScan%20manuals/NaviScan.pdf.

3.2 IOMonitor NaviScan includes like NaviPac an input monitor program The program can be started from the Windows start menu or selected as a NaviScan auto start item (Selected in NaviScan Setup, Advanced, Online Settings).

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The program uses colours to indicate if data is coming in or not – and gives furthermore some statistics on the data frequency for all sensors. For details see http://download.eiva.dk/onlinetraining/NaviScan%20manuals/NaviScan%20IoMon.pdf.

3.3 Sensor latency NaviScan online offers a sensor quality window

It will display observed timestamp (in running ms) and calculated data latency.

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Receive time is when data arrives to NaviScan online. Latency will be the sum of all delays from timestamp to NaviScan online data receive. This includes the sensors own processing latency (e.g. Water travel time, data calculations in unit), data transfer time (relative long for COM ports) network temporary storage (e.g. due to collisions and retransmission, and eventual switch and router time), internal data transfers between NaviScan DataProc and NaviScan online. Motion and gyro are expected to have low latency: 20-200 msec. Position and Bathy often have higher: 1000 – 3000 msec. Mbe has latency = range in meter/750 sec + 100 - 500 msec. SideScan has same latency as Mbe, but sometime they are faked time stamped with receive time and have latency around 0, but can be related to a mbe scan with same ping number.

3.4 MBE Coverage A very important issue in MBE survey is the quality of the data (noise and mounting) and do we have coverage or not. This can be monitored in the NaviScan DTM view (in fact the Imaging function encapsulated in NaviScan). The window shows gridded data and allows you to see a.o. average depth, minimum depth, data density, data span (standard deviation) and sidescan. Depth:

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Average Here is something wrong! of 23

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Minimum



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Span:

The view can furthermore be shown as real-time updated 3D display:

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The major limitation here is that it’s purely dependent on the raw navigation input – the result may look worse than it really are! But with online INS or even just DVL integration you get a useful result.

3.4.1 Overlay on Helmsman’s Display The DTM can furthermore be overlaid on top of the Helmsman’s Display.

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It has the same data types as in the build-in coverage – but it has some limitations as the area has to be pre-defined (creating a DTM and adding data to it on-the-fly) See also http://download.eiva.dk/online-training/HD_DTM34.pdf

3.5 Imaging EIVA supplies a license free data viewer called Imaging. It can load raw SBD files and produce very quick QC tools

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2D view of depth, density and standard deviation Profile through selected data



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3D view



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Correlated time series plots



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