MISSION PLANNING AND DATA ACQUISITION SOFTWARE

MISSION PLANNING AND DATA ACQUISITION SOFTWARE

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Introduction to Divelog Shark Marine s Divelog software was created to integrate data collected from an array of sensors, real-time with navigation and positioning information. Its modular design makes it easily adaptable to a wide range of platforms including surface operations from a vessel and underwater diver-held devices, to towed arrays or remotely operated vehicles both tethered and autonomous. Divelog s navigation features allow targets to be entered for reacquisition by a system; for search patterns to be generated and followed; for targets to be recorded real-time by an operator and for recording the actual movements of the system. It s the combination of Divelog s navigation features and the system s positioning sensors that allow the software to control and record the movements of the system. This provides the remote systems with semi-autonomous capabilities such as auto route, auto depth, station keeping and route following. Divelog records all of the data collected from a mission into a project folder and correlates all of the information collected with regards to a suspected target, to that targets ID. This information which may include video images, sonar scans, magnetic signatures and more, depending on the sensor array, can then be easily sorted into a viewable report at the end of the mission.

Navigation DiveLog consists of the Navigation Display, plus a number of add-on modules called Active Screens. The Active Screens give DiveLog the ability to expand to use any number of peripherals or functions by turning on various Active Screens as shown in the following accessory description pages. Navigation Display: The Navigation View consists of a large graphical display that shows the heading, pitch, and the roll of the Navigator/vehicle. A vertical bar on the right indicates the position in the water column if either of the Altimeter or Doppler accessories are installed. The Navigation View in DiveLog also has numeric displays for the following: Course Over Ground (COG), target bearing, target range, heading, pitch, roll, depth, altitude (if the Altimeter or Doppler is installed), dive time, computer clock / surface interval time, temperature (internal or external), dive number, source of the current geodetic position, and the current target number. Not all of these displays are always populated with data, depending on what additional sensors are used. On the Navigator Delta or Dive Tablet, there will also be a battery status indicator and screen brightness control.

Mapping and Target Marking Divelog allows maps to be imported for use with an individual mission. The style of map may be selected from a number of available formats including: S57-ENC, S63-ENC, BSB, Admiralty Raster Charts, ESRI Shapefiles, GeoTiffs, DXF files, Google Earth KML and KMZ and Shark Marines native format Shark Map. The maps may be used to provide a background reference for travel and displaying the systems recorded route. They may also be used to help generate routes or search grids for the system to follow. Actual travel over these programmed paths is also recorded and targets detected along the way may be marked. Target locations may also be entered before a dive and used as destination markers for the navigation systems. The subsequent path to each target is also recorded. Recorded targets are shared throughout the Divelog software, wherever positions can be indicated such as in a sonar scan. Moving the cursor over the target will show the actual recorded position and other relevant data collected. Coverage mapping is a feature unique to Divelog. The software will calculate the angle and range of the sonar in use to create a map of the total area covered by the beam. This can then be used to ensure that no area has been missed or overlooked when searching for a specific target.

Report Generation Although DiveLog allows the best viewing tools for project data, it is useful to package the information in a way anyone can view it. The project Report Editor allows for the creation and customization of a report, summarizing the project, including target information and associated multimedia. The report is created as an interactive HTML webpage that can be viewed on any computer with a browser and can also be used as a simple print document. The report displays critical information about the project and its targets, including associated images and videos. The report editor has 3 main views that allow you to edit and preview the report. The Report View shows the full report, as it will be seen when viewed in a web browser. The Design View is used to configure each section of the report. The Summary View located at the bottom of the Report Editor window, is used for quick viewing and high level editing of a report.

Import Export Compatibility Divelog has been designed to be Data Compatible with numerous other mission planning and survey software. These optional features include the ability to import data from programs such as SeeBytes SeeTrack, MINTACS XML and HYPACK. Common Sensor Inputs Divelog Survey mode includes an interface for many common sensors such as a Compass; Heading Pitch and Roll; Temperature; GPS and other positioning systems; Depth; Altitude and Time. The data from these sensors is presented to the operator in the Navigation Display previously shown. Divelog as a Control System for Underwater Platforms Divelog has been specifically designed so that it can be easily adapted as a Control System for various underwater platforms such as Diver Portable Systems, Remotely Operated Vehicles (ROV), Autonomously Operated Vessels (AUV) both surface and underwater, and Diver Delivery Systems (DDS). Divelog will provide autonomous operations for systems equipped with a suitable positioning system. Divelog as a Topside Controller for Towed Arrays or Drop Systems Divelog s capability of collecting data from a multitude of sensors and geo-referencing it with its position makes it the perfect Topside Controller software for either towed or dropped, sonar or video systems. For towed systems Divelog includes layback calculations for more accurate system positioning. For video systems Divelog provides various data overlay options such as positioning and depth. Divelog usage Divelog software is included with all relevant controllers and computers created by Shark Marine. This includes our Mark III ROV topside controllers; Our Navigator diverheld sonar imaging and navigation system; Our Dive-Tablet shallow-water navigation system; Our SeaSAR topside controllers, used for various sonar and video applications. It may also be sold separately for use on a customer s personal computer.

Diver Portable Systems with Divelog The Shark Marine NAVIGATOR The Navigator was designed to give a diver the ability to see in zero visibility, to navigate precisely over search grids and for the reacquisition of targets. The Navigator is a complete Windows 7 based underwater computer, powered by the DiveLog software and depth rated to 100m. With Divelog s capabilities it is able to support many different sonar heads, positioning systems and numerous other computer based peripherals designed for use in an underwater environment. The data recorded with these peripherals is then geo-referenced with the Navigators positioning information and used to create a complete image of the divers activities. These features make the Navigator the perfect tool for mine-countermeasures and other underwater security operations, search and recovery, beach profiling, pipeline tracking and inspection, fish habitat mapping, archaeological investigations, and more. NAVIGATOR system with Divelog Divelog sonar display These peripherals include; Positioning systems; GPS systems both fixed and floating, Long-baseline systems for sub-meter accuracy, Doppler navigation system. Detection tools; metal detectors for both ferrous and non-ferrous metals, radiation detectors and hydrocarbon sensors for detecting floating oil particles. Imaging tools; 2D imaging sonars both long range and short, Multi-beam sonars for surveys, HD Cameras for video and still image recording Map display showing track and sonar Communication systems; for underwater text messaging between divers and base stations, for transmitting position information between divers and base, for sending control commands to autonomous vehicles. Map showing diver and base positions

The Shark Marine DIVE-TABLET DIVE TABLET with Divelog is an affordable solution for anyone that requires accurate underwater positioning. Using advanced dead reckoning or GPS. DIVE TABLET through Divelog allows operators to map underwater habitats, document archaeological sites, take geo-referenced photos and video, or simply navigate underwater. DIVE TABLET may be used with the Shark Marine SubNET option to communicate with and share position information with other divers and base stations. APPLICATIONS: Dive mapping with Divelog Divelog video capture with overlay Next Generation Nav Board. Coral Research. Underwater Archaeology. Habitat Mapping. 3D Photogrammetry. Geo-Referenced Photography. Underwater Navigation Dive mapping Rugged Topside Computer. Vessel Navigation.

The PX-1 Wearable Navigation System Powered by DIVELOG

Remotely Operated Vehicles (ROVs) and Divelog Divelog is used to control all of the ROV systems manufactured by Shark Marine. It may also be adapted for use with other manufacturer s systems. Both the 300M depth rated Barracuda and the 600M SeaWolf use the same Universal Mark III Topside Controller running the Divelog software. ROV Pilot is Divelog s ROV control module. When selected in the Divelog System Setup, the ROV Pilot control window is added to the Divelog display. SeaWolf The above Auto Controls Bar will be displayed at the top of the Primary Screen of the main Divelog window, and the main ROV Pilot window will be displayed. The Pilot window shows a variety of readings and controls.the ROV will be primarily controlled with a hand controller connected to the topside unit running DiveLog. Controls on these two panels in DiveLog will supplement the hand controller controls, as well as indicate the status of control functions. MARK III Rov Controller with Divelog If equipped with a Shark Marine Total Navigation system (TNS) Divelog can provide autonomous operations for the ROV such as auto route following, station keeping and go to target. ROV Pilot window

The MAKO Diver Delivery System and Divelog The MAKO Diver Delivery System (DDS) can be interfaced with a Navigator diver-held system running the Divelog software to provide the MAKO with intelligent functions and control. When the MAKO is enabled in DiveLog, the MAKO controls will be visible along the top of the main DiveLog screen. The controls are as follows: Auto Depth or Auto Altitude: Used for controlling the vehicle s vertical position. Auto Route / Target Goto, Auto Heading, or Station Keeping: Used for automatic control of the vehicle s heading (and forward thrust when station keeping). Auto Speed or Thrust Hold: Used for controlling the forward thrust. Divelog display showing MAKO control The autonomous features provided by Divelog allow the MAKO to be sent on a mission with or without a diver. Having a predetermined search path setup also allows a diver the ability to focus on other system sensors like the sonar and magnetometer without having to worry about flying the system as well. However he still has the ability to deviate from the path for closer inspection of an abject and then automatically return to the programmed search path. Through Divelog the Navigator provides the MAKO with the powers of an autonomous underwater vehicle (AUV). It can be programmed to run a search pattern and collect geo-referenced data from an array of attached sensors; multi-beam sonar, side-scan, video, magnetometers and more. The SubNET feature may be installed to allow remote commands to be sent to the MAKO from a surface station.

DiveLog Automated Survey Boat The DiveLog Automated Survey Boat (D.A.S. Boat) feature is enabled by selecting D.A.S. Boat on the Active Screens tab of the Divelog System Setup window When the D.A.S Boat is enabled, an Auto Controls Bar shown above will be displayed at the top of the Primary Screen of the main DiveLog window. The buttons along the top of the screen function as follows: Auto Ctrl (Control): Used to turn on general control of the boat by DiveLog. Auto Route / Target Goto, Auto Heading, or Station Keeping: Used for automatic control of the vehicle s heading. Auto Speed or Thrust Hold: Used for controlling the forward thrust of the boat. Boat Options: Accesses the window for various information and setup parameters. A Shark Marine MARK III controller running Divelog is used to stream control commands to the automated survey boat and to process the bathymetry data streamed back. Divelog pre-programmed boat route

SeaSAR Topside Controller and Divelog for Surface Operations The SeaSAR topside controller includes a rugged laptop computer with a built-in GPS, which attaches wirelessly to the components on the inside of the case. Its compactness makes it perfect for use in any small craft of opportunity where it may be used for navigation as well. The system is IP64 when open for operation. IP68 when closed. The display is a bright, daylight viewable 1200 NITs, with a glove friendly touch screen. Interfaces and power supplies for the various sonars ordered with the system are installed in a protected area in the base of the SeaSAR controller. Each sonar is designed to be plug and playable with a single cable connection keeping system setup time to a minimum. To ensure portability the topside controller will operate completely from a 12VDC supply as well as from a 120/240VAC adapter. Powered by our Divelog program it allows various sonars and other sensors to be operated simultaneously from the topside as well as providing navigational mapping with a track and target recording and report generation features as previously noted. The SeaSAR topside is commonly used as a topside controller for: Sidescan sonar Pole-mounted multi-beam sonar Single point sonar SubNET base for monitoring divers with hand-held systems Topside communication console for the MAKO Video recording topside Small vessel navigation console Divelog is included with all SeaSAR topside controllers. NOTE: It may also be loaded on a personal laptop however additional power supplies, adapters or cables (included with the SeaSAR) may be required to complete the system setup.

Divelog for Side-scan Divelog has interfaces available for a number of portable sidescans such as those offered by Imagenex and Tritech. Divelog also has a tether management input that allows the user to enter the amount of cable out, either manualy or electronically to calculate the layback position of a towed system. Search Grids Using Divelogs mapping features it s easy to import charts or images of a search area and have Divelog generate a grid for a defined location. Divelog will then proceed to record the vessels actual track along the grid and the operator can easily mark suspected targets on the fly. Coverage Map Divelog will also create a coverage map for the sidescan based on the specifications of the transducer frequency in use. The map is used to ensure complete coverage of the search area and to indicate areas that have been missed. Data Collection Divelog will record the data collected with the sidescan simultaneously with the location and time. Targets may be marked on the fly as well as in review. Targets marked in the sidescan data display will also display in the same location in the coverage mapping and search map display.

Divelog for Vessel or Over-The-Side Pole, Mounted Sonar The Over-the-side Pole Mounted sonar (OTSPM) was designed to be rapidly deployed to locate drowning victims as quickly as possible. Using Divelog on a SeaSAR topside controller connected to a readily available power source (either 12VDC or 120/240VAC) the OTSPM s two connectors can be quickly connected to the system while the computer boots up. Within minutes while the rescue divers are suiting up, Divelog is loaded and the OTSPM is in the water searching localized areas under docks and vessels like a search-light for signs of the victim. The OTSPM can be easily deployed from any waterside platform such as a dock or small boat. Target Marking Divelog records the sonar image and allows targets to be marked directly on the sonar display. Targets that have been previously entered through other displays will also show in the sonar display. Track Recording Divelog will record the vessels track and show the beam coverage and direction of the sonar head. Sonar Coverage Mapping As the vessel moves along the sonar is rotated to ensure coverage of the entire area beneath it. Divelogs coverage mapping ability graphically paints the display to indicate entire area covered to ensure no spot is missed. This sonar arrangement is also useful for searching along ship hulls for contraband or parasitic attachments.

SeaSAR Topside or Personal Computer using Divelog for Video A SeaSAR Topside or a computer equipped with video capture abilities can be used to record geo-referenced video from a Shark Marine underwater video system. Video cameras mounted to towsleds, drop cages, poles or even divers, equipped with a positioning system (ie. Ultra-short baseline or floating GPS) can be recorded through Divelog to the systems hard-drive. Video Overlay Divelog provides the ability to overlay positioning and other selected data directly onto the video display. Geo-referencing All recorded video will be geo-referenced either with the SeaSAR topsides GPS or through the use of a positioning system mounted with the camera. Other Sensors supported by Divelog Sensors may be mounted on an ROV, AUV, or Navigator system or used with a Seasar Topside Radiation detector Divelog has supports for a gamma radiation detector. It records geo-referenced data and displays it graphically very similar to the Proton Magnetometer. Proton Magnetometer Divelog provides a magnetometer interface that will map magnetic fields in relation to position. Metal detector Divelog provides and interface for the Ebinger 725K metal detector for use with the Navigator. Detection signals are relayed to the diver both graphically and audibly. Position information is recorded simultaneously with the data.