The Frequently Asked Questions are from clients that have questions about matters related to Teledyne PDS or sensors interfaced with Teledyne PDS.
You can use the global search function in the web site header to quickly search for interesting topics in the FAQ list!
No, there is difference between a s7k file recorded by the RESON multibeam system and a s7k recorded/exported by PDS. The RESON 7k Center is using the sensor data, PDS is using reference point data. See the 7k data format definition document (DFD) and the Teledyne PDS User manual for more information.
Yes. Use the “Simrad-multibeam datadgrams – raw[mbs].dev” driver.
(There is currently no driver for the “seabed image msg 89” and for the water column “msg k” messages.)
The phase reference point of the sonar is in PDS X,Z of the Receiver and the Y of the transmitter.
On a dual head system you need to select 2 drivers and set the sonar head serial number in the device attributes to select the proper head per device.
Yes, you can.
1. Use the PDS Export module to export to xyz points.
2. Use Autodesk ReCap 360 to convert the PDS xyz file to scan files (RCS).
3. Import RCS files in AutoCAD
No. See the technical note: Clock synchronization. Technical notes are included in the PDS manuals folder.
Yes, this is correct. Use the Sonar User Interface (SUI) to setup the 7kIO module. Use PPS for accurate time synchronization.
See the technical note: ‘Clock synchronization’ with all information. Technical notes are included in the PDS installation, Manuals folder. The Manuals folder could also be opened from the Control Center>Help menu.
PDS timestamps are miliseconds since January 1, 1970.
The PosMV all coupled modes- ethernet msg 3+10+12+20+102+104[pos] is set to 10Hz on purpose, data rate up to 100Hz is possible now a days, using all the observations it will hardly improve the position accuracy since we do linear interpolation between the position observations and for the height we merge in the heave observation. High position update rate will dramatically load the computer system since a position update will trigger all views to update. You can increase the rate in the driver as you like, this will then create bigger files and demands more powerful computers. You may not expect better survey results unless your vessel is so dynamic that linear interpolation over 0.1 second is not accurate enough.
To start Realtime acquisition fails. An error message opens: ‘The system could not find the environment option that was entered. Check if ACF file is not empty.’
This error can be caused by shutting down the computer while PDS isn’t shut down.
Follow the next steps to recover the ACF file:
Refer to the technical bulletin ‘Video card setup’.
Technical bulletins are available from the teledyne-pds website or from the PDS Control Center menu Help>Open Manuals.
Refer to the technical bulletin ‘Clock Synchronization’ for a full description and procedure to synchronize the computer clock. Technical bulletins are available from the Teledyne-pds website or from the PDS Control Center menu Help>Open Manuals.
No! When the Snippets view is not open then the Snippets records are skipped. Indexing may only take a little longer.
1. Create for this purpose a new vessel configuration without a snippets device.
2. Create a fileset with the PDS log files and open the Replayer.
3. Select the new vessel configuration in the Replayer from the Replay>Options menu. Tick the ‘Use external vessel’ checkbox and select your vessel configuration.
4. Replay the data and enable logging in the Replayer.
5. New log files without Snippets are created.
This problem was caused due to a wrong selected UTM zone in the PDS project configuration.
The lat/lon in the s7k file created from PDS are the lat/lon of the vessel reference point and are reverse computed from projection coordinates.
Calculation between the ellipsoid and the projection are only valid within the zone of 6 degrees, outside an error start to develop and when you convert from lat/lon to projection coordinates (pds internal representation) and then back to lat/lon to make the s7k file the lat/lon will be wrong.
To overcome this problem:
See the next picture of the PDS socket I/O Interfacing dialog box.
1. Processing Module:
a. Menu Tools > Multibeam Statistics report.
This creates a report of the file set and the log files as indicated in the next figure.
b. Menu Tools > Generate TPE results file.
This creates a report of the active sway as indicated in the next figure. (See also Teledyne PDS User manual section 188.8.131.52).
2. Control Center:
Menu Tools > Sonar Swath
This creates a report as indicated in the next figure for a selected log data file.
In order to have correct night colors the Windows 7 theme must set to windows classic. Right click at the desktop and select Personalize from the opened context menu.
Select as theme windows Classic.
The PDS night colors are correct.
Every time Realtime starts a backup of the vessel configuration is created.
Note: Only the last 10 backups are saved. When there are problems; do not start Realtime more as 10 times, but first try to use a backup vessel configuration.
Select Acquisition>Use Vessel Backup from the PDS Control Center menu bar.
Select from the dropdown list a backup of a (older) vessel configuration.
When this vessel configuration is not corrupt it is possible to accomplish the survey.
The file name may not contain : \ / : * ? “ < > |
If a serial port is used for the clock synchronization then it is not possible to use this port in the Acquisition or any other program.
A network port can be used for the clock synchronization and Acquisition or any other program.
Uncheck the checkboxes ‘External layout‘ and ‘Keep same layout when playing log files‘ of the Replay>Options menu.
The height source of the reference point computation properties should be set to GPS height (RTZ). It is not necessary to disable heave from VRU because it will not have much influence as GPS Z is leading. The heave will be used to interpolate between two GPS positions, so it can be enabled.
No, when a serial port is used for the clock synchronization (time message) it is not possible to use the same port in the device setup. It is possible to use the same network socket for the clock synchronization and device setup.
It is possible that a PDS logfile is twice the size of the S7k file because the PDS file contains the processed result of all the observations.
When you like to have less data: select another beam pattern (Equi-angle instead of Equi-distant) and reduce the ping rate. The final result will be the same, only the oversampling will be less.
The 7k DFD is frequently updated. If you want to be on the distributionlist of getting updates per e-mail please write an e-mail to harvey.stoelinga[at]teledyne-reson.com.
For your convenience we have cached the latest DFD document here: DATA FORMAT DEFINITION – 7k Data Format – Version 3.07
The computer gives priority to data collection and recording applications. Depending of the computer performance this can cause other applications as dialog boxes does not open or only open after a certain time.
Press the <ALT> button to give priority to the called dialog box.
The MotionScan device use socket 7000 for the communication with PDS. A conflict occur when another program is also using socket port 7000.
Use the command netstat –b to get a overview with used socket ports.
1. Search for the command prompt (CMD.exe).
2. Run the command prompt as administrator.
3. Enter the command: netstat –b
4. Check the overview if another program use socket 7000.
5. Close the program using socket 7000.
In a plan view it is possible to show the speed and the heading as a vector.
Open from the layer control the vessel layer properties. Change the outline value into ‘Heading and speed vector’.
It is also possible to add an additional vessel layer with the outline set to Heading and speed vector. On this way it is possible to show both the vessel shape and the Heading and speed vector.
In this case the automatic calibration method is used for the multibeam calibration.
The error parabola indicates a very strong solution.
It was concluded by the customer when the error parabola gives a very strong solution the automatic calculated calibration value is correct.
This is a WRONG conclusion. It only applies when:
Data as used in the profiles does not contain spikes. (jump in height)
The data of the profiles have the same height for the same point.
In this case when analyzing the profiles, a difference in height between the two profiles was seen.
This means the calibration values must be changed manually in a value resulting in matching profiles (falling on each other). This value is the correct calibration value.
Conclusion: always take a critical look to the profiles as used for the calibration.
The warning ‘time stamping in the future’ may occur for a few seconds during startup, after that it should not occur anymore.
Time stamp in the future means that Teledyne PDS receives a message from a device where the time in the message is newer than the computer time. In other words Teledyne PDS receives the result of a measurement in the future. This problem can occur when there is a clock synchronization error or when the PosMV is predicting too hard.
The setup for tide starts in the Equipment page of the vessel configuration.
Add a tide gauge for the real time received tide and add a second tide gauge for the manual tide. The manual tide can be useful when occasionally no data from the real time tide gauge is received.
For both devices automatically a tide computation is added.
In the Advanced Computations it is not needed to add a tide computation. Select here only a tide computation when a different tide computation setup from the one made in the Equipment has to be defined.
Don’t add a manual tide computation this one is already created in the Equipment
A tide station has to be created for the in the real time received tide. There is no need to have one for the manual tide.
When the tide station is created, open the tide station info by selecting in the Tide Station Editor.
In the Tide Station Info dialog the location and ID of the tide gauge can be defined. Also the maximum gap and maximum extend can be set. Both are in seconds. A tide value must be received within the set maximum gap time. When the maximum time gap is too short it is possible that no tidal data is received and the tide computation gives an error. When the maximum extend time is too short Teledyne PDS will not interpolate between the received tide values. This is visible in the Tide Station Editor as single crosses and not as crosses connected with a line.
In the Acquisition add to the screen layout via the menu options Tools > Equipment Control the display for the manual input. If in the manual input view the option Force Manual Tide is checked the manual tide becomes the primary tide source. When it is unchecked the tide source that is set as primary in the Data Source will be the primary data source.
In the RESON SeaBat 7k for the beam forming only the SVS is used.
In Teledyne PDS a retracing is done using the SVP and this is only possible after mounting and attitude correction.
The reason that the report has a problem with the date and time is that probably in the vessel name a – (minus) sign is used. The data and time for the report is extracted from the log data filename which contains vessel name, trip number and date/time. Teledyne PDS is looking for the first minus sign in the name which is normally just before the data and time. If in the vessel name already a minus sign is used can the date and time not be found directly after the minus sign and is filled with the default date/time.
Solve this problem by not using minus signs in the vessel name.
Not often they are structural or persistent, and normally how the issue is created can be deduced by the Teledyne PDS support.
One thing that the user can try to solve the problem is changing the way the computations are running in Teledyne PDS.
Select in the Acquisition the menu option Edit > Use Single Thread For All Comps. This will force Teledyne PDS to run all computations in one single thread instead of each sensor computation in its own thread.
When you add “-A” behind the Master.exe (Control Center shortcut target) we will automatically enter the Realtime Acquisition.
When a clock synchronization is used, Teledyne PDS will wait until the clock sync is established
See the system specifications in the Teledyne PDS User Manual on how much memory is needed for this kind of surveys.
Another issue can be that a delayed heave driver is used with a delay buffer that is too big for the system. Some delayed heave drivers have a delay of 180 seconds. When there is not enough memory available to keep these 180 seconds of data in memory the system crashes.
When this happens most of the times the file ‘project.prj’ is corrupted. There is no possibility to repair this file.
It is possible to get the project running again when a log data file is available that is made in the project. Select in the Control Center the menu option Create Project from Log Data…, select the log data file and a new project is created based on the information in the log data file.
Copy the file ‘project.prj’ from the new project to the broken project. The file can be found in the project folder. Now the broken project can be opened again.
In Teledyne PDS there will be two drivers needed, one for the roll and pitch and one for the heave, because the roll/pitch and heave are outputted on two different ports. Because Teledyne PDS needs roll, pitch and heave from one source, a dependency has to be selected in the heave driver.
First select the vru driver and then the heave driver. Select in the attitude computation for the Roll/Pitch Data Source the Device Data of the Novatel SPAN[vru].
This should be a delayed heave driver. The sensor has two different possible output formats, one of them is the PosMV GRP111. This format is identical with the PosMV Ethernet 111 in Teledyne PDS.
The output rate is depending on the input rate of the data related to the output. An example of the settings of an input driver is:
SyncMode=0 //Sync on terminator
SyncCount=1 //Sync length
SyncString=10 //Sync character is linefeed
DataRate=20 //Maximum expected data rate is 20 Hz
TimeOut=5.0 //Maximum time out is 5 seconds
NumberOfMessages=1 //Number of messages defined in this file
In Teledyne PDS the nadir depth is computed. With the output driver NMEA-DBT the nadir depth can be outputted. After the output driver is added to the Equipment list use to open the Output Message window to attach the right computation to the depth below transducer. For a multibeam this should be the Multibeam xyz computation.
The frequency of the output depends on the update rate of the multibeam system. In principal the output follows the ping rate.
The two way travel time in the 7027 record is from Tx reference point via the reflector to the Rx reference point. This is not the way the real time is travelling through the water but it is a practical value to calculate and it is a measurement between definable points.
In reality the raw travel time to the cylinder cannot be determined because it is different for each Rx element and it will have after beam forming a specific offset. After this a correction is done which can be to each point but a choice is made to do this to a central point, the Rx reference point.
In the Editing I see gaps in my multibeam data while multibeam data is logged.
The gaps can be caused by the fact that in the log data file(s) for that location no valid position; heading or vru data is available.
Another reason can be that the log data file(s) are corrupt. In most cases this can be repair with a tool in the Editing. Select the menu option Tools > Repair File(s) and select a repair for the current file or for all the files in the file set. A repair can take a long time especially when the files are big.
In the XML files in the \bin folder in the installation folder of the RESON SeaBat 7k software you can set the maximum file size for 7k files which are recorded in the 7kCenter. By default it is set to 1 GB.
Teledyne PDS does support the D datagram (44h in Simrad specifications). However there is a limit of the number of beams the datagram can handle (254). With a sonar configuration that produces more than 254 beams the datagram is not supported.
There are newer datagrams which support more beams (for newer sonars). However these have not been implemented in Teledyne PDS yet.
When in Teledyne PDS for the multibeam the driver RESON SeaBat 7k is used the for the multibeam data record 7027 will be used. When the driver RESON SeaBat 7k Old 7006 is used record 7006 will be used in Teledyne PDS.
When Teledyne PDS uses record 7027 it will not check if the roll stabilization is used. Teledyne PDS will use the available raw beam angle data in the record and will apply all corrections needed.
When Teledyne PDS uses a combination of the records 7004 / 7006 with roll stabilization then no roll correction is applied in Teledyne PDS.
Normally Teledyne PDS gets the Tx-Rx offset from the RESON SeaBat 7k and will use this (per frequency another offset). Suppose the offset is entered wrong in the 7k software then Teledyne PDSallows the user to overwrite the offset in the post processing by means of changing the attributes in the Properties of the Multibeam Device Data. So it is better not to enter the Tx-Rx offset in Teledyne PDS unless it is needed.
In Teledyne PDS the Multibeam XYZ Computation makes the following decision how to handle the Tx-Rx offset:
The RESON SeaBat 7111 outputs already corrected data and reports a zero or no Tx-Rx offset.
The snippets is using the mounting angles set in the multibeam device data. This is done in the Snippets Computation by selecting the Multibeam Source. When one multibeam is selected in the Equipment list it will automatically be selected in the Snippets Computation.
With the Export in the Grid Model or CUBE tab of the Multibeam Area Editing view a mean bias per beam relative to the Z average is exported. For each beam per ping the difference is calculated with the Z average of the grid model cell. When this is done for all the pings a mean difference per beam is computed. This mean difference per beam is exported in the column SP1 (single ping) of the CSV file. When multiping is available the columns MP1-4 will be filled.
In the Device Data of the heave in the Raw Data view it is only visible with the value (in msec) of the Dynamic Delay.
The time of the heave data is the same time as for the other sensors. This time is already corrected for the delay. So there is no problem the interpolate the delayed heave with other sensor data, because is in the same range.
With a delayed heave a closed logfile will still log data for the time of the delay. This is necessary to process the data in that logfile with the right heave.
When it takes a long time it means that a lot of data has to be loaded in the editor, this can be background data (C-Map, DXF files, etc.) or a very big grid model with small cell size.
The reason that background charts are loaded when a grid model is opened is because the context menu option Save as defaults is used before. With this option all the layers that are opened will be saved, so when a new grid model is opened all layers with their files that are saved will be opened in the editor. This is nice for the user because he don’t have to select the layers for the background, runline, polygons, etc. each time he opens a grid model.
When a lot of layers are added and saved with Save as default it becomes slower. The only way is to remove all the obsolete layers or remove/rename the filename ‘EditorView.upd’ in the Teledyne PDS project folder.
If the file is removed/renamed then when a grid model is opened the layers have to be added one by one to get all information in the editor again. Use Save as default to save the layout again.
In the Teledyne PDS an alarm can be setup. In the Acquisition with the menu item Edit > Alarms or from the toolbar with the Alarms dialog can be opened. In this dialog alarms can be defined.
Add an alarm for the GPS and make an alarm condition on the GPS mode that when the GPS mode is not RTK FIXED anymore an alarm will go off.
When you want a sound alarm for the GPS mode alarm, check the option Sound Alarm.
In Teledyne PDS the only way to get a good Reference Z computed is when in the Reference Point Computation of the Positioning System Geogs device the Height Source is set on GPS Height [RTZ]. This computation can be opened in the Equipment page or in the Raw Data view.
When in the coordinate system a geoid model is present, then with the Height Source on GPS Height the geoid model is also taken into account.
If GPS Height is not valid the sea level will be used as level to compute the Reference Z. Select as Height Source None or Tide (when tidal data is available) and set in the Geometry page the sea level offset.
For the position input to Teledyne PDS we use a GGA telegram from a differential GPS/Glonass receiver. Sometimes the differential corrections will fall out and the status figure in the GGA telegram will go from 2 to 1.
From Teledyne PDS it is possible to send an event marker to NCC that also will be logged in the NCC logfile.
To make this possible an output port has to be switched on in the NCC component. Select in NCC the option Settings to open the settings view of the NCC.
In the example above the Output Port 1 is switched on and check also the Output TD Message.
Add in the Equipment page of Teledyne PDS an Output device with a DESO 25 event output to the port as selected in the Settings view (here Com 3). The results is that the event info is printed on the screen just like it will be on paper.
The teledyne PDS Reference Point Computation supports a Doppler integration. This computation can be opened in the Equipment page or in the Raw Data view.
The Doppler update starts after the time is passed as set in Maximum Age Position [sec], which is set by default on 2 seconds. When the time is lowered the Reference Point Computation will be updated faster after the position update. This will also depend on the update of the Doppler.
For the Doppler integration the Kalman Filter has to be switched on, select a value for Kalman Filter Setting.
Also the standard deviation of the position has to be replaced. This can be done with Position Std Overwrite(0=off). Enter here a standard deviation in m/sec to give it a good weight in the Kalman filter.
In the Plan View and extra Vessel Layer can be added to display the calculated Doppler track. This track can assist in getting the right values for the Doppler scale and heading which can be entered in the Reference Point Computation.
In the real time mode the multibeam data has to be logged to a grid model. Before that can be done, select in the Logging page as file format ‘PDS Grid Model’, select or create in the section below the grid model in which should be logged and add the multibeam data to the ‘Data for grid model logging’ section. All three steps are indicated in the picture below.
Make sure that the file format ‘PDS Grid Model’ is checked!!
In the Acquisition, select in the Toolbar of the Plan View – Survey Coverage the Coverage Settings ( ) to open the coverage settings for the view. Check in the Coverage Settings the Grid Model to display the grid model in the view and select a color table for the Z values in the grid model. The hitcount and standard deviation will have their own color table.
The different available color modes for the grid model can be selected in the toolbar of the Plan View – Survey Coverage with the option Grid Model Color Mode ( ).
In Teledyne PDS different background charts/files can be used, some of them are only supported with an extra dongle.