navinjectorpro user reference · 4.19 version 6.01.013 04 nov 2015 ..... 42 navinjectorpro.pdf...

NavInjectorPro User Reference

Revision 7.02.018 4/2/2019

Chesapeake Technology, Inc.

eMail: [email protected]

Main Web site: http://www.chesapeaketech.com

Support Web site: http://www.chestech-support.com

1605 W. El Camino Real, Suite 100

Mountain View, CA 94040

Tel: 650-967-2045

Fax: 650-450-9300

mailto:[email protected]

http://www.chesapeaketech.com/

http://www.chestech-support.com/

NavInjectorPro.PDF Chesapeake Technology, Inc. copyright 2011-2019

Rev 7.02.018, 4/2/2019 [email protected] 650-967-2045

Table of Contents

1 Nav Injector Pro – A Sonar File Data Modification Utility .......................................... 6

1.1 NavInjectorPro Overview and Data Flow Diagram ............................................. 7

1.2 SonarWiz 6 vs SonarWiz 7 – new CSF file format ............................................. 9

1.3 Navigation File Template – AsciiFileTemplates.ini ............................................. 9

1.3.1 AsciiFileTemplates.ini – Multiple Locations Possible ................................. 10

1.3.2 SBET template Type Usable in NavInjectorPro versions 5.01.018+ .......... 10

1.3.3 Folder to Read / Write................................................................................ 11

1.4 Bathymetry Database Injection - Special Case ................................................ 11

1.4.1 Bathymetry Database File ......................................................................... 11

1.5 Adding a Date / Time Offset in SBET Processing - available in versions

5.01.0037+ ................................................................................................................. 13

1.6 Unable to load Geodesy - Error may occur – and can be ignored ................... 13

1.7 Template Parsing Error 30 – Line Termination Issues ..................................... 14

1.8 Input Navigation File(s) .................................................................................... 17

1.8.1 North, East injection Example .................................................................... 19

1.8.2 South, West Injection Example .................................................................. 19

1.8.3 EVENTS – special injection process needing a final dummy event in list .. 19

1.9 Folder from which Original Sonar Data is Read ............................................... 21

1.10 Folder to which New Sonar Data is Written .................................................. 21

1.11 File Type Selection: Process Files of Type … .............................................. 21

2 NavInjectorPro Operation ....................................................................................... 22

2.1 Program Logic .................................................................................................. 22

2.2 Configuring Injection Options - SCREEN 2 (after START button) .................... 23

2.2.1 Sidescan / Sub-bottom Injection ................................................................ 23

2.2.2 Navigation output – Ship Position vs Fish Position Choice ........................ 24

2.2.3 Bathymetric Injection options - SCREEN 2 ................................................ 25

2.3 Interpolation ..................................................................................................... 27

2.4 File Generation - Quality Assurance ................................................................ 27

2.5 Geodesy Files .................................................................................................. 27

2.6 Log Files .......................................................................................................... 27



2.7 Adding New Templates in AsciiTemplates.ini File ............................................ 28

2.7.1 Text Editing AsciiTemplates.ini .................................................................. 28

2.7.2 Managing Templates ................................................................................. 29

2.7.3 Adding a New Template ............................................................................ 31

2.8 Configuration of Network Dongle ..................................................................... 32

3 AsciiFileTemplates.INI Field Format Examples Tables ........................................... 33

3.1 Table 1. Supported AsciiFileTemplates.INI FIELD Names ............................... 33

3.2 Table 2. Supported Date Formats .................................................................... 35

3.3 Table 3. Supported Time Formats .................................................................... 35

3.4 Table 4A.Fields-SS/SB .................................................................................... 36

3.5 Table 4B.Fields-BATHY ................................................................................... 39

4 Nav Injector Pro – Version History –Recent Releases ............................................ 40

4.1 Version 7.02.017 14 NOV 2018 JTG ............................................................... 40

4.2 Version 7.02.015 10 AUG 2018 JTG ............................................................... 40

4.3 Version 7.02.013 10 AUG 2018 JTG ............................................................... 40

4.4 Version 7.02.012 13 FEB 2018 JTG ............................................................... 40

4.5 Version 7.02.011 12 FEB 2018 JTG on delayed flight back to SFO from CLT 40

4.6 Version 7.02.010 06 FEB 2018 JTG Denver LiDAR conference ..................... 41

4.7 Version 7.02.009 05 FEB 2018 JTG Denver LiDAR conference ..................... 41

4.8 Version 7.02.008 10 November 2017 JBF ...................................................... 41

4.9 Version 7.02.007 16 October 2017 .................................................................. 41

4.10 Version 7.02.004 04 October 2017 ............................................................... 41

4.11 Version 7.02.003 23 August 2017 ................................................................. 41

4.12 Version 7.02.002 20 August 2017 ................................................................. 41

4.13 Version 7.02.001 21 June 2017 .................................................................... 42

4.14 Version 7.01.0003 09 JUNE 2017................................................................. 42

4.15 Version 7.01.0002 19 MAY 2017 .................................................................. 42

4.16 Version 6.01.0017 17 APRIL 2017................................................................ 42

4.17 Version 6.01.016 24 JUN 2016 ..................................................................... 42

4.18 Version 6.01.015 02 MAR 2016 .................................................................... 42

4.19 Version 6.01.013 04 NOV 2015 .................................................................... 42



4.20 Version 6.01.012 04 NOV 2015 .................................................................... 42

4.21 Version 6.01.010 01 SEP 2015 ..................................................................... 42

4.22 Version 6.01.009 28 AUG 2015 .................................................................... 43

4.23 Version 6.01.008 July 30,, 2015 ................................................................... 43

4.24 Version 6.01.007 June 23, 2015 ................................................................... 43

4.25 Version 6.01.006 June 21, 2015 ................................................................... 43

4.26 Version 6.01.005 June 1, 2015 ..................................................................... 43

4.27 Version 6.01.004 May 21, 2015 .................................................................... 43

4.28 Version 6.01.003 May 1, 2015 ...................................................................... 43

4.29 Version 6.01.002 March 31, 2015 ................................................................. 44

4.30 Version 6.01.001 March 26, 2015 ................................................................. 44

4.31 Version 5.01.0040 May 30, 2014 .................................................................. 44

4.32 Version 5.01.0039 May 25, 2014 .................................................................. 44

4.33 Version 5.01.0038 Apr 27, 2014 ................................................................... 44

4.34 Version 5.01.0037 Mar 25, 2014 ................................................................... 44

4.35 Version 5.01.0036 Dec 17, 2013................................................................... 45

4.36 Version 5.01.0035 Nov 05, 2013................................................................... 45

4.37 Version 5.01.0034 Nov 03, 2013................................................................... 45

4.38 Version 5.01.0033 Nov 01, 2013................................................................... 45

4.39 Version 5.01.0032 Oct 23, 2013 ................................................................... 45

4.40 Version 5.01.0031 Oct 19, 2013 ................................................................... 46

4.41 Version 5.01.0030 Sept 6, 2013 ................................................................... 46

4.42 Version 5.01.0029 July 3, 2013..................................................................... 46

4.43 Version 5.01.0028 April 13, 2013 .................................................................. 46

4.44 Version 5.01.0027 February 15, 2013 ........................................................... 46

4.45 Version 5.01.0026 February 04, 2013 ........................................................... 47

4.46 Version 5.01.0025 November 09, 2012 ........................................................ 47

4.47 Version 5.01.0024 October 12, 2012 ............................................................ 47

4.48 Version 5.01.023 03 OCT 2012 .................................................................... 47

4.49 Version 5.01.022 07 SEP 2012 ..................................................................... 47

4.50 Version 5.01.021 August 21, 2012 ................................................................ 47



4.51 Version 5.01.020 August 2, 2012 .................................................................. 47

4.52 Version 5.01.019 May 20, 2012 .................................................................... 47

4.53 Version 5.01.018 May 18, 2012 .................................................................... 47

4.54 Version 5.01.017 April 13, 2012 .................................................................... 47

4.55 Version 5.01.016 March 9, 2012 ................................................................... 47

4.56 Version 5.01.015 January 25, 2012 .............................................................. 48

4.57 Version 5.01.014 January 5, 2012 ................................................................ 48



1 Nav Injector Pro – A Sonar File Data Modification Utility

The NavInjectorPro7 application is a special utility for injecting navigation from an

external ASCII data file into a standard sonar data files such as CSF, JSF, SDF, SEG

(SGY) or XTF. New since release 6.01.0011 of SonarWiz, is the added ability to inject

replacement navigation and attitude data into the bathymetry data sets (imported

bathymetry sonar lines). The utility will only create a file when both sonar data and

navigation data are available for the time of the ping. If gaps occur in the navigation

data the same gaps will occur in the sonar data. Up until SonarWiz release 6.01.0010,

only sidescan/sub-bottom sonar files and CSF files could be injected using

NavInjectorPro. The specific fields which you may inject in imported bathymetry files

using the bathy database, are listed in the new Table 4B section.

You may start NavInjectorPro7.exe by clicking on it directly in the SonarWiz Program

Files folder, or via selecting (1) START-> (2) Programs-> (3) SonarWiz 7 -> (4) Nav

Injector Pro V7, like so:



1.1 NavInjectorPro Overview and Data Flow Diagram

This graphic should give you an idea about what NavInjectorPro does:

Note that for SonarWiz bathymetry file type selected, the data flow diagram is slightly

different – the bathy data sets of the project are injected in place, without a secondary

output folder or new files created.



Here are the opening dialog views of NavInjectorPro:

(1) For sidescan/sib-bottom file injection (XTF, SEG, CSF, JSF, SDF) and

bathymetry:

For these file formats, NavInjectorPro operates in a batch-mode and can process all the

files in a named folder, and new output files are written to a second folder.



(2) For bathymetry data set injection, the GUI changes to look like this::

Again NavInjectorPro operates in batch-mode, but it uses the bathydata01.cdf (a SQL

DB3 database) in the project root folder, to see the list of imported bathy data sets

(each data set represents a single bathy sonar line imported). Each internal data set

gets repaired/injected then, based upon the template selected, and the date/time stamp

of corresponding lines in the Navigation File input.

1.2 SonarWiz 6 vs SonarWiz 7 – new CSF file format

SonarWiz 7 creates CSF files in a new format, so NavInjectorPro7 should be used to

inject CSF files created with SonarWiz 7. If you have an older project created in

SonarWiz 5 or 6, and need to inject CSF files, please use the same version of SonarWiz

and its NavInjectorPro, to do it.

1.3 Navigation File Template – AsciiFileTemplates.ini

Select the navigation file template that matches the navigation data file that you plan to

merge into your sonar data. The navigation file templates are contained in a file named:

AsciiFileTemplates.ini (located in the SonarWiz Program Files folder). You may edit

(e.g. with NotePad) this file to add new templates that describe your particular ASCII



navigation input file. For instructions on editing the AsciiFileTemplates.ini file please

see the section near the end entitled Adding New Templates.

1.3.1 AsciiFileTemplates.ini – Multiple Locations Possible

NavInjectorPro versions 5.01.0008 and earlier search only the Program Files folder for

the AsciiFileTemplates.ini file. NavInjectorPro versions 5.01.0009 and later search in

multiple locations for the AsciiFileTemplates.ini file, and this section describes the

search-order precedence rules, for this required file.

1. When multiple folders are searched, the first folder searched for

AsciiFileTemplates.ini is the Application Data folder. The path of this folder

varies, but here are examples for Windows7 or 10:

Windows7 / 10 application data folder, for user Joe:

C:\Users\Joe\AppData\Roaming\Chesapeake Technology\NavInjectorPro

2. The second folder searched for AsciiFileTemplates.ini (or the only folder

searched, for NavInjectorPro versions 5.01.0008 and earlier), is the SonarWiz5

Program Files folder:

Windows7 SonarWiz5 Program Files folder:

C:\Program Files\Chesapeake Technology, Inc\SonarWiz5

(Use equivalent SonarWIz6 folders, if you are using SonarWiz 6)

3. If no AsciiFileTemplates.ini file is found in the searched folder(s), the following

error will occur (Windows7 example), and NavInjectorPro will halt:

1.3.2 SBET template Type Usable in NavInjectorPro versions 5.01.018+

New in version 5.01.0018 is the ability to process POSpac *.SBET (smoothed best-

estimate of trajectory) files created according to Applanix file-format (see

www.applanix.com for details). The SBET file format for corrected navigation data has

been coming into more common use, so CTI decided to add support for it. If you do

have navigational correction data in this type of file, simply choose this file template in

NavInjectorPro versions 5.01.0018 and later, like so:

http://www.applanix.com/



1.3.3 Folder to Read / Write

For sidescan/sub-bottom injection on XTF, SEG, CSF, JSF, and SDF files, the batch-

mode operation needs two folder names – where to find the input files, and the folder to

write the output files. All the selected file-type files in the input folder will be reviewed

and processed if their date/times are overlapped by the date/times in the navigation

change data set file you named.

1.4 Bathymetry Database Injection - Special Case

In bathymetry injection, the file being injected needs to be an imported, selected

bathymetry file. You designate the bathymetry main database bathydata01.cdf in the

project folder, and this contains the list if individual bathymetry imported files. Only files

which are enabled for display will be injected. They do not need to have successfully

merged, to be injected, e.g. RED status is okay. Sometimes you are injecting because

the file would import, but was missing something like navigation or attitude data, and

NavInjectorPro can do that for you.

1.4.1 Bathymetry Database File

When you select "SonarWiz Bathymetry" as the type of file to process, NavInjectorPro

also operates in batch mode, but changes the individual bathymetry data set databases

(not shown), which are listed in your bathydata01.cdf main project bathy database.

You find this file in the project root folder, and it always has this name.

Inside the CDF file, NavInjectorPro will use the “BathyDataSets” table, shown here in a

SQLite2009Pro view, to find which bathy data sets to inject:



So all you have to do is name your project bathy database CDF file, and NavInjectorPro

will find the bathy data sets listed inside it, and inject them. The fields which may be

altered are listed below, in Table 4B.

Note that in NavInjectorPro version 6.01.005 and later, only those bathy sonar lines

ENABLED for display, in the ProjectExplorer, are processed. You will see a mention

though, of skipping any bathy data sets which are NOT enabled for display, like this:



1.5 Adding a Date / Time Offset in SBET Processing - available in versions

5.01.0037+

A new feature added in NavInjectorPro version 5.01.0037 is the ability to modify the

date and time-offset values, to help create overlap between your recorded SBET

navigation data, and the target sonar file. This helps in cases where one was recorded

in UTC, the other in local time. When you:

(1) select Applanix SBET as the template type, and

(2) click the START button, it will present you with this dialog:

(3) Complete the File Start Date and Time offset fields, and then click OK to continue.

1.6 Unable to load Geodesy - Error may occur – and can be ignored

In SNET injection, and in other types of template injection, you may see a geodesy error

message like the red one below:



Instead, look for that bottom line – the statement saying Converted xxx of xxx sonar

records, meaning the injection worked. Then verify your results by using SonarWiz 5

TOOLS to select the file type, and select to export navigation to a CSV file, and read the

injected column data.

1.7 Template Parsing Error 30 – Line Termination Issues

A second common error users see is this red error in the NavInjectorPro message log:

It may be accompanied by a presentation of this error dialog in the GUI:



NavInjectorPro reads text files much like NOTEPAD, a commonly available text editor.

So if you get an error like that, take a look at your injection file in NOTEPAD.

If it looks like individual lines are not terminated, it will looks like a continuous stream of

text, in NOTEPAD, like this:

A file like that will cause the “template describes more fields …” error, when you try to

inject it. This file actually contains sentence terminations, but they are linefeed (0x0A

hex) characters, and this is not enough to present the data in NOTEPAD, nor read it in

NavInjectorPro.



Another way to see this is to try and read the file in MANAGE -> TEST where you see

the template and try to test it against an input file. The file above shows this for a TEST

result – the yellow section shows a failure to parse correctly:

The template in this case looked like this:



If your injection data file appears like a set of individual lines in NOTEPAD though, like

this:

Then your data would likely inject well if a date,time,event template were used and the

formats in the data match your template.

Then you would only get the “template describes more fields …” type error, if you really

have LESS fields per line than are specified in the template. If you have any doubts

about it, and can’t get it working, just send the template and injection data text file to

[email protected], along with the project MML file, and the files you are

trying to inject, and we will help with a second opinion.

1.8 Input Navigation File(s)

This is the file or files that contain the source navigation data that will be inserted into

the sonar data file. Beginning with version 5.01.033 in late October 2013,

NavInjectorPro now supports selecting multiple input files so it is no longer necessary to

concatenate them externally first. The navigation files must be described by an ASCII

file format block contained in the accompanying INI file named: AsciiFileTemplates.ini.

The INI file describes in detail the format of the ASCII navigation data so that the

Injector utility can work with many different types of input files. The INI file may be

manually edited using NotePad, or another text file editor, but most users edit the

mailto:[email protected]



template by using the Manage Templates button and associated dialog described

below.

FOR ALL TEMPLATES – the two required fields, which we recommend you list FIRST

and SECOND in your template, are DATE and TIME. This is because DATE and TIME

are used to match where the injected data go, into the injected file.

For EVENTS injection, fields date,time,events is sufficient.

For any other type of injection, date,time,x,y or date,time,latitude,longitude are the 4

fields you should use to start your template format, with any additional fields (e.g.

sbpwaterdepth) after those 4 fields.

The x,y here and latitude.longitude are not the exact fields names, but refer to

navigation position of easting.northing type, or latitude,longitude, in either case fish or

ship. The reason is that when you run the application, it will want to generate a –U or –P

or –UP file-type name and you need to tell it whether fish or ship position or BOTH are

being updated. Events have special handling and are described in section 1.4.3 below.

After that, in a template, you may use the ADD function of the template “MANAGE”

controls, to add any named field which is listed in the Table 3 area below.

Here are two examples of input NAV TXT files (command separated fields):



1.8.1 North, East injection Example

Example 1: InputNavSample1.TXT – a location at N latitude and E longitude

08/08/11,12:31:33,63 38.0051,22 33.5163

08/08/11,12:31:34,63 38.0052,22 33.5164

08/08/11,12:31:35,63 38.0053,22 33.5165

08/08/11,12:31:36,63 38.0054,22 33.5166

This indicates N latitude and E longitude.

A note regarding latitude & longitude figures: Formats vary, but examples are shown

below in Table 1. Positive values indicate N latitude and E longitude. Negative values

are needed to indicate S latitude and W longitude. If Example 1 had been in the

Southern hemisphere and in a W longitude location, the example would have looked

like this:

1.8.2 South, West Injection Example

Example 2: InputNavSample2.TXT – a location at S latitude and W longitude

08/08/11,12:31:33,-63 38.0051,-22 33.5163

08/08/11,12:31:34,-63 38.0052,-22 33.5164

08/08/11,12:31:35,-63 38.0053,-22 33.5165

08/08/11,12:31:36,-63 38.0054,-22 33.5166

This indicates S latitude and W longitude.

1.8.3 EVENTS – special injection process needing a final dummy event in list

Example 3: EventsInjectionExample1.TXT – an example of EVENTS injection

06:56:03 3/2/2014 6707

06:56:38 3/2/2014 6708

06:57:12 3/2/2014 6709



06:57:47 3/2/2014 6710

06:58:22 3/2/2014 6711

06:58:57 3/2/2014 6712

06:59:32 3/2/2014 6713

07:00:07 3/2/2014 6714

07:00:38 3/2/2014 9999

Here is a perfect example if an EVENTS data file, and the template to inject it was

described like this:

[EventsInjection_ExampleTemplate]

FieldDelimiter=space

Description=Sample events injection example template

HeaderRecordCount=0

NumberOfFields=3

FileSuffix=.txt

DateTimeOffsetSeconds=0

Field1=Time, HH:MM:SS, 0, 1.00, 0.00

Field2=Date, MM/DD/YYYY, 1, 1.00, 0.00

Field3=EventNumber, Default, 2, 1.00, 0.00

The important thing to note about this example is that EVENTS do not interpolate and

spread among pings like navigation data, they are injected at the closest ping and need

a pair of bounding events, to be injected .So 6714 will be the LAST event injected.

Always add a final event, e.g. 9999, like shown in the example injection data, and this

final entry will NOT be injected into your file. Event 9999 will not be injected into the file.



The other very special quality of EVENTS injection is that it does not require x,y or

latitude,longitude type data in the template. It’s ok to have it, but it’s not required.

1.9 Folder from which Original Sonar Data is Read

Folder to read original [XTF, SDF, SGY, CSF, or JSF] Files

This is the folder that contains the source sonar data files. All files of the specified type

in this folder will be processed in a BATCH operation. With the exception of CSF files,

the source sonar files are never overwritten. CSF files however are both read from and

written to this folder. When the Start button is pressed the utility scans this folder for all

of the files of the selected type that reside there. These are the files that will be

subsequently processed by the utility.

1.10 Folder to which New Sonar Data is Written

Folder to write modified [XTF, SDF, SGY, CSF, or JSF] Files to …

This is the folder that will receive the updated new sonar files. With the exception of

CSF files, the source sonar files are never overwritten. CSF files however are both read

from and written to this folder. When the utility runs it will create a new output sonar file

for each input sonar file that it is able to process. Output files of XTF, SGY, and JSF

type are renamed for the output file, using special designations added to the original

input file name(*), such as *-P or *-U (see section 2.7 below).

1.11 File Type Selection: Process Files of Type …

Currently the NavInjectorPro utility can work with 5 types of files: XTF, SDF, SEG-Y,

CSF, and JSF, one type at a time. While many files may be processed during a single

batch run, only one type of file type can be processed during a batch run.

Once these 5 fields of the NavInjectorPro dialog have been set, click on the START

button to proceed.



2 NavInjectorPro Operation

2.1 Program Logic

By default, the NavInjectorPro utility will simply take the time from each ping and look

up the nearest navigation data in the selected navigation file and insert that into the

sonar data file record. If a sonar record falls between two navigation records two

options are possible. If the interpolation mode is enabled, then the resulting sonar

record will be interpolated between the two bounding navigation records. If the

interpolation mode is off, then the nearest record in the navigation file will be used for

the sonar record as long as the time difference between the nearest navigation record

and the sonar record is less than the maximum interpolation time in seconds. The

interpolation mode and maximum interpolation time is configured after pressing the

Start button.



2.2 Configuring Injection Options - SCREEN 2 (after START button)

2.2.1 Sidescan / Sub-bottom Injection

By default, the NavInjectorPro utility will use each field defined by the template and

replace (where possible) the corresponding value in the output file. In the case where

the input value for a particular column in the navigation file was all zeroes, the original

value in the sonar file will be left as is. It is also possibly to manually control which fields

are inserted into a sonar file by using the Field Selection dialog shown below:

Place a checkbox by the fields you want to replace in the sonar file.

Output sonar files are given the same name as the input sonar files and then appended

with a “-P” or “-U”, which correspond to the 2 radio buttons shown above. These radio

buttons control which navigation fields will be updated by the utility.

CSF injection - It is mandatory to select the "Update" checkbox matching your injection

plan - SHIP or FISH, to inject CSF files. For example, if you are trying to inject

FishLatitude and FishLongitude, you MUST select Update Fish Position, or the injection

will not work.



2.2.2 Navigation output – Ship Position vs Fish Position Choice

The choice of output coordinates to be updated in your target file is important, because

you need to import using the changed navigation, in order to see results. In SEG and

JSF files, for example, the FileTypeSpecificOptions give you a choice of which fields to

use for import, and the nomenclature differs from Ship/Fish:

Navigation Changed JSF File Fields to use in IMPORT

SEG File Fields to use in IMPORT

SHIP Only (P output file code) SOURCE coordinates SOURCE coordinates

FISH Only (U output file code) GROUP coordinates RECEIVER coordinates

For example, if you inject changed navigation using FISH ONLY as your output target

field for the JSF file, then when you import, to see your changes, you will need to select

GROUP coordinates in the post-processing -> Import dialog FileTypeSpecificSettings

under heading JSF, like this:



Likewise for SEG files, to read changes injected into SHIP ONLY with NavInjectorPro,

you would select SEG import using FileTypeSpecificChanges and choose SOURCE

coordinates, like this:

2.2.3 Bathymetric Injection options - SCREEN 2

The second screen in NavInjectorPro, which appears after pressing the START button,

has unique setting options for bathymetry injection, which are not present in SCREEN2

for sidescan / sub-bottom injection:



Note that is it not necessary to select Update SHIP or Update FISH in this dialog for

bathymetric injection.

Of particular note, if you were unable to import position and attitude packets in the

original bathy file import, then check the yellow-highlit checkbox above, to completely

inject NEW data into the imported files.

If you do not check this checkbox, and there were no existing position or heading data,

for example, you would try to inject but would get this error message:

DOES NOT OVERLAP in this case means that NavInjectorPro cannot find any existing

data in which to merge the new injection data.



2.3 Interpolation

The Interpolate navigation data to sonar time check box controls what adjustments

will be made to the navigation data before it is inserted into the sonar file. If the

Interpolation check box is off, then the navigation that is closest to the sonar time will be

inserted. This may produce a file where multiple sonar pings contain the same position

value. If the check box is on, then the nearest navigation position will be interpolated to

the time of the sonar time.

Keep in mind that you need to have overlap between the date/times in the navigation

TXT file, and the sonar data. If there is a lag between these and absolutely no overlap,

be sure to use the DateTimeOffsetSeconds value (See section 2.7 definition for

DateTimeOffsetSeconds) so that overlap exists.

2.4 File Generation - Quality Assurance

To insure that only quality sonar files are produced with valid data, the check box

labeled Do not generate a file if navigation gap exceeds N seconds is enabled, then

the export of a file will be aborted if a gap in the navigation data exceeds a user

specified time gap in seconds.

This configuration dialog is shown after the user presses the Start button from the main

window.

2.5 Geodesy Files

If a .PRJ file with the same name as the navigation input file is found in the same folder

as the navigation input file but containing the.PRJ file extension, then that file will be

copied into the output sonar file. In XTF files, the contents of the PRJ file is copied just

after the file header as a series of XTF notes records. The PRJ file string is typically too

large to fit in either the file header notes area or a single notes record so it is broken into

multiple notes records so that the string can be accommodated regardless of its length.

In SEGY files the PRJ string is written into the SEGY EBCDIC header. The PRJ string

is broken into 80 character lines to fit into the format of the EBCDIC header beginning at

line 25 (byte offset 2000), converted from ASCII to EBCDIC and inserted. Line 25 of the

EBCDIC header was chosen to avoid overwriting the contents of the first 24 lines of the

EBCDIC header. SonarWiz currently uses the first 19 lines of the EBCDIC header to

specify custom field definitions—these are preserved.

2.6 Log Files

The NavInjectorPro application generates a new log file for each batch run. The log

file is named using a date time nomenclature and the log files are always copied to the

same destination folder where the sonar files are written.



The check box Log File Entry Threshold Time (sec) controls when a detected time gap

in the navigation data is written to the file. If a gap is detected that exceeds the user-

specified threshold value in seconds then that gap will be noted in the log file.

2.7 Adding New Templates in AsciiTemplates.ini File

At start up time the NavInjectorPro application reads a file named

AsciiFileTemplates.ini and lists the available file templates in a drop down box at the

top of the main window. Theses templates are stored in the file using standard

Windows style INI syntax. This section describes each of the parameters supported by

the INI file. There are two techniques for editing the AsciiTemplates.ini file, so use one

of these to create a new template, or modify an existing one.

2.7.1 Text Editing AsciiTemplates.ini

To add a new template, the easiest method is simply to copy and paste an existing

entry and then change the fields that you require. To edit the AsciiTemplates.ini file,

follow these steps:

(1) Click on the program icon here, and

(2) select About NavInjectorPro from the choices:

(3) select "Edit Template File" by clicking on that button:



A text editor will open and you can then add/modify templates, and save it:

2.7.2 Managing Templates

The other option for template editing is to select "Manage..." button here:



This opens the following dialog:



Be sure to test your template and see that it parses your sample input file properly,

before considering it ready to use.

2.7.3 Adding a New Template

The template entry starts with the title of the template enclosed in square brackets.

Lines that begin with the ‘#’ character are treated as comments and are not parsed by

the NavInjectorPro utility. Consider the template below:

Only the text highlighted in yellow is processed by the Nav Injector Pro utility.

Template Name is the text between the square brackets. This is the name of the

template and is also the text displayed in the Nav Injector Pro drop down list. In this

example the template name is [MikuniyaDate,Time,X,Y]

Description is a short description of the template. In the example above the

description is Mikuniya supplied this export of a Hypack RAW file.

HeaderRecordCount is the number of records to skip at the start of the file.

Sometimes, the navigation file may contain column headers which are not used by Nav

Injector Pro. In the example above there is 1 header record.

FieldDelimiter is the single character that separates the columns of data in the ASCII

navigation file. Only one delimiter character is supported per template. Valid delimiter

characters are the words comma, space, tab as well as any other special character like

‘/’ or ‘:’. In the example above the fields are delimited by a comma.

DateTimeOffsetSeconds is the number of seconds to add to the navigation time before

attempting to find a matching sonar time. This field is useful when the system recording

the navigation data and the system recording the sonar data were using different time

bases. In the example above the navigation time is being retarded by -32400 seconds

or -9 hours.



NumberOfFields is the number of fields defined in your template. This number must

be less than or equal to the actual number of fields in your navigation file. In the sample

above the template is defining 4 fields.

Field1, Field2…FieldN are the actual field definition records. Each line starts with a

FieldN header where N is a sequentially increasing number. N must start at 1

increment by 1. Each Field definition record contains a minimum of 3 fields Name,

Format and Index. Field definition records may also contain two optional fields: Scalar

and Offset.

Name is the variable name to associate with this column in the ASCII navigation file and

describes the type of data contained in this field. The format must be one of the names

listed in Table 1 at the end of this document.

Format applies to the way that the data is stored in the ASCII navigation file. Currently

only the date and time fields support various formats. All other fields should use the

default keyword as the format type. See table 1 at the end of this document for more

details.

Index is the zero-based position of the field within the record. In the example above the

date field is the first entry in the navigation file record so it is index 0. It is not necessary

to include a field definition for every entry in the navigation record. For example, the

navigation record may contain 10 fields but if you are only interested in 5 of them then

you only need to define the field locations that you need.

Scalar is an optional field that is used as a multiplier on the data that is stored in the

ASCII file. If the Scalar field is not supplied the default value of the Scalar is 1.0. The

Scalar is useful for doing unit conversion or simple multiplication on the raw data

before it is injected.

Offset is an optional field that is added to the original value before injection. If the

Offset definition is not present the Offset value defaults to 0.0. Offset is useful for

applying a bias or correction to a raw value in the navigation file before injection.

2.8 Configuration of Network Dongle

The NavInjectorPro application requires access to any valid Chesapeake Technology

license key or dongle. Access to such a dongle may be made by plugging that dongle

directly into the PC running the utility or by accessing the dongle via a TCP Ethernet

connection to another machine in the local network.



If the network approach is taken, then you will need to configure the NavInjector.ini file

to indicate the IP address of the machine that is hosting the Chesapeake dongle. By

default, there is an empty INI file included with the installation of the applications version

1.00 and later. Below is a sample INI file.

# Sample NavInjector.ini file

# These settings override the current registry settings.

# Lines that begin with '#' as the first character are treated as

# comments and have no effect.

#

# 17 JANUARY 2008 -- Implement support for network dongle access

#

# specify IP address of the machine where network dongle is attached

NETWORK_DONGLE_IP=192.168.0.113 # Emily's Shuttle

3 AsciiFileTemplates.INI Field Format Examples Tables

3.1 Table 1. Supported AsciiFileTemplates.INI FIELD Names

Name Supported Formats Description

CableOutMeters default

Date YYYY/MM/DD, YYYYMMDD, MM/DD/YY, MMDDYY, MM/DD/YYYY, MMDDYYYY, DD/MM/YY, DDMMYY, DD/MM/YYYY, DDMMYYYY

See section on Time Formats Below

DateTime DateTime_UNIX

UNIX-time (secs elapsed past midnight 1/1/1970 coordinated UTC time, minus leap-seconds)

Parses a numeric floating-point value like 1539521104.04 into a date and time like 2018-10-14 12:48:22.04

EventNumber Default

FishCourseDeg Default

FishDepthMeters Default Injection value is input in meters, and is converted to msec and usec to accurately inject a SEGY file with exact depth data, using sound velocity. E.g. 30.2m input converts to



20 msec and 133usec at 1500 m/sec sound velocity.

FishEasting Default Easting values, typically ranging between 160,000 and 834,000 (meters)

FishHeadingDeg Default

FishHeaveCm Default

FishLatitude DDD.ddd DDD MM.mm DDD MM SS.sss DDDMM.mmm

DDD.ddd=Decimal degrees DDD MM.mmm=Degrees minutes DDD MM SS.sss=Deg Min Sec DDDMM.mmm=Deg Min (NMEA style)

FishLongitude DDD.ddd DDD MM.mm DDD MM SS.sss DDDMM.mmm


FishNorthing Default Meters above (or below) the equator, typically ranging from 0 to 10,000,000

FishPitch Default

FishRoll Default

FishWaterDepth Default

GPS_GeoidHeightMeters Default Use to inject SEG trace-header field at bytes 53-56 Datum Elevation at Receiver Group

GPS_HDOP Default

GPS_PDOP Default

LineName Default Up to 255 characters of text

MagAltitudeMeters Default

MagAmplitude Default

MagCableOutMeters Default

MagDepthMeters Default

MagFieldStrength Default

SBPWaterDepthM Default

ShipCourseDeg Default

ShipEasting Default Easting values, typically ranging between 160,000 and 834,000 (meters)

ShipHeadingDeg Default

ShipLatitude DDD.ddd DDD MM.mm DDD MM SS.sss DDDMM.mmm


ShipLongitude DDD.ddd DDD MM.mm DDD MM SS.sss DDDMM.mmm


ShipNorthing Default Meters above (or below) the equator,



typically ranging from 0 to 10,000,000

ShipSpeedKts Default

ShipSpeedMps Default

ShipWaterDepthM Default

ShotNumber Default

SoundVelocityMPS Default

Time HH:MM:SS.sss, HHMMSSsss, HHMMSS.sss, HH:MM:SS, HHMMSS, JJJHHMMSS.s

See section on Time Formats Below

TimeShift Default

3.2 Table 2. Supported Date Formats

Date Format Description

YYYY/MM/DD 4 digit year, month, day forward slash delimited

YYYYMMDD 4 digit year, month, day non-delimited date

MM/DD/YY US style month, day, year forward slash delimited date

MMDDYY US style month, day, year non-delimited date

MM/DD/YYYY US style month, day, 4-digit year forward slash delimited date

MMDDYYYY US style month, day, 4-digit year non-delimited date

DD/MM/YY Euro style day, month, year forward slash delimited date

DDMMYY Euro style day, month, year non-delimited date

DD/MM/YYYY Euro style day, month, 4-digit year forward slash delimited date

DDMMYYYY Euro style day, month, 4-digit year non-delimited date

3.3 Table 3. Supported Time Formats

NOTE: Not all formats available in all versions of NavInjectorPro. Please see change

notes for 5.01.038 below.

Time Format Description

HH:MM:SS Hour, minute, second colon delimited time

HH:MM:SS.s Hour, minute, second, tenths-of-second colon delimited time

HH:MM:SS.ss Hour, minute, second, hundredths-of-second colon delimited time

HH:MM:SS.sss Hour, minute, second, millisecond colon delimited time

HHMMSS Hour, minute, second non-delimited time

HHMMSS.ss Hour, minute, second, hundredths-of-second non-delimited time

HHMMSS.sss Hour, minute, second, millisecond non-delimited time

HHMMSSs Hour, minute, second, tenths-of-second non-delimited time

HHMMSSss Hour, minute, second, hundredths-of-second non-delimited time

HHMMSSsss Hour, minute, second, millisecond non-delimited time

JJJHHMMSS.s Day of Year, Hour, minute, second, millisecond non-delimited time



3.4 Table 4A.Fields-

SS/SB

(SS/SB file injection)

Fields colorcode:

BLUE coded:

These fields are only

used as

indices into the sonar

record

GREY coded:

These fields have not yet

been assigned to any

sonar values

WHITE coded:

These fields may be

selected and

assigned as noted

above

Template Variable XTF Destination Variable

JSF Destination

Variable

SEGY Trace Header

Byte Locations

CableOutMeters CableOut cable 45-48

Date

DateTime

EventNumber EventNumber markNumber 5-8, 17-20, 171-174

FishDepthMeters SensorDepth towfishDepth

Milliseconds are

written to 105-106

LAGA field.

Microsecond

remainder written into

181-182

FishEasting

groupCoordX 81-84

FishHeadingDeg SensorHeading heading

FishHeaveCm Heave

189-190 cm

FishLatitude SensorYcoordinate groupCoordY 85-88

FishLongitude SensorXcoordinate groupCoordX 81-84



FishNorthing

groupCoordY 85-88

FishPitch SensorPitch pitch 187-188 degrees

FishRoll SensorRoll roll 185-186 degrees

FishWaterDepth

GPS_GeoidHeightMeters

53-56, 57-70 stored

as meters scaled with

the scalar in 69-71.

The value in 171-174

stored as 4-byte

integer in cm

GPS_HDOP

GPS_PDOP

KP (kilometer post, on

cable / pipeline surveys) KP

171-174,205-208 real

LineName

195-204

MagAltitudeMeters

MagAmplitude

MagCableOutMeters

MagDepthMeters

MagFieldStrength

SBPWaterDepthM SensorDepth

49-52

ShipCourseDeg

ShipEasting ShipXcoordinate groupCoordX 73-76

ShipHeadingDeg ShipGyro

193-194 as degrees

ShipLatitude ShipYcoordinate groupCoordY 77-80

ShipLongitude ShipXcoordinate groupCoordX 73-76



ShipNorthing ShipYcoordinate groupCoordY 77-80

ShipSpeedKts SensorSpeed&ShipSpeed NMEASpeed 183-184

ShipSpeedMps

ShipWaterDepthM ShipDepth& AuxVal1 depth X 1000 61-64

ShotNumber

SoundVelocityMPS SoundVelocity

93-94

Time

TimeShift

TowfishAltitude SensorPrimaryAltitude altitude 65-68



3.5 Table 4B.Fields-

BATHY

(Bathy file injection)

Fields colorcode:

BLUE coded:

These fields are only

used as

indices into the sonar

record

GREY coded:

These fields have not yet

been assigned to any

sonar values

WHITE coded:

These fields may be

selected and

assigned as noted

above

Template Variable

Bathymetry Database

Destination Variable Bathy Notes

FishDepthMeters RawPressure.Depth

FishEasting RawPosition.X map units

FishHeadingDeg RawAttitude.Heading degrees

FishHeaveCm RawAttitude.Heave meters

FishLatitude

FishLongitude

FishNorthing RawPosition.Y map units

FishPitch RawAttitude.Pitch degrees

FishRoll RawAttitude.Roll degrees

ShipEasting

use FishEasting and FishNorthing to

inject into bathy

ShipHeadingDeg

ShipLatitude



ShipLongitude

ShipNorthing

use FishEasting and FishNorthing to

inject into bathy

4 Nav Injector Pro – Version History –Recent Releases

4.1 Version 7.02.017 14 NOV 2018 JTG

1. CSF injection of position and pressure data crashes if the position table injection

failed for any reason. This is now fixed.

2. CSF injection into bathy silently fails unless the position source is not one of the the

"Fish" options. Now NIP will emit an error message informing the user why the injection

failed.

4.2 Version 7.02.015 10 AUG 2018 JTG

SonarWiz 7 release 7.02.004 contains this update, which supports DateTime_UNIX as

the field name now, instead of DateTime. This format supports UNIX-time coded data

(seconds past midnight 1/1/1970) as a way to parse these numbers and present them in

date time format. (JIRA SW702-225)

4.3 Version 7.02.013 10 AUG 2018 JTG

PL10195: CSF injection of event numbers was skipping the fist hundred records or so.

4.4 Version 7.02.012 13 FEB 2018 JTG

1. Found the real problem from the night before. The function call

csfIn.GetGridConvergenceAngleDeg() with no arguments called into a CSF library

function CCSFBase::GetFirstValidLatLon().

This function changed the m_curRecord field as it hunted for the first valid position. I

replaced the call to csfIn.GetGridConvergenceAngleDeg() with its sibling

csfIn.GetGridConvergenceAngleDeg(lat, lon) since we already know the lat/lon anyway.

2. Also fixed the issue with temporary files being left around in the CSF folder after a

conversion.

4.5 Version 7.02.011 12 FEB 2018 JTG on delayed flight back to SFO from CLT

There might be some sort of mismatch between the CSFLib7 headers and NIP. Or

maybe it is just the debugger that's in error.



The problem reported in SI-585 is definitely related to the convergence functions and I

was able to get it resolved by computing the convergence in a slightly different way but

not confident that this is the end of the story.

4.6 Version 7.02.010 06 FEB 2018 JTG Denver LiDAR conference

The SBET heading bug turned out to be caused by a double conversion of

RSG_TO_DEG. The wander logic has been restored and the double conversion

problem fixed.

4.7 Version 7.02.009 05 FEB 2018 JTG Denver LiDAR conference

The SBET heading was in error. Might be related to the use of the 'wander' value

which was removed for this build.

4.8 Version 7.02.008 10 November 2017 JBF

Added logic to allow the built-in coordinate systems to use the time offset feature that

user-defined templates have.

4.9 Version 7.02.007 16 October 2017

The recent fix to expand the file list to support .SGY and .SEG files was errant. This

has been fixed.

4.10 Version 7.02.004 04 October 2017

1. Fixed a bug in the LoadNavFile() where updating the progress bar was causing an

issue with the file position.

2. The scaling and offset for latitude and longitude fields were not being applied. This is

fixed now.

4.11 Version 7.02.003 23 August 2017

Fix one more place where the wrong template file was getting updated and not saving

changes to the correct location.

4.12 Version 7.02.002 20 August 2017

1. Fixed the bug where the ASCII Template file was being read from the NavInjectorPro

version 6 folder and not this version.

2. The global function ReduceWhiteSpace() was changed so that it replaces the

multiple whitespace with the actual whitespace character and not always a space

character.

3. The CSF ValidateFileVersion function was getting called even when CSF files were

not in play. That has been fixed so that CSF validation only occurs when CSF files will

actually be opened.



4.13 Version 7.02.001 21 June 2017

1. Back out JG's changes in prior version (7.01.003) - these conflict with CSF version

check approach used in this version.

2. Test all CSF files to make sure they are supported version. Write error msg to log for

each unsupported file. Display a summary message box if any files are unsupported.

3. Started to do this but backed out due complexity and a few unknowns....Write all log

file output to a single log file - the standard log in

C:\Users\....\AppData\Roaming\Chesapeake Technology\NavInjectorPro7

Get rid of the secondary log file that was being created in the same directory as the

executable.

4.14 Version 7.01.0003 09 JUNE 2017

1. Implemented Mark's new ValidateFileVersion for CSFs to make sure we have a

version we can operate with.

4.15 Version 7.01.0002 19 MAY 2017

Added support for DateTime as a UNIX time value

4.16 Version 6.01.0017 17 APRIL 2017

Added insert KP capability to CSF and JSF.

4.17 Version 6.01.016 24 JUN 2016

Fixed bug in event insertion logic for SEGY that caused skipping event records in the

input file.

4.18 Version 6.01.015 02 MAR 2016

Updated to x64 build, and it now looks in the root folder for GM DLLs.

4.19 Version 6.01.013 04 NOV 2015

1. Fixed parsing of SBET files heading.

2. The m_bClampFileOutputToValidNavBlock now applies to both the CSF and the JSF

files only.

4.20 Version 6.01.012 04 NOV 2015

Relinked against LTWin19 compatible source

4.21 Version 6.01.010 01 SEP 2015

XTF injection had not been supporting the injection of FishHeadingDeg, and this was

fixed.



4.22 Version 6.01.009 28 AUG 2015

1. Made a few bug fixes with respect to injecting navigation data into a CDF bathy

database file. Quite a few holes there.

2. Add new check box option to completely replace navigation, attitude and pressure

tables in BathyData01.CDF, when check box "Drop existing tables and add from

nav/attitude input" is checked.

3. Increased the size of the XTF read buffer, to fix a crash encountered when injecting

into XTF files with big bathy records.

4. Added support for injecting navigation and attitude into bathy navigation (107) and

attitude (3) packets. Needs more testing.

4.23 Version 6.01.008 July 30,, 2015

Fixed input and output folder browse button function, where the selected folder in the

GUI did not update the text field correctly.

4.24 Version 6.01.007 June 23, 2015

Upgraded to GlobalMapper SDK V162.2, in conjunction with SonarWiz release

6.01.0021.

4.25 Version 6.01.006 June 21, 2015

1. Added built-in reader for Hypack RAW Files--currently we were only extracting fish

easting, fish northing and line number from the Hypack files but we'll get this working

with other parameters as the need arises.

2. Now the creation of the CContiguousBlocks array happens after the sorting is done.

This step was previously done as the navigation records were being loaded, but before

they were being sorted, so the blocks could not really be constructed right unless the

data was already perfectly sorted.

4.26 Version 6.01.005 June 1, 2015

1. Added support for injecting values into SonarWiz bathymetry database lines, ONLY

when they are ENABLED for display in the project.

4.27 Version 6.01.004 May 21, 2015

1. Added support for injecting values into SonarWiz bathymetry database.

2. Table 4B added describing bathy injection capabilities in SonarWiz 6.01.0011

4.28 Version 6.01.003 May 1, 2015

1. Recompiled and linked with V6 logo / graphics--no user impact expected



4.29 Version 6.01.002 March 31, 2015

1. Added support for Applanix raw files

4.30 Version 6.01.001 March 26, 2015

1. Recompiled and linked with source from CSF code from SonarWiz 6.

2. Fixed the way that the CMG was computed when sparse navigation data is

injected. If a user creates a template that injects CMG then NIP will no longer try

to update CMG from a change in position over time. If however, the user

updates the position without supplying a CMG replacement value, NIP will

generate a new CMG value that is based on the change in position over a

minimum of 50 meters. Ideally, we'd like to use the same function that SonarWiz

uses to generate the smoothed CMG by examining the entire nav trace but that's

a much bigger project. We think this might satisfy most users.

4.31 Version 5.01.0040 May 30, 2014

Version 5.01.0040 28 MAY 2014

3. Recompiled and linked with changes to underlying CSF code--no user impact

expected.

4. Document change only 11/17/2014 – example of Applanix SBET injection

geodesy error that may occur, and which can be ignored, was added.

5. PDF updated 1/20/2015 to clarify required 4 fields date,time,x,y or

date,time,lat,long in cases where anything other than EVENTS are being

injected.

4.32 Version 5.01.0039 May 25, 2014

Version 5.01.0039 25 MAY 2014

1. Template error – too many data fields – corrected in FGSI-ECF template use,

which had last worked in 5.01.0027.

2. Documentation update – section 1.3.3 added to explain EVENTS injection – and

the special need for a “dummy” entry at the end of your event list of N events, to

make sure N-1 jets injected

4.33 Version 5.01.0038 Apr 27, 2014

Version 5.01.0038 27 April 2014

1. Added more time templates to support hundreds and tenths of seconds in addition to

milliseconds (Table 3 revised).

4.34 Version 5.01.0037 Mar 25, 2014

Version 5.01.0037 25 MAR 2014



1. New dialog added for adding date/time offset when selecting Applanix SBET template

format.

4.35 Version 5.01.0036 Dec 17, 2013

Version 5.01.0036 17 DEC 2013

1. Implemented time interpolation for injecting data into SEGY files. The SEGY file

specification only stores ping times to the nearest integral seconds so by synthesizing a

fractional time stamp for each SEGY ping we can improve the alignment with the data

being injected.

4.36 Version 5.01.0035 Nov 05, 2013

Version 5.01.0035 05 NOV 2013

1. Implemented the same optimization we did for XTF files that reads the start and

end time of the file before processing, for CSF files.

4.37 Version 5.01.0034 Nov 03, 2013

Version 5.01.0034 03 NOV 2013

1. Implement the same optimization we did for XTF files that reads the start and end

time of the file before processing, for SGY files.

2. Fix crash bug if no navigation file(s) were selected in the dialog field.

4.38 Version 5.01.0033 Nov 01, 2013

Version 5.01.0033 01 NOV 2013

1. Support new optimization for XTF files that reads the start and end time of the XTF

file before processing. If there is no overlap between the navigation data and the XTF

data, then processing for that XTF file is skipped.

2. Add support for selecting single of multiple navigation files for processing. When

multiple files are selected the data is combined internally into a single array and sorted.

4.39 Version 5.01.0032 Oct 23, 2013

Version 5.01.0032 23 OCT 2013

1. If an ASCII navigation file contained XY coordinates and the target SEGY contained

arcSeconds the segy units flag was not set correctly. This should be fixed now.

2. Write Towfish Altitude to SEGY trace header bytes 65-68.

3. Tables 3 & 4 alphabetized.



4.40 Version 5.01.0031 Oct 19, 2013

Version 5.01.0031 19 OCT 2013

1. Add sound velocity (if it's available in the template) to SEGY bytes 93-94

subweathering velocity.

2. ShipWaterDepthM was not being written to bytes 61-64. Now it is.

3. SBP_WaterDepthM is now being written to 49-52.

4.41 Version 5.01.0030 Sept 6, 2013

Version 5.01.0030 6 SEP 2013

1. The time parser was not correctly handling the differences between the time formats

HHMMSS.sss and HHMMSSsss where the former has a delimiter before the

millisecond value.

2. Add a button in the ‘About’ box to allow users to launch a text editor directly on the

AsciiTemplates.ini file.

4.42 Version 5.01.0029 July 3, 2013

Version 5.01.0029 3 JUL 2013

1. The CSF inserter was not correctly handling low-res (version 17 and earlier) CSF

files. In fact, it rendered the CSF files useless. This has been fixed in this version of

CSF editor. Note this corruption only occurred when users had set the "Maintain

backward compatibilty..." setting in SonarWiz.

4.43 Version 5.01.0028 April 13, 2013

Version 5.01.0028 13 APR 2013

1. Handles multiple spaces (delimiters) between fields in ASCII file.

2. Add support to inject magnetometer into CSF files.

4.44 Version 5.01.0027 February 15, 2013

Version 5.01.0027 15 FEB 2013

1. FishDepthMeters injection into a SEGY and CSF files was improved and documented

in Table 4. Meters are converted to msec and usec and stored in two separate SEGY

fields now.

2. ShipWaterDepthMeters was errantly stored into sensor depth in CSF files, and this

has been corrected.



4.45 Version 5.01.0026 February 04, 2013

Version 5.01.0026 04 Feb2013

1. Support added for DOF template for special *.V4LOG source CSF file injection

4.46 Version 5.01.0025 November 09, 2012

Version 5.01.0025 09 NOV 2012

1. Support added to inject GPS_GeoidHeightMetersin SEG file trace header data

4.47 Version 5.01.0024 October 12, 2012

Version 5.01.0024 12 OCT 2012

1. Support added to handle little-endian byte order in SEG file data

2. Support added to read samples/channel from the binary header, if this data was

missing from each trace header.

4.48 Version 5.01.023 03 OCT 2012

1. Repaired the SBET injection feature.

4.49 Version 5.01.022 07 SEP 2012

1. Add the ability to inject altitude into CSF files.

4.50 Version 5.01.021 August 21, 2012

1. Minor code reworking to make things a bit more readable.

4.51 Version 5.01.020 August 2, 2012

1. Fix up the arcsecond handling in SEGY files--essentially it wasn't there.

2. Fix up support for multi-channel SEGY files. I don't think this ever worked.

4.52 Version 5.01.019 May 20, 2012

1. Add support for injecting event numbers into JSF files.

4.53 Version 5.01.018 May 18, 2012

1. Support added for the new built-in template format for Applanix SBET files.

2. Support added for injection of Klein type *.SDF files.

3. The re-sizing capabilities of the GUI were enhanced.

4.54 Version 5.01.017 April 13, 2012

1. Use of DateTimeOffsetSeconds did not always work properly. Now it does.

4.55 Version 5.01.016 March 9, 2012

1. The injection into CSF was not working with V18 CSF files. Now it is.



4.56 Version 5.01.015 January 25, 2012

1. After updating several Edgetech headers the towfish field of the JSF record was no

longer defined. It has been replaced by the 'depth' field.

4.57 Version 5.01.014 January 5, 2012

1. Modified the EVAL CODE check section so that the application will not only run, but

the START functions too, and the LED is GREEN, if an EVAL code is in use and

SonarWiz5 is running.

navinjectorpro user reference · 4.19 version 6.01.013 04 nov 2015 ..... 42 navinjectorpro.pdf...

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