U.S. Geological Survey, 2010, BATHY_CSR.TIF: Color-shaded relief image generated from swath bathymetric data collected by the U.S. Geological Survey within the St. Clair River between Michigan and Ontario, Canada, 2008 (GeoTIFF): Open-File Report 2010-1035, U.S. Geological Survey, Coastal and Marine Geology Program, Woods Hole Coastal and Marine Science Center, Woods Hole, MA.This is part of the following larger work.Online Links:
- <https://pubs.usgs.gov/of/2010/1035/gis_catalog/bathymetry/bathy_csr.zip>
- <https://pubs.usgs.gov/of/2010/1035/html/gis.html>
Denny, Jane F. , Foster, David S. , Worley, Charles R. , and Irwin, Barry J. , 2010, Geophysical data collecte the from St. Clair River between Michigan and Ontario, Canada, 2008-016-FA: Open-File Report 2010-1035, U.S. Geological Survey, Coastal and Marine Geology Program, Woods Hole Coastal and Marine Science Center.Online Links:
This is a Raster data set. It contains the following raster data types:
Planar coordinates are encoded using row and column
Abscissae (x-coordinates) are specified to the nearest 2.937222
Ordinates (y-coordinates) are specified to the nearest 2.936920
Planar coordinates are specified in meters
The horizontal datum used is D_WGS_1984.
The ellipsoid used is WGS_1984.
The semi-major axis of the ellipsoid used is 6378137.000000.
The flattening of the ellipsoid used is 1/298.257224.
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This color-shaded relief image will be used to illustrate the riverbed morphology within the Upper St. Clair River.
U.S. Geological Survey.
SWATHplus acquisition software (version 3.05.90) was used to digitally log the bathymetric data at a rate of 30 pings/second and 3,072 samples per swath (ping) in the SWATHplus SXR format. Data collection parameters are saved into a SWATHplus session file in SEA's SXS format. These files can be later used for data replay.
An Octopus F180R Attitude and Positioning system (see: <http://www.codaoctopus.com/motion/f180/index.asp>) recorded ship motion (heave, pitch, roll, and yaw). These data were transmitted via network connection to the SWATHplus data collection software. The Octopus F180R Inertial Measurement Unit (IMU) was mounted directly above the SWATHplus transducers, to minimize lever arm offsets that can lead to positioning errors. The F180R uses two L1 antennas for position and heading accuracy. The antennas are mounted on a rigid horizontal pole, 3 meters above the F180R IMU, with a horizontal separation of 1 meter and are offset from the IMU in a forward/aft configuration. The forward offset of the primary antenna from the IMU is 0.5 meters, with no port/starboard offset.
Eight sound-velocity profiles were acquired during survey operations at roughly 4-hr intervals using an Applied Microsystems SV Plus V2 Velocimeter (Applied Microsystems, 2008).
Offsets of the SWATHplus transducers and DGPS navigation antenna from the Octopus F180R Attitude and Positioning System Inertial Measurement Unit (IMU), which is the designated common reference point (CRP), were verified as entered correctly into the SWATHplus session file for the survey. Offsets forward, below, and to the right (starboard) of the CRP are considered positive:
Primary navigation antenna to IMU: Height offset: -3 meters, Forward offset: 0 meters, Starboard offset: 0 meters
Draft of the MRU below water line: 0.63 meters.
Offset of SWATHplus transducer 1 (port side) from the CRP: Height offset: 0.158 meters Forward offset: -0.019 meters Starboard offset: -0.11 meters
Offset of SWATHplus transducer 2 (starboard side) from the CRP: Height offset: 0.158 meters Forward offset: -0.019 meters Starboard offset: 0.11 meters
Software: SWATHplus 3.05.19.0
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Data from eight sound velocity profiles were incorporated into the SWATHplus session file. The velocity data is stored in Microsoft Office Excel 2003 SP3 commas-separated values (csv) format, and the location and time, as well as the velocity information, were extracted from the csv file and entered into the sound velocity profile dialog in SWATHplus. Sound velocity information closest in time to the bathymetric data collected are utilized by the SWATHplus program to correct for variations in sound velocity through the water column, minimizing ray bending effects that can produce erroneous depth soundings.
Software: SWATHplus 3.05.19.0
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Various filters were set in the SWATHplus software in order to refine the depth of the seafloor across the swath for each ping based on the phase and amplitude of the returning sonar signal. Only the filters listed below were set, all others were turned off. Filter settings:
Low amp: 100; Range: Max amplitude 1 meter, min amplitude 0 meters; Phase Confidence: 70 percent; Angle Proximity: 25 sample window, range 0.11, threshold 9 samples, Minimum elevation -120 degrees; Box: Minimum Depth 0 meters, Minimum Horizontal Range 1 meter; Median sample window size 5; Along track 1: Max depth difference 10 meters, window size 5, learn rate 0.6 Along track 2: Max depth difference 5 meters, window size 1, learn rate 0.9; Mean output processed pixel size: 0.2 meters.
Software: SWATHplus 3.05.19.0
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Patch test, used to calibrate roll offsets, lines were replayed through the SWATHplus software after the velocity profiles (for that day) and filters were set and saved in the SWATHplus session file. Processed data files were saved in the SWATHplus sxp format.
The patch test processed sxp files (p1 p8.sxp) were imported into the SWATHplus Grid Processor program and run 2 times through the calibration tool to determine any static offsets for roll. Results: Port roll offset = +0.254 degrees, Stbd roll offset = -1.037 degrees. These offsets were then entered into the SWATHplus session file.
Software: Grid Processor 3.05.19.0
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The Ashtech Z-Xtreme receiver collected position (x,y) and elevation (z) data of the DGPS antenna during survey operations (see: Source Contribution for antenna configuration). DGPS position data (xyz) were recorded with HYPACK Hydrographic Survey Software (<http://www.hypack.com/>). Real-Time Kinematic (RTK) corrections based on vertical position data from the Fort Gratiot, Michigan National Geodetic Survey Continuously Operating Reference Stations (CORS) were applied to the recorded antenna heights (z) during post-processing using NovAtels Waypoint GrafNav post-processing high-precision package, a static kinematic/baseline processor (<http://www.novatel.com/>). A rover RTK-GPS station was established at the tidal benchmark at the U.S. Coast Guard Base at Port Huron in order to determine the offset between North American Vertical Datum of 1988 (NAVD 88) (vertical datum referenced at the CORS site) and the International Great Lakes Datum 1985 (IGLD 85) referenced at the tidal benchmark.
An offset was applied to the RTK-corrected antenna heights to convert the reference heights to the local chart datum, International Great Lakes Datum 198 (IGLD85). Additional offsets were applied to translate the height of the antenna to the waterline. The resulting data file contained date, time (every second) and height of waterline relative to IGLD85.
(Navigation data are stored in American Standard Code for Information Interchange (ASCII) files. Offsets were applied using GNUs Not Unix (GNU) gawk 3.1.5 programming language).
NovAtel GrafNav 8.1.0; GNU gawk 3.1.5; HYPACK 8.2.3.7
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BEGIN { latmin = 0.0}{min= substr($1,4,2); if(lastmin !=min) {printf("%s %s %.2f\n", $1, $2, $3)} lastmin=min;}
The filtered elevations at one-minute time intervals were then entered into SEA, LTD SWATHplus software as a Tide in the following format: HR:MN DD/MM/YYYY XXX.XX, where HR=hour, MN=minute, DD=day, MM= month, YYYY=year, XXX.XX=tide.
MATLAB 7.4.0 (R2007a)
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Software: SWATHplus 3.05.19.0
Person who carried out this activity:
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5084572310 (FAX)
jdenny@usgs.gov
The SXP files were then edited using the following filters: across track distance 7 times nadir depth (reduces the swath width to seven times the water depth in order to reduce noise in the outer range), across track angle of 2 degrees (calculates the slope of each beam in degrees to the prior and post beams within the same swath. If slopes exceed the specified value and are of opposite sign the beam is rejected), Missing neighbors: port and starboard, forward and aft, and any 2 of 4 (filters the soundings if neighboring soundings to the port and starboard, forward and aft, or if two of the four neighboring beams are missing) (<http://www.caris.com>). Individual files were further edited with the SWATH EDITOR where remaining outliers were manually removed.
Field sheets were then created with UTM zone 17N, WGS84 projection and used to organize the processed bathymetric data and generate A Bathymetry Associated with Statistical Error (BASE) surfaces. Three BASE surfaces were created at the following resolutions: 0.5, 2.0 and 5.0 meters and the swath angle Surface Type (default). The maximum footprint size in the BASE surface that a sounding was utilized was set to 9 pixels, and the include status for soundings were set to accepted, examined, and outstanding. Individual field sheets and BASE surfaces were generated for the Upper St. Clair, Marysville and Port Lambton study areas.
Each of the BASE surfaces was interpolated in CARIS HIPS. The interpolation is only applied to areas of no data, and helped to fill in small gaps in the surface. Parameters used for the interpolation were: Matrix size 5X5 pixels, minimum number of neighboring pixels required for interpolation was 6.
Software: CARIS HIPS/SIPS 6.1
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The 0.5 m bathymetric grid contained data gaps at nadir. The filters used within the SWATHplus software eliminated noisy data near nadir, resulting in data gaps of less than 5 meters at nadir. To fill these data gaps, the IVS command dtmmerge from within the Fledermaus Commander was used to merge the high-resolution 0.5 meter grid with the lower resolution 2.0 grid.
Dtmmerge in file1_highres.dtm file2_lowres.dtm out output.dtm cellsize 0.5
By default, the lower resolution grid is used to fill data gaps present within the higher resolution grid, with the output grid reflecting the high-resolution input grid: 0.5 meters.
After merging the 0.5- and 2.0-meter grids, several data gaps remained in areas where adjacent tracklines did not provide complete coverage of the riverbed. Dtmmerge was run again using the output from the first pass (merging the 0.5 and 2 meters grids) and the 5-m resolution grid in order to minimize data gaps between lines.
The final grid, bathy_05m, was exported from IVS Data Magician as an Arcview Grid (ESRI ASCII grid) (bathy_05m_m.asc).
Software: IVS DMagic 6.7.0
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The projection of the grids was then defined as UTM, zone 17N, WGS84, using Arc Toolbox, Data Management Tools, Projections and Transformations, Define Projection.
In order to reduce spurious bathymetric points along the perimeter of the bathymetric grid, the border of the grid was digitized and saved as a polygon shapefile (border.shp). The Spatial Analyst Tool Extraction Extract by Mask was then used to clip the bathymetric grid (bathy_05m_m) based on the digitized border (border.shp), thus eliminating spurious points at the edges of the bathymetric grid. The output clipped grid was stored as bathy_05m.
Software: ESRI ArcGIS 9.2
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The hillshade was displayed with the bathymetric grid (with the continuous color legend of blue to yellow to red - deep to shallow), using a 50% transparency for display of the bathymetric grid, to create a color-shaded relief image. File, Export Map was then used to save the color-shaded relief image as a GeoTIFF. This process decreases the cell size to approximately 3 meters.
ArcGIS 9.2
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Foster, David S. , and Denny, Jane F. , 2009, Quaternary Geologic Framework of the St. Clair River between Michigan and Ontario, Canada: Open-File Report 2009-1137, U.S. Geological Survey, Coastal and Marine Geology Program, Woods Hole Coastal and Marine Science Center, Woods Hole, MA.Online Links:
Differential Global Positioning System (DGPS) navigation data were acquired with the forward, or primary, Octopus F180R Attitude and Positioning system DGPS antenna and transmitted via a network connection to the SWATHplus data collection software. The F180R Attitude and Positioning system uses 2 L1 antennas for position and heading and an Inertial Measurement Unit (IMU) for motion sensing. The F180R IMU is mounted on the rigid sidemount used to deploy the SWATHplus bathymetric system, and is located directly above the SWATHplus transducers. The F180R antennas are mounted on a rigid horizontal pole, 3 meters above the F180R IMU, offset in a forward/aft configuration (see 'source contribution' for a full description of the F180R). DGPS accuracy is 1 to 3 meters, depending on the distance from a US Coast Guard coastal repeater station (<http://www.navcen.uscg.gov/>).
. An additional DGPS antenna, connected to an Ashtech Z-Xtreme receiver, was attached at the center of the rigid horizontal pole used to mount the Octopus F180R Attitude and Positioning system antennas. Real Time Kinematic GPS (RTK-GPS) corrections were applied to the Ashtech Z-Xtreme navigation data during post-processing in order to provide sub-meter vertical accuracy for bathymetric soundings. Fort Gratiot, MI, a Continuously Operating Reference Station (CORS) (<http://www.ngs.noaa.gov/CORS/>), was used as the reference station for the RTK-GPS corrections. A rover RTK-GPS station was established at the tidal benchmark at the U.S. Coast Guard Base at Port Huron in order to determine the offset between North American Vertical Datum of 1988 (NAVD 88) (vertical datum referenced at the CORS site) and the International Great Lakes Datum 1985 (IGLD 85) referenced at the tidal benchmark. The following offsets were applied to the shipboard DGPS data during post-processing: vertical offset between NAVD 88 and IGLD 85, the measured distance between the DGPS antenna and SWATHplus transducer, and the depth of the transducer below the water line. The resulting values were applied to the bathymetric soundings during processing to provide a measure of depth relative to IGLD 85.
Lines 1 through 65 of swath bathymetric data were processed and used to generate the color-shaded relief image. Gaps present in this data set fall within shallow water areas where the swath width of the bathymetric system decreased to less than the 75-m survey trackline spacing. Data gaps at the beginning of survey lines 1 and 2 are due to deletion of poor quality data at the beginning of the line; the bathymetric system was not tracking bottom (i.e. the riverbed). Data gaps along the northeastern and southeastern edge of the survey are due to insufficient bottom coverage with the SWATHplus system.
All bathymetric data were collected during USGS cruise 08016 using a SWATHplus 234-kHz swath bathymetric system and an Octopus F180R Attitude and Positioning System. Quality control was conducted during processing of the data. Any spurious data or artifacts were removed or minimized.
Are there legal restrictions on access or use of the data?
- Access_Constraints: None
- Use_Constraints:
- These data are NOT to be used for navigation. Public domain data from the U.S. Government are freely redistributable with proper metadata and source attribution. Please recognize the U.S. Geological Survey as the originator of the dataset.
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Downloadable Data
Neither the U.S. Government, the Department of the Interior, nor the USGS, nor any of their employees, contractors, or subcontractors, make any warranty, express or implied, nor assume any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, nor represent that its use would not infringe on privately owned rights. The act of distribution shall not constitute any such warranty, and no responsibility is assumed by the USGS in the use of these data or related materials.Any use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U.S. Government.
| Data format: | WinZip file containing a GeoTIFF color-shaded relief image of the bathymetry collected by the U.S. Geological Survey in the Upper St. Clair River between Michigan and Ontario, Canada and associated metadata. in format WinZip (version 9.0) Size: 1180 KB |
|---|---|
| Network links: |
<https://pubs.usgs.gov/of/2010/1035/gis_catalog/bathymetry/bathy_csr.zip> |
The image contained in the zip file is available as a GeoTIFF with an accompanying world file. To utilize this data, the user must have an image viewer, image processing or GIS software package capable of importing a GeoTIFF image.
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