Kongsberg EM Series, EM 3002, EM 3000, EM 2040, EM 2000, EM 1002, EM 710, EM 302, EM 122, EM 300, EM 120, EM 950, EM 1000, EM 12, ME 70 Multibeam echo sounder Instruction manual

Instruction manual
EM Series
Multibeam echo sounders
Datagram formats
Kongsberg EM Series
Multibeam echo sounder
EM datagram formats
850-160692/N
September 2010
©
Kongsberg Maritime AS
Document history
Document number: 850-160692
Rev. K
June 2009
A new output datagram, Network Attitude Velocity datagram
110, is added. The 3 D velocity input is used for Doppler
compensation in FM mode. The range corrections applied
is documented in the Raw range and angle 78 datagram.
Installation, Runtime and status datagrams are updated with extra
information. Changes in PTNL, GGK datagram
Rev. L
November 2009
Updated Runtime and Installation parameters. Updated PU
information and status datagram to allow for EM 2040 datagrams.
ExtraParameters added in Multibeam parameters section
Rev. M
January 2010
Added SIS generated datagrams. Added and modified comments.
Rev. N
September 2010
Typing error in KSSIS 80 format corrected. RFN parameter
re-introduced in Installation datagram (see Multibeam Parameters
section).
Copyright
©2010 Kongsberg Maritime AS
The information contained in this document remains the sole property of Kongsberg Maritime AS. No part
of this document may be copied or reproduced in any form or by any means, and the information contained
within it is not to be communicated to a third party, without the prior written consent of Kongsberg
Maritime AS. The document, or any part of it, may not be translated to any other language without the
written approval from Kongsberg Maritime AS.
Disclaimer
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to install,
operate or work on the equipment.
Kongsberg Maritime AS disclaims any responsibility for damage or injury caused by improper
installation, use or maintenance of the equipment.
Support
If you require maintenance on your equipment, contact Kongsberg Maritime AS using the following
address:[email protected]. If you need other information about this product, or
any other Kongsberg Maritime AS products, visit http://www.km.kongsberg.com.
Kongsberg Maritime AS
www.kongsberg.com
EM datagram formats
Table of contents
1
1.1
EM DATAGRAM FORMATS................................................. 5
Presentation format.................................................................................................6
2
2.1
INPUT DATAGRAMS ......................................................... 7
Position ...................................................................................................................7
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2.1.6
2.1.7
2.1.8
2.1.9
2.2
Attitude ................................................................................................................20
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
2.2.6
2.3
DBS Format ............................................................................................ 32
DPT Format............................................................................................. 32
Simrad format.......................................................................................... 33
Remote control datagrams ....................................................................................34
Sound speed at transducer ....................................................................................36
2.7.1
3
3.1
3.2
Overview ................................................................................................ 27
Kongsberg Maritime SSP format............................................................... 28
AML Smart Sensor and AML Micro Sensor format ................................... 31
Depth input datagrams from single beam echo sounder ......................................32
2.5.1
2.5.2
2.5.3
2.6
2.7
Clock ...................................................................................................... 26
ZDA format............................................................................................. 26
Sound speed datagrams ........................................................................................27
2.4.1
2.4.2
2.4.3
2.5
Overview ................................................................................................ 20
EM Attitude input format ......................................................................... 22
Network velocity attitude input format ...................................................... 23
Sperry MK-39 Attitude input format ......................................................... 24
HDT format............................................................................................. 25
SKR80 format ......................................................................................... 25
Clock datagrams ...................................................................................................26
2.3.1
2.3.2
2.4
Overview .................................................................................................. 8
GGA Datagram........................................................................................ 10
PTNL, GGK Local coordinate position datagram ....................................... 12
GGK Datagram........................................................................................ 13
VTG Datagram ........................................................................................ 14
Transponder position................................................................................ 15
Simrad 90 datagram ................................................................................. 16
Tide Input ............................................................................................... 18
Depth pressure or height input ................................................................. 19
KSSIS 80 Datagram ................................................................................. 36
OUTPUT DATAGRAMS .................................................... 37
Introduction ..........................................................................................................37
Multibeam data .....................................................................................................40
3.2.1
3.2.2
850-160692/N
Depth datagram ....................................................................................... 40
XYZ 88................................................................................................... 43
3
Kongsberg EM Series
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.2.9
3.3
External sensors....................................................................................................59
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.4
PU ID output ........................................................................................... 91
PU Status output ..................................................................................... 94
PU BIST result output .............................................................................. 97
SIS generated output.............................................................................................99
3.7.1
3.7.2
3.7.3
3.7.4
3.7.5
4
Installation parameters ............................................................................. 73
Runtime parameters ................................................................................. 79
Mechanical transducer tilt......................................................................... 86
ExtraParameters datagram ........................................................................ 87
PU information and status ....................................................................................91
3.6.1
3.6.2
3.6.3
3.7
Surface sound speed ................................................................................ 70
Sound speed profile datagram ................................................................... 71
Kongsberg Maritime SSP output datagram ................................................ 72
Multibeam parameters ..........................................................................................73
3.5.1
3.5.2
3.5.3
3.5.4
3.6
Attitude datagram .................................................................................... 59
Network attitude velocity datagram 110..................................................... 61
Clock ..................................................................................................... 63
Depth (pressure) or height datagram.......................................................... 64
Heading .................................................................................................. 65
Position .................................................................................................. 66
Single beam echo sounder depth .............................................................. 68
Tide datagram.......................................................................................... 69
Sound speed..........................................................................................................70
3.4.1
3.4.2
3.4.3
3.5
Central beams echogram .......................................................................... 45
Raw range and beam angle (F).................................................................. 47
Raw range and beam angle (f)................................................................... 48
Raw range and angle 78............................................................................ 50
Seabed image datagram ............................................................................ 53
Seabed image data 89............................................................................... 55
Water column datagram............................................................................ 57
APB Datagram ........................................................................................ 99
DPT Datagram......................................................................................... 99
RTE Datagram....................................................................................... 100
WPL Datagram...................................................................................... 100
KSSIS 31 Datagram ............................................................................... 101
850-160692/N
EM datagram formats
1 EM datagram formats
The data input and output formats to and from the EM Series multibeam echo sounders
are described in this document. The information applies to the Kongsberg Maritime
multibeam echo sounders introduced after 1995.
Note
The information herein applies to the EM 3002, EM 3000, EM 2040, EM 2000, EM 1002,
EM 710, EM 302, EM 122, ME 70, EM 300 and EM 120 multibeam echo sounders. Some
of the information may not be relevant for your specific system. Please disregard this.
The information in this document is not valid for the EM 12, EM 100, EM 950 and EM
1000 multibeam echo sounders.
Note
In order to meet special customer requirements, Kongsberg Maritime may have to
change the datagram formats described here. The formats presented in this document
may therefore be altered without prior notice, although backward compatibility will
be maintained as far as possible. Before software is written in accordance with this
document, it is strongly recommended to contact Kongsberg Maritime to ensure that the
latest version is used, and that any planned changes are taken into account.
850-160692/N
5
Kongsberg EM Series
1.1 Presentation format
The format description is according to the NMEA 0183 standard, Approved Parametric
Sentence Structure, with the ASCII character(s) given as follows
• “x.x” defines a variable length numerical field, with optionally included decimal
point and sign.
• “c–c” defines a variable length field of printable characters.
• “x–x” defines a variable length field of numeric characters.
• “a_ _” defines a fixed length field of alphabetical characters (e.g. “aa”= two character
long field.
• “x_ _” defines a fixed length field of numeric characters.
For binary fields, the length is given in number of bytes plus “U” for unsigned and
“S” for signed data.
6
850-160692/N
Input datagrams
2 Input datagrams
Topics
• Position on page 7
• Attitude on page 20
• Clock datagrams on page 26
• Sound speed datagrams on page 27
• Depth input datagrams from single beam echo sounder on page 32
• Remote control datagrams on page 34
• Sound speed at transducer on page 36
Only a limited number of input formats from external sensors are accepted. These are
primarily in accordance with the NMEA 0183 specification, or based upon the principles
of that specification.
Note
The majority of these formats have not been defined by Kongsberg Maritime. Thus, these
formats are not controlled by Kongsberg Maritime.
Almost all input formats are ASCII. Serial line or Ethernet input to the multibeam echo
sounder’s Processing Unit is most common, but some datagrams - which are not time
critical - are interfaced on serial line(s) or Ethernet to the Operator Station.
2.1 Position
Topics
• Overview on page 8
• GGA Datagram on page 10
• PTNL, GGK Local coordinate position datagram on page 12
• GGK Datagram on page 13
• VTG Datagram on page 14
• Transponder position on page 15
• Simrad 90 datagram on page 16
850-160692/N
7
Kongsberg EM Series
•
Tide Input on page 18
•
Depth pressure or height input on page 19
2.1.1
Overview
The EM Series accepts position data in the following formats
• NMEA 0183 GGA
• GGK
• PTNL, GGK
• SIMRAD 90
• Transponder position
• With the GGA and GGK datagrams, information contained in NMEA 0183 GST and
VTG datagrams will also be accepted and used.
Note
The GST datagram is not used by the new generation multibeam echo sounders, i.e.
EM 122, EM 302, EM 710, EM 2040 and EM 3002.
• A datagram format for Sonar Head depth is provided for the EM 3002, EM 3000, EM
2040, EM 2000 and EM 710. Note that the format is the same as that used by the
Paroscientific Digiquartz pressure sensor. This format may also be used for input of
for example varying datum heights or other special height information on all models.
• A datagram format for input of tidal height is provided.
The GGA format given below is according to the NMEA 0183 version 2.30 description.
The GGK format was originally defined by the US Army Corps of Engineers for their
tests with kinematic GPS. Trimble’s proprietary version of the format, PTNL GGK, is
supported. If any changes to the format are made, and if it becomes part of the NMEA
standard, this will be implemented.
To preserve the inherent accuracy of the kinematic GPS data it is necessary to correct
the data for vessel motion. This requires accurate timing synchronisation between the
motion sensor and the GPS receiver. It is therefore imperative that
• the position datagram has a constant and known time delay,
or
• the time stamp in the datagram is actually the time of the position fix, that
synchronisation to the 1PPS signal of the GPS receiver is enabled, and that the system
clock has been set correctly.
As neither of these conditions may not be possible to achieve with a sufficient accuracy,
the application of motion correction is operator selectable. Motion compensation may be
applied to most of the position input datagrams.
8
850-160692/N
Input datagrams
In addition to position data from the GGA or GGK datagrams, speed and course
over ground from NMEA VTG datagrams may also be copied into the position
output datagram. These values may be useful in filtering of the positioning during
postprocessing. If a VTG datagram does not follow the GGA or GGK datagram the
course and speed fields of the output datagrams will be set to their invalid values.
As an alternative to GGA, the SIMRAD 90 format position datagram may be used.
The SIMRAD 90 format is intended to be the format of choice when the positioning
system is not a stand-alone GPS receiver supplying GGA or GGK format datagrams.
The SIMRAD 90 format can in addition to global longitude and latitude coordinates also
be used for Northing and Easting type projection coordinates (e.g. UTM).
To cater for applications where the EM 2000 or EM 3000 Sonar Head is mounted on a
subsea vehicle, the original SIMRAD 90 format has been expanded to allow inclusion
of the depth of the vehicle in addition to its horizontal position in longitude/latitude
or Northing/Easting coordinates.
SIS supports logging of all data from a Javad GPS receiver directly attached to the
serial port on the HWS PC.
The Javad GPS receiver outputs binary data in addition to the NMEA datagrams. The
binary can be used by third party software (like Terratec) to compute more accurate
positions using post processing tools. The Javad data files are stored in a separate folder
and kept separate from the other raw data to ease the post processing of the data. The
operator chooses this directory in the runtime parameters in SIS.
A Trimble GPS receiver can also be attached to the serial line of the HWS PC. This is
used for special purposes like land surveying.
850-160692/N
9
Kongsberg EM Series
2.1.2
GGA Datagram
Table 1
GGA Datagram
Data Description
Format
Start identifier = $
Talker identifier
Always 24h
aa
Valid range
—
Note
—
—
Always GGA,
Capital letters
—
Sentence formatter
UTC of position
hhmmss.ss,
000000 to 235959.9...
—
Latitude in degrees and minutes, plus optional
decimal minutes
Latitude – N/S
llll.ll,
0000 to 9000.0...
—
a,
N or S
—
00000 to 18000.0...
—
E or W
—
1
—
Longitude in degrees and minutes, plus optional yyyyy.yy,
decimal minutes
a,
Longitude – E/W
—
GPS quality indicator
x,
0 to 8
Number of satellites in use
xx,
HDOP
x.x,
00 to 12
—
Antenna altitude re mean sea level (geoid)
x.x,
—
Units of antenna altitude
M,
x.x,
—
—
2
—
Age of differential GPS data
M,
x.x,
—
—
Differential reference station id
xxxx,
—
Checksum
*hh
0000 to 1023
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Geoidal separation (sea level re WGS-84)
Units of geoidal separation
—
1
2
—
—
Notes
1 The HDOP (Horizontal Dilution Of Precision) value will be scaled and copied to the
”Measure of position fix quality” field in the position output datagram. The scale
factor depends upon the GPS quality indicator’s value:
• 1 - (SPS or standard GPS) => 1000
• 2 - (differential GPS) => 100
• 3 - (PPS or precise GPS) => 200, but 10 if GGA is treated as RTK. (See Note 2)
• 4 - (kinematic GPS with fixed integers) => 10
• 5 - (kinematic GPS with floating integers) => 50
• 6 - (estimated or dead reckoning mode) => 1000
• 7 - (manual input mode) => 1000
• 8 - (test mode) => 1000, but 10 if GGA is treated as RTK. (See Note 2)
• The ”Measure of position fix quality” field will be set to 65534 (largest valid
number) if the indicator is zero (non-valid position).
This scaling is used to give at least a relatively correct position fix quality change
(in the order of cm) if there are dropouts in differential, precise or kinematic
measurements, although HDOP is not a metric value.
10
850-160692/N
Input datagrams
The GPS manufacturers may have different GPS quality indicators.
2
When the quality factor of a GGA positioning system in use is 4 or 5 a height output
datagram is automatically generated, and also if the quality factor is 3 or 8 and the
operator has set the GGA position to be an RTK position. The height is the sum of
these two fields which are assumed positive upwards (antenna above geoid).
850-160692/N
11
Kongsberg EM Series
2.1.3
PTNL, GGK Local coordinate position datagram
Table 2
PTNL Datagram
Data Description
Format
Always 24h
Valid range
—
Note
—
Start identifier = $
Sentence identifier
Always PTNL,
—
—
Sentence formatter
Always GGK,
—
—
Time of position
hhmmss.ss,
000000 to 235959.9...
—
Date of position
mmddyy,
010100 to 123199
—
Latitude in degrees and minutes
ddmm.mmmmmmm,
a,
0000 to 9000.0...
—
N or S
—
Latitude – N/S
Longitude in degrees and minutes
—
GPS quality indicator
dddmm.mmmmmmm, 00000 to 18000.0...
a,
E or W
x,
0 to 7
Number of satellites in use
xx,
DOP
x.x,
00 to 12
—
Antenna/height above ellipsoid
EHT x.x,
—
1
—
Units of ellipsoidal height (meters)
M,
—
—
Checksum
*hh
—
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Longitude – E/W
—
1
—
Notes
1
The DOP (Dilution of Precision) value will be scaled and copied to the ”Measure of
position fix quality” field in the position output datagram. The scale factor depends
upon the GPS quality indicator’s value
• 1 – (Standard GPS ) => 1000.0;
• 2 – (RTK float) => 50.0;
• 3 – (RTK fix) => 10.0;
• 4 – (DGPS) => 100.0;
• 5 – (WAAS/EGNOS) => 100.0;
• 6 – (Network Float) => 50.0;
• 7 – (Network fix) => 10.0;
The “Measure of position fix quality” field will be set to 65534 (largest valid
number) if the indicator is zero (non-valid position).
This scaling is used to give at least a relatively correct position fix quality change
(in the order of cm) if there are dropouts in differential, precise or kinematic
measurements, although DOP is not a meter value.
The GPS manufacturers may have different GPS quality indicators.
12
850-160692/N
Input datagrams
2.1.4
GGK Datagram
Table 3
GGK Datagram
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
aa
—
Always GGK,
Capital letters
—
Sentence formatter
Time of position
hhmmss.ss,
000000 to 235959.99...
—
Date of position
MMDDYY,
010100 to 123199
—
Latitude in degrees and minutes, plus optional
decimal minutes
Latitude – N/S
llll.llllll,
0000 to 9000.0...
—
a,
N or S
—
00000 to 18000.0...
—
E or W
—
0 to 3
1
—
Longitude in degrees and minutes, plus optional yyyyy.yyyyyy,
decimal minutes
a,
Longitude – E/W
x,
GPS quality indicator
—
Number of satellites in use
xx,
DOP
x.x,
00 to 12
—
Antenna ellipsoidal height
x.x,
—
1
—
Units of antenna ellipsoidal height
—
—
Units of antenna ellipsoidal height
M,
x.x,
—
—
Checksum
*hh
—
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Notes
1
The DOP (Dilution Of Precision) value will be scaled and copied to the ”Measure of
position fix quality” field in the position output datagram. The scale factor depends
upon the GPS quality indicator’s value
• 1 - (SPS or standard GPS) => 1000
• 2 - (differential GPS) => 100
• 3 - (kinematic GPS) => 10
The ”Measure of position fix quality” field will be set to 65534 (largest valid
number) if the indicator is zero (non-valid position).
This scaling is used to give at least a relatively correct position fix quality change
(in cm) if there are dropouts in differential, precise or kinematic measurements,
although DOP is not a meter value.
The GPS manufacturers may have different GPS quality indicators.
850-160692/N
13
Kongsberg EM Series
2.1.5
VTG Datagram
Table 4
VTG Datagram
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
aa
—
Always VTG,
Capital letters
—
Sentence formatter
Course over ground, degrees true
x.x,T,
0 to 359.9...
1
Course over ground, degrees magnetic
x.x,M,
0 to 359.9..
1
Speed over ground, knots
x.x,N,
0–
1
Speed over ground, km/h
0–
Mode indicator
x.x,K,
a
Units of antenna ellipsoidal height
x.x,
A,D,E,M,S or N
—
1
—
Checksum
*hh
—
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
—
—
Notes
1
14
Only true course and the first valid speed field will be used.
850-160692/N
Input datagrams
2.1.6
Transponder position
Table 5
SSB - SSBL Position Datagram
Data Description
Format
$
Valid range
—
Note
—
Start_character
Address
PSIMSSB,
—
—
Time
hhmmss.ss,
—
2
TP code
B01,
—
3
Status
—
4
Error code
A,
cc_,
—
Coordinate system (always radians)
R,
—
1
—
Orientation (always north oriented)
—
—
SW filter
N,
,
—
X coordinate (Latitiude)
x.x,
—
1
—
Y coordinate (Longitude)
x.x,
—
—
Depth (Sonar depth in m)
x.x,
—
—
Expected accuracy (Pos. quality in m)
x.x,
—
—
Additional info
,
—
1
First add value
,
—
1
Second add value
,
—
Checksum
*hh
—
1
—
Termination
CRLF
—
—
Notes
1
Not used by multibeam echo sounders.
2
Decoded and used if Clock Synchronisation is set from position datagram.
3
Only this transponder type is accepted by the multibeam.
4
A = OK, V will give bad positions, but datagram will be accepted for logging.
850-160692/N
15
Kongsberg EM Series
2.1.7
Simrad 90 datagram
Table 6
Simrad 90 datagram
Data Description
Format
Length
Valid range
—
Note
—
Start identifier = $
Always 24h
aa
1
Talker identifier
—
4
Capital letters
—
Sentence formatter
Always S90,
Date of position
DDMMYY,
7
010100 to 311299
—
UTC of position as hour, minute,
second, hundredth of second
Latitude in degrees, minutes and
decimal minutes
Hemisphere identifier
hhmmssss,
9
—
xxxx.xxxx
9
a,
2
00000000 to
23595999
0000.0000 to
9999.9999
N or S
Longitude in degrees, minutes and
decimal minutes, or depth in meters
Hemisphere or depth identifier
xxxxx.xxxx
10
A
a,
2
00000.0000 to
18000.0000
E, W or D
Northing or range in meters
xxxxxxxxx.x,
12
B
Easting or depth in meters
xxxxxxx.x,
10
UTM zone number
xx,
3
000000000.0 to
999999999.9
0000000.0 to
9999999.9
01 to 60
C
2
00000.0000 to
35999.9999
E, W, or B
1
User defined central meridian longitude xxxxx.xxxx
or bearing
a,
Hemisphere or bearing identifier
x,
System descriptor
2
10
—
A
A
A
B
—
C
2
0 to 7
Position fix quality indicator
x,
2
0 to 9 and A to F
2
Speed over ground in m/s
xx.x,
5
00.0 to 99.9
3
Course over ground in degrees
xxx.x
5
End of sentence delimiter = ,CRLF
Always 2Ch 0Dh 0Ah 3
000.0 to 359.9
—
3
—
16
850-160692/N
Input datagrams
Notes
1
• Value of system descriptor defines content of datagram as follows. (Note that
the Kongsberg Maritime EM 12, the EM 950 and the EM 1000 multibeam echo
sounders will only accept values less than 3)
– 0 - The position is longitude latitude in global coordinates given in the fields
noted A.
– 1 - The position is Northing Easting on the Northern hemisphere given in the
fields noted B. If the projection is defined to be UTM the UTM zone number or
a user definable central meridian longitude may be given in the field noted C.
– 2 - As for system descriptor equal to 1, but the position is on the Southern
Hemisphere.
– 3 - As for system descriptor equal to 0, but in addition the depth is given
in the Easting field noted B.
– 4 - As for system descriptor equal to 1, but in addition the depth is given in
the longitude field noted A.
– 5 - As for system descriptor equal to 2, but in addition the depth is given in
the longitude field noted A.
The position fix quality given in the position output datagram will be derived
from the quality indicator (this differs from the original definition of the format)
as follows (in m):
2
Table 7
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
0.01
0.02
0.05
0.1
.02.
0.5
1
2
5
10
20
50
100
200
500
1000
3
If these fields have valid values they will be copied to equivalent fields in the
position output datagram. They may be used in filtering of the positioning during
postprocessing. (The original definition of the format had line heading in the course
field and its use was to orient real-time displays).
850-160692/N
17
Kongsberg EM Series
2.1.8
Tide Input
Table 8
Tide input datagrams
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
a
Capital letter
—
—
Sentence formatter
Always TIDE,
Date and time of prediction / measurement
YYYYMMDDhhmm,
—
*hh
199601010000 to
999912312359
±327.66
—
Tide offset in meters and decimal meters
x.x
Optional checksum
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
—
1
—
Notes
1
18
A negative number will be assumed to indicate an increase in sea level.
850-160692/N
Input datagrams
2.1.9
Depth pressure or height input
Table 9
Depth pressure or height input datagrams
Data Description
Format
Always 24h
Valid range
—
Note
—
Start identifier = *
Sentence identifier
ii
00 to 09
Talker identifier
00 to 09
—
1
—
Depth or height in meters and decimal meters
ii
x.x
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
2
—
Notes
1
A sentence identifier equal to 00 is used for underwater vehicle depth, all other
identifiers are customer specific (usually a datum height)..
2
If input is depth, it will be used in the depth output datagram to offset the transmit
transducer depth. If input is height, which will usually imply a time or position
variable datum height, its use will depend on the sentence identifier and will be
implemented as required by a specific customer. Depth is positive downwards.
Depths may be scaled and offset by operator settable constants:
output_depth [m] = scale_factor * (input_depth - offset)
850-160692/N
19
Kongsberg EM Series
2.2
Attitude
Topics
•
Overview on page 20
•
EM Attitude input format on page 22
•
Network velocity attitude input format on page 23
•
Sperry MK-39 Attitude input format on page 24
•
HDT format on page 25
•
SKR80 format on page 25
2.2.1
Overview
Attitude data is generally accepted on one or more serial input port(s) as
• roll, pitch, heave and heading on one port,
or
• roll, pitch and heave on one port and heading separately on another port.
The data update rate should be commensurate with the expected dynamics of the vessel
(typically up to 100 Hz).
The acceptable format for roll, pitch, heave and optionally also heading is a 10 byte long
message originally defined in the EM 1000 for use with digital motion sensors. It is
supported by the following sensors like:
• Applied Analytics POS/MV
• Photokinetics Octans
• Seatex MRU
• Seatex Seapath
• TSS DMS-05
• Coda Octopus
Heading will be accepted in the NMEA 0183 HDT format or in the format used by the
Simrad Robertson SKR80(82) gyrocompass. A current loop to RS-232 converter may
then be required. The Lemkuhl LR40(60) Scan Repeater format is also accepted, as it
is the same as that of the SKR80 with the exception of an extra status byte. Note that
if the attitude sensor is capable of reading the gyrocompass and transfer the heading to
the attitude sensor datagram (if it does not measure heading itself), this is preferable to
interfacing the gyrocompass directly to the system.
Roll, pitch and heading in the Sperry Marine MK-39 MOD2 Attitude and Heading
Reference System format is also accepted. A second motion sensor must then be used to
supply heave.
Attitude data may be supplied from more than one sensor. All data may be logged, but
only one set as chosen by the operator will be used in real time.
20
850-160692/N
Input datagrams
Newer multibeam models uses frequency modulated (FM) pulses to extend the
detection range while maintaining the high resolution. To properly take into account the
Doppler-effect when using FM mode, real time 3D velocity input is needed from the
motion sensor. The data, on proprietary format, is available via Ethernet from some of
the manufacturers. Currently three manufacturers are supported.
See also Network velocity attitude input format on page 23.
850-160692/N
21
Kongsberg EM Series
2.2.2
EM Attitude input format
The EM attitude format is a 10-bytes long message defined as follows
• Byte 1: Sync byte 1 = 00h, or Sensor status = 90h-AFh
• Byte 2: Sync byte 2 = 90h
• Byte 3: Roll LSB
• Byte 4: Roll MSB
• Byte 5: Pitch LSB
• Byte 6: Pitch MSB
• Byte 7: Heave LSB
• Byte 8: Heave MSB
• Byte 9: Heading LSB
• Byte 10: Heading MSB
where LSB = least significant byte, MSB = most significant byte.
All data are in 2’s complement binary, with 0.01° resolution for roll, pitch and heading,
and 1 cm resolution for heave.
• Roll is positive with port side up with ±179.99° valid range
• Pitch is positive with bow up with ±179.99° valid range
• Heave is positive up with ±9.99 m valid range
• Heading is positive clockwise with 0 to 359.99° valid range.
Non-valid data are assumed when a value is outside the valid range.
How roll is assumed to be measured is operator selectable, either with respect to the
horizontal plane (the Hippy 120 or TSS convention) or to the plane tilted by the given
pitch angle (i.e. as a rotation angle around the pitch tilted forward pointing x-axis). The
latter convention (called Tate-Bryant in the POS/MV documentation) is used inside the
system in all data displays and in logged data (a transformation is applied if the roll
is given with respect to the horizontal).
Note that heave is displayed and logged as positive downwards (the sign is changed)
including roll and pitch induced lever arm translation to the system’s transmit transducer.
This format has previously been used with the EM 950 and the EM 1000 with the first
synchronisation byte always assumed to be zero. The sensor manufacturers have been
requested to include sensor status in the format using the first synchronisation byte
for this purpose. It is thus assumed that
• 90h in the first byte indicates a valid measurements with full accuracy
• any value from 91h to 99h indicates valid data with reduced accuracy (decreasing
accuracy with increasing number)
• any value from 9Ah to 9Fh indicates non-valid data but normal operation (for example
configuration or calibration mode)
• and any value from A0h to AFh indicates a sensor error status
22
850-160692/N
Input datagrams
2.2.3
Network velocity attitude input format
Newer multibeam models uses frequency modulated (FM) pulses to extend the detection
range and still maintaining the high resolution. To properly take into account the
Doppler-effect when using FM mode, real time 3D velocity input is needed from the
motion sensor. The data, on proprietary format, is available via Ethernet from some of
the manufacturers. Currently three datagram formats are supported:
• Seatex Binary format
• POS-MV GRP 102/103
• Coda Octopus MCOM
For details about the formats, please refer to:
Kongsberg Seatex Seapath: “Seapath 200 Installation manual”
Applanix POS MV: “POS MV V4 User ICD”, Document #: PUBS-ICD-000551
Coda Octopus F180: “MCOM Format Description” – ID TSKW-187
The datagram will be logged in the Network Attitude Velocity 110 datagram, and the
range corrections applied is documented in the raw range and angle 78 datagram.
850-160692/N
23
Kongsberg EM Series
2.2.4
Sperry MK-39 Attitude input format
The format is 18 bytes long, and it is organised as 9 words. The most signigicant byte of
a word is transmitted first.
• Word 1 AA55h.
• Word 2 Status and time.
• Word 3 Heading.
• Word 4 Roll.
• Word 5 Pitch.
• Word 6 Heading rate.
• Word 7 Roll rate.
• Word 8 Pitch rate.
• Word 9 Checksum (MSB) and 1’s complement of checksum (LSB).
All data are in 2’s complement binary. Heading is given within ±180°, roll and pich
within ±90°. (Note however that the values ±180° and ±90° are not permitted, as these
are one bit too high.)
Heading is measured with reference to true North, and positive when the bow points
eastwards. Roll is per definition a rotation angle (Tate-Bryant) and positive when the
starboard side goes up. Pitch is positive when the bow goes down.
24
850-160692/N
Input datagrams
2.2.5
HDT format
Table 10
HDT Format
Data Description
Format
Start identifier = $
Talker identifier
Always 24h
aa
Sentence formatter
Always HDT,
Heading, degrees true
x.x,T
Checksum
End of sentence delimiter = CRLF
2.2.6
Valid range
—
Note
—
Capital letters
—
—
—
*hh
0 to 359.9...
—
Always 0Dh 0Ah
—
—
—
—
SKR80 format
The SKR80 sends out a stream of data with four bytes for each measurement. There
is one byte for each digit
• The first byte for the decimal degree (Example: xxx.X)
• The second for the degree (Example: xxX.x)
• The third for the 10’s degree (Example: xXx.x)
• The fourth for the 100’s degree (Example: Xxx.x)
The two uppermost bits of a byte are always zero, the next two bits give the digit, 00
for the decimal, 01 for the degree, 10 for the 10’s degree, and 11 for the 100’s degree.
The lowest four bits give the digit value in 4-bit BCD format. As an example a heading
of 234.5° will give the four bytes 05h 14h 23h 32h. The LR40 adds a fifth byte at the
end for status with the two upper bits of the status byte set to 11 (11000000 for OK,
11001010 for alarm). This status byte is ignored.
850-160692/N
25
Kongsberg EM Series
2.3
Clock datagrams
Topics
•
Clock on page 26
•
ZDA format on page 26
2.3.1
Clock
The system clock is used to time stamp all data output. The clock may be set upon start
of new survey or power-up on the Processing Unit (recommended source is a NMEA
ZDA format datagram). The clock will drift, typically some seconds per day, unless it is
synchronised to a 1 PPS (pulse per second) input signal (the clock millisecond counter
will be set to zero whenever a pulse is received). A fully correct clock is only necessary if
the output data are later to be combined with other time critical data logged or created by
other systems, for example an accuracy of up to one minute would be necessary to apply
tidal changes. If the timestamp supplied in the position input datagrams is to be used, it is
imperative that the system clock is correctly set and that 1 PPS synchronisation is used.
2.3.2
ZDA format
Table 11
ZDA format
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
aa
Capital letters
—
—
Sentence formatter
Always ZDA,
UTC
hhmmss.ss,
—
xx,
000000 to
235959.9...
01 to +31
Day
Month
xx,
01 to +12
—
Year
xxxx,
0000 to 9999
—
Local zone hours
xx,
-13 to +13
1
Local zone minutes
xx,
Optional checksum
*hh
00 to +59
—
1
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
—
—
Notes
1
Local zone time is not used. An offset time may be entered by the operator to get
the system clock to show a different time than UTC.
Note
Trimble UTC format is also supported.
26
850-160692/N
Input datagrams
2.4
Sound speed datagrams
Topics
•
Overview on page 27
•
Kongsberg Maritime SSP format on page 28
•
AML Smart Sensor and AML Micro Sensor format on page 31
2.4.1
Overview
A sound speed profile may be loaded into the Operator Station either on a serial line or
on Ethernet. Formats previously used with existing Kongsberg Maritime echo sounders
(Kongsberg Maritime ASCII and Binary Sound Velocity Profile input datagrams) will
be accepted, but since their resolution in depth is limited to 1 m and the number of
entries to 100, a newer format given below without these limitations is recommended.
This format is also accepted by the Kongsberg Maritime HIPAP and HPR underwater
positioning systems (but not necessarily vice-versa). Note that a complete profile may be
pieced together from several datagrams and edited with the Operator Station’s Sound
Speed Editor.
The new format is completely in ASCII and allows 9998 entries without limitations in
resolution. But the echosounder have other limitations, check note 9. In addition to
depth and sound speed, it allows input of absorption coefficient, pressure, temperature
and salinity or conductivity. The latter parameters may be used to calculate depth, sound
speed and absorption coefficient. Use of a depth dependent absorption coefficient allows
a more accurate determination of bottom backscatter strength.
Note that this datagram may also be logged as output, retaining information not included
in the standard sound speed profile output datagram, such as where and when the profile
has been taken.
850-160692/N
27
Kongsberg EM Series
2.4.2
Kongsberg Maritime SSP format
Table 12
SSP format
Data Description
Format
Length
1
Valid range
—
Note
—
Start identifier = $
Always 24h
aa
2
Capital letters
—
Data set identifier
Always Sxx,
xxxxx,
4
S00 to S53
6
00000 to 65535
1,2
—
Number of measurements = N
xxxx,
5
0001 to 9999
9
UTC time of data acquisition
hhmmss,
xx,
7
000000 to 235959
3
Day of data acquisition
3
00 to 31
3
Month of data acquisition
xx,
3
00 to 12
3
Year of data acquisition
xxxx,
5
0000 to 9999
3
N entries of the next 5 fields – See note 4
x.x,
– Depth in m from water level or
Pressure in MPa
x.x,
– Sound velocity in m/s
2–
4
1–
0 to 12000.00
0 to 1.0000
1400 to 1700.00
—
– Temperature in °C
x.x,
1–
-5 to 45.00
—
– Salinity in
parts per thousand
or Conductivity in S/m
x.x,
1–
Absorption coefficient in dB/km
x.x
0–
0 to 45.00 or 0 to
7.000
0 to 200.00
Data set delimiter
CRLF
2
0Dh 0Ah
5
—
llll.ll,
Variable
5–
2
0000 to 9000.0...
6
N or S
6
Variable
6–
2
00000 to 18000.0... 6
Talker identifier
Datagram identifier
—
End of repeat cycle
Latitude in degrees and minutes, plus
optional decimal minutes
Latitude – N/S
a,
Longitude in degrees and minutes, plus yyyyy.yy,
optional decimal minutes
a,
Longitude – E/W
Atmospheric pressure in MPa
x.x,
1–
Frequency in Hz
xxxxxx,
Variable
User given comments
c—c
Optional checksum
*hh
End of datagram delimiter = \CRLF
5Ch 0Dh 0Ah
E or W
6
0 to 1.0000
—
6
7
Variable
—
—
6
—
3
—
8
—
Notes
1
28
The datagram identifier identifies what type of data is included. This is shown in
the following table where D is depth, P is pressure, T is temperature, S is salinity,
C is conductivity, c is sound speed, α is absorption coefficient, f is frequency and
L is latitude. The notation c(T,S) indicates for example that the sound speed is to
be calculated from the temperature and salinity input data. When pressure is used,
the atmospheric pressure must be given if the pressure is absolute, otherwise the
pressure must be given re the sea level and the atmospheric pressure must be zero.
850-160692/N
Input datagrams
Table 13
SSP format
Identifier
Input data
Data to be used
Comment
S00
D,c
D,c
S01
D,c,T,S
D,c,α(D,T,S,L)
S02
D,T,S
D,c(D,T,S,L),α(D,T,S,L)
S03
D,T,C
D,c(D,T,C,L),α(D,T,S,L)
S04
P,T,S
D(P,T,S,L),c(P,T,S,L),α(P,T,S,L)
S05
P,T,C
D(P,T,C,L),c(P,T,C,L),α(P,T,C,L)
S06
D,c,α
D,c,α
S10
D,c
D,c
Same as S10,
but used immediately.
Same as S12,
but used immediately.
Same as S22,
but used immediately.
Same as S32,
but used immediately.
Same as S42,
but used immediately.
Same as S52,
but used immediately.
Same as S11,
but used immediately.
—
S11
D,c,α
D,c,α
—
S12
D,c,T,S
D,c,α(D,T,S,L)
—
S13
D,c,α,f
D,c,α
S20
D,T,S
D,c(D,T,S,L)
Frequency dependent
—
S21
D,T,S,α
D,c(D,T,S,L),α
—
S22
D,T,S
D,c(D,T,S,L),α(D,T,S,L)
—
S23
D,T,S,α,f
D,c(D,T,S,L),α
Frequency dependent
S30
D,T,C
D,c(D,T,S,L)
S31
D,T,C,α
D,c(D,T,S,L),α
S32
D,T,C
D,c(D,T,S,L),α(D,T,S,L)
S33
D,T,C,α,f
D,c(D,T,S,L),α
S40
P,T,S
D(P,T,S,L),c(P,T,S,L)
S41
P,T,S,α
D(P,T,S,L),c(P,T,S,L),α
S42
P,T,S
D(P,T,S,L),c(P,T,S,L),α(P,T,S,L)
S43
P,T,S,α,f
D(P,T,S,L),c(P,T,S,L),α
S50
P,T,C
D(P,T,C,L),c(P,T,C,L)
S51
P,T,C,α
D(P,T,C,L),c(P,T,C,L),α
S52
P,T,C
D(P,T,C,L),c(P,T,C,L),α(P,T,C,L)
S53
P,T,C,α,f
D(P,T,C,L),c(P,T,C,L),α
2
Frequency dependent
Frequency dependent
Frequency dependent
S00 – S06 is a special case because the sound speed profile will be taken into use
immediately without further operator intervention. The checksum is then mandatory
and must be correct.
Furthermore an entry for zero depth must be present and the profile must be
extended to 12000m.
3
Note that these fields have fixed length and leading zeros must be used.
4
The depth or pressure field is always required while the other fields are optional
except for those required by the datagram identifier. The field-delimiting commas
must always be included even if the fields are empty.
850-160692/N
29
Kongsberg EM Series
5
Same date and time for all frequencies.
6
The positions, atmospheric pressure and comment fields are optional. Note that
the option field must not include a \. It is recommended to include sensor type in
the comment field.
7
The field is only present/valid for S13, S23, S33, S43, S53. These datagrams contain
absorption coefficients directly and are only valid for the given frequency. If an echo
sounder employs several frequencies (e.g. EM 710 uses frequencies between 60
and 100 kHz) a datagram must be sent for each frequency used with a maximum
of 10 seconds between each datagram.
8
The checksum field is calculated between the $ and the * delimiters by exclusive
OR’ing of all bytes. The checksum is required for datagram S00, but is optional
for the others.
9
There is a limitation on the size of the sound velocity profile. The file used by the
PU must be maximum 30 kB and limited to a maximum number of depth points.
Maximum 1000 points for EM 2040, EM 710, EM 302 and EM 122. Maximum
570 points for older sounders. The profile can be edited and decimated in the SIS
SVP editor.
SIS will give a warning and reject the input profile if to many measurements.
30
850-160692/N
Input datagrams
2.4.3
AML Smart Sensor and AML Micro Sensor format
An AML Smart Sensor or AML Micro may be used directly for sound speed profile
input on a serial line to the Operator Station. The sensor may also be used to measure the
sound speed at the transducer depth continuously during surveying.
For the AML Micro Sensors, the fields have been swapped so the sound speed is always
the first field.
The supported AML Smart Sensor message formats are:
• SV = Sound Velocity
• SV&P = Sound Velocity and Pressure
• SV&T = Sound Velocity and Temperature
Each message from the sensor is transmitted as a sequence of ASCII characters
terminated by a CRLF pair.
The accepted message formats are as follows:
Table 14
SV Format
x
±
x
x
x
.
x
LF
CR
where xxxx.x is the measured sound speed in m/s.
Table 15
±
x
x
SV&P Format
x
.
x
x
±
x
x
x
x
.
x
CR
LF
where the first field is the pressure in decibars relative to the surface and the second is
sound speed in m/s.
Table 16
±
x
x
SV&T Format
.
x
x
x
±
x
x
x
x
.
x
CR
LF
where the first field is the temperature in degrees Celsius and the second is sound speed
in m/s.
Note
The message formats above are presented in table format to make it easier to see the
location and number of spaces in each message.
Note
The ’±’ character should be interpreted as follows. If the number in the field immediately
following this character is negative, then this character will be “-“ (minus). However,
if the number in the field immediately following this character is positive, then this
character will be a ” ” (space).
850-160692/N
31
Kongsberg EM Series
2.5 Depth input datagrams from single
beam echo sounder
Topics
• DBS Format on page 32
• DPT Format on page 32
• Simrad format on page 33
Depth datagrams from a single beam echo sounder are accepted for display and logging
on the system. The following formats are supported
• NMEA 0183 DBS
• NMEA 0183 DPT
• Binary datagrams from the Kongsberg Maritime EA echo sounder series, referred
to as the Simrad format.
2.5.1
DBS Format
Table 17
DBS Format
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
aa
—
Always DBS,
Capital letters
—
Sentence formatter
Depth in feet
x.x,f,
0.1 –
1
Depth in meters
x.x,M,
0.1 –
1
Depth in fathoms
x.x,F
Checksum
*hh
0.1 –
—
1
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
—
Notes
1 The decoding priority will be meter field, feet field and fathom field with the depth
value extracted from the first field with valid data.
2.5.2
DPT Format
Table 18
DPT Format
Data Description
Format
Start identifier = $
Always 24h
aa
Talker identifier
Depth in meters from the transducer
Always DPT,
x.x,
Offset of transducer from waterline in meters
x.x,
Sentence formatter
32
Valid range
—
Note
—
Capital letters
—
—
0.1 –
—
0–
1
—
850-160692/N
Input datagrams
Table 18
DPT Format (cont’d.)
Data Description
Maximum range scale in use
Format
x.x,
Valid range
—
Note
—
Checksum
*hh
—
—
End of sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Notes
1
A negative value implying that the offset is from the keel should not be used.
2.5.3
Simrad format
Table 19
Simrad format
Data Description
Format
Always 34h
x,
Valid range
—
Note
—
Start identifier = D
Channel identifier
1 to 311
1
Time as HHMMSShh
xxxxxxxx,
00000000 to 23595999
1
Depth in meters from the transducer
32 bit IEEE 754 floating
point
32 bit IEEE 754 floating
point
32 bit integer
0.1 –
1
—
—
—
—
—
—
Bottom backscattering strength in dB
Transducer number
Athwartship slope in degrees
32 bit IEEE 754 floating
point
Notes
1
Only the channel identifier, depth and time will be decoded by the system. The least
significant byte is transmitted first (the Intel convention).
Note
The datagram must be sent on Ethernet to Processing Unit UDP2. For UDP port
address, see PU information and status on page 91
850-160692/N
33
Kongsberg EM Series
2.6
Remote control datagrams
A Remote Control datagram has been implemented to allow
• the multibeam echo sounder to start logging on remote command.
• the multibeam echo sounder to send out parameter and sound speed profile datagrams,
“IUR”, consisting of Installation parameters (I), sound speed profile datagram (U) and
Runtime datagram (R), as a response to the remote command.
• the survey line numbers to be set from a remote location.
Note that the parameter and sound speed profile datagrams are always sent out when
logging is started or any changes are made to the parameters or sound speed. They may
also be sent out regularly at operator specified intervals.
In addition to the primary application of the Remote Control datagrams as described
above, they are also used to report the SIS pinging and logging status to external
recipients. For more information on this, see “notification of SIS pinging and logging
activity” in the SIS Operator Manual (doc.no: 850-164709).
Table 20
Remote Control datagrams
Data Description
Format
Valid range
—
Note
—
Start identifier = $
Talker identifier
Always 24h
aa
Capital letters
—
Datagram identifier
Rxx,
EMX=dddd,
R00 to R20
—
1
—
EM model number
Responsible operator
ROP=a—a,
—
2
Survey identifier
SID=a—a,
—
2
Survey line number
PLN=d..d,
—
2
Survey line identifier (planned line no)
PLL=d—d,
—
2
COM=a—a
—
Optional checksum
*hh
—
3
—
End of datagram delimiter = \CRLF
5Ch 0Dh 0Ah
—
—
Comment
Notes
1
Rxx defines what action the system is to take with respect to pinging and logging
of data in addition to changes in the parameters. Note that logging of survey data
on local storage is not affected, this is determined by operator control from the
menu only.
• R00 - System to stop pinging (and logging if on)
• R10 - System to stop all logging (but continue or start pinging).
• R11 - System to start logging locally and send a start sequence “IUR” consisting
of an installation parameter datagram (I), sound speed profile datagram (U) and a
runtime datagram (R).
• R12 - System to start logging locally. “IUR” will be sent.
• R13 - System to start logging on new line to local storage only.
34
850-160692/N
Input datagrams
• R20 - System to send “IUR”.
• The current version of SIS does not support R11 and R13. On SIS, the effect of
R00, R10 and R12 datagrams is exactly the same as if the operator has used the
pinging and logging buttons.
2
The current version of SIS has no support for ROP, SID and PLN. PLL is used for
R12 to indicate line number to be logged.
3
Only used for “External notification of SIS pinging and logging activity”, see SIS
Operator Manual.
850-160692/N
35
Kongsberg EM Series
2.7
Sound speed at transducer
In addition to receiving sound speed at transducer from sound velocity probe/sensor
attached to the SIS HWS through a serial line, it is also possible to send this information
through the Ethernet.
Note
The datagram format and port address etc. is also explained in the “External sensors”
chapter in the SIS Reference Manual.
2.7.1
KSSIS 80 Datagram
Sound velocity and temperature sent over LAN (UDP) to SIS HWS
Table 21
KSSIS 80 input datagram
Data Description
Format
Always 24h
Valid Range
—
Note
—
Start identifier = $
Talker identifier
Always KS
—
—
Sentence formatter
Always SIS,
—
—
Datagram ID
—
—
Sound speed (m/s)
Always 80,
x.x,
—
Temperature (Celsius)
x.x
1400.0 – 1700.0
—
End if sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
End if sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
36
—
850-160692/N
Output datagrams
3 Output datagrams
Topics
•
Introduction on page 37
•
Multibeam data on page 40
•
External sensors on page 59
•
Sound speed on page 70
•
Multibeam parameters on page 73
•
PU information and status on page 91
•
SIS generated output on page 99
3.1 Introduction
Output datagrams are usually logged to disk on the EM Series Operator Station. The
output datagrams may also be exported to user provided programs on the Operator
Station or on an external Ethernet network using UDP protocol (remote logging). An
NMEA DPT depth datagram may be exported on a serial line.
The output datagrams are mostly in binary format using signed or unsigned integer
numbers with lengths of 1, 2 or 4 bytes.
With a PC based operator station little endian is normally used, while big endian is
used on Unix work stations. The same byte order as used on the operator station is
used for the output datagrams.
Note
Please be aware that the use of big endian is not maintained on the newer sounders (EM
3002, EM 710, EM 302 and EM 122), since the operator station is PC based running
Windows or Linux.
850-160692/N
37
Kongsberg EM Series
Note
We recommend that software written to decode EM Series data includes a check for the
byte ordering with a provision for byte swapping. Suitable data fields to check on are
the length field at the start of the datagram, the EM Series model number field and
possibly the date and time fields.
The basic output datagram structure established with the EM 100 echo sounder is
retained.
• All datagrams (except the NMEA DPT datagram) start with STX, datagram type and
time tag, and end with ETX and checksum (sum of bytes between STX and ETX). In
addition the total length of the datagram (not including the length field) will precede
the STX byte, given as a four byte binary number.
• The length field is only included when logging to tape and/or disk, but not for
datagrams logged to a remote location. The length can then be derived from the
network software. Systems logging data remotely should add this length at the start
of each datagram. This length is required if the data are to be used with Kongsberg
Maritime post-processing systems.
• The time stamp resolution is 1 millisecond and includes the century. The time stamp
is binary. The date is given as 10000*year(4 digits) + 100*month + day, for example
19950226 for February 26, 1995. All date fields in the output datagrams use this
format. A time is usually given (in milliseconds) from midnight.
• The datagrams identify the multibeam echo sounder model and its serial number.
The system model number is 120 for the EM 120, 300 for the EM 300, etc. For
the EM 3000D (the dual head system) the model number was originally given as
3002 and the serial number is that of Sonar Head number 1. However in the depth
datagram model numbers 3003-3008 are now used to also identify the actual transmit
and sampling frequencies of the two heads. If only one head is activate on the EM
3000D, it is coded as a single head system. For EM 3002 the model number is 3020.
The EM 3002 has separate datagrams (depth, range, seabed image, water column)
for the two sonar heads.
• Due care has been taken to include all parameters needed in postprocessing in the
relevant datagrams, with a minimum of data duplication. Where resolution of a data
field is variable, a resolution descriptor is included.
• Invalid data are always identified by the highest positive number allowed in a field
unless otherwise noted.
• A real-time parameter datagram has been added to enable logging of parameters not
used in postprocessing, but which may be important in checking the quality of the
logged data, or to allow tracing of reasons for possible malfunctions.
• Attitude data as time continuous records and raw ranges and beam pointing angles are
logged to allow eventual postprocessing corrections. The logged attitudes are valid at
the transmit transducer, and are corrected for any sensor offsets.
• A new Range and beam angle datagram (type f), is included, that contains more
details. (From January 2004).
38
850-160692/N
Output datagrams
For the new models of multibeams, starting with the EM 710, i.e. EM 122, EM 302,
EM 710, EM 2040 and ME 70, three datagram formats have been changed and are
given new type numbers (November 2005):
• XYZ 88 (type X), replaces type D.
• Raw range and angle 78 (type N), replaces type f.
• Seabed image data 89 (type Y), replaces type S.
These new datagrams makes it possible to have more than 254 detections per ping.
The data format for some parameters has been changed to increase the resolution. For
example the backscatter amplitudes are changed from one to two bytes.
Systems with dual swaths (fans of receiver beams with different tilt) will have separate
datagrams for each swath.
In the new datagrams, both valid and invalid beams are included (The beam index then
became redundant information and is therefore removed). This is done to be able to store
seabed image data also for beams missing a valid detection.
To cover the complete multibeam range, this manual describes both the new and the
previous formats.
In February 2008, a new output datagram, Network Attitude Velocity datagram 110, is
added. The 3 D velocity input is used for doppler compensation in FM mode. The range
corrections applied is documented in the Raw range and angle 78 datagram.
Installation, Runtime and status datagrams are updated with extra information.
Some minor changes and additional comments.
850-160692/N
39
Kongsberg EM Series
3.2
Multibeam data
Topics
• Depth datagram on page 40
• XYZ 88 on page 43
• Central beams echogram on page 45
• Raw range and beam angle (F) on page 47
• Raw range and beam angle (f) on page 48
• Raw range and angle 78 on page 50
• Seabed image datagram on page 53
• Seabed image data 89 on page 55
• Water column datagram on page 57
3.2.1
Depth datagram
Note
This datagram is used for EM 2000, EM 3000, EM 3002, EM 1002, EM 300 and EM
120. The XYZ 88 on page 43 datagram is used for newer models.
Table 22
Depth datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = D(epth data) (Always 44h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Heading of vessel in 0.01°
2U
0 to 35999
—
Sound speed at transducer in dm/s
2U
14000 to 16000
—
Transmit transducer depth re water level at time
of ping in cm
Maximum number of beams possible
2U
0 to 65536
1
1U
48 –
—
Number of valid beams = N
1U
1 to 254
—
z resolution in cm
1U
1 to 254
—
x and y resolution in cm
1U
1 to 254
—
Sampling rate (f) in Hz
or
Depth difference between sonar heads in the EM
3000D
2U
300 to 30000
3
2S
-32768 to 32766
4
40
850-160692/N
Output datagrams
Table 22
Depth datagram (cont’d.)
Data Description
Format
Valid range
—
Note
—
Repeat cycle — N entries of :
16*N
Depth (z) from transmit transducer
(unsigned for EM 120 and EM 300)
Acrosstrack distance (y)
2S or 2U
2S
-32768 to +32766 or 2
1 to 65534
-32768 to 32766
2
Alongtrack distance (x)
2S
-32768 to 32766
2
Beam depression angle in 0.01°
2S
-11000 to 11000
3
Beam azimuth angle in 0.01°
2U
0 to 56999
3
Range (one - way travel time)
2U
0 to 65534
3
Quality factor
1U
0 to 254
Length of detection window (samples/4)
1U
1 to 254
5
—
Reflectivity (BS) in 0.5 dB resolution)
(Example: -20 dB = 216)
Beam number
1S
-128 to +126
—
1U
1 to 254
6
Transducer depth offset multiplier
1S
End identifier = ETX (Always 03h)
1U
-1 to +17
—
1
—
Check sum of data between STX and ETX
2U
—
—
End of repeat cycle
Notes
1
The transmit transducer depth plus the depth offset multiplier times 65536 cm
should be added to the beam depths to derive the depths re the water line. The
depth offset multiplier will usually be zero, except when the EM 2000/3000 Sonar
Head is on an underwater vehicle at a depth larger than 655.36 m. Note that the
offset multiplier will be negative (-1) if the actual heave is large enough to bring
the transmit transducer above the water line. This may represent a valid situation,
but may also be due to an erroneously set installation depth of either the transducer
or the water line.
2
The beam data are given re the transmit transducer or sonar head depth and the
horizontal location of the active positioning system’s antenna. Heave, roll, pitch,
sound speed at the transducer depth and ray bending through the water column have
been applied. On the EM 1002/2000/3000/3002 the beam depths must be regarded as
signed values to take into account beams which may be going upwards. On the EM
120/300 the beam depths are always positive and the values are therefore unsigned.
3
The range, beam depression angle (positive downwards and 90° for a vertical beam)
and beam azimuth angle (re vessel centerline) are given relative to the transducer
(sonar head) at the ping transmit time. Heave, roll, pitch and sound speed at the
transducer depth have been applied, but not ray bending. These values may thus be
directly used for a new ray bending calculation with a revised sound speed profile to
generate new sounding depths and positions without any need for using attitude data.
One way travel time = range / sampling rate / 4
Note that if the data need to be reprocessed with a new sound speed at the transducer
depth or new roll, pitch or heave values, full reprocessing starting with the raw range
850-160692/N
41
Kongsberg EM Series
and beam angle data is required. Attitude data is also required in this reprocessing,
and both these data types will in the future be logged as standard.
If the beam azimuth angle has a value larger than 35999, the beam pointing angle
has replaced the beam depression angle, and the raw two-way travel time has
replaced the one-way heave and beam angle corrected travel time. The transmit tilt
angle plus 54000 is given in the beam azimuth angle field. The use of this data
definition is available on remote output to a port named as “RawDepth...” for use by
other systems which do their own attitude and sound speed processing.
4
In an EM 3000D the transmit transducer depth is that of Sonar Head number 1,
taking into account the depth offset multiplier as described in note 1. The range
multiplier is replaced by the difference in depth between Sonar Head number 1 and
2, i.e. head 2 depth is equal to head 1 depth (possibly modified with depth offset
multiplier) plus the depth difference. The range sampling rates in Hz of the two
heads is given through the EM model number according to the following table:
Table 23
EM 3000D
EM model number
3003
3004
3005
3006
3007
3008
Sonar Head 1
13956
14293
13956
14621
14293
14621
Sonar Head 2
14621
14621
14293
14293
13956
13956
Previously the model number of the EM 3000D was given as 3002 with head sample
rates of 13956 and 14621 Hz respectively. The head depths in this case should be
assumed to be equal, and although the mathematical derivation of final beam depths
would otherwise be the same as described above, the transmit transducer depth was
not actually exactly that of the sonar heads.
5
The quality number’s upper bit signifies whether amplitude (0) or phase (1)
detection has been used. If amplitude the 7 lowest bits give the number of samples
used in the centre of gravity calculation. If phase the second highest bit signifies
whether a second (0) or first (1) order curve fit has been applied to determine the
zero phase range, and the 6 lowest bits indicates the quality of the fit (actually the
normalized variance of the fit re the maximum allowed, i.e. with a lower number
the better the fit).
6
Beam 128 is the first beam on the second sonar head in an EM 3000D dual head
system.
42
850-160692/N
Output datagrams
3.2.2
XYZ 88
Note
This datagram replaces the previous depth (D) datagram for the new multibeam models
(EM 2040, EM 710, EM 122, EM 302, ME 70). All receiver beams are included, check
detection info and real time cleaning for beam status (note 4 and 5).
Table 24
XYZ 88
Data Description
Format
Number of bytes in datagram
4U
Valid range
—
Note
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = X (58h, 88d)
1U
—
—
EM model number (Example: EM 710 = 710)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Sep 26, 2005 = 20050926)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Heading of vessel (at TX time) in 0.01°
2U
0 to 35999
—
Sound speed at transducer in dm/s
2U
—
Transmit transducer depth in m re water level at
time of ping
Number of beams in datagram = N
4F
14000 to 16000
—
2U
1 – 1024
—
Number of valid detections
2U
—
Sampling frequency in Hz
4F
1 – 1024
—
Spare
4S
—
—
Repeat cycle - N entries of :
20*N
–
–
Depth (z) from transmit transducer in m
4F
—
2
Acrosstrack distance (y) in m
4F
—
2
Alongtrack distance (x) in m
4F
—
Detection window length in samples
2U
—
2
—
Quality factor
1U
0 – 254
3
6
1U
-128 to 126
—
1S
—
Reflectivity (BS) in 0.1 dB resolution
(Example: –20.1 dB = FF37h= 65335)
End of repeat cycle
2S
—
Spare (always 0)
1U
—
End identifier = ETX (Always 03h)
1U
0
—
Check sum of data between STX and ETX
2U
—
—
Beam incidence angle adjustment (IBA) in 0.1 deg 1S
Detection information
Real time cleaning information
850-160692/N
1
—
4
5
—
—
43
Kongsberg EM Series
Notes
1
The transmit transducer depth should be added to the beam depths to derive the
depths re the water line. Note that the transducer depth will be negative if the actual
heave is large enough to bring the transmit transducer above the water line. This
may represent a valid situation, but may also be due to an erroneously set installation
depth of either the transducer or the water line.
2
The beam data are given re the transmit transducer or sonar head depth and the
horizontal location (x,y) of the active positioning system’s reference point. Heave,
roll, pitch, sound speed at the transducer depth and ray bending through the water
column have been applied.
3
Scaled standard deviation (sd) of the range detection divided by the detected range
(dr):
Quality factor = 250*sd/dr.
4
This datagram may contain data for beams with and without a valid detection. Eight
bits (0-7) gives details about the detection:
A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is
used to specify how the range for this beam is calculated
0: Amplitude detect
1: Phase detect
2-15: Future use
B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used
to specify how the range (and x,y,z parameters) for this beam is calculated
0: Normal detection
1: Interpolated or extrapolated from neighbour detections
2: Estimated
3: Rejected candidate
4: No detection data is available for this beam (all parameters are set to zero)
5-7: Future use
The invalid range has been used to fill in amplitude samples in the seabed image
datagram.
5
A real time data cleaning module may flag out beams.
Negative values indicates that this beam is flagged out, and is not to be used.
6
Due to raybending, the beam incidence angle at the bottom hit will usually differ
from the beam launch angle at the transducer and also from the angle given by a
straight line between the transducer and the bottom hit. The difference from the
latter is given by the beam incidence angle adjustment (IBA). The beam incidence
angle re the horizontal, corrected for the ray bending, can be calculated as follows:
BAC = atan( z / abs(y) ) + IBA.
BAC is positive downwards and IBA will be positive when the beam is bending
towards the bottom. This parameter can be helpful for correcting seabed imagery
data and in seabed classification.
44
850-160692/N
Output datagrams
3.2.3
Central beams echogram
Note
This datagram is only available for EM 120 and EM 300.
Table 25
Central beams echogram
Data Description
Format
Number of bytes in datagram
4U
Valid range
—
Note
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = K (Always 4Bh)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Mean absorption coefficient in 0.01 dB/km
2U
1 to 20000
1
Pulse length in μs
2U
50 –
1
Range to normal incidence used in TVG
2U
1 to 16384
Start range sample of TVG ramp if not enough
dynamic range (0 else)
Stop range sample of TVG ramp if not enough
dynamic range (0 else)
Normal incidence BS in dB (BSN)
(Example: -20 dB = 236)
Oblique BS in dB (BSO)
(Example: -1 dB = 255)
Tx beamwidth in 0.1°
2U
0 to 16384
1
—
2U
0 to 16384
—
1S
-50 to +10
1
1S
-60 to 0
1
2U
1 to 300
1
TVG law crossover angle in 0.1°
1U
20 to 300
Number of included beams (N)
1U
Repeat cycle — N entries of :
6*N
1–
—
1
—
beam index number
1U
spare byte to get even length (Always 0)
1U
0 to 253
—
2
—
number of samples per beam = Ns
2U
1–
—
start range in samples
2U
1–
3
Repeat cycle – ΣNs entries of:
ΣNs
—
Sample amplitudes in 0.5 dB
(Example: -30 dB = 196)
End identifier = ETX (Always 03h)
1S
-128 to +126
—
1U
—
—
Spare byte if required to get even length (Always
0 if used)
End identifier = ETX (Always 03h)
0–1U
—
—
1U
—
—
Check sum of data between STX and ETX
2U
—
—
End of repeat cycle
End of repeat cycle
850-160692/N
45
Kongsberg EM Series
Notes
1
The sample amplitudes are not corrected in accordance with the detection parameters
derived for the ping, as is done for the seabed image data.
2
The beam index number is the beam number - 1.
3
The range for which the first sample amplitude is valid for this beam given as a
two-way range. The detection range is given in the raw range and beam angle
datagram. Note that data are provided regardless of whether a beam has a valid
detection or not.
46
850-160692/N
Output datagrams
3.2.4
Raw range and beam angle (F)
Note
Only used for EM 3000
Table 26
Raw range and beam angle datagrams
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = F (Always 46h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Maximum number of beams possible
1U
48 –
—
Number of valid receive beams = N
1U
1 to 254
—
Sound speed at transducer in dm/s
2U
—
Repeat cycle – N entries of :
8*N
14000 to 16000
—
– Beam pointing angle in 0.01°
2S
-11000 to 11000
1
– Transmit tilt angle in 0.01°
2U
-2999 to 2999
1
– Range (two-way travel time)
2U
0 to 65534
– Reflectivity (BS) in 0.5 dB resolution
1S
-128 to 126
1
—
– Beam number
1U
1 to 254
—
Spare (Always 0)
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
21U
—
—
—
End of repeat cycle
Notes
1
The beam pointing angle is positive to port and the transmit tilt angle is positive
forwards for a normally mounted system looking downwards. The range resolution
in time is the inverse of the range sampling rate given in the depth datagrams.
850-160692/N
47
Kongsberg EM Series
3.2.5
Raw range and beam angle (f)
New datagram, added January 2004. This datagram replaces the old F datagram.
Note
Used for EM 120, EM 300, EM 1002, EM 2000, EM 3000 and EM 3002
Table 27
Raw range and beam angle datagrams
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = f (Always 66h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Number of transmit sectors = Ntx
2U
1 to 20
—
Number of valid receive beams = N
2U
1 to 1999
—
Sampling frequency in 0.01 Hz (F)
4U
ROV depth in 0.01 m
4S
100 to 100000 * 100 —
—
Sound speed at transducer in 0.1 m/s
2U
14000 to 16000
—
Maximum number of beams possible
2U
1 to 1999
—
Spare 1
2U
Spare 2
2U
Ntx entries of :
20*Ntx
—
—
Tilt angle ref TX array in 0.01°
2S
-2900 to 2900
—
Focus range in 0.1 m (0 = No focus)
2U
—
Signal length in μs
4U
0 to 65535
—
Transmit time offset in μs
4U
—
—
Center frequency in Hz
4U
—
—
Bandwidth in 10 Hz
2U
1 to 65535
—
Signal waveform identifier
1U
0 to 99
Transmit sector number
1U
1
—
N entries of :
12*N
0 to 99
—
Beam pointing angle ref RX array in 0.01°
2S
-11000 to 11000
—
Range in 0.25 samples (R)
2U
0 to 65535
Transmit sector number
1U
0 to 19
2
—
Reflectivity (BS) in 0.5 dB resolution
1S
-128 to 127
—
Quality factor
1U
0 to 254
—
Detection window length in samples
(/4 if phase)
1U
1 to 254
—
48
—
—
—
850-160692/N
Output datagrams
Table 27
Raw range and beam angle datagrams (cont’d.)
Data Description
Format
Valid range
Note
Beam number
2S
Spare
2U
-1999 to 1999
—
3
—
Spare (Always 0)
1U
—
End identifier = ETX (Always 03h)
1U
0
—
1U
—
—
Check sum of data between STX and ETX
—
Notes
1
0 = cw, 1 = FM
2
Two way travel time = R / ( 4 * F / 100 )
3
The beam number normally starts at 0.
850-160692/N
49
Kongsberg EM Series
3.2.6
Raw range and angle 78
Note
This datagram replaces the previous Raw range and beam angle f datagram for the new
multibeam models (EM 2040, EM 710, EM 302, EM 122, ME 70). All receiver beams are
included, check detection info and real time cleaning for beam status (see note 3 and 4).
Table 28
Raw range and beam angle 78 datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = N (4eh, 78d)
1U
—
—
EM model number (Example: EM 710 = 710)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Sep 26, 2005 = 20050926)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Sound speed at transducer in 0.1 m/s
2U
14000 to 16000
—
Number of transmit sectors = Ntx
2U
1–
—
Number of receiver beams in datagram = Nrx
2U
1–
—
Number of valid detections
2U
—
Sampling frequency in Hz
4F
1–
—
Dscale
4U
—
Repeat cycle 1 Ntx entries of:
Tilt angle re TX array in 0.01°
24*Ntx
—
5
—
2S
-2900 to 2900
Focus range in 0.1 m (0 = No focusing applied)
2U
Signal length in s
4F
0 to 65534
—
Sector transmit delay re first TX pulse, in s
4F
—
—
Centre frequency in Hz
4F
—
—
Mean absorption coeff. in 0.01 dB/km
2U
—
—
Signal waveform identifier
1U
0 to 99
Transmit sector number
1U
Signal bandwidth in Hz
4F
0–
—
1
—
Repeat cycle 2 Nrx entries of:
Beam pointing anlge re RX array in 0.01°
16*Nrx
—
—
2S
-11000 to 11000
Transmit sector number
1U
Detection info
1U
0–
—
6
—
Detection window length in samples
2U
—
3
—
Quality factor
1U
0 to 254
2
—
6
—
—
—
End of Repeat cycle 1
50
850-160692/N
Output datagrams
Table 28
Raw range and beam angle 78 datagram (cont’d.)
Data Description
Format
Note
1S
Valid range
—
D corr
Two way travel time in s
4F
—
Reflectivity (BS) in 0.1 dB resolution
2S
—
5
—
Real time cleaning info
1S
—
1U
—
4
—
Spare (Always 0)
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
2U
—
—
Spare
5
End of Repeat cycle 2
Check sum of data between STX and ETX
Notes
1 0 = cw, 1 = FM upsweep, 2= FM downsweep.
2 Scaled standard deviation (sd) of the range detection divided by the detected range
(dr):
Quality factor = 250*sd/dr.
3 This datagram may contain data for beams with and without a valid detection. Eight
bits (0-7) gives details about the detection:
A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is
used to specify how the range for this beam is calculated
0: Amplitude detect
1: Phase detect
2-15: Future use
B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used
to specify how the range (and x,y,z parameters) for this beam is calculated
0: Normal detection
1: Interpolated or extrapolated from neighbour detections
2: Estimated
3: Rejected candidate
4: No detection data is available for this beam (all parameters are set to zero)
5-7: Future use
The invalid range has been used to fill in amplitude samples in the seabed image
datagram.
4 For future use. A real time data cleaning module may flag out beams. Bit 7 will
be set to 1 if the beam is flagged out. Bit 0-6 will contain a code telling why the
beam is flagged out.
5 The Doppler correction applied in FM mode is documented here using previously
unused (spare) fields. This allows the uncorrected slant ranges to be recreated if
desired. The correction is scaled by a common scaling constant for all beams
850-160692/N
51
Kongsberg EM Series
and then included in the datagram using a signed 8 bit value for each beam. The
uncorrected range (two-way travel time) can be reconstructed by subtracting the
correction from the range in the datagram:
T(uncorrected) = T(datagram) - D(corr)/D(scale)
6
52
The angles are relative to the transducer arrays, except for ME 70, where the angles
are relative to the horizontal plane
850-160692/N
Output datagrams
3.2.7
Seabed image datagram
Note
This datagram is used for EM 2000, EM 3000, EM 3002, EM 1002, EM 300 and EM
120. The Seabed Image Data 89 datagram is used for newer models.
Table 29
Seabed image datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = (Seabed image data) (Always 1U
53h)
2U
EM model number (Example: EM 3000 = 3000)
—
—
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Mean absorption coefficient in 0.01 dB/km
2U
1 to 20000
1
Pulse length in μs
2U
50 –
Range to normal incidence used to correct sample
amplitudes in no. of samples
Start range sample of TVG ramp if not enough
dynamic range (0 else)
Stop range sample of TVG ramp if not enough
dynamic range (0 else)
Normal incidence BS in dB (BSN)
(Example: -20 dB = 236)
Oblique BS in dB (BSO) (Example:–1 dB = 255)
2U
1 to 16384
1
—
2U
0 to 16384
—
2U
0 to 16384
—
1S
-50 to 10
—
1S
-60 to 0
—
Tx beamwidth in 0.1°
2U
1 to 300
—
TVG law crossover angle in 0.1°
1U
20 to 300
—
Number of valid beams (N)
1U
—
Repeat cycle – N entries of :
6*N
1 to 254
—
beam index number
1U
0 to 253
2
sorting direction
1S
-1 or 1
number of samples per beam = Ns
2U
1–
3
—
centre sample number
2U
1–
4
Repeat cycle – ΣNs entries of:
ΣNs
—
—
Sample amplitudes in 0.5 dB
(Example: –30 dB = 196)
End of repeat cycle
1S
-128 to 126
—
Spare byte if required to get even length
(Always 0 if used)
End identifier = ETX (Always 03h)
0 – 1U
—
—
1U
—
—
2U
—
—
End of repeat cycle
Check sum of data between STX and ETX
850-160692/N
53
Kongsberg EM Series
Notes
1
These fields have earlier had other definitions.
2
The beam index number is the beam number -1.
3
The first sample in a beam has lowest range if 1, highest if -1. Note that the range
sampling rate is defined by the sampling rate in the depth output datagram and that
the ranges in the seabed image datagram are all two-way from time of transmit
to time of receive.
4
The centre sample number is the detection point of a beam.
54
850-160692/N
Output datagrams
3.2.8
Seabed image data 89
Note
This datagram replaces the previous Seabead image (S) datagram for the new multibeam
models (EM 2040, EM 710, EM 302, EM 122, ME 70).
Table 30
Seabed image data 89 datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = Y (59h, 89d)
1U
—
—
EM model number (Example: EM 710 = 710)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Sep 26, 2005 = 20050926)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
100 –
—
—
Range to normal incidence used to correct sample 2U
amplitudes in no. of samples
Normal incidence BS in 0.1 dB (BSN)
2S
1 to 16384
—
—
—
Oblique BS in 0.1 dB (BSO)
2S
—
—
Tx beamwidth along in 0.1°
2U
1 to 300
—
TVG law crossover angle in 0.1°
2U
20 to 300
—
Number of valid beams (N)
2U
—
Repeat cycle – N entries of :
6*N
1–
—
Sorting direction
1S
1
Detection info
1U
-1 or 1
—
Number of samples per beam = Ns
2U
1–
2
—
Centre sample number
2U
1–
3
ΣNs
—
—
Sample amplitudes in 0.1 dB
(Example: -30.2 dB = FED2h = 65234d)
End of repeat cycle
2S
—
—
Spare (Always 0)
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
2U
—
—
System serial number
2U
Sampling frequency in Hz
4F
—
End of repeat cycle
Repeat cycle – ΣNs entries of:
Check sum of data between STX and ETX
Notes
1
The first sample in a beam has lowest range if 1, highest if -1. Note that the ranges in
the seabed image datagram are all two-way from time of transmit to time of receive.
850-160692/N
55
Kongsberg EM Series
2
This datagram may contain data for beams with and without a valid detection. Eight
bits (0-7) gives details about the detection:
A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is
used to specify how the range for this beam is calculated
0: Amplitude detect
1: Phase detect
2-15: Future use
B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used
to specify how the range (and x,y,z parameters) for this beam is calculated
0: Normal detection
1: Interpolated or extrapolated from neighbour detections
2: Estimated
3: Rejected candidate
4: No detection data is available for this beam (all parameters are set to zero)
5-7: Future use.
The invalid range has been used to fill in amplitude samples in the seabed image
datagram.
3
56
The centre sample number is the detection point of a beam.
850-160692/N
Output datagrams
3.2.9
Water column datagram
Note
Used for EM 122, EM 302, EM 710, EM 2040, EM 3002 and ME 70.
The receiver beams are roll stabilized.
Table 31
Water column datagram
Data Description
Format
Valid range
Note
—
Number of bytes in datagram
4U
Start identifier = STX (Always 02h)
1U
48 to 65535
—
Type of datagram = k (Always 6Bh)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
—
System serial number
2U
100 –
—
Number of datagrams
2U
1 to Nd
2
Datagram numbers
2U
1 to Nd
Number of transmit sectors = Ntx
2U
1 to 20
2
—
Total no. of receive beams
2U
1 to Nd
—
Number of beams in this datagram = Nrx
2U
1 to Nd
—
Sound speed in 0.1 m/s (SS)
2U
14000 to 16000
—
Sampling frequency in 0.01 Hz resolution (SF)
4U
1000 to 4000000
TX time heave (at transducer) in cm
2S
–1000 to 1000
1
—
TVG function applied (X)
1U
TVG offset in dB (C)
1S
20 to 40
—
Spare
4U
—
4
4
—
—
Ntx entries of :
Tilt angle re TX array in 0.01°
2S
-1100 to 1100
—
Center frequency in 10 Hz
2U
1000 to 50000
—
Transmit sector number
1U
—
Spare
1U
0 to 19
—
2S
-11000 to 11000
—
—
Nrx entries of :
Beam pointing angle ref vertical in 0.01°
Start Range sample number
2U
0 to 65534
—
Number of samples (Ns)
2U
0 to 65534
6
Detected range in samples (DR)
2U
0 to 65534
Transmit sector number
1U
0 to 19
3
—
Beam number
1U
0 to 254
Ns entries of:
Sample amplitude in 0.5 dB resolution
1S
-128 to126
850-160692/N
5
—
57
Kongsberg EM Series
Table 31
Water column datagram (cont’d.)
Data Description
Format
0 – 1U
Valid range
—
Note
—
Spare byte if required to get even length (always
0 if used)
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
Notes
1
The sample rate is normally decimated to be approximately the same as the
bandwidth of the transmitted pulse.
2
Maximum 64 kB in one datagram. More than 1 datagram may be required to
transfer the data. Example: 500 m range * 160 beams * 1 Byte / 0.1 m per sample
gives 800 kB. This requires 13 datagrams. A number of complete beams will be
transferred in each datagram.
For EM 3002 the maximum number of datagrams Nd is 16 and the maximum
number of beams Nb is 254. For new multibeams starting with EM 710 this is
increased to allow for up to 32 datagrams and 512 beams.
3
Total Range in meters = Sound speed * detected range / (sample rate * 2) = SS10 *
DR / (FS100 * 2) = 5 * SS * DR / FS (FS100= FS/100, SS10= SS/10). The range is
set to zero when the beam has no bottom detection.
4
The TVG function applied to the data is X logR + 2 Alpha R + OFS + C. The
parameters X and C is documented in this datagram. OFS is gain offset to
compensate for TX Source Level, Receiver sensitivity etc.
5
The 1U beam number (valid range 0-254) is redundant information and is limited to
a maximum of 255 beams. For systems with more than 255 beams this parameter
will be set to 255 (invalid).
6
From 01.01.2008, this number will always be an even number, due to alignments
58
850-160692/N
Output datagrams
3.3
External sensors
Topics
•
Attitude datagram on page 59
•
Network attitude velocity datagram 110 on page 61
•
Clock on page 63
•
Depth (pressure) or height datagram on page 64
•
Heading on page 65
•
Position on page 66
•
Single beam echo sounder depth on page 68
•
Tide datagram on page 69
3.3.1
Attitude datagram
Table 32
Attitude datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = A(ttitude data) (Always 041h) 1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Attitude counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
EM model number (Example: EM 3000 = 3000)
System serial number
2U
100 –
Number of entries = N
2U
—
Repeat cycle – N entries of:
12*N
1–
—
– Time in milliseconds since record start
2U
—
– Sensor status
2U
0 to 65534
—
– Roll in 0.01°
2S
-18000 to 18000
1
—
– Pitch in 0.01°
2S
-18000 to 18000
—
– Heave in cm
2S
-1000 to 10000
—
– Heading in 0.01°
2U
0 to 35999
—
Sensor system descriptor
1U
—
End identifier = ETX (Always 03h)
1U
—
2
—
Check sum of data between STX and ETX
2U
—
—
End of repeat cycle
850-160692/N
59
Kongsberg EM Series
Notes
1
The sensor status will be copied from the input datagram’s two sync bytes if the
sensor uses the EM format. See the input format description for further details.
2
The sensor system descriptor will show which sensor the data is derived from, and
which of the sensor’s data have been used in real time by bit coding:
• xx00 xxxx – motion sensor number 1
• xx01 xxxx – motion sensor number 2
• xxxx xxx1 – heading from the sensor is active
• xxxx xx0x – roll from the sensor is active
• xxxx x0xx – pitch from the sensor is active
• xxxx 0xxx – heave from the sensor is active
60
850-160692/N
Output datagrams
3.3.2
Network attitude velocity datagram 110
Table 33
Network attitude velocity datagram 110
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 08, 2007 = 20070208)
4U
Time since midnight in milliseconds (Example:
08:12:51.234 = 29570234)
2U
Network Attitude counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
Type of datagram = n(etwork data) (Always 6Eh,
110d)
EM model number (Example: EM 710 = 710)
System serial number
2U
100 –
Number of entries = N
2U
Sensor system descriptor
1U
1–
—
Spare
—
Repeat cycle – N entries of:
1U
—
– Time in milliseconds since record start
2U
0 to 65535
—
– Roll in 0.01°
2S
-18000 to 18000
—
– Pitch in 0.01°
2S
-18000 to 18000
—
– Heave in cm
2S
-1000 to 10000
—
– Heading in 0.01°
2U
0 to 35999
—
– Number of bytes in input datagram (Nx)
1U
—
– Network attitude input datagram as received
Nx x 1U
—
1 to 254
—
End of repeat cycle
Spare byte if required to get even length
(always 0 if used)
End identifier = ETX (Always 03h)
Check sum of data between STX and ETX
—
1
—
—
—
2
—
0 – 1U
—
—
1U
—
—
2U
—
—
Notes
1
The sensor system descriptor shows which sensor the data is derived from, and
which of the sensor’s data have been used in real time by bit coding:
• xx10 xxxx – motion sensor number 3 (network)
• xxxx xxx1 – heading from the sensor is active
• xxxx xx0x – roll from the sensor is active
• xxxx x0xx – pitch from the sensor is active
• xxxx 0xxx – heave from the sensor is active
2
Complete input datagram. Header is kept for identification:
POS M/V: $GRP102 or $GRP103
CodaOctopus: 0xE8
850-160692/N
61
Kongsberg EM Series
Seapath: q
From 01.01.2008 an extra byte will be added, at the end of the input datagram, if
needed for alignment.
62
850-160692/N
Output datagrams
3.3.3
Clock
Table 34
Clock datagrams
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = C(lock data) (Always 043h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Clock counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
100 –
—
—
System serial number
2U
4U
Date = year*10000 + month*100 + day (from
external clock input)
(Example: Feb 26, 1995 = 19950226)
Time since midnight in milliseconds (from external 4U
clock datagram)
(Example: 08:12:51.234 = 29570234)
1U
1 PPS use (active or not) (0 = inactive)
0 to 86399999
—
End identifier = ETX (Always 03h)
1U
—
1
—
Check sum of data between STX and ETX
2U
—
—
Notes
1
Shows if the system clock is synchronised to an external 1 PPS signal or not.
850-160692/N
63
Kongsberg EM Series
3.3.4
Depth (pressure) or height datagram
Table 35
Depth (pressure) or height datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = h(eight data) (Always 068h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Height counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
—
Height in cm
4S
—
Heigth type
1U
End identifier = ETX (Always 03h)
1U
- 4294967296 to
4294967295
0 to 100
—
Check sum of data between STX and ETX
2U
—
—
1
—
Notes
1
0: The height is derived from the GGK or GGA datagram and is the height of the
water level at the vertical datum (possibly motion corrected).
Height is derived from the active position system only.
1 - 99: The height type is as given in the Depth (pressure) or height input datagram.
100: The input is depth taken from the Depth (pressure) or height input datagram.
200: Input from depth sensor.
64
850-160692/N
Output datagrams
3.3.5
Heading
Table 36
Heading datagrams
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = H(eading data)
(Always 048h)
EM model number (Example: EM 3000 = 3000)
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Heading counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
Number of entries = N
2U
—
Repeat cycle – N entries of:
4*N
1–
—
– Time in milliseconds since record start
2U
0 to 65534
—
– Heading in 0.01°
2U
0 to 35999
—
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
End of repeat cycle
Heading indicator (active or not) (0 = inactive)
850-160692/N
65
Kongsberg EM Series
3.3.6
Position
Table 37
Position datagrams
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = P(osition data)
(Always 050h)
EM model number (Example: EM 3000 = 3000)
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Position counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
100 –
—
—
—
—
—
1
System / serial number
2U
Latitude in decimal degrees*20000000 (negative 4S
if southern hemisphere)
(Example: 32°34’ S = -651333333)
Longitude in decimal degrees*10000000 (negative 4S
if western hemisphere)
(Example: 110.25° E = 1102500000 )
2U
Measure of position fix quality in cm
—
Speed of vessel over ground in cm/s
2U
0–
1
Course of vessel over ground in 0.01°
2U
0 to 35999
Heading of vessel in 0.01°
2U
0 to 35999
1
—
Position system descriptor
1U
1 to 254
Number of bytes in input datagram
1U
Position input datagram as received
Variable
– 254
—
Spare byte if required to get even length
(Always 0 if used)
End identifier = ETX (Always 03h)
0 – 1U
—
3
—
1U
—
—
2U
—
—
Check sum of data between STX and ETX
2
—
Notes
1
These data will be valid only if available as input.
The calculation is done according to the selected position input format.
See Position on page 7.
2
The position system descriptor shows which source this data is from and its
real-time use by bit coding:
• xxxx xx01 - position system no 1
• xxxx xx10 – position system no 2
• xxxx xx11 – position system no 3
• 10xx xxxx – the position system is active, system time has been used
• 11xx xxxx - the position system is active, input datagram time has been used
66
850-160692/N
Output datagrams
• xxxx 1xxx – the position may have to be derived from the input datagram which
is then in SIMRAD 90 format.
3
Complete input datagram except header and tail (such as NMEA 0183 $ and CRLF).
850-160692/N
67
Kongsberg EM Series
3.3.7
Single beam echo sounder depth
This datagram will contain the profile actually used in the real time raybending
calculations to convert range and angle to xyz data. It will usually be issued together
with the installation parameter datagram.
Table 38
Single beam echo sounder depth datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = E(cho sounder data) (Always
045h)
EM model number (Example: EM 3000 = 3000)
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Echo sounder counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
100 –
—
—
0 to 86399999
—
0 to 1200000
—
System serial number
2U
Date = year*10000 + month*100 + day (from input 4U
datagram if available)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (from input
datagram if available)
(Example: 08:12:51.234 = 29570234)
4U
Echo sounder depth from waterline in cm
—
Source identifier (S, T, 1, 2 or 3)
ASCII
End identifier = ETX (Always 03h)
1U
—
1
—
Check sum of data between STX and ETX
2U
—
—
Notes
1
68
Identifies the source datagram type, i.e. NMEA DBS, NMEA DPT or EA 500
series channel 1-3 respectively.
850-160692/N
Output datagrams
3.3.8
Tide datagram
Table 39
Tide datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = T(ide data) (Always 054h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Tide counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
100 –
—
—
0 to 86399999
—
—
System serial number
2U
Date = year*10000 + month*100 + day (from input 4U
datagram)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (from input
datagram)
(Example: 08:12:51.234 = 29570234)
Tidal offset in cm
2S
Spare (Always 0)
1U
-32768 to 32766
—
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
850-160692/N
69
Kongsberg EM Series
3.4
Sound speed
Topics
•
Surface sound speed on page 70
•
Sound speed profile datagram on page 71
•
Kongsberg Maritime SSP output datagram on page 72
3.4.1
Surface sound speed
Table 40
Surface sound speed datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = G (Always 047h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Sound speed counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
System serial number
2U
100 –
Number of entries = N
2U
Repeat cycle – N entries of:
4*N
1–
—
– Time in seconds since record start
2U
0 to 65534
– Sound speed in dm/s (incl. offset)
2U
14000 to 15999
—
Spare (Always 0)
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
2U
—
—
—
—
End of repeat cycle
Check sum of data between STX and ETX
70
850-160692/N
Output datagrams
3.4.2
Sound speed profile datagram
This datagram will contain the profile actually used in the real time raybending
calculations to convert range and angle to xyz data. It will usually be issued together
with the installation parameter datagram.
Table 41
Sound speed profile datagram
Data Description
Format
4U
Valid range
—
Note
—
Number of bytes in datagram
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = U (Always 055h)
1U
—
—
EM model number (Example: EM 3000 = 3000)
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
Profile counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
—
System serial number
2U
Date = year*10000 + month*100 + day
(when profile was made)
(Example: Feb 26, 1995 = 19950226)
Time since midnight in milliseconds
(when profile was made)
(Example: 08:12:51.234 = 29570234)
Number of entries = N
4U
100 –
—
4U
0 to 86399999
—
2U
1–
—
Depth resolution in cm
2U
—
Repeat cycle — N entries of:
8*N
1 to 254
—
– Depth
4U
0 to 1200000
—
– Sound speed in dm/s
4U
14000 to 17000
—
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
—
—
End of repeat cycle
Spare byte to get even length (Always 0)
850-160692/N
71
Kongsberg EM Series
3.4.3
Kongsberg Maritime SSP output datagram
This datagram will contain the profile actually used in the real time raybending
calculations to convert range and angle to xyz data.
Table 42
Kongsberg Maritime SSP output datagram
Data Description
Format
Number of bytes in datagram
4U
Valid range
—
Note
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = W (Always 057h)
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (at start of 4U
data record)
(Example: Feb 26, 1995 = 19950226)
4U
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
2U
SSP counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
—
EM model number (Example: EM 3000 = 3000)
System serial number
2U
Input datagram starting with Sentence formatter
and ending with Comment
Spare byte if required to get even length (Always
0 if used )
End identifier = ETX (Always 03h)
Variable
100 –
—
0 – 1U
—
—
1U
—
—
Check sum of data between STX and ETX
2U
—
—
72
—
850-160692/N
Output datagrams
3.5
Multibeam parameters
Topics
•
Installation parameters on page 73
•
Runtime parameters on page 79
•
Mechanical transducer tilt on page 86
•
ExtraParameters datagram on page 87
3.5.1
Installation parameters
This datagram is an ASCII datagram except for the header which is formatted as in all
other output datagrams. The datagram is issued as a start datagram when logging is
switched on and as a stop datagram when logging is turned off, i.e. at the start and end
of a survey line. It may also be sent to a remote port as an information datagram. It is
usually followed by a sound speed profile datagram.
In the datagram all ASCII fields start with a unique three character identifier followed
by “=”. This should be used when searching for a specific field as the position of a
field within the datagram is not guaranteed. The number or character part following is
in a variable format with a minus sign and decimal point if needed, and with “,” as
the field delimiter. The format may at any time later be expanded with the addition of
new fields at any place in the datagram.
For the EM 3000 and EM 3002 the transducer 1 data are for the Sonar Head and the
transducer 2 data are for the second Sonar Head of an EM 3000D or an EM 3002. For
other new EM systems with separate transmit and receive transducers, transducer 1 refers
to the transmit transducer, and transducer 2 refers to the receive transducer.
Table 43
Installation parameters
Data Description
Example
—
Format
Number of bytes in datagram
4U
Valid range
—
Start identifier = STX
Always 02h
1U
—
1
—
Type of datagram = I or i(nstallation
parameters)
or r(emote information)
EM model number
Start = 049h
Stop = 069h
Remote info = 70h
EM 3000 = 3000
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day
4U
—
—
4U
0 to 86399999
—
Survey line number
Feb 26, 2009 =
20090226
08:12:51.234 =
29570234
—
2U
0 to 65534
—
System serial number
—
2U
100 –
—
Serial number of second sonar head
—
2U
—
Water line vertical location in m
WLZ=x.x,
ASCII
100 –
—
System main head serial number
SMH=x.x,
ASCII
100 –
Hull Unit
HUN=x,
ASCII
0 or 1
1
—
Time since midnight in milliseconds
850-160692/N
Note
—
73
Kongsberg EM Series
Table 43
Installation parameters (cont’d.)
Data Description
Example
Format
ASCII
Valid range
—
Note
—
Hull Unit tilt offset
HUT=x.x,
Transducer 1 vertical location in m
S1Z=x.x,
ASCII
—
—
Transducer 1 along location in m
S1X=x.x,
ASCII
—
—
Transducer 1 athwart location in m
S1Y=x.x,
ASCII
—
—
S1H=x.x,
ASCII
—
—
Transducer 1 roll in degrees re horizontal S1R=x.x,
ASCII
—
—
Transducer 1 pitch in degrees
ASCII
—
—
—
Transducer 1 heading in degrees
S1P=x.x,
Transducer 1 no of modules
S1N=x — x,
ASCII
—
Transducer 2 vertical location in m
S2Z=x.x,
ASCII
—
—
Transducer 2 along location in m
S2X=x.x,
ASCII
—
—
Transducer 2 athwart location in m
S2Y=x.x,
ASCII
—
—
S2H=x.x,
ASCII
—
—
Transducer 2 roll in degrees re horizontal S2R=x.x,
ASCII
—
—
Transducer 2 pitch in degrees
S2P=x.x,
ASCII
—
—
Transducer 2 no of modules
S2N=x—x,
ASCII
—
—
—
Transducer 2 heading in degrees
TX array size (0=0.5º, 1=1º, 2=2º)
S1S=x,
ASCII
—
RX array size (1=1º, 2=2º)
S2S=x,
ASCII
—
—
System (sonar head 1) gain offset
GO1=x.x,
ASCII
—
—
Sonar head 2 gain offset
GO2=x.x,
ASCII
—
—
—
Outer beam offset
OBO=x.x,
ASCII
—
High/Low Frequency Gain Difference
FGD=x.x,
ASCII
—
—
ASCII
—
2
ASCII
—
2
2
Transmitter (sonar head no1) software
TSV=c—c,
version
Receiver (sonar head 2) software version RSV=c—c,
BSP software version
BSV=c—c,
ASCII
—
Processing unit software version
PSV=c—c,
ASCII
—
2
DDS software version
DDS=c—c,
ASCII
—
2
ASCII
—
2
Operator station software version
OSV=c—c,
Datagram format version
DSV=c—c,
ASCII
—
Depth (pressure) sensor along location
in m
Depth (pressure) sensor athwart location
in m
Depth (pressure) sensor vertical location
in m
Depth (pressure) sensor time delay in
millisec
Depth (pressure) sensor offset
DSX=x.x,
ASCII
—
2
—
DSY=x.x,
ASCII
—
—
DSZ=x.x,
ASCII
—
—
DSD=x—x,
ASCII
—
—
DSO=x.x,
ASCII
—
—
Depth (pressure) sensor scale factor
DSF=x.x,
ASCII
—
—
Depth (pressure) sensor heave
DSH=aa,
ASCII
IN or NI
3
Active position system number
APS=x,
ASCII
0 to 2
7
Position system 1 motion compensation
P1M=x,
ASCII
0 or 1
4
74
850-160692/N
Output datagrams
Table 43
Installation parameters (cont’d.)
Data Description
Example
Format
Valid range
Note
Position system 1 time stamp used
P1T=x,
ASCII
Position system 1 vertical location in m
P1Z=x.x,
ASCII
0 or 1
—
5
—
Position system 1 along location in m
P1X=x.x,
ASCII
—
—
Position system 1 athwart location in m
P1Y=x.x,
ASCII
—
—
—
Position system 1 time delay in seconds
P1D=x.x,
ASCII
—
Position system 1 geodetic datum
P1G=c—c,
ASCII
—
—
Position system 2 motion compensation
P2M=x,
ASCII
0 or 1
4
Position system 2 time stamp use
P2T=x,
ASCII
Position system 2 vertical location in m
P2Z=x.x,
ASCII
0 or 1
—
5
—
Position system 2 along location in m
P2X=x.x,
ASCII
—
—
Position system 2 athwart location in m
P2Y=x.x,
ASCII
—
—
—
Position system 2 time delay in seconds
P2D=x.x,
ASCII
—
Position system 2 geodetic datum
P2G=c—c,
ASCII
—
—
Position system 3 motion compensation
P3M=x,
ASCII
0 or 1
4
Position system 3 time stamp use
P3T=x,
ASCII
5
Position system 3 vertical location in m
P3Z=x.x,
ASCII
0 or 1
—
Position system 3 along location in m
P3X=x.x,
ASCII
—
Position system 3 athwart location in m
P3Y=x.x,
ASCII
—
Position system 3 time delay in seconds
P3D=x.x,
ASCII
—
Position system 3 geodetic datum
P3G=c—c,
ASCII
—
Position system 3 on serial line or
Ethernet
Motion sensor 1 vertical location in m
P3S= x,
ASCII
0 for Ethernet
MSZ=x.x,
ASCII
—
Motion sensor 1 along location in m
MSX=x.x,
ASCII
—
Motion sensor 1 athwart location in m
MSY=x.x,
ASCII
—
Motion sensor 1 roll reference plane
MRP=aa,
ASCII
Motion sensor 1 time delay in milliseconds MSD=x—x,
ASCII
HO or RP
—
Motion sensor 1 roll offset in degrees
MSR=x.x,
ASCII
—
Motion sensor 1 pitch offset in degrees
MSP=x.x,
ASCII
—
Motion sensor 1 heading offset in degrees MSG=x.x,
ASCII
—
Motion sensor 2 vertical location in m
ASCII
—
6
6
NSZ=x.x,
Motion sensor 2 along location in m
NSX=x.x,
ASCII
—
Motion sensor 2 athwart location in m
NSY=x.x,
ASCII
—
6
Motion sensor 2 roll reference plane
NRP=aa,
ASCII
6
ASCII
HO or RP
—
6
Motion sensor 2 time delay in milliseconds NSD=x—x,
6
Motion sensor 2 roll offset in degrees
NSR=x.x,
ASCII
—
Motion sensor 2 pitch offset in degrees
NSP=x.x,
ASCII
—
6
Motion sensor 2 heading offset in degrees NSG=x.x,
ASCII
—
6
—
—
Gyrocompass heading offset in degrees
GCG=x.x,
ASCII
—
Roll scaling factor
MAS=x.x,
ASCII
—
850-160692/N
75
Kongsberg EM Series
Table 43
Installation parameters (cont’d.)
Data Description
Example
Format
Valid range
Note
Transducer depth sound speed source
SHC=x,
ASCII
0 or 1
Active heading sensor
AHS=x,
ASCII
1 to 4
8
—
Active roll sensor
ARO=x,
ASCII
1 to 4
—
Active pitch sensor port no
API=x,
ASCII
1 to 4
—
Active heave sensor port no
AHE=x,
ASCII
1 to 4
—
Clock source
CLS=x,
ASCII
(0), 1 to 3
9
Clock offset in seconds
CLO=x,
ASCII
Attitude velocity sensor number
VSN = 1,
ASCII
0–2
10
ASCII
1024 – 65535
11
1–2
—
13
Attitude velocity sensor UDP port address VSU = 3000,
Attitude velocity sensor Ethernet port
VSE = 1,
ASCII
Attitude velocity sensor IP address
(Ethernet 2)
Attitude velocity sensor IP network mask
(Ethernet 2)
Multicast sensor IP address (Ethernet 2)
VSI = 192.168.2.1,
ASCII
12
VSM = 255.255.0.0, ASCII
—
14
MCAn=225.0.0.1,
ASCII
—
15
Multicast sensor UDP port number
MCUn=x—x,
ASCII
1024 – 65535
15
Multicast sensor identifier
MCIn=aaaah,
ASCII
15
Multicast position system number
MCPn=x,
ASCII
Cartographic projection
CPR=aaa,
ASCII
See PU Setup
command
0–3
—
Responsible operator
ROP=c—c,
ASCII
—
—
—
16
—
Survey identifier
SID=c—c,
ASCII
—
Raw File Name
RFN=c—c
ASCII
—
17
Survey line identifier (planned line no)
PLL=x—-x,
ASCII
—
Not used
ASCII
—
0–1U
—
18
—
1U
—
—
2U
—
—
Comment
Spare byte if required to get even length
COM=c—c,
Always 0 if used
Always 03h
Check sum of data between STX and ETX —
End identifier = ETX
Notes
1
Serial number of head no 2 if that head is the only one in use with the EM 3000D,
otherwise the serial number of head no 1 in the EM 3000D or the only head in
the EM 3000.
2
A version number is given as 3 alphanumerical fields separated by decimal points,
plus date as yymmdd (for example 3.02.11 991124).
3
IN = the heave of an underwater vehicle is presumed to be measured by the vehicle’s
depth sensor and the heave sensor input is not used by system.
4
1 = the positions are motion compensated
0 = the positions are not motion compensated
5
0 = the system has used its own time stamp for the valid time of the positions
1 = the system has used the time stamp of the position input datagram (external time).
76
850-160692/N
Output datagrams
6
If entries for a second motion sensor are not included although two sensors are being
used, they are presumed to have the same parameters.
7
Position system number -1.
8
0 = Transducer depth sound speed is used as the initial entry the sound speed profile
used in the raytracing calculations.
1 = Transducer depth sound speed is NOT used for raytracing calculations.
Note that the source of the sound speed at the transducer depth (and this sound
speed is always used to calculate beam pointing angles if required) is logged in
the runtime datagram.
9
(0 - not set)
1 – ZDA
2 – Active POS
3 – Operator station
10 We assume attitude velocity data is coming from one of the existing (serial input
type) motion sensors.
0 – Attitude velocity sensor not connected.
1 – Motion sensor 1 is used for attitude velocity data (MSx).
2 – Motion sensor 2 is used for attitude velocity data (NSx).
(If VSN = 0, the other VSx parameters are not relevant and need not to be sent.)
11 Value depends on sensor type:
Seatext Seapath: Selectable (default 3001)
Applanix POS-MV: 5602
CodaOctopus F-180: 3000
12 1 – Use the existing Ethernet port used for communication to topside (SIS).
2 – Use Ethernet 2 (if available). Network address and mask set up by VSI and VSM.
13 If VSE = 2, Ethernet 2 is set up with this IP address.
14 If VSE = 2, Ethernet 2 is set up with this net mask.
15 Sensor input datagrams to be provided on given formats.
Note
Available from SIS version 3.7.
xxxx xxxx xxxx xxxx xxxx xx1x
—
NMEA GGA
xxxx xxxx xxxx xxxx xxx1 xxxx
—
NMEA ZDA
xxxx xxxx 1xxx xxxx xxxx xxxx
—
NMEA GLL
xxxx xxx1 xxxx xxxx xxxx xxxx
—
Own Ship’s Data, position
xxxx xx1x xxxx xxxx xxxx xxxx
—
ROV Depth and Sound speed from Own Ship’s Data
xxxx x1xx xxxx xxxx xxxx xxxx
—
Sound Velocity (SOUNDVELOCTYPROFILE_DATA)
xxxx 1xxx xxxx xxxx xxxx xxxx
—
Attitude Sagem format
850-160692/N
77
Kongsberg EM Series
16 This number indicates which position system that will arrive via this multicast.
0 – no position will be received from Multi cast, default value.
1 – position system 1
2 – position system 2
3 – position system 3
17 The RFN parameter has been reintroduced specifically for customers converting
from Merlin to SIS. This parameter contains the name of the raw data file used for
normal logging and for watercolumn logging (i.e. the .all and .wcd files). The
RFN parameter is included in the Installation Parameters ( ’I’ ) datagram found at
the start of the logged filed and in the Stop datagram (’i’) datagram found at the
end of the logged file. This RFN parameter is also included in the distributed ’I’
and ’i’ datagrams.
Note
The RFN parameter contains the file name with the extension (.all or.wcd), but not
the storage path.
Raw File Name convention:
LineNo_YYYYMMDD_HHMMSS(UTC)_ShipName.all
18 The comment field may contain any ASCII characters.
78
850-160692/N
Output datagrams
3.5.2
Runtime parameters
Table 44
Runtime parameters
Data Description
Format
Valid range
Note
Number of bytes in datagram
4U
—
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = R(untime parameter)
(Always 052h)
1U
—
—
EM model number (Example: EM 710 = 710)
2U
—
—
Date = year*10000 + month*100 + day (at start
of data record)
(Example: june 26, 2009 = 20090626)
4U
—
—
Time since midnight in milliseconds (at start of
data record)
(Example: 08:12:51.234 = 29570234)
4U
0 to 86399999
—
Ping counter
2U
0 to 65535
—
System serial number
2U
100 –
—
Operator Station status
1U
—
1
Processing Unit status (CPU)
1U
—
1
BSP status
1U
—
1
Sonar Head or Transceiver status
1U
—
1
Mode
1U
0–
2
Filter identifier
1U
0 to 255
3
Minimum depth in m
2U
0 to 10000
—
Maximum depth in m
2U
1 to 12000
—
Absorption coefficient in 0.01 dB/km
2U
1 to 20000
4
Transmit pulse length in μs
2U
1 to 50000
13
Transmit beamwidth in 0.1 degrees
2U
1 to 300
—
Transmit power re maximum in dB
1S
0 to – 50
—
Receive beamwidth in 0.1 degrees
1U
5 to 80
—
Receive bandwidth in 50 Hz resolution
1U
1 to 255
10
Mode 2 or
Receiver fixed gain setting in dB
1U
—
0 to 50
12
TVG law crossover angle in degrees
1U
2 to 30
—
Source of sound speed at transducer
1U
0 to 3
5
Maximum port swath width in m
2U
10 to 20000
8
Beam spacing
1U
0 to 3
6
Maximum port coverage in degrees
1U
10 to 110
8
Yaw and pitch stabilization mode
1U
—
7
Maximum starboard coverage in degrees
1U
10 to 110
8
Maximum starboard swath width in m
2U
10 to 20000
8
850-160692/N
79
Kongsberg EM Series
Table 44
Runtime parameters (cont’d.)
Data Description
Format
Valid range
Note
Transmit along tilt in 0.1 deg. or
Durotong speed in dm/s
2S
2U
-300 to 300
20000 to 25000
9
Filter identifier 2 or
HiLo frequency absorption coefficient ratio
1U
0 to 255
0 to 120
11
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
Notes
1 The table below shows the system error status coded by one bit for each detected
error. The status bit is set to one if error is detected.
Table 45
Multi beam system status
Operator Station status
Bit number
xxxx xxxx
Function
For future use
Model
—
Processing Unit status (CPU)
Bit number
Function
Model
xxxx xxx1
Communication error with BSP
All models
xxxx xx1x
Communication error with Sonar Head or Transceiver
All models
xxxx x1xx
Attitude not valid for this ping
All models
xxxx 1xxx
Heading not valid for this ping
All models
xxx1 xxxx
System clock has not been set since power up
All models
xx1x xxxx
External trigger signal not detected
All models
x1xx xxxx
CPU error (from SIS 3.6)
EM 122, EM 302,
EM 710, EM 2040
EM 1002
Hull Unit not responding
1xxx xxxx
Attitude velocity data not valid for this ping
EM 122, EM 302,
EM 710, EM 2040
BSP status EM 2000, EM 3000 and EM 3002
Bit number
Function
Model
xxxx xxx1
Error on RX data received by BSP 1
(May be a bad high speed link)
xxxx xx1x
Too much seabed image data on BSP1
EM 2000,
EM 3000, EM 3000D,
EM 3002, EM 3002D
EM 3000, EM 3000D
xxxx x1xx
Invalid command received by BSP1
EM 3000, EM 3000D
xxxx 1xxx
Errors on BSP1
EM 3002, EM 3002D
xxx1 xxxx
EM 3000D, EM 3002D
xx1x xxxx
Error on RX data received by BSP 2
(May be a bad high speed link)
Too much seabed image data on BSP2
x1xx xxxx
Invalid command received by BSP2
EM 3000D
1xxx xxxx
Errors on BSP2
EM 3002, EM 3002D
EM 3000D
BSP status EM 1002
80
850-160692/N
Output datagrams
Table 45
Multi beam system status (cont’d.)
Operator Station status
Bit number
xxxx xxx1
Function
Sample number error in RX data received from SPRX
Model
—
BSP status EM 120 and EM 300
xxxx xxx1
Sample number error in RX data received from SPRX
—
xxxx xx1x
Missing RX header data from SPRX
—
xxxx x1xx
Missing sample data from SPTX
—
xxxx 1xxx
Missing second RX header data from SPTX
—
xxx1 xxxx
Bad sync TRU – PU – BSP
—
xx1x xxxx
Bad parameters received from PU
—
x1xx xxxx
Internal sync problem in BSP
—
1xxx xxxx
Checksum error in header from SPTX
—
BSP status EM 122, EM 302 EM 710 and EM 2040
Bit number
Function
Model
—
xxxx xxx1
Error on RX data received by BSP 1
xxxx xx1x
Error on RX data received by BSP 3
—
xxxx x1xx
Errors on BSP 3
—
xxxx 1xxx
Errors on BSP 1
—
xxx1 xxxx
Error on RX data received by BSP 2
—
xx1x xxxx
Error on RX data received by BSP 4
—
x1xx xxxx
Errors on BSP 4
—
1xxx xxxx
Errors on BSP2
—
Sonar Head status EM 2000, EM 3000 and EM 3002
Bit number
Function
Model
xxxx xxx1
Temperature to high on Sonar Head 1
xxxx xx1x
Data link failure on Sonar Head 1
xxxx x1xx
DC Supply Voltages in Sonar Head 1 is out of range
xxxx 1xxx
Spare
EM 2000,
EM 3000, EM 3000D,
EM 3002, EM 3002D
EM 2000,
EM 3000, EM 3000D,
EM 3002, EM 3002D
EM 2000,
EM 3000, EM 3000D,
EM 3002, EM 3002D
—
xxx1 xxxx
Temperature to high on Sonar Head 2
xx1x xxxx
Data link failure on Sonar Head 2
x1xx xxxx
DC Supply Voltages in Sonar Head 2 is out of range
1xxx xxxx
Spare
EM 3000D,
EM 3002D
EM 3000D,
EM 3002D
EM 3000D,
EM 3002D
—
Transceiver status EM 120 and EM 300
Bit number
xxxx xxx1
Transmit voltage (HV) out of range
Model
—
xxxx xx1x
Low voltage power out of range
—
850-160692/N
Function
81
Kongsberg EM Series
Table 45
Multi beam system status (cont’d.)
Operator Station status
xxxx x1xx
Timeout error (SPRX waits for SPTX)
—
xxxx 1xxx
Receive channel DC offset(s) out of range
—
xxx1 xxxx
Illegal parameter received from PU
—
xx1x xxxx
Internal communication error (SPTX – SPRX sync)
—
x1xx xxxx
Timeout error (SPTX waits for SPRX)
—
1xxx xxxx
Defective fuse(s) in transmitter
—
Transceiver status EM 122, EM 302, EM 710 and EM 2040
Bit number
xxxx xxx1
Function
Transmit voltage (HV) out of range
Model
—
xxxx xx1x
Low voltage power out of range
—
xxxx x1xx
Error on Transmitter
—
xxxx 1xxx
Error on Receiver
—
xxx1 xxxx
Not implemented
—
xx1x xxxx
Not implemented
—
x1xx xxxx
Not implemented
—
1xxx xxxx
Not implemented
—
Transceiver status EM 1002
Bit number
2
82
Function
xxxx xxx1
Transmit voltage (HV) out of range
Model
—
xxxx xx1x
Low voltage power out of range
—
xxxx x1xx
Transmit voltage (HV) to high
—
xxxx 1xxx
Error in command from PU (Illegal parameter)
—
xxx1 xxxx
Error in command from PU (Bad checksum)
—
xx1x xxxx
Error in command from PU (Bad datagram length)
—
Mode
Ping mode (EM 3000)
• xxxx 0000 - Nearfield (4º)
• xxxx 0001 - Normal (1.5º)
• xxxx 0010 - Target detect
Ping mode (EM 3002)
• xxxx 0000 - Wide Tx beamwidth (4°)
• xxxx 0001 - Normal Tx beamwidth (1.5°)
Ping mode (EM 2000, EM 710, EM 1002, EM 300, EM 302, EM 120 and EM 122)
• xxxx 0000 - Very Shallow
• xxxx 0001 - Shallow
• xxxx 0010 - Medium
• xxxx 0011 - Deep
• xxxx 0100 - Very deep
850-160692/N
Output datagrams
3
4
5
• xxxx 0101 - Extra deep
Ping mode (EM 2040)
• xxxx 0000 - 200 kHz
• xxxx 0001 - 300 kHz
• xxxx 0010 - 400 kHz
TX pulse form (EM 2040, EM 710, EM 302 and EM 122)
• xx00 xxxx - CW
• xx01 xxxx - Mixed
• xx10 xxxx - FM
Dual Swath mode (EM 2040, EM 710, EM 302 and EM 122)
• 00xx xxxx - Dual swath = Off
• 01xx xxxx - Dual swath = Fixed
• 10xx xxxx - Dual swath = Dynamic
The filter identifier byte is used as follows:
• xxxx xx00 - Spike filter set to Off
• xxxx xx01 - Spike filter is set to Weak
• xxxx xx10 - Spike filter is set to Medium
• xxxx xx11 - Spike filter is set to Strong
• xxxx x1xx - Slope filter is on
• xxxx 1xxx - Sector tracking or Robust Bottom Detection (EM 3000) is on
• 0xx0 xxxx - Range gates have Normal size
• 0xx1 xxxx - Range gates are Large
• 1xx0 xxxx - Range gates are Small
• xx1x xxxx - Aeration filter is on
• x1xx xxxx - Interference filter is on
The used absorption coefficient should be derived from raw range and angle 78
datagram or, for older systems, from the seabed image or central beams echogram
datagram if it is automatically updated with changing depth or frequency.
This absorption coefficient in this datagram is valid at the following frequency
• EM 120/122: 12 kHz
• EM 300/302: 31.5 kHz
• EM 710: 85 kHz
• ME 70 BO: 85 kHz
• EM 1002: 95 kHz
• EM 2000: 200 kHz
• EM 3000/3002: 300 kHz
• EM 2040: 300 kHz
The sound speed (at the transducer depth) source identifier is used as follows :
850-160692/N
83
Kongsberg EM Series
• 0000 0000 - From real time sensor
• 0000 0001 - Manually entered by operator
• 0000 0010 - Interpolated from currently used sound speed profile
• 0000 0011 - Calculated by ME 70 TRU
6
The beamspacing identifier is used as follows:
• 0000 0000 - Determined by beamwidth (FFT beamformer of EM 3000)
• 0000 0001 - Equidistant (Inbetween for EM 122 and EM 302)
• 0000 0010 - Equiangle
• 0000 0011 - High density equidistant (In between for EM 2000, EM 120, EM
300, EM 1002)
7
The yaw and pitch stabilization identifier is set as follows:
• xxxx xx00 - No yaw stabilization
• xxxx xx01 - Yaw stabilization to survey line heading (Not used)
• xxxx xx10 - Yaw stabilization to mean vessel heading
• xxxx xx11 - Yaw stabilization to manually entered heading
• xxxx 00xx - Heading filter, hard
• xxxx 01xx - Heading filter, medium
• xxxx 10xx - Heading filter, weak
• 1xxx xxxx - Pitch stabilization is on.
8 Port swath width and coverage was in earlier versions the sum of port and starboard
9
EM 3002, EM 2040, EM 3000, EM 710, EM 302, and EM 122:
Transmit along tilt value, used to offset the along-ship tilting of transmit fan (called
“Along Direction” in SIS and can be set from the Runtime parameters – Sounder
Main menu).
EM 1002:
Sound speed in Durotong (SSD) for the EM 1002 transducer. This value (set to zero
if not available) depends on the water temperature. SSD can be used to calculate the
water temperature in degree C:
• Temp = -0.013913*SSD+313.565
10 Receiver bandwidth values 1 to 254 for receiver bandwidth 50 Hz to 12.7 kHz. A
value of 255 indicates bandwidth larger than 12.7 kHz.
11 Filter identifier 2 or HiLo frequency absorption coeff:
Penetration filter (EM 710, EM 302 and EM 122)
• xxxx xx00 - Penetration filter = Off
• xxxx xx01 - Penetration filter = Weak
• xxxx xx10 - Penetration filter = Medium
• xxxx xx11 - Penetration filter = Strong
Detect mode (EM 3002 and EM 2040)
• xxxx 00xx - Detect mode: Normal
84
850-160692/N
Output datagrams
• xxxx 01xx - Detect mode: Waterway
• xxxx 10xx - Detect mode: Tracking
• xxxx 11xx - Detected mode: Minimum depth
Phase ramp (EM 2040, EM 3002, EM 710, EM 302 and EM 122)
• xx00 xxxx - Short phase ramp
• xx01 xxxx - Normal phase ramp
• xx10 xxxx - Long phase ramp
Special TVG (EM 3002 and EM 2040)
• x0xx xxxx - Normal TVG
• x1xx xxxx - Special TVG
HiLo frequency absorption coefficient ratio (EM 1002)
0 – 120
12
Mode 2 or RX fixed gain
RX array use (EM 2040)
• xxxx xx00 - Off (RX inactive)
• xxxx xx01 - RX 1 (port) active
• xxxx xx10 - RX 2 (starboard) active
• xxxx xx11 - Both RX units active
Pulselength (EM 2040)
• xxxx 00xx - Short CW
• xxxx 01xx - Medium CW
• xxxx 10xx - Long CW
• xxxx 11xx - FM
Receiver fixed gain setting in dB (EM 2000, EM 1002, EM 3000, EM 3002, EM
300, EM 120)
13
Transmit pulse length
The transmit pulse length may not be the same for all TX sectors, and the pulsforms
may vary. The pulselength given here is 1/(transmit bandwidth) for the centre sector.
FM pulse: 1/sweep bandwidth. The total TX pulselength for each sector can be
found in the range and angle datagram.
850-160692/N
85
Kongsberg EM Series
3.5.3
Mechanical transducer tilt
Table 46
Mechanical transducer tilt datagrams
Data Description
Format
Valid range
Note
Number of bytes in datagram
4U
—
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = J (Always 4Ah)
1U
—
—
EM model number (Example: EM 1002 = 1002)
2U
—
—
Date = year*10000 + month*100 + day (at start
of data record)
(Example: Feb 26, 1995 = 19950226)
4U
—
—
Time since midnight in milliseconds
(at start of data record)
(Example: 08:12:51.234 = 29570234)
4U
0 to 86399999
—
Tilt counter (sequential counter)
2U
0 to 65535
—
System serial number
2U
100 –
—
Number of entries = N
2U
1–
—
Repeat cycle – N entries of:
4*N
—
– Time in milliseconds since record start
2U
0 to 65534
—
– Tilt in 0.01 degrees
2S
-1499 to +1499
1
Spare (Always zero)
1U
—
—
End identifier = ETX (Always 03h)
1U
—
—
Check sum of data between STX and ETX
2U
—
—
End of repeat cycle
Notes
1
86
This tilt angle is the measured mechanical tilt of a hull unit such as that often
supplied with the EM 1002. It is positive when the transducer is tilted forwards.
850-160692/N
Output datagrams
3.5.4
ExtraParameters datagram
This datagram is used to give supplementary information, and contains information as
specified by the Content identifier.
Table 47
ExtraParameters 3
Data Description
Format
Number of bytes in datagram
4U
Valid range
—
Note
—
Start identifier = STX (Always 02h)
1U
—
—
Type of datagram = 3 (33h, 51d)
1U
—
—
2U
—
—
Date = year*10000 + month*100 + day (Example: 4U
Sep 26, 2005 = 20050926)
Time since midnight in milliseconds
4U
(Example: 08:12:51.234 = 29570234)
2U
Ping counter (sequential counter)
—
—
0 to 86399999
—
0 to 65535
—
EM model number (Example: EM 710 = 710)
System serial number
2U
—
Content identifier
2U
1
Array of variable length
variable
2
Spare byte if required to get even length (Always
0)
Spare (always 0)
0 – 1U
—
1U
—
End identifier = ETX (Always 03h)
1U
0
—
2U
—
—
Check sum of data between STX and ETX
—
Notes
1
Content identifier.
Ident.
1
2
Information contents
Calib.txt file for angle offset
2
Log all heights
3
Sound velocity at transducer
4
Sound velocity profile
Array of variable length. This array is described for each content identifier.
3.5.4.1
Content identifier = 1: The Calib.txt file
The ‘Array of variable length’ contains a text field of 100 characters, containing the file
name “calib.txt”. Thereafter, the contents of the file follows.
File layout
The angular correction table is made with 1 degree step, from 100 degrees port to 100
degrees starboard (201 elements). The angular offset in this file has been added to the
beam angles in the raw range and angle datagram.
850-160692/N
87
Kongsberg EM Series
File
Comment
EM 300
Name of echo sounder
Line1
For comments
Line2
—″—
Line3
—″—
Line4
—″—
Line5
—″—
100 0.0 x.x
Info BS offset Angle offset
......
-100 0.0 x.x
3.5.4.2
Content identifier = 2: Log all heights
This datagram configuration is used for logging parameter settings related to the
definition of additional approved position quality factors. Each of the three positioning
systems available in the PUs has a set of parameters.
The ‘Array of variable length’ is used as follows:
Data Description
Active positioning system
Format
4S
Valid range
Note
0–2
Quality factor setting for pos.
system 1, 2, 3.
3 *4S
1=PU decodes Q-factor. Default
0=External PU decode
1
Number of quality factors for
pos. system 1, 2, 3
3 *4S
0–n
2
3
Variable no of entries follows = total number of all quality factors:
Quality factor
4S
0–m
4
Limit
4S
0 cm default = not used
5
Notes
1
Each positioning system has its own individual setting.
Value ‘1’ indicates that the PU should decode the quality factors in the traditional
way. This is the default.
Value ‘0’ indicates that the PU should skip quality factor decoding as this is
performed externally. The PU should always transmit the height datagram ‘h’.
2
Each positioning system have an independent set of additional quality factors. The
number of quality factors for each system must be specified. Default value is 0.
3
Each quality factor is described by two entries, the quality factor itself and a limit,
forming a pair. This results in a variable number of such pairs, depending on how
many additional quality factors is set by the operator. If no quality factors are
defined, no pairs are included. The sequence of pairs is important. First, all pairs for
positioning system 1 is listed, if any. Next any pairs for positioning system 2 and at
the end, any pairs for positioning system 3.
4
A quality factor is a positive number. Currently no upper limit is imposed.
88
850-160692/N
Output datagrams
5
Uncertainty in position fix in cm. This uncertainty is associated with the quality
factor value. Currently not used.
3.5.4.3
Content identifier = 3: Sound velocity at transducer
The array of variable length will contain the received datagram containing the sound
velocity at transducer.
Table 48
Current sound velocity
Data Description
Format
Valid range
Note
Time since midnight in milliseconds
(Example: 08:12:51.234 = 29570234)
Sound velocity
4U
0 to 86399999
1
4F
m/s
—
Notes
1
Time given in received Own Ships data.
If sound velocity is from NMEA LCV datagram, this value is set to 7FFFFFFFh.
3.5.4.4
Content identifier = 4: Sound velocity profile
The array of variable length will contain the received datagram containing the sound
velocity profile.
Table 49
SOUNDSPEEDPROFILE_DATA
Name
Type
Data Description
header, messageID
int32
unique message ID across the PSS-CSI2 interface
header, time, seconds
int32
Seconds since 1970-01-01 00:00:00 UTC
header, time, microSeconds
int32
Microseconds
header, size
int32
header, sourceID
int32
the size in bytes of the entire message (including
header)
the ID of the component sending the message.
header, destinationID
int32
the ID of the component receiving the message.
sequenceNumber
int32
header
A number incremented for each transmission of
this message.
The current sound speed including depth and temperature.
soundSpeedPoint, depth
real32
Depth in meters
soundSpeedPoint, soundSpeed
real32
Sound speed in m/s.
soundSpeedPoint, temperature
real32
Temperature in degrees Celsius
The time the official SSP was recorded.
time, seconds
int32
Seconds since 1970-01-01 00:00:00 UTC
time, microSeconds
int32
Microseconds
numberOfPointsInOfficialSSP
int32
The number of elements in the ‘officialSSP’ array.
Repeat cycle - N entries of :
12*N
soundSpeedPoint, depth
real32
Array containing the official sound speed points
sorted with ascending depth order.
Depth in meters
850-160692/N
89
Kongsberg EM Series
Table 49
SOUNDSPEEDPROFILE_DATA (cont’d.)
Name
Type
Data Description
soundSpeedPoint, soundSpeed
real32
Sound speed in m/s.
soundSpeedPoint, temperature
real32
Temperature in degrees Celsius
End of repeat cycle
Table 50
Common data types
Basic data types
int32
real32
90
Size Description
(bytes)
4
32-bit signed integer (two’s complement)
4
32-bit floating point (IEEE 754)
850-160692/N
Output datagrams
3.6
PU information and status
Topics
•
PU ID output on page 91
•
PU Status output on page 94
•
PU BIST result output on page 97
3.6.1
PU ID output
The PU Id datagram is broadcasted every second after the PU is powered up, until a host
processor takes command of the Processing Unit through a PU0 datagram. The PU0
datagram may however order the broadcast of this datagram to continue. The broadcast
is sent to Ethernet adress 157:237:255:255 on Port 1999. The broadcast will resume if
the host processor sends a P00 datagram which releases its control of the PU.
Table 51
PU Id output datagrams
Data Description
Example
Format
1U
Valid range
—
Note
—
Start identifier = STX
Always 02h
Type of datagram = 0
Always 30h
1U
—
—
EM model number
1002
2U
—
1)
Date = year*10000 + month*100 + day
4U
—
2)
4U
0 to 86399999
2)
2U
—
System serial number
Feb 26, 1995 =
19950226
08:12:51.234 =
29570234
Always 1
—
2U
100 –
3)
—
UDP port no 1
—
UDP port no 2
—
UDP port no 3
—
UDP port no 4
Time since midnight in milliseconds
Byte order flag
2U
4)
2U
—
4)
2U
—
4)
—
2U
—
4)
System descriptor
—
4U
—
5)
PU software version
—
16U
ASCII string
BSP software version
—
16U
ASCII string
6)
Sonar Head/Transceiver software
version
Sonar Head/Transceiver software
version
Host IP address
16U
Sonar head 1
software version
16U
Sonar head 2
software version
—
4U
ASCII string
6)
ASCII string
6)
—
7)
Spare
0 if not used
8U
—
Spare
0 if not used
1U
—
End identifier = ETX
Always 03h
1U
—
2U
—
Check sum of data between STX and
ETX
850-160692/N
91
Kongsberg EM Series
Notes
1 “1002” must be replaced with the name of the system. 1002 is for EM 1002, 120
for EM 120, 300 for EM 300, 710 for EM 710, 2000 for EM 2000, 3000 for EM
3000, 3020 for EM 3002, 302 for EM 302, 122 for EM 122, 121 for EM 121A,
850 for ME 70.
The EM model number and checksum are required.
2 The system time and date will start at 0 on power up, i.e. the host processor must
always set the clock in its first setup command.
3 The byte order of the whole datagram is indicated by this flag.
4 Datagrams are to be sent to the different PU UDP ports as follows (in addition to
use of PU serial ports):
• Port 1: Command datagrams
• Port 2: Sensor datagrams except motion sensor
• Port 3: First motion sensor
• Port 4: Second motion sensor
5 System descriptor. (Information for internal use) :
00 xx xx xxh – Old CPU card
01 xx xx xxh – VIPer or CoolMonster
02 xx xx xxh – CT7
03 xx xx xxh – Kontron
04 xx xx xxh – Kontron and BSP67B for EM 710
05 xx xx xxh – Concurrent Thechnologies CP 432 CPU
xx xx xx 00h – All other EM
xx xx xx 00h – EM 2040: Single RX
xx xx xx 01h – EM 2040: Dual RX
xx xx xx 01h – EM 1002S
xx xx xx 02h – EM 952
xx xx xx 03h – EM 1002: with Hull Unit
xx xx xx 04h – EM 1002S: with Hull Unit
xx xx xx 05h – EM 952: with Hull Unit
xx xx xx 08h – EM 3001
xx xx xx 09h – EM 3002 long pulse available
xx xx x1 xxh – EM 3002 Rx gain not available
6 The first two elements, PU software version and BSP software version, are the
same for all echo sounders. The last two will vary, depending on which echo
sounder you have:
EM 120 / EM 300: SPRX software version and SPTX software version.
EM 710 / EM 302 / EM 122: RX32 software version and TX36 software version.
EM 1002: SPRX software version and Hull Unit software version.
92
850-160692/N
Output datagrams
EM 2000: Sonar Head software version on the third element and number four is
empty.
EM 3000 / EM 3002: Sonar Head 1 software version and Sonar Head 2 software
version.
7
This is the address derived from the source of the first PU0 datagram, it is 0.0.0.0 if
the PU is not controlled by a host processor.
850-160692/N
93
Kongsberg EM Series
3.6.2
PU Status output
The PU Status datagram is sent out every second if requested by the host processor. It
has two functions, to indicate that the system is alive and receiving sensor data, and to
give sensor data regularly for a potential screen update.
Table 52
PU Status output
Data Description
Example
Format
1U
Valid range
—
Note
—
Start identifier = STX
Always 02h
Type of datagram = 1
Always 31h
1U
—
—
EM model number
1002
2U
—
Date = year*10000 + month*100 + day
4U
—
4U
0 – 86399999
—
Status datagram counter
Feb 26, 1995 =
19950226
08:12:51.234 =
29570234
—
1)
—
2U
0 – 65535
—
System serial number
—
2U
100 –
—
Ping rate in centiHz
—
2U
0 – 3000
—
Ping counter of latest ping
—
2U
—
PU load in %
—
4U
0 – 65535
—
2)
Sensor input status, UDP port 2
—
4U
—
3)
Sensor input status, serial port 1
—
4U
—
3)
Sensor input status, serial port 2
—
4U
—
3)
Sensor input status, serial port 3
—
4U
—
3)
Sensor input status, serial port 4
—
4U
—
3)
PPS status
—
1S
—
4)
Position status
—
1S
—
4)
Attitude status
—
1S
—
4)
Clock status
—
1S
—
4)
Heading status
—
1S
—
4)
PU status
—
1U
—
11)
Last received heading in 0.01°
—
2U
0 – 35999
5)
Last received roll in 0.01°
—
2S
-18000 – 18000
5)
Last received pitch in 0.01°
—
2S
-18000 – 18000
5)
Last received heave at sonar head in
cm
Sound speed at transducer dm/s
—
2S
-999 – 999
5)
—
2U
14000 – 16000
6)
Last received depth in cm
—
4U
Along-ship velocity in 0.01 m/s
—
2S
0–
—
5)
—
Attitude velocity sensor status
0x81
—
1U
—
12)
1U
—
13)
7)
Time since midnight in milliseconds
Mammal protection ramp
Backscatter at Oblique angle in dB
-30
1S
—
Backscatter at normal incidence in dB
-20
1S
—
7)
Fixed gain in dB
18
1S
—
7)
94
850-160692/N
Output datagrams
Table 52
PU Status output (cont’d.)
Data Description
Example
Format
Note
1U
Valid range
—
Depth to normal incidence in m
27
7), 9)
7), 8)
2U
Port Coverage in degrees
289
—
—
1U
—
7), 9)
Starboard Coverage in degrees
—
1U
—
7), 9)
Sound speed at transducer found from
profile in dm/s
Yaw stabilization in centideg.
—
2U
14000 – 16000
9)
—
2S
—
9)
2S
—
10)
2S
—
10)
1U
—
—
1U
—
—
2U
—
—
Range to normal incidence in m
Port Coverage in degrees or Across-ship —
velocity in 0.01 m/s
—
Starboard Coverage in degrees or
Downward velocity in 0.01 m/s
Spare
0 if not used
End identifier = ETX
Check sum of data between STX and
ETX
Always 03h
—
Notes
1 “1002” must be replaced with the name of the system. 1002 is for EM 1002, 120
for EM 120, 300 for EM 300, 710 for EM 710, 2000 for EM 2000, 3000 for EM
3000, 3020 for EM 3002, 302 for EM 302, 122 for EM 122, 121 for EM 121A,
850 for ME 70.
The EM model number and checksum are required.
2 May not be implemented for all sounders.
3 The sensor input status is coded in accordance with that given in the PU Setup
datagram, but indicates which sensor datagram types are actually being received
on the respective ports.
4 0 or a negative number indicates that the quality of the data received is not
acceptable, positive OK.
5 These values are all from sensor input (active motion sensor or depth sensor).
6 Not implemented on release 5.1u25 or older.
7 Automatic tracking info used by the echo sounder.
8 Spare except for releases made before January 2004 (EM 3000, EM 2000).
9 Not included for releases made before January 2004 (EM 3000, EM 2000).
10 For EM 3002: From January 2005 used for port and starboard coverage.
EM 710, EM 302, EM 122: Across and downward velocity
Other sounders: Spare
11 0 = off
1 = active
2 = simulator
10 = ME 70 TRU – disconnected
850-160692/N
95
Kongsberg EM Series
11 = ME 70 TRU – mode change
12 The most significant bit (MSB) indicates sensor status:
0xxx xxxx = no data received
1xxx xxxx = data received
The seven least significant bits (LSB) are used to indicate sensor input datagram
type:
x000 0000 = velocity attitude sensor not connected
x000 0001 = Seatex binary fmt11
x000 0010 = Applanix Group 102/103
x000 0011 = CodaOctopus MCOM
(List may be expanded in the future to include more sensor types.)
13 Mammal protection: High voltage power supply remaining ramp up time in seconds
96
850-160692/N
Output datagrams
3.6.3
PU BIST result output
The PU BIST (built in self test) result datagram is sent out as a result of a BIST command.
The test result is given as an ASCII string plus a status value. For a dual EM 3000 / EM
3002 and BIST # 99 (used for startup), two datagrams are used, one for each head.
Table 53
PU BIST result output
Data Description
Example
Format
Start identifier = STX
Always 02h
Type of datagram = B
Always 42h
EM model number
1002
Feb 26, 1995 =
19950226
Time since midnight in milliseconds
08:12:51.234 =
29570234
BIST result counter (sequential counter) —
—
System serial number
Date = year*10000 + month*100 + day
1U
Valid range
—
Note
—
1U
—
—
2U
—
4U
—
1)
—
4U
0 to 86399999
—
2U
0 – 65535
—
2U
—
—
Test number
—
2U
100 –
—
Test result status
—
2S
—
2)
ASCII string
3)
—
—
1U
—
—
2U
—
—
—
Test result description, terminated with
NU
“/0”, total length is variable (max = 5000)
Spare byte if required to get even length Always 0 if used 0–1U
End identifier = ETX
Check sum of data between STX and
ETX
Always 03h
—
Notes
1 “1002” must be replaced with the name of the system.
1002 is for EM 1002, 120 for EM 120, 300 for EM 300, 710 for EM 710, 2000 for
EM 2000, 3000 for EM 3000, 3020 for EM 3002, 302 for EM 302, 122 for EM 122,
121 for EM 121A, 850 for ME 70 and 2040 for EM 2040.
The EM model number and checksum are required.
2 A negative number or zero indicates an error, 1 that result is OK and test is finished,
while 2 indicates that result so far is OK, but the test is not finished.
The test result status interpretation is special for EM 1002 in some cases:
When ’Test number’ is 15:
0 = error
1 = OK (no hull unit)
2 = OK (hull unit error)
3 = OK (hull unit OK)
When ’Test number’ is 99:
-2 = OK (hull unit error/missing)
0 = error
1 = OK
850-160692/N
97
Kongsberg EM Series
3
98
The text will always start with an identifying mnemonic.
850-160692/N
Output datagrams
3.7
SIS generated output
Topics
• APB Datagram on page 99
• DPT Datagram on page 99
• RTE Datagram on page 100
• WPL Datagram on page 100
• KSSIS 31 Datagram on page 101
3.7.1
APB Datagram
APB Autopilot sentence according to NMEA 0183 version 2.3.
Table 54
APB output datagram
Data Description
Format
Always 24h
Valid Range
—
Note
—
Start identifier = $
Talker identifier
Always KM
—
—
Sentence formatter
Always APB,
—
—
Status
Always A,
—
—
—
Magnitude of XTE (cross track error)
Always A,
x.x,
—
—
—
Direction to steer
a,
—
XTE units (nautical miles
Status 1
Always N,
a,
L or R
—
A or empty
—
Status 2
a,
A or empty
—
Bearing origin to waypoint
x.x,
0.0 to 359.9
—
Bearing type
a,
—
Destination waypoint ID
Bearing, present position to destination
Always wid,
x.x,
M or T
—
0.0 to 359.9
—
Bearing type
a,
M or T
—
Heading to steer to destination waypoint
x.x
0.0 to 359.9
—
Bearing type
a,
—
Mode indicator
Always A,
M or T
—
Checksum
*hh
—
1
—
End if sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Status
—
—
Notes
1 Field does not exist if the system is configured to use NMEA version prior to 2.30
3.7.2
DPT Datagram
DPT sentence according to NMEA 0183 version 2.3 contains depth relative to the
transducer and offset from transducer.
850-160692/N
99
Kongsberg EM Series
Table 55
DPT output datagram
Data Description
Format
Valid Range
—
Note
—
Start identifier = $
Always 24h
Talker identifier
Ka
KA to KJ
—
1
—
Sentence formatter
Water depth relative to transducer, meters
Always DPT,
x.x,
—
x.x,
0 to 12,000
—
Offset from transducer, meters
Maximum range scale in use
Always 12000.0
—
—
Checksum
*hh
—
—
End if sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
3.7.3
—
RTE Datagram
The RTE routes datagram is part of the DynPos datagram set. Two datagrams are sent
when DynPos output is enabled and a planned line is activated
Table 56
RTE output datagram
Data Description
Format
Start identifier = $
Always 24h
Valid Range
—
Note
—
Talker identifier
Always KM
—
—
Always RTE,
—
—
Sentence formatter
3.7.4
WPL Datagram
This datagram is part of the DynPos datagram set. Two datagrams are sent when DynPos
output is enabled and a planned line is activated
The WPL datagram contains the coordinates of the activated line. One datagram is
sent for each point on the line.
Table 57
WPL output datagram
Data Description
Format
Start identifier = $
Always 24h
Valid Range
—
Note
—
Talker identifier
Always KM
—
—
Sentence formatter
Always WPL,
—
—
Waypoint latitude
—
—
Latitude — N/S
llll.ll,
a,
—
Waypoint longitude
yyyyy.yy,
N or S
—
Longitude — E/W
a,
E or W
—
Waypoint ID
c—c
100
—
850-160692/N
Output datagrams
3.7.5
KSSIS 31 Datagram
Datagram from SIS HWS sent to external applications containing a combined set of
information per ping.
Table 58
KSSIS 31 output datagram
Data Description
Format
Start identifier = $
Always 24h
Valid Range
—
Note
—
Talker identifier
Always KS
—
—
Sentence formatter
Always SIS,
—
—
Datagram ID
—
—
Model number
Always 31,
x,
—
—
Serial number
x,
—
—
Beams sent
x,
—
—
Beams received
x,
—
—
Depth from surface to seafloor(cm)
x.x,
—
—
Depth from surface to transducer (cm)
x.x,
—
—
Across distance (cm)
x.x,
—
—
Across distance, port (cm)
x.x,
—
—
Across distance, starboard (cm)
x.x,
—
Last tide (m)
x.x,
—
1
—
Last geoid undulation (m)
x.x,
—
—
Last distance from the geoid to the vertical
reference (m)
Minimum depth in swath (cm)
x.x,
—
—
x.x,
—
—
Maximum depth in swath (cm)
x.x,
—
—
End if sentence delimiter = CRLF
Always 0Dh 0Ah
—
—
Notes
1
0 if the total across is to the opposite side
850-160692/N
101
Kongsberg EM Series
A
Depth from single beam
echo sounder, 32
Depth pressure, 19
DPT depth, 32
EA 500 depth, 33
GGA, 10
GGK, 13
HDT, 25
Height, 19
network attitude
velocity, 23
position, 7
PTNL, GGK, 12
Simrad 90, 16
SKR80, 25
sound speed, 27
Sperry MK-39 attitude, 24
SSP, 28
Tide, 18
Transponder position, 15
VTG, 14
ZDA, 26
Attitude, 20
HDT format, 25
input format, 22
Overview, 20
SKR80 format, 25
sperry MK-39, 24
Attitude velocity
network input, 23
C
Central beams echogram, 45
Clock datagrams, 26
ZDA format, 26
Clock information, 26
D
datagram
formats, 5
DBS datagram, 32
Depth datagrams
DBS format, 32
DPT format, 32
EA 500 format, 33
Depth input datagrams, 32
Depth pressure or height, 19
DPT datagram, 32
M
EA 500 datagram, 33
External sensors, 59
Attitude, 59
Clock, 63
Depth or height, 64
Heading, 65
Network attitude
velocity, 61
position, 66
single beam echo
sounder depth, 68
Tide, 69
Multibeam data, 40
Multibeam datagrams
central beams echogram, 45
Depth datagram, 40
raw range and angle 78, 50
raw range and beam
angle (f), 48
raw range and beam
angle (F), 47
seabed image data 89, 55
seabed image datagram, 53
water column datagram, 57
XYZ 88, 43
Multibeam parameters, 73
ExtraParameters, 87
Installation parameters, 73
Mechanical transducer
tilt, 86
Runtime parameters, 79
G
N
GGA datagram, 10
GGK datagram, 13
Network attitude velocity, 23
E
O
I
Input datagram, 7
Input datagrams
AML, 31
Attitude, 20
attitude format, 22
Clock, 26
DBS depth, 32
102
Output datagrams, 37
attitude, 59
central beams echogram, 45
clock, 63
Depth, 40
depth or height, 64
External semsors, 59
ExtraParameters, 87
heading, 65
Installation parameters, 73
Mechanical transducer
tilt, 86
Multibeam data, 40
Multibeam parameters, 73
network attitude
velocity, 61
position, 66
PU BIST results, 97
PU information and
status, 91
PU status, 94
raw range and angle 78, 50
raw range and beam
angle (f), 48
raw range and beam
angle (F), 47
Runtime parameters, 79
seabed image data 89, 55
seabed image datagram, 53
single beam echo
sounder depth, 68
SIS generated output, 99
Sound speed, 70
SSP sound speed, 72
Surface sound profile, 71
Surface sound speed, 70
tide, 69
water column datagram, 57
XYZ 88, 43
Overview
Attitude, 20
Position data, 8
P
Position
Depth pressure or height, 19
GGA, 10
GGK, 13
PTNL GGK, 12
Simrad 90, 16
Tide input, 18
Transponder, 15
VTG, 14
Position data
Overview, 8
Position datagram, 7
Presentation format, 6
PTNL GGK datagram, 12
PU information and status, 91
PU BIST results, 97
PU status output, 94
R
Remote control datagrams, 34
850-160692/N
Index
S
Seabed image data 89, 55
Seabed image datagram, 53
Simrad 90 datagram, 16
Single beam echo sounder
depth datagrams, 32
SIS generated output, 99
Sound speed, 70
profile, 71
SSP, 72
Surface, 70
Sound speed at transducer, 36
Sound speed datagrams, 27
AML format, 31
overview, 27
SSP format, 28
Speed
VTG, 14
T
Tide input, 18
Transponder position, 15
V
VTG datagram, 14
W
Water column datagram, 57
Z
ZDA datagram, 26
850-160692/N
103
©2010
Kongsberg Maritime
EM Series Multibeam echo sounders
Datagram formats
EM Series Multibeam echo sounders
Datagram formats
EM Series Multibeam echo sounders
Datagram formats
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