Kongsberg EM - REV M, Instruction Manual

Page 1: ...Instruction manual EM Series Multibeam echo sounders Datagram formats ...

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Page 3: ...Kongsberg EM Series Multibeam echo sounder EM datagram formats 850 160692 M January 2010 ...

Page 4: ...eters section Rev M January 2010 Changes Added SIS generated datagrams Added and modified comments Note 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 K...

Page 5: ...work velocity attitude input format 24 2 2 4 Sperry MK 39 Attitude input format 25 2 2 5 HDT format 26 2 2 6 SKR80 format 26 2 3 Clock datagrams 27 2 3 1 Clock 27 2 3 2 ZDA format 27 2 4 Sound speed datagrams 29 2 4 1 Overview 29 2 4 2 Kongsberg Maritime SSP format 30 2 4 3 AML Smart Sensor and AML Micro Sensor format 33 2 5 Depth input datagrams from single beam echo sounder 35 2 5 1 DBS Format 3...

Page 6: ... 71 3 3 7 Single beam echo sounder depth 73 3 3 8 Tide datagram 74 3 4 Sound speed 75 3 4 1 Surface sound speed 75 3 4 2 Sound speed profile datagram 76 3 4 3 Kongsberg Maritime SSP output datagram 77 3 5 Multibeam parameters 78 3 5 1 Installation parameters 78 3 5 2 Runtime parameters 84 3 5 3 Mechanical transducer tilt 92 3 5 4 ExtraParameters datagram 93 3 6 PU information and status 97 3 6 1 P...

Page 7: ... 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 1 1 Presentation format The format description is according to the NMEA ...

Page 8: ...ined 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 6 GGA Datagram on page 9 PTNL GGK...

Page 9: ...ginally 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 timin...

Page 10: ...rojection 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 s...

Page 11: ...antenna altitude M Geoidal separation sea level re WGS 84 x x 2 Units of geoidal separation M Age of differential GPS data x x Differential reference station id xxxx 0000 to 1023 Checksum hh End of sentence delimiter CRLF Always 0Dh 0Ah 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 ...

Page 12: ...ferential precise or kinematic measurements although HDOP is not a metric value 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 the...

Page 13: ...T x x Units of ellipsoidal height meters M 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 Standard GPS 1000 0 2 RTK float 50 0 3 RTK fix 10 0 4 DGPS 100 0 5 WAAS EGNOS 100 0 6 ...

Page 14: ...Kongsberg EM Series The GPS manufacturers may have different GPS quality indicators 12 850 160692 M ...

Page 15: ...Units of antenna ellipsoidal height M Units of antenna ellipsoidal height 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 k...

Page 16: ... VTG 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 x x K 0 1 Mode indicator a A D E M S or N Units of antenna ellipsoidal height x x Checksum hh End of sentence delimiter CRLF Always 0Dh 0Ah Notes 1 Only true course and the first valid speed field will be used 14 850 160692 M ...

Page 17: ...SW filter 1 X coordinate Latitiude x x 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 1 Checksum hh 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...

Page 18: ...minutes and decimal minutes or depth in meters xxxxx xxxx 10 00000 0000 to 18000 0000 A Hemisphere or depth identifier a 2 E W or D A Northing or range in meters xxxxxxxxx x 12 000000000 0 to 999999999 9 B Easting or depth in meters xxxxxxx x 10 0000000 0 to 9999999 9 B UTM zone number xx 3 01 to 60 User defined central meridian longitude or bearing xxxxx xxxx 10 00000 0000 to 35999 9999 C Hemisph...

Page 19: ...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 2 The position fix quality given in the position output datagram will be derived from the quality indicator this differs from the or...

Page 20: ...fier a Capital letter Sentence formatter Always TIDE Date and time of prediction measurement YYYYMMDDhhmm 199601010000 to 999912312359 Tide offset in meters and decimal meters x x 327 66 1 Optional checksum hh End of sentence delimiter CRLF Always 0Dh 0Ah Notes 1 A negative number will be assumed to indicate an increase in sea level 18 850 160692 M ...

Page 21: ...qual 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 specifi...

Page 22: ...l 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 i...

Page 23: ...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 24 85...

Page 24: ...med 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...

Page 25: ...a 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 850 160692 M 23 ...

Page 26: ... 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...

Page 27: ... 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 posit...

Page 28: ...imal 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 exampl...

Page 29: ...ther 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 Always 24h Talker identifier aa Capital...

Page 30: ...Kongsberg EM Series Note Trimble UTC format is also supported 28 850 160692 M ...

Page 31: ...r 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 absorp...

Page 32: ... or 0 to 7 000 Absorption coefficient in dB km x x 0 0 to 200 00 5 Data set delimiter CRLF 2 0Dh 0Ah End of repeat cycle Latitude in degrees and minutes plus optional decimal minutes llll ll Variable 5 0000 to 9000 0 6 Latitude N S a 2 N or S 6 Longitude in degrees and minutes plus optional decimal minutes yyyyy yy Variable 6 00000 to 18000 0 6 Longitude E W a 2 E or W 6 Atmospheric pressure in MP...

Page 33: ... L S13 D c α f D c α Frequency dependent S20 D T S D c D T S L 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 Frequency dependent 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...

Page 34: ...fficients directly and are only valid for the given frequency If an echo sounder employs several frequencies eg 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 b...

Page 35: ...nd 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 CR LF where xxxx x is the measured sound speed in m s Table 15 SV P Format x x 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 so...

Page 36: ...ed 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 34 850 160692 M ...

Page 37: ... range Note Start identifier Always 24h Talker identifier aa Capital letters Sentence formatter Always DBS Depth in feet x x f 0 1 1 Depth in meters x x M 0 1 1 Depth in fathoms x x F 0 1 1 Checksum hh 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 ...

Page 38: ...ier x 1 to 311 1 Time as HHMMSShh xxxxxxxx 00000000 to 23595999 1 Depth in meters from the transducer 32 bit IEEE 754 floating point 0 1 1 Bottom backscattering strength in dB 32 bit IEEE 754 floating point Transducer number 32 bit integer 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 significa...

Page 39: ... 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 Always 24h Talker identifier aa Capital letters Datagram identifier Rxx R00 to R20 1 EM model number EMX dddd Responsible oper...

Page 40: ... on new line to local storage only 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 ...

Page 41: ...xplained 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 Valid Range Note Start identifier Always 24h Talker identifier Always KS Sentence formatter Always SIS Datagram ID Always 80 Sound speed m s x x 1400 0 1 700 Temperature Celsius x x End if s...

Page 42: ... 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 Note We recommend that software written to decode EM Series data includes a check for the byte ordering wit...

Page 43: ...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 descript...

Page 44: ...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...

Page 45: ... 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 Feb 26 1995 19950226 4U Time since midnight in milliseconds Example 08 12 51 234 29570234 4U 0 to 86399999 Ping counter sequential counter 2U 0 to 65535 System serial number 2U 100 Heading of vessel in 0 01 2U 0 to 35999 Sound speed at transdu...

Page 46: ...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 ...

Page 47: ...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 30...

Page 48: ... 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 46 850 160692 M ...

Page 49: ... 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 14000 to 16000 Transmit transducer depth in m re water level at time of ping 4F 1 Number of beams in datagram N 2U 1 1024 Number of valid detections 2U 1 1024 Sampling frequency in Hz 4F Spare 4S Repeat cycle N entries of 20 N Depth z from transmit transducer in m 4F 2 Acrosstrack d...

Page 50: ...d 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 paramete...

Page 51: ...stment 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 850 160692 M 49 ...

Page 52: ...4 1 Start range sample of TVG ramp if not enough dynamic range 0 else 2U 0 to 16384 Stop range sample of TVG ramp if not enough dynamic range 0 else 2U 0 to 16384 Normal incidence BS in dB BSN Example 20 dB 236 1S 50 to 10 1 Oblique BS in dB BSO Example 1 dB 255 1S 60 to 0 1 Tx beamwidth in 0 1 2U 1 to 300 1 TVG law crossover angle in 0 1 1U 20 to 300 1 Number of included beams N 1U 1 Repeat cycle...

Page 53: ...e 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 850 160692 M 51 ...

Page 54: ... of beams possible 1U 48 Number of valid receive beams N 1U 1 to 254 Sound speed at transducer in dm s 2U 14000 to 16000 Repeat cycle N entries of 8 N 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 1 Reflectivity BS in 0 5 dB resolution 1S 128 to 126 Beam number 1U 1 to 254 End of repeat cycle Spare Always 0 1U ...

Page 55: ...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 100 to 100000 100 ROV depth in 0 01 m 4S 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 0 to 6553...

Page 56: ...nge Note Detection window length in samples 4 if phase 1U 1 to 254 Beam number 2S 1999 to 1999 3 Spare 2U Spare Always 0 1U 0 End identifier ETX Always 03h 1U Check sum of data between STX and ETX 1U Notes 1 0 cw 1 FM 2 Two way travel time R 4 F 100 3 The beam number normally starts at 0 54 850 160692 M ...

Page 57: ... to 86399999 Ping counter sequential counter 2U 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 1 Sampling frequency in Hz 4F Dscale 4U 5 Repeat cycle 1 Ntx entries of 24 Ntx Tilt angle re TX array in 0 01 2S 2900 to 2900 6 Focus range in 0 1...

Page 58: ...tagram 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...

Page 59: ...allows the uncorrected slant ranges to be recreated if desired The correction is scaled by a common scaling constant for all beams 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 The angles are relative to t...

Page 60: ...U 1 to 20000 1 Pulse length in μs 2U 50 1 Range to normal incidence used to correct sample amplitudes in no of samples 2U 1 to 16384 Start range sample of TVG ramp if not enough dynamic range 0 else 2U 0 to 16384 Stop range sample of TVG ramp if not enough dynamic range 0 else 2U 0 to 16384 Normal incidence BS in dB BSN Example 20 dB 236 1S 50 to 10 Oblique BS in dB BSO Example 1 dB 255 1S 60 to 0...

Page 61: ...ad 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 850 16069...

Page 62: ... Hz 4F Range to normal incidence used to correct sample amplitudes in no of samples 2U 1 to 16384 Normal incidence BS in 0 1 dB BSN 2S 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 1 Repeat cycle N entries of 6 N Sorting direction 1S 1 or 1 1 Detection info 1U 2 Number of samples per beam Ns 2U 1 Centre samp...

Page 63: ...e 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 ...

Page 64: ...1 to Nd 2 Datagram numbers 2U 1 to Nd 2 Number of transmit sectors Ntx 2U 1 to 20 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 1 TX time heave at transducer in cm 2S 1000 to 1000 TVG function applied X 1U 20 to 40 4 TVG offset in dB C 1S 4 Spare 4U Ntx ...

Page 65: ...tagram 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 funct...

Page 66: ...EM model number Example EM 3000 3000 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 Attitude counter sequential counter 2U 0 to 65535 System serial number 2U 100 Number of entries N 2U 1 Repeat cycle N entries of 12 N Time in milliseconds since record...

Page 67: ...nsor 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 850 160692 M 65 ...

Page 68: ...tart 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 Nd 1U 1 to 254 Network attitude input datagram as received Nx x 1U 2 End of repeat cycle Spare byte if required to get even length always 0 if used 0 1U End identifier ETX Always 03h 1U Check sum of data between STX and ETX 2...

Page 69: ...Output datagrams CodaOctopus 0xE8 Seapath q From 01 01 2008 an extra byte will be added at the end of the input datagram if needed for alignment 850 160692 M 67 ...

Page 70: ...conds at start of data record Example 08 12 51 234 29570234 4U 0 to 86399999 Clock counter sequential counter 2U 0 to 65535 System serial number 2U 100 Date year 10000 month 100 day from external clock input Example Feb 26 1995 19950226 4U Time since midnight in milliseconds from external clock datagram Example 08 12 51 234 29570234 4U 0 to 86399999 1 PPS use active or not 0 inactive 1U 1 End iden...

Page 71: ... 86399999 Height counter sequential counter 2U 0 to 65535 System serial number 2U 100 Height in cm 4S 4294967296 to 4294967295 Heigth type 1U 0 to 100 1 End identifier ETX Always 03h 1U Check sum of data between STX and ETX 2U 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 ...

Page 72: ...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 Heading 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 Heading in 0 01 2U 0 to 35999 End of repeat cycle Heading indicator active ...

Page 73: ...asure of position fix quality in cm 2U 1 Speed of vessel over ground in cm s 2U 0 1 Course of vessel over ground in 0 01 2U 0 to 35999 1 Heading of vessel in 0 01 2U 0 to 35999 Position system descriptor 1U 1 to 254 2 Number of bytes in input datagram 1U 254 Position input datagram as received Variable 3 Spare byte if required to get even length Always 0 if used 0 1U End identifier ETX Always 03h ...

Page 74: ...ystem is active input datagram time has been used 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 72 850 160692 M ...

Page 75: ...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 Echo sounder counter sequential counter 2U 0 to 65535 System serial number 2U 100 Date year 10000 month 100 day from input datagram if available Example Feb 26 1995 19950226 4U Time since midnight in milliseconds from input datagram if avai...

Page 76: ...95 19950226 4U Time since midnight in milliseconds Example 08 12 51 234 29570234 4U 0 to 86399999 Tide counter sequential counter 2U 0 to 65535 System serial number 2U 100 Date year 10000 month 100 day from input datagram Example Feb 26 1995 19950226 4U Time since midnight in milliseconds from input datagram Example 08 12 51 234 29570234 4U 0 to 86399999 Tidal offset in cm 2S 32768 to 32766 Spare ...

Page 77: ...r Example EM 3000 3000 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 Sound speed 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 seconds since record start 2U 0 to 65...

Page 78: ... 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 Profile counter sequential counter 2U 0 to 65535 System serial number 2U 100 Date year 10000 month 100 day when profile was made Example Feb 26 1995 19950226 4U Time since midnight in milliseconds when profile was made Example 08 12 51 234 29570...

Page 79: ...agram W Always 057h 1U EM model number Example EM 3000 3000 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 SSP counter sequential counter 2U 0 to 65535 System serial number 2U 100 Input datagram starting with Sentence formatter and ending with Comment...

Page 80: ...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 separat...

Page 81: ... re horizontal S2R x x ASCII Transducer 2 pitch in degrees S2P x x ASCII Transducer 2 no of modules S2N x x ASCII 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 Transmitter sonar head no1 software versi...

Page 82: ...ition system 3 time stamp use P3T x ASCII 0 or 1 5 Position system 3 vertical location in m P3Z x x ASCII 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 P3S x ASCII 0 for Ethernet Motion sensor 1...

Page 83: ...4 Multicast sensor IP address Ethernet 2 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 See PU Setup command 15 Multicast position system number MCPn x ASCII 0 3 16 Cartographic projection CPR aaa ASCII Responsible operator ROP c c ASCII Survey identifier SID c c ASCII Survey line identifier planned line no PLL x x...

Page 84: ... 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...

Page 85: ...ition 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 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 ...

Page 86: ...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 M...

Page 87: ...de 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 CPU error from SIS 3 6 EM 122 EM 302 EM 710 EM 2040 x1xx xxxx Hull Unit not responding EM 1002 1xxx xxxx Attitude velocity data not valid for this ping EM 122 EM 302 EM 710 EM 2040 BSP ...

Page 88: ...eived 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 EM 2000 EM 3000 EM 3000D EM 3002 EM 3002D xxxx xx1x Data link failure on S...

Page 89: ...ansmitter 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 Function Model xxxx xxx1 Transmit voltage HV out of range 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 fro...

Page 90: ...edium 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 4 The used absorption coefficient should be derived from raw range and angle 78 datagra...

Page 91: ...xx 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 ...

Page 92: ...t 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 x...

Page 93: ... 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 M 91 ...

Page 94: ...onds 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 End of repeat cycle Spare Always zero 1U End identifier ETX Always 03h 1U Check sum of data between ST...

Page 95: ...nter sequential counter 2U 0 to 65535 System serial number 2U Content identifier 2U 1 Array of variable length variable 2 Spare byte if required to get even length Always 0 0 1U Spare always 0 1U 0 End identifier ETX Always 03h 1U Check sum of data between STX and ETX 2U Notes 1 Content identifier Ident Information contents 1 Calib txt file for angle offset 2 Log all heights 3 Sound velocity at tr...

Page 96: ...ing systems available in the PUs has a set of parameters The Array of variable length is used as follows Data Description Format Valid range Note Active positioning system 4S 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 Variable no of entries follows total number of all quality fa...

Page 97: ...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 4U 0 to 86399999 1 Sound velocity 4F m s Notes 1 Time g...

Page 98: ...re 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 Array containing the official sound speed points sorted with ascending depth order soundSpeedPoint depth real32 Depth in meters soun...

Page 99: ...mple Format Valid range Note Start identifier STX Always 02h 1U Type of datagram 0 Always 30h 1U EM model number 1002 2U 1 Date year 10000 month 100 day Feb 26 1995 19950226 4U 2 Time since midnight in milliseconds 08 12 51 234 29570234 4U 0 to 86399999 2 Byte order flag Always 1 2U 3 System serial number 2U 100 UDP port no 1 2U 4 UDP port no 2 2U 4 UDP port no 3 2U 4 UDP port no 4 2U 4 System des...

Page 100: ...grams 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 D...

Page 101: ...X software version and Hull Unit software version 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 M 99 ...

Page 102: ...iHz 2U 0 3000 Ping counter of latest ping 2U 0 65535 PU load in 4U 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 ...

Page 103: ...0 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 negati...

Page 104: ...xxx 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 102 850 ...

Page 105: ...st result status 2S 2 Test result description terminated with 0 total length is variable max 5000 NU ASCII string 3 Spare byte if required to get even length Always 0 if used 0 1U End identifier ETX Always 03h 1U Check sum of data between STX and ETX 2U 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 f...

Page 106: ...Kongsberg EM Series When Test number is 99 2 OK hull unit error missing 0 error 1 OK 3 The text will always start with an identifying mnemonic 104 850 160692 M ...

Page 107: ...ction to steer a L or R XTE units nautical miles Always N Status 1 a A or empty Status 2 a A or empty Bearing origin to waypoint x x 0 0 to 359 9 Bearing type a M or T Destination waypoint ID Always wid Bearing present position to destination x x 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 M or T Mode indicator Always A 1 Checksum hh ...

Page 108: ... is activated Table 56 RTE output datagram Data Description Format Valid Range Note Start identifier Always 24h Talker identifier Always KM Sentence formatter Always RTE 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 ...

Page 109: ... Always 31 Model number 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 1 Last tide m x x Last geoid undulation m x x Last distance from the geoid to the vertical reference m x x Minimum depth in swath cm x x Maximum depth in swath cm x x...

Page 110: ... 53 raw range and beam angle F 52 seabed image data 89 60 seabed image datagram 58 water column datagram 62 XYZ 88 47 Multibeam parameters 78 ExtraParameters 93 Installation parameters 78 Mechanical transducer tilt 92 Runtime parameters 84 N Network attitude velocity 24 O Output datagrams 40 attitude 64 central beams echogram 50 clock 68 Depth 43 depth or height 69 External semsors 64 ExtraParamet...

Page 111: ...h datagrams 35 SIS generated output 105 Sound speed 75 profile 76 SSP 77 Surface 75 Sound speed at transducer 39 Sound speed datagrams 29 AML format 33 overview 29 SSP format 30 Speed VTG 14 T Tide input 18 Transponder position 15 V VTG datagram 14 W Water column datagram 62 Z ZDA datagram 27 850 160692 M 109 ...

Page 112: ...a n d p rom e n a d e n 5 0 P O Box 1 1 1 N 3 1 9 1 H ort e n Norwa y Ko n g s b e r g M a r it im e A S Te le p h on e 4 7 3 3 0 2 3 8 0 0 Te le fa x 4 7 3 3 0 4 4 7 5 3 s u b s e a kon g s b e rg com w w w k o n g s b e r g c o m ...