Kongsberg EM - REV M, EM 3002, EM 3000, EM 2040, EM 2000 Instruction Manual

Instruction manual

EM Series

Multibeam echo sounders

Datagram formats

KongsbergEMSeries

Multibeamechosounder

EMdatagramformats

850-160692/M

January2010

Documenthistory

Documentnumber:850-160692

Rev.K

June2009

Changes:

Anewoutputdatagram,NetworkAttitudeV elocitydatagram
110,isadded.The3DvelocityinputisusedforDoppler
compensationinFMmode.Therangecorrectionsappliedis
documentedintheRawrangeandangle78datagram.
Installation,Runtimeandstatusdatagramsareupdatedwithextra
information.
Someminorchangesandadditionalcomments.
ChangesinPTNL,GGKdatagram

Rev.L

November2009

Changes:

UpdatedRuntimeandInstallationparameters.
UpdatedPUinformationandstatusdatagramtoallowforEM
2040datagrams
ExtraParametersaddedinMultibeamparameterssection

Rev.M

January2010

Changes:

AddedSISgenerateddatagrams.
Addedandmodiedcomments.

Note

TheinformationcontainedinthisdocumentremainsthesolepropertyofKongsbergMaritimeAS.No
partofthisdocumentmaybecopiedorreproducedinanyformorbyanymeans,andtheinformation
containedwithinitisnottobecommunicatedtoathirdparty,withoutthepriorwrittenconsentof
KongsbergMaritimeAS.
KongsbergMaritimeASendeavourstoensurethatallinformationinthisdocumentiscorrectandfairly
stated,butdoesnotacceptliabilityforanyerrorsoromissions.

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EMdatagramformats

Tableofcontents

1EMDATAGRAMFORMATS..................................................5

1.1Presentationformat...................................................................................................5

2INPUTDATAGRAMS..........................................................6

2.1Position.....................................................................................................................6

2.1.1Overview.....................................................................................................6

2.1.2GGADatagram............................................................................................9

2.1.3PTNL,GGKLocalcoordinatepositiondatagram..........................................11

2.1.4GGKDatagram..........................................................................................13

2.1.5VTGDatagram...........................................................................................14

2.1.6Transponderposition...................................................................................15

2.1.7Simrad90datagram....................................................................................16

2.1.8TideInput..................................................................................................18

2.1.9Depthpressureorheightinput....................................................................19

2.2Attitude..................................................................................................................20

2.2.1Overview...................................................................................................20

2.2.2EMAttitudeinputformat............................................................................22

2.2.3Networkvelocityattitudeinputformat.........................................................24

2.2.4SperryMK-39Attitudeinputformat............................................................25

2.2.5HDTformat................................................................................................26

2.2.6SKR80format............................................................................................26

2.3Clockdatagrams.....................................................................................................27

2.3.1Clock.........................................................................................................27

2.3.2ZDAformat................................................................................................27

2.4Soundspeeddatagrams..........................................................................................29

2.4.1Overview...................................................................................................29

2.4.2KongsbergMaritimeSSPformat.................................................................30

2.4.3AMLSmartSensorandAMLMicroSensorformat......................................33

2.5Depthinputdatagramsfromsinglebeamechosounder........................................35

2.5.1DBSFormat...............................................................................................35

2.5.2DPTFormat...............................................................................................35

2.5.3Simradformat.............................................................................................36

2.6Remotecontroldatagrams......................................................................................37

2.7Soundspeedattransducer......................................................................................39

2.7.1KSSIS80Datagram....................................................................................39

3OUTPUTDATAGRAMS......................................................40

3.1Introduction............................................................................................................40

3.2Multibeamdata.......................................................................................................43

3.2.1Depthdatagram..........................................................................................43

3.2.2XYZ88......................................................................................................47

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3.2.3Centralbeamsechogram.............................................................................50

3.2.4Rawrangeandbeamangle(F).....................................................................52

3.2.5Rawrangeandbeamangle(f)......................................................................53

3.2.6Rawrangeandangle78..............................................................................55

3.2.7Seabedimagedatagram...............................................................................58

3.2.8Seabedimagedata89..................................................................................60

3.2.9Watercolumndatagram...............................................................................62

3.3Externalsensors......................................................................................................64

3.3.1Attitudedatagram.......................................................................................64

3.3.2Networkattitudevelocitydatagram110.......................................................66

3.3.3Clock........................................................................................................68

3.3.4Depth(pressure)orheightdatagram.............................................................69

3.3.5Heading....................................................................................................70

3.3.6Position.....................................................................................................71

3.3.7Singlebeamechosounderdepth.................................................................73

3.3.8Tidedatagram.............................................................................................74

3.4Soundspeed............................................................................................................75

3.4.1Surfacesoundspeed...................................................................................75

3.4.2Soundspeedproledatagram......................................................................76

3.4.3KongsbergMaritimeSSPoutputdatagram...................................................77

3.5Multibeamparameters............................................................................................78

3.5.1Installationparameters................................................................................78

3.5.2Runtimeparameters....................................................................................84

3.5.3Mechanicaltransducertilt............................................................................92

3.5.4ExtraParametersdatagram...........................................................................93

3.6PUinformationandstatus......................................................................................97

3.6.1PUIDoutput..............................................................................................97

3.6.2PUStatusoutput......................................................................................100

3.6.3PUBISTresultoutput...............................................................................103

3.7SISgeneratedoutput............................................................................................105

3.7.1APBDatagram.........................................................................................105

3.7.2DPTDatagram.........................................................................................105

3.7.3RTEDatagram..........................................................................................106

3.7.4WPLDatagram.........................................................................................106

3.7.5KSSIS31Datagram..................................................................................107

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EMdatagramformats

1EMDATAGRAMFORMATS

ThedatainputandoutputformatstoandfromtheEMSeries
multibeamechosoundersaredescribedinthisdocument.The
informationappliestotheKongsbergMaritimemultibeamecho
soundersintroducedafter1995.

Note

TheinformationhereinappliestotheEM3002,EM3000,EM
2040,EM2000,EM1002,EM710,EM302,EM122,ME70,
EM300andEM120multibeamechosounders.Someofthe
informationmaynotberelevantforyourspecicsystem.Please
disregardthis.

TheinformationinthisdocumentisnotvalidfortheEM12,EM
100,EM950andEM1000multibeamechosounders.

Note

Inordertomeetspecialcustomerrequirements,Kongsberg
Maritimemayhavetochangethedatagramformatsdescribed
here.Theformatspresentedinthisdocumentmaythereforebe
alteredwithoutpriornotice,althoughbackwardcompatibility
willbemaintainedasfaraspossible.Beforesoftwareiswritten
inaccordancewiththisdocument,itisstronglyrecommendedto
contactKongsbergMaritimetoensurethatthelatestversionis
used,andthatanyplannedchangesaretakenintoaccount.

1.1Presentationformat

TheformatdescriptionisaccordingtotheNMEA0183standard,

ApprovedParametricSentenceStructure,withtheASCII

character(s)givenasfollows

•“x.x”denesavariablelengthnumericaleld,withoptionally
includeddecimalpointandsign.

•“c–c”denesavariablelengtheldofprintablecharacters.

•“x–x”denesavariablelengtheldofnumericcharacters.

•“a__”denesaxedlengtheldofalphabeticalcharacters
(e.g.“aa”=twocharacterlongeld.

•“x__”denesaxedlengtheldofnumericcharacters.

Forbinaryelds,thelengthisgiveninnumberofbytesplus“U”
forunsignedand“S”forsigneddata.

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2INPUTDATAGRAMS

Topics

•Positiononpage6

•Attitudeonpage20

•Clockdatagramsonpage27

•Soundspeeddatagramsonpage29

•Depthinputdatagramsfromsinglebeamechosounderon
page35

•Remotecontroldatagramsonpage37

•Soundspeedattransduceronpage39

Onlyalimitednumberofinputformatsfromexternalsensors
areaccepted.Theseareprimarilyinaccordancewiththe
NMEA0183specication,orbasedupontheprinciplesofthat
specication.

Note

ThemajorityoftheseformatshavenotbeendenedbyKongsberg
Maritime.Thus,theseformatsarenotcontrolledbyKongsberg
Maritime.

AlmostallinputformatsareASCII.SeriallineorEthernet
inputtothemultibeamechosounder’sProcessingUnitismost
common,butsomedatagrams-whicharenottimecritical-are
interfacedonserialline(s)orEthernettotheOperatorStation.

2.1Position

Topics

•Overviewonpage6

•GGADatagramonpage9

•PTNL,GGKLocalcoordinatepositiondatagramonpage11

•GGKDatagramonpage13

•VTGDatagramonpage14

•Transponderpositiononpage15

•Simrad90datagramonpage16

•TideInputonpage18

•Depthpressureorheightinputonpage19

2.1.1Overview

TheEMSeriesacceptspositiondatainthefollowingformats

•NMEA0183GGA

6

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Inputdatagrams

•GGK

•PTNL,GGK

•SIMRAD90

•Transponderposition

•WiththeGGAandGGKdatagrams,informationcontainedin
NMEA0183GSTandVTGdatagramswillalsobeaccepted
andused.

Note

TheGSTdatagramisnotusedbythenewgeneration
multibeamechosounders,i.e.EM122,EM302,EM710,
EM2040andEM3002.

•AdatagramformatforSonarHeaddepthisprovidedforthe
EM3002,EM3000,EM2040,EM2000andEM710.Note
thattheformatisthesameasthatusedbytheParoscientic
Digiquartzpressuresensor.Thisformatmayalsobeusedfor
inputofforexamplevaryingdatumheightsorotherspecial
heightinformationonallmodels.

•Adatagramformatforinputoftidalheightisprovided.

TheGGAformatgivenbelowisaccordingtotheNMEA0183
version2.30description.

TheGGKformatwasoriginallydenedbytheUSArmyCorps
ofEngineersfortheirtestswithkinematicGPS.Trimble’s
proprietaryversionoftheformat,PTNLGGK,issupported.If
anychangestotheformataremade,andifitbecomespartofthe
NMEAstandard,thiswillbeimplemented.

TopreservetheinherentaccuracyofthekinematicGPSdatait
isnecessarytocorrectthedataforvesselmotion.Thisrequires
accuratetimingsynchronisationbetweenthemotionsensorand
theGPSreceiver.Itisthereforeimperativethat

•thepositiondatagramhasaconstantandknowntimedelay,

or

•thetimestampinthedatagramisactuallythetimeofthe
positionx,thatsynchronisationtothe1PPSsignalofthe
GPSreceiverisenabled,andthatthesystemclockhasbeen
setcorrectly.

Asneitheroftheseconditionsmaynotbepossibletoachieve
withasufcientaccuracy,theapplicationofmotioncorrection
isoperatorselectable.Motioncompensationmaybeappliedto
mostofthepositioninputdatagrams.

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InadditiontopositiondatafromtheGGAorGGKdatagrams,
speedandcourseovergroundfromNMEAVTGdatagrams
mayalsobecopiedintothepositionoutputdatagram.These
valuesmaybeusefulinlteringofthepositioningduring
postprocessing.IfaVTGdatagramdoesnotfollowtheGGA
orGGKdatagramthecourseandspeedeldsoftheoutput
datagramswillbesettotheirinvalidvalues.

AsanalternativetoGGA,theSIMRAD90formatposition
datagrammaybeused.TheSIMRAD90formatisintended
tobetheformatofchoicewhenthepositioningsystemisnot
astand-aloneGPSreceiversupplyingGGAorGGKformat
datagrams.TheSIMRAD90formatcaninadditiontoglobal
longitudeandlatitudecoordinatesalsobeusedforNorthingand
Eastingtypeprojectioncoordinates(e.g.UTM).

TocaterforapplicationswheretheEM2000orEM3000Sonar
Headismountedonasubseavehicle,theoriginalSIMRAD90
formathasbeenexpandedtoallowinclusionofthedepthofthe
vehicleinadditiontoitshorizontalpositioninlongitude/latitude
orNorthing/Eastingcoordinates.

SISsupportsloggingofalldatafromaJavadGPSreceiver
directlyattachedtotheserialportontheHWSPC.

TheJavadGPSreceiveroutputsbinarydatainadditionto
theNMEAdatagrams.Thebinarycanbeusedbythirdparty
software(likeTerratec)tocomputemoreaccuratepositionsusing
postprocessingtools.TheJavaddatalesarestoredinaseparate
folderandkeptseparatefromtheotherrawdatatoeasethepost
processingofthedata.Theoperatorchoosesthisdirectoryin
theruntimeparametersinSIS.

ATrimbleGPSreceivercanalsobeattachedtotheserialline
oftheHWSPC.Thisisusedforspecialpurposeslikeland
surveying.

8

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Inputdatagrams

2.1.2GGADatagram

Table1GGADatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

SentenceformatterAlwaysGGA,

——

UTCofposition

hhmmss.ss,000000to235959.9...

—

Latitudeindegreesandminutes,plusoptional
decimalminutes

llll.ll,0000to9000.0...

—

Latitude–N/S

a,

NorS

—

Longitudeindegreesandminutes,plusoptional
decimalminutes

yyyyy.yy ,

00000to18000.0...

—

Longitude–E/W

a,

EorW

—

GPSqualityindicator

x,

0to81

Numberofsatellitesinuse

xx,

00to12

—

HDOP

x.x,—

1

Antennaaltituderemeansealevel(geoid)

x.x,—

2

Unitsofantennaaltitude

M,

——

Geoidalseparation(sealevelreWGS-84)

x.x,—

2

Unitsofgeoidalseparation

M,

——

AgeofdifferentialGPSdata

x.x,——

Differentialreferencestationid

xxxx,

0000to1023

—

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1TheHDOP(HorizontalDilutionOfPrecision)valuewillbe

scaledandcopiedtothe”Measureofpositionxquality”
eldinthepositionoutputdatagram.Thescalefactor
dependsupontheGPSqualityindicator’svalue:

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(PPSorpreciseGPS)=>200,but10ifGGAistreated
asRTK.(SeeNote2)

•4-(kinematicGPSwithxedintegers)=>10

•5-(kinematicGPSwithoatingintegers)=>50

•6-(estimatedordeadreckoningmode)=>1000

•7-(manualinputmode)=>1000

•8-(testmode)=>1000,but10ifGGAistreatedasRTK.
(SeeNote2)

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KongsbergEMSeries

•The”Measureofpositionxquality”eldwillbeset
to65534(largestvalidnumber)iftheindicatoriszero
(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrect
positionxqualitychange(intheorderofcm)ifthereare
dropoutsindifferential,preciseorkinematicmeasurements,
althoughHDOPisnotametricvalue.

TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

2WhenthequalityfactorofaGGApositioningsysteminuse

is4or5aheightoutputdatagramisautomaticallygenerated,
andalsoifthequalityfactoris3or8andtheoperatorhas
settheGGApositiontobeanRTKposition.Theheight
isthesumofthesetwoeldswhichareassumedpositive
upwards(antennaabovegeoid).

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Inputdatagrams

2.1.3PTNL,GGKLocalcoordinateposition
datagram

Table2PTNLDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Sentenceidentier

AlwaysPTNL,

——

SentenceformatterAlwaysGGK,

——

Timeofposition

hhmmss.ss,000000to235959.9...

—

Dateofposition

mmddyy,010100to123199

—

Latitudeindegreesandminutesddmm.mmmmmmm,0000to9000.0...

—

Latitude–N/S

a,

NorS

—

Longitudeindegreesandminutesdddmm.mmmmmmm,00000to18000.0...

—

Longitude–E/W

a,

EorW

—

GPSqualityindicator

x,

0to71

Numberofsatellitesinuse

xx,

00to12

—

DOP

x.x,—

1

Antenna/heightaboveellipsoid

EHTx.x,

——

Unitsofellipsoidalheight(meters)

M,

——

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1TheDOP(DilutionofPrecision)valuewillbescaledand

copiedtothe”Measureofpositionxquality”eldinthe
positionoutputdatagram.Thescalefactordependsuponthe
GPSqualityindicator’svalue

•1–(StandardGPS)=>1000.0;

•2–(RTKoat)=>50.0;

•3–(RTKx)=>10.0;

•4–(DGPS)=>100.0;

•5–(W AAS/EGNOS)=>100.0;

•6–(NetworkFloat)=>50.0;

•7–(Networkx)=>10.0;

The“Measureofpositionxquality”eldwillbeset
to65534(largestvalidnumber)iftheindicatoriszero
(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrect
positionxqualitychange(intheorderofcm)ifthereare
dropoutsindifferential,preciseorkinematicmeasurements,
althoughDOPisnotametervalue.

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TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

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Inputdatagrams

2.1.4GGKDatagram

Table3GGKDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

SentenceformatterAlwaysGGK,

——

Timeofposition

hhmmss.ss,000000to235959.99...

—

Dateofposition

MMDDYY ,010100to123199

—

Latitudeindegreesandminutes,plusoptional
decimalminutes

llll.llllll,0000to9000.0...

—

Latitude–N/S

a,

NorS

—

Longitudeindegreesandminutes,plusoptional
decimalminutes

yyyyy.yyyyyy ,

00000to18000.0...

—

Longitude–E/W

a,

EorW

—

GPSqualityindicator

x,

0to31

Numberofsatellitesinuse

xx,

00to12

—

DOP

x.x,—

1

Antennaellipsoidalheight

x.x,——

Unitsofantennaellipsoidalheight

M,

——

Unitsofantennaellipsoidalheight

x.x,——

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1TheDOP(DilutionOfPrecision)valuewillbescaledand

copiedtothe”Measureofpositionxquality”eldinthe
positionoutputdatagram.Thescalefactordependsuponthe
GPSqualityindicator’svalue

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(kinematicGPS)=>10

The”Measureofpositionxquality”eldwillbeset
to65534(largestvalidnumber)iftheindicatoriszero
(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrect
positionxqualitychange(incm)iftherearedropoutsin
differential,preciseorkinematicmeasurements,although
DOPisnotametervalue.

TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

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2.1.5VTGDatagram

Table4VTGDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

SentenceformatterAlwaysVTG,

——

Courseoverground,degreestrue

x.x,T,0to359.9...1

Courseoverground,degreesmagnetic

x.x,M,0to359.9..1

Speedoverground,knots

x.x,N,0–1

Speedoverground,km/h

x.x,K,0–1

Modeindicator

a

A,D,E,M,SorN

—

Unitsofantennaellipsoidalheight

x.x,——

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1Onlytruecourseandtherstvalidspeedeldwillbeused.

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Inputdatagrams

2.1.6Transponderposition

Table5SSB-SSBLPositionDatagram

DataDescriptionFormatValidrangeNote

Start_character

$

——

Address

PSIMSSB,

——

Timehhmmss.ss,

—

2

TPcodeB01,

—

3

Status

A,

—

4

Errorcode

cc_,

—

1

Coordinatesystem(alwaysradians)

R,

——

Orientation(alwaysnorthoriented)

N,

——

SWlter

,—

1

Xcoordinate(Latitiude)

x.x,——

Ycoordinate(Longitude)

x.x,——

Depth(Sonardepthinm)

x.x,——

Expectedaccuracy(Pos.qualityinm)

x.x,——

Additionalinfo

,—

1

Firstaddvalue

,—

1

Secondaddvalue

,—

1

Checksum*hh

——

Termination

CRLF

——

Notes

1Notusedbymultibeamechosounders.

2DecodedandusedifClockSynchronisationissetfrom

positiondatagram.

3Onlythistranspondertypeisacceptedbythemultibeam.

4A=OK,Vwillgivebadpositions,butdatagramwillbe

acceptedforlogging.

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2.1.7Simrad90datagram

Table6Simrad90datagram

DataDescriptionFormatLengthValidrangeNote

Startidentier=$

Always24h1

——

Talkeridentier

aa

2

Capitalletters

—

SentenceformatterAlwaysS90,

4

——

Dateofposition

DDMMYY ,

7

010100to31 1299

—

UTCofpositionashour,minute,
second,hundredthofsecond

hhmmssss,900000000to

23595999

—

Latitudeindegrees,minutesand
decimalminutes

xxxx.xxxx

90000.0000to

9999.9999

A

Hemisphereidentier

a,

2

NorS

A

Longitudeindegrees,minutesand
decimalminutes,ordepthinmeters

xxxxx.xxxx

1000000.0000to

18000.0000

A

Hemisphereordepthidentier

a,

2E,WorDA

Northingorrangeinmeters

xxxxxxxxx.x,

12000000000.0to

999999999.9

B

Eastingordepthinmeters

xxxxxxx.x,

100000000.0to

9999999.9

B

UTMzonenumber

xx,

301to60

—

Userdenedcentralmeridianlongitude
orbearing

xxxxx.xxxx

1000000.0000to

35999.9999

C

Hemisphereorbearingidentier

a,

2E,W,orB

C

Systemdescriptor

x,

20to71

Positionxqualityindicator

x,

20to9andAtoF2

Speedovergroundinm/s

xx.x,

5

00.0to99.93

Courseovergroundindegrees

xxx.x

5

000.0to359.93

Endofsentencedelimiter=,CRLFAlways2Ch0Dh0Ah

3

——

16

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Inputdatagrams

Notes

1

•Valueofsystemdescriptordenescontentofdatagramas
follows.(NotethattheKongsbergMaritimeEM12,the
EM950andtheEM1000multibeamechosounderswill
onlyacceptvalueslessthan3)

–0-Thepositionislongitudelatitudeinglobal

coordinatesgivenintheeldsnotedA.

–1-ThepositionisNorthingEastingontheNorthern

hemispheregivenintheeldsnotedB.Ifthe
projectionisdenedtobeUTMtheUTMzone
numberorauserdenablecentralmeridianlongitude
maybegivenintheeldnotedC.

–2-Asforsystemdescriptorequalto1,butthe

positionisontheSouthernHemisphere.

–3-Asforsystemdescriptorequalto0,butinaddition

thedepthisgivenintheEastingeldnotedB.

–4-Asforsystemdescriptorequalto1,butinaddition

thedepthisgiveninthelongitudeeldnotedA.

–5-Asforsystemdescriptorequalto2,butinaddition

thedepthisgiveninthelongitudeeldnotedA.

2Thepositionxqualitygiveninthepositionoutputdatagram

willbederivedfromthequalityindicator(thisdiffersfrom
theoriginaldenitionoftheformat)asfollows(inm):

Table7

FED

C

BA98

7

6

5

43210

0.010.020.050.1.02.0.512

5

1020501002005001000

3Iftheseeldshavevalidvaluestheywillbecopiedto

equivalenteldsinthepositionoutputdatagram.Theymay
beusedinlteringofthepositioningduringpostprocessing.
(Theoriginaldenitionoftheformathadlineheadinginthe
courseeldanditsusewastoorientreal-timedisplays).

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KongsbergEMSeries

2.1.8TideInput

Table8Tideinputdatagrams

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

a

Capitalletter

—

Sentenceformatter

AlwaysTIDE,

——

Dateandtimeofprediction/measurement

YYYYMMDDhhmm,199601010000to

999912312359

—

Tideoffsetinmetersanddecimalmeters

x.x

±327.661

Optionalchecksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1Anegativenumberwillbeassumedtoindicateanincrease

insealevel.

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Inputdatagrams

2.1.9Depthpressureorheightinput

Table9Depthpressureorheightinputdatagrams

DataDescriptionFormatValidrangeNote

Startidentier=*

Always24h

——

Sentenceidentier

ii00to091

Talkeridentier

ii00to09

—

Depthorheightinmetersanddecimalmeters

x.x—

2

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1Asentenceidentierequalto00isusedforunderwater

vehicledepth,allotheridentiersarecustomerspecic
(usuallyadatumheight)..

2Ifinputisdepth,itwillbeusedinthedepthoutputdatagram

tooffsetthetransmittransducerdepth.Ifinputisheight,
whichwillusuallyimplyatimeorpositionvariabledatum
height,itsusewilldependonthesentenceidentierandwill
beimplementedasrequiredbyaspeciccustomer.Depth
ispositivedownwards.Depthsmaybescaledandoffsetby
operatorsettableconstants:

output_depth[m]=scale_factor*(input_depth-offset)

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2.2Attitude

Topics

•Overviewonpage20

•EMAttitudeinputformatonpage22

•Networkvelocityattitudeinputformatonpage24

•SperryMK-39Attitudeinputformatonpage25

•HDTformatonpage26

•SKR80formatonpage26

2.2.1Overview

Attitudedataisgenerallyacceptedononeormoreserialinput
port(s)as

•roll,pitch,heaveandheadingononeport,

or

•roll,pitchandheaveononeportandheadingseparatelyon
anotherport.

Thedataupdaterateshouldbecommensuratewiththeexpected
dynamicsofthevessel(typicallyupto100Hz).

Theacceptableformatforroll,pitch,heaveandoptionallyalso
headingisa10bytelongmessageoriginallydenedintheEM
1000forusewithdigitalmotionsensors.Itissupportedbythe
followingsensorslike:

•AppliedAnalyticsPOS/MV

•PhotokineticsOctans

•SeatexMRU

•SeatexSeapath

•TSSDMS-05

•CodaOctopus

HeadingwillbeacceptedintheNMEA0183HDTformat
orintheformatusedbytheSimradRobertsonSKR80(82)
gyrocompass.AcurrentlooptoRS-232convertermaythen
berequired.TheLemkuhlLR40(60)ScanRepeaterformatis
alsoaccepted,asitisthesameasthatoftheSKR80withthe
exceptionofanextrastatusbyte.Notethatiftheattitudesensor
iscapableofreadingthegyrocompassandtransfertheheading
totheattitudesensordatagram(ifitdoesnotmeasureheading
itself),thisispreferabletointerfacingthegyrocompassdirectly
tothesystem.

Roll,pitchandheadingintheSperryMarineMK-39MOD2
AttitudeandHeadingReferenceSystemformatisalsoaccepted.
Asecondmotionsensormustthenbeusedtosupplyheave.

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Inputdatagrams

Attitudedatamaybesuppliedfrommorethanonesensor.All
datamaybelogged,butonlyonesetaschosenbytheoperator
willbeusedinrealtime.

Newermultibeammodelsusesfrequencymodulated(FM)
pulsestoextendthedetectionrangewhilemaintainingthehigh
resolution.ToproperlytakeintoaccounttheDoppler-effect
whenusingFMmode,realtime3Dvelocityinputisneededfrom
themotionsensor.Thedata,onproprietaryformat,isavailable
viaEthernetfromsomeofthemanufacturers.Currentlythree
manufacturersaresupported.

SeealsoNetworkvelocityattitudeinputformatonpage24.

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2.2.2EMAttitudeinputformat

TheEMattitudeformatisa10-byteslongmessagedenedas
follows

•Byte1:Syncbyte1=00h,orSensorstatus=90h-AFh

•Byte2:Syncbyte2=90h

•Byte3:RollLSB

•Byte4:RollMSB

•Byte5:PitchLSB

•Byte6:PitchMSB

•Byte7:HeaveLSB

•Byte8:HeaveMSB

•Byte9:HeadingLSB

•Byte10:HeadingMSB

whereLSB=leastsignicantbyte,MSB=mostsignicantbyte.

Alldataarein2’scomplementbinary ,with0.01°resolutionfor
roll,pitchandheading,and1cmresolutionforheave.

•Rollispositivewithportsideupwith±179.99°validrange

•Pitchispositivewithbowupwith±179.99°validrange

•Heaveispositiveupwith±9.99mvalidrange

•Headingispositiveclockwisewith0to359.99°validrange.

Non-validdataareassumedwhenavalueisoutsidethevalid
range.

Howrollisassumedtobemeasuredisoperatorselectable,either
withrespecttothehorizontalplane(theHippy120orTSS
convention)ortotheplanetiltedbythegivenpitchangle(i.e.as
arotationanglearoundthepitchtiltedforwardpointingx-axis).
Thelatterconvention(calledTate-BryantinthePOS/MV
documentation)isusedinsidethesysteminalldatadisplaysand
inloggeddata(atransformationisappliediftherollisgiven
withrespecttothehorizontal).

Notethatheaveisdisplayedandloggedaspositivedownwards
(thesignischanged)includingrollandpitchinducedleverarm
translationtothesystem’stransmittransducer.

ThisformathaspreviouslybeenusedwiththeEM950andthe
EM1000withtherstsynchronisationbytealwaysassumed
tobezero.Thesensormanufacturershavebeenrequestedto
includesensorstatusintheformatusingtherstsynchronisation
byteforthispurpose.Itisthusassumedthat

•90hintherstbyteindicatesavalidmeasurementswithfull
accuracy

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Inputdatagrams

•anyvaluefrom91hto99hindicatesvaliddatawithreduced
accuracy(decreasingaccuracywithincreasingnumber)

•anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormal
operation(forexamplecongurationorcalibrationmode)

•andanyvaluefromA0htoAFhindicatesasensorerrorstatus

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2.2.3Networkvelocityattitudeinput

format

Newermultibeammodelsusesfrequencymodulated(FM)pulses
toextendthedetectionrangeandstillmaintainingthehigh
resolution.ToproperlytakeintoaccounttheDoppler-effect
whenusingFMmode,realtime3Dvelocityinputisneededfrom
themotionsensor.Thedata,onproprietaryformat,isavailable
viaEthernetfromsomeofthemanufacturers.Currentlythree
datagramformatsaresupported:

•SeatexBinaryformat

•POS-MVGRP102/103

•CodaOctopusMCOM

Fordetailsabouttheformats,pleasereferto:

KongsbergSeatexSeapath:“Seapath200Installationmanual”

ApplanixPOSMV:“POSMVV4UserICD”,Document#:
PUBS-ICD-000551

CodaOctopusF180:“MCOMFormatDescription”–ID
TSKW-187

ThedatagramwillbeloggedintheNetworkAttitudeV elocity
110datagram,andtherangecorrectionsappliedisdocumented
intherawrangeandangle78datagram.

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Inputdatagrams

2.2.4SperryMK-39Attitudeinputformat

Theformatis18byteslong,anditisorganisedas9words.The
mostsignigicantbyteofawordistransmittedrst.

•Word1AA55h.

•Word2Statusandtime.

•Word3Heading.

•Word4Roll.

•Word5Pitch.

•Word6Headingrate.

•Word7Rollrate.

•Word8Pitchrate.

•Word9Checksum(MSB)and1’scomplementofchecksum
(LSB).

Alldataarein2’scomplementbinary.Headingisgivenwithin
±180°,rollandpichwithin±90°.(Notehoweverthatthevalues
±180°and±90°arenotpermitted,astheseareonebittoohigh.)

HeadingismeasuredwithreferencetotrueNorth,andpositive
whenthebowpointseastwards.Rollisperdenitionarotation
angle(Tate-Bryant)andpositivewhenthestarboardsidegoesup.
Pitchispositivewhenthebowgoesdown.

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2.2.5HDTformat

Table10HDTFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

Sentenceformatter

AlwaysHDT ,

——

Heading,degreestruex.x,T0to359.9...

—

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

2.2.6SKR80format

TheSKR80sendsoutastreamofdatawithfourbytesforeach
measurement.Thereisonebyteforeachdigit

•Therstbyteforthedecimaldegree(Example:xxx.X)

•Thesecondforthedegree(Example:xxX.x)

•Thethirdforthe10’sdegree(Example:xXx.x)

•Thefourthforthe100’sdegree(Example:Xxx.x)

Thetwouppermostbitsofabytearealwayszero,thenexttwo
bitsgivethedigit,00forthedecimal,01forthedegree,10for
the10’sdegree,and11forthe100’sdegree.Thelowestfour
bitsgivethedigitvaluein4-bitBCDformat.Asanexamplea
headingof234.5°willgivethefourbytes05h14h23h32h.The
LR40addsafthbyteattheendforstatuswiththetwoupper
bitsofthestatusbytesetto11(11000000forOK,11001010for
alarm).Thisstatusbyteisignored.

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Inputdatagrams

2.3Clockdatagrams

Topics

•Clockonpage27

•ZDAformatonpage27

2.3.1Clock

Thesystemclockisusedtotimestampalldataoutput.The
clockmaybesetuponstartofnewsurveyorpower-uponthe
ProcessingUnit(recommendedsourceisaNMEAZDAformat
datagram).Theclockwilldrift,typicallysomesecondsperday,
unlessitissynchronisedtoa1PPS(pulsepersecond)input
signal(theclockmillisecondcounterwillbesettozerowhenever
apulseisreceived).Afullycorrectclockisonlynecessaryifthe
outputdataarelatertobecombinedwithothertimecriticaldata
loggedorcreatedbyothersystems,forexampleanaccuracyof
uptooneminutewouldbenecessarytoapplytidalchanges.If
thetimestampsuppliedinthepositioninputdatagramsistobe
used,itisimperativethatthesystemclockiscorrectlysetand
that1PPSsynchronisationisused.

2.3.2ZDAformat

Table11ZDAformat

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

Sentenceformatter

AlwaysZDA,

——

UTC

hhmmss.ss,000000to

235959.9...

—

Day

xx,

01to+31

—

Month

xx,

01to+12

—

Year

xxxx,

0000to9999

—

Localzonehours

xx,

-13to+131

Localzoneminutes

xx,

00to+591

Optionalchecksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1Localzonetimeisnotused.Anoffsettimemaybeentered

bytheoperatortogetthesystemclocktoshowadifferent
timethanUTC.

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Note

TrimbleUTCformatisalsosupported.

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