Kongsberg EM series, EM 3002, EM 3000, EM 2040, EM 2000 Instruction Manual

Instruction manual

EM Series

Multibeam echo sounders

Datagram formats

KongsbergEMSeries

Multibeamechosounder

EMdatagramformats

850-160692/R

October2013

©

KongsbergMaritimeAS

Documenthistory

Documentnumber:850-160692

Rev.K

June2009

Anewoutputdatagram,NetworkAttitudeV elocitydatagram
110,isadded.The3DvelocityinputisusedforDoppler
compensationinFMmode.Therangecorrectionsapplied
isdocumentedintheRawrangeandangle78datagram.
Installation,Runtimeandstatusdatagramsareupdatedwithextra
information.ChangesinPTNL,GGKdatagram

Rev.L

November2009

UpdatedRuntimeandInstallationparameters.UpdatedPU
informationandstatusdatagramtoallowforEM2040datagrams.
ExtraParametersaddedinMultibeamparameterssection

Rev.M

January2010

AddedSISgenerateddatagrams.Addedandmodiedcomments.

Rev.N

September2010

TypingerrorinKSSIS80formatcorrected.RFNparameter
re-introducedinInstallationdatagram(seeMultibeamParameters
section).

Rev.O

March2012GeneralupdateincludingupdatesforSIS3.9

Rev.P

June2012

UpdatedQualityfactordatagram79,addedappendixB
“Handlingof.allles”

Rev.Q

February2013GeneralupdateincludingupdatesforEM2040CandSIS4.0

Rev.R

October2013

Rawrangeandbeamangle78datagram:Qualityfactorcorrected
toQF=2500*sd/dr(WasQF=250*sd/dr).
MultibeaminstallationparametersupdatedforEM2040Dual
TX.

Copyright

©2013KongsbergMaritimeAS
TheinformationcontainedinthisdocumentremainsthesolepropertyofKongsbergMaritimeAS.Nopart
ofthisdocumentmaybecopiedorreproducedinanyformorbyanymeans,andtheinformationcontained
withinitisnottobecommunicatedtoathirdparty,withoutthepriorwrittenconsentofKongsberg
MaritimeAS.Thedocument,oranypartofit,maynotbetranslatedtoanyotherlanguagewithoutthe
writtenapprovalfromKongsbergMaritimeAS.

Disclaimer

KongsbergMaritimeASendeavourstoensurethatallinformationinthisdocumentiscorrectandfairly
stated,butdoesnotacceptliabilityforanyerrorsoromissions.

Warning

Theequipmenttowhichthismanualappliesmustonlybeusedforthepurposeforwhichitwas
designed.Improperuseormaintenancemaycausedamagetotheequipmentand/orinjury
topersonnel.Allusersmustbefamiliarwiththecontentsoftheappropriatemanualsbefore
attemptingtoinstall,operate,maintainorinanyotherwayworkontheequipment.
KongsbergMaritimeASdisclaimsanyresponsibilityfordamageorinjurycausedbyimproper
installation,useormaintenanceoftheequipment.

Supportinformation

Ifyourequiremaintenanceorrepair,contactoneofourofces,distributorsordealers.Y oucanalsocontact
ususingthefollowingaddress:[e-mail]

.Ifyouneedinformationabout

ourotherproducts,visithttp://www.km.kongsberg.com.

KongsbergMaritimeAS

www.kongsberg.com

EMdatagramformats

Tableofcontents

EMDATAGRAMFORMATS..................................................7

Presentationformat...................................................................................................8

Supportinformation.................................................................................................8

INPUTDATAGRAMS..........................................................9

Position.....................................................................................................................9

Overview...................................................................................................10

GGADatagram..........................................................................................12

PTNL,GGKLocalcoordinatepositiondatagram..........................................14

TrimbleGGKDatagram..............................................................................15

VTGDatagram...........................................................................................16

Transponderposition...................................................................................17

Simrad90Position......................................................................................18

TideInput..................................................................................................20

Depth,pressureorheightinput...................................................................20

Attitude..................................................................................................................21

Overview...................................................................................................21

EMAttitudeinputformat............................................................................23

Networkattitudevelocityinputformat.........................................................24

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

HDTformat................................................................................................26

SKR80format............................................................................................26

Clockdatagrams.....................................................................................................27

Clock.........................................................................................................27

ZDAformat................................................................................................27

Soundspeeddatagrams..........................................................................................28

Overview...................................................................................................28

KongsbergMaritimeSSPformat.................................................................29

AMLSmartSensorandAMLMicroSensorformat......................................32

Depthinputdatagramsfromsinglebeamechosounder........................................33

DBSFormat...............................................................................................33

DPTFormat...............................................................................................33

Simradformat.............................................................................................34

Remotecontroldatagrams......................................................................................35

Soundspeedattransducer......................................................................................37

KSSIS80Datagram....................................................................................37

OUTPUTDATAGRAMS......................................................38

Introduction............................................................................................................38

Multibeamdata.......................................................................................................40

Depthdatagram..........................................................................................40

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KongsbergEMSeries

XYZ88......................................................................................................43

Centralbeamsechogram.............................................................................46

Rawrangeandbeamangle(F).....................................................................48

Rawrangeandbeamangle(f)......................................................................49

Rawrangeandangle78..............................................................................51

Seabedimagedatagram...............................................................................54

Seabedimagedata89..................................................................................56

Watercolumndatagram...............................................................................58

Qualityfactordatagram79..........................................................................60

Externalsensors......................................................................................................62

Attitudedatagram.......................................................................................62

Networkattitudevelocitydatagram110.......................................................64

Clock........................................................................................................66

Depth(pressure)orheightdatagram.............................................................67

Heading....................................................................................................68

Position.....................................................................................................69

Singlebeamechosounderdepth.................................................................71

Tidedatagram.............................................................................................72

Soundspeed............................................................................................................73

Surfacesoundspeed...................................................................................73

Soundspeedproledatagram......................................................................74

KongsbergMaritimeSSPoutputdatagram...................................................75

Multibeamparameters............................................................................................76

Installationparameters................................................................................76

Runtimeparameters....................................................................................84

Mechanicaltransducertilt............................................................................93

ExtraParametersdatagram...........................................................................94

PUinformationandstatus......................................................................................99

PUIDoutput..............................................................................................99

PUStatusoutput......................................................................................102

PUBISTresultoutput...............................................................................105

SISgeneratedoutput............................................................................................107

APBDatagram.........................................................................................107

DPTDatagram.........................................................................................107

RTEDatagram..........................................................................................108

WPLDatagram.........................................................................................108

KSSIS31Datagram..................................................................................109

AEM2040DETAILS.........................................................110

EM2040transducerinstallationoffsets...............................................................110

EM2040DualRX................................................................................................115

EM2040Scanningmode.....................................................................................116

BEM2040CINSTALLATIONOFFSETS..............................118

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EMdatagramformats

CHANDLINGOF.ALL–FILES............................................120

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KongsbergEMSeries

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EMdatagramformats

EMdatagramformats

ThedatainputandoutputformatstoandfromtheEMSeriesmultibeamechosounders
aredescribedinthisdocument.TheinformationappliestotheKongsbergMaritime
multibeamechosoundersintroducedafter1995.

Note

TheinformationhereinappliestotheEM3002,EM3000,EM2040,EM2000,EM
1002,EM710,EM302,EM122,ME70BO,EM300andEM120multibeamecho
sounders.Someoftheinformationmaynotberelevantforyourspecicsystem.Please
disregardthis.

InformationforEM2040isvalidforallmodelsofEM2040,unlessotherwisespecied.

TheinformationinthisdocumentisnotvalidfortheEM12,EM100,EM950andEM
1000multibeamechosounders.

Note

Inordertomeetspecialcustomerrequirements,KongsbergMaritimemayhaveto
changethedatagramformatsdescribedhere.Theformatspresentedinthisdocument
maythereforebealteredwithoutpriornotice,althoughbackwardcompatibilitywill
bemaintainedasfaraspossible.Beforesoftwareiswritteninaccordancewiththis
document,itisstronglyrecommendedtocontactKongsbergMaritimetoensurethatthe
latestversionisused,andthatanyplannedchangesaretakenintoaccount.

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KongsbergEMSeries

Presentationformat

TheformatdescriptionisaccordingtotheNMEA0183standard,ApprovedParametric

SentenceStructure,withtheASCIIcharacter(s)givenasfollows

•“x.x”denesavariablelengthnumericaleld,withoptionallyincludeddecimal
pointandsign.

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

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

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

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

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

Supportinformation

IfyouneedtechnicalsupportontheEMSeriessystemyoumustcontacta
KongsbergMaritimeofce.Alistofalloursupportofcesisprovidedon

http://www.km.kongsberg.com

.

YoucanalsocontactourmainsupportofceinNorway.

•Address:Strandpromenaden50,3190Horten,Norway

•Telephone:[phone]

•Telephone,24h:[phone]

•E-mailaddress:[e-mail]

•Website:http://www.km.kongsberg.com

8

850-160692/R

Inputdatagrams

Inputdatagrams

Topics

•Positiononpage9

•Attitudeonpage21

•Clockdatagramsonpage27

•Soundspeeddatagramsonpage28

•Depthinputdatagramsfromsinglebeamechosounderonpage33

•Remotecontroldatagramsonpage35

•Soundspeedattransduceronpage37

Onlyalimitednumberofinputformatsfromexternalsensorsareaccepted.Theseare
primarilyinaccordancewiththeNMEA0183specication,orbasedupontheprinciples
ofthatspecication.

Note

ThemajorityoftheseformatshavenotbeendenedbyKongsbergMaritime.Thus,these
formatsarenotcontrolledbyKongsbergMaritime.

AlmostallinputformatsareASCII.SeriallineorEthernetinputtothemultibeamecho
sounder’sProcessingUnitismostcommon,butsomedatagrams-whicharenottime
critical-areinterfacedonserialline(s)orEthernettotheOperatorStation.

Position

Topics

•Overviewonpage10

•GGADatagramonpage12

•PTNL,GGKLocalcoordinatepositiondatagramonpage14

•TrimbleGGKDatagramonpage15

•VTGDatagramonpage16

•Transponderpositiononpage17

•Simrad90Positiononpage18

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KongsbergEMSeries

•TideInputonpage20

•Depth,pressureorheightinputonpage20

Overview

TheEMSeriesacceptspositiondatainthefollowingformats

•NMEA0183GGA

•GGK

•PTNL,GGK

•SIMRAD90

•Transponderposition

•WiththeGGAandGGKdatagrams,informationcontainedinNMEA0183GSTand
VTGdatagramswillalsobeacceptedandused.

Note

TheGSTdatagramisnotusedbythefollowingmultibeamechosounders:EM122,
EM302,EM710,EM2040,EM2040C,EM3002andME70BO.

•AdatagramformatforSonarHeaddepthisprovidedfortheEM3002,EM3000,EM
2040,EM2000andEM710.Notethattheformatisthesameasthatusedbythe
ParoscienticDigiquartzpressuresensor.Thisformatmayalsobeusedforinputof
forexamplevaryingdatumheightsorotherspecialheightinformationonallmodels.

•Adatagramformatforinputoftidalheightisprovided.

TheGGAformatgivenbelowisaccordingtotheNMEA0183version2.30description.

TheGGKformatwasoriginallydenedbytheUSArmyCorpsofEngineersfortheir
testswithkinematicGPS.Trimble’sproprietaryversionoftheformat,PTNLGGK,is
supported.Ifanychangestotheformataremade,andifitbecomespartoftheNMEA
standard,thiswillbeimplemented.

TopreservetheinherentaccuracyofthekinematicGPSdataitisnecessarytocorrect
thedataforvesselmotion.Thisrequiresaccuratetimingsynchronisationbetweenthe
motionsensorandtheGPSreceiver.Itisthereforeimperativethat

•thepositiondatagramhasaconstantandknowntimedelay,

or

•thetimestampinthedatagramisactuallythetimeofthepositionx,that
synchronisationtothe1PPSsignaloftheGPSreceiverisenabled,andthatthesystem
clockhasbeensetcorrectly.

Asneitheroftheseconditionsmaynotbepossibletoachievewithasufcientaccuracy,
theapplicationofmotioncorrectionisoperatorselectable.Motioncompensationmaybe
appliedtomostofthepositioninputdatagrams.

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Inputdatagrams

InadditiontopositiondatafromtheGGAorGGKdatagrams,speedandcourse
overgroundfromNMEAVTGdatagramsmayalsobecopiedintotheposition
outputdatagram.Thesevaluesmaybeusefulinlteringofthepositioningduring
postprocessing.IfaVTGdatagramdoesnotfollowtheGGAorGGKdatagramthe
courseandspeedeldsoftheoutputdatagramswillbesettotheirinvalidvalues.

AsanalternativetoGGA,theSIMRAD90formatpositiondatagrammaybeused.
TheSIMRAD90formatisintendedtobetheformatofchoicewhenthepositioning
systemisnotastand-aloneGPSreceiversupplyingGGAorGGKformatdatagrams.
TheSIMRAD90formatcaninadditiontogloballongitudeandlatitudecoordinatesalso
beusedforNorthingandEastingtypeprojectioncoordinates(e.g.UTM).

TocaterforapplicationswheretheEM2000orEM3000SonarHeadismountedona
subseavehicle,theoriginalSIMRAD90formathasbeenexpandedtoallowinclusion
ofthedepthofthevehicleinadditiontoitshorizontalpositioninlongitude/latitude
orNorthing/Eastingcoordinates.

SISsupportsloggingofalldatafromaJavadGPSreceiverdirectlyattachedtothe
serialportontheHWSPC.

TheJavadGPSreceiveroutputsbinarydatainadditiontotheNMEAdatagrams.The
binarycanbeusedbythirdpartysoftware(likeTerratec)tocomputemoreaccurate
positionsusingpostprocessingtools.TheJavaddatalesarestoredinaseparatefolder
andkeptseparatefromtheotherrawdatatoeasethepostprocessingofthedata.The
operatorchoosesthisdirectoryintheruntimeparametersinSIS.

ATrimbleGPSreceivercanalsobeattachedtotheseriallineoftheHWSPC.Thisis
usedforspecialpurposeslikelandsurveying.

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KongsbergEMSeries

GGADatagram

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)valuewillbescaledandcopiedtothe

”Measureofpositionxquality”eldinthepositionoutputdatagram.Thescale
factordependsupontheGPSqualityindicator’svalue:

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(PPSorpreciseGPS)=>200,but10ifGGAistreatedasRTK.(SeeNote2)

•4-(kinematicGPSwithxedintegers)=>10

•5-(kinematicGPSwithoatingintegers)=>50

•6-(estimatedordeadreckoningmode)=>1000

•7-(manualinputmode)=>1000

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

•The”Measureofpositionxquality”eldwillbesetto65534(largestvalid
number)iftheindicatoriszero(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange
(intheorderofcm)iftherearedropoutsindifferential,preciseorkinematic
measurements,althoughHDOPisnotametricvalue.

12

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Inputdatagrams

TheGPSmanufacturersmayhavedifferentGPSqualityindicators.

2WhenthequalityfactorofaGGApositioningsysteminuseis4or5aheightoutput

datagramisautomaticallygenerated,andalsoifthequalityfactoris3or8andthe
operatorhassettheGGApositiontobeanRTKposition.Theheightisthesumof
thesetwoeldswhichareassumedpositiveupwards(antennaabovegeoid).

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KongsbergEMSeries

PTNL,GGKLocalcoordinatepositiondatagram

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Inputdatagrams

TrimbleGGKDatagram

Table2GGKDatagram

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)valuewillbescaledandcopiedtothe”Measureof

positionxquality”eldinthepositionoutputdatagram.Thescalefactordepends
upontheGPSqualityindicator’svalue

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(kinematicGPS)=>10

The”Measureofpositionxquality”eldwillbesetto65534(largestvalid
number)iftheindicatoriszero(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange
(incm)iftherearedropoutsindifferential,preciseorkinematicmeasurements,
althoughDOPisnotametervalue.

TheGPSmanufacturersmayhavedifferentGPSqualityindicators.

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KongsbergEMSeries

VTGDatagram

Table3VTGDatagram

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

Transponderposition

Table4SSB-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.

2DecodedandusedifClockSynchronisationissetfrompositiondatagram.

3Onlythistranspondertypeisacceptedbythemultibeam.

4A=OK,Vwillgivebadpositions,butdatagramwillbeacceptedforlogging.

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KongsbergEMSeries

Simrad90Position

Table5Simrad90datagram

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

——

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Inputdatagrams

Notes

1Thevalueofsystemdescriptordenesthecontentofthedatagramasfollows.

•0-Thepositionislongitudelatitudeinglobalcoordinatesgivenintheelds
notedA.

•1-ThepositionisNorthingEastingontheNorthernhemispheregiveninthe
eldsnotedB.IftheprojectionisdenedtobeUTMtheUTMzonenumberora
userdenablecentralmeridianlongitudemaybegivenintheeldnotedC.

•2-Asforsystemdescriptorequalto1,butthepositionisontheSouthern
Hemisphere.

•3-Asforsystemdescriptorequalto0,butinadditionthedepthisgiveninthe
EastingeldnotedB.

•4-Asforsystemdescriptorequalto1,butinadditionthedepthisgivenin
thelongitudeeldnotedA.

•5-Asforsystemdescriptorequalto2,butinadditionthedepthisgivenin
thelongitudeeldnotedA.

Note

TheEM12,EM950andEM1000multibeamechosounderswillonlyaccept
valueslessthan3.

2Thepositionxqualitygiveninthepositionoutputdatagramwillbederived

fromthequalityindicator(thisdiffersfromtheoriginaldenitionoftheformat)
asfollows(inm):

Table6

FED

C

BA98

7

6

5

43210

0.010.020.050.1.02.0.512

5

1020501002005001000

3Iftheseeldshavevalidvaluestheywillbecopiedtoequivalenteldsinthe

positionoutputdatagram.Theymaybeusedinlteringofthepositioningduring
postprocessing.(Theoriginaldenitionoftheformathadlineheadinginthecourse
eldanditsusewastoorientreal-timedisplays).

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KongsbergEMSeries

TideInput

Table7Tideinputdatagrams

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

1Anegativenumberwillbeassumedtoindicateanincreaseinsealevel.

Depth,pressureorheightinput

Thisthirdpartytelegramdenitionprovidesauniversalformattoholdeitherdepth,
pressureorheightinformation.

Table8Depthpressureorheightinputdatagrams

DataDescriptionFormatValidrangeNote

Startidentier=*

Always24h

——

Sentenceidentier

ii00to091

Talkeridentier

ii00to09

—

Depthorheightinmetersanddecimalmeters

x.x—

2

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

Notes

1Asentenceidentierequalto00isusedforunderwatervehicledepth,allother

identiersarecustomerspecic(usuallyadatumheight).

2Ifinputisdepth,itwillbeusedinthedepthoutputdatagramtooffsetthetransmit

transducerdepth.

Ifinputisheight,whichwillusuallyimplyatimeorpositionvariabledatumheight,
itsusewilldependonthesentenceidentierandwillbeimplementedasrequired
byaspeciccustomer.

Depthispositivedownwards.Depthsmaybescaledandoffsetadjustedusing
constants:

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

20

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Inputdatagrams

Attitude

Topics

•Overviewonpage21

•EMAttitudeinputformatonpage23

•Networkattitudevelocityinputformatonpage24

•SperryMK-39Attitudeinputformatonpage25

•HDTformatonpage26

•SKR80formatonpage26

Overview

Attitudedataisgenerallyacceptedononeormoreserialinputport(s)as

•roll,pitch,heaveandheadingononeport,

or

•roll,pitchandheaveononeportandheadingseparatelyonanotherport.

Thedataupdaterateshouldbecommensuratewiththeexpecteddynamicsofthevessel
(typicallyupto100Hz).

Theacceptableformatforroll,pitch,heaveandoptionallyalsoheadingisa10bytelong
messageoriginallydenedintheEM1000forusewithdigitalmotionsensors.Itis
supportedbythefollowingsensorslike:

•AppliedAnalyticsPOS/MV

•PhotokineticsOctans

•SeatexMRU

•SeatexSeapath

•TSSDMS-05

•CodaOctopus

HeadingwillbeacceptedintheNMEA0183HDTformatorintheformatusedbythe
SimradRobertsonSKR80(82)gyrocompass.AcurrentlooptoRS-232convertermay
thenberequired.TheLemkuhlLR40(60)ScanRepeaterformatisalsoaccepted,asit
isthesameasthatoftheSKR80withtheexceptionofanextrastatusbyte.Notethat
iftheattitudesensoriscapableofreadingthegyrocompassandtransfertheheadingto
theattitudesensordatagram(ifitdoesnotmeasureheadingitself),thisispreferableto
interfacingthegyrocompassdirectlytothesystem.

Roll,pitchandheadingintheSperryMarineMK-39MOD2AttitudeandHeading
ReferenceSystemformatisalsoaccepted.Asecondmotionsensormustthenbeusedto
supplyheave.

Attitudedatamaybesuppliedfrommorethanonesensor.Alldatamaybelogged,but
onlyonesetaschosenbytheoperatorwillbeusedinrealtime.

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KongsbergEMSeries

EM122,EM302,EM710,EM2040andEM2040Cusefrequencymodulated(FM)
pulsestoextendthedetectionrangewhilemaintainingthehighresolution.Toproperly
takeintoaccounttheDoppler-effectwhenusingFMmode,realtime3Dvelocityinputis
neededfromthemotionsensor.Thedata,onproprietaryformat,isavailableviaEthernet
fromsomeofthemanufacturers.Currentlythreemanufacturersaresupported.

SeealsoNetworkattitudevelocityinputformatonpage24.

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Inputdatagrams

EMAttitudeinputformat

TheEMattitudeformatisa10-byteslongmessagedenedasfollows

•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°resolutionforroll,pitchandheading,
and1cmresolutionforheave.

•Rollispositivewithportsideupwith±179.99°validrange

•Pitchispositivewithbowupwith±179.99°validrange

•Heaveispositiveupwith±9.99mvalidrange

•Headingispositiveclockwisewith0to359.99°validrange.

Non-validdataareassumedwhenavalueisoutsidethevalidrange.

Howrollisassumedtobemeasuredisoperatorselectable,eitherwithrespecttothe
horizontalplane(theHippy120orTSSconvention)ortotheplanetiltedbythegiven
pitchangle(i.e.asarotationanglearoundthepitchtiltedforwardpointingx-axis).The
latterconvention(calledT ate-BryantinthePOS/MVdocumentation)isusedinsidethe
systeminalldatadisplaysandinloggeddata(atransformationisappliediftheroll
isgivenwithrespecttothehorizontal).

Notethatheaveisdisplayedandloggedaspositivedownwards(thesignischanged)
includingrollandpitchinducedleverarmtranslationtothesystem’stransmittransducer.

ThisformathaspreviouslybeenusedwiththeEM950andtheEM1000withtherst
synchronisationbytealwaysassumedtobezero.Thesensormanufacturershavebeen
requestedtoincludesensorstatusintheformatusingtherstsynchronisationbyte
forthispurpose.Itisthusassumedthat

•90hintherstbyteindicatesavalidmeasurementswithfullaccuracy

•anyvaluefrom91hto99hindicatesvaliddatawithreducedaccuracy(decreasing
accuracywithincreasingnumber)

•anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormaloperation(forexample
congurationorcalibrationmode)

•andanyvaluefromA0htoAFhindicatesasensorerrorstatus

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KongsbergEMSeries

Networkattitudevelocityinputformat

EM122,EM302,EM710,EM2040andEM2040Cusefrequencymodulated(FM)
pulsestoextendthedetectionrangeandstillmaintainingthehighresolution.Toproperly
takeintoaccounttheDoppler-effectwhenusingFMmode,realtime3Dvelocityinputis
neededfromthemotionsensor.Thedata,onproprietaryformat,isavailableviaEthernet
fromsomeofthemanufacturers.Currentlythefollowingformatsaresupported:

•SeatexBinaryformat11

•SeatexBinaryformat23

•POS-MVGRP102/103

•CodaOctopusMCOM

Fordetailsabouttheformats,pleaserefertomanufacturerdocumentation.

ThedatagramwillbeloggedintheNetworkAttitudeVelocity110datagram,andthe
rangecorrectionsappliedisdocumentedintherawrangeandangle78datagram.

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Inputdatagrams

SperryMK-39Attitudeinputformat

Theformatis18byteslong,anditisorganisedas9words.Themostsignigicantbyteof
awordistransmittedrst.

•Word1AA55h.

•Word2Statusandtime.

•Word3Heading.

•Word4Roll.

•Word5Pitch.

•Word6Headingrate.

•Word7Rollrate.

•Word8Pitchrate.

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

Alldataarein2’scomplementbinary.Headingisgivenwithin±180°,rollandpich
within±90°.(Notehoweverthatthevalues±180°and±90°arenotpermitted,asthese
areonebittoohigh.)

HeadingismeasuredwithreferencetotrueNorth,andpositivewhenthebowpoints
eastwards.Rollisperdenitionarotationangle(Tate-Bryant)andpositivewhenthe
starboardsidegoesup.Pitchispositivewhenthebowgoesdown.

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KongsbergEMSeries

HDTformat

Table9HDTFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

Always24h

——

Talkeridentier

aa

Capitalletters

—

Sentenceformatter

AlwaysHDT ,

——

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

—

Checksum*hh

——

Endofsentencedelimiter=CRLF

Always0Dh0Ah

——

SKR80format

TheSKR80sendsoutastreamofdatawithfourbytesforeachmeasurement.Thereis
onebyteforeachdigit

•Therstbyteforthedecimaldegree(Example:xxx.X)

•Thesecondforthedegree(Example:xxX.x)

•Thethirdforthe10’sdegree(Example:xXx.x)

•Thefourthforthe100’sdegree(Example:Xxx.x)

Thetwouppermostbitsofabytearealwayszero,thenexttwobitsgivethedigit,00
forthedecimal,01forthedegree,10forthe10’sdegree,and11forthe100’sdegree.
Thelowestfourbitsgivethedigitvaluein4-bitBCDformat.Asanexampleaheading
of234.5°willgivethefourbytes05h14h23h32h.TheLR40addsafthbyteatthe
endforstatuswiththetwoupperbitsofthestatusbytesetto11(11000000forOK,
11001010foralarm).Thisstatusbyteisignored.

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Inputdatagrams

Clockdatagrams

Topics

•Clockonpage27

•ZDAformatonpage27

Clock

Thesystemclockisusedtotimestampalldataoutput.Theclockmaybesetuponstart
ofnewsurveyorpower-upontheProcessingUnit(recommendedsourceisaNMEA
ZDAformatdatagram).Theclockwilldrift,typicallysomesecondsperday,unlessitis
synchronisedtoa1PPS(pulsepersecond)inputsignal(theclockmillisecondcounter
willbesettozerowheneverapulseisreceived).Afullycorrectclockisonlynecessaryif
theoutputdataarelatertobecombinedwithothertimecriticaldataloggedorcreatedby
othersystems,forexampleanaccuracyofuptooneminutewouldbenecessarytoapply
tidalchanges.Ifthetimestampsuppliedinthepositioninputdatagramsistobeused,itis
imperativethatthesystemclockiscorrectlysetandthat1PPSsynchronisationisused.

ZDAformat

Table10ZDAformat

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.Anoffsettimemaybeenteredbytheoperatortoget

thesystemclocktoshowadifferenttimethanUTC.

Note

TrimbleUTCformatisalsosupported.

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KongsbergEMSeries

Soundspeeddatagrams

Topics

•Overviewonpage28

•KongsbergMaritimeSSPformatonpage29

•AMLSmartSensorandAMLMicroSensorformatonpage32

Overview

AsoundspeedprolemaybeloadedintotheOperatorStationeitheronaseriallineor
onEthernet.FormatspreviouslyusedwithexistingKongsbergMaritimeechosounders
(KongsbergMaritimeASCIIandBinarySoundVelocityProleinputdatagrams)will
beaccepted,butsincetheirresolutionindepthislimitedto1mandthenumberof
entriesto100,anewerformatgivenbelowwithouttheselimitationsisrecommended.
ThisformatisalsoacceptedbytheKongsbergMaritimeHIPAPandHPRunderwater
positioningsystems(butnotnecessarilyvice-versa).Notethatacompleteprolemaybe
piecedtogetherfromseveraldatagramsandeditedwiththeOperatorStation’sSound
SpeedEditor.

ThenewformatiscompletelyinASCIIandallows9998entrieswithoutlimitationsin
resolution.Buttheechosounderhaveotherlimitations,checknote9.Inadditionto
depthandsoundspeed,itallowsinputofabsorptioncoefcient,pressure,temperature
andsalinityorconductivity.Thelatterparametersmaybeusedtocalculatedepth,sound
speedandabsorptioncoefcient.Useofadepthdependentabsorptioncoefcientallows
amoreaccuratedeterminationofbottombackscatterstrength.

Notethatthisdatagrammayalsobeloggedasoutput,retaininginformationnotincluded
inthestandardsoundspeedproleoutputdatagram,suchaswhereandwhentheprole
hasbeentaken.

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