Ko n g s b e r g EM Series Instruction manual

Instruction manual

EM Series

Multibeam echo sounders

Datagram formats

KongsbergEMSeries

Multibeamechosounder

EMdatagramformats

850-160692/M

January2010

Documenthistory

S t ra n d pr o m e n a d e n5 0

P.O. B o x1 1 1
N- 3 1 9 1H o r te n,
No rw a y

Ko n g s b e r gM a r it i m eA S

Te le p h o n 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 ub s e a @ k on g s b e r g .c o m

w w w . k o n g s b e r g . c o m

Documentnumber:850-160692

Rev.K

Changes:

Anewoutputdatagram,NetworkAttitudeV elocitydatagram
110,isadded.The3DvelocityinputisusedforDoppler

June2009

compensationinFMmode.Therangecorrectionsappliedis
documentedintheRawrangeandangle78datagram.
Installation,Runtimeandstatusdatagramsareupdatedwithextra
information.
Someminorchangesandadditionalcomments.
ChangesinPTNL,GGKdatagram

Changes:

Rev.L

November2009

UpdatedRuntimeandInstallationparameters.
UpdatedPUinformationandstatusdatagramtoallowforEM
2040datagrams
ExtraParametersaddedinMultibeamparameterssection

Changes:

Rev.M

January2010

AddedSISgenerateddatagrams.
Addedandmodiedcomments.

Note

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

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

850-160692/M

3

KongsbergEMSeries

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

4

850-160692/M

1EMDATAGRAMFORMATS

EMdatagramformats

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

1.1Presentationformat

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

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.

850-160692/M

5

KongsbergEMSeries

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

850-160692/M

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.

850-160692/M

7

KongsbergEMSeries

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

850-160692/M

Inputdatagrams

2.1.2GGADatagram

Table1GGADatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

SentenceformatterAlwaysGGA,

UTCofposition

Latitudeindegreesandminutes,plusoptional
decimalminutes

Latitude–N/S

Longitudeindegreesandminutes,plusoptional
decimalminutes

Longitude–E/W

GPSqualityindicator

Numberofsatellitesinuse

HDOP

Antennaaltituderemeansealevel(geoid)

Unitsofantennaaltitude

Geoidalseparation(sealevelreWGS-84)

Unitsofgeoidalseparation

AgeofdifferentialGPSdata

Differentialreferencestationid

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h
aa

hhmmss.ss,000000to235959.9...

llll.ll,0000to9000.0...

a,

yyyyy.yy ,

a,

x,

xx,

x.x,—

x.x,—

M,
x.x,—

M,
x.x,——

xxxx,

Always0Dh0Ah

——

Capitalletters
——

NorS

00000to18000.0...

EorW

0to81

00to12

——

——

0000to1023
——

——

—

—

—

—

—

—

—

1

2

2

—

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)

850-160692/M

9

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).

10

850-160692/M

Inputdatagrams

2.1.3PTNL,GGKLocalcoordinateposition datagram

Table2PTNLDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Sentenceidentier

SentenceformatterAlwaysGGK,

Timeofposition

Dateofposition

Latitudeindegreesandminutesddmm.mmmmmmm,0000to9000.0...

Latitude–N/S

Longitudeindegreesandminutesdddmm.mmmmmmm,00000to18000.0...

Longitude–E/W

GPSqualityindicator

Numberofsatellitesinuse

DOP

Antenna/heightaboveellipsoid

Unitsofellipsoidalheight(meters)

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h

AlwaysPTNL,

hhmmss.ss,000000to235959.9...

mmddyy,010100to123199

a,

a,

x,

xx,

x.x,—

EHTx.x,

M,

Always0Dh0Ah

——

——

——

NorS

EorW

0to71

00to12

——

——

——

——

—

—

—

—

—

—

—

1

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–(WAAS/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.

850-160692/M

11

KongsbergEMSeries

TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

12

850-160692/M

Inputdatagrams

2.1.4GGKDatagram

Table3GGKDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

SentenceformatterAlwaysGGK,

Timeofposition

Dateofposition

Latitudeindegreesandminutes,plusoptional
decimalminutes

Latitude–N/S

Longitudeindegreesandminutes,plusoptional
decimalminutes

Longitude–E/W

GPSqualityindicator

Numberofsatellitesinuse

DOP

Antennaellipsoidalheight

Unitsofantennaellipsoidalheight

Unitsofantennaellipsoidalheight

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h
aa

hhmmss.ss,000000to235959.99...

MMDDYY ,010100to123199

llll.llllll,0000to9000.0...

a,

yyyyy.yyyyyy ,

a,

x,

xx,

x.x,—

x.x,——

M,
x.x,——

Always0Dh0Ah

——

Capitalletters
——

NorS

00000to18000.0...

EorW

0to31

00to12

——

——

——

—

—

—

—

—

—

—

—

1

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.

850-160692/M

13

KongsbergEMSeries

2.1.5VTGDatagram

Table4VTGDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

SentenceformatterAlwaysVTG,

Courseoverground,degreestrue

Courseoverground,degreesmagnetic

Speedoverground,knots

Speedoverground,km/h

Modeindicator

Unitsofantennaellipsoidalheight

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h
aa

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

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

x.x,N,0–1

x.x,K,0–1
a

x.x,——

Always0Dh0Ah

——

Capitalletters
——

A,D,E,M,SorN

——

——

—

—

Notes

1Onlytruecourseandtherstvalidspeedeldwillbeused.

14

850-160692/M

Inputdatagrams

2.1.6Transponderposition

Table5SSB-SSBLPositionDatagram

DataDescriptionFormatValidrangeNote

Start_character

Address

Timehhmmss.ss,

TPcodeB01,

Status

Errorcode

Coordinatesystem(alwaysradians)

Orientation(alwaysnorthoriented)

SWlter

Xcoordinate(Latitiude)

Ycoordinate(Longitude)

Depth(Sonardepthinm)

Expectedaccuracy(Pos.qualityinm)

Additionalinfo

Firstaddvalue

Secondaddvalue

Checksum*hh

Termination

$

PSIMSSB,

A,
cc_,

R,

N,
,—

x.x,——

x.x,——

x.x,——

x.x,——

,—

,—

,—

CRLF

——

——

—

—

—

—

——

——

——

——

2

3

4

1

1

1

1

1

Notes

1Notusedbymultibeamechosounders.

2DecodedandusedifClockSynchronisationissetfrom

positiondatagram.

3Onlythistranspondertypeisacceptedbythemultibeam.

4A=OK,Vwillgivebadpositions,butdatagramwillbe

acceptedforlogging.

850-160692/M

15

KongsbergEMSeries

2.1.7Simrad90datagram

Table6Simrad90datagram

DataDescriptionFormatLengthValidrangeNote

Startidentier=$

Talkeridentier

SentenceformatterAlwaysS90,

Dateofposition

UTCofpositionashour,minute,
second,hundredthofsecond

Latitudeindegrees,minutesand
decimalminutes

Hemisphereidentier

Longitudeindegrees,minutesand
decimalminutes,ordepthinmeters

Hemisphereordepthidentier

Northingorrangeinmeters

Eastingordepthinmeters

UTMzonenumber

Userdenedcentralmeridianlongitude
orbearing

Hemisphereorbearingidentier

Systemdescriptor

Positionxqualityindicator

Speedovergroundinm/s

Courseovergroundindegrees

Endofsentencedelimiter=,CRLFAlways2Ch0Dh0Ah

Always24h1
aa

DDMMYY ,

hhmmssss,900000000to

xxxx.xxxx

a,

xxxxx.xxxx

a,

xxxxxxxxx.x,

xxxxxxx.x,

xx,

xxxxx.xxxx

a,

x,

x,

xx.x,

xxx.x

2

4

7

90000.0000to

2

1000000.0000to

2E,WorDA

12000000000.0to

100000000.0to

301to60

1000000.0000to

2E,W,orB

20to71

20to9andAtoF2

5

5

3

——

Capitalletters
——

010100to31 1299

23595999

9999.9999
NorS

18000.0000

999999999.9

9999999.9

35999.9999

00.0to99.93

000.0to359.93
——

—

—

—

A

A

A

B

B

—

C

C

16

850-160692/M

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

0.010.020.050.1.02.0.512

BA98

C

3Iftheseeldshavevalidvaluestheywillbecopiedto

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

7

5

5

6

1020501002005001000

43210

850-160692/M

17

KongsbergEMSeries

2.1.8TideInput

Table8Tideinputdatagrams

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

Sentenceformatter

Dateandtimeofprediction/measurement

Tideoffsetinmetersanddecimalmeters

Optionalchecksum*hh

Endofsentencedelimiter=CRLF

Notes

1Anegativenumberwillbeassumedtoindicateanincrease

insealevel.

Always24h
a

AlwaysTIDE,

YYYYMMDDhhmm,199601010000to

x.x

Always0Dh0Ah

——

Capitalletter
——

999912312359
±327.661
——

——

—

—

18

850-160692/M

Inputdatagrams

2.1.9Depthpressureorheightinput

Table9Depthpressureorheightinputdatagrams

DataDescriptionFormatValidrangeNote

Startidentier=*

Sentenceidentier

Talkeridentier

Depthorheightinmetersanddecimalmeters

Endofsentencedelimiter=CRLF

Notes

1Asentenceidentierequalto00isusedforunderwater

Always24h

ii00to091

ii00to09
x.x—

Always0Dh0Ah

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

——

——

—

2

2Ifinputisdepth,itwillbeusedinthedepthoutputdatagram

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

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

850-160692/M

19

KongsbergEMSeries

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.

20

850-160692/M

Inputdatagrams

Attitudedatamaybesuppliedfrommorethanonesensor.All
datamaybelogged,butonlyonesetaschosenbytheoperator
willbeusedinrealtime.

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

SeealsoNetworkvelocityattitudeinputformatonpage24.

850-160692/M

21

KongsbergEMSeries

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

22

850-160692/M

Inputdatagrams

•anyvaluefrom91hto99hindicatesvaliddatawithreduced
accuracy(decreasingaccuracywithincreasingnumber)

•anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormal
operation(forexamplecongurationorcalibrationmode)

•andanyvaluefromA0htoAFhindicatesasensorerrorstatus

850-160692/M

23

KongsbergEMSeries

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.

24

850-160692/M

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.

850-160692/M

25

KongsbergEMSeries

2.2.5HDTformat

Table10HDTFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

Sentenceformatter

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

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h
aa

AlwaysHDT ,

Always0Dh0Ah

——

Capitalletters
——

——

——

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.

26

850-160692/M

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

Table1 1ZDAformat

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

Sentenceformatter

UTC

Day

Month

Year

Localzonehours

Localzoneminutes

Optionalchecksum*hh

Endofsentencedelimiter=CRLF

Notes

1Localzonetimeisnotused.Anoffsettimemaybeentered

bytheoperatortogetthesystemclocktoshowadifferent
timethanUTC.

Always24h
aa

AlwaysZDA,

hhmmss.ss,000000to

xx,

xx,

xxxx,

xx,

xx,

Always0Dh0Ah

——

Capitalletters
——

235959.9...
01to+31

01to+12

0000to9999

-13to+131

00to+591
——

——

—

—

—

—

—

850-160692/M

27

KongsbergEMSeries

Note

TrimbleUTCformatisalsosupported.

28

850-160692/M

2.4Soundspeeddatagrams

Inputdatagrams

Topics

•Overviewonpage29

•KongsbergMaritimeSSPformatonpage30

•AMLSmartSensorandAMLMicroSensorformatonpage33

2.4.1Overview

AsoundspeedprolemaybeloadedintotheOperatorStation
eitheronaseriallineoronEthernet.Formatspreviouslyused
withexistingKongsbergMaritimeechosounders(Kongsberg
MaritimeASCIIandBinarySoundVelocityProleinput
datagrams)willbeaccepted,butsincetheirresolutionindepth
islimitedto1mandthenumberofentriesto100,anewer
formatgivenbelowwithouttheselimitationsisrecommended.
ThisformatisalsoacceptedbytheKongsbergMaritimeHIP AP
andHPRunderwaterpositioningsystems(butnotnecessarily
vice-versa).Notethatacompleteprolemaybepiecedtogether
fromseveraldatagramsandeditedwiththeOperatorStation’s
SoundSpeedEditor.

ThenewformatiscompletelyinASCIIandallows9998entries
withoutlimitationsinresolution.Buttheechosounderhaveother
limitations,checknote9.Inadditiontodepthandsoundspeed,it
allowsinputofabsorptioncoefcient,pressure,temperatureand
salinityorconductivity.Thelatterparametersmaybeusedto
calculatedepth,soundspeedandabsorptioncoefcient.Useofa
depthdependentabsorptioncoefcientallowsamoreaccurate
determinationofbottombackscatterstrength.

Notethatthisdatagrammayalsobeloggedasoutput,retaining
informationnotincludedinthestandardsoundspeedprole
outputdatagram,suchaswhereandwhentheprolehasbeen
taken.

850-160692/M

29

KongsbergEMSeries

2.4.2KongsbergMaritimeSSPformat

Table12SSPformat

DataDescriptionFormatLengthValidrangeNote

Startidentier=$

Talkeridentier

DatagramidentierAlwaysSxx,

Datasetidentier

Numberofmeasurements=N

UTCtimeofdataacquisition

Dayofdataacquisition

Monthofdataacquisition

Yearofdataacquisition

Nentriesofthenext5elds–Seenote4

–Depthinmfromwaterlevelor
PressureinMPa

–Soundvelocityinm/s

–Temperaturein°C

–Salinityin
partsperthousand
orConductivityinS/m

AbsorptioncoefcientindB/km

Datasetdelimiter

Endofrepeatcycle

Latitudeindegreesandminutes,plus
optionaldecimalminutes

Latitude–N/S

Longitudeindegreesandminutes,plus
optionaldecimalminutes

Longitude–E/W

AtmosphericpressureinMPa

FrequencyinHz

Usergivencomments

Optionalchecksum*hh

Endofdatagramdelimiter=\CRLF5Ch0Dh0Ah

Always24h1
aa

xxxxx,

xxxx,

hhmmss,
xx,

xx,

xxxx,

x.x,

x.x,

x.x,

x.x,

x.x

CRLF

llll.ll,Variable

a,

yyyyy.yy ,

a,

x.x,

xxxxxx,

c—c

2

4

600000to65535

5

7

300to313

300to123

5

2–0to12000.00

1–1400to1700.00

1–-5to45.00

1–

0–0to200.00

20Dh0Ah

5–
2

Variable
6–

2EorW6

1–0to1.00006

Variable

Variable
——

3

——

Capitalletters

S00toS53

0001to99999

000000to2359593

0000to99993

0to1.0000

0to45.00or0to

7.000

0000to9000.0...6

NorS

00000to18000.0...6

—

—

——

—

1,2
—

4

—

—

—

5
—

6

7

6

8

Notes

1Thedatagramidentieridentieswhattypeofdatais

included.ThisisshowninthefollowingtablewhereDis
depth,Pispressure,Sissalinity,Cisconductivity,cis
soundspeed,αisabsorptioncoefcient,fisfrequencyand
Lislatitude.Thenotationc(T,S)indicatesforexamplethat
thesoundspeedistobecalculatedfromthetemperatureand
salinityinputdata.Whenpressureisused,theatmospheric

30

850-160692/M

Table13SSPformat

Inputdatagrams

pressuremustbegivenifthepressureisabsolute,otherwise
thepressuremustbegivenrethesealevelandthe
atmosphericpressuremustbezero.

Identier

S00

S01D,c,T,SD,c,α(D,T ,S,L)SameasS12,

S02D,T,SD,c(D,T,S,L),α(D,T ,S,L)SameasS22,

S03D,T,CD,c(D,T ,C,L),α(D,T,S,L)SameasS32,

S04P ,T ,SD(P,T ,S,L),c(P ,T ,S,L),α(P,T ,S,L)SameasS42,

S05P ,T ,CD(P,T ,C,L),c(P,T ,C,L),α(P ,T,C,L)SameasS52,

S06

S10

S11

S12D,c,T,SD,c,α(D,T ,S,L)

S13D,c,α,f

S20D,T,SD,c(D,T,S,L)

S21D,T,S,αD,c(D,T,S,L),α

S22D,T,SD,c(D,T,S,L),α(D,T ,S,L)

S23D,T,S,α,fD,c(D,T,S,L),α

S30D,T,CD,c(D,T ,S,L)

S31D,T,C,αD,c(D,T ,S,L),α

S32D,T,CD,c(D,T ,S,L),α(D,T,S,L)

S33D,T,C,α,fD,c(D,T ,S,L),α

S40P ,T ,SD(P,T ,S,L),c(P ,T ,S,L)

S41P ,T ,S,αD(P ,T ,S,L),c(P,T ,S,L),α

S42P ,T ,SD(P,T ,S,L),c(P ,T ,S,L),α(P,T ,S,L)

S43P ,T ,S,α,fD(P,T ,S,L),c(P ,T,S,L),α

S50P ,T ,CD(P,T ,C,L),c(P,T ,C,L)

S51P ,T ,C,αD(P ,T,C,L),c(P ,T,C,L),α

S52P ,T ,CD(P,T ,C,L),c(P,T ,C,L),α(P ,T,C,L)

S53P ,T ,C,α,fD(P ,T ,C,L),c(P ,T ,C,L),α

InputdataDatatobeused

D,cD,c

D,c,αD,c,α

D,cD,c

D,c,αD,c,α

D,c,αFrequencydependent

Comment

SameasS10,
butusedimmediately.

butusedimmediately.

butusedimmediately.

butusedimmediately.

butusedimmediately.

butusedimmediately.
SameasS11,

butusedimmediately.
—

—

—

—

—

—

Frequencydependent

Frequencydependent

Frequencydependent

Frequencydependent

2S00–S06isaspecialcasebecausethesoundspeedprole

willbetakenintouseimmediatelywithoutfurtheroperator
intervention.Thechecksumisthenmandatoryandmust
becorrect.

Furthermoreanentryforzerodepthmustbepresentandthe
prolemustbeextendedto12000m.

850-160692/M

31

KongsbergEMSeries

3Notethattheseeldshavexedlengthandleadingzeros

mustbeused.

4Thedepthorpressureeldisalwaysrequiredwhiletheother

eldsareoptionalexceptforthoserequiredbythedatagram
identier.Theeld-delimitingcommasmustalwaysbe
includedeveniftheeldsareempty.

5Samedateandtimeforallfrequencies.

6Thepositions,atmosphericpressureandcommenteldsare

optional.Notethattheoptioneldmustnotincludea\.Itis
recommendedtoincludesensortypeinthecommenteld.

7Theeldisonlypresent/validforS13,S23,S33,S43,S53.

Thesedatagramscontainabsorptioncoefcientsdirectlyand
areonlyvalidforthegivenfrequency.Ifanechosounder
employsseveralfrequencies(eg.EM710usesfrequencies
between60and100kHz)adatagrammustbesentforeach
frequencyusedwithamaximumof10secondsbetween
eachdatagram.

8Thechecksumeldiscalculatedbetweenthe$andthe*

delimitersbyexclusiveOR’ingofallbytes.Thechecksum
isrequiredfordatagramS00,butisoptionalfortheothers.

9Thereisalimitationonthesizeofthesoundvelocityprole.

TheleusedbythePUmustbemaximum30kBand
limitedtoamaximumnumberofdepthpoints.Maximum
1000pointsforEM710,EM302andEM122.Maximum
570pointsforoldersounders.Theprolecanbeeditedand
decimatedintheSISSVPeditor.

SISwillgiveawarningandrejecttheinputproleifto
manymeasurements.

32

850-160692/M

Inputdatagrams

2.4.3AMLSmartSensorandAMLMicro

Sensorformat

AnAMLSmartSensororAMLMicromaybeuseddirectlyfor
soundspeedproleinputonaseriallinetotheOperatorStation.
Thesensormayalsobeusedtomeasurethesoundspeedatthe
transducerdepthcontinuouslyduringsurveying.

FortheAMLMicroSensors,theeldshavebeenswappedsothe
soundspeedisalwaysthersteld.

ThesupportedAMLSmartSensormessageformatsare:

•SV=SoundV elocity

•SV&P=SoundV elocityandPressure

•SV&T=SoundV elocityandTemperature

Eachmessagefromthesensoristransmittedasasequenceof
ASCIIcharactersterminatedbyaCRLFpair.

Theacceptedmessageformatsareasfollows:

Table14SVFormat

±

xxxx.x

CR

wherexxxx.xisthemeasuredsoundspeedinm/s.

Table15SV&PFormat

xxx.xx

±

xxxx.x

±

wherethersteldisthepressureindecibarsrelativetothe
surfaceandthesecondissoundspeedinm/s.

Table16SV&TFormat

xx.xxx

±

xxxx.x

±

wherethersteldisthetemperatureindegreesCelsiusandthe
secondissoundspeedinm/s.

Note

LF

LF

CR

LF

CR

Themessageformatsabovearepresentedintableformatto
makeiteasiertoseethelocationandnumberofspacesineach
message.

850-160692/M

33

KongsbergEMSeries

Note

The’±’charactershouldbeinterpretedasfollows.Ifthenumber
intheeldimmediatelyfollowingthischaracterisnegative,then
thischaracterwillbe“-“(minus).However ,ifthenumberinthe
eldimmediatelyfollowingthischaracterispositive,thenthis
characterwillbea””(space).

34

850-160692/M

2.5Depthinputdatagramsfromsinglebeamecho sounder

Topics

•DBSFormatonpage35

•DPTFormatonpage35

•Simradformatonpage36

Depthdatagramsfromasinglebeamechosounderareaccepted
fordisplayandloggingonthesystem.Thefollowingformats
aresupported

•NMEA0183DBS

•NMEA0183DPT

•BinarydatagramsfromtheKongsbergMaritimeEAecho
sounderseries,referredtoastheSimradformat.

Inputdatagrams

2.5.1DBSFormat

Table17DBSFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

SentenceformatterAlwaysDBS,

Depthinfeetx.x,f,

Depthinmetersx.x,M,0.1–1

Depthinfathoms

Checksum*hh

Endofsentencedelimiter=CRLF

Always24h
aa

x.x,F0.1–1

Always0Dh0Ah

——

Capitalletters
——

0.1–1

——

——

Notes

1Thedecodingprioritywillbemetereld,feeteldand

fathomeldwiththedepthvalueextractedfromtherst
eldwithvaliddata.

2.5.2DPTFormat

—

Table18DPTFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

Sentenceformatter

Depthinmetersfromthetransducer

Offsetoftransducerfromwaterlineinmeters

850-160692/M

Always24h
aa

AlwaysDPT ,
x.x,

x.x,

——

Capitalletters
——

0.1–

0–1

—

—

35

KongsbergEMSeries

Table18DPTFormat(cont’d.)

DataDescriptionFormatValidrangeNote

Maximumrangescaleinuse

Checksum*hh

Endofsentencedelimiter=CRLF

x.x,——

——

Always0Dh0Ah

——

Notes

1Anegativevalueimplyingthattheoffsetisfromthekeel

shouldnotbeused.

2.5.3Simradformat

Table19Simradformat

DataDescriptionFormatValidrangeNote

Startidentier=D

Channelidentier

TimeasHHMMSShh

Depthinmetersfromthetransducer32bitIEEE754oating

BottombackscatteringstrengthindB

Transducernumber32bitinteger

Athwartshipslopeindegrees

Always34h
x,

xxxxxxxx,

point
32bitIEEE754oating

point

32bitIEEE754oating
point

——

1to3111

00000000to235959991

0.1–1

——

——

——

Notes

1Onlythechannelidentier,depthandtimewillbedecoded

bythesystem.Theleastsignicantbyteistransmittedrst
(theIntelconvention).

Note

ThedatagrammustbesentonEthernettoProcessingUnit
UDP2.ForUDPportaddress,seePUinformationandstatus
onpage97

36

850-160692/M

2.6Remotecontroldatagrams

Inputdatagrams

ARemoteControldatagramhasbeenimplementedtoallow

•themultibeamechosoundertostartloggingonremote
command.

•themultibeamechosoundertosendoutparameterandsound
speedproledatagrams,“IUR”,consistingofInstallation
parameters(I),soundspeedproledatagram(U)andRuntime
datagram(R),asaresponsetotheremotecommand.

•thesurveylinenumberstobesetfromaremotelocation.

Notethattheparameterandsoundspeedproledatagramsare
alwayssentoutwhenloggingisstartedoranychangesaremade
totheparametersorsoundspeed.Theymayalsobesentout
regularlyatoperatorspeciedintervals.

InadditiontotheprimaryapplicationoftheRemoteControl
datagramsasdescribedabove,theyarealsousedtoreportthe
SISpingingandloggingstatustoexternalrecipients.Formore
informationonthis,see“noticationofSISpingingandlogging
activity”intheSISOperatorManual(doc.no:850-164709).

Table20RemoteControldatagrams

DataDescriptionFormatValidrangeNote

Startidentier=$

Talkeridentier

Datagramidentier

EMmodelnumberEMX=dddd,

Responsibleoperator

SurveyidentierSID=a—a,

Surveylinenumber

Surveylineidentier(plannedlineno)

CommentCOM=a—a

Optionalchecksum*hh

Endofdatagramdelimiter=\CRLF5Ch0Dh0Ah

Always24h
aa

Rxx,R00toR201

ROP=a—a,

PLN=d..d,

PLL=d—d,

——

Capitalletters

——

—

—

—

—

—

——

——

Notes

1Rxxdeneswhatactionthesystemistotakewithrespect

topingingandloggingofdatainadditiontochangesin
theparameters.Notethatloggingofsurveydataonlocal
storageisnotaffected,thisisdeterminedbyoperatorcontrol
fromthemenuonly.

—

2

2

2

2

3

•R00-Systemtostoppinging(andloggingifon)

•R10-Systemtostopalllogging(butcontinueorstart
pinging).

850-160692/M

37

KongsbergEMSeries

•R11-Systemtostartlogginglocallyandsendastart
sequence“IUR”consistingofaninstallationparameter
datagram(I),soundspeedproledatagram(U)anda
runtimedatagram(R).

•R12-Systemtostartlogginglocally.“IUR”willbesent.

•R13-Systemtostartloggingonnewlinetolocalstorage
only.

•R20-Systemtosend“IUR”.

•ThecurrentversionofSISdoesnotsupportR11and
R13.OnSIS,theeffectofR00,R10andR12datagrams
isexactlythesameasiftheoperatorhasusedthepinging
andloggingbuttons.

2ThecurrentversionofSIShasnosupportforROP,SID

andPLN.PLLisusedforR12toindicatelinenumberto
belogged.

3Onlyusedfor“ExternalnoticationofSISpingingand

loggingactivity”,seeSISOperatorManual.

38

850-160692/M

2.7Soundspeedattransducer

Table21KSSIS80inputdatagram

Inputdatagrams

Inadditiontoreceivingsoundspeedattransducerfromsound
velocityprobe/sensorattachedtotheSISHWSthroughaserial
line,itisalsopossibletosendthisinformationthroughthe
Ethernet.

Note

Thedatagramformatandportaddressetc.isalsoexplainedin
the“Externalsensors”chapterintheSISReferenceManual.

2.7.1KSSIS80Datagram

SoundvelocityandtemperaturesentoverLAN(UDP)toSIS
HWS

DataDescriptionFormatValidRangeNote

Startidentier=$

TalkeridentierAlwaysKS

SentenceformatterAlwaysSIS,

DatagramIDAlways80,

Soundspeed(m/s)

Temperature(Celsius)

Endifsentencedelimiter=CRLF

Endifsentencedelimiter=CRLF

Always24h

x.x,

x.x——

Always0Dh0Ah

Always0Dh0Ah

——

——

——

——

1400.0–1.700

——

——

—

850-160692/M

39

KongsbergEMSeries

3OUTPUTDATAGRAMS

3.1Introduction

Topics

•Introductiononpage40

•Multibeamdataonpage43

•Externalsensorsonpage64

•Soundspeedonpage75

•Multibeamparametersonpage78

•PUinformationandstatusonpage97

•SISgeneratedoutputonpage105

OutputdatagramsareusuallyloggedtodiskontheEMSeries
OperatorStation.Theoutputdatagramsmayalsobeexportedto
userprovidedprogramsontheOperatorStationoronanexternal
EthernetnetworkusingUDPprotocol(remotelogging).An
NMEADPTdepthdatagrammaybeexportedonaserialline.

Theoutputdatagramsaremostlyinbinaryformatusingsigned
orunsignedintegernumberswithlengthsof1,2or4bytes.

WithaPCbasedoperatorstationlittleendianisnormallyused,
whilebigendianisusedonUnixworkstations.Thesamebyte
orderasusedontheoperatorstationisusedfortheoutput
datagrams.

Note

Pleasebeawarethattheuseofbigendianisnotmaintainedon
thenewersounders(EM3002,EM710,EM302andEM122),
sincetheoperatorstationisPCbasedrunningWindowsorLinux.

Note

WerecommendthatsoftwarewrittentodecodeEMSeriesdata
includesacheckforthebyteorderingwithaprovisionforbyte
swapping.Suitabledataeldstocheckonarethelengtheldat
thestartofthedatagram,theEMSeriesmodelnumbereldand
possiblythedateandtimeelds.

ThebasicoutputdatagramstructureestablishedwiththeEM
100echosounderisretained.

•Alldatagrams(excepttheNMEADPTdatagram)startwith
STX,datagramtypeandtimetag,andendwithETXand
checksum(sumofbytesbetweenSTXandETX).Inaddition
thetotallengthofthedatagram(notincludingthelengtheld)
willprecedetheSTXbyte,givenasafourbytebinarynumber.

40

850-160692/M

Outputdatagrams

•Thelengtheldisonlyincludedwhenloggingtotapeand/or
disk,butnotfordatagramsloggedtoaremotelocation.
Thelengthcanthenbederivedfromthenetworksoftware.
Systemsloggingdataremotelyshouldaddthislengthatthe
startofeachdatagram.Thislengthisrequiredifthedataare
tobeusedwithKongsbergMaritimepost-processingsystems.

•Thetimestampresolutionis1millisecondandincludes
thecentury.Thetimestampisbinary.Thedateisgiven
as10000*year(4digits)+100*month+day,forexample
19950226forFebruary26,1995.Alldateeldsinthe
outputdatagramsusethisformat.Atimeisusuallygiven(in
milliseconds)frommidnight.

•Thedatagramsidentifythemultibeamechosoundermodel
anditsserialnumber.Thesystemmodelnumberis120for
theEM120,300fortheEM300,etc.FortheEM3000D(the
dualheadsystem)themodelnumberwasoriginallygivenas
3002andtheserialnumberisthatofSonarHeadnumber1.
Howeverinthedepthdatagrammodelnumbers3003-3008
arenowusedtoalsoidentifytheactualtransmitandsampling
frequenciesofthetwoheads.Ifonlyoneheadisactivateon
theEM3000D,itiscodedasasingleheadsystem.ForEM
3002themodelnumberis3020.TheEM3002hasseparate
datagrams(depth,range,seabedimage,watercolumn)forthe
twosonarheads.

•Duecarehasbeentakentoincludeallparametersneededin
postprocessingintherelevantdatagrams,withaminimumof
dataduplication.Whereresolutionofadataeldisvariable,a
resolutiondescriptorisincluded.

•Invaliddataarealwaysidentiedbythehighestpositive
numberallowedinaeldunlessotherwisenoted.

•Areal-timeparameterdatagramhasbeenaddedtoenable
loggingofparametersnotusedinpostprocessing,butwhich
maybeimportantincheckingthequalityoftheloggeddata,
ortoallowtracingofreasonsforpossiblemalfunctions.

•Attitudedataastimecontinuousrecordsandrawranges
andbeampointinganglesareloggedtoalloweventual
postprocessingcorrections.Theloggedattitudesarevalid
atthetransmittransducer,andarecorrectedforanysensor
offsets.

•AnewRangeandbeamangledatagram(typef),isincluded,
thatcontainsmoredetails.(FromJanuary2004).

Forthenewmodelsofmultibeams,startingwiththeEM710,i.e.
EM122,EM302,EM710,EM2040andME70,threedatagram
formatshavebeenchangedandaregivennewtypenumbers
(November2005):

•XYZ88(typeX),replacestypeD.

850-160692/M

41

KongsbergEMSeries

•Rawrangeandangle78(typeN),replacestypef.

•Seabedimagedata89(typeY),replacestypeS.

Thesenewdatagramsmakesitpossibletohavemorethan254
detectionsperping.

Thedataformatforsomeparametershasbeenchangedto
increasetheresolution.Forexamplethebackscatteramplitudes
arechangedfromonetotwobytes.

Systemswithdualswaths(fansofreceiverbeamswithdifferent
tilt)willhaveseparatedatagramsforeachswath.

Inthenewdatagrams,bothvalidandinvalidbeamsareincluded
(Thebeamindexthenbecameredundantinformationandis
thereforeremoved).Thisisdonetobeabletostoreseabedimage
dataalsoforbeamsmissingavaliddetection.

Tocoverthecompletemultibeamrange,thismanualdescribes
boththenewandthepreviousformats.

InFebruary2008,anewoutputdatagram,NetworkAttitude
Velocitydatagram110,isadded.The3Dvelocityinputisused
fordopplercompensationinFMmode.Therangecorrections
appliedisdocumentedintheRawrangeandangle78datagram.

Installation,Runtimeandstatusdatagramsareupdatedwith
extrainformation.

Someminorchangesandadditionalcomments.

42

850-160692/M

3.2Multibeamdata

Outputdatagrams

Topics

•Depthdatagramonpage43

•XYZ88onpage47

•Centralbeamsechogramonpage50

•Rawrangeandbeamangle(F)onpage52

•Rawrangeandbeamangle(f)onpage53

•Rawrangeandangle78onpage55

•Seabedimagedatagramonpage58

•Seabedimagedata89onpage60

•Watercolumndatagramonpage62

3.2.1Depthdatagram

Note

ThisdatagramisusedforEM2000,EM3000,EM3002,EM
1002,EM300andEM120.TheXYZ88onpage47datagramis
usedfornewermodels.

Table22Depthdatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=D(epthdata)(Always44h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Headingofvesselin0.01°

Soundspeedattransducerindm/s

Transmittransducerdepthrewaterlevelattime
ofpingincm

Maximumnumberofbeamspossible

Numberofvalidbeams=N

zresolutionincm1U1to254

xandyresolutionincm1U1to254

Samplingrate(f)inHz

or

DepthdifferencebetweensonarheadsintheEM
3000D

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U0to35999

2U14000to16000

2U0to655361

1U48–

1U1to254

2U

2S

——

——

——

——

——

300to30000

-32768to32766

—

—

—

—

—

—

—

—

—

3

4

850-160692/M

43

KongsbergEMSeries

Table22Depthdatagram(cont’d.)

DataDescriptionFormatValidrangeNote

Repeatcycle—Nentriesof:16*N

Depth(z)fromtransmittransducer
(unsignedforEM120andEM300)

Acrosstrackdistance(y)2S

Alongtrackdistance(x)2S

Beamdepressionanglein0.01°2S

Beamazimuthanglein0.01°

Range(one-waytraveltime)

Qualityfactor

Lengthofdetectionwindow(samples/4)

Reectivity(BS)in0.5dBresolution)
(Example:-20dB=216)

Beamnumber1U1to2546

Endofrepeatcycle

Transducerdepthoffsetmultiplier1S

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

2Sor2U

2U0to569993

2U0to655343

1U0to254

1U1to254

1S

1U

2U

——

-32768to+32766or
1to65534

-32768to327662

-32768to327662

-11000to110003

-128to+126

-1to+171
——

——

2

5
—

—

Notes

1Thetransmittransducerdepthplusthedepthoffsetmultiplier

times65536cmshouldbeaddedtothebeamdepthstoderive
thedepthsrethewaterline.Thedepthoffsetmultiplierwill
usuallybezero,exceptwhentheEM2000/3000SonarHead
isonanunderwatervehicleatadepthlargerthan655.36m.
Notethattheoffsetmultiplierwillbenegative(-1)ifthe
actualheaveislargeenoughtobringthetransmittransducer
abovethewaterline.Thismayrepresentavalidsituation,
butmayalsobeduetoanerroneouslysetinstallationdepth
ofeitherthetransducerorthewaterline.

2Thebeamdataaregivenrethetransmittransducer

orsonarheaddepthandthehorizontallocationofthe
activepositioningsystem’santenna.Heave,roll,pitch,
soundspeedatthetransducerdepthandraybending
throughthewatercolumnhavebeenapplied.OntheEM
1002/2000/3000/3002thebeamdepthsmustberegarded
assignedvaluestotakeintoaccountbeamswhichmaybe
goingupwards.OntheEM120/300thebeamdepthsare
alwayspositiveandthevaluesarethereforeunsigned.

3Therange,beamdepressionangle(positivedownwards

and90°foraverticalbeam)andbeamazimuthangle(re
vesselcenterline)aregivenrelativetothetransducer(sonar
head)atthepingtransmittime.Heave,roll,pitchandsound
speedatthetransducerdepthhavebeenapplied,butnotray
bending.Thesevaluesmaythusbedirectlyusedforanew

44

850-160692/M

Outputdatagrams

raybendingcalculationwitharevisedsoundspeedprole
togeneratenewsoundingdepthsandpositionswithoutany
needforusingattitudedata.

Onewaytraveltime=range/samplingrate/4

Notethatifthedataneedtobereprocessedwithanewsound
speedatthetransducerdepthornewroll,pitchorheave
values,fullreprocessingstartingwiththerawrangeand
beamangledataisrequired.Attitudedataisalsorequired
inthisreprocessing,andboththesedatatypeswillinthe
futurebeloggedasstandard.

Ifthebeamazimuthanglehasavaluelargerthan35999,the
beampointinganglehasreplacedthebeamdepressionangle,
andtherawtwo-waytraveltimehasreplacedtheone-way
heaveandbeamanglecorrectedtraveltime.Thetransmittilt
angleplus54000isgiveninthebeamazimuthangleeld.
Theuseofthisdatadenitionisavailableonremoteoutput
toaportnamedas“RawDepth...”forusebyothersystems
whichdotheirownattitudeandsoundspeedprocessing.

4InanEM3000Dthetransmittransducerdepthisthatof

SonarHeadnumber1,takingintoaccountthedepthoffset
multiplierasdescribedinnote1.Therangemultiplieris
replacedbythedifferenceindepthbetweenSonarHead
number1and2,i.e.head2depthisequaltohead1depth
(possiblymodiedwithdepthoffsetmultiplier)plusthe
depthdifference.TherangesamplingratesinHzofthetwo
headsisgiventhroughtheEMmodelnumberaccording
tothefollowingtable:

Table23EM3000D

EMmodelnumber300330043005300630073008

SonarHead1

SonarHead2

139561429313956146211429314621

146211462114293142931395613956

PreviouslythemodelnumberoftheEM3000Dwasgiven
as3002withheadsampleratesof13956and14621Hz
respectively.Theheaddepthsinthiscaseshouldbeassumed
tobeequal,andalthoughthemathematicalderivationof
nalbeamdepthswouldotherwisebethesameasdescribed
above,thetransmittransducerdepthwasnotactuallyexactly
thatofthesonarheads.

5Thequalitynumber’supperbitsignieswhetheramplitude

(0)orphase(1)detectionhasbeenused.Ifamplitudethe7
lowestbitsgivethenumberofsamplesusedinthecentreof
gravitycalculation.Ifphasethesecondhighestbitsignies
whetherasecond(0)orrst(1)ordercurvethasbeen
appliedtodeterminethezerophaserange,andthe6lowest

850-160692/M

45

KongsbergEMSeries

bitsindicatesthequalityofthet(actuallythenormalized
varianceofthetrethemaximumallowed,i.e.withalower
numberthebetterthet).

6Beam128istherstbeamonthesecondsonarheadinan

EM3000Ddualheadsystem.

46

850-160692/M

Outputdatagrams

3.2.2XYZ88

Note

Thisdatagramreplacesthepreviousdepth(D)datagramforthe
newmultibeammodels(EM2040,EM710,EM122,EM302,
ME70).Allreceiverbeamsareincluded,checkdetectioninfo
andrealtimecleaningforbeamstatus(note4and5).

Table24XYZ88

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=X(58h,88d)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Headingofvessel(atTXtime)in0.01°

Soundspeedattransducerindm/s

Transmittransducerdepthinmrewaterlevelat
timeofping

Numberofbeamsindatagram=N

Numberofvaliddetections

SamplingfrequencyinHz

Spare4S

Repeatcycle-Nentriesof:

Depth(z)fromtransmittransducerinm

Acrosstrackdistance(y)inm

Alongtrackdistance(x)inm

Detectionwindowlengthinsamples2U

Qualityfactor

Beamincidenceangleadjustment(IBA)in0.1deg1S

Detectioninformation

Realtimecleaninginformation1S

Reectivity(BS)in0.1dBresolution
(Example:–20.1dB=FF37h=65335)

Endofrepeatcycle

Spare(always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U0to35999

2U14000to16000

4F

2U1–1024

2U1–1024

4F

20*N

4F

4F

4F

1U0–2543

1U

2S

1U0

1U

2U

——

——

——

——

——

—

——

——

––

—

—

—

——

-128to1266
—

—

——

——

——

—

—

—

—

—

1

—

—

2

2

2

4

5

—

850-160692/M

47

KongsbergEMSeries

Notes

1Thetransmittransducerdepthshouldbeaddedtothebeam

depthstoderivethedepthsrethewaterline.Notethatthe
transducerdepthwillbenegativeiftheactualheaveislarge
enoughtobringthetransmittransducerabovethewaterline.
Thismayrepresentavalidsituation,butmayalsobedueto
anerroneouslysetinstallationdepthofeitherthetransducer
orthewaterline.

2Thebeamdataaregivenrethetransmittransducerorsonar

headdepthandthehorizontallocation(x,y)oftheactive
positioningsystem’sreferencepoint.Heave,roll,pitch,
soundspeedatthetransducerdepthandraybendingthrough
thewatercolumnhavebeenapplied.

3Scaledstandarddeviation(sd)oftherangedetectiondivided

bythedetectedrange(dr):

Qualityfactor=250*sd/dr.

4Thisdatagrammaycontaindataforbeamswithandwithout

avaliddetection.Eightbits(0-7)givesdetailsaboutthe
detection:

A)Ifthemostsignicantbit(bit7)iszero,thisbeamhasa
validdetection.Bit0-3isusedtospecifyhowtherangefor
thisbeamiscalculated

0:Amplitudedetect

1:Phasedetect

2-15:Futureuse

B)Ifthemostsignicantbitis1,thisbeamhasaninvalid
detection.Bit4-6isusedtospecifyhowtherange(andx,y,z
parameters)forthisbeamiscalculated

0:Normaldetection

1:Interpolatedorextrapolatedfromneighbourdetections

2:Estimated

3:Rejectedcandidate

4:Nodetectiondataisavailableforthisbeam(all

parametersaresettozero)

5-7:Futureuse

Theinvalidrangehasbeenusedtollinamplitudesamples
intheseabedimagedatagram.

5Arealtimedatacleaningmodulemayagoutbeams.

Negativevaluesindicatesthatthisbeamisaggedout,and
isnottobeused.

6Duetoraybending,thebeamincidenceangleatthebottom

hitwillusuallydifferfromthebeamlaunchangleatthe
transducerandalsofromtheanglegivenbyastraight

48

850-160692/M

Outputdatagrams

linebetweenthetransducerandthebottomhit.The
differencefromthelatterisgivenbythebeamincidence
angleadjustment(IBA).Thebeamincidenceanglerethe
horizontal,correctedfortheraybending,canbecalculated
asfollows:

BAC=atan(z/abs(y))+IBA.

BACispositivedownwardsandIBAwillbepositivewhen
thebeamisbendingtowardsthebottom.Thisparameter
canbehelpfulforcorrectingseabedimagerydataandin
seabedclassication.

850-160692/M

49

KongsbergEMSeries

3.2.3Centralbeamsechogram

Note

ThisdatagramisonlyavailableforEM120andEM300.

Table25Centralbeamsechogram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=K(Always4Bh)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Meanabsorptioncoefcientin0.01dB/km

Pulselengthinμs2U50–1

RangetonormalincidenceusedinTVG

StartrangesampleofTVGrampifnotenough
dynamicrange(0else)

StoprangesampleofTVGrampifnotenough
dynamicrange(0else)

NormalincidenceBSindB(BSN)
(Example:-20dB=236)

ObliqueBSindB(BSO)
(Example:-1dB=255)

Txbeamwidthin0.1°

TVGlawcrossoveranglein0.1°

Numberofincludedbeams(N)

Repeatcycle—Nentriesof:6*N

beamindexnumber1U0to2532

sparebytetogetevenlength(Always0)

numberofsamplesperbeam=Ns

startrangeinsamples2U1–3

Endofrepeatcycle

Repeatcycle–ΣNsentriesof:

Sampleamplitudesin0.5dB
(Example:-30dB=196)

Endidentier=ETX(Always03h)

Endofrepeatcycle

Sparebyteifrequiredtogetevenlength(Always
0ifused)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1to200001

2U1to163841

2U0to16384

2U0to16384

1S

1S

2U1to3001

1U20to3001

1U1–

1U

2U1–

ΣNs

1S

1U

0–1U

1U

2U

——

——

——

——

——

-50to+101

-60to01

—

——

—

-128to+126

——

——

——

——

—

—

—

—

—

—

—

—

50

850-160692/M

Outputdatagrams

Notes

1Thesampleamplitudesarenotcorrectedinaccordancewith

thedetectionparametersderivedfortheping,asisdonefor
theseabedimagedata.

2Thebeamindexnumberisthebeamnumber-1.

3Therangeforwhichtherstsampleamplitudeisvalidfor

thisbeamgivenasatwo-wayrange.Thedetectionrangeis
givenintherawrangeandbeamangledatagram.Notethat
dataareprovidedregardlessofwhetherabeamhasavalid
detectionornot.

850-160692/M

51

KongsbergEMSeries

3.2.4Rawrangeandbeamangle(F)

Note

OnlyusedforEM3000

Table26Rawrangeandbeamangledatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=F(Always46h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Maximumnumberofbeamspossible

Numberofvalidreceivebeams=N

Soundspeedattransducerindm/s

Repeatcycle–Nentriesof:8*N

–Beampointinganglein0.01°2S

–Transmittiltanglein0.01°

–Range(two-waytraveltime)

–Reectivity(BS)in0.5dBresolution1S

–Beamnumber1U1to254

Endofrepeatcycle

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

1U48–

1U1to254

2U14000to16000

2U-2999to29991

2U0to655341

1U

1U

21U

——

——

——

——

——

——

-11000to110001

-128to126

——

——

——

—

—

—

—

—

—

—

—

Notes

1Thebeampointingangleispositivetoportandthetransmit

tiltangleispositiveforwardsforanormallymounted
systemlookingdownwards.Therangeresolutionintimeis
theinverseoftherangesamplingrategiveninthedepth
datagrams.

52

850-160692/M

Outputdatagrams

3.2.5Rawrangeandbeamangle(f)

Newdatagram,addedJanuary2004.Thisdatagramreplaces
theoldFdatagram.

Note

UsedforEM120,EM300,EM1002,EM2000,EM3000and
EM3002

Table27Rawrangeandbeamangledatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=f(Always66h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Numberoftransmitsectors=Ntx

Numberofvalidreceivebeams=N

Samplingfrequencyin0.01Hz(F)

ROVdepthin0.01m4S

Soundspeedattransducerin0.1m/s

Maximumnumberofbeamspossible

Spare1

Spare2

Ntxentriesof:20*Ntx

TiltanglerefTXarrayin0.01°2S

Focusrangein0.1m(0=Nofocus)

Signallengthinμs

Transmittimeoffsetinμs

CenterfrequencyinHz

Bandwidthin10Hz2U1to65535

Signalwaveformidentier

Transmitsectornumber1U0to99

Nentriesof:12*N

BeampointinganglerefRXarrayin0.01°2S

Rangein0.25samples(R)

Transmitsectornumber1U0to19

Reectivity(BS)in0.5dBresolution1S

Qualityfactor

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1to20

2U1to1999

4U

2U14000to16000

2U1to1999

2U

2U

2U0to65535

4U

4U

4U

1U0to991

2U0to655352

1U0to254

——

——

——

——

——

100to100000*100

——

-2900to2900

——

——

——

——

-11000to11000

-128to127

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

850-160692/M

53

KongsbergEMSeries

Table27Rawrangeandbeamangledatagrams(cont’d.)

DataDescriptionFormatValidrangeNote

Detectionwindowlengthinsamples
(/4ifphase)

Beamnumber

Spare

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

1U1to254

2S

2U

1U0

1U

1U

-1999to19993
——

——

——

Notes

10=cw,1=FM

2Twowaytraveltime=R/(4*F/100)

3Thebeamnumbernormallystartsat0.

—

—

54

850-160692/M

Outputdatagrams

3.2.6Rawrangeandangle78

Note

ThisdatagramreplacesthepreviousRawrangeandbeamangle
fdatagramforthenewmultibeammodels(EM2040,EM710,
EM302,EM122,ME70).Allreceiverbeamsareincluded,
checkdetectioninfoandrealtimecleaningforbeamstatus(see
note3and4).

Table28Rawrangeandbeamangle78datagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=N(4eh,78d)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Soundspeedattransducerin0.1m/s

Numberoftransmitsectors=Ntx

Numberofreceiverbeamsindatagram=Nrx

Numberofvaliddetections

SamplingfrequencyinHz

Dscale4U

Repeatcycle1­Ntxentriesof:

TiltanglereTXarrayin0.01°2S

Focusrangein0.1m(0=Nofocusingapplied)

Signallengthins

SectortransmitdelayrerstTXpulse,ins

CentrefrequencyinHz

Meanabsorptioncoeff.in0.01dB/km

Signalwaveformidentier

Transmitsectornumber1U0–

SignalbandwidthinHz

EndofRepeatcycle1

Repeatcycle2­Nrxentriesof:

BeampointinganlgereRXarrayin0.01°2S

Transmitsectornumber1U0–

Detectioninfo

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U14000to16000

2U1–

2U1–

2U1–

4F

24*Ntx

2U0to65534

4F

4F

4F

2U

1U0to991

4F

16*Nrx

1U

——

——

——

——

——

——

—

——

-2900to29006

——

——

——

——

——

——

-11000to110006

—

—

—

—

—

—

—

—

5

—

—

—

3

850-160692/M

55

KongsbergEMSeries

Table28Rawrangeandbeamangle78datagram(cont’d.)

DataDescriptionFormatValidrangeNote

Detectionwindowlengthinsamples2U

Qualityfactor

Dcorr

Twowaytraveltimeins4F

Reectivity(BS)in0.1dBresolution2S

Realtimecleaninginfo1S

Spare

EndofRepeatcycle2

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

Notes

1U0to2542

1S

1U

1U

1U

2U

——

—

—

——

—

——

——

——

——

5

5

4

10=cw,1=FMupsweep,2=FMdownsweep.

2Scaledstandarddeviation(sd)oftherangedetectiondivided

bythedetectedrange(dr):

Qualityfactor=250*sd/dr.

3Thisdatagrammaycontaindataforbeamswithandwithout

avaliddetection.Eightbits(0-7)givesdetailsaboutthe
detection:

A)Ifthemostsignicantbit(bit7)iszero,thisbeamhasa
validdetection.Bit0-3isusedtospecifyhowtherangefor
thisbeamiscalculated

0:Amplitudedetect

1:Phasedetect

2-15:Futureuse

B)Ifthemostsignicantbitis1,thisbeamhasaninvalid
detection.Bit4-6isusedtospecifyhowtherange(andx,y,z
parameters)forthisbeamiscalculated

0:Normaldetection

1:Interpolatedorextrapolatedfromneighbourdetections

2:Estimated

3:Rejectedcandidate

4:Nodetectiondataisavailableforthisbeam(all

parametersaresettozero)

5-7:Futureuse

Theinvalidrangehasbeenusedtollinamplitudesamples
intheseabedimagedatagram.

56

850-160692/M

Outputdatagrams

4Forfutureuse.Arealtimedatacleaningmodulemayag

outbeams.Bit7willbesetto1ifthebeamisaggedout.
Bit0-6willcontainacodetellingwhythebeamisagged
out.

5TheDopplercorrectionappliedinFMmodeisdocumented

hereusingpreviouslyunused(spare)elds.Thisallows
theuncorrectedslantrangestoberecreatedifdesired.The
correctionisscaledbyacommonscalingconstantforall
beamsandthenincludedinthedatagramusingasigned8bit
valueforeachbeam.Theuncorrectedrange(two-waytravel
time)canbereconstructedbysubtractingthecorrection
fromtherangeinthedatagram:

T(uncorrected)=T(datagram)-D(corr)/D(scale)

6Theanglesarerelativetothetransducerarrays,exceptfor

ME70,wheretheanglesarerelativetothehorizontalplane

850-160692/M

57

KongsbergEMSeries

3.2.7Seabedimagedatagram

Note

ThisdatagramisusedforEM2000,EM3000,EM3002,
EM1002,EM300andEM120.TheSeabedImageData89
datagramisusedfornewermodels.

Table29Seabedimagedatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=(Seabedimagedata)(Always
53h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Meanabsorptioncoefcientin0.01dB/km

Pulselengthinμs2U50–1

Rangetonormalincidenceusedtocorrectsample
amplitudesinno.ofsamples

StartrangesampleofTVGrampifnotenough
dynamicrange(0else)

StoprangesampleofTVGrampifnotenough
dynamicrange(0else)

NormalincidenceBSindB(BSN)
(Example:-20dB=236)

ObliqueBSindB(BSO)(Example:–1dB=255)1S

Txbeamwidthin0.1°

TVGlawcrossoveranglein0.1°

Numberofvalidbeams(N)

Repeatcycle–Nentriesof:6*N

beamindexnumber1U0to2532

sortingdirection

numberofsamplesperbeam=Ns

centresamplenumber2U1–4

Endofrepeatcycle

Repeatcycle–ΣNsentriesof:

Sampleamplitudesin0.5dB
(Example:–30dB=196)

Endofrepeatcycle

Sparebyteifrequiredtogetevenlength
(Always0ifused)

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1to200001

2U1to16384

2U0to16384

2U0to16384

1S

2U1to300

1U20to300

1U1to254

1S

2U1–

ΣNs

1S

0–1U

——

——

——

——

——

-50to10

-60to0

—

-1or13

——

-128to126

——

—

—

—

—

—

—

—

—

—

—

—

—

—

58

850-160692/M

Outputdatagrams

Table29Seabedimagedatagram(cont’d.)

DataDescriptionFormatValidrangeNote

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

1U

2U

——

——

Notes

1Theseeldshaveearlierhadotherdenitions.

2Thebeamindexnumberisthebeamnumber-1.

3Therstsampleinabeamhaslowestrangeif1,highest

if-1.Notethattherangesamplingrateisdenedbythe
samplingrateinthedepthoutputdatagramandthatthe
rangesintheseabedimagedatagramarealltwo-wayfrom
timeoftransmittotimeofreceive.

4Thecentresamplenumberisthedetectionpointofabeam.

850-160692/M

59

KongsbergEMSeries

3.2.8Seabedimagedata89

Note

ThisdatagramreplacesthepreviousSeabeadimage(S)
datagramforthenewmultibeammodels(EM2040,EM710,EM
302,EM122,ME70).

Table30Seabedimagedata89datagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=Y(59h,89d)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

SamplingfrequencyinHz

Rangetonormalincidenceusedtocorrectsample
amplitudesinno.ofsamples

NormalincidenceBSin0.1dB(BSN)2S

ObliqueBSin0.1dB(BSO)2S

Txbeamwidthalongin0.1°

TVGlawcrossoveranglein0.1°

Numberofvalidbeams(N)

Repeatcycle–Nentriesof:6*N

Sortingdirection1S

Detectioninfo

Numberofsamplesperbeam=Ns

Centresamplenumber

Endofrepeatcycle

Repeatcycle–ΣNsentriesof:

Sampleamplitudesin0.1dB
(Example:-30.2dB=FED2h=65234d)

Endofrepeatcycle

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4F

2U1to16384

2U1to300

2U20to300

2U1–

1U

2U1–

2U1–3

ΣNs

2S

1U

1U

2U

——

——

——

——

——

——

——

——

—

-1or11
—

——

——

——

——

——

—

—

—

—

—

—

—

2
—

Notes

1Therstsampleinabeamhaslowestrangeif1,highestif

-1.Notethattherangesintheseabedimagedatagramareall
two-wayfromtimeoftransmittotimeofreceive.

60

850-160692/M

Outputdatagrams

2Thisdatagrammaycontaindataforbeamswithandwithout

avaliddetection.Eightbits(0-7)givesdetailsaboutthe
detection:

A)Ifthemostsignicantbit(bit7)iszero,thisbeamhasa
validdetection.Bit0-3isusedtospecifyhowtherangefor
thisbeamiscalculated

0:Amplitudedetect

1:Phasedetect

2-15:Futureuse

B)Ifthemostsignicantbitis1,thisbeamhasaninvalid
detection.Bit4-6isusedtospecifyhowtherange(andx,y,z
parameters)forthisbeamiscalculated

0:Normaldetection

1:Interpolatedorextrapolatedfromneighbourdetections

2:Estimated

3:Rejectedcandidate

4:Nodetectiondataisavailableforthisbeam(all

parametersaresettozero)

5-7:Futureuse.

Theinvalidrangehasbeenusedtollinamplitudesamples
intheseabedimagedatagram.

3Thecentresamplenumberisthedetectionpointofabeam.

850-160692/M

61

KongsbergEMSeries

3.2.9Watercolumndatagram

Note

UsedforEM122,EM302,EM710,EM2040,EM3002and
ME70.

Thereceiverbeamsarerollstabilized.

Table31W atercolumndatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=k(Always6Bh)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Numberofdatagrams

Datagramnumbers2U1toNd2

Numberoftransmitsectors=Ntx

Totalno.ofreceivebeams

Numberofbeamsinthisdatagram=Nrx

Soundspeedin0.1m/s(SS)

Samplingfrequencyin0.01Hzresolution(SF)

TXtimeheave(attransducer)incm2S

TVGfunctionapplied(X)

TVGoffsetindB(C)1S

Spare

Ntxentriesof:

TiltanglereTXarrayin0.01°2S

Centerfrequencyin10Hz

Transmitsectornumber1U0to19

Spare

Nrxentriesof:

Beampointinganglerefverticalin0.01°2S

StartRangesamplenumber

Numberofsamples(Ns)

Detectedrangeinsamples(DR)

Transmitsectornumber1U0to19

Beamnumber1U0to254

4U48to65535

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1toNd2

2U1to20

2U1toNd

2U1toNd

2U14000to16000

4U1000to40000001

1U20to404

4U

2U1000to50000

1U

2U0to65534

2U0to655346

2U0to655343

——

——

——

——

–1000to1000

—

——

—

-1100to1100

——

-11000to11000

—

—

—

—

—

—

—

—

—

4

—

—

—

—

—

—

5

62

850-160692/M

Outputdatagrams

Table31Watercolumndatagram(cont’d.)

DataDescriptionFormatValidrangeNote

Nsentriesof:
Sampleamplitudein0.5dBresolution

Sparebyteifrequiredtogetevenlength(always
0ifused)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

1S

0–1U

1U

2U

-128to126

——

——

——

Notes

1Thesamplerateisnormallydecimatedtobeapproximately

thesameasthebandwidthofthetransmittedpulse.

2Maximum64kBinonedatagram.Morethan1datagram

mayberequiredtotransferthedata.Example:500mrange
*160beams*1Byte/0.1mpersamplegives800kB.This
requires13datagrams.Anumberofcompletebeamswillbe
transferredineachdatagram.

—

ForEM3002themaximumnumberofdatagramsNdis16
andthemaximumnumberofbeamsNbis254.Fornew
multibeamsstartingwithEM710thisisincreasedtoallow
forupto32datagramsand512beams.

3TotalRangeinmeters=Soundspeed*detectedrange/

(samplerate*2)=SS10*DR/(FS100*2)=5*SS*DR/
FS(FS100=FS/100,SS10=SS/10).Therangeissettozero
whenthebeamhasnobottomdetection.

4TheTVGfunctionappliedtothedataisXlogR+2AlphaR

+OFS+C.TheparametersXandCisdocumentedinthis
datagram.OFSisgainoffsettocompensateforTXSource
Level,Receiversensitivityetc.

5The1Ubeamnumber(validrange0-254)isredundant

informationandislimitedtoamaximumof255beams.For
systemswithmorethan255beamsthisparameterwillbeset
to255(invalid).

6From01.01.2008,thisnumberwillalwaysbeaneven

number,duetoalignments

850-160692/M

63

KongsbergEMSeries

3.3Externalsensors

Topics

•Attitudedatagramonpage64

•Networkattitudevelocitydatagram110onpage66

•Clockonpage68

•Depth(pressure)orheightdatagramonpage69

•Headingonpage70

•Positiononpage71

•Singlebeamechosounderdepthonpage73

•Tidedatagramonpage74

3.3.1Attitudedatagram

Table32Attitudedatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=A(ttitudedata)(Always041h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Attitudecounter(sequentialcounter)

Systemserialnumber

Numberofentries=N

Repeatcycle–Nentriesof:12*N

–Timeinmillisecondssincerecordstart2U0to65534

–Sensorstatus

–Rollin0.01°2S

–Pitchin0.01°2S

–Heaveincm

–Headingin0.01°

Endofrepeatcycle

Sensorsystemdescriptor

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1–

2U

2S

2U0to35999

1U

1U

2U

——

——

——

——

——

—

—

-18000to18000

-18000to18000

-1000to10000

—

——

——

—

—

—

—

1
—

—

—

—

2

64

850-160692/M

Outputdatagrams

Notes

1Thesensorstatuswillbecopiedfromtheinputdatagram’s

twosyncbytesifthesensorusestheEMformat.Seethe
inputformatdescriptionforfurtherdetails.

2Thesensorsystemdescriptorwillshowwhichsensorthe

dataisderivedfrom,andwhichofthesensor’sdatahave
beenusedinrealtimebybitcoding:

•xx00xxxx–motionsensornumber1

•xx01xxxx–motionsensornumber2

•xxxxxxx1–headingfromthesensorisactive

•xxxxxx0x–rollfromthesensorisactive

•xxxxx0xx–pitchfromthesensorisactive

•xxxx0xxx–heavefromthesensorisactive

850-160692/M

65

KongsbergEMSeries

3.3.2Networkattitudevelocitydatagram

110

Table33Networkattitudevelocitydatagram110

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=n(etworkdata)(Always6Eh,
110d)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(Example:
Feb08,2007=20070208)

Timesincemidnightinmilliseconds(Example:
08:12:51.234=29570234)

NetworkAttitudecounter(sequentialcounter)

Systemserialnumber

Numberofentries=N

Sensorsystemdescriptor

Spare

Repeatcycle–Nentriesof:

–Timeinmillisecondssincerecordstart2U0to65535

–Rollin0.01°2S

–Pitchin0.01°2S

–Heaveincm

–Headingin0.01°

–Numberofbytesininputdatagram(Nd)

–NetworkattitudeinputdatagramasreceivedNxx1U

Endofrepeatcycle

Sparebyteifrequiredtogetevenlength
(always0ifused)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1–

1U

1U
——

2S

2U0to35999

1U1to254

———

0–1U

1U

2U

——

——

——

——

——

—

——

-18000to18000

-18000to18000

-1000to10000

—

——

——

——

—

—

—

1

—

—

—

—

—

—

2

Notes

1Thesensorsystemdescriptorshowswhichsensorthedata

isderivedfrom,andwhichofthesensor’sdatahavebeen
usedinrealtimebybitcoding:

•xx10xxxx–motionsensornumber3(network)

•xxxxxxx1–headingfromthesensorisactive

•xxxxxx0x–rollfromthesensorisactive

•xxxxx0xx–pitchfromthesensorisactive

•xxxx0xxx–heavefromthesensorisactive

2Completeinputdatagram.Headeriskeptforidentication:

POSM/V:$GRP102or$GRP103

66

850-160692/M

Outputdatagrams

CodaOctopus:0xE8

Seapath:q

From01.01.2008anextrabytewillbeadded,attheendof
theinputdatagram,ifneededforalignment.

850-160692/M

67

KongsbergEMSeries

3.3.3Clock

Table34Clockdatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=C(lockdata)(Always043h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Clockcounter(sequentialcounter)

Systemserialnumber

Date=year*10000+month*100+day(from
externalclockinput)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(fromexternal
clockdatagram)
(Example:08:12:51.234=29570234)

1PPSuse(activeornot)(0=inactive)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4U

4U0to86399999

1U

1U

2U

——

——

——

——

——

——

—

——

——

—

—

1

Notes

1Showsifthesystemclockissynchronisedtoanexternal1

PPSsignalornot.

68

850-160692/M

Outputdatagrams

3.3.4Depth(pressure)orheightdatagram

Table35Depth(pressure)orheightdatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=h(eightdata)(Always068h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Heightcounter(sequentialcounter)

Systemserialnumber

Heightincm

Heigthtype1U0to1001

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4S

1U

2U

——

——

——

——

——

-4294967296to
4294967295

——

——

—

—

—

—

Notes

10:TheheightisderivedfromtheGGKorGGAdatagram

andistheheightofthewaterlevelattheverticaldatum
(possiblymotioncorrected).

Heightisderivedfromtheactivepositionsystemonly.

1-99:TheheighttypeisasgivenintheDepth(pressure)

orheightinputdatagram.

100:TheinputisdepthtakenfromtheDepth(pressure)or
heightinputdatagram.

200:Inputfromdepthsensor.

850-160692/M

69

KongsbergEMSeries

3.3.5Heading

Table36Headingdatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=H(eadingdata)
(Always048h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Headingcounter(sequentialcounter)

Systemserialnumber

Numberofentries=N

Repeatcycle–Nentriesof:4*N

–Timeinmillisecondssincerecordstart2U0to65534

–Headingin0.01°

Endofrepeatcycle

Headingindicator(activeornot)(0=inactive)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1–

2U0to35999

1U

1U

2U

——

——

——

——

——

—

——

——

——

—

—

—

—

—

70

850-160692/M

Outputdatagrams

3.3.6Position

Table37Positiondatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=P(ositiondata)
(Always050h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Positioncounter(sequentialcounter)

System/serialnumber

Latitudeindecimaldegrees*20000000(negative
ifsouthernhemisphere)
(Example:32°34’S=-651333333)

Longitudeindecimaldegrees*10000000(negative
ifwesternhemisphere)
(Example:110.25°E=1102500000)

Measureofpositionxqualityincm

Speedofvesselovergroundincm/s

Courseofvesselovergroundin0.01°

Headingofvesselin0.01°

Positionsystemdescriptor1U1to2542

Numberofbytesininputdatagram

PositioninputdatagramasreceivedVariable

Sparebyteifrequiredtogetevenlength
(Always0ifused)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4S

4S

2U

2U0–1

2U0to359991

2U0to35999

1U–254

0–1U

1U

2U

——

——

——

——

——

——

——

—

—

——

——

——

—

—

—

1

—

—

3

Notes

1Thesedatawillbevalidonlyifavailableasinput.

Thecalculationisdoneaccordingtotheselectedposition
inputformat.

SeePositiononpage6.

2Thepositionsystemdescriptorshowswhichsourcethisdata

isfromanditsreal-timeusebybitcoding:

•xxxxxx01-positionsystemno1

•xxxxxx10–positionsystemno2

•xxxxxx11–positionsystemno3

•10xxxxxx–thepositionsystemisactive,systemtime
hasbeenused

850-160692/M

71

KongsbergEMSeries

•11xxxxxx-thepositionsystemisactive,inputdatagram
timehasbeenused

•xxxx1xxx–thepositionmayhavetobederivedfromthe
inputdatagramwhichistheninSIMRAD90format.

3Completeinputdatagramexceptheaderandtail(suchas

NMEA0183$andCRLF).

72

850-160692/M

Outputdatagrams

3.3.7Singlebeamechosounderdepth

Thisdatagramwillcontaintheproleactuallyusedinthereal
timeraybendingcalculationstoconvertrangeandangletoxyz
data.Itwillusuallybeissuedtogetherwiththeinstallation
parameterdatagram.

Table38Singlebeamechosounderdepthdatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=E(chosounderdata)(Always
045h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Echosoundercounter(sequentialcounter)

Systemserialnumber

Date=year*10000+month*100+day(frominput
datagramifavailable)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(frominput
datagramifavailable)
(Example:08:12:51.234=29570234)

Echosounderdepthfromwaterlineincm

Sourceidentier(S,T ,1,2or3)ASCII

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4U

4U0to86399999

4U0to1200000

1U

2U

——

——

——

——

——

——

——

——

—

—

—

—

—

1

Notes

1Identiesthesourcedatagramtype,i.e.NMEADBS,

NMEADPTorEA500serieschannel1-3respectively.

850-160692/M

73

KongsbergEMSeries

3.3.8Tidedatagram

Table39Tidedatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=T(idedata)(Always054h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Tidecounter(sequentialcounter)

Systemserialnumber

Date=year*10000+month*100+day(frominput
datagram)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(frominput
datagram)
(Example:08:12:51.234=29570234)

Tidaloffsetincm2S

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4U

4U0to86399999

1U

1U

2U

——

——

——

——

——

——

-32768to32766
—

——

——

—

—

—

—

74

850-160692/M

Outputdatagrams

3.4Soundspeed

Topics

•Surfacesoundspeedonpage75

•Soundspeedproledatagramonpage76

•KongsbergMaritimeSSPoutputdatagramonpage77

3.4.1Surfacesoundspeed

Table40Surfacesoundspeeddatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=G(Always047h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Soundspeedcounter(sequentialcounter)

Systemserialnumber

Numberofentries=N

Repeatcycle–Nentriesof:4*N

–Timeinsecondssincerecordstart2U0to65534

–Soundspeedindm/s(incl.offset)

Endofrepeatcycle

Spare(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1–

2U14000to15999

1U

1U

2U

——

——

——

——

——

——

——

——

——

—

—

—

—

850-160692/M

75

KongsbergEMSeries

3.4.2Soundspeedproledatagram

Thisdatagramwillcontaintheproleactuallyusedinthereal
timeraybendingcalculationstoconvertrangeandangletoxyz
data.Itwillusuallybeissuedtogetherwiththeinstallation
parameterdatagram.

Table41Soundspeedproledatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=U(Always055h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Prolecounter(sequentialcounter)

Systemserialnumber

Date=year*10000+month*100+day
(whenprolewasmade)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(whenprolewasmade)
(Example:08:12:51.234=29570234)

Numberofentries=N

Depthresolutionincm2U1to254

Repeatcycle—Nentriesof:8*N

–Depth4U0to1200000

–Soundspeedindm/s

Endofrepeatcycle

Sparebytetogetevenlength(Always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

4U

4U0to86399999

2U1–

4U14000to17000

1U

1U

2U

——

——

——

——

——

——

——

——

——

——

—

—

—

—

—

—

—

—

76

850-160692/M

Outputdatagrams

3.4.3KongsbergMaritimeSSPoutput datagram

Thisdatagramwillcontaintheproleactuallyusedinthereal
timeraybendingcalculationstoconvertrangeandangletoxyz
data.

Table42KongsbergMaritimeSSPoutputdatagram

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=W(Always057h)

EMmodelnumber(Example:EM3000=3000)

Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

SSPcounter(sequentialcounter)

Systemserialnumber

InputdatagramstartingwithSentenceformatter
andendingwithComment

Sparebyteifrequiredtogetevenlength(Always
0ifused)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

Variable

0–1U

1U

2U

——

——

——

——

——

——

——

——

——

—

—

—

850-160692/M

77

KongsbergEMSeries

3.5Multibeamparameters

Topics

•Installationparametersonpage78

•Runtimeparametersonpage84

•Mechanicaltransducertiltonpage92

•ExtraParametersdatagramonpage93

3.5.1Installationparameters

ThisdatagramisanASCIIdatagramexceptfortheheaderwhich
isformattedasinallotheroutputdatagrams.Thedatagramis
issuedasastartdatagramwhenloggingisswitchedonandasa
stopdatagramwhenloggingisturnedoff,i.e.atthestartand
endofasurveyline.Itmayalsobesenttoaremoteportasan
informationdatagram.Itisusuallyfollowedbyasoundspeed
proledatagram.

InthedatagramallASCIIeldsstartwithauniquethree
characteridentierfollowedby“=”.Thisshouldbeusedwhen
searchingforaspeciceldasthepositionofaeldwithin
thedatagramisnotguaranteed.Thenumberorcharacterpart
followingisinavariableformatwithaminussignanddecimal
pointifneeded,andwith“,”astheelddelimiter.Theformat
mayatanytimelaterbeexpandedwiththeadditionofnewelds
atanyplaceinthedatagram.

FortheEM3000andEM3002thetransducer1dataarefor
theSonarHeadandthetransducer2dataareforthesecond
SonarHeadofanEM3000DoranEM3002.Forothernew
EMsystemswithseparatetransmitandreceivetransducers,
transducer1referstothetransmittransducer,andtransducer2
referstothereceivetransducer.

Table43Installationparameters

DataDescriptionExampleFormatV alidrangeNote

Numberofbytesindatagram

Startidentier=STX

Typeofdatagram=Iori(nstallation
parameters)
orr(emoteinformation)

EMmodelnumberEM3000=30002U

Date=year*10000+month*100+day

Timesincemidnightinmilliseconds08:12:51.234=

Surveylinenumber

Systemserialnumber

Serialnumberofsecondsonarhead

—

Always02h1U

Start=049h
Stop=069h
Remoteinfo=70h

Feb26,2009=
20090226

29570234
—

—

—

4U

1U

4U

4U0to86399999

2U0to65534

2U100–

2U100–

—

——

——

——

——

1

—

—

—

—

78

850-160692/M

Outputdatagrams

Table43Installationparameters(cont’d.)

DataDescriptionExampleFormatV alidrangeNote

WaterlineverticallocationinmWLZ=x.x,

SystemmainheadserialnumberSMH=x.x,ASCII

HullUnitHUN=x,

HullUnittiltoffset

Transducer1verticallocationinm

Transducer1alonglocationinm

Transducer1athwartlocationinm

Transducer1headingindegrees

Transducer1rollindegreesrehorizontal

Transducer1pitchindegrees

Transducer1noofmodulesS1N=x—x,ASCII

Transducer2verticallocationinm

Transducer2alonglocationinm

Transducer2athwartlocationinm

Transducer2headingindegrees

Transducer2rollindegreesrehorizontal

Transducer2pitchindegrees

Transducer2noofmodulesS2N=x—x,ASCII

TXarraysize(0=0.5º,1=1º,2=2º)S1S=x,ASCII

RXarraysize(1=1º,2=2º)S2S=x,ASCII

System(sonarhead1)gainoffsetGO1=x.x,ASCII

Sonarhead2gainoffsetGO2=x.x,ASCII

OuterbeamoffsetOBO=x.x,ASCII

High/LowFrequencyGainDifferenceFGD=x.x,ASCII

Transmitter(sonarheadno1)software
version

Receiver(sonarhead2)softwareversionRSV=c—c,ASCII

BSPsoftwareversionBSV=c—c,ASCII

ProcessingunitsoftwareversionPSV=c—c,ASCII

DDSsoftwareversionDDS=c—c,ASCII

OperatorstationsoftwareversionOSV=c—c,ASCII

DatagramformatversionDSV=c—c,ASCII

Depth(pressure)sensoralonglocation
inm

Depth(pressure)sensorathwartlocation
inm

Depth(pressure)sensorverticallocation
inm

Depth(pressure)sensortimedelayin
millisec

Depth(pressure)sensoroffsetDSO=x.x,ASCII

Depth(pressure)sensorscalefactorDSF=x.x,ASCII

HUT=x.x,

S1Z=x.x,ASCII

S1X=x.x,ASCII

S1Y=x.x,ASCII

S1H=x.x,ASCII

S1R=x.x,ASCII

S1P=x.x,ASCII

S2Z=x.x,ASCII

S2X=x.x,ASCII

S2Y=x.x,ASCII

S2H=x.x,ASCII

S2R=x.x,ASCII

S2P=x.x,ASCII

TSV=c—c,ASCII

DSX=x.x,ASCII

DSY=x.x,ASCII

DSZ=x.x,ASCII

DSD=x—x,ASCII

ASCII

ASCII

ASCII

——

100–1

0or1
——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

——

—

—

—

—

—

—

—

——

——

——

——

——

——

—

2

2

2

2

2

2

2

850-160692/M

79

KongsbergEMSeries

Table43Installationparameters(cont’d.)

DataDescriptionExampleFormatV alidrangeNote

Depth(pressure)sensorheaveDSH=aa,ASCII

Activepositionsystemnumber

Positionsystem1motioncompensationP1M=x,

Positionsystem1timestampusedP1T=x,

Positionsystem1verticallocationinmP1Z=x.x,

Positionsystem1alonglocationinmP1X=x.x,

Positionsystem1athwartlocationinmP1Y=x.x,

Positionsystem1timedelayinsecondsP1D=x.x,

Positionsystem1geodeticdatum

Positionsystem2motioncompensationP2M=x,

Positionsystem2timestampuseP2T=x,

Positionsystem2verticallocationinmP2Z=x.x,

Positionsystem2alonglocationinmP2X=x.x,

Positionsystem2athwartlocationinmP2Y=x.x,

Positionsystem2timedelayinsecondsP2D=x.x,

Positionsystem2geodeticdatum

Positionsystem3motioncompensationP3M=x,

Positionsystem3timestampuseP3T=x,

Positionsystem3verticallocationinmP3Z=x.x,

Positionsystem3alonglocationinmP3X=x.x,

Positionsystem3athwartlocationinmP3Y=x.x,

Positionsystem3timedelayinsecondsP3D=x.x,

Positionsystem3geodeticdatum

Positionsystem3onseriallineor
Ethernet

Motionsensor1verticallocationinm

Motionsensor1alonglocationinm

Motionsensor1athwartlocationinm

Motionsensor1rollreferenceplane

Motionsensor1timedelayinmilliseconds

Motionsensor1rolloffsetindegreesMSR=x.x,ASCII

Motionsensor1pitchoffsetindegreesMSP=x.x,ASCII

Motionsensor1headingoffsetindegreesMSG=x.x,ASCII

Motionsensor2verticallocationinm

Motionsensor2alonglocationinm

Motionsensor2athwartlocationinm

Motionsensor2rollreferenceplane

Motionsensor2timedelayinmilliseconds

Motionsensor2rolloffsetindegreesNSR=x.x,ASCII

Motionsensor2pitchoffsetindegreesNSP=x.x,ASCII

APS=x,ASCII

P1G=c—c,ASCII

P2G=c—c,ASCII

P3G=c—c,ASCII

P3S=x,ASCII0forEthernet

MSZ=x.x,ASCII

MSX=x.x,ASCII

MSY=x.x,ASCII

MRP=aa,

MSD=x—x,ASCII

NSZ=x.x,ASCII

NSX=x.x,ASCII

NSY=x.x,ASCII

NRP=aa,

NSD=x—x,ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCII

ASCIIHOorRP

ASCIIHOorRP

INorNI3

0to2

0or14

0or1
——

——

——

——

——

0or14

0or1
——

——

——

——

——

0or14

0or1
—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

7

5

5

5

6

6

6

6

6

6

6

80

850-160692/M

Outputdatagrams

Table43Installationparameters(cont’d.)

DataDescriptionExampleFormatV alidrangeNote

Motionsensor2headingoffsetindegreesNSG=x.x,ASCII

GyrocompassheadingoffsetindegreesGCG=x.x,ASCII

RollscalingfactorMAS=x.x,ASCII

Transducerdepthsoundspeedsource

Activeheadingsensor

Activerollsensor

ActivepitchsensorportnoAPI=x,

ActiveheavesensorportnoAHE=x,

ClocksourceCLS=x,ASCII(0),1to3

ClockoffsetinsecondsCLO=x,ASCII

Attitudevelocitysensornumber

AttitudevelocitysensorUDPportaddress

AttitudevelocitysensorEthernetport

AttitudevelocitysensorIPaddress
(Ethernet2)

AttitudevelocitysensorIPnetworkmask
(Ethernet2)

MulticastsensorIPaddress(Ethernet2)MCAn=225.0.0.1,ASCII

MulticastsensorUDPportnumber

MulticastsensoridentierMCIn=aaaah,ASCIISeePUSetup

Multicastpositionsystemnumber

CartographicprojectionCPR=aaa,ASCII

Responsibleoperator

SurveyidentierSID=c—c,ASCII

Surveylineidentier(plannedlineno)

CommentCOM=c—c,ASCII

SparebyteifrequiredtogetevenlengthAlways0ifused

Endidentier=ETX

ChecksumofdatabetweenSTXandETX

SHC=x,ASCII

AHS=x,ASCII

ARO=x,ASCII

VSN=1,ASCII

VSU=3000,ASCII

VSE=1,ASCII

VSI=192.168.2.1,ASCII

VSM=255.255.0.0,ASCII

MCUn=x—x,ASCII

MCPn=x,ASCII

ROP=c—c,ASCII

PLL=x—-x,

Always03h1U
—

ASCII

ASCII

ASCII

0–1U

2U

—

——

——

0or18

1to4

1to4

1to4

1to4

0–210

1024–6553511

1–212
—

—

—

1024–6553515

command
0–316
——

——

——

——

—

——

——

——

6

—

—

—

—

9

13

14

15

15

17

Notes

1Serialnumberofheadno2ifthatheadistheonlyoneinuse

withtheEM3000D,otherwisetheserialnumberofheadno
1intheEM3000DortheonlyheadintheEM3000.

2Aversionnumberisgivenas3alphanumericalelds

separatedbydecimalpoints,plusdateasyymmdd(for
example3.02.11991124).

3IN=theheaveofanunderwatervehicleispresumedtobe

measuredbythevehicle’sdepthsensorandtheheavesensor
inputisnotusedbysystem.

41=thepositionsaremotioncompensated

850-160692/M

81

KongsbergEMSeries

0=thepositionsarenotmotioncompensated

50=thesystemhasuseditsowntimestampforthevalid

timeofthepositions

1=thesystemhasusedthetimestampofthepositioninput
datagram(externaltime).

6Ifentriesforasecondmotionsensorarenotincluded

althoughtwosensorsarebeingused,theyarepresumedto
havethesameparameters.

7Positionsystemnumber-1.

80=Transducerdepthsoundspeedisusedastheinitialentry

thesoundspeedproleusedintheraytracingcalculations.

1=TransducerdepthsoundspeedisNOTusedfor
raytracingcalculations.

Notethatthesourceofthesoundspeedatthetransducer
depth(andthissoundspeedisalwaysusedtocalculate
beampointinganglesifrequired)isloggedintheruntime
datagram.

9(0-notset)

1–ZDA
2–ActivePOS
3–Operatorstation

10Weassumeattitudevelocitydataiscomingfromoneofthe

existing(serialinputtype)motionsensors.

0–Attitudevelocitysensornotconnected.

1–Motionsensor1isusedforattitudevelocitydata(MSx).

2–Motionsensor2isusedforattitudevelocitydata(NSx).

(IfVSN=0,theotherVSxparametersarenotrelevantand
neednottobesent.)

11V aluedependsonsensortype:

SeatextSeapath:Selectable(default3001)

ApplanixPOS-MV:5602

CodaOctopusF-180:3000

121–UsetheexistingEthernetportusedforcommunication

totopside(SIS).

2–UseEthernet2(ifavailable).Networkaddressandmask
setupbyVSIandVSM.

13IfVSE=2,Ethernet2issetupwiththisIPaddress.

14IfVSE=2,Ethernet2issetupwiththisnetmask.

82

850-160692/M

15Sensorinputdatagramstobeprovidedongivenformats.

Note

AvailablefromSISversion3.7.

Outputdatagrams

xxxxxxxxxxxxxxxxxxxxxx1x

xxxxxxxxxxxxxxxxxxx1xxxx

xxxxxxxx1xxxxxxxxxxxxxxx

xxxxxxx1xxxxxxxxxxxxxxxx

xxxxxx1xxxxxxxxxxxxxxxxx

xxxxx1xxxxxxxxxxxxxxxxxx

xxxx1xxxxxxxxxxxxxxxxxxx

—

NMEAGGA

—

NMEAZDA

—

NMEAGLL

—

OwnShip’sData,position

—

ROVDepthandSoundspeedfromOwnShip’sData

—

SoundVelocity(SOUNDVELOCTYPROFILE_DATA)

—

AttitudeSagemformat

16Thisnumberindicateswhichpositionsystemthatwillarrive

viathismulticast.
0–nopositionwillbereceivedfromMulticast,default
value.
1–positionsystem1
2–positionsystem2
3–positionsystem3

17ThecommenteldmaycontainanyASCIIcharacters.

850-160692/M

83

KongsbergEMSeries

3.5.2Runtimeparameters

Table44Runtimeparameters

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=R(untimeparameter)
(Always052h)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(atstart
ofdatarecord)
(Example:june26,2009=20090626)

Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)

Pingcounter2U0to65535

Systemserialnumber

OperatorStationstatus

ProcessingUnitstatus(CPU)

BSPstatus

SonarHeadorTransceiverstatus

Mode1U0–2

Filteridentier

Minimumdepthinm2U0to10000

Maximumdepthinm2U1to12000

Absorptioncoefcientin0.01dB/km

Transmitpulselengthinμs2U1to5000013

Transmitbeamwidthin0.1degrees2U1to300

TransmitpowerremaximumindB

Receivebeamwidthin0.1degrees1U5to80

Receivebandwidthin50Hzresolution1U1to25510

Mode2or
ReceiverxedgainsettingindB

TVGlawcrossoverangleindegrees

Sourceofsoundspeedattransducer

Maximumportswathwidthinm2U10to200008

Beamspacing1U0to36

Maximumportcoverageindegrees1U10to1108

Yawandpitchstabilizationmode1U

Maximumstarboardcoverageindegrees1U10to1108

Maximumstarboardswathwidthinm2U10to200008

4U

1U

1U

2U

4U

4U0to86399999

2U100–

1U

1U

1U

1U

1U0to2553

2U1to200004

1S

1U

1U2to30

1U0to3

——

——

——

——

——

—

—

—

—

0to–50

—
0to50

—

—

—

—

1

1

1

1

—

—

—

—

—

12

—

5

7

84

850-160692/M

Outputdatagrams

Table44Runtimeparameters(cont’d.)

DataDescriptionFormatValidrangeNote

Transmitalongtiltin0.1deg.or
Durotongspeedindm/s

Filteridentier2or
HiLofrequencyabsorptioncoefcientratio

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

2S
2U

1U0to255

1U

2U

-300to300
20000to25000

0to120

——

——

Notes

1Thetablebelowshowsthesystemerrorstatuscodedbyone

bitforeachdetectederror.Thestatusbitissettooneif
errorisdetected.

Table45Multibeamsystemstatus

9

11

OperatorStationstatus

BitnumberFunctionModel

xxxxxxxx

ProcessingUnitstatus(CPU)

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxxExternaltriggersignalnotdetectedAllmodels

x1xxxxxx

1xxxxxxx

BSPstatusEM2000,EM3000andEM3002

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

x1xxxxxx

1xxxxxxx

Forfutureuse

CommunicationerrorwithBSP

CommunicationerrorwithSonarHeadorTransceiver

Attitudenotvalidforthisping

Headingnotvalidforthisping

Systemclockhasnotbeensetsincepowerup

CPUerror(fromSIS3.6)

HullUnitnotrespondingEM1002

Attitudevelocitydatanotvalidforthisping

ErroronRXdatareceivedbyBSP1
(Maybeabadhighspeedlink)

ToomuchseabedimagedataonBSP1

InvalidcommandreceivedbyBSP1

ErrorsonBSP1

ErroronRXdatareceivedbyBSP2
(Maybeabadhighspeedlink)

ToomuchseabedimagedataonBSP2

InvalidcommandreceivedbyBSP2

ErrorsonBSP2

—

Allmodels

Allmodels

Allmodels

Allmodels

Allmodels

EM122,EM302,
EM710,EM2040

EM122,EM302,
EM710,EM2040

EM2000,
EM3000,EM3000D,
EM3002,EM3002D

EM3000,EM3000D

EM3000,EM3000D

EM3002,EM3002D

EM3000D,EM3002D

EM3000D

EM3000D

EM3002,EM3002D

850-160692/M

85

KongsbergEMSeries

Table45Multibeamsystemstatus(cont’d.)

OperatorStationstatus

BSPstatusEM1002

BitnumberFunctionModel

xxxxxxx1

BSPstatusEM120andEM300

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

x1xxxxxx

1xxxxxxx

BSPstatusEM122,EM302EM710andEM2040

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

x1xxxxxx

1xxxxxxx

SonarHeadstatusEM2000,EM3000andEM3002

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

x1xxxxxx

1xxxxxxx

SamplenumbererrorinRXdatareceivedfromSPRX

SamplenumbererrorinRXdatareceivedfromSPRX

MissingRXheaderdatafromSPRX

MissingsampledatafromSPTX

MissingsecondRXheaderdatafromSPTX

BadsyncTRU–PU–BSP

BadparametersreceivedfromPU

InternalsyncprobleminBSP

ChecksumerrorinheaderfromSPTX

ErroronRXdatareceivedbyBSP1

ErroronRXdatareceivedbyBSP3

ErrorsonBSP3

ErrorsonBSP1

ErroronRXdatareceivedbyBSP2

ErroronRXdatareceivedbyBSP4

ErrorsonBSP4

ErrorsonBSP2

TemperaturetohighonSonarHead1

DatalinkfailureonSonarHead1

DCSupplyVoltagesinSonarHead1isoutofrange

Spare

TemperaturetohighonSonarHead2

DatalinkfailureonSonarHead2

DCSupplyVoltagesinSonarHead2isoutofrange

Spare

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

EM2000,
EM3000,EM3000D,
EM3002,EM3002D

EM2000,
EM3000,EM3000D,
EM3002,EM3002D

EM2000,
EM3000,EM3000D,
EM3002,EM3002D
—

EM3000D,
EM3002D

EM3000D,
EM3002D

EM3000D,
EM3002D
—

TransceiverstatusEM120andEM300

BitnumberFunctionModel

xxxxxxx1

Transmitvoltage(HV)outofrange

86

—

850-160692/M

Table45Multibeamsystemstatus(cont’d.)

OperatorStationstatus

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

x1xxxxxx

1xxxxxxx

TransceiverstatusEM122,EM302,EM710andEM2040

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xxErroronTransmitter

xxxx1xxxErroronReceiver

xxx1xxxxNotimplemented

xx1xxxxxNotimplemented

x1xxxxxxNotimplemented

1xxxxxxxNotimplemented

TransceiverstatusEM1002

BitnumberFunctionModel

xxxxxxx1

xxxxxx1x

xxxxx1xx

xxxx1xxx

xxx1xxxx

xx1xxxxx

Lowvoltagepoweroutofrange

Timeouterror(SPRXwaitsforSPTX)

ReceivechannelDCoffset(s)outofrange

IllegalparameterreceivedfromPU

Internalcommunicationerror(SPTX–SPRXsync)

Timeouterror(SPTXwaitsforSPRX)

Defectivefuse(s)intransmitter

Transmitvoltage(HV)outofrange

Lowvoltagepoweroutofrange

Transmitvoltage(HV)outofrange

Lowvoltagepoweroutofrange

Transmitvoltage(HV)tohigh

ErrorincommandfromPU(Illegalparameter)

ErrorincommandfromPU(Badchecksum)

ErrorincommandfromPU(Baddatagramlength)

Outputdatagrams

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

2Mode

Pingmode(EM3000)

•xxxx0000-Neareld(4º)

•xxxx0001-Normal(1.5º)

•xxxx0010-Targetdetect

Pingmode(EM3002)

•xxxx0000-WideTxbeamwidth(4°)

•xxxx0001-NormalTxbeamwidth(1.5°)

Pingmode(EM2000,EM710,EM1002,EM300,EM302,
EM120andEM122)

•xxxx0000-V eryShallow

•xxxx0001-Shallow

•xxxx0010-Medium

850-160692/M

87

KongsbergEMSeries

•xxxx0011-Deep

•xxxx0100-Verydeep

•xxxx0101-Extradeep

Pingmode(EM2040)

•xxxx0000-200kHz

•xxxx0001-300kHz

•xxxx0010-400kHz

TXpulseform(EM2040,EM710,EM302andEM122)

•xx00xxxx-CW

•xx01xxxx-Mixed

•xx10xxxx-FM

DualSwathmode(EM2040,EM710,EM302andEM122)

•00xxxxxx-Dualswath=Off

•01xxxxxx-Dualswath=Fixed

•10xxxxxx-Dualswath=Dynamic

3Thelteridentierbyteisusedasfollows:

•xxxxxx00-SpikeltersettoOff

•xxxxxx01-SpikelterissettoWeak

•xxxxxx10-SpikelterissettoMedium

•xxxxxx11-SpikelterissettoStrong

•xxxxx1xx-Slopelterison

•xxxx1xxx-SectortrackingorRobustBottomDetection
(EM3000)ison

•0xx0xxxx-RangegateshaveNormalsize

•0xx1xxxx-RangegatesareLarge

•1xx0xxxx-RangegatesareSmall

•xx1xxxxx-Aerationlterison

•x1xxxxxx-Interferencelterison

4Theusedabsorptioncoefcientshouldbederivedfromraw

rangeandangle78datagramor,foroldersystems,fromthe
seabedimageorcentralbeamsechogramdatagramifitis
automaticallyupdatedwithchangingdepthorfrequency.

Thisabsorptioncoefcientinthisdatagramisvalidatthe
followingfrequency

•EM120/122:12kHz

•EM300/302:31.5kHz

•EM710:85kHz

•ME70BO:85kHz

•EM1002:95kHz

88

850-160692/M

•EM2000:200kHz

•EM3000/3002:300kHz

•EM2040:300kHz

5Thesoundspeed(atthetransducerdepth)sourceidentier

isusedasfollows:

•00000000-Fromrealtimesensor

•00000001-Manuallyenteredbyoperator

•00000010-Interpolatedfromcurrentlyusedsound
speedprole

•00000011-CalculatedbyME70TRU

6Thebeamspacingidentierisusedasfollows:

•00000000-Determinedbybeamwidth(FFTbeamformer
ofEM3000)

•00000001-Equidistant(InbetweenforEM122andEM

302)

Outputdatagrams

•00000010-Equiangle

•00000011-Highdensityequidistant(InbetweenforEM
2000,EM120,EM300,EM1002)

7Theyawandpitchstabilizationidentierissetasfollows:

•xxxxxx00-Noyawstabilization

•xxxxxx01-Yawstabilizationtosurveylineheading
(Notused)

•xxxxxx10-Y awstabilizationtomeanvesselheading

•xxxxxx11-Y awstabilizationtomanuallyentered
heading

•xxxx00xx-Headinglter,hard

•xxxx01xx-Headinglter,medium

•xxxx10xx-Headinglter,weak

•1xxxxxxx-Pitchstabilizationison.

8Portswathwidthandcoveragewasinearlierversionsthe

sumofportandstarboard

9EM3002,EM2040,EM3000,EM710,EM302,andEM

122:

Transmitalongtiltvalue,usedtooffsetthealong-shiptilting
oftransmitfan(called“AlongDirection”inSISandcanbe
setfromtheRuntimeparameters–SounderMainmenu).

EM1002:

SoundspeedinDurotong(SSD)fortheEM1002transducer.
Thisvalue(settozeroifnotavailable)dependsonthe
watertemperature.SSDcanbeusedtocalculatethewater
temperatureindegreeC:

850-160692/M

89

KongsbergEMSeries

•Temp=-0.013913*SSD+313.565

10Receiverbandwidthvalues1to254forreceiverbandwidth

50Hzto12.7kHz.Avalueof255indicatesbandwidth
largerthan12.7kHz.

11Filteridentier2orHiLofrequencyabsorptioncoeff:

Penetrationlter(EM710,EM302andEM122)

•xxxxxx00-Penetrationlter=Off

•xxxxxx01-Penetrationlter=Weak

•xxxxxx10-Penetrationlter=Medium

•xxxxxx11-Penetrationlter=Strong

Detectmode(EM3002andEM2040)

•xxxx00xx-Detectmode:Normal

•xxxx01xx-Detectmode:Waterway

•xxxx10xx-Detectmode:Tracking

•xxxx11xx-Detectedmode:Minimumdepth

Phaseramp(EM2040,EM3002,EM710,EM302and

EM122)

•xx00xxxx-Shortphaseramp

•xx01xxxx-Normalphaseramp

•xx10xxxx-Longphaseramp

SpecialTVG(EM3002andEM2040)

•x0xxxxxx-NormalTVG

•x1xxxxxx-SpecialTVG

HiLofrequencyabsorptioncoefcientratio(EM1002)

0–120

12Mode2orRXxedgain

RXarrayuse(EM2040)

•xxxxxx00-Off(RXinactive)

•xxxxxx01-RX1(port)active

•xxxxxx10-RX2(starboard)active

•xxxxxx11-BothRXunitsactive

Pulselength(EM2040)

•xxxx00xx-ShortCW

•xxxx01xx-MediumCW

•xxxx10xx-LongCW

•xxxx11xx-FM

ReceiverxedgainsettingindB(EM2000,EM1002,EM
3000,EM3002,EM300,EM120)

90

850-160692/M

13Transmitpulselength

ThetransmitpulselengthmaynotbethesameforallTX
sectors,andthepulsformsmayvary.Thepulselengthgiven
hereis1/(transmitbandwidth)forthecentresector.FM
pulse:1/sweepbandwidth.ThetotalTXpulselengthfor
eachsectorcanbefoundintherangeandangledatagram.

Outputdatagrams

850-160692/M

91

KongsbergEMSeries

3.5.3Mechanicaltransducertilt

Table46Mechanicaltransducertiltdatagrams

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=J(Always4Ah)

EMmodelnumber(Example:EM1002=1002)

Date=year*10000+month*100+day(atstart
ofdatarecord)
(Example:Feb26,1995=19950226)

Timesincemidnightinmilliseconds
(atstartofdatarecord)
(Example:08:12:51.234=29570234)

Tiltcounter(sequentialcounter)

Systemserialnumber

Numberofentries=N

Repeatcycle–Nentriesof:4*N

–Timeinmillisecondssincerecordstart2U0to65534

–Tiltin0.01degrees

Endofrepeatcycle

Spare(Alwayszero)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U100–

2U1–

2S

1U

1U

2U

——

——

——

——

——

—

-1499to+14991

——

——

——

—

—

—

—

—

Notes

1Thistiltangleisthemeasuredmechanicaltiltofahullunit

suchasthatoftensuppliedwiththeEM1002.Itispositive
whenthetransduceristiltedforwards.

92

850-160692/M

Outputdatagrams

3.5.4ExtraParametersdatagram

Thisdatagramisusedtogivesupplementaryinformation,and
containsinformationasspeciedbytheContentidentier.

Table47ExtraParameters3

DataDescriptionFormatValidrangeNote

Numberofbytesindatagram

Startidentier=STX(Always02h)

Typeofdatagram=3(33h,51d)

EMmodelnumber(Example:EM710=710)

Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Pingcounter(sequentialcounter)

Systemserialnumber

Contentidentier

Arrayofvariablelength

4U

1U

1U

2U

4U

4U0to86399999

2U0to65535

2U

2U1

variable2

——

——

——

——

——

—

—

—

Sparebyteifrequiredtogetevenlength(Always

0)
Spare(always0)

Endidentier=ETX(Always03h)

ChecksumofdatabetweenSTXandETX

Notes

1Contentidentier.

2Arrayofvariablelength.Thisarrayisdescribedforeach

3.5.4.1Contentidentier=1:TheCalib.txtle

The‘Arrayofvariablelength’containsatexteldof100
characters,containingthelename“calib.txt”.Thereafter,the
contentsofthelefollows.

Ident.Informationcontents

1

Calib.txtleforangleoffset

2

Logallheights

3

Soundvelocityattransducer

4

Soundvelocityprole

contentidentier.

0–1U

1U0

1U

2U

—

—

——

——

850-160692/M

93

KongsbergEMSeries

Filelayout

Theangularcorrectiontableismadewith1degreestep,from
100degreesportto100degreesstarboard(201elements).The
angularoffsetinthislehasbeenaddedtothebeamanglesin
therawrangeandangledatagram.

File

EM300

Line1Forcomments

Line2—″—

Line3—″—

Line4—″—

Line5—″—

1000.0x.x

......

-1000.0x.x

Comment

Nameofechosounder

InfoBSoffsetAngleoffset

3.5.4.2Contentidentier=2:Logallheights

Thisdatagramcongurationisusedforloggingparameter
settingsrelatedtothedenitionofadditionalapprovedposition
qualityfactors.Eachofthethreepositioningsystemsavailablein
thePUshasasetofparameters.

The‘Arrayofvariablelength’isusedasfollows:

DataDescriptionFormatValidrangeNote

Activepositioning
system

Qualityfactor
settingforpos.
system1,2,3.

Numberofquality
factorsforpos.
system1,2,3

Variablenoofentriesfollows=totalnumberofallquality
factors:

Qualityfactor4S

4S

3*4S1=PUdecodesQ-factor.Default

3*4S

0–2

0=ExternalPUdecode

0–n2

0–m4

1

3

Limit

4S0cmdefault=notused

5

Notes

1Eachpositioningsystemhasitsownindividualsetting.

Value‘1’indicatesthatthePUshoulddecodethequality
factorsinthetraditionalway.Thisisthedefault.
Value‘0’indicatesthatthePUshouldskipqualityfactor
decodingasthisisperformedexternally.ThePUshould
alwaystransmittheheightdatagram‘h’.

94

850-160692/M

Outputdatagrams

2Eachpositioningsystemhaveanindependentsetof

additionalqualityfactors.Thenumberofqualityfactorsfor
eachsystemmustbespecied.Defaultvalueis0.

3Eachqualityfactorisdescribedbytwoentries,thequality

factoritselfandalimit,formingapair.Thisresultsina
variablenumberofsuchpairs,dependingonhowmany
additionalqualityfactorsissetbytheoperator.Ifnoquality
factorsaredened,nopairsareincluded.Thesequenceof
pairsisimportant.First,allpairsforpositioningsystem1is
listed,ifany.Nextanypairsforpositioningsystem2andat
theend,anypairsforpositioningsystem3.

4Aqualityfactorisapositivenumber.Currentlynoupper

limitisimposed.

5Uncertaintyinpositionxincm.Thisuncertaintyis

associatedwiththequalityfactorvalue.Currentlynotused.

3.5.4.3Contentidentier=3:Soundvelocityat
transducer

Thearrayofvariablelengthwillcontainthereceiveddatagram
containingthesoundvelocityattransducer.

Table48Currentsoundvelocity

DataDescriptionFormatValidrangeNote

Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)

Soundvelocity

4U0to863999991

4F

m/s

Notes

1TimegiveninreceivedOwnShipsdata.

IfsoundvelocityisfromNMEALCVdatagram,thisvalue
issetto7FFFFFFFh.

3.5.4.4Contentidentier=4:Soundvelocity
prole

Thearrayofvariablelengthwillcontainthereceiveddatagram
containingthesoundvelocityprole.

Table49SOUNDSPEEDPROFILE_DATA

—

NameT ypeDataDescription

header

header,messageIDint32

header,time,secondsint32

header,time,microSeconds

header,sizeint32

850-160692/M

uniquemessageIDacrossthePSS-CSI2interface

Secondssince1970-01-0100:00:00UTC

int32Microseconds

thesizeinbytesoftheentiremessage(including
header)

95

KongsbergEMSeries

Table49SOUNDSPEEDPROFILE_DATA(cont’d.)

NameT ypeDataDescription

header,sourceIDint32

header,destinationIDint32

sequenceNumberint32

Thecurrentsoundspeedincludingdepthandtemperature.

soundSpeedPoint,depth

soundSpeedPoint,soundSpeed

soundSpeedPoint,temperature

ThetimetheofcialSSPwasrecorded.

time,secondsint32

time,microSeconds

numberOfPointsInOfcialSSP

Repeatcycle-Nentriesof:12*NArraycontainingtheofcialsoundspeedpoints

soundSpeedPoint,depth

soundSpeedPoint,soundSpeed

soundSpeedPoint,temperature

Endofrepeatcycle

real32Depthinmeters

real32

real32

int32Microseconds

int32

real32Depthinmeters

real32

real32

theIDofthecomponentsendingthemessage.

theIDofthecomponentreceivingthemessage.

Anumberincrementedforeachtransmissionof
thismessage.

Soundspeedinm/s.

TemperatureindegreesCelsius

Secondssince1970-01-0100:00:00UTC

Thenumberofelementsinthe‘ofcialSSP’array.

sortedwithascendingdepthorder.

Soundspeedinm/s.

TemperatureindegreesCelsius

Table50Commondatatypes

Basicdatatypes

int324

real324

Size

(bytes)

Description

32-bitsignedinteger(two’scomplement)

32-bitoatingpoint(IEEE754)

96

850-160692/M

3.6PUinformationandstatus

Topics

•PUIDoutputonpage97

•PUStatusoutputonpage100

•PUBISTresultoutputonpage103

3.6.1PUIDoutput

ThePUIddatagramisbroadcastedeverysecondafterthePU
ispoweredup,untilahostprocessortakescommandofthe
ProcessingUnitthroughaPU0datagram.ThePU0datagram
mayhoweverorderthebroadcastofthisdatagramtocontinue.
ThebroadcastissenttoEthernetadress157:237:255:255onPort

1999.Thebroadcastwillresumeifthehostprocessorsendsa
P00datagramwhichreleasesitscontrolofthePU.

Outputdatagrams

Table51PUIdoutputdatagrams

DataDescriptionExampleFormatValidrangeNote

Startidentier=STX

Typeofdatagram=0

EMmodelnumber10022U

Date=year*10000+month*100+day

Timesincemidnightinmilliseconds08:12:51.234=

Byteorderag

Systemserialnumber

UDPportno1

UDPportno2

UDPportno3

UDPportno4

Systemdescriptor

PUsoftwareversion

BSPsoftwareversion

SonarHead/Transceiversoftware
version

SonarHead/Transceiversoftware
version

HostIPaddress

Spare0ifnotused

Spare0ifnotused

Endidentier=ETX

ChecksumofdatabetweenSTXand
ETX

Always02h1U

Always30h1U

Feb26,1995=
19950226

29570234
Always12U
—

—

—

—

—

—

—

—

Sonarhead1
softwareversion

Sonarhead2
softwareversion
—

Always03h1U

4U

4U0to86399999

2U100–

2U

2U

2U

2U

4U

16U

16U

16U

16U

4U

8U

1U

2U

——

——

—

—

—

—

—

—

—

ASCIIstring

ASCIIstring6)

ASCIIstring6)

ASCIIstring6)

—

—

—

—

—

1)

2)

2)

3)
—

4)

4)

4)

4)

5)

7)

850-160692/M

97

KongsbergEMSeries

Notes

1“1002”mustbereplacedwiththenameofthesystem.1002

isforEM1002,120forEM120,300forEM300,710for
EM710,2000forEM2000,3000forEM3000,3020for
EM3002,302forEM302,122forEM122,121forEM
121A,850forME70.

TheEMmodelnumberandchecksumarerequired.

2Thesystemtimeanddatewillstartat0onpowerup,i.e.the

hostprocessormustalwayssettheclockinitsrstsetup
command.

3Thebyteorderofthewholedatagramisindicatedbythis

ag.

4DatagramsaretobesenttothedifferentPUUDPportsas

follows(inadditiontouseofPUserialports):

•Port1:Commanddatagrams

•Port2:Sensordatagramsexceptmotionsensor

•Port3:Firstmotionsensor

•Port4:Secondmotionsensor

5Systemdescriptor.(Informationforinternaluse):

00xxxxxxh–OldCPUcard

01xxxxxxh–VIPerorCoolMonster

02xxxxxxh–CT7

03xxxxxxh–Kontron

04xxxxxxh–KontronandBSP67BforEM710

05xxxxxxh–ConcurrentThechnologiesCP432CPU

xxxxxx00h–AllotherEM

xxxxxx00h–EM2040:SingleRX

xxxxxx01h–EM2040:DualRX

xxxxxx01h–EM1002S

xxxxxx02h–EM952

xxxxxx03h–EM1002:withHullUnit

xxxxxx04h–EM1002S:withHullUnit

xxxxxx05h–EM952:withHullUnit

xxxxxx08h–EM3001

xxxxxx09h–EM3002longpulseavailable

xxxxx1xxh–EM3002Rxgainnotavailable

6Thersttwoelements,PUsoftwareversionandBSP

softwareversion,arethesameforallechosounders.Thelast
twowillvary,dependingonwhichechosounderyouhave:

98

850-160692/M