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

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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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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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.

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2INPUTDATAGRAMS

Topics

•Positiononpage6

•Attitudeonpage20

•Clockdatagramsonpage27

•Soundspeeddatagramsonpage29

•Depthinputdatagramsfromsinglebeamechosounderon
page35

•Remotecontroldatagramsonpage37

•Soundspeedattransduceronpage39

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

Note

ThemajorityoftheseformatshavenotbeendenedbyKongsberg
Maritime.Thus,theseformatsarenotcontrolledbyKongsberg
Maritime.

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

2.1Position

Topics

•Overviewonpage6

•GGADatagramonpage9

•PTNL,GGKLocalcoordinatepositiondatagramonpage11

•GGKDatagramonpage13

•VTGDatagramonpage14

•Transponderpositiononpage15

•Simrad90datagramonpage16

•TideInputonpage18

•Depthpressureorheightinputonpage19

2.1.1Overview

TheEMSeriesacceptspositiondatainthefollowingformats

•NMEA0183GGA

6

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Inputdatagrams

•GGK

•PTNL,GGK

•SIMRAD90

•Transponderposition

•WiththeGGAandGGKdatagrams,informationcontainedin
NMEA0183GSTandVTGdatagramswillalsobeaccepted
andused.

Note

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

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

•Adatagramformatforinputoftidalheightisprovided.

TheGGAformatgivenbelowisaccordingtotheNMEA0183
version2.30description.

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

TopreservetheinherentaccuracyofthekinematicGPSdatait
isnecessarytocorrectthedataforvesselmotion.Thisrequires
accuratetimingsynchronisationbetweenthemotionsensorand
theGPSreceiver.Itisthereforeimperativethat

•thepositiondatagramhasaconstantandknowntimedelay,

or

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

Asneitheroftheseconditionsmaynotbepossibletoachieve
withasufcientaccuracy,theapplicationofmotioncorrection
isoperatorselectable.Motioncompensationmaybeappliedto
mostofthepositioninputdatagrams.

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

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

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

SISsupportsloggingofalldatafromaJavadGPSreceiver
directlyattachedtotheserialportontheHWSPC.

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

ATrimbleGPSreceivercanalsobeattachedtotheserialline
oftheHWSPC.Thisisusedforspecialpurposeslikeland
surveying.

8

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Inputdatagrams

2.1.2GGADatagram

Table1GGADatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

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)

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KongsbergEMSeries

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

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

TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

2WhenthequalityfactorofaGGApositioningsysteminuse

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

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Inputdatagrams

2.1.3PTNL,GGKLocalcoordinateposition datagram

Table2PTNLDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$

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.

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TheGPSmanufacturersmayhavedifferentGPSquality
indicators.

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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.

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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.

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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.

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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

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Inputdatagrams

Notes

1

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

–0-Thepositionislongitudelatitudeinglobal

coordinatesgivenintheeldsnotedA.

–1-ThepositionisNorthingEastingontheNorthern

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

–2-Asforsystemdescriptorequalto1,butthe

positionisontheSouthernHemisphere.

–3-Asforsystemdescriptorequalto0,butinaddition

thedepthisgivenintheEastingeldnotedB.

–4-Asforsystemdescriptorequalto1,butinaddition

thedepthisgiveninthelongitudeeldnotedA.

–5-Asforsystemdescriptorequalto2,butinaddition

thedepthisgiveninthelongitudeeldnotedA.

2Thepositionxqualitygiveninthepositionoutputdatagram

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

Table7

FED

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

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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
——

——

—

—

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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)

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2.2Attitude

Topics

•Overviewonpage20

•EMAttitudeinputformatonpage22

•Networkvelocityattitudeinputformatonpage24

•SperryMK-39Attitudeinputformatonpage25

•HDTformatonpage26

•SKR80formatonpage26

2.2.1Overview

Attitudedataisgenerallyacceptedononeormoreserialinput
port(s)as

•roll,pitch,heaveandheadingononeport,

or

•roll,pitchandheaveononeportandheadingseparatelyon
anotherport.

Thedataupdaterateshouldbecommensuratewiththeexpected
dynamicsofthevessel(typicallyupto100Hz).

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

•AppliedAnalyticsPOS/MV

•PhotokineticsOctans

•SeatexMRU

•SeatexSeapath

•TSSDMS-05

•CodaOctopus

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

Roll,pitchandheadingintheSperryMarineMK-39MOD2
AttitudeandHeadingReferenceSystemformatisalsoaccepted.
Asecondmotionsensormustthenbeusedtosupplyheave.

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Inputdatagrams

Attitudedatamaybesuppliedfrommorethanonesensor.All
datamaybelogged,butonlyonesetaschosenbytheoperator
willbeusedinrealtime.

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

SeealsoNetworkvelocityattitudeinputformatonpage24.

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2.2.2EMAttitudeinputformat

TheEMattitudeformatisa10-byteslongmessagedenedas
follows

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

•Byte2:Syncbyte2=90h

•Byte3:RollLSB

•Byte4:RollMSB

•Byte5:PitchLSB

•Byte6:PitchMSB

•Byte7:HeaveLSB

•Byte8:HeaveMSB

•Byte9:HeadingLSB

•Byte10:HeadingMSB

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

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

•Rollispositivewithportsideupwith±179.99°validrange

•Pitchispositivewithbowupwith±179.99°validrange

•Heaveispositiveupwith±9.99mvalidrange

•Headingispositiveclockwisewith0to359.99°validrange.

Non-validdataareassumedwhenavalueisoutsidethevalid
range.

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

Notethatheaveisdisplayedandloggedaspositivedownwards
(thesignischanged)includingrollandpitchinducedleverarm
translationtothesystem’stransmittransducer.

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

•90hintherstbyteindicatesavalidmeasurementswithfull
accuracy

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Inputdatagrams

•anyvaluefrom91hto99hindicatesvaliddatawithreduced
accuracy(decreasingaccuracywithincreasingnumber)

•anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormal
operation(forexamplecongurationorcalibrationmode)

•andanyvaluefromA0htoAFhindicatesasensorerrorstatus

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2.2.3Networkvelocityattitudeinput

format

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

•SeatexBinaryformat

•POS-MVGRP102/103

•CodaOctopusMCOM

Fordetailsabouttheformats,pleasereferto:

KongsbergSeatexSeapath:“Seapath200Installationmanual”

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

CodaOctopusF180:“MCOMFormatDescription”–ID
TSKW-187

ThedatagramwillbeloggedintheNetworkAttitudeV elocity
110datagram,andtherangecorrectionsappliedisdocumented
intherawrangeandangle78datagram.

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Inputdatagrams

2.2.4SperryMK-39Attitudeinputformat

Theformatis18byteslong,anditisorganisedas9words.The
mostsignigicantbyteofawordistransmittedrst.

•Word1AA55h.

•Word2Statusandtime.

•Word3Heading.

•Word4Roll.

•Word5Pitch.

•Word6Headingrate.

•Word7Rollrate.

•Word8Pitchrate.

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

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

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

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2.2.5HDTformat

Table10HDTFormat

DataDescriptionFormatValidrangeNote

Startidentier=$

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.

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Inputdatagrams

2.3Clockdatagrams

Topics

•Clockonpage27

•ZDAformatonpage27

2.3.1Clock

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

2.3.2ZDAformat

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
——

——

—

—

—

—

—

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Note

TrimbleUTCformatisalsosupported.

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