Inputdatagrams
Notes
1
Thevalueofsystemdescriptordefinesthecontentofthedatagramasfollows.
• 0-Thepositionislongitudelatitudeinglobalcoordinatesgiveninthefields
notedA.
• 1-ThepositionisNorthingEastingontheNorthernhemispheregiveninthe
fieldsnotedB.IftheprojectionisdefinedtobeUTMtheUTMzonenumberora
userdefinablecentralmeridianlongitudemaybegiveninthefieldnotedC.
• 2-Asforsystemdescriptorequalto1,butthepositionisontheSouthern
Hemisphere.
• 3-Asforsystemdescriptorequalto0,butinadditionthedepthisgiveninthe
EastingfieldnotedB.
• 4-Asforsystemdescriptorequalto1,butinadditionthedepthisgivenin
thelongitudefieldnotedA.
• 5-Asforsystemdescriptorequalto2,butinadditionthedepthisgivenin
thelongitudefieldnotedA.
Note
TheEM12,EM950andEM1000multibeamechosounderswillonlyaccept
valueslessthan3.
2
Thepositionfixqualitygiveninthepositionoutputdatagramwillbederived
fromthequalityindicator(thisdiffersfromtheoriginaldefinitionoftheformat)
asfollows(inm):
Table7
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
0.01 0.02 0.05
0.1
.02. 0.5
1
2
5
10
20
50
100
200
500 1000
3
Ifthesefieldshavevalidvaluestheywillbecopiedtoequivalentfieldsinthe
positionoutputdatagram.Theymaybeusedinfilteringofthepositioningduring
postprocessing.(Theoriginaldefinitionoftheformathadlineheadinginthecourse
fieldanditsusewastoorientreal-timedisplays).
850-160692/U
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KongsbergEMSeries
Tide Input
Table8 Tideinputdatagrams
DataDescription
Format
Validrange
Note
Startidentifier=$
Always24h
Talkeridentifier
a
Capitalletter
Sentenceformatter
AlwaysTIDE,
Dateandtimeofprediction/measurement
YYYYMMDDhhmm, 199601010000to
999912312359
Tideoffsetinmetersanddecimalmeters
x.x
±327.66
1
Optionalchecksum
*hh
Endofsentencedelimiter=CRLF
Always0Dh0Ah
Notes
1
Anegativenumberwillbeassumedtoindicateanincreaseinsealevel.
Depth, pressure or heightinput
Thisthirdpartytelegramdefinitionprovidesauniversalformattoholdeitherdepth,
pressureorheightinformation.
Table9 Depthpressureorheightinputdatagrams
DataDescription
Format
Validrange
Note
Startidentifier=*
Always24h
Sentenceidentifier
ii
00to09
1
Talkeridentifier
ii
00to09
Depthorheightinmetersanddecimalmeters
x.x
2
Endofsentencedelimiter=CRLF
Always0Dh0Ah
Notes
1
Asentenceidentifierequalto00isusedforunderwatervehicledepth,allother
identifiersarecustomerspecific(usuallyadatumheight).
2
Ifinputisdepth,itwillbeusedinthedepthoutputdatagramtooffsetthetransmit
transducerdepth.
Ifinputisheight,whichwillusuallyimplyatimeorpositionvariabledatumheight,
itsusewilldependonthesentenceidentifierandwillbeimplementedasrequired
byaspecificcustomer.
Depthispositivedownwards. Depthsmaybescaledandoffsetadjustedusing
constants:
output_depth[m]=scale_factor*(input_depth-offset)
20
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Inputdatagrams
Attitude
Topics
• Overviewonpage21
• EMAttitudeinputformatonpage23
• Networkattitudevelocityinputformatonpage24
• SperryMK-39Attitudeinputformatonpage25
• HDTformatonpage26
• SKR80formatonpage26
Overview
Attitudedataisgenerallyacceptedononeormoreserialinputport(s)as
• roll,pitch,heaveandheadingononeport,
or
• roll,pitchandheaveononeportandheadingseparatelyonanotherport.
Thedataupdaterateshouldbecommensuratewiththeexpecteddynamicsofthevessel
(typicallyupto100Hz).
Theacceptableformatforroll,pitch,heaveandoptionallyalsoheadingisa10bytelong
messageoriginallydefinedintheEM1000forusewithdigitalmotionsensors.Itis
supportedbythefollowingsensorslike:
• AppliedAnalyticsPOS/MV
• PhotokineticsOctans
• SeatexMRU
• SeatexSeapath
• TSSDMS-05
• CodaOctopus
HeadingwillbeacceptedintheNMEA0183HDTformatorintheformatusedbythe
SimradRobertsonSKR80(82)gyrocompass.AcurrentlooptoRS-232convertermay
thenberequired.TheLemkuhlLR40(60)ScanRepeaterformatisalsoaccepted,asit
isthesameasthatoftheSKR80withtheexceptionofanextrastatusbyte.Notethat
iftheattitudesensoriscapableofreadingthegyrocompassandtransfertheheadingto
theattitudesensordatagram(ifitdoesnotmeasureheadingitself),thisispreferableto
interfacingthegyrocompassdirectlytothesystem.
Roll,pitchandheadingintheSperryMarineMK-39MOD2AttitudeandHeading
ReferenceSystemformatisalsoaccepted.Asecondmotionsensormustthenbeusedto
supplyheave.
Attitudedatamaybesuppliedfrommorethanonesensor.Alldatamaybelogged,but
onlyonesetaschosenbytheoperatorwillbeusedinrealtime.
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KongsbergEMSeries
EM122,EM302,EM710,EM2040andEM2040Cusefrequencymodulated(FM)
pulsestoextendthedetectionrangewhilemaintainingthehighresolution.Toproperly
takeintoaccounttheDoppler-effectwhenusingFMmode,realtime3Dvelocityinputis
neededfromthemotionsensor.Thedata,onproprietaryformat,isavailableviaEthernet
fromsomeofthemanufacturers.Currentlythreemanufacturersaresupported.
SeealsoNetworkattitudevelocityinputformatonpage24.
22
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Inputdatagrams
EM Attitude input format
TheEMattitudeformatisa10-byteslongmessagedefinedasfollows
• 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=leastsignificantbyte,MSB=mostsignificantbyte.
Alldataarein2’scomplementbinary,with0.01°resolutionforroll,pitchandheading,
and1cmresolutionforheave.
• Rollispositivewithportsideupwith±179.99°validrange
• Pitchispositivewithbowupwith±179.99°validrange
• Heaveispositiveupwith±9.99mvalidrange
• Headingispositiveclockwisewith0to359.99°validrange.
Non-validdataareassumedwhenavalueisoutsidethevalidrange.
Howrollisassumedtobemeasuredisoperatorselectable,eitherwithrespecttothe
horizontalplane(theHippy120orTSSconvention)ortotheplanetiltedbythegiven
pitchangle(i.e.asarotationanglearoundthepitchtiltedforwardpointingx-axis).The
latterconvention(calledTate-BryantinthePOS/MVdocumentation)isusedinsidethe
systeminalldatadisplaysandinloggeddata(atransformationisappliediftheroll
isgivenwithrespecttothehorizontal).
Notethatheaveisdisplayedandloggedaspositivedownwards(thesignischanged)
includingrollandpitchinducedleverarmtranslationtothesystem’stransmittransducer.
ThisformathaspreviouslybeenusedwiththeEM950andtheEM1000withthefirst
synchronisationbytealwaysassumedtobezero.Thesensormanufacturershavebeen
requestedtoincludesensorstatusintheformatusingthefirstsynchronisationbyte
forthispurpose. Itisthusassumedthat
• 90hinthefirstbyteindicatesavalidmeasurementswithfullaccuracy
• anyvaluefrom91hto99hindicatesvaliddatawithreducedaccuracy(decreasing
accuracywithincreasingnumber)
• anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormaloperation(forexample
configurationorcalibrationmode)
• andanyvaluefromA0htoAFhindicatesasensorerrorstatus
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KongsbergEMSeries
Network attitude velocity inputformat
EM122,EM302,EM710,EM2040andEM2040Cusefrequencymodulated(FM)
pulsestoextendthedetectionrangeandstillmaintainingthehighresolution.Toproperly
takeintoaccounttheDoppler-effectwhenusingFMmode,realtime3Dvelocityinputis
neededfromthemotionsensor.Thedata,onproprietaryformat,isavailableviaEthernet
fromsomeofthemanufacturers.Currentlythefollowingformatsaresupported:
• SeatexBinaryformat11
• SeatexBinaryformat23
• SeatexBinaryformat26
• POS-MVGRP102/103
• CodaOctopusMCOM
Fordetailsabouttheformats,pleaserefertomanufacturerdocumentation.
ThedatagramwillbeloggedintheNetworkAttitudeVelocity110datagram,andthe
rangecorrectionsappliedisdocumentedintherawrangeandangle78datagram.
24
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Inputdatagrams
Sperry MK-39 Attitude input format
Theformatis18byteslong,anditisorganisedas9words.Themostsignigicantbyteof
awordistransmittedfirst.
• Word1AA55h.
• Word2Statusandtime.
• Word3Heading.
• Word4Roll.
• Word5Pitch.
• Word6Headingrate.
• Word7Rollrate.
• Word8Pitchrate.
• Word9Checksum(MSB)and1’scomplementofchecksum(LSB).
Alldataarein2’scomplementbinary.Headingisgivenwithin±180°,rollandpich
within±90°.(Notehoweverthatthevalues±180°and±90°arenotpermitted,asthese
areonebittoohigh.)
HeadingismeasuredwithreferencetotrueNorth,andpositivewhenthebowpoints
eastwards.Rollisperdefinitionarotationangle(Tate-Bryant)andpositivewhenthe
starboardsidegoesup.Pitchispositivewhenthebowgoesdown.
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KongsbergEMSeries
HDT format
Table10 HDTFormat
DataDescription
Format
Validrange
Note
Startidentifier=$
Always24h
Talkeridentifier
aa
Capitalletters
Sentenceformatter
AlwaysHDT,
Heading,degreestrue
x.x,T
0to359.9...
Checksum
*hh
Endofsentencedelimiter=CRLF
Always0Dh0Ah
SKR80 format
TheSKR80sendsoutastreamofdatawithfourbytesforeachmeasurement.Thereis
onebyteforeachdigit
• Thefirstbyteforthedecimaldegree(Example:xxx.X)
• Thesecondforthedegree(Example:xxX.x)
• Thethirdforthe10’sdegree(Example:xXx.x)
• Thefourthforthe100’sdegree(Example:Xxx.x)
Thetwouppermostbitsofabytearealwayszero,thenexttwobitsgivethedigit,00
forthedecimal,01forthedegree,10forthe10’sdegree,and11forthe100’sdegree.
Thelowestfourbitsgivethedigitvaluein4-bitBCDformat.Asanexampleaheading
of234.5°willgivethefourbytes05h14h23h32h.TheLR40addsafifthbyteatthe
endforstatuswiththetwoupperbitsofthestatusbytesetto11(11000000forOK,
11001010foralarm).Thisstatusbyteisignored.
26
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Inputdatagrams
Clock datagrams
Topics
• Clockonpage27
• ZDAformatonpage27
Clock
Thesystemclockisusedtotimestampalldataoutput.Theclockmaybesetuponstart
ofnewsurveyorpower-upontheProcessingUnit(recommendedsourceisaNMEA
ZDAformatdatagram).Theclockwilldrift,typicallysomesecondsperday,unlessitis
synchronisedtoa1PPS(pulsepersecond)inputsignal(theclockmillisecondcounter
willbesettozerowheneverapulseisreceived).Afullycorrectclockisonlynecessaryif
theoutputdataarelatertobecombinedwithothertimecriticaldataloggedorcreatedby
othersystems,forexampleanaccuracyofuptooneminutewouldbenecessarytoapply
tidalchanges.Ifthetimestampsuppliedinthepositioninputdatagramsistobeused,itis
imperativethatthesystemclockiscorrectlysetandthat1PPSsynchronisationisused.
ZDA format
Table11 ZDAformat
DataDescription
Format
Validrange
Note
Startidentifier=$
Always24h
Talkeridentifier
aa
Capitalletters
Sentenceformatter
AlwaysZDA,
UTC
hhmmss.ss,
000000 to
235959.9...
Day
xx,
01to+31
Month
xx,
01to+12
Year
xxxx,
0000to9999
Localzonehours
xx,
-13to+13
1
Localzoneminutes
xx,
00to+59
1
Optionalchecksum
*hh
Endofsentencedelimiter=CRLF
Always0Dh0Ah
Notes
1
Localzonetimeisnotused.Anoffsettimemaybeenteredbytheoperatortoget
thesystemclocktoshowadifferenttimethanUTC.
Note
TrimbleUTCformatisalsosupported.
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KongsbergEMSeries
Sound speed datagrams
Topics
• Overviewonpage28
• KongsbergMaritimeSSPformatonpage29
• AMLSmartSensorandAMLMicroSensorformatonpage32
Overview
AsoundspeedprofilemaybeloadedintotheOperatorStationeitheronaseriallineor
onEthernet.FormatspreviouslyusedwithexistingKongsbergMaritimeechosounders
(KongsbergMaritimeASCIIandBinarySoundVelocityProfileinputdatagrams)will
beaccepted,butsincetheirresolutionindepthislimitedto1mandthenumberof
entriesto100,anewerformatgivenbelowwithouttheselimitationsisrecommended.
ThisformatisalsoacceptedbytheKongsbergMaritimeHIPAPandHPRunderwater
positioningsystems(butnotnecessarilyvice-versa).Notethatacompleteprofilemaybe
piecedtogetherfromseveraldatagramsandeditedwiththeOperatorStation’sSound
SpeedEditor.
ThenewformatiscompletelyinASCIIandallows9998entrieswithoutlimitationsin
resolution.Buttheechosounderhaveotherlimitations,checknote9. Inadditionto
depthandsoundspeed,itallowsinputofabsorptioncoefficient,pressure,temperature
andsalinityorconductivity.Thelatterparametersmaybeusedtocalculatedepth,sound
speedandabsorptioncoefficient.Useofadepthdependentabsorptioncoefficientallows
amoreaccuratedeterminationofbottombackscatterstrength.
Notethatthisdatagrammayalsobeloggedasoutput,retaininginformationnotincluded
inthestandardsoundspeedprofileoutputdatagram,suchaswhereandwhentheprofile
hasbeentaken.
28
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