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Outputdatagrams
• Alldatagrams(excepttheNMEADPTdatagram)startwithSTX,datagramtypeand
timetag,andendwithETXandchecksum(sumofbytesbetweenSTXandETX).In
additionthetotallengthofthedatagram(notincludingthelengthfield)willprecede
theSTXbyte,givenasafourbytebinarynumber.
• Thelengthfieldisonlyincludedwhenloggingtotapeand/ordisk,butnotfor
datagramsloggedtoaremotelocation. Thelengthcanthenbederivedfromthe
networksoftware.Systemsloggingdataremotelyshouldaddthislengthatthestart
ofeachdatagram.ThislengthisrequiredifthedataaretobeusedwithKongsberg
Maritimepost-processingsystems.
• Thetimestampresolutionis1millisecondandincludesthecentury.Thetimestamp
isbinary.Thedateisgivenas10000*year(4digits)+100*month+day,forexample
19950226forFebruary26,1995. Alldatefieldsintheoutputdatagramsusethis
format.Atimeisusuallygiven(inmilliseconds)frommidnight.
• Thedatagramsidentifythemultibeamechosoundermodelanditsserialnumber.The
systemmodelnumberis120fortheEM120,300fortheEM300,etc.FortheEM
3000D(thedualheadsystem)themodelnumberwasoriginallygivenas3002and
theserialnumberisthatofSonarHeadnumber1.Howeverinthedepthdatagram
modelnumbers3003-3008arenowusedtoalsoidentifytheactualtransmitand
samplingfrequenciesofthetwoheads.IfonlyoneheadisactivateontheEM3000D,
itiscodedasasingleheadsystem. ForEM3002themodelnumberis3020. The
EM3002hasseparatedatagrams(depth,range,seabedimage,watercolumn)forthe
twosonarheads.
• Duecarehasbeentakentoincludeallparametersneededinpostprocessinginthe
relevantdatagrams,withaminimumofdataduplication.Whereresolutionofadata
fieldisvariable,aresolutiondescriptorisincluded.
• Invaliddataarealwaysidentifiedbythehighestpositivenumberallowedinafield
unlessotherwisenoted.
• Areal-timeparameterdatagramhasbeenaddedtoenableloggingofparametersnot
usedinpostprocessing,butwhichmaybeimportantincheckingthequalityofthe
loggeddata,ortoallowtracingofreasonsforpossiblemalfunctions.
• Attitudedataastimecontinuousrecordsandrawrangesandbeampointinganglesare
loggedtoalloweventualpostprocessingcorrections.Theloggedattitudesarevalidat
thetransmittransducer,andarecorrectedforanysensoroffsets.
Systemswithdualswaths(fansofreceiverbeamswithdifferenttilt)willhaveseparate
datagramsforeachswath.
InthedatagramsforEM122,EM302,EM710,ME70BO,EM2040andEM2040C,
bothvalidandinvalidbeamsareincluded(Thebeamindexthenbecameredundant
informationandisthereforeremoved).Thisisdonetobeabletostoreseabedimagedata
alsoforbeamsmissingavaliddetection.
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KongsbergEMSeries
Multibeam data
Topics
• Depthdatagramonpage40
• XYZ88onpage43
• Extradetectionsonpage46
• Centralbeamsechogramonpage50
• Rawrangeandbeamangle(F)onpage52
• Rawrangeandbeamangle(f)onpage53
• Rawrangeandangle78onpage55
• Seabedimagedatagramonpage58
• Seabedimagedata89onpage60
• Watercolumndatagramonpage62
Depth datagram
Note
ThisdatagramisusedforEM2000,EM3000,EM3002,EM1002,EM300andEM
120.TheXYZ88onpage43isusedforEM122,EM302,EM710,ME70BO,EM
2040andEM2040C.
Table22 Depthdatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=D(epthdata)(Always44h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Pingcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Headingofvesselin0.01°
2U
0to35999
Soundspeedattransducerindm/s
2U
14000to16000
Transmittransducerdepthrewaterlevelattime
ofpingincm
2U
0to65536
1
Maximumnumberofbeamspossible
1U
48–
Numberofvalidbeams=N
1U
1to254
zresolutionincm
1U
1to254
xandyresolutionincm
1U
1to254
40
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Outputdatagrams
Table22 Depthdatagram(cont'd.)
DataDescription
Format
Validrange
Note
Samplingrate(f)inHz
or
DepthdifferencebetweensonarheadsintheEM
3000D
2U
2S
300to30000
-32768to32766
3
4
Repeatcycle—Nentriesof:
16*N
Depth(z)fromtransmittransducer
(unsignedforEM120andEM300)
2Sor2U
-32768to+32766or
1to65534
2
Acrosstrackdistance(y)
2S
-32768to32766
2
Alongtrackdistance(x)
2S
-32768to32766
2
Beamdepressionanglein0.01°
2S
-11000to11000
3
Beamazimuthanglein0.01°
2U
0to56999
3
Range(one-waytraveltime)
2U
0to65534
3
Qualityfactor
1U
0to254
5
Lengthofdetectionwindow(samples/4)
1U
1to254
Reflectivity(BS)in0.5dBresolution)
(Example: -20dB=216)
1S
-128to+126
Beamnumber
1U
1to254
6
Endofrepeatcycle
Transducerdepthoffsetmultiplier
1S
-1to+17
1
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Thetransmittransducerdepthplusthedepthoffsetmultipliertimes65536cm
shouldbeaddedtothebeamdepthstoderivethedepthsrethewaterline. The
depthoffsetmultiplierwillusuallybezero,exceptwhentheEM2000/3000Sonar
Headisonanunderwatervehicleatadepthlargerthan655.36m.Notethatthe
offsetmultiplierwillbenegative(-1)iftheactualheaveislargeenoughtobring
thetransmittransducerabovethewaterline.Thismayrepresentavalidsituation,
butmayalsobeduetoanerroneouslysetinstallationdepthofeitherthetransducer
orthewaterline.
2
Thebeamdataaregivenrethetransmittransducerorsonarheaddepthandthe
horizontallocationoftheactivepositioningsystem’santenna.Heave,roll,pitch,
soundspeedatthetransducerdepthandraybendingthroughthewatercolumnhave
beenapplied.OntheEM1002/2000/3000/3002thebeamdepthsmustberegarded
assignedvaluestotakeintoaccountbeamswhichmaybegoingupwards. On
theEM120/300thebeamdepthsarealwayspositiveandthevaluesaretherefore
unsigned.
3
Therange,beamdepressionangle(positivedownwardsand90°foraverticalbeam)
andbeamazimuthangle(revesselcenterline)aregivenrelativetothetransducer
(sonarhead)atthepingtransmittime. Heave,roll,pitchandsoundspeedatthe
transducerdepthhavebeenapplied,butnotraybending.Thesevaluesmaythusbe
directlyusedforanewraybendingcalculationwitharevisedsoundspeedprofileto
generatenewsoundingdepthsandpositionswithoutanyneedforusingattitudedata.
850-160692/U
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KongsbergEMSeries
Onewaytraveltime=range/samplingrate/4
Notethatifthedataneedtobereprocessedwithanewsoundspeedatthetransducer
depthornewroll,pitchorheavevalues,fullreprocessingstartingwiththerawrange
andbeamangledataisrequired.Attitudedataisalsorequiredinthisreprocessing,
andboththesedatatypeswillinthefuturebeloggedasstandard.
Ifthebeamazimuthanglehasavaluelargerthan35999,thebeampointingangle
hasreplacedthebeamdepressionangle,andtherawtwo-waytraveltimehas
replacedtheone-wayheaveandbeamanglecorrectedtraveltime.Thetransmittilt
angleplus54000isgiveninthebeamazimuthanglefield.Theuseofthisdata
definitionisavailableonremoteoutputtoaportnamedas“RawDepth...”foruseby
othersystemswhichdotheirownattitudeandsoundspeedprocessing.
4
InanEM3000DthetransmittransducerdepthisthatofSonarHeadnumber1,
takingintoaccountthedepthoffsetmultiplierasdescribedinnote1.Therange
multiplierisreplacedbythedifferenceindepthbetweenSonarHeadnumber1and
2,i.e.head2depthisequaltohead1depth(possiblymodifiedwithdepthoffset
multiplier)plusthedepthdifference. TherangesamplingratesinHzofthetwo
headsisgiventhroughtheEMmodelnumberaccordingtothefollowingtable:
Table23 EM3000D
EMmodelnumber
3003
3004
3005
3006
3007
3008
SonarHead1
13956
14293
13956
14621
14293
14621
SonarHead2
14621
14621
14293
14293
13956
13956
PreviouslythemodelnumberoftheEM3000Dwasgivenas3002withheadsample
ratesof13956and14621Hzrespectively.Theheaddepthsinthiscaseshouldbe
assumedtobeequal,andalthoughthemathematicalderivationoffinalbeamdepths
wouldotherwisebethesameasdescribedabove,thetransmittransducerdepthwas
notactuallyexactlythatofthesonarheads.
5
Thequalitynumber’supperbitsignifieswhetheramplitude(0)orphase(1)
detectionhasbeenused.Ifamplitudethe7lowestbitsgivethenumberofsamples
usedinthecentreofgravitycalculation.Ifphasethesecondhighestbitsignifies
whetherasecond(0)orfirst(1)ordercurvefithasbeenappliedtodeterminethe
zerophaserange,andthe6lowestbitsindicatesthequalityofthefit(actuallythe
normalizedvarianceofthefitrethemaximumallowed,i.e.withalowernumber
thebetterthefit).
6
Beam128isthefirstbeamonthesecondsonarheadinanEM3000Ddualhead
system.
42
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Outputdatagrams
XYZ 88
Note
ThisdatagramisusedforthemodelsEM2040,EM2040C,EM710,EM122,EM
302andME70BO.Allreceiverbeamsareincluded,checkdetectioninfoandrealtime
cleaningforbeamstatus(note4and5).
Table24 XYZ88
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=X(58h,88d)
1U
EMmodelnumber(Example:EM710=710)
2U
Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Pingcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Headingofvessel(atTXtime)in0.01°
2U
0to35999
Soundspeedattransducerindm/s
2U
14000to16000
Transmittransducerdepthinmrewaterlevelat
timeofping
4F
1
Numberofbeamsindatagram=N
2U
1–1024
Numberofvaliddetections
2U
1–1024
SamplingfrequencyinHz
4F
Scanninginfo.
1U
7
Spare
3U
Repeatcycle-Nentriesof:
20*N
Depth(z)fromtransmittransducerinm
4F
2
Acrosstrackdistance(y)inm
4F
2
Alongtrackdistance(x)inm
4F
2
Detectionwindowlengthinsamples
2U
Qualityfactor
1U
0–254
3
Beamincidenceangleadjustment(IBA)in0.1deg 1S
-128to126
6
Detectioninformation
1U
4
Realtimecleaninginformation
1S
5
Reflectivity(BS)in0.1dBresolution
(Example:–20.1dB=FF37h=65335)
2S
4
Endofrepeatcycle
Spare(always0)
1U
0
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
850-160692/U
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KongsbergEMSeries
Notes
1
Thetransmittransducerdepthshouldbeaddedtothebeamdepthstoderivethe
depthsrethewaterline. Notethatthetransducerdepthwillbenegativeifthe
actualheaveislargeenoughtobringthetransmittransducerabovethewaterline.
Thismayrepresentavalidsituation,butmayalsobeduetoanerroneouslyset
installationdepthofeitherthetransducerorthewaterline.
2
Thebeamdataaregivenrethetransmittransducerorsonarheaddepthandthe
horizontallocation(x,y)oftheactivepositioningsystem’sreferencepoint.Heave,
roll,pitch,soundspeedatthetransducerdepthandraybendingthroughthewater
columnhavebeenapplied.
3
Scaledstandarddeviation(sd)oftherangedetectiondividedbythedetectedrange
(dr):
Qualityfactor=250*sd/dr.
4
Thisdatagrammaycontaindataforbeamswithandwithoutavaliddetection:
A)Ifthemostsignificantbit(bit7)iszero,thisbeamhasavaliddetection.Bit0–3
isusedtospecifyhowtherangeforthisbeamiscalculated.
0=Amplitudedetect(0xxx0000)
1=Phasedetect(0xxx0001)
2-15=Futureuse
B)Ifthemostsignificantbit(bit7)is1,thisbeamhasaninvaliddetection.Bit0–3
isusedtospecifyhowtherange(andx,y,zparameters)forthisbeamiscalculated
0=Normaldetection(1xxx0000)
1=Interpolatedorextrapolatedfromneighbourdetections(1xxx0001)
2=Estimated(1xxx0010)
3=Rejectedcandidate(1xxx0011)
4=Nodetectiondataisavailableforthisbeam(allparametersaresettozero)
(1xxx0100)
5-15=Futureuse
Theinvalidrangehasbeenusedtofillinamplitudesamplesintheseabedimage
datagram.
Bit4Reflectivity(usedinBeamintensitydisplay)correctionforLambertslawand
fornormalincidence:
0=notcompensated(xxx0xxxx)(toshowbeamincidenceangledependency)
1=compensated(xxx1xxxx)(usessamecorrectionasforseabedimagedata)
5
Arealtimedatacleaningmodulemayflagoutbeams.
Negativevaluesindicatesthatthisbeamisflaggedout,andisnottobeused.
6
Duetoraybending,thebeamincidenceangleatthebottomhitwillusuallydiffer
fromthebeamlaunchangleatthetransducerandalsofromtheanglegivenbya
straightlinebetweenthetransducerandthebottomhit.Thedifferencefromthe
latterisgivenbythebeamincidenceangleadjustment(IBA).Thebeamincidence
anglerethehorizontal,correctedfortheraybending,canbecalculatedasfollows:
44
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Outputdatagrams
BAC=atan(z/abs(y))+IBA.
BACispositivedownwardsandIBAwillbepositivewhenthebeamisbending
towardsthebottom.Thisparametercanbehelpfulforcorrectingseabedimagery
dataandinseabedclassification.
7
OnlyusedbyEM2040.SeeappendixEM2040Scanningmodeonpage121for
details.
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KongsbergEMSeries
Extra detections
Note
ThisdatagramisusedforthemodelsEM2040andEM2040CwithSlimProcessingUnit.
Table25 Extradetections
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=l(6Ch,108d)
1U
EMmodelnumber(Example:EM710=710)
2U
Date=year*10000+month*100+day(Example:
Sep26,2005=20050926)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Pingcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
Datagramcounter
2U
DatagramversionID
2U
Swathcounter
2U
Swathindex
2U
Headingin0.01degrees
2U
0to3599
SoundvelocityatTXindm/s
2U
Depthofreferencepointinmeters
4F
WaterColumnsamplerate(WCsr)
4F
Rawamplitude(SeabedImage)samplerate(SIsr) 4F
RXtransducerindex
2U
Numberofextradetections(Nd)
2U
0to—
Numberofdetectionclasses(Nc)
2U
10
Numberofbyteperclass(cycle1)
2U
Numberofalarmflags
2U
7
Numberofbytesperdetection(cycle2)
2U
Repeatcycle1–Detectionclasses(Nc):
16*Nc
1to10
Startdepth(%ofdepth)
2U
0to300
Stopdepth(%ofdepth)
2U
1to300
100*QFthreshold
2U
0.01to1
10
BSthreshold(dB)
2S
-10to-60
11
SNRthreshold(dB)
2U
5to15
12
Alarmthreshold(numberofextradet.required)
2U
1to99,0=off
6
Numberofextradetections
2U
0to—
Showclass
1U
0to1
13
Alarmflag1
1U
0or1/16/17
5
Endofrepeatcycle1
46
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Outputdatagrams
Table25 Extradetections(cont'd.)
DataDescription
Format
Validrange
Note
Repeatcycle2–Extradetections(Nd):
64*Nd
Depth(z)
4F
Across(y)
4F
Along(x)
4F
Deltalatitude
4F
Deltalongitude
4F
BeamPointingangle(deg.rearray)
4F
Appliedpointinganglecorrection
4F
Twotimetraveltime(seconds)
4F
Appliedtwowaytraveltimecorrections
(seconds,f.ex. Dopplercorrection)
4F
BSin0.1dB
2S
Beamincidenceangleadjustment(IBA)in0.1deg 1S
-128to126
9
Detectioninfo
1U
8
spare
2U
TXsectornumber/TXarrayindex
2U
1
Detectionwindowlength
2U
Qualityfactor(old)
2U
Realtimecleaninginfo
2U
Rangefactorin%
2U
Detectionclassnumber
2U
Confidencelevel
2U
QF*10(IfremerQualityfactor)
2U
Watercolumnbeamnumber
2U
Beamangleacrossrevertical(deg)
4F
Detectedrangein(WCsr)samples
2U
Rawamplitudesamples(Ns)
2U
2
Endofrepeatcycle2
Repeatcycle3–Nsentries:
2*Ns+1
Rawamplitudesamples(0.1dB)
2S
2,3,4
Endofrepeatcycle3
Spare
1C
Spare(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
SameTXbeamsectorindexasusedintherangeandangle78datagram.TXsector
dependentinfoliketilt,frequency,pulselengthetc.canbefoundinthisdatagram.
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KongsbergEMSeries
2
2*Ns(i)+1rawamplitudesamplesarestored,rangingfrom(detectedrange–Ns)
to(detectedrange+Ns).Thesamplerateis:SIUsr,i=extradetectindexnumber
(1-Nd).
3
BSiscalculatedasforWaterColumndata(TVGapplied=XlogR+2AlpaR+C,X
andCcanbefoundintheWatercolumndatagram).
4
Rawamplitude(SeabedImage)samplerate:SIsr
5
Alarmflag1
0–Noalarm
1–NumberofextradetectionsareaboveAlarmthreshold.
6
Alarmthreshold. Thisisthenumberofextradetectionsrequiredtoraise
Alarmflag1. ThethresholdlimitisenteredinSIS.
7
NumberofAlarmflag1raisedinRepeatcycle1.
8
Thisdatagrammaycontaindataforbeamswithandwithoutavaliddetection:
A)Ifthemostsignificantbit(bit7)iszero,thisbeamhasavaliddetection.Bit0–3
isusedtospecifyhowtherangeforthisbeamiscalculated.
0=Amplitudedetect(0xxx0000)
1=Phasedetect(0xxx0001)
2-15=Futureuse
B)Ifthemostsignificantbit(bit7)is1,thisbeamhasaninvaliddetection.Bit0–3
isusedtospecifyhowtherange(andx,y,zparameters)forthisbeamiscalculated
0=Normaldetection(1xxx0000)
1=Interpolatedorextrapolatedfromneighbourdetections(1xxx0001)
2=Estimated(1xxx0010)
3=Rejectedcandidate(1xxx0011)
4=Nodetectiondataisavailableforthisbeam(allparametersaresettozero)
(1xxx0100)
5-15=Futureuse
Theinvalidrangehasbeenusedtofillinamplitudesamplesintheseabedimage
datagram.
Bit4Reflectivity(usedinBeamintensitydisplay)correctionforLambertslawand
fornormalincidence:
0=notcompensated(xxx0xxxx)(toshowbeamincidenceangledependency)
1=compensated(xxx1xxxx)(usessamecorrectionasforseabedimagedata)
9
Duetoraybending,thebeamincidenceangleatthebottomhitwillusuallydiffer
fromthebeamlaunchangleatthetransducerandalsofromtheanglegivenbya
straightlinebetweenthetransducerandthebottomhit.Thedifferencefromthe
latterisgivenbythebeamincidenceangleadjustment(IBA).Thebeamincidence
anglerethehorizontal,correctedfortheraybending,canbecalculatedasfollows:
BAC=atan(z/abs(y))+IBA.
48
850-160692/U
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