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Outputdatagrams
Notes
1
Thesefieldshaveearlierhadotherdefinitions.
2
Thebeamindexnumberisthebeamnumber-1.
3
Thefirstsampleinabeamhaslowestrangeif1,highestif-1.Notethattherange
samplingrateisdefinedbythesamplingrateinthedepthoutputdatagramandthat
therangesintheseabedimagedatagramarealltwo-wayfromtimeoftransmit
totimeofreceive.
4
Thecentresamplenumberisthedetectionpointofabeam.
850-160692/U
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KongsbergEMSeries
Seabed image data 89
Note
UsedforEM122,EM302,EM710,ME70BO,EM2040andEM2040C.
Table31 Seabedimagedata89datagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=Y(59h,89d)
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–
SamplingfrequencyinHz
4F
Rangetonormalincidenceusedtocorrectsample
amplitudesinno. ofsamples
2U
1to16384
NormalincidenceBSin0.1dB(BSN)
2S
ObliqueBSin0.1dB(BSO)
2S
Txbeamwidthalongin0.1°
2U
1to300
TVGlawcrossoveranglein0.1°
2U
20to300
Numberofvalidbeams(N)
2U
1–
Repeatcycle–Nentriesof:
6*N
Sortingdirection
1S
-1or1
1
Detectioninfo
1U
2
Numberofsamplesperbeam=Ns
2U
1–
Centresamplenumber
2U
1–
3
Endofrepeatcycle
Repeatcycle–ΣNsentriesof:
ΣNs
Sampleamplitudesin0.1dB
(Example:-30.2dB=FED2h=65234d)
2S
Endofrepeatcycle
Spare(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Thefirstsampleinabeamhaslowestrangeif1,highestif-1.Notethattherangesin
theseabedimagedatagramarealltwo-wayfromtimeoftransmittotimeofreceive.
2
Thisdatagrammaycontaindataforbeamswithandwithoutavaliddetection:
60
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Outputdatagrams
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.
3
Thecentresamplenumberisthedetectionpointofabeam.
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KongsbergEMSeries
Water column datagram
Note
UsedforEM122,EM302,EM710,EM2040,EM3002andME70BO.
Thereceiverbeamsarerollstabilized.
Table32 Watercolumndatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
48to65535
Startidentifier=STX(Always02h)
1U
Typeofdatagram=k(Always6Bh)
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–
Numberofdatagrams
2U
1toNd
2
Datagramnumbers
2U
1toNd
2
Numberoftransmitsectors=Ntx
2U
1to20
Totalno. ofreceivebeams
2U
1toNd
Numberofbeamsinthisdatagram=Nrx
2U
1toNd
Soundspeedin0.1m/s(SS)
2U
14000to16000
Samplingfrequencyin0.01Hzresolution(SF)
4U
1000to4000000
1
TXtimeheave(attransducer)incm
2S
–1000to1000
TVGfunctionapplied(X)
1U
20to40
4
TVGoffsetindB(C)
1S
4
Scanninginfo.
1U
7
Spare
3U
Ntxentriesof:
TiltanglereTXarrayin0.01°
2S
-1100to1100
Centerfrequencyin10Hz
2U
1000to50000
Transmitsectornumber
1U
0to19
Spare
1U
Nrxentriesof:
Beampointinganglerefverticalin0.01°
2S
-11000to11000
StartRangesamplenumber
2U
0to65534
Numberofsamples(Ns)
2U
0to65534
6
Detectedrangeinsamples(DR)
2U
0to65534
3
Transmitsectornumber
1U
0to19
Beamnumber
1U
0to254
5
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Outputdatagrams
Table32 Watercolumndatagram(cont'd.)
DataDescription
Format
Validrange
Note
Nsentriesof:
Sampleamplitudein0.5dBresolution
1S
-128to126
Sparebyteifrequiredtogetevenlength(always
0ifused)
0–1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Thesamplerateisnormallydecimatedtobeapproximatelythesameasthe
bandwidthofthetransmittedpulse.
2
Maximum64kBinonedatagram. Morethan1datagrammayberequiredto
transferthedata.Example:500mrange*160beams*1Byte/0.1mpersample
gives800kB.Thisrequires13datagrams.Anumberofcompletebeamswillbe
transferredineachdatagram.
ForEM3002themaximumnumberofdatagramsNdis16andthemaximum
numberofbeamsNbis254.ForEM122,EM302,EM710,ME70BO,EM2040
andEM2040Cthisisincreasedtoallowforupto32datagramsand512beams.
3
TotalRangeinmeters=Soundspeed*detectedrange/(samplerate*2)=SS10*
DR/(FS100*2)=5*SS*DR/FS(FS100=FS/100,SS10=SS/10).Therangeis
settozerowhenthebeamhasnobottomdetection.
4
TheTVGfunctionappliedtothedataisXlogR+2AlphaR+OFS+C.The
parametersXandCisdocumentedinthisdatagram. OFSisgainoffsetto
compensateforTXSourceLevel,Receiversensitivityetc.
5
The1Ubeamnumber(validrange0-254)isredundantinformationandislimitedto
amaximumof255beams.Forsystemswithmorethan255beamsthisparameter
willbesetto255(invalid).
6
From01.01.2008,thisnumberwillalwaysbeanevennumber,duetoalignments
7
OnlyusedbyEM2040.SeeappendixEM2040Scanningmodeonpage121for
details.
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KongsbergEMSeries
Quality factor datagram 79
Note
UsedforEM122,EM302,EM710,EM2040,EM2040C,EM3002andME70BO.
Table33 Qualityfactordatagram79
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=O(4fh,79d)
1U
EMmodelnumber(Example:EM710=710)
2U
Date=year*10000+month*100+day(Example:
Jan23,2012=20120123)
4U
Timesincemidnightinmilliseconds(Example:
08:12:51.234=29570234)
4U
0to86399999
Pingcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Numberofreceivebeams=Nrx
2U
1–
Numberofparametersperbeam=Npar
1U
1–
2
Spare
1U
Repeatecycle.Nrxentriesof:
4*Nrx*Npar
2
IFREMERqualityfactor
4F
>=0
1
(Moreparametersmaybeadded
inthefuture)
Endofrepeatecycle.
Spare(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
TheQualityFactorisanestimateofthestandarddeviationofthedetecteddepth.
QF= log
Est(@z)
z
Examples:
QF=3.0meansanestimatedstandarddeviationof0.1%ofthedetecteddepth.
QF=2.0meansanestimatedstandarddeviationof1.0%ofthedetecteddepth.
QF=0meansthattheQualityFactorcouldnotbecomputed.
TheQualityFactoriscalculatedbytheechosounderaccordingtoformulasprovided
byIFREMER.
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Outputdatagrams
References:
a
LurtonX.,AugustinJ.M.,"AMeasurementQualityFactorforSwath
BathymetrySounders",IEEEJournalOfOceanicEngineering,35(4),
pp.852-862(2010)
b
LurtonX.,LadroitY.,AugustinJ.M.,"AQualityEstimatorofAcoustic
SoundingDetection"TheInternationalHydrographicReview,Nov.2010,vol.4,
pp35-45(2010)
2
Currently,onlyoneparameterisdefined,i.e.Npar=1.Inthefuture,thedatagram
formatmaybeexpandedwithadditionalparameters. Softwaredecodingthe
datagramshouldtakeintoaccountNparwhendecodingthedatagram.IfNparis
largerthanexpected,additionalparametersshouldbeignored.IfNparissmaller
thanexpected,someparametersarenotavailable.Notetheremaybedatacollected
withpreliminaryechosoundersoftwarewithNparsettozero,eventhoughthereis
oneparameterperbeam(i.e. Npar=0andNpar=1bothmeans1parameterper
repeatcycle).Eachparameterisassumedtobe4byteslong.
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KongsbergEMSeries
External sensors
Topics
• Attitudedatagramonpage66
• Networkattitudevelocitydatagram110onpage68
• Clockonpage70
• Depth(pressure)orheightdatagramonpage71
• Headingonpage72
• Positiononpage73
• Singlebeamechosounderdepthonpage75
• Tidedatagramonpage76
Attitude datagram
Table34 Attitudedatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=A(ttitudedata)(Always041h) 1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Attitudecounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Numberofentries=N
2U
1–
Repeatcycle–Nentriesof:
12*N
–Timeinmillisecondssincerecordstart
2U
0to65534
–Sensorstatus
2U
1
–Rollin0.01°
2S
-18000to18000
–Pitchin0.01°
2S
-18000to18000
–Heaveincm
2S
-1000to10000
–Headingin0.01°
2U
0to35999
Endofrepeatcycle
Sensorsystemdescriptor
1U
2
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
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Outputdatagrams
Notes
1
Thesensorstatuswillbecopiedfromtheinputdatagram’stwosyncbytesifthe
sensorusestheEMformat.Seetheinputformatdescriptionforfurtherdetails.
2
Thesensorsystemdescriptorwillshowwhichsensorthedataisderivedfrom,and
whichofthesensor’sdatahavebeenusedinrealtimebybitcoding:
• xx00xxxx–motionsensornumber1
• xx01xxxx–motionsensornumber2
• xxxxxxx1–headingfromthesensorisactive
• xxxxxx0x–rollfromthesensorisactive
• xxxxx0xx–pitchfromthesensorisactive
• xxxx0xxx–heavefromthesensorisactive
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KongsbergEMSeries
Network attitude velocity datagram 110
Table35 Networkattitudevelocitydatagram110
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=n(etworkdata)(Always6Eh,
110d)
1U
EMmodelnumber(Example:EM710=710)
2U
Date=year*10000+month*100+day(Example:
Feb08,2007=20070208)
4U
Timesincemidnightinmilliseconds(Example:
08:12:51.234=29570234)
4U
0to86399999
NetworkAttitudecounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Numberofentries=N
2U
1–
Sensorsystemdescriptor
1S
1
Spare
1U
Repeatcycle–Nentriesof:
–Timeinmillisecondssincerecordstart
2U
0to65535
–Rollin0.01°
2S
-18000to18000
–Pitchin0.01°
2S
-18000to18000
–Heaveincm
2S
-1000to10000
–Headingin0.01°
2U
0to35999
–Numberofbytesininputdatagram(Nx)
1U
1to254
–Networkattitudeinputdatagramasreceived
Nxx1U
2
Endofrepeatcycle
Sparebyteifrequiredtogetevenlength
(always0ifused)
0–1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Thesensorsystemdescriptorshowswhichsensorthedataisderivedfrom,and
whichofthesensor'sdatahavebeenusedinrealtimebybitcoding:
• 0x10xxxx–attitudevelocitysensor1(UDP5)
• 0x11xxxx–attitudevelocitysensor2(UDP6)
• 01xxxxxx–velocityfromthesensorisactive
• 0xxxxxx1–headingfromthesensorisactive
• 0xxxxx0x–rollfromthesensorisactive
• 0xxxx0xx–pitchfromthesensorisactive
• 0xxx0xxx–heavefromthesensorisactive
• 11111111–(-1)functionisnotused
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