Kongsberg EM - REV M Instruction Manual
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Kongsberg EM - REV M Instruction Manual

Em series multibeam echo sounders datagram formats
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  • Page 1 Instruction manual EM Series Multibeam echo sounders Datagram formats...
  • Page 3 Kongsberg EM Series Multibeam echo sounder EM datagram formats 850-160692/M January 2010...
  • Page 4 Document history Document number: 850-160692 Changes: A new output datagram, Network Attitude Velocity datagram 110, is added. The 3 D velocity input is used for Doppler compensation in FM mode. The range corrections applied is Rev. K June 2009 documented in the Raw range and angle 78 datagram. Installation, Runtime and status datagrams are updated with extra information.

  • Page 5: Table Of Contents

    PTNL, GGK Local coordinate position datagram .......... 11 2.1.4 GGK Datagram ..................13 2.1.5 VTG Datagram ................... 14 2.1.6 Transponder position................... 15 2.1.7 Simrad 90 datagram ..................16 2.1.8 Tide Input ....................18 2.1.9 Depth pressure or height input ..............19 Attitude ........................20 2.2.1 Overview ....................20 2.2.2...
  • Page 6 Kongsberg EM Series 3.2.3 Central beams echogram ................50 3.2.4 Raw range and beam angle (F)..............52 3.2.5 Raw range and beam angle (f)..............53 3.2.6 Raw range and angle 78 ................55 3.2.7 Seabed image datagram................58 3.2.8 Seabed image data 89.................. 60 3.2.9 Water column datagram................

  • Page 7: Em Datagram Formats

    EM datagram formats 1 EM DATAGRAM FORMATS The data input and output formats to and from the EM Series multibeam echo sounders are described in this document. The information applies to the Kongsberg Maritime multibeam echo sounders introduced after 1995. Note The information herein applies to the EM 3002, EM 3000, EM 2040, EM 2000, EM 1002, EM 710, EM 302, EM 122, ME 70,...

  • Page 8: Input Datagrams

    GGK Datagram on page 13 • VTG Datagram on page 14 • Transponder position on page 15 • Simrad 90 datagram on page 16 • Tide Input on page 18 • Depth pressure or height input on page 19 2.1.1 Overview The EM Series accepts position data in the following formats •...
  • Page 9 Input datagrams • GGK • PTNL, GGK • SIMRAD 90 • Transponder position • With the GGA and GGK datagrams, information contained in NMEA 0183 GST and VTG datagrams will also be accepted and used. Note The GST datagram is not used by the new generation multibeam echo sounders, i.e.
  • Page 10 Easting type projection coordinates (e.g. UTM). To cater for applications where the EM 2000 or EM 3000 Sonar Head is mounted on a subsea vehicle, the original SIMRAD 90 format has been expanded to allow inclusion of the depth of the vehicle in addition to its horizontal position in longitude/latitude or Northing/Easting coordinates.

  • Page 11: Gga Datagram

    Input datagrams 2.1.2 GGA Datagram Table 1 GGA Datagram Data Description Format Valid range Note — — Start identifier = $ Always 24h — Talker identifier Capital letters — — Sentence formatter Always GGA, — UTC of position hhmmss.ss, 000000 to 235959.9... —...
  • Page 12 Kongsberg EM Series • The ”Measure of position fix quality” field will be set to 65534 (largest valid number) if the indicator is zero (non-valid position). This scaling is used to give at least a relatively correct position fix quality change (in the order of cm) if there are dropouts in differential, precise or kinematic measurements, although HDOP is not a metric value.

  • Page 13: Ptnl, Ggk Local Coordinate Position Datagram

    Input datagrams 2.1.3 PTNL, GGK Local coordinate position datagram Table 2 PTNL Datagram Data Description Format Valid range Note — — Always 24h Start identifier = $ — — Sentence identifier Always PTNL, — — Sentence formatter Always GGK, — Time of position hhmmss.ss, 000000 to 235959.9...
  • Page 14 Kongsberg EM Series The GPS manufacturers may have different GPS quality indicators. 850-160692/M...

  • Page 15: Ggk Datagram

    Input datagrams 2.1.4 GGK Datagram Table 3 GGK Datagram Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always GGK, — hhmmss.ss, 000000 to 235959.99... Time of position —...

  • Page 16: Vtg Datagram

    Kongsberg EM Series 2.1.5 VTG Datagram Table 4 VTG Datagram Data Description Format Valid range Note — — Start identifier = $ Always 24h — Talker identifier Capital letters — — Sentence formatter Always VTG, Course over ground, degrees true x.x,T, 0 to 359.9...

  • Page 17: Transponder Position

    Input datagrams 2.1.6 Transponder position Table 5 SSB - SSBL Position Datagram Data Description Format Valid range Note — — Start_character — — Address PSIMSSB, — Time hhmmss.ss, — TP code B01, — Status cc_, — Error code — — Coordinate system (always radians) —...

  • Page 18: Simrad 90 Datagram

    Kongsberg EM Series 2.1.7 Simrad 90 datagram Table 6 Simrad 90 datagram Data Description Format Length Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always S90, — Date of position...
  • Page 19 Input datagrams Notes • Value of system descriptor defines content of datagram as follows. (Note that the Kongsberg Maritime EM 12, the EM 950 and the EM 1000 multibeam echo sounders will only accept values less than 3) – 0 - The position is longitude latitude in global coordinates given in the fields noted A.

  • Page 20: Tide Input

    Kongsberg EM Series 2.1.8 Tide Input Table 8 Tide input datagrams Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letter — — Sentence formatter Always TIDE, — YYYYMMDDhhmm, 199601010000 to Date and time of prediction / measurement 999912312359 Tide offset in meters and decimal meters...

  • Page 21: Depth Pressure Or Height Input

    Input datagrams 2.1.9 Depth pressure or height input Table 9 Depth pressure or height input datagrams Data Description Format Valid range Note — — Start identifier = * Always 24h Sentence identifier 00 to 09 — Talker identifier 00 to 09 —...

  • Page 22: Attitude

    • Coda Octopus Heading will be accepted in the NMEA 0183 HDT format or in the format used by the Simrad Robertson SKR80(82) gyrocompass. A current loop to RS-232 converter may then be required. The Lemkuhl LR40(60) Scan Repeater format is also accepted, as it is the same as that of the SKR80 with the exception of an extra status byte.
  • Page 23 Input datagrams Attitude data may be supplied from more than one sensor. All data may be logged, but only one set as chosen by the operator will be used in real time. Newer multibeam models uses frequency modulated (FM) pulses to extend the detection range while maintaining the high resolution.

  • Page 24: Em Attitude Input Format

    Kongsberg EM Series 2.2.2 EM Attitude input format The EM attitude format is a 10-bytes long message defined as follows • Byte 1: Sync byte 1 = 00h, or Sensor status = 90h-AFh • Byte 2: Sync byte 2 = 90h •...
  • Page 25 Input datagrams • any value from 91h to 99h indicates valid data with reduced accuracy (decreasing accuracy with increasing number) • any value from 9Ah to 9Fh indicates non-valid data but normal operation (for example configuration or calibration mode) • and any value from A0h to AFh indicates a sensor error status 850-160692/M...

  • Page 26: Network Velocity Attitude Input Format

    Kongsberg EM Series 2.2.3 Network velocity attitude input format Newer multibeam models uses frequency modulated (FM) pulses to extend the detection range and still maintaining the high resolution. To properly take into account the Doppler-effect when using FM mode, real time 3D velocity input is needed from the motion sensor.

  • Page 27: Sperry Mk-39 Attitude Input Format

    Input datagrams 2.2.4 Sperry MK-39 Attitude input format The format is 18 bytes long, and it is organised as 9 words. The most signigicant byte of a word is transmitted first. • Word 1 AA55h. • Word 2 Status and time. •...

  • Page 28: Hdt Format

    Kongsberg EM Series 2.2.5 HDT format Table 10 HDT Format Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always HDT, — Heading, degrees true x.x,T 0 to 359.9...

  • Page 29: Clock Datagrams

    Input datagrams 2.3 Clock datagrams Topics • Clock on page 27 • ZDA format on page 27 2.3.1 Clock The system clock is used to time stamp all data output. The clock may be set upon start of new survey or power-up on the Processing Unit (recommended source is a NMEA ZDA format datagram).
  • Page 30 Kongsberg EM Series Note Trimble UTC format is also supported. 850-160692/M...

  • Page 31: Sound Speed Datagrams

    Input datagrams 2.4 Sound speed datagrams Topics • Overview on page 29 • Kongsberg Maritime SSP format on page 30 • AML Smart Sensor and AML Micro Sensor format on page 33 2.4.1 Overview A sound speed profile may be loaded into the Operator Station either on a serial line or on Ethernet.

  • Page 32: Kongsberg Maritime Ssp Format

    Kongsberg EM Series 2.4.2 Kongsberg Maritime SSP format Table 12 SSP format Data Description Format Length Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters Datagram identifier Always Sxx, S00 to S53 xxxxx, —...
  • Page 33 Input datagrams pressure must be given if the pressure is absolute, otherwise the pressure must be given re the sea level and the atmospheric pressure must be zero. Table 13 SSP format Identifier Input data Data to be used Comment Same as S10, but used immediately.
  • Page 34 Kongsberg EM Series Note that these fields have fixed length and leading zeros must be used. The depth or pressure field is always required while the other fields are optional except for those required by the datagram identifier. The field-delimiting commas must always be included even if the fields are empty.

  • Page 35: Aml Smart Sensor And Aml Micro Sensor Format

    Input datagrams 2.4.3 AML Smart Sensor and AML Micro Sensor format An AML Smart Sensor or AML Micro may be used directly for sound speed profile input on a serial line to the Operator Station. The sensor may also be used to measure the sound speed at the transducer depth continuously during surveying.
  • Page 36 Kongsberg EM Series Note The ’±’ character should be interpreted as follows. If the number in the field immediately following this character is negative, then this character will be “-“ (minus). However, if the number in the field immediately following this character is positive, then this character will be a ”...

  • Page 37: Depth Input Datagrams From Single Beam Echo Sounder

    The following formats are supported • NMEA 0183 DBS • NMEA 0183 DPT • Binary datagrams from the Kongsberg Maritime EA echo sounder series, referred to as the Simrad format. 2.5.1 DBS Format Table 17 DBS Format Data Description Format...

  • Page 38: Simrad Format

    End of sentence delimiter = CRLF Always 0Dh 0Ah Notes A negative value implying that the offset is from the keel should not be used. 2.5.3 Simrad format Table 19 Simrad format Data Description Format Valid range Note — —...

  • Page 39: Remote Control Datagrams

    Input datagrams 2.6 Remote control datagrams A Remote Control datagram has been implemented to allow • the multibeam echo sounder to start logging on remote command. • the multibeam echo sounder to send out parameter and sound speed profile datagrams, “IUR”, consisting of Installation parameters (I), sound speed profile datagram (U) and Runtime datagram (R), as a response to the remote command.
  • Page 40 Kongsberg EM Series • R11 - System to start logging locally and send a start sequence “IUR” consisting of an installation parameter datagram (I), sound speed profile datagram (U) and a runtime datagram (R). • R12 - System to start logging locally. “IUR” will be sent. •...

  • Page 41: Sound Speed At Transducer

    Input datagrams 2.7 Sound speed at transducer In addition to receiving sound speed at transducer from sound velocity probe/sensor attached to the SIS HWS through a serial line, it is also possible to send this information through the Ethernet. Note The datagram format and port address etc.

  • Page 42: Output Datagrams

    Kongsberg EM Series 3 OUTPUT DATAGRAMS Topics • Introduction on page 40 • Multibeam data on page 43 • External sensors on page 64 • Sound speed on page 75 • Multibeam parameters on page 78 • PU information and status on page 97 •...
  • Page 43 Output datagrams • The length field is only included when logging to tape and/or disk, but not for datagrams logged to a remote location. The length can then be derived from the network software. Systems logging data remotely should add this length at the start of each datagram.
  • Page 44 Kongsberg EM Series • Raw range and angle 78 (type N), replaces type f. • Seabed image data 89 (type Y), replaces type S. These new datagrams makes it possible to have more than 254 detections per ping. The data format for some parameters has been changed to increase the resolution.

  • Page 45: Multibeam Data

    Output datagrams 3.2 Multibeam data Topics • Depth datagram on page 43 • XYZ 88 on page 47 • Central beams echogram on page 50 • Raw range and beam angle (F) on page 52 • Raw range and beam angle (f) on page 53 •...
  • Page 46 Kongsberg EM Series Table 22 Depth datagram (cont’d.) Data Description Format Valid range Note — — Repeat cycle — N entries of : 16*N Depth (z) from transmit transducer 2S or 2U -32768 to +32766 or (unsigned for EM 120 and EM 300) 1 to 65534 Acrosstrack distance (y) -32768 to 32766...
  • Page 47 Output datagrams ray bending calculation with a revised sound speed profile to generate new sounding depths and positions without any need for using attitude data. One way travel time = range / sampling rate / 4 Note that if the data need to be reprocessed with a new sound speed at the transducer depth or new roll, pitch or heave values, full reprocessing starting with the raw range and beam angle data is required.
  • Page 48 Kongsberg EM Series bits indicates the quality of the fit (actually the normalized variance of the fit re the maximum allowed, i.e. with a lower number the better the fit). Beam 128 is the first beam on the second sonar head in an EM 3000D dual head system.

  • Page 49: Xyz 88

    Output datagrams 3.2.2 XYZ 88 Note This datagram replaces the previous depth (D) datagram for the new multibeam models (EM 2040, EM 710, EM 122, EM 302, ME 70). All receiver beams are included, check detection info and real time cleaning for beam status (note 4 and 5). Table 24 XYZ 88 Data Description Format...
  • Page 50 Kongsberg EM Series Notes The transmit transducer depth should be added to the beam depths to derive the depths re the water line. Note that the transducer depth will be negative if the actual heave is large enough to bring the transmit transducer above the water line. This may represent a valid situation, but may also be due to an erroneously set installation depth of either the transducer or the water line.
  • Page 51 Output datagrams line between the transducer and the bottom hit. The difference from the latter is given by the beam incidence angle adjustment (IBA). The beam incidence angle re the horizontal, corrected for the ray bending, can be calculated as follows: BAC = atan( z / abs(y) ) + IBA.

  • Page 52: Central Beams Echogram

    Kongsberg EM Series 3.2.3 Central beams echogram Note This datagram is only available for EM 120 and EM 300. Table 25 Central beams echogram Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) —...
  • Page 53 Output datagrams Notes The sample amplitudes are not corrected in accordance with the detection parameters derived for the ping, as is done for the seabed image data. The beam index number is the beam number - 1. The range for which the first sample amplitude is valid for this beam given as a two-way range.

  • Page 54: Raw Range And Beam Angle (F)

    Kongsberg EM Series 3.2.4 Raw range and beam angle (F) Note Only used for EM 3000 Table 26 Raw range and beam angle datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) —...

  • Page 55: Raw Range And Beam Angle (F)

    Output datagrams 3.2.5 Raw range and beam angle (f) New datagram, added January 2004. This datagram replaces the old F datagram. Note Used for EM 120, EM 300, EM 1002, EM 2000, EM 3000 and EM 3002 Table 27 Raw range and beam angle datagrams Data Description Format Valid range...
  • Page 56 Kongsberg EM Series Table 27 Raw range and beam angle datagrams (cont’d.) Data Description Format Valid range Note — Detection window length in samples 1 to 254 (/4 if phase) Beam number -1999 to 1999 — — Spare — Spare (Always 0) —...

  • Page 57: Raw Range And Angle 78

    Output datagrams 3.2.6 Raw range and angle 78 Note This datagram replaces the previous Raw range and beam angle f datagram for the new multibeam models (EM 2040, EM 710, EM 302, EM 122, ME 70). All receiver beams are included, check detection info and real time cleaning for beam status (see note 3 and 4).
  • Page 58 Kongsberg EM Series Table 28 Raw range and beam angle 78 datagram (cont’d.) Data Description Format Valid range Note — — Detection window length in samples Quality factor 0 to 254 — D corr — Two way travel time in s —...
  • Page 59 Output datagrams For future use. A real time data cleaning module may flag out beams. Bit 7 will be set to 1 if the beam is flagged out. Bit 0-6 will contain a code telling why the beam is flagged out.

  • Page 60: Seabed Image Datagram

    Kongsberg EM Series 3.2.7 Seabed image datagram Note This datagram is used for EM 2000, EM 3000, EM 3002, EM 1002, EM 300 and EM 120. The Seabed Image Data 89 datagram is used for newer models. Table 29 Seabed image datagram Data Description Format Valid range...
  • Page 61 Output datagrams Table 29 Seabed image datagram (cont’d.) Data Description Format Valid range Note — — End identifier = ETX (Always 03h) — — Check sum of data between STX and ETX Notes These fields have earlier had other definitions. The beam index number is the beam number -1.

  • Page 62: Seabed Image Data 89

    Kongsberg EM Series 3.2.8 Seabed image data 89 Note This datagram replaces the previous Seabead image (S) datagram for the new multibeam models (EM 2040, EM 710, EM 302, EM 122, ME 70). Table 30 Seabed image data 89 datagram Data Description Format Valid range...
  • Page 63 Output datagrams This datagram may contain data for beams with and without a valid detection. Eight bits (0-7) gives details about the detection: A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is used to specify how the range for this beam is calculated 0: Amplitude detect 1: Phase detect...

  • Page 64: Water Column Datagram

    Kongsberg EM Series 3.2.9 Water column datagram Note Used for EM 122, EM 302, EM 710, EM 2040, EM 3002 and ME 70. The receiver beams are roll stabilized. Table 31 Water column datagram Data Description Format Valid range Note —...
  • Page 65 Output datagrams Table 31 Water column datagram (cont’d.) Data Description Format Valid range Note — Ns entries of: -128 to126 Sample amplitude in 0.5 dB resolution — — Spare byte if required to get even length (always 0 – 1U 0 if used) —...

  • Page 66: External Sensors

    Kongsberg EM Series 3.3 External sensors Topics • Attitude datagram on page 64 • Network attitude velocity datagram 110 on page 66 • Clock on page 68 • Depth (pressure) or height datagram on page 69 • Heading on page 70 •...
  • Page 67 Output datagrams Notes The sensor status will be copied from the input datagram’s two sync bytes if the sensor uses the EM format. See the input format description for further details. The sensor system descriptor will show which sensor the data is derived from, and which of the sensor’s data have been used in real time by bit coding: •...

  • Page 68: Network Attitude Velocity Datagram 110

    Kongsberg EM Series 3.3.2 Network attitude velocity datagram Table 33 Network attitude velocity datagram 110 Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = n(etwork data) (Always 6Eh, 110d) —...
  • Page 69 Output datagrams CodaOctopus: 0xE8 Seapath: q From 01.01.2008 an extra byte will be added, at the end of the input datagram, if needed for alignment. 850-160692/M...

  • Page 70: Clock

    Kongsberg EM Series 3.3.3 Clock Table 34 Clock datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = C(lock data) (Always 043h) —...

  • Page 71: Depth (Pressure) Or Height Datagram

    Output datagrams 3.3.4 Depth (pressure) or height datagram Table 35 Depth (pressure) or height datagram Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = h(eight data) (Always 068h) —...

  • Page 72: Heading

    Kongsberg EM Series 3.3.5 Heading Table 36 Heading datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = H(eading data) (Always 048h) —...

  • Page 73: Position

    Output datagrams 3.3.6 Position Table 37 Position datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = P(osition data) (Always 050h) — —...
  • Page 74 • xxxx 1xxx – the position may have to be derived from the input datagram which is then in SIMRAD 90 format. Complete input datagram except header and tail (such as NMEA 0183 $ and CRLF).

  • Page 75: Single Beam Echo Sounder Depth

    Output datagrams 3.3.7 Single beam echo sounder depth This datagram will contain the profile actually used in the real time raybending calculations to convert range and angle to xyz data. It will usually be issued together with the installation parameter datagram. Table 38 Single beam echo sounder depth datagram Data Description Format...

  • Page 76: Tide Datagram

    Kongsberg EM Series 3.3.8 Tide datagram Table 39 Tide datagram Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = T(ide data) (Always 054h) —...

  • Page 77: Sound Speed

    Output datagrams 3.4 Sound speed Topics • Surface sound speed on page 75 • Sound speed profile datagram on page 76 • Kongsberg Maritime SSP output datagram on page 77 3.4.1 Surface sound speed Table 40 Surface sound speed datagram Data Description Format Valid range...

  • Page 78: Sound Speed Profile Datagram

    Kongsberg EM Series 3.4.2 Sound speed profile datagram This datagram will contain the profile actually used in the real time raybending calculations to convert range and angle to xyz data. It will usually be issued together with the installation parameter datagram. Table 41 Sound speed profile datagram Data Description Format...

  • Page 79: Kongsberg Maritime Ssp Output Datagram

    Output datagrams 3.4.3 Kongsberg Maritime SSP output datagram This datagram will contain the profile actually used in the real time raybending calculations to convert range and angle to xyz data. Table 42 Kongsberg Maritime SSP output datagram Data Description Format Valid range Note —...

  • Page 80: Multibeam Parameters

    Kongsberg EM Series 3.5 Multibeam parameters Topics • Installation parameters on page 78 • Runtime parameters on page 84 • Mechanical transducer tilt on page 92 • ExtraParameters datagram on page 93 3.5.1 Installation parameters This datagram is an ASCII datagram except for the header which is formatted as in all other output datagrams.
  • Page 81 Output datagrams Table 43 Installation parameters (cont’d.) Data Description Example Format Valid range Note — — Water line vertical location in m WLZ=x.x, ASCII System main head serial number SMH=x.x, ASCII 100 – — Hull Unit HUN=x, ASCII 0 or 1 —...
  • Page 82 Kongsberg EM Series Table 43 Installation parameters (cont’d.) Data Description Example Format Valid range Note Depth (pressure) sensor heave DSH=aa, ASCII IN or NI Active position system number 0 to 2 APS=x, ASCII Position system 1 motion compensation P1M=x, ASCII 0 or 1 Position system 1 time stamp used P1T=x,...
  • Page 83 Output datagrams Table 43 Installation parameters (cont’d.) Data Description Example Format Valid range Note — Motion sensor 2 heading offset in degrees NSG=x.x, ASCII — — Gyrocompass heading offset in degrees GCG=x.x, ASCII — — Roll scaling factor MAS=x.x, ASCII Transducer depth sound speed source SHC=x, ASCII...
  • Page 84 Kongsberg EM Series 0 = the positions are not motion compensated 0 = the system has used its own time stamp for the valid time of the positions 1 = the system has used the time stamp of the position input datagram (external time).
  • Page 85 Output datagrams 15 Sensor input datagrams to be provided on given formats. Note Available from SIS version 3.7. — xxxx xxxx xxxx xxxx xxxx xx1x NMEA GGA — xxxx xxxx xxxx xxxx xxx1 xxxx NMEA ZDA — xxxx xxxx 1xxx xxxx xxxx xxxx NMEA GLL —...

  • Page 86: Runtime Parameters

    Kongsberg EM Series 3.5.2 Runtime parameters Table 44 Runtime parameters Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = R(untime parameter) (Always 052h) —...
  • Page 87 Output datagrams Table 44 Runtime parameters (cont’d.) Data Description Format Valid range Note Transmit along tilt in 0.1 deg. or -300 to 300 Durotong speed in dm/s 20000 to 25000 0 to 255 Filter identifier 2 or HiLo frequency absorption coefficient ratio 0 to 120 —...
  • Page 88 Kongsberg EM Series Table 45 Multi beam system status (cont’d.) Operator Station status BSP status EM 1002 Bit number Function Model — xxxx xxx1 Sample number error in RX data received from SPRX BSP status EM 120 and EM 300 —...
  • Page 89 Output datagrams Table 45 Multi beam system status (cont’d.) Operator Station status — xxxx xx1x Low voltage power out of range — xxxx x1xx Timeout error (SPRX waits for SPTX) — xxxx 1xxx Receive channel DC offset(s) out of range —...
  • Page 90 Kongsberg EM Series • xxxx 0011 - Deep • xxxx 0100 - Very deep • xxxx 0101 - Extra deep Ping mode (EM 2040) • xxxx 0000 - 200 kHz • xxxx 0001 - 300 kHz • xxxx 0010 - 400 kHz TX pulse form (EM 2040, EM 710, EM 302 and EM 122) •...
  • Page 91 Output datagrams • EM 2000: 200 kHz • EM 3000/3002: 300 kHz • EM 2040: 300 kHz The sound speed (at the transducer depth) source identifier is used as follows : • 0000 0000 - From real time sensor • 0000 0001 - Manually entered by operator •...
  • Page 92 Kongsberg EM Series • Temp = -0.013913*SSD+313.565 10 Receiver bandwidth values 1 to 254 for receiver bandwidth 50 Hz to 12.7 kHz. A value of 255 indicates bandwidth larger than 12.7 kHz. Filter identifier 2 or HiLo frequency absorption coeff: Penetration filter (EM 710, EM 302 and EM 122) •...
  • Page 93 Output datagrams Transmit pulse length The transmit pulse length may not be the same for all TX sectors, and the pulsforms may vary. The pulselength given here is 1/(transmit bandwidth) for the centre sector. FM pulse: 1/sweep bandwidth. The total TX pulselength for each sector can be found in the range and angle datagram.

  • Page 94: Mechanical Transducer Tilt

    Kongsberg EM Series 3.5.3 Mechanical transducer tilt Table 46 Mechanical transducer tilt datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) — — Type of datagram = J (Always 4Ah) —...

  • Page 95: Extraparameters Datagram

    Output datagrams 3.5.4 ExtraParameters datagram This datagram is used to give supplementary information, and contains information as specified by the Content identifier. Table 47 ExtraParameters 3 Data Description Format Valid range Note — — Number of bytes in datagram — —...
  • Page 96 Kongsberg EM Series File layout The angular correction table is made with 1 degree step, from 100 degrees port to 100 degrees starboard (201 elements). The angular offset in this file has been added to the beam angles in the raw range and angle datagram. File Comment EM 300...
  • Page 97 Output datagrams Each positioning system have an independent set of additional quality factors. The number of quality factors for each system must be specified. Default value is 0. Each quality factor is described by two entries, the quality factor itself and a limit, forming a pair. This results in a variable number of such pairs, depending on how many additional quality factors is set by the operator.
  • Page 98 Kongsberg EM Series Table 49 SOUNDSPEEDPROFILE_DATA (cont’d.) Name Type Data Description header, sourceID int32 the ID of the component sending the message. header, destinationID int32 the ID of the component receiving the message. sequenceNumber int32 A number incremented for each transmission of this message.

  • Page 99: Pu Information And Status

    Output datagrams 3.6 PU information and status Topics • PU ID output on page 97 • PU Status output on page 100 • PU BIST result output on page 103 3.6.1 PU ID output The PU Id datagram is broadcasted every second after the PU is powered up, until a host processor takes command of the Processing Unit through a PU0 datagram.
  • Page 100 Kongsberg EM Series Notes “1002” must be replaced with the name of the system. 1002 is for EM 1002, 120 for EM 120, 300 for EM 300, 710 for EM 710, 2000 for EM 2000, 3000 for EM 3000, 3020 for EM 3002, 302 for EM 302, 122 for EM 122, 121 for EM 121A, 850 for ME 70.
  • Page 101 Output datagrams EM 120 / EM 300: SPRX software version and SPTX software version. EM 710 / EM 302 / EM 122: RX32 software version and TX36 software version. EM 1002: SPRX software version and Hull Unit software version. EM 2000: Sonar Head software version on the third element and number four is empty.

  • Page 102: Pu Status Output

    Kongsberg EM Series 3.6.2 PU Status output The PU Status datagram is sent out every second if requested by the host processor. It has two functions, to indicate that the system is alive and receiving sensor data, and to give sensor data regularly for a potential screen update.
  • Page 103 Output datagrams Table 52 PU Status output (cont’d.) Data Description Example Format Valid range Note — Fixed gain in dB — Depth to normal incidence in m 7), 8) — Range to normal incidence in m 7), 9) — — Port Coverage in degrees 7), 9) —...
  • Page 104 Kongsberg EM Series Other sounders: Spare 11 0 = off 1 = active 2 = simulator 10 = ME 70 TRU – disconnected 11 = ME 70 TRU – mode change 12 The most significant bit (MSB) indicates sensor status: 0xxx xxxx = no data received 1xxx xxxx = data received The seven least significant bits (LSB) are used to indicate...

  • Page 105: Pu Bist Result Output

    Output datagrams 3.6.3 PU BIST result output The PU BIST (built in self test) result datagram is sent out as a result of a BIST command. The test result is given as an ASCII string plus a status value. For a dual EM 3000 / EM 3002 and BIST # 99 (used for startup), two datagrams are used, one for each head.
  • Page 106 Kongsberg EM Series When ’Test number’ is 99: -2 = OK (hull unit error/missing) 0 = error 1 = OK The text will always start with an identifying mnemonic. 850-160692/M...

  • Page 107: Sis Generated Output

    Output datagrams 3.7 SIS generated output Topics • APB Datagram on page 105 • DPT Datagram on page 105 • RTE Datagram on page 106 • WPL Datagram on page 106 • KSSIS 31 Datagram on page 107 3.7.1 APB Datagram APB Autopilot sentence according to NMEA 0183 version 2.3.

  • Page 108: Rte Datagram

    Kongsberg EM Series Table 55 DPT output datagram Data Description Format Valid Range Note — — Always 24h Start identifier = $ KA to KJ Talker identifier — — Sentence formatter Always DPT, x.x, — Water depth relative to transducer, meters 0 to 12,000 x.x, —...

  • Page 109: Kssis 31 Datagram

    Output datagrams 3.7.5 KSSIS 31 Datagram Datagram from SIS HWS sent to external applications containing a combined set of information per ping. Table 58 KSSIS 31 output datagram Data Description Format Valid Range Note — — Always 24h Start identifier = $ —...
  • Page 110 PU information and position, 6 status, 97 PTNL, GGK, 11 PU status, 100 Central beams echogram, 50 Simrad 90, 16 raw range and angle 78, 55 Clock datagrams, 27 SKR80, 26 raw range and beam ZDA format, 27 sound speed, 29...
  • Page 111 Index Seabed image data 89, 60 Seabed image datagram, 58 Simrad 90 datagram, 16 Single beam echo sounder depth datagrams, 35 SIS generated output, 105 Sound speed, 75 profile, 76 SSP, 77 Surface, 75 Sound speed at transducer, 39 Sound speed datagrams, 29...
  • Page 112 © 2010 Kongsberg Maritime...

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