Kongsberg EM series Instruction Manual
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Kongsberg EM series Instruction Manual

Multibeam echo sounders
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  • Page 1 Instruction manual EM Series Multibeam echo sounders Datagram formats...

  • Page 3: Em Datagram Formats

    Kongsberg EM Series Multibeam echo sounder EM datagram formats 850-160692/R October 2013 © Kongsberg Maritime AS...
  • Page 4 Kongsberg Maritime AS. The document, or any part of it, may not be translated to any other language without the written approval from Kongsberg Maritime AS.

  • Page 5: Table Of Contents

    Clock ......................27 ZDA format....................27 Sound speed datagrams ..................28 Overview ....................28 Kongsberg Maritime SSP format ..............29 AML Smart Sensor and AML Micro Sensor format ........32 Depth input datagrams from single beam echo sounder ........33 DBS Format ....................33 DPT Format ....................
  • Page 6 Single beam echo sounder depth ..............71 Tide datagram..................... 72 Sound speed......................73 Surface sound speed ................... 73 Sound speed profile datagram ..............74 Kongsberg Maritime SSP output datagram ........... 75 Multibeam parameters ....................76 Installation parameters ................76 Runtime parameters ..................84 Mechanical transducer tilt................93 ExtraParameters datagram ................
  • Page 7 EM datagram formats HANDLING OF .ALL–FILES ..........120 850-160692/R...
  • Page 8 Kongsberg EM Series 850-160692/R...

  • Page 9: Em Datagram Formats

    EM datagram formats 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...

  • Page 10: Presentation Format

    For binary fields, the length is given in number of bytes plus “U” for unsigned and “S” for signed data. Support information If you need technical support on the EM Series system you must contact a Kongsberg Maritime office. A list of all our support offices is provided on http://www.km.kongsberg.com.

  • Page 11: Input Datagrams

    Note The majority of these formats have not been defined by Kongsberg Maritime. Thus, these formats are not controlled by Kongsberg Maritime. Almost all input formats are ASCII. Serial line or Ethernet input to the multibeam echo sounder’s Processing Unit is most common, but some datagrams - which are not time...

  • Page 12: Overview

    Kongsberg EM Series • Tide Input on page 20 • Depth, pressure or height input on page 20 Overview The EM Series accepts position data in the following formats • NMEA 0183 GGA • GGK • PTNL, GGK • SIMRAD 90 •...
  • Page 13 Input datagrams In addition to position data from the GGA or GGK datagrams, speed and course over ground from NMEA VTG datagrams may also be copied into the position output datagram. These values may be useful in filtering of the positioning during postprocessing.

  • Page 14: Gga Datagram

    Kongsberg EM Series GGA Datagram Table 1 GGA Datagram Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always GGA, — UTC of position hhmmss.ss, 000000 to 235959.9...
  • Page 15 Input datagrams The GPS manufacturers may have different GPS quality indicators. When the quality factor of a GGA positioning system in use is 4 or 5 a height output datagram is automatically generated, and also if the quality factor is 3 or 8 and the operator has set the GGA position to be an RTK position.

  • Page 16: Ptnl, Ggk Local Coordinate Position Datagram

    Kongsberg EM Series PTNL, GGK Local coordinate position datagram 850-160692/R...

  • Page 17: Trimble Ggk Datagram

    Input datagrams Trimble GGK Datagram Table 2 GGK Datagram Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always GGK, — Time of position hhmmss.ss, 000000 to 235959.99... —...

  • Page 18: Vtg Datagram

    Kongsberg EM Series VTG Datagram Table 3 VTG Datagram Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letters — — Sentence formatter Always VTG, Course over ground, degrees true x.x,T, 0 to 359.9...

  • Page 19: Transponder Position

    Input datagrams Transponder position Table 4 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 20: Simrad 90 Position

    Kongsberg EM Series Simrad 90 Position Table 5 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 21 Input datagrams Notes The value of system descriptor defines the content of the datagram as follows. • 0 - The position is longitude latitude in global coordinates given in the fields noted A. • 1 - The position is Northing Easting on the Northern hemisphere given in the fields noted B.

  • Page 22: Tide Input

    Kongsberg EM Series Tide Input Table 7 Tide input datagrams Data Description Format Valid range Note — — Always 24h Start identifier = $ — Talker identifier Capital letter — — Sentence formatter Always TIDE, — Date and time of prediction / measurement...

  • Page 23: Attitude

    Input datagrams Attitude Topics • Overview on page 21 • EM Attitude input format on page 23 • Network attitude velocity input format on page 24 • Sperry MK-39 Attitude input format on page 25 • HDT format on page 26 •...
  • Page 24 Kongsberg EM Series EM 122, EM 302, EM 710, EM 2040 and EM 2040C use frequency modulated (FM) pulses to extend the detection range while 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 25: Em Attitude Input Format

    Input datagrams 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 • Byte 3: Roll LSB •...

  • Page 26: Network Attitude Velocity Input Format

    Kongsberg EM Series Network attitude velocity input format EM 122, EM 302, EM 710, EM 2040 and EM 2040C use 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 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 HDT format Table 9 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 Clock datagrams Topics • Clock on page 27 • ZDA format on page 27 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: Sound Speed Datagrams

    1 m and the number of entries to 100, a newer format given below without these limitations is recommended. This format is also accepted by the Kongsberg Maritime HIPAP and HPR underwater positioning systems (but not necessarily vice-versa). Note that a complete profile may be pieced together from several datagrams and edited with the Operator Station’s Sound...

  • Page 31: Kongsberg Maritime Ssp Format

    Input datagrams Kongsberg Maritime SSP format Table 11 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, — Data set identifier...
  • Page 32 Kongsberg EM Series Table 12 SSP format Identifier Input data Data to be used Comment Same as S10, but used immediately. D,c,T,S D,c,α(D,T,S,L) Same as S12, but used immediately. D,T,S D,c(D,T,S,L),α(D,T,S,L) Same as S22, but used immediately. D,T,C D,c(D,T,C,L),α(D,T,S,L) Same as S32, but used immediately.
  • Page 33 Input datagrams Same date and time for all frequencies. The positions, atmospheric pressure and comment fields are optional. Note that the option field must not include a \. It is recommended to include sensor type in the comment field. The field is only present/valid for S13, S23, S33, S43, S53. These datagrams contain absorption coefficients directly and are only valid for the given frequency.

  • Page 34: Aml Smart Sensor And Aml Micro Sensor Format

    Kongsberg EM Series 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 35: Depth Input Datagrams From Single Beam Echo Sounder

    Depth datagrams from a single beam echo sounder are accepted for display and logging on the system. 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. DBS Format Table 16 DBS Format...

  • Page 36: Simrad Format

    Kongsberg EM Series Table 17 DPT Format (cont'd.) Data Description Format Valid range Note x.x, — — Maximum range scale in use — — Checksum — — End of sentence delimiter = CRLF Always 0Dh 0Ah Notes A negative value implying that the offset is from the keel should not be used.

  • Page 37: Remote Control Datagrams

    Input datagrams 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 38 Kongsberg EM Series • R20 - System to send “IUR”. • The current version of SIS does not support R11 and R13. On SIS, the effect of R00, R10 and R12 datagrams is exactly the same as if the operator has used the pinging and logging buttons.

  • Page 39: Sound Speed At Transducer

    Input datagrams 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. is also explained in the “External sensors” chapter in the SIS Reference Manual.

  • Page 40: Output Datagrams

    We recommend that software written to decode EM Series data includes a check for the byte ordering with a provision for byte swapping. Suitable data fields to check on are the length field at the start of the datagram, the EM Series model number field and possibly the date and time fields.
  • Page 41 The length can then be derived from the network software. Systems logging data remotely should add this length at the start of each datagram. This length is required if the data are to be used with Kongsberg Maritime post-processing systems.

  • Page 42: Multibeam Data

    Kongsberg EM Series Multibeam data Topics • Depth datagram on page 40 • XYZ 88 on page 43 • Central beams echogram on page 46 • Raw range and beam angle (F) on page 48 • Raw range and beam angle (f) on page 49 •...
  • Page 43 Output datagrams Table 21 Depth datagram (cont'd.) Data Description Format Valid range Note 300 to 30000 Sampling rate (f) in Hz Depth difference between sonar heads in the EM -32768 to 32766 3000D — — Repeat cycle — N entries of : 16*N Depth (z) from transmit transducer 2S or 2U...
  • Page 44 Kongsberg EM Series 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 45: Xyz 88

    Output datagrams XYZ 88 Note This datagram is used for the models EM 2040, EM 2040C, EM 710, EM 122, EM 302 and ME70BO. All receiver beams are included, check detection info and real time cleaning for beam status (note 4 and 5). Table 23 XYZ 88 Data Description Format...
  • Page 46 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.
  • Page 47 Output datagrams BAC = atan( z / abs(y) ) + IBA. BAC is positive downwards and IBA will be positive when the beam is bending towards the bottom. This parameter can be helpful for correcting seabed imagery data and in seabed classification. Only used by EM 2040.

  • Page 48: Central Beams Echogram

    Kongsberg EM Series Central beams echogram Note This datagram is only available for EM 120 and EM 300. Table 24 Central beams echogram Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) —...
  • Page 49 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 50: Raw Range And Beam Angle (F)

    Kongsberg EM Series Raw range and beam angle (F) Note Only used for EM 3000 Table 25 Raw range and beam angle datagrams Data Description Format Valid range Note — — Number of bytes in datagram — — Start identifier = STX (Always 02h) —...

  • Page 51: Raw Range And Beam Angle (F)

    Output datagrams Raw range and beam angle (f) Note Used for EM 120, EM 300, EM 1002, EM 2000, EM 3000 and EM 3002 Table 26 Raw range and beam angle datagrams Data Description Format Valid range Note — — Number of bytes in datagram —...
  • Page 52 Kongsberg EM Series Table 26 Raw range and beam angle datagrams (cont'd.) Data Description Format Valid range Note — — Spare — Spare (Always 0) — — End identifier = ETX (Always 03h) — — Check sum of data between STX and ETX...

  • Page 53: Raw Range And Angle 78

    Output datagrams Raw range and angle 78 Note Used for EM 122, EM 302, EM 710, ME70 BO, EM 2040 and EM 2040C. All receiver beams are included, check detection info and real time cleaning for beam status (see note 3 and 4). Table 27 Raw range and beam angle 78 datagram Data Description Format...
  • Page 54 Kongsberg EM Series Table 27 Raw range and beam angle 78 datagram (cont'd.) Data Description Format Valid range Note — D corr — Two way travel time in s — Reflectivity (BS) in 0.1 dB resolution — Real time cleaning info —...
  • Page 55 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. The Doppler correction applied in FM mode is documented here to allow the uncorrected slant ranges to be recreated if desired.

  • Page 56: Seabed Image Datagram

    Kongsberg EM Series Seabed image datagram Note This datagram is used for EM 2000, EM 3000, EM 3002, EM 1002, EM 300 and EM 120. Table 28 Seabed image datagram Data Description Format Valid range Note — — Number of bytes in datagram —...

  • Page 57: Notes

    Output datagrams Notes These fields have earlier had other definitions. The beam index number is the beam number -1. The first sample in a beam has lowest range if 1, highest if -1. Note that the range sampling rate is defined by the sampling rate in the depth output datagram and that the ranges in the seabed image datagram are all two-way from time of transmit to time of receive.

  • Page 58: Seabed Image Data 89

    Kongsberg EM Series Seabed image data 89 Note Used for EM 122, EM 302, EM 710, ME70 BO, EM 2040 and EM 2040C. Table 29 Seabed image data 89 datagram Data Description Format Valid range Note — — Number of bytes in datagram —...

  • Page 59: A) If The Most Significant Bit (Bit7) Is Zero, This Beam Has A Valid Detection. Bit

    Output datagrams 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 (0xxx 0000) 1= Phase detect (0xxx 0001) 2-15= Future use B) If the most significant bit (bit7) is 1, this beam has an invalid detection.

  • Page 60: Water Column Datagram

    Kongsberg EM Series Water column datagram Note Used for EM 122, EM 302, EM 710, EM 2040, EM 3002 and ME70BO. The receiver beams are roll stabilized. Table 30 Water column datagram Data Description Format Valid range Note — Number of bytes in datagram 48 to 65535 —...
  • Page 61 Output datagrams Table 30 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 62: Quality Factor Datagram 79

    Kongsberg EM Series Quality factor datagram 79 Note Used for EM 122, EM 302, EM 710, EM 2040, EM 2040C, EM 3002 and ME70BO. Table 31 Quality factor datagram 79 Data Description Format Valid range Note – Number of bytes in datagram –...
  • Page 63 Output datagrams References: Lurton X., Augustin J.M., "A Measurement Quality Factor for Swath Bathymetry Sounders", IEEE Journal Of Oceanic Engineering, 35 (4), pp.852-862 (2010) Lurton X., Ladroit Y., Augustin J.M., "A Quality Estimator of Acoustic Sounding Detection" The International Hydrographic Review, Nov.2010, vol.4, pp 35-45 (2010) Currently, only one parameter is defined, i.e.

  • Page 64: External Sensors

    Kongsberg EM Series External sensors Topics • Attitude datagram on page 62 • Network attitude velocity datagram 110 on page 64 • Clock on page 66 • Depth (pressure) or height datagram on page 67 • Heading on page 68 •...
  • Page 65 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 66: Network Attitude Velocity Datagram 110

    Kongsberg EM Series Network attitude velocity datagram 110 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 67 Output datagrams Complete input datagram. Header is kept for identification: POS M/V: $GRP102 or $GRP103 (ASCII) CodaOctopus MCOM: E8h Seapath binary 11: q (ASCII) Seapath binary 23: AAh 51h An extra byte is added at the end of the input datagram if needed for alignment. 850-160692/R...

  • Page 68: Clock

    Kongsberg EM Series 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 69: Depth (Pressure) Or Height Datagram

    Output datagrams 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 70: Heading

    Kongsberg EM Series 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 71: Position

    Output datagrams 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) — — EM model number (Example: EM 3000 = 3000) —...
  • Page 72 Kongsberg EM Series • 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). 850-160692/R...

  • Page 73: Single Beam Echo Sounder Depth

    Output datagrams 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 74: Tide Datagram

    Kongsberg EM Series 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 75: Sound Speed

    Output datagrams Sound speed Topics • Surface sound speed on page 73 • Sound speed profile datagram on page 74 • Kongsberg Maritime SSP output datagram on page 75 Surface sound speed Table 40 Surface sound speed datagram Data Description Format...

  • Page 76: Sound Speed Profile Datagram

    Kongsberg EM Series 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.

  • Page 77: Kongsberg Maritime Ssp Output Datagram

    Output datagrams 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 78: Multibeam Parameters

    Kongsberg EM Series Multibeam parameters Topics • Installation parameters on page 76 • Runtime parameters on page 84 • Mechanical transducer tilt on page 93 • ExtraParameters datagram on page 94 Installation parameters This datagram is an ASCII datagram except for the header which is formatted as in all other output datagrams.
  • Page 79 Output datagrams Table 43 Installation parameters (cont'd.) Data Description Example Format Valid range Note — RX no. 2, serial number 100 – R2S=x-x, ASCII 0– 4 System transducer configuration STC=x, ASCII Transducer 0 vertical location in m S0Z=x.x, ASCII Transducer 0 along location in m S0X=x.x, ASCII Transducer 0 athwart location in m...
  • Page 80 Kongsberg EM Series Table 43 Installation parameters (cont'd.) Data Description Example Format Valid range Note — Operator station software version OSV=c—c, ASCII — Datagram format version DSV=c—c, ASCII — — Depth (pressure) sensor along location DSX=x.x, ASCII in m —...
  • Page 81 Output datagrams Table 43 Installation parameters (cont'd.) Data Description Example Format Valid range Note — Motion sensor 1 along location in m MSX=x.x, ASCII — Motion sensor 1 athwart location in m MSY=x.x, ASCII Motion sensor 1 roll reference plane MRP=aa, ASCII HO or RP...
  • Page 82 Kongsberg EM Series Table 43 Installation parameters (cont'd.) Data Description Example Format Valid range Note — — Responsible operator ROP=c–c, ASCII — — Survey identifier SID=c–c, ASCII — Raw File Name RFN=c–c ASCII — Survey line identifier (planned line no) PLL=x—x,...
  • Page 83 Output datagrams 10 0 – Attitude velocity sensor not used. 1 – Attitude velocity sensor 1 active. 2 – Attitude velocity sensor 2 active. (If VSN = 0, the other VSx parameters are not relevant and need not to be sent.) It is assumed that attitude velocity sensor 1 and motion sensor 1 is the same physical unit and share the installation parameters MSx.
  • Page 84 Kongsberg EM Series Note The RFN parameter contains the file name with the extension (.all or.wcd), but not the storage path. Raw File Name convention: LineNo_YYYYMMDD_HHMMSS(UTC)_ShipName.all 18 The comment field may contain any ASCII characters. 19 Transducer 1–3 (S0–S3) will have different function depending on type of echo...
  • Page 85 Output datagrams 23 Specifies input port for active heading sensor. 0 – UDP2 (position system 3) 1 – COM1 (position system 1) 2 – COM2 (motion sensor 1) 3 – COM3 (motion sensor 2 or position system 2) 4 – COM4 (position system 3) 5 –...

  • Page 86: Runtime Parameters

    Kongsberg EM Series 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 Filter identifier 2 or 0 to 255 HiLo frequency absorption coefficient ratio 0 to 120 —...
  • Page 88 Kongsberg EM Series Table 45 Multi beam system status (cont'd.) xxx1 xxxx Error on RX data received by BSP 2 EM 3000D, EM 3002D (May be a bad high speed link) xx1x xxxx Too much seabed image data on BSP2...
  • Page 89 Output datagrams Table 45 Multi beam system status (cont'd.) xxxx 1xxx Error on data from CBMF 4 – slave PU Sonar Head status EM 2000, EM 3000 and EM 3002 Bit number Function Model xxxx xxx1 Temperature to high on Sonar Head 1 EM 2000, EM 3000, EM 3000D, EM 3002, EM 3002D...
  • Page 90 Kongsberg EM Series Table 45 Multi beam system status (cont'd.) — xxxx x1xx Transmit voltage (HV) to high — xxxx 1xxx Error in command from PU (Illegal parameter) — xxx1 xxxx Error in command from PU (Bad checksum) — xx1x xxxx...
  • Page 91 Output datagrams • 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 92 Kongsberg EM Series • EM 120/EM 122: 12 kHz • EM 300/EM 302: 31.5 kHz • EM 710: 85 kHz • ME70BO: 85 kHz • EM 1002: 95 kHz • EM 2000: 200 kHz • EM 3000/EM 3002: 300 kHz •...
  • Page 93 Output datagrams • xxxx xx11 - Yaw stabilization to manually entered heading • xxxx 00xx - Heading filter, hard • xxxx 01xx - Heading filter, medium • xxxx 10xx - Heading filter, weak • 1xxx xxxx - Pitch stabilization is on. Port swath width and coverage was in earlier versions the sum of port and starboard EM 3002, EM 2040, EM 3000, EM 710, EM 302, and EM 122: Transmit along tilt value, used to offset the along-ship tilting of transmit fan (called...
  • Page 94 Kongsberg EM Series HiLo frequency absorption coefficient ratio (EM 1002) 0 – 120 12 Mode 2 or RX fixed gain RX array use (EM 2040) • xxxx xx00 - Off (RX inactive) • xxxx xx01 - RX 1 (port) active •...

  • Page 95: Mechanical Transducer Tilt

    Output datagrams 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 96: Extraparameters Datagram

    Kongsberg EM Series 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 97 Output datagrams 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 98 Kongsberg EM Series defined, no pairs are included. The sequence of pairs is important. First, all pairs for positioning system 1 is listed, if any. Next any pairs for positioning system 2 and at the end, any pairs for positioning system 3.
  • Page 99 Output datagrams Table 49 SOUNDSPEEDPROFILE_DATA (cont'd.) Name Type Data Description Repeat cycle - N entries of SSP: 12*N Array containing the official sound speed points sorted with ascending depth order. soundSpeedPoint, depth real32 Depth in meters soundSpeedPoint, speed real32 Sound speed in m/s. End of repeat cycle The time the official TP was recorded.
  • Page 100 Kongsberg EM Series Notes The sensor input status is coded in accordance with that given in the PU Setup datagram, but indicates which sensor datagram types are actually being received on the respective ports. Content identifier = 6: Bscorr.txt file In order to calibrate real-time back scatter levels, correction values may be incorporated in a file called bscorr.txt and downloaded to the TRU (or PU).

  • Page 101: Pu Information And Status

    Output datagrams PU information and status Topics • PU ID output on page 99 • PU Status output on page 102 • PU BIST result output on page 105 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 102 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 ME70BO, 2040 for EM 2040, 2045 for EM 2040C.
  • Page 103 Output datagrams 0 1xxx xxxxb EM 2040 Dual TX (2*TX and 2*RX) 1 0xxx xxxxb spare 1 1xxx xxxxb EM 2040P Old sounders (hex format): xx xx xx 01h – EM 1002S xx xx xx 02h – EM 952 xx xx xx 03h – EM 1002: with Hull Unit xx xx xx 04h –...

  • Page 104: Pu Status Output

    Kongsberg EM Series 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 105 Output datagrams Table 53 PU Status output (cont'd.) Data Description Example Format Valid range Note — Depth to normal incidence in m 7), 8) — Range to normal incidence in m 7), 9) — — Port Coverage in degrees 7), 9) —...
  • Page 106 Kongsberg EM Series 2 = simulator 10 = ME70BO TRU – disconnected 11 = ME70BO TRU – mode change 12 The two most significant bit (MSB) indicates sensor status: 00xx xxxx = no data received 10xx xxxx = data received from attitude velocity system 1...

  • Page 107: Pu Bist Result Output

    Output datagrams 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 108 Kongsberg EM Series The text will always start with an identifying mnemonic. 850-160692/R...

  • Page 109: Sis Generated Output

    Output datagrams SIS generated output Topics • APB Datagram on page 107 • DPT Datagram on page 107 • RTE Datagram on page 108 • WPL Datagram on page 108 • KSSIS 31 Datagram on page 109 APB Datagram APB Autopilot sentence according to NMEA 0183 version 2.3. Table 55 APB output datagram Data Description Format...

  • Page 110: Rte Datagram

    Kongsberg EM Series Table 56 DPT output datagram Data Description Format Valid Range Note — — Always 24h Start identifier = $ Talker identifier KA to KJ — — Sentence formatter Always DPT, x.x, — Water depth relative to transducer, meters 0 to 12,000 x.x,...

  • Page 111: Kssis 31 Datagram

    Output datagrams KSSIS 31 Datagram Datagram from SIS HWS sent to external applications containing a combined set of information per ping. Table 59 KSSIS 31 output datagram Data Description Format Valid Range Note — — Always 24h Start identifier = $ —...

  • Page 112: Em 2040 Details

    Kongsberg EM Series Appendix A EM 2040 details EM 2040 transducer installation offsets For most EM type echo sounders, all elements in the TX and RX transducer arrays are used for all beams, giving a common x,y,z location for each transducer. But for the EM 2040 this is different.
  • Page 113 Appendix A EM 2040 details Figure 1 Typical EM 2040 transducer configuration viewed from above (single RX) TX array offsets: Figure 2 TX transducer seen from behind (default orientation): 850-160692/R...
  • Page 114 Kongsberg EM Series When the TX array is mounted at default orientation, i.e. plug on port side, element # 1 at aft, the x,y,z positions for the 3 TX line arrays relative to the centre of the array face are:...
  • Page 115 Appendix A EM 2040 details “Repeat cycle 1” entries – first cycle is transmit sector 0, second cycle is transmit sector 1 etc. Note that in the receive beam section of the datagram (Repeat cycle 2), “Transmit sector number” still means just that – transmit sector. Example: •...
  • Page 116 Kongsberg EM Series • Figure 4 Excerpt of the “Raw range and angle 78” datagram: 850-160692/R...

  • Page 117: Em 2040 Dual Rx

    Appendix A EM 2040 details EM 2040 Dual RX For Dual RX, the installation coordinates (x, y, z) and angles (roll, pitch, heading) are given by the following parameters in the “Installation parameters” datagram: S1X, S1Y, S1Z, S1R, S1P, S1H RX1 (port): S2X, S2Y, S2Z, S2R, S2P, S2H RX2 (starboard):...

  • Page 118: Em 2040 Scanning Mode

    Kongsberg EM Series Data description Example Format Valid range Note – – Number of bytes in datagram – Start identifier = Always 02h – 49h, 69h, 70h Type of datagram = I, I or r – EM model number EM 2040 = 2040 –...
  • Page 119 Appendix A EM 2040 details Example: Scanning with 3 sectors. Ping counter Scanning info Swath number Due to lack of spare bytes, the Scanning info is not directly coded into “Raw range and angle 78” and “Seabed image data 89” datagrams. In order to couple together data from these datagram types, the “Scanning info”...

  • Page 120: Em 2040C Installation Offsets

    Kongsberg EM Series Appendix B EM 2040C installation offsets For the EM 2040C, the TX and RX arrays are integrated into a common sonar head. The transducer arrays are not placed at the centre of the sonar head. The EM 2040C can have one or two sonar heads.

  • Page 121: B Em 2040C Installation Offsets

    Appendix B EM 2040C installation offsets The “System serial numbers” for the two sonar heads are found in the header of the “Installation parameters” datagram. The parameters called “System serial number” is valid for SH1, while the parameter called “Secondary system serial number” is valid for SH2.
  • Page 122 Handling of .all–files The Seafloor Information System, SIS, is responsible for logging all the data from the Kongsberg multibeam echosounder systems, MBES. In addition SIS will display real time digital terrain models made from these data. SIS runs on a PC-architecture computer running Windows. Data from the MBES arrives at the PC via an Ethernet connection as UDP packets of variable length.
  • Page 123 Appendix C Handling of .all–files by one depth datagram in the previous line, and the next position datagram is found in the beginning of the next line. To interpolate the correct position for the last depth datagram, the position datagram just before it must be used together with the position datagram in the following line.
  • Page 124 Kongsberg EM Series Index .all, 120 water column datagram, 58 XYZ 88, 43 all-files Multibeam parameters, 76 handling, 120 ExtraParameters, 94 Attitude, 21 GGA datagram, 12 Installation parameters, 76 HDT format, 26 GGK datagram, 15 Mechanical transducer input format, 23...
  • Page 125 Index Attitude, 21 Position data, 10 Water column datagram, 58 Position Depth pressure or height, 20 ZDA datagram, 27 GGA, 12 GGK, 15 PTNL GGK, 14 Simrad 90, 18 Tide input, 20 Transponder, 17 VTG, 16 Position data Overview, 10 Position datagram, 9 Presentation format, 8 PTNL GGK datagram, 14...
  • Page 126 © 2013 Kongsberg Maritime...

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