User manual SIMRAD EM REV M

[. . . ] Instruction manual EM Series Multibeam echo sounders Datagram formats Kongsberg EM Series Multibeam echo sounder EM datagram formats 850-160692/M January 2010 Document history Document number: 850-160692 Changes: A new output datagram, Network Attitude Velocity datagram 110, is added. The range corrections applied is documented in the Raw range and angle 78 datagram. Installation, Runtime and status datagrams are updated with extra information. Updated PU information and status datagram to allow for EM 2040 datagrams ExtraParameters added in Multibeam parameters section Changes: Rev. [. . . ] Table 20 Remote Control datagrams Data Description Start identifier = $ Talker identifier Datagram identifier EM model number Responsible operator Survey identifier Survey line number Survey line identifier (planned line no) Comment Optional checksum End of datagram delimiter = \CRLF Format Always 24h aa Rxx, EMX=dddd, ROP=a--a, SID=a--a, PLN=d. . d, PLL=d--d, COM=a--a *hh 5Ch 0Dh 0Ah Valid range -- Capital letters R00 to R20 -- -- -- -- -- -- -- -- Note -- -- 1 -- 2 2 2 2 3 -- -- Notes 1 Rxx defines what action the system is to take with respect to pinging and logging of data in addition to changes in the parameters. Note that logging of survey data on local storage is not affected, this is determined by operator control from the menu only. · R00 - System to stop pinging (and logging if on) · R10 - System to stop all logging (but continue or start pinging). 850-160692/M 37 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). · R13 - System to start logging on new line to local storage only. 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. Only used for "External notification of SIS pinging and logging activity", see SIS Operator Manual. 3 38 850-160692/M 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. is also explained in the "External sensors" chapter in the SIS Reference Manual. 2. 7. 1 KSSIS 80 Datagram Sound velocity and temperature sent over LAN (UDP) to SIS HWS Table 21 KSSIS 80 input datagram Data Description Start identifier = $ Talker identifier Sentence formatter Datagram ID Sound speed (m/s) Temperature (Celsius) End if sentence delimiter = CRLF End if sentence delimiter = CRLF Format Always 24h Always KS Always SIS, Always 80, x. x, x. x Always 0Dh 0Ah Always 0Dh 0Ah Valid Range -- -- -- -- 1400. 0 ­ 1. 700 -- -- -- Note -- -- -- -- -- -- -- -- 850-160692/M 39 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 SIS generated output on page 105 3. 1 Introduction Output datagrams are usually logged to disk on the EM Series Operator Station. The output datagrams may also be exported to user provided programs on the Operator Station or on an external Ethernet network using UDP protocol (remote logging). The output datagrams are mostly in binary format using signed or unsigned integer numbers with lengths of 1, 2 or 4 bytes. With a PC based operator station little endian is normally used, while big endian is used on Unix work stations. The same byte order as used on the operator station is used for the output datagrams. Note Please be aware that the use of big endian is not maintained on the newer sounders (EM 3002, EM 710, EM 302 and EM 122), since the operator station is PC based running Windows or Linux. Note 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. The basic output datagram structure established with the EM 100 echo sounder is retained. · All datagrams (except the NMEA DPT datagram) start with STX, datagram type and time tag, and end with ETX and checksum (sum of bytes between STX and ETX). In addition the total length of the datagram (not including the length field) will precede the STX byte, given as a four byte binary number. 40 850-160692/M Output datagrams · The length field is only included when logging to tape and/or disk, but not for datagrams logged to a remote location. 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. · The time stamp resolution is 1 millisecond and includes the century. The date is given as 10000*year(4 digits) + 100*month + day, for example 19950226 for February 26, 1995. · The datagrams identify the multibeam echo sounder model and its serial number. The system model number is 120 for the EM 120, 300 for the EM 300, etc. For the EM 3000D (the dual head system) the model number was originally given as 3002 and the serial number is that of Sonar Head number 1. [. . . ] EM 2000: Sonar Head software version on the third element and number four is empty. EM 3000 / EM 3002: Sonar Head 1 software version and Sonar Head 2 software version. 7 This is the address derived from the source of the first PU0 datagram, it is 0. 0. 0. 0 if the PU is not controlled by a host processor. 850-160692/M 99 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. [. . . ]