Kongsberg EM 304 MKII Multibeam echosounder Owner's manual

Instruction manual

EM Series

Multibeam echo sounders

Datagram formats

KongsbergEMSeries

Multibeamechosounder

EMdatagramformats

850-160692/X

January2022©KongsbergMaritimeAS

Documenthistory

Documentnumber:850-160692

Rev.OMarch2012GeneralupdateincludingupdatesforSIS3.9

Rev.PJune2012UpdatedQualityfactordatagram79,addedappendixB

“Handlingof.allles”

Rev.QFebruary2013GeneralupdateincludingupdatesforEM2040CandSIS4.0

Rev.ROctober2013

Rawrangeandbeamangle78datagram:Qualityfactorcorrected

toQF=2500*sd/dr(WasQF=250*sd/dr).

MultibeaminstallationparametersupdatedforEM2040Dual

TX.

Rev.SMay2015

Soundspeedproledatagram,Timesincemidnightissentas

seconds,notmilliseconds.

Installationparameters,Systemtransducerconguration

parameter(STC):moreoptionsadded.

PUIDouttput,Systemdescriptor:moreoptionsadded.

AddedExtradetectionsdatagram.

Minortextcorrections.

Rev.TJune2015AddeddatainExtradetectionsdatagram

Rev.UJune2015Addedinfo.aboutsupportofSeatexbinary26format

Rev.VJuly2016AddedinfoaboutEM2040PandEM2040Minstallationoffsets

Rev.WJanuary2017AddedinfoaboutSTCparameterandinstallationoffsetsforEM

2040M1500mversion

Rew.XJanuary2022Correctedtypingerroronpage86:Installationparameters,NOTE

201PPSsetup:1isrisingedgedetect,2isfallingedgedetect

Copyright

TheinformationcontainedinthisdocumentremainsthesolepropertyofKongsbergMaritimeAS.Nopart

ofthisdocumentmaybecopiedorreproducedinanyformorbyanymeans,andtheinformationcontained

withinitisnottobecommunicatedtoathirdparty,withoutthepriorwrittenconsentofKongsberg

MaritimeAS.Thedocument,oranypartofit,maynotbetranslatedtoanyotherlanguagewithoutthe

writtenapprovalfromKongsbergMaritimeAS.

Disclaimer

KongsbergMaritimeASendeavourstoensurethatallinformationinthisdocumentiscorrectandfairly

stated,butdoesnotacceptliabilityforanyerrorsoromissions.

Warning

Theequipmenttowhichthismanualappliesmustonlybeusedforthepurposeforwhichitwas

designed.Improperuseormaintenancemaycausedamagetotheequipmentand/orinjury

topersonnel.Allusersmustbefamiliarwiththecontentsoftheappropriatemanualsbefore

attemptingtoinstall,operate,maintainorinanyotherwayworkontheequipment.

KongsbergMaritimeASdisclaimsanyresponsibilityfordamageorinjurycausedbyimproper

installation,useormaintenanceoftheequipment.

Supportinformation

Ifyourequiremaintenanceorrepair,contactoneofourofces,distributorsordealers.Youcanalsocontact

ususingthefollowingaddress:[email protected].Ifyouneedinformationabout

ourotherproducts,visithttp://www.km.kongsberg.com.

SeealsoSupportinformationonpage8.

KongsbergMaritimeAS

www.kongsberg.com

EMdatagramformats

Tableofcontents

EMDATAGRAMFORMATS..................................................7

Presentationformat...................................................................................................8

Supportinformation.................................................................................................8

INPUTDATAGRAMS..........................................................9

Position.....................................................................................................................9

Overview...................................................................................................10

GGADatagram..........................................................................................12

PTNL,GGKLocalcoordinatepositiondatagram..........................................14

TrimbleGGKDatagram..............................................................................15

VTGDatagram...........................................................................................16

Transponderposition...................................................................................17

Simrad90Position......................................................................................18

TideInput..................................................................................................20

Depth,pressureorheightinput...................................................................20

Attitude..................................................................................................................21

Overview...................................................................................................21

EMAttitudeinputformat............................................................................23

Networkattitudevelocityinputformat.........................................................24

SperryMK-39Attitudeinputformat............................................................25

HDTformat................................................................................................26

SKR80format............................................................................................26

Clockdatagrams.....................................................................................................27

Clock.........................................................................................................27

ZDAformat................................................................................................27

Soundspeeddatagrams..........................................................................................28

Overview...................................................................................................28

KongsbergMaritimeSSPformat.................................................................29

AMLSmartSensorandAMLMicroSensorformat......................................32

Depthinputdatagramsfromsinglebeamechosounder........................................33

DBSFormat...............................................................................................33

DPTFormat...............................................................................................33

Simradformat.............................................................................................34

Remotecontroldatagrams......................................................................................35

Soundspeedattransducer......................................................................................37

KSSIS80Datagram....................................................................................37

OUTPUTDATAGRAMS......................................................38

Introduction............................................................................................................38

Multibeamdata.......................................................................................................40

Depthdatagram..........................................................................................40

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KongsbergEMSeries

XYZ88......................................................................................................43

Extradetections..........................................................................................46

Centralbeamsechogram.............................................................................50

Rawrangeandbeamangle(F).....................................................................52

Rawrangeandbeamangle(f)......................................................................53

Rawrangeandangle78..............................................................................55

Seabedimagedatagram...............................................................................58

Seabedimagedata89..................................................................................60

Watercolumndatagram...............................................................................62

Qualityfactordatagram79..........................................................................64

Externalsensors......................................................................................................66

Attitudedatagram.......................................................................................66

Networkattitudevelocitydatagram110.......................................................68

Clock........................................................................................................70

Depth(pressure)orheightdatagram.............................................................71

Heading....................................................................................................72

Position.....................................................................................................73

Singlebeamechosounderdepth.................................................................75

Tidedatagram.............................................................................................76

Soundspeed............................................................................................................77

Surfacesoundspeed...................................................................................77

Soundspeedproledatagram......................................................................78

KongsbergMaritimeSSPoutputdatagram...................................................79

Multibeamparameters............................................................................................80

Installationparameters................................................................................80

Runtimeparameters....................................................................................89

Mechanicaltransducertilt............................................................................98

ExtraParametersdatagram...........................................................................99

PUinformationandstatus....................................................................................104

PUIDoutput............................................................................................104

PUStatusoutput......................................................................................107

PUBISTresultoutput...............................................................................110

SISgeneratedoutput............................................................................................112

APBDatagram.........................................................................................112

DPTDatagram.........................................................................................112

RTEDatagram..........................................................................................113

WPLDatagram.........................................................................................113

KSSIS31Datagram..................................................................................114

AEM2040DETAILS.........................................................115

EM2040transducerinstallationoffsets...............................................................115

EM2040DualRX................................................................................................120

EM2040Scanningmode.....................................................................................121

4850-160692/X

EMdatagramformats

BEM2040CINSTALLATIONOFFSETS..............................123

CEM2040PINSTALLATIONOFFSETS..............................125

TXarrays..............................................................................................................126

RXarray...............................................................................................................126

DEM2040MINSTALLATIONOFFSETS..............................127

EM2040M...........................................................................................................127

TXarrays.................................................................................................127

RXarray..................................................................................................128

EM2040M1500mversion..................................................................................128

TXarrays.................................................................................................128

RXarray..................................................................................................128

EHANDLINGOF.ALL–FILES............................................129

850-160692/X5

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EMdatagramformats

ThedatainputandoutputformatstoandfromtheEMSeriesmultibeamechosounders

aredescribedinthisdocument.TheinformationappliestotheKongsbergMaritime

multibeamechosoundersintroducedafter1995.

Note

TheinformationhereinappliestotheEM3002,EM3000,EM2040,EM2000,EM

1002,EM710,EM302,EM122,ME70BO,EM300andEM120multibeamecho

sounders.Someoftheinformationmaynotberelevantforyourspecicsystem.Please

disregardthis.

InformationforEM2040isvalidforallmodelsofEM2040,unlessotherwisespecied.

TheinformationinthisdocumentisnotvalidfortheEM12,EM100,EM950andEM

1000multibeamechosounders.

Note

Inordertomeetspecialcustomerrequirements,KongsbergMaritimemayhaveto

changethedatagramformatsdescribedhere.Theformatspresentedinthisdocument

maythereforebealteredwithoutpriornotice,althoughbackwardcompatibilitywill

bemaintainedasfaraspossible.Beforesoftwareiswritteninaccordancewiththis

document,itisstronglyrecommendedtocontactKongsbergMaritimetoensurethatthe

latestversionisused,andthatanyplannedchangesaretakenintoaccount.

850-160692/X7

KongsbergEMSeries

Presentationformat

TheformatdescriptionisaccordingtotheNMEA0183standard,ApprovedParametric

SentenceStructure,withtheASCIIcharacter(s)givenasfollows

•“x.x”denesavariablelengthnumericaleld,withoptionallyincludeddecimal

pointandsign.

•“c–c”denesavariablelengtheldofprintablecharacters.

•“x–x”denesavariablelengtheldofnumericcharacters.

•“a__”denesaxedlengtheldofalphabeticalcharacters(e.g.“aa”=twocharacter

longeld.

•“x__”denesaxedlengtheldofnumericcharacters.

Forbinaryelds,thelengthisgiveninnumberofbytesplus“U”forunsignedand

“S”forsigneddata.

Supportinformation

IfyouneedtechnicalsupportontheEMSeriessystemyoumustcontacta

KongsbergMaritimeofce.Alistofalloursupportofcesisprovidedon

http://www.km.kongsberg.com.

YoucanalsocontactourmainsupportofceinNorway.

•Address:Strandpromenaden50,3190Horten,Norway

•Telephone:

–+47-33034100

–+47-33032407

•Telephone,24h:+47-3303-2407

•E-mailaddress:[email protected]

•Website:http://www.km.kongsberg.com

8850-160692/X

Inputdatagrams

Topics

•Positiononpage9

•Attitudeonpage21

•Clockdatagramsonpage27

•Soundspeeddatagramsonpage28

•Depthinputdatagramsfromsinglebeamechosounderonpage33

•Remotecontroldatagramsonpage35

•Soundspeedattransduceronpage37

Onlyalimitednumberofinputformatsfromexternalsensorsareaccepted.Theseare

primarilyinaccordancewiththeNMEA0183specication,orbasedupontheprinciples

ofthatspecication.

Note

ThemajorityoftheseformatshavenotbeendenedbyKongsbergMaritime.Thus,these

formatsarenotcontrolledbyKongsbergMaritime.

AlmostallinputformatsareASCII.SeriallineorEthernetinputtothemultibeamecho

sounder’sProcessingUnitismostcommon,butsomedatagrams-whicharenottime

critical-areinterfacedonserialline(s)orEthernettotheOperatorStation.

Position

Topics

•Overviewonpage10

•GGADatagramonpage12

•PTNL,GGKLocalcoordinatepositiondatagramonpage14

•TrimbleGGKDatagramonpage15

•VTGDatagramonpage16

•Transponderpositiononpage17

•Simrad90Positiononpage18

850-160692/X9

KongsbergEMSeries

•TideInputonpage20

•Depth,pressureorheightinputonpage20

Overview

TheEMSeriesacceptspositiondatainthefollowingformats

•NMEA0183GGA

•GGK

•PTNL,GGK

•SIMRAD90

•Transponderposition

•WiththeGGAandGGKdatagrams,informationcontainedinNMEA0183GSTand

VTGdatagramswillalsobeacceptedandused.

Note

TheGSTdatagramisnotusedbythefollowingmultibeamechosounders:EM122,

EM302,EM710,EM2040,EM2040C,EM3002andME70BO.

•AdatagramformatforSonarHeaddepthisprovidedfortheEM3002,EM3000,EM

2040,EM2000andEM710.Notethattheformatisthesameasthatusedbythe

ParoscienticDigiquartzpressuresensor.Thisformatmayalsobeusedforinputof

forexamplevaryingdatumheightsorotherspecialheightinformationonallmodels.

•Adatagramformatforinputoftidalheightisprovided.

TheGGAformatgivenbelowisaccordingtotheNMEA0183version2.30description.

TheGGKformatwasoriginallydenedbytheUSArmyCorpsofEngineersfortheir

testswithkinematicGPS.Trimble’sproprietaryversionoftheformat,PTNLGGK,is

supported.Ifanychangestotheformataremade,andifitbecomespartoftheNMEA

standard,thiswillbeimplemented.

TopreservetheinherentaccuracyofthekinematicGPSdataitisnecessarytocorrect

thedataforvesselmotion.Thisrequiresaccuratetimingsynchronisationbetweenthe

motionsensorandtheGPSreceiver.Itisthereforeimperativethat

•thepositiondatagramhasaconstantandknowntimedelay,

or

•thetimestampinthedatagramisactuallythetimeofthepositionx,that

synchronisationtothe1PPSsignaloftheGPSreceiverisenabled,andthatthesystem

clockhasbeensetcorrectly.

Asneitheroftheseconditionsmaynotbepossibletoachievewithasufcientaccuracy,

theapplicationofmotioncorrectionisoperatorselectable.Motioncompensationmaybe

appliedtomostofthepositioninputdatagrams.

10850-160692/X

Inputdatagrams

InadditiontopositiondatafromtheGGAorGGKdatagrams,speedandcourse

overgroundfromNMEAVTGdatagramsmayalsobecopiedintotheposition

outputdatagram.Thesevaluesmaybeusefulinlteringofthepositioningduring

postprocessing.IfaVTGdatagramdoesnotfollowtheGGAorGGKdatagramthe

courseandspeedeldsoftheoutputdatagramswillbesettotheirinvalidvalues.

AsanalternativetoGGA,theSIMRAD90formatpositiondatagrammaybeused.

TheSIMRAD90formatisintendedtobetheformatofchoicewhenthepositioning

systemisnotastand-aloneGPSreceiversupplyingGGAorGGKformatdatagrams.

TheSIMRAD90formatcaninadditiontogloballongitudeandlatitudecoordinatesalso

beusedforNorthingandEastingtypeprojectioncoordinates(e.g.UTM).

TocaterforapplicationswheretheEM2000orEM3000SonarHeadismountedona

subseavehicle,theoriginalSIMRAD90formathasbeenexpandedtoallowinclusion

ofthedepthofthevehicleinadditiontoitshorizontalpositioninlongitude/latitude

orNorthing/Eastingcoordinates.

SISsupportsloggingofalldatafromaJavadGPSreceiverdirectlyattachedtothe

serialportontheHWSPC.

TheJavadGPSreceiveroutputsbinarydatainadditiontotheNMEAdatagrams.The

binarycanbeusedbythirdpartysoftware(likeTerratec)tocomputemoreaccurate

positionsusingpostprocessingtools.TheJavaddatalesarestoredinaseparatefolder

andkeptseparatefromtheotherrawdatatoeasethepostprocessingofthedata.The

operatorchoosesthisdirectoryintheruntimeparametersinSIS.

ATrimbleGPSreceivercanalsobeattachedtotheseriallineoftheHWSPC.Thisis

usedforspecialpurposeslikelandsurveying.

850-160692/X11

KongsbergEMSeries

GGADatagram

Table1GGADatagram

DataDescriptionFormatValidrangeNote

Startidentier=$Always24h——

TalkeridentieraaCapitalletters—

SentenceformatterAlwaysGGA,——

UTCofpositionhhmmss.ss,000000to235959.9...—

Latitudeindegreesandminutes,plusoptional

decimalminutes

llll.ll,0000to9000.0...—

Latitude–N/Sa,NorS—

Longitudeindegreesandminutes,plusoptional

decimalminutes

yyyyy.yy,00000to18000.0...—

Longitude–E/Wa,EorW—

GPSqualityindicatorx,0to81

Numberofsatellitesinusexx,00to12—

HDOPx.x,—1

Antennaaltituderemeansealevel(geoid)x.x,—2

UnitsofantennaaltitudeM,——

Geoidalseparation(sealevelreWGS-84)x.x,—2

UnitsofgeoidalseparationM,——

AgeofdifferentialGPSdatax.x,——

Differentialreferencestationidxxxx,0000to1023—

Checksum*hh——

Endofsentencedelimiter=CRLFAlways0Dh0Ah——

Notes

1TheHDOP(HorizontalDilutionOfPrecision)valuewillbescaledandcopiedtothe

”Measureofpositionxquality”eldinthepositionoutputdatagram.Thescale

factordependsupontheGPSqualityindicator’svalue:

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(PPSorpreciseGPS)=>200,but10ifGGAistreatedasRTK.(SeeNote2)

•4-(kinematicGPSwithxedintegers)=>10

•5-(kinematicGPSwithoatingintegers)=>50

•6-(estimatedordeadreckoningmode)=>1000

•7-(manualinputmode)=>1000

•8-(testmode)=>1000,but10ifGGAistreatedasRTK.(SeeNote2)

•The”Measureofpositionxquality”eldwillbesetto65534(largestvalid

number)iftheindicatoriszero(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange

(intheorderofcm)iftherearedropoutsindifferential,preciseorkinematic

measurements,althoughHDOPisnotametricvalue.

12850-160692/X

Inputdatagrams

TheGPSmanufacturersmayhavedifferentGPSqualityindicators.

2WhenthequalityfactorofaGGApositioningsysteminuseis4or5aheightoutput

datagramisautomaticallygenerated,andalsoifthequalityfactoris3or8andthe

operatorhassettheGGApositiontobeanRTKposition.Theheightisthesumof

thesetwoeldswhichareassumedpositiveupwards(antennaabovegeoid).

850-160692/X13

KongsbergEMSeries

PTNL,GGKLocalcoordinatepositiondatagram

Table2PTNLDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$Always24h——

SentenceidentierAlwaysPTNL,——

SentenceformatterAlwaysGGK,——

Timeofpositionhhmmss.ss,000000to235959.9...—

Dateofpositionmmddyy,010100to123199—

Latitudeindegreesandminutesddmm.mmmmmmm,0000to9000.0...—

Latitude–N/Sa,NorS—

Longitudeindegreesandminutesdddmm.mmmmmmm,00000to18000.0...—

Longitude–E/Wa,EorW—

GPSqualityindicatorx,0to71

Numberofsatellitesinusexx,00to12—

DOPx.x,—1

Antenna/heightaboveellipsoidEHTx.x,——

Unitsofellipsoidalheight(meters)M,——

Checksum*hh——

Endofsentencedelimiter=CRLFAlways0Dh0Ah——

Notes

1TheDOP(DilutionofPrecision)valuewillbescaledandcopiedtothe”Measureof

positionxquality”eldinthepositionoutputdatagram.Thescalefactordepends

upontheGPSqualityindicator’svalue

•1–(StandardGPS)=>1000.0;

•2–(RTKoat)=>50.0;

•3–(RTKx)=>10.0;

•4–(DGPS)=>100.0;

•5–(W AAS/EGNOS)=>100.0;

•6–(NetworkFloat)=>50.0;

•7–(Networkx)=>10.0;

The“Measureofpositionxquality”eldwillbesetto65534(largestvalid

number)iftheindicatoriszero(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange

(intheorderofcm)iftherearedropoutsindifferential,preciseorkinematic

measurements,althoughDOPisnotametervalue.

TheGPSmanufacturersmayhavedifferentGPSqualityindicators.

14850-160692/X

Inputdatagrams

TrimbleGGKDatagram

Table3GGKDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$Always24h——

TalkeridentieraaCapitalletters—

SentenceformatterAlwaysGGK,——

Timeofpositionhhmmss.ss,000000to235959.99...—

DateofpositionMMDDYY ,010100to123199—

Latitudeindegreesandminutes,plusoptional

decimalminutes

llll.llllll,0000to9000.0...—

Latitude–N/Sa,NorS—

Longitudeindegreesandminutes,plusoptional

decimalminutes

yyyyy.yyyyyy,00000to18000.0...—

Longitude–E/Wa,EorW—

GPSqualityindicatorx,0to31

Numberofsatellitesinusexx,00to12—

DOPx.x,—1

Antennaellipsoidalheightx.x,——

UnitsofantennaellipsoidalheightM,——

Unitsofantennaellipsoidalheightx.x,——

Checksum*hh——

Endofsentencedelimiter=CRLFAlways0Dh0Ah——

Notes

1TheDOP(DilutionOfPrecision)valuewillbescaledandcopiedtothe”Measureof

positionxquality”eldinthepositionoutputdatagram.Thescalefactordepends

upontheGPSqualityindicator’svalue

•1-(SPSorstandardGPS)=>1000

•2-(differentialGPS)=>100

•3-(kinematicGPS)=>10

The”Measureofpositionxquality”eldwillbesetto65534(largestvalid

number)iftheindicatoriszero(non-validposition).

Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange

(incm)iftherearedropoutsindifferential,preciseorkinematicmeasurements,

althoughDOPisnotametervalue.

TheGPSmanufacturersmayhavedifferentGPSqualityindicators.

850-160692/X15

KongsbergEMSeries

VTGDatagram

Table4VTGDatagram

DataDescriptionFormatValidrangeNote

Startidentier=$Always24h——

TalkeridentieraaCapitalletters—

SentenceformatterAlwaysVTG,——

Courseoverground,degreestruex.x,T,0to359.9...1

Courseoverground,degreesmagneticx.x,M,0to359.9..1

Speedoverground,knotsx.x,N,0–1

Speedoverground,km/hx.x,K,0–1

ModeindicatoraA,D,E,M,SorN—

Unitsofantennaellipsoidalheightx.x,——

Checksum*hh——

Endofsentencedelimiter=CRLFAlways0Dh0Ah——

Notes

1Onlytruecourseandtherstvalidspeedeldwillbeused.

16850-160692/X

Inputdatagrams

Transponderposition

Table5SSB-SSBLPositionDatagram

DataDescriptionFormatValidrangeNote

Start_character$——

AddressPSIMSSB,——

Timehhmmss.ss,—2

TPcodeB01,—3

StatusA,—4

Errorcodecc_,—1

Coordinatesystem(alwaysradians)R,——

Orientation(alwaysnorthoriented)N,——

SWlter,—1

Xcoordinate(Latitiude)x.x,——

Ycoordinate(Longitude)x.x,——

Depth(Sonardepthinm)x.x,——

Expectedaccuracy(Pos.qualityinm)x.x,——

Additionalinfo,—1

Firstaddvalue,—1

Secondaddvalue,—1

Checksum*hh——

TerminationCRLF——

Notes

1Notusedbymultibeamechosounders.

2DecodedandusedifClockSynchronisationissetfrompositiondatagram.

3Onlythistranspondertypeisacceptedbythemultibeam.

4A=OK,Vwillgivebadpositions,butdatagramwillbeacceptedforlogging.

850-160692/X17

KongsbergEMSeries

Simrad90Position

Table6Simrad90datagram

DataDescriptionFormatLengthValidrangeNote

Startidentier=$Always24h1——

Talkeridentieraa2Capitalletters—

SentenceformatterAlwaysS90,4——

DateofpositionDDMMYY ,7010100to311299—

UTCofpositionashour,minute,

second,hundredthofsecond

hhmmssss,900000000to

23595999

—

Latitudeindegrees,minutesand

decimalminutes

xxxx.xxxx90000.0000to

9999.9999

A

Hemisphereidentiera,2NorSA

Longitudeindegrees,minutesand

decimalminutes,ordepthinmeters

xxxxx.xxxx1000000.0000to

18000.0000

A

Hemisphereordepthidentiera,2E,WorDA

Northingorrangeinmetersxxxxxxxxx.x,12000000000.0to

999999999.9

B

Eastingordepthinmetersxxxxxxx.x,100000000.0to

9999999.9

B

UTMzonenumberxx,301to60—

Userdenedcentralmeridianlongitude

orbearing

xxxxx.xxxx1000000.0000to

35999.9999

C

Hemisphereorbearingidentiera,2E,W,orBC

Systemdescriptorx,20to71

Positionxqualityindicatorx,20to9andAtoF2

Speedovergroundinm/sxx.x,500.0to99.93

Courseovergroundindegreesxxx.x5000.0to359.93

Endofsentencedelimiter=,CRLFAlways2Ch0Dh0Ah3——

18850-160692/X

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Kongsberg EM 304 MKII Multibeam echosounder Owner's manual

Kongsberg EM 304 MKII Multibeam echosounder Owner's manual

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