Kongsberg EM 712 Multibeam echosounder Owner's manual

Type
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
©2022KongsbergMaritimeAS
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
850-160692/X3
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
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
Inputdatagrams
Topics
Positiononpage9
Attitudeonpage21
Clockdatagramsonpage27
Soundspeeddatagramsonpage28
Depthinputdatagramsfromsinglebeamechosounderonpage33
Remotecontroldatagramsonpage35
Soundspeedattransduceronpage37
Onlyalimitednumberofinputformatsfromexternalsensorsareaccepted.Theseare
primarilyinaccordancewiththeNMEA0183specication,orbasedupontheprinciples
ofthatspecication.
Note
ThemajorityoftheseformatshavenotbeendenedbyKongsbergMaritime.Thus,these
formatsarenotcontrolledbyKongsbergMaritime.
AlmostallinputformatsareASCII.SeriallineorEthernetinputtothemultibeamecho
soundersProcessingUnitismostcommon,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=$Always24h
TalkeridentieraaCapitalletters
SentenceformatterAlwaysGGA,
UTCofpositionhhmmss.ss,000000to235959.9...
Latitudeindegreesandminutes,plusoptional
decimalminutes
llll.ll,0000to9000.0...
LatitudeN/Sa,NorS
Longitudeindegreesandminutes,plusoptional
decimalminutes
yyyyy.yy,00000to18000.0...
LongitudeE/Wa,EorW
GPSqualityindicatorx,0to81
Numberofsatellitesinusexx,00to12
HDOPx.x,1
Antennaaltituderemeansealevel(geoid)x.x,2
UnitsofantennaaltitudeM,
Geoidalseparation(sealevelreWGS-84)x.x,2
UnitsofgeoidalseparationM,
AgeofdifferentialGPSdatax.x,
Differentialreferencestationidxxxx,0000to1023
Checksum*hh
Endofsentencedelimiter=CRLFAlways0Dh0Ah
Notes
1TheHDOP(HorizontalDilutionOfPrecision)valuewillbescaledandcopiedtothe
”Measureofpositionxquality”eldinthepositionoutputdatagram.Thescale
factordependsupontheGPSqualityindicatorsvalue:
1-(SPSorstandardGPS)=>1000
2-(differentialGPS)=>100
3-(PPSorpreciseGPS)=>200,but10ifGGAistreatedasRTK.(SeeNote2)
4-(kinematicGPSwithxedintegers)=>10
5-(kinematicGPSwithoatingintegers)=>50
6-(estimatedordeadreckoningmode)=>1000
7-(manualinputmode)=>1000
8-(testmode)=>1000,but10ifGGAistreatedasRTK.(SeeNote2)
The”Measureofpositionxquality”eldwillbesetto65534(largestvalid
number)iftheindicatoriszero(non-validposition).
Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange
(intheorderofcm)iftherearedropoutsindifferential,preciseorkinematic
measurements,althoughHDOPisnotametricvalue.
12850-160692/X
Inputdatagrams
TheGPSmanufacturersmayhavedifferentGPSqualityindicators.
2WhenthequalityfactorofaGGApositioningsysteminuseis4or5aheightoutput
datagramisautomaticallygenerated,andalsoifthequalityfactoris3or8andthe
operatorhassettheGGApositiontobeanRTKposition.Theheightisthesumof
thesetwoeldswhichareassumedpositiveupwards(antennaabovegeoid).
850-160692/X13
KongsbergEMSeries
PTNL,GGKLocalcoordinatepositiondatagram
Table2PTNLDatagram
DataDescriptionFormatValidrangeNote
Startidentier=$Always24h
SentenceidentierAlwaysPTNL,
SentenceformatterAlwaysGGK,
Timeofpositionhhmmss.ss,000000to235959.9...
Dateofpositionmmddyy,010100to123199
Latitudeindegreesandminutesddmm.mmmmmmm,0000to9000.0...
LatitudeN/Sa,NorS
Longitudeindegreesandminutesdddmm.mmmmmmm,00000to18000.0...
LongitudeE/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
upontheGPSqualityindicatorsvalue
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=$Always24h
TalkeridentieraaCapitalletters
SentenceformatterAlwaysGGK,
Timeofpositionhhmmss.ss,000000to235959.99...
DateofpositionMMDDYY ,010100to123199
Latitudeindegreesandminutes,plusoptional
decimalminutes
llll.llllll,0000to9000.0...
LatitudeN/Sa,NorS
Longitudeindegreesandminutes,plusoptional
decimalminutes
yyyyy.yyyyyy,00000to18000.0...
LongitudeE/Wa,EorW
GPSqualityindicatorx,0to31
Numberofsatellitesinusexx,00to12
DOPx.x,1
Antennaellipsoidalheightx.x,
UnitsofantennaellipsoidalheightM,
Unitsofantennaellipsoidalheightx.x,
Checksum*hh
Endofsentencedelimiter=CRLFAlways0Dh0Ah
Notes
1TheDOP(DilutionOfPrecision)valuewillbescaledandcopiedtothe”Measureof
positionxquality”eldinthepositionoutputdatagram.Thescalefactordepends
upontheGPSqualityindicatorsvalue
1-(SPSorstandardGPS)=>1000
2-(differentialGPS)=>100
3-(kinematicGPS)=>10
The”Measureofpositionxquality”eldwillbesetto65534(largestvalid
number)iftheindicatoriszero(non-validposition).
Thisscalingisusedtogiveatleastarelativelycorrectpositionxqualitychange
(incm)iftherearedropoutsindifferential,preciseorkinematicmeasurements,
althoughDOPisnotametervalue.
TheGPSmanufacturersmayhavedifferentGPSqualityindicators.
850-160692/X15
KongsbergEMSeries
VTGDatagram
Table4VTGDatagram
DataDescriptionFormatValidrangeNote
Startidentier=$Always24h
TalkeridentieraaCapitalletters
SentenceformatterAlwaysVTG,
Courseoverground,degreestruex.x,T,0to359.9...1
Courseoverground,degreesmagneticx.x,M,0to359.9..1
Speedoverground,knotsx.x,N,01
Speedoverground,km/hx.x,K,01
ModeindicatoraA,D,E,M,SorN
Unitsofantennaellipsoidalheightx.x,
Checksum*hh
Endofsentencedelimiter=CRLFAlways0Dh0Ah
Notes
1Onlytruecourseandtherstvalidspeedeldwillbeused.
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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
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Kongsberg EM 712 Multibeam echosounder Owner's manual

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