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EM datagrams on *.kmall format
Reg. nr. 410224 rev J
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EM datagrams on *.kmall format
Reg. nr. 410224 rev J
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#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the current ping.
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#include <EMdgmFormat.h>
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the current ping.
Definition at line 823 of file EMdgmFormat.h.
| uint16_t numBytesInfoData |
Number of bytes in current struct.
Definition at line 828 of file EMdgmFormat.h.
| uint16_t padding0 |
Byte alignment.
Definition at line 829 of file EMdgmFormat.h.
| float pingRate_Hz |
Ping rate. Filtered/averaged.
Definition at line 833 of file EMdgmFormat.h.
| uint8_t beamSpacing |
0 = Eqidistance
1 = Equiangle
2 = High density
Definition at line 834 of file EMdgmFormat.h.
| uint8_t depthMode |
Depth mode. Describes setting of depth in K-Controller. Depth mode influences the PUs choice of pulse length and pulse type. If operator has manually chosen the depth mode to use, this is flagged by adding 100 to the mode index.
| Number | Auto setting | Number | Manual setting |
|---|---|---|---|
| 0 | Very shallow | 100 | Very shallow |
| 1 | Shallow | 101 | Shallow |
| 2 | Medium | 102 | Medium |
| 3 | Deep | 103 | Deep |
| 4 | Deeper | 104 | Deeper |
| 5 | Very deep | 105 | Very deep |
| 6 | Extra deep | 106 | Extra deep |
| 7 | Extreme deep | 107 | Extreme deep |
Definition at line 835 of file EMdgmFormat.h.
| uint8_t subDepthMode |
For advanced use when depth mode is set manually. 0 = Sub depth mode is not used (when depth mode is auto).
Definition at line 852 of file EMdgmFormat.h.
| uint8_t distanceBtwSwath |
Achieved distance between swaths, in percent relative to required swath distance.
0 = function is not used
100 = achieved swath distance equals required swath distance.
Definition at line 853 of file EMdgmFormat.h.
| uint8_t detectionMode |
Detection mode. Bottom detection algorithm used.
0 = normal
1 = waterway
2 = tracking
3 = minimum depth If system running in simulation mode
detectionmode + 100 = simulator.
Definition at line 857 of file EMdgmFormat.h.
| uint8_t pulseForm |
Pulse forms used for current swath.
0 = CW
1 = mix
2 = FM
Definition at line 859 of file EMdgmFormat.h.
| uint16_t padding1 |
Ping rate. Filtered/averaged.
Definition at line 860 of file EMdgmFormat.h.
| float frequencyMode_Hz |
Ping frequency in hertz. E.g. for EM 2040: 200 000 Hz, 300 000 Hz, 400 000 Hz, 600 000 Hz or 700 000 Hz. If values is less than 100, it refers to a code defined in the table below.
| Value | Frequency | Valid for EM model |
|---|---|---|
| -1 | Not used | - |
| 0 | 40 - 100 kHz | EM 712 |
| 1 | 50 - 100 kHz | EM 712 |
| 2 | 70 - 100 kHz | EM 712 |
| 3 | 50 kHz | EM 712 |
| 4 | 40 kHz | EM 712 |
| 180 000 - 400 000 | 180 -400 kHz | EM 2040C (10 kHz steps) |
| 200 000 | 200 kHz | EM 2040, EM 2040P |
| 300 000 | 300 kHz | EM 2040, EM 2040P |
| 400 000 | 400 kHz | EM 2040, EM 2040P |
| 600 000 | 600 kHz | EM 2040, EM 2040P |
| 700 000 | 700 kHz | EM 2040, EM 2040P |
Definition at line 862 of file EMdgmFormat.h.
| float freqRangeLowLim_Hz |
Lowest centre frequency of all sectors in this swath. Unit hertz. E.g. for EM 2040: 260 000 Hz.
Definition at line 882 of file EMdgmFormat.h.
| float freqRangeHighLim_Hz |
Highest centre frequency of all sectors in this swath. Unit hertz. E.g. for EM 2040: 320 000 Hz.
Definition at line 883 of file EMdgmFormat.h.
| float maxTotalTxPulseLength_sec |
Total signal length of the sector with longest tx pulse. Unit second.
Definition at line 884 of file EMdgmFormat.h.
| float maxEffTxPulseLength_sec |
Effective signal length (-3dB envelope) of the sector with longest effective tx pulse. Unit second.
Definition at line 885 of file EMdgmFormat.h.
| float maxEffTxBandWidth_Hz |
Effective bandwidth (-3dB envelope) of the sector with highest bandwidth.
Definition at line 886 of file EMdgmFormat.h.
| float absCoeff_dBPerkm |
Average absorption coefficient, in dB/km, for vertical beam at current depth. Not currently in use.
Definition at line 887 of file EMdgmFormat.h.
| float portSectorEdge_deg |
Port sector edge, used by beamformer, Coverage is refered to z of SCS.. Unit degree.
Definition at line 889 of file EMdgmFormat.h.
| float starbSectorEdge_deg |
Starboard sector edge, used by beamformer. Coverage is referred to z of SCS. Unit degree.
Definition at line 890 of file EMdgmFormat.h.
| float portMeanCov_deg |
Coverage achieved, corrected for raybending. Coverage is referred to z of SCS. Unit degree.
Definition at line 891 of file EMdgmFormat.h.
| float starbMeanCov_deg |
Coverage achieved, corrected for raybending. Coverage is referred to z of SCS. Unit degree.
Definition at line 892 of file EMdgmFormat.h.
| int16_t portMeanCov_m |
Coverage achieved, corrected for raybending. Coverage is referred to z of SCS. Unit meter.
Definition at line 893 of file EMdgmFormat.h.
| int16_t starbMeanCov_m |
Coverage achieved, corrected for raybending. Unit meter.
Definition at line 894 of file EMdgmFormat.h.
| uint8_t modeAndStabilisation |
Modes and stabilisation settings as chosen by operator. Each bit refers to one setting in K-Controller. Unless otherwise stated, default: 0 = off, 1 = on/auto.
| Bit | Mode |
|---|---|
| 1 | Pitch stabilisation |
| 2 | Yaw stabilisation |
| 3 | Sonar mode |
| 4 | Angular coverage mode |
| 5 | Sector mode |
| 6 | Swath along position (0 = fixed, 1 = dynamic) |
| 7-8 | Future use |
Definition at line 896 of file EMdgmFormat.h.
| uint8_t runtimeFilter1 |
Filter settings as chosen by operator. Refers to settings in runtime display of K-Controller. Each bit refers to one filter setting. 0 = off, 1 = on/auto.
| Bit | Filter choice |
|---|---|
| 1 | Slope filter |
| 2 | Aeration filer |
| 3 | Sector filter |
| 4 | Interference filter |
| 5 | Special amplitude detect |
| 6-8 | Future use |
Definition at line 908 of file EMdgmFormat.h.
| uint16_t runtimeFilter2 |
Filter settings as chosen by operator. Refers to settings in runtime display of K-Controller. 4 bits used per filter.
| Bit | Filter choice | Setting |
|---|---|---|
| 1-4 | Range gate size | 0 = small, 1 = normal, 2 = large |
| 5-8 | Spike filter strength | 0 = off, 1= weak, 2 = medium, 3 = strong |
| 9-12 | Penetration filter | 0 = off, 1 = weak, 2 = medium, 3 = strong |
| 13-16 | Phase ramp | 0 = short, 1 = normal, 2 = long |
Definition at line 919 of file EMdgmFormat.h.
| uint32_t pipeTrackingStatus |
Pipe tracking status. Describes how angle and range of top of pipe is determined.
0 = for future use
1 = PU uses guidance from SIS.
Definition at line 929 of file EMdgmFormat.h.
| float transmitArraySizeUsed_deg |
Transmit array size used. Direction along ship. Unit degree.
Definition at line 930 of file EMdgmFormat.h.
| float receiveArraySizeUsed_deg |
Receiver array size used. Direction across ship. Unit degree.
Definition at line 931 of file EMdgmFormat.h.
| float transmitPower_dB |
Operator selected tx power level re maximum. Unit dB. E.g. 0 dB, -10 dB, -20 dB.
Definition at line 932 of file EMdgmFormat.h.
| uint16_t SLrampUpTimeRemaining |
For marine mammal protection. The parameters describes time remaining until max source level (SL) is achieved. Unit %.
Definition at line 933 of file EMdgmFormat.h.
| uint16_t padding2 |
Byte alignment.
Definition at line 934 of file EMdgmFormat.h.
| float yawAngle_deg |
Yaw correction angle applied. Unit degree.
Definition at line 935 of file EMdgmFormat.h.
| uint16_t numTxSectors |
Number of transmit sectors. Also called Ntx in documentation. Denotes how many times the struct EMdgmMRZ_txSectorInfo is repeated in the datagram.
Definition at line 941 of file EMdgmFormat.h.
| uint16_t numBytesPerTxSector |
Number of bytes in the struct EMdgmMRZ_txSectorInfo, containing tx sector specific information. The struct is repeated numTxSectors times.
Definition at line 942 of file EMdgmFormat.h.
| float headingVessel_deg |
Heading of vessel at time of midpoint of first tx pulse. From active heading sensor.
Definition at line 947 of file EMdgmFormat.h.
| float soundSpeedAtTxDepth_mPerSec |
At time of midpoint of first tx pulse. Value as used in depth calculations. Source of sound speed defined by user in K-Controller.
Definition at line 948 of file EMdgmFormat.h.
| float txTransducerDepth_m |
Tx transducer depth in meters below waterline, at time of midpoint of first tx pulse. For the tx array (head) used by this RX-fan. Use depth of TX1 to move depth point (XYZ) from water line to transducer (reference point of old datagram format).
Definition at line 949 of file EMdgmFormat.h.
| float z_waterLevelReRefPoint_m |
Distance between water line and vessel reference point in meters. At time of midpoint of first tx pulse. Measured in the surface coordinate system (SCS).See Coordinate systems 'Coordinate systems' for definition. Used this to move depth point (XYZ) from vessel reference point to waterline.
Definition at line 950 of file EMdgmFormat.h.
| float x_kmallToall_m |
Distance between *.all reference point and *.kmall reference point (vessel refernece point) in meters, in the surface coordinate system, at time of midpoint of first tx pulse. Used this to move depth point (XYZ) from vessel reference point to the horisontal location (X,Y) of the active position sensor's reference point (old datagram format).
Definition at line 951 of file EMdgmFormat.h.
| float y_kmallToall_m |
Distance between *.all reference point and *.kmall reference point (vessel refernece point) in meters, in the surface coordinate system, at time of midpoint of first tx pulse. Used this to move depth point (XYZ) from vessel reference point to the horisontal location (X,Y) of the active position sensor's reference point (old datagram format).
Definition at line 952 of file EMdgmFormat.h.
| uint8_t latLongInfo |
Method of position determination from position sensor data:
0 = last position received
1 = interpolated
2 = processed
3 = extrapolated
Definition at line 954 of file EMdgmFormat.h.
| uint8_t posSensorStatus |
Status/quality for data from active position sensor. 0 = valid data, 1 = invalid data, 2 = reduced performance
Definition at line 955 of file EMdgmFormat.h.
| uint8_t attitudeSensorStatus |
Status/quality for data from active attitude sensor. 0 = valid data, 1 = invalid data, 2 = reduced performance
Definition at line 956 of file EMdgmFormat.h.
| uint8_t padding3 |
Padding for byte alignment.
Definition at line 957 of file EMdgmFormat.h.
| double latitude_deg |
Latitude (decimal degrees) of vessel reference point at time of midpoint of first tx pulse. Negative on southern hemisphere. Parameter is set to define UNAVAILABLE_LATITUDE if not available.
Definition at line 958 of file EMdgmFormat.h.
| double longitude_deg |
Longitude (decimal degrees) of vessel reference point at time of midpoint of first tx pulse. Negative on western hemisphere. Parameter is set to define UNAVAILABLE_LONGITUDE if not available.
Definition at line 959 of file EMdgmFormat.h.
| float ellipsoidHeightReRefPoint_m |
Height of vessel reference point above the ellipsoid, derived from active GGA sensor. ellipsoidHeightReRefPoint_m is GGA height corrected for motion and installation offsets of the position sensor.
Definition at line 960 of file EMdgmFormat.h.
| float bsCorrectionOffset_dB |
Backscatter offset set in the installation menu
Definition at line 965 of file EMdgmFormat.h.
| uint8_t lambertsLawApplied |
Beam intensity data corrected as seabed image data (Lambert and normal incidence corrections)
Definition at line 966 of file EMdgmFormat.h.
| uint8_t iceWindow |
Ice window installed
Definition at line 967 of file EMdgmFormat.h.
| uint16_t activeModes |
Sets status for active modes.
| Bit | Modes | Setting |
|---|---|---|
| 1 | EM MultiFrequency Mode | 0 = not active, 1 = active |
| 2-16 | Not in use | NA |
Definition at line 968 of file EMdgmFormat.h.
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