| EM datagrams on *.kmall format Reg.no. 410224 Revision H

EMdgmFormat.h
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1 /*h+*/
13 #ifndef _EMDGMFORMAT_H
14 #define _EMDGMFORMAT_H
15
16 #include <stdint.h>
17
18 #ifndef _VXW
19 #pragma pack(4)
20 #endif
21
22 /*
23
24 Revision History:
25
26 01 01 SEP 2016 Rev A.
27 02 01 MAR 2017 Rev B.
28 03 05 JUL 2017 Rev C.
29 04 08 DES 2017 Rev D.
30 05 25 MAY 2018 Rev E.
31 06 16 NOV 2018 Rev F.
32 07 01 NOV 2019 Rev G.
33 08 20 MAR 2020 Rev H.
34 */
35
36 #define EM_DGM_FORMAT_VERSION "Rev H 2020-03-20"
38 #define MAX_NUM_BEAMS 1024
39 #define MAX_EXTRA_DET 1024
40 #define MAX_EXTRA_DET_CLASSES 11
41 #define MAX_SIDESCAN_SAMP 60000
42 #define MAX_SIDESCAN_EXTRA_SAMP 15000
43 #define MAX_NUM_TX_PULSES 9
44 #define MAX_ATT_SAMPLES 148
45 #define MAX_SVP_POINTS 2000
46 #define MAX_SVT_SAMPLES 1
47 #define MAX_DGM_SIZE 64000
48 #define MAX_NUM_MST_DGMS 256
49 #define MAX_NUM_MWC_DGMS 256
50 #define MAX_NUM_MRZ_DGMS 32
51 #define MAX_NUM_FCF_DGMS 1
53 #define MAX_SPO_DATALENGTH 250
54 #define MAX_ATT_DATALENGTH 250
55 #define MAX_SVT_DATALENGTH 64
56 #define MAX_SCL_DATALENGTH 64
57 #define MAX_SDE_DATALENGTH 32
58 #define MAX_SHI_DATALENGTH 32
60 #define MAX_CPO_DATALENGTH 250
61 #define MAX_CHE_DATALENGTH 64
63 #define MAX_F_FILENAME_LENGTH 64
64 #define MAX_F_FILE_SIZE 63000
66 #define UNAVAILABLE_POSFIX 0xffff
67 #define UNAVAILABLE_LATITUDE 200.0f
68 #define UNAVAILABLE_LONGITUDE 200.0f
69 #define UNAVAILABLE_SPEED -1.0f
70 #define UNAVAILABLE_COURSE -4.0f
71 #define UNAVAILABLE_ELLIPSOIDHEIGHT -999.0f
74 /*********************************************
75 Datagram names
76 *********************************************/
77
78 /* I-datagrams */
79 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
80 #define EM_DGM_I_OP_RUNTIME "#IOP"
81
82 /* S-datagrams */
83 #define EM_DGM_S_POSITION "#SPO"
84 #define EM_DGM_S_KM_BINARY "#SKM"
85 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
86 #define EM_DGM_S_SOUND_VELOCITY_TRANSDUCER "#SVT"
87 #define EM_DGM_S_CLOCK "#SCL"
88 #define EM_DGM_S_DEPTH "#SDE"
89 #define EM_DGM_S_HEIGHT "#SHI"
90
91 /* M-datagrams */
92 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
93 #define EM_DGM_M_WATER_COLUMN "#MWC"
94
95 /* C-datagrams */
96 #define EM_DGM_C_POSITION "#CPO"
97 #define EM_DGM_C_HEAVE "#CHE"
98
99 /* F-datagrams */
100 #define EM_DGM_F_CALIBRATION_FILE "#FCF"
101
102 /*********************************************
103
104 General datagram header
105
106 *********************************************/
107
110 struct EMdgmHeader_def
111 {
112 uint32_t numBytesDgm;
113 uint8_t dgmType[4];
114 uint8_t dgmVersion;
115 uint8_t systemID;
116 uint16_t echoSounderID;
117 uint32_t time_sec;
118 uint32_t time_nanosec;
119 };
120
121 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
122
123 /*********************************************
124
125 Sensor datagrams
126
127 *********************************************/
128
131 struct EMdgmScommon_def
132 {
133 uint16_t numBytesCmnPart;
134 uint16_t sensorSystem;
145 uint16_t sensorStatus;
173 uint16_t padding;
174 };
175
176 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
177
182 struct EMdgmSdataInfo_def
183 {
184 uint16_t numBytesInfoPart;
185 uint16_t numSamplesArray;
186 uint16_t numBytesPerSample;
187 uint16_t numBytesRawSensorData;
188 };
189
190 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
191
192
193 /************************************
194 #SPO - Sensor Position data
195 ************************************/
200 struct EMdgmSPOdataBlock_def
201 {
202 uint32_t timeFromSensor_sec;
203 uint32_t timeFromSensor_nanosec;
204 float posFixQuality_m;
205 double correctedLat_deg;
206 double correctedLong_deg;
207 float speedOverGround_mPerSec;
208 float courseOverGround_deg;
209 float ellipsoidHeightReRefPoint_m;
210 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
211 };
212
213 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
214
221 struct EMdgmSPO_def
222 {
223 struct EMdgmHeader_def header;
224 struct EMdgmScommon_def cmnPart;
225 struct EMdgmSPOdataBlock_def sensorData;
226 };
227
228 #define SPO_VERSION 0
229 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
230
231
232 /************************************
233 #SKM - KM binary sensor data
234 ************************************/
237 struct EMdgmSKMinfo_def
238 {
239 uint16_t numBytesInfoPart;
240 uint8_t sensorSystem;
241 uint8_t sensorStatus;
257 uint16_t sensorInputFormat;
270 uint16_t numSamplesArray;
271 uint16_t numBytesPerSample;
272 uint16_t sensorDataContents;
293 };
294
295 typedef struct EMdgmSKMinfo_def EMdgmSKMinfo, *pEMdgmSKMinfo;
301 struct KMbinary_def
302 {
303 uint8_t dgmType[4];
304 uint16_t numBytesDgm;
305 uint16_t dgmVersion;
306 uint32_t time_sec;
308 uint32_t time_nanosec;
310 uint32_t status;
345 double latitude_deg;
346 double longitude_deg;
347 float ellipsoidHeight_m;
351 float roll_deg;
352 float pitch_deg;
353 float heading_deg;
354 float heave_m;
359 float rollRate;
360 float pitchRate;
361 float yawRate;
366 float velNorth;
367 float velEast;
368 float velDown;
373 float latitudeError_m;
374 float longitudeError_m;
375 float ellipsoidHeightError_m;
376 float rollError_deg;
377 float pitchError_deg;
378 float headingError_deg;
379 float heaveError_m;
384 float northAcceleration;
385 float eastAcceleration;
386 float downAcceleration;
387 };
388
389 typedef struct KMbinary_def KMbinary, *pKMbinary;
390
394 struct KMdelayedHeave_def
395 {
396 uint32_t time_sec;
397 uint32_t time_nanosec;
398 float delayedHeave_m;
399 };
400 typedef struct KMdelayedHeave_def KMdelayedHeave, *pKMdelayedHeave;
401
407 struct EMdgmSKMsample_def
408 {
409 struct KMbinary_def KMdefault;
410 struct KMdelayedHeave_def delayedHeave;
411 };
412
413 typedef struct EMdgmSKMsample_def EMdgmSKMsample, *pEMdgmSKMsample;
414
424 struct EMdgmSKM_def
425 {
426 struct EMdgmHeader_def header;
427 struct EMdgmSKMinfo_def infoPart;
428 struct EMdgmSKMsample_def sample[MAX_ATT_SAMPLES];
429 };
430
431 #define SKM_VERSION 1
432 typedef struct EMdgmSKM_def EMdgmSKM, *pEMdgmSKM;
433
434
435 /************************************
436 #SVP - Sound Velocity Profile
437 ************************************/
442 struct EMdgmSVPpoint_def
443 {
444 float depth_m;
445 float soundVelocity_mPerSec;
446 uint32_t padding;
447 float temp_C;
448 float salinity;
449 };
450
451 typedef struct EMdgmSVPpoint_def EMdgmSVPpoint, *pEMdgmSVPpoint;
452
458 struct EMdgmSVP_def
459 {
460 struct EMdgmHeader_def header;
461 uint16_t numBytesCmnPart;
462 uint16_t numSamples;
464 uint8_t sensorFormat[4];
467 uint32_t time_sec;
469 double latitude_deg;
471 double longitude_deg;
474 struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS];
476 };
477
478 #define SVP_VERSION 1
479 typedef struct EMdgmSVP_def EMdgmSVP, *pEMdgmSVP;
480
481 /************************************
482 * #SVT - Sensor sound Velocity measured at Transducer
483 ************************************/
487 struct EMdgmSVTinfo_def
488 {
489 uint16_t numBytesInfoPart;
490 uint16_t sensorStatus;
505 uint16_t sensorInputFormat;
519 uint16_t numSamplesArray;
520 uint16_t numBytesPerSample;
521 uint16_t sensorDataContents;
534 float filterTime_sec;
535 float soundVelocity_mPerSec_offset;
536 };
537
541 struct EMdgmSVTsample_def
542 {
543 uint32_t time_sec;
544 uint32_t time_nanosec;
545 float soundVelocity_mPerSec;
546 float temp_C;
547 float pressure_Pa;
548 float salinity;
549 };
550
551 typedef struct EMdgmSVTsample_def EMdgmSVTsample, *pEMdgmSVTsample;
552
556 struct EMdgmSVT_def
557 {
558 struct EMdgmHeader_def header;
559 struct EMdgmSVTinfo_def infoPart;
560 struct EMdgmSVTsample_def sensorData[MAX_SVT_SAMPLES];
561 };
562
563 #define SVT_VERSION 0
564 typedef struct EMdgmSVT_def EMdgmSVT, *pEMdgmSVT;
565
566 /************************************
567 #SCL - Sensor CLock datagram
568 ************************************/
572 struct EMdgmSCLdataFromSensor_def
573 {
574 float offset_sec;
575 int32_t clockDevPU_nanosec;
578 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
580 };
581
582 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
583
587 struct EMdgmSCL_def
588 {
589 struct EMdgmHeader_def header;
590 struct EMdgmScommon_def cmnPart;
591 struct EMdgmSCLdataFromSensor_def sensData;
592 };
593
594 #define SCL_VERSION 0
595 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
596
597
598 /************************************
599 #SDE - Sensor Depth data
600 ************************************/
604 struct EMdgmSDEdataFromSensor_def
605 {
606 float depthUsed_m;
607 float offset;
608 float scale;
609 double latitude_deg;
611 double longitude_deg;
613 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
614 };
615
616 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
617
621 struct EMdgmSDE_def
622 {
623 struct EMdgmHeader_def header;
624 struct EMdgmScommon_def cmnPart;
625 struct EMdgmSDEdataFromSensor_def sensorData;
626 };
627
628 #define SDE_VERSION 0
629 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
630
631 /************************************
632 #SHI - Sensor Height data
633 ************************************/
637 struct EMdgmSHIdataFromSensor_def
638 {
639 uint16_t sensorType;
640 float heigthUsed_m;
641 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
642 };
643
644 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
645
649 struct EMdgmSHI_def
650 {
651 struct EMdgmHeader_def header;
652 struct EMdgmScommon_def cmnPart;
653 struct EMdgmSHIdataFromSensor_def sensData;
654 };
655
656 #define SHI_VERSION 0
657 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
658
659
660 /*********************************************
661
662 Multibeam datagrams
663
664 *********************************************/
672 struct EMdgmMpartition_def
673 {
674 uint16_t numOfDgms;
675 uint16_t dgmNum;
676 };
677
678 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
679
717 struct EMdgmMbody_def
718 {
719 uint16_t numBytesCmnPart;
720 uint16_t pingCnt;
722 uint8_t rxFansPerPing;
724 uint8_t rxFanIndex;
725 uint8_t swathsPerPing;
726 uint8_t swathAlongPosition;
727 uint8_t txTransducerInd;
728 uint8_t rxTransducerInd;
729 uint8_t numRxTransducers;
730 uint8_t algorithmType;
732 };
733
734 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
735
736 /************************************
737 #MRZ - multibeam data for raw range,
738 depth, reflectivity, seabed image(SI) etc.
739 ************************************/
744 struct EMdgmMRZ_pingInfo_def
745 {
746 uint16_t numBytesInfoData;
747 uint16_t padding0;
751 float pingRate_Hz;
752 uint8_t beamSpacing;
753 uint8_t depthMode;
770 uint8_t subDepthMode;
771 uint8_t distanceBtwSwath;
775 uint8_t detectionMode;
777 uint8_t pulseForm;
778 uint16_t padding1;
779
780 float frequencyMode_Hz;
800 float freqRangeLowLim_Hz;
801 float freqRangeHighLim_Hz;
802 float maxTotalTxPulseLength_sec;
803 float maxEffTxPulseLength_sec;
804 float maxEffTxBandWidth_Hz;
805 float absCoeff_dBPerkm;
807 float portSectorEdge_deg;
808 float starbSectorEdge_deg;
809 float portMeanCov_deg;
810 float starbMeanCov_deg;
811 int16_t portMeanCov_m;
812 int16_t starbMeanCov_m;
814 uint8_t modeAndStabilisation;
826 uint8_t runtimeFilter1;
837 uint16_t runtimeFilter2;
847 uint32_t pipeTrackingStatus;
848 float transmitArraySizeUsed_deg;
849 float receiveArraySizeUsed_deg;
850 float transmitPower_dB;
851 uint16_t SLrampUpTimeRemaining;
852 uint16_t padding2;
853 float yawAngle_deg;
859 uint16_t numTxSectors;
860 uint16_t numBytesPerTxSector;
865 float headingVessel_deg;
866 float soundSpeedAtTxDepth_mPerSec;
867 float txTransducerDepth_m;
868 float z_waterLevelReRefPoint_m;
869 float x_kmallToall_m;
870 float y_kmallToall_m;
872 uint8_t latLongInfo;
873 uint8_t posSensorStatus;
874 uint8_t attitudeSensorStatus;
875 uint8_t padding3;
876 double latitude_deg;
877 double longitude_deg;
878 float ellipsoidHeightReRefPoint_m;
883 float bsCorrectionOffset_dB;
884 uint8_t lambertsLawApplied;
885 uint8_t iceWindow;
886 uint16_t activeModes;
896 };
897
898 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
899
905 struct EMdgmMRZ_txSectorInfo_def
906 {
907 uint8_t txSectorNumb;
908 uint8_t txArrNumber;
909 uint8_t txSubArray;
911 uint8_t padding0;
912 float sectorTransmitDelay_sec;
913 float tiltAngleReTx_deg;
915 float txNominalSourceLevel_dB;
916 float txFocusRange_m;
917 float centreFreq_Hz;
918 float signalBandWidth_Hz;
919 float totalSignalLength_sec;
920 uint8_t pulseShading;
921 uint8_t signalWaveForm;
922 uint16_t padding1;
926 float highVoltageLevel_dB;
927 float sectorTrackingCorr_dB;
928 float effectiveSignalLength_sec;
930 };
931
932 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
933
938 struct EMdgmMRZ_rxInfo_def
939 {
940 uint16_t numBytesRxInfo;
941 uint16_t numSoundingsMaxMain;
942 uint16_t numSoundingsValidMain;
943 uint16_t numBytesPerSounding;
944 float WCSampleRate;
945 float seabedImageSampleRate;
946 float BSnormal_dB;
947 float BSoblique_dB;
948 uint16_t extraDetectionAlarmFlag;
949 uint16_t numExtraDetections;
950 uint16_t numExtraDetectionClasses;
951 uint16_t numBytesPerClass;
953 };
954
955 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
956
961 struct EMdgmMRZ_extraDetClassInfo_def
962 {
963 uint16_t numExtraDetInClass;
964 int8_t padding;
965 uint8_t alarmFlag;
967 };
968
969 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
970
978 struct EMdgmMRZ_sounding_def
979 {
980
981 uint16_t soundingIndex;
982 uint8_t txSectorNumb;
986 uint8_t detectionType;
988 uint8_t detectionMethod;
989 uint8_t rejectionInfo1;
990 uint8_t rejectionInfo2;
991 uint8_t postProcessingInfo;
992 uint8_t detectionClass;
993 uint8_t detectionConfidenceLevel;
994 uint16_t padding;
995 float rangeFactor;
996 float qualityFactor;
997 float detectionUncertaintyVer_m;
998 float detectionUncertaintyHor_m;
999 float detectionWindowLength_sec;
1000 float echoLength_sec;
1005 uint16_t WCBeamNumb;
1006 uint16_t WCrange_samples;
1007 float WCNomBeamAngleAcross_deg;
1012 float meanAbsCoeff_dBPerkm;
1013 float reflectivity1_dB;
1014 float reflectivity2_dB;
1019 float receiverSensitivityApplied_dB;
1020 float sourceLevelApplied_dB;
1025 float BScalibration_dB;
1026 float TVG_dB;
1031 float beamAngleReRx_deg;
1032 float beamAngleCorrection_deg;
1033 float twoWayTravelTime_sec;
1034 float twoWayTravelTimeCorrection_sec;
1039 float deltaLatitude_deg;
1041 float deltaLongitude_deg;
1043 float z_reRefPoint_m;
1045 float y_reRefPoint_m;
1047 float x_reRefPoint_m;
1050 float beamIncAngleAdj_deg;
1051 uint16_t realTimeCleanInfo;
1056 uint16_t SIstartRange_samples;
1057 uint16_t SIcentreSample;
1058 uint16_t SInumSamples;
1060 };
1061
1062 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1063
1066 struct EMdgmMRZ_extraSI_def
1067 {
1068
1069 uint16_t portStartRange_samples;
1070 uint16_t numPortSamples;
1071 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1072 uint16_t starbStartRange_samples;
1073 uint16_t numStarbSamples;
1074 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1076 };
1077
1078 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1079
1094 struct EMdgmMRZ_def
1095 {
1096 struct EMdgmHeader_def header;
1097 struct EMdgmMpartition_def partition;
1098 struct EMdgmMbody_def cmnPart;
1099 struct EMdgmMRZ_pingInfo_def pingInfo;
1100 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1101 struct EMdgmMRZ_rxInfo_def rxInfo;
1102 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1103 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1104 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1112 };
1113
1114 #define MRZ_VERSION 2
1115 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1116
1117 /************************************
1118 #MWC - water column datagram
1119 ************************************/
1121 struct EMdgmMWCtxInfo_def
1122 {
1123 uint16_t numBytesTxInfo;
1124 uint16_t numTxSectors;
1126 uint16_t numBytesPerTxSector;
1127 int16_t padding;
1128 float heave_m;
1129 };
1130
1131 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1132
1134 struct EMdgmMWCtxSectorData_def
1135 {
1136 float tiltAngleReTx_deg;
1137 float centreFreq_Hz;
1138 float txBeamWidthAlong_deg;
1139 uint16_t txSectorNum;
1140 int16_t padding;
1141 };
1142
1143 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1144
1146 struct EMdgmMWCrxInfo_def
1147 {
1148 uint16_t numBytesRxInfo;
1149 uint16_t numBeams;
1150 uint8_t numBytesPerBeamEntry;
1152 uint8_t phaseFlag;
1153 uint8_t TVGfunctionApplied;
1155 int8_t TVGoffset_dB;
1157 float sampleFreq_Hz;
1158 float soundVelocity_mPerSec;
1160 };
1161
1162 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1163
1165 struct EMdgmMWCrxBeamData_def
1166 {
1167 float beamPointAngReVertical_deg;
1168 uint16_t startRangeSampleNum;
1169 uint16_t detectedRangeInSamples;
1171 uint16_t beamTxSectorNum;
1172 uint16_t numSampleData;
1173 float detectedRangeInSamplesHighResolution;
1175 int8_t *sampleAmplitude05dB_p;
1176 };
1177
1178 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1179
1181 struct EMdgmMWCrxBeamPhase1_def
1182 {
1183 int8_t rxBeamPhase;
1184 };
1185
1186 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1187
1189 struct EMdgmMWCrxBeamPhase2_def
1190 {
1191 int16_t rxBeamPhase;
1192 };
1193
1194 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1195
1197 struct EMdgmMWC_def
1198 {
1199 struct EMdgmHeader_def header;
1200 struct EMdgmMpartition_def partition;
1201 struct EMdgmMbody_def cmnPart;
1202 struct EMdgmMWCtxInfo_def txInfo;
1203 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1204 struct EMdgmMWCrxInfo_def rxInfo;
1205 struct EMdgmMWCrxBeamData_def *beamData_p;
1218 };
1219
1220 #define MWC_VERSION 1
1221 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1222
1223
1224 /*********************************************
1225
1226 Compatibility datagrams for .all to .kmall conversion support
1227
1228 *********************************************/
1229
1230 /************************************
1231 #CPO - Compatibility position sensor data
1232 ************************************/
1237 struct EMdgmCPOdataBlock_def
1238 {
1239 uint32_t timeFromSensor_sec;
1240 uint32_t timeFromSensor_nanosec;
1241 float posFixQuality_m;
1242 double correctedLat_deg;
1243 double correctedLong_deg;
1244 float speedOverGround_mPerSec;
1245 float courseOverGround_deg;
1246 float ellipsoidHeightReRefPoint_m;
1247 int8_t posDataFromSensor[MAX_CPO_DATALENGTH];
1248 };
1249
1250 typedef struct EMdgmCPOdataBlock_def EMdgmCPOdataBlock, *pEMdgmCPOdataBlock;
1251
1258 struct EMdgmCPO_def
1259 {
1260 struct EMdgmHeader_def header;
1261 struct EMdgmScommon_def cmnPart;
1262 struct EMdgmCPOdataBlock_def sensorData;
1263 };
1264
1265 #define CPO_VERSION 0
1266 typedef struct EMdgmCPO_def EMdgmCPO, *pEMdgmCPO;
1267
1268
1269 /************************************
1270 #CHE - Compatibility heave data
1271 ************************************/
1275 struct EMdgmCHEdata_def
1276 {
1277 float heave_m;
1278 };
1279
1280 typedef struct EMdgmCHEdata_def EMdgmCHEdata, *pEMdgmCHEdata;
1281
1288 struct EMdgmCHE_def
1289 {
1290 struct EMdgmHeader_def header;
1291 struct EMdgmMbody_def cmnPart;
1292 struct EMdgmCHEdata_def data;
1293 };
1294
1295 #define CHE_VERSION 0
1296 typedef struct EMdgmCHE_def EMdgmCHE, *pEMdgmCHE;
1297
1298
1299 /*********************************************
1300
1301 File datagrams
1302
1303 *********************************************/
1304
1307 struct EMdgmFcommon_def
1308 {
1309 uint16_t numBytesCmnPart;
1310 int8_t fileStatus;
1311 uint8_t padding1;
1312 uint32_t numBytesFile;
1313 uint8_t fileName[MAX_F_FILENAME_LENGTH];
1314 };
1315
1316 typedef struct EMdgmFcommon_def EMdgmFcommon, *pEMdgmFcommon;
1317
1318 /********************************************
1319 #FCF - Backscatter calibration file datagram
1320 ********************************************/
1328 struct EMdgmFCF_def
1329 {
1330 struct EMdgmHeader_def header;
1331 struct EMdgmMpartition_def partition;
1332 struct EMdgmFcommon_def cmnPart;
1333 uint8_t bsCalibrationFile[MAX_F_FILE_SIZE];
1334 };
1335
1336 typedef struct EMdgmFCF_def EMdgmFCF, *pEMdgmFCF;
1337 #define FCF_VERSION 0
1338
1339
1340 /*********************************************
1341
1342 Installation and runtime datagrams
1343
1344 *********************************************/
1345
1346 /************************************
1347 #IIP - Info Installation PU
1348 ************************************/
1353 struct EMdgmIIP_def
1354 {
1355 EMdgmHeader header;
1356 uint16_t numBytesCmnPart;
1357 uint16_t info;
1358 uint16_t status;
1359 uint8_t install_txt;
1363 };
1364
1365 #define IIP_VERSION 0
1366 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1367
1368
1369 /************************************
1370 #IOP - Runtime datagram
1371 ************************************/
1379 struct EMdgmIOP_def
1380 {
1381 EMdgmHeader header;
1382 uint16_t numBytesCmnPart;
1383 uint16_t info;
1384 uint16_t status;
1385 uint8_t runtime_txt;
1391 };
1392
1393 #define IOP_VERSION 0
1394 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1395
1396
1397 /************************************
1398 #IB - BIST Error Datagrams
1399 ************************************/
1404 struct EMdgmIB_def
1405 {
1406 EMdgmHeader header;
1407 uint16_t numBytesCmnPart;
1408 uint8_t BISTInfo;
1409 uint8_t BISTStyle;
1410 uint8_t BISTNumber;
1411 int8_t BISTStatus;
1412 uint8_t BISTText;
1413 };
1414
1415 #define BIST_VERSION 0
1416 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1417
1418 #ifndef _VXW
1419 #pragma pack()
1420 #endif
1421 #endif
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:242
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:138
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:310
EMdgmMbody_def::rxTransducerInd
uint8_t rxTransducerInd
Definition: EMdgmFormat.h:728
EMdgmMRZ_sounding_def::WCNomBeamAngleAcross_deg
float WCNomBeamAngleAcross_deg
Definition: EMdgmFormat.h:1007
EMdgmSVPpoint_def
#SVP - Sound Velocity Profile. Data from one depth point contains information specified in this struc...
Definition: EMdgmFormat.h:442
EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
Definition: EMdgmFormat.h:1153
EMdgmSVTsample_def::pressure_Pa
float pressure_Pa
Definition: EMdgmFormat.h:547
EMdgmMWCtxInfo_def::numBytesTxInfo
uint16_t numBytesTxInfo
Definition: EMdgmFormat.h:1125
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:137
MAX_EXTRA_DET
#define MAX_EXTRA_DET
Definition: EMdgmFormat.h:39
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:351
EMdgmIIP_def::status
uint16_t status
Definition: EMdgmFormat.h:1364
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:943
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1169
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:917
EMdgmMRZ_sounding_def::detectionClass
uint8_t detectionClass
Definition: EMdgmFormat.h:992
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:359
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:117
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:907
EMdgmSVTinfo_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:492
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:58
EMdgmMRZ_sounding_def::receiverSensitivityApplied_dB
float receiverSensitivityApplied_dB
Definition: EMdgmFormat.h:1019
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:909
EMdgmFCF_def::bsCalibrationFile
uint8_t bsCalibrationFile[MAX_F_FILE_SIZE]
Definition: EMdgmFormat.h:1335
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:375
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1384
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:996
EMdgmMRZ_pingInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:781
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:814
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1365
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:608
EMdgmMWCtxSectorData_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1136
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:810
MAX_EXTRA_DET_CLASSES
#define MAX_EXTRA_DET_CLASSES
Definition: EMdgmFormat.h:40
EMdgmMbody_def::pingCnt
uint16_t pingCnt
Definition: EMdgmFormat.h:720
EMdgmMRZ_pingInfo_def::padding3
uint8_t padding3
Definition: EMdgmFormat.h:878
EMdgmCHE_def
#CHE - Struct of compatibility heave sensor datagram. Used for backward compatibility with ....
Definition: EMdgmFormat.h:1288
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1070
EMdgmMRZ_txSectorInfo_def::padding0
uint8_t padding0
Definition: EMdgmFormat.h:911
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:850
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:407
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:210
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:182
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:642
EMdgmFcommon_def::fileStatus
int8_t fileStatus
Definition: EMdgmFormat.h:1314
EMdgmHeader_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:121
EMdgmMRZ_pingInfo_def::freqRangeHighLim_Hz
float freqRangeHighLim_Hz
Definition: EMdgmFormat.h:804
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1148
EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:783
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:905
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1197
KMbinary_def::eastAcceleration
float eastAcceleration
Definition: EMdgmFormat.h:385
EMdgmSVTsample_def::temp_C
float temp_C
Definition: EMdgmFormat.h:546
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1066
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:876
EMdgmMRZ_rxInfo_def::numBytesPerClass
uint16_t numBytesPerClass
Definition: EMdgmFormat.h:951
EMdgmSVTsample_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:543
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:778
EMdgmSDEdataFromSensor_def::offset
float offset
Definition: EMdgmFormat.h:609
EMdgmSVTinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:523
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:722
MAX_F_FILE_SIZE
#define MAX_F_FILE_SIZE
Definition: EMdgmFormat.h:64
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:994
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1140
EMdgmIB_def::BISTStatus
int8_t BISTStatus
Definition: EMdgmFormat.h:1413
EMdgmSVPpoint_def::padding
uint32_t padding
Definition: EMdgmFormat.h:448
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:813
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:806
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:773
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:116
EMdgmMRZ_txSectorInfo_def::highVoltageLevel_dB
float highVoltageLevel_dB
Definition: EMdgmFormat.h:926
EMdgmCPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:1246
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1138
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1157
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data from active sensor is corrected data for position system inst...
Definition: EMdgmFormat.h:200
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:211
EMdgmCPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:1250
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
Definition: EMdgmFormat.h:1072
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:879
EMdgmMRZ_pingInfo_def::activeModes
uint16_t activeModes
Definition: EMdgmFormat.h:889
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data.
Definition: EMdgmFormat.h:1094
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:637
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:920
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:110
EMdgmSKMinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:274
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:304
EMdgmSDE_def
#SDE - Depth datagram.
Definition: EMdgmFormat.h:621
EMdgmSVP_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:469
EMdgmFCF_def
#FCF - Backscatter calibration file The backscatter calibration file contains the measured backsc...
Definition: EMdgmFormat.h:1328
EMdgmSCLdataFromSensor_def::clockDevPU_nanosec
int32_t clockDevPU_nanosec
Definition: EMdgmFormat.h:577
KMbinary_def::headingError_deg
float headingError_deg
Definition: EMdgmFormat.h:378
EMdgmMWCtxSectorData_def::txSectorNum
uint16_t txSectorNum
Definition: EMdgmFormat.h:1139
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:749
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:259
EMdgmSVTinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:522
EMdgmCPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:1245
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:945
EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1379
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:450
EMdgmMRZ_pingInfo_def::bsCorrectionOffset_dB
float bsCorrectionOffset_dB
Definition: EMdgmFormat.h:886
EMdgmSVTsample_def
#SVT - Sound Velocity at Transducer. Data sample.
Definition: EMdgmFormat.h:541
EMdgmScommon_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:149
KMbinary_def::velEast
float velEast
Definition: EMdgmFormat.h:367
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:613
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
Definition: EMdgmFormat.h:1043
MAX_SVT_SAMPLES
#define MAX_SVT_SAMPLES
Definition: EMdgmFormat.h:46
EMdgmMRZ_pingInfo_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:808
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1205
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:982
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:754
EMdgmSVTinfo_def::filterTime_sec
float filterTime_sec
Definition: EMdgmFormat.h:536
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:131
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:829
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:610
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:724
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1152
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1128
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:961
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:209
EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
Definition: EMdgmFormat.h:991
EMdgmCPOdataBlock_def
#CPO - Compatibility sensor position compatibility data block. Data from active sensor is referenced ...
Definition: EMdgmFormat.h:1237
KMbinary_def::heading_deg
float heading_deg
Definition: EMdgmFormat.h:353
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:204
EMdgmSCLdataFromSensor_def::dataFromSensor
uint8_t dataFromSensor[MAX_SCL_DATALENGTH]
Definition: EMdgmFormat.h:580
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
Definition: EMdgmFormat.h:1032
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:1000
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:45
EMdgmMRZ_sounding_def::deltaLongitude_deg
float deltaLongitude_deg
Definition: EMdgmFormat.h:1041
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:1006
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1165
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1155
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:384
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1069
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:941
EMdgmCHEdata_def
#CHE - Heave compatibility data part. Heave reference point is at transducer instead of at vessel ref...
Definition: EMdgmFormat.h:1275
EMdgmSVP_def::sensorData
struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS]
Definition: EMdgmFormat.h:474
EMdgmMRZ_txSectorInfo_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:913
EMdgmMWCtxInfo_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1130
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1362
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:726
EMdgmFcommon_def::padding1
uint8_t padding1
Definition: EMdgmFormat.h:1315
EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
Definition: EMdgmFormat.h:946
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:862
EMdgmMRZ_sounding_def::detectionMethod
uint8_t detectionMethod
Definition: EMdgmFormat.h:988
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:852
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:118
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
uint16_t numExtraDetectionClasses
Definition: EMdgmFormat.h:950
EMdgmSVP_def::sensorFormat
uint8_t sensorFormat[4]
Definition: EMdgmFormat.h:464
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:727
EMdgmMRZ_pingInfo_def::modeAndStabilisation
uint8_t modeAndStabilisation
Definition: EMdgmFormat.h:817
EMdgmHeader_def::systemID
uint8_t systemID
Definition: EMdgmFormat.h:119
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
Definition: EMdgmFormat.h:1191
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:373
EMdgmMRZ_sounding_def::reflectivity1_dB
float reflectivity1_dB
Definition: EMdgmFormat.h:1013
EMdgmSVTinfo_def
Part of Sound Velocity at Transducer datagram.
Definition: EMdgmFormat.h:487
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:812
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:854
EMdgmMRZ_sounding_def::detectionConfidenceLevel
uint8_t detectionConfidenceLevel
Definition: EMdgmFormat.h:993
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:308
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:272
EMdgmMRZ_txSectorInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:922
EMdgmSVTsample_def::salinity
float salinity
Definition: EMdgmFormat.h:548
EMdgmMRZ_pingInfo_def::y_kmallToall_m
float y_kmallToall_m
Definition: EMdgmFormat.h:873
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:997
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:868
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1363
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:587
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:855
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:346
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1026
EMdgmMRZ_pingInfo_def::iceWindow
uint8_t iceWindow
Definition: EMdgmFormat.h:888
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:1012
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1137
EMdgmSdataInfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:185
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1034
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:207
EMdgmCPOdataBlock_def::posDataFromSensor
int8_t posDataFromSensor[MAX_CPO_DATALENGTH]
Definition: EMdgmFormat.h:1253
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:205
EMdgmFcommon_def::numBytesFile
uint32_t numBytesFile
Definition: EMdgmFormat.h:1316
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:840
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams,...
Definition: EMdgmFormat.h:1404
EMdgmMWCrxBeamPhase1_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1181
EMdgmMRZ_pingInfo_def::x_kmallToall_m
float x_kmallToall_m
Definition: EMdgmFormat.h:872
MAX_ATT_SAMPLES
#define MAX_ATT_SAMPLES
Definition: EMdgmFormat.h:44
EMdgmMWCrxBeamData_def::detectedRangeInSamplesHighResolution
float detectedRangeInSamplesHighResolution
Definition: EMdgmFormat.h:1173
EMdgmSVT_def
#SVT - Sound Velocity at Transducer. Data for sound velocity and temperature are measured directely o...
Definition: EMdgmFormat.h:556
EMdgmMRZ_rxInfo_def::extraDetectionAlarmFlag
uint16_t extraDetectionAlarmFlag
Definition: EMdgmFormat.h:948
EMdgmSVTinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:521
EMdgmMRZ_extraSI_def::portSIsample_desidB
int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1071
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:990
EMdgmMWCrxBeamPhase2_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1189
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int8_t posDataFromSensor[MAX_SPO_DATALENGTH]
Definition: EMdgmFormat.h:212
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uint16_t SIstartRange_samples
Definition: EMdgmFormat.h:1056
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uint8_t sensorStatus
Definition: EMdgmFormat.h:243
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float velDown
Definition: EMdgmFormat.h:368
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double correctedLat_deg
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Definition: EMdgmFormat.h:965
EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:730
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float pitchError_deg
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uint16_t SInumSamples
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uint8_t txArrNumber
Definition: EMdgmFormat.h:908
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uint32_t time_sec
Definition: EMdgmFormat.h:467
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Definition: EMdgmFormat.h:361
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uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:940
EMdgmMRZ_pingInfo_def::transmitArraySizeUsed_deg
float transmitArraySizeUsed_deg
Definition: EMdgmFormat.h:851
EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:237
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:978
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float signalBandWidth_Hz
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Definition: EMdgmFormat.h:184
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uint16_t numBytesCmnPart
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Definition: EMdgmFormat.h:360
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:301
EMdgmHeader_def::echoSounderID
uint16_t echoSounderID
Definition: EMdgmFormat.h:120
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Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:717
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Definition: EMdgmFormat.h:1104
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float pitch_deg
Definition: EMdgmFormat.h:352
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:424
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:53
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Definition: EMdgmFormat.h:986
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uint8_t pulseForm
Definition: EMdgmFormat.h:780
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:672
EMdgmMRZ_pingInfo_def::freqRangeLowLim_Hz
float freqRangeLowLim_Hz
Definition: EMdgmFormat.h:803
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Definition: EMdgmFormat.h:187
EMdgmMRZ_pingInfo_def::beamSpacing
uint8_t beamSpacing
Definition: EMdgmFormat.h:755
KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:394
EMdgmSVP_def::numSamples
uint16_t numSamples
Definition: EMdgmFormat.h:462
EMdgmSdataInfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:186
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
Definition: EMdgmFormat.h:750
KMbinary_def::heaveError_m
float heaveError_m
Definition: EMdgmFormat.h:379
EMdgmSVPpoint_def::depth_m
float depth_m
Definition: EMdgmFormat.h:446
EMdgmMRZ_sounding_def::sourceLevelApplied_dB
float sourceLevelApplied_dB
Definition: EMdgmFormat.h:1020
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:572
EMdgmMRZ_pingInfo_def::lambertsLawApplied
uint8_t lambertsLawApplied
Definition: EMdgmFormat.h:887
MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:41
EMdgmMRZ_pingInfo_def::depthMode
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Definition: EMdgmFormat.h:756
EMdgmMbody_def::swathsPerPing
uint8_t swathsPerPing
Definition: EMdgmFormat.h:725
EMdgmMRZ_sounding_def::SIcentreSample
uint16_t SIcentreSample
Definition: EMdgmFormat.h:1057
EMdgmFcommon_def
File (F) output datagram - common all for file datagrams.
Definition: EMdgmFormat.h:1307
EMdgmMRZ_txSectorInfo_def::sectorTrackingCorr_dB
float sectorTrackingCorr_dB
Definition: EMdgmFormat.h:927
EMdgmMRZ_pingInfo_def::starbSectorEdge_deg
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Definition: EMdgmFormat.h:811
EMdgmMWCrxInfo_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:1158
KMbinary_def::ellipsoidHeight_m
float ellipsoidHeight_m
Definition: EMdgmFormat.h:347
MAX_NUM_BEAMS
#define MAX_NUM_BEAMS
Definition: EMdgmFormat.h:38
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:471
EMdgmSVP_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile....
Definition: EMdgmFormat.h:458
EMdgmIOP_def::status
uint16_t status
Definition: EMdgmFormat.h:1386
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
float twoWayTravelTime_sec
Definition: EMdgmFormat.h:1033
EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:999
EMdgmMRZ_sounding_def::rejectionInfo1
uint8_t rejectionInfo1
Definition: EMdgmFormat.h:989
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:915
EMdgmMRZ_sounding_def::BScalibration_dB
float BScalibration_dB
Definition: EMdgmFormat.h:1025
EMdgmMRZ_pingInfo_def::attitudeSensorStatus
uint8_t attitudeSensorStatus
Definition: EMdgmFormat.h:877
EMdgmMRZ_sounding_def::realTimeCleanInfo
uint16_t realTimeCleanInfo
Definition: EMdgmFormat.h:1051
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:122
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1121
EMdgmMRZ_txSectorInfo_def::signalWaveForm
uint8_t signalWaveForm
Definition: EMdgmFormat.h:921
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Definition: EMdgmFormat.h:241
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Definition: EMdgmFormat.h:949
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Definition: EMdgmFormat.h:305
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Definition: EMdgmFormat.h:1313
EMdgmMRZ_pingInfo_def::ellipsoidHeightReRefPoint_m
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Definition: EMdgmFormat.h:881
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
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Definition: EMdgmFormat.h:871
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Definition: EMdgmFormat.h:354
EMdgmCPO_def
#CPO - Struct of compatibility position sensor datagram. Data from active sensor will be motion c...
Definition: EMdgmFormat.h:1258
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:774
EMdgmSPO_def
#SPO - Struct of position sensor datagram. Data from active sensor will be motion corrected if in...
Definition: EMdgmFormat.h:221
EMdgmSVTinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:507
EMdgmMRZ_sounding_def::x_reRefPoint_m
float x_reRefPoint_m
Definition: EMdgmFormat.h:1047
EMdgmSVPpoint_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:447
EMdgmCHEdata_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1279
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:679
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Definition: EMdgmFormat.h:853
EMdgmCPOdataBlock_def::courseOverGround_deg
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Definition: EMdgmFormat.h:1251
KMbinary_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:303
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1175
EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:938
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:807
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:919
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1414
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
Definition: EMdgmFormat.h:912
EMdgmSPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:208
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:604
EMdgmMRZ_rxInfo_def::numSoundingsValidMain
uint16_t numSoundingsValidMain
Definition: EMdgmFormat.h:942
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1183
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1172
EMdgmSVTsample_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:545
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1134
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:870
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:273
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:815
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1385
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:998
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:875
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:42
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:56
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:398
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1410
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:366
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:57
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1050
MAX_NUM_TX_PULSES
#define MAX_NUM_TX_PULSES
Definition: EMdgmFormat.h:43
EMdgmMRZ_pingInfo_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:880
EMdgmMRZ_extraDetClassInfo_def::numExtraDetInClass
uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:963
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1149
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:916
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:805
EMdgmFcommon_def::fileName
uint8_t fileName[MAX_F_FILENAME_LENGTH]
Definition: EMdgmFormat.h:1317
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:964
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:947
EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1146
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:649
KMbinary_def::longitudeError_m
float longitudeError_m
Definition: EMdgmFormat.h:374
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:729
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1039
EMdgmCPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:1247
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:678
MAX_CPO_DATALENGTH
#define MAX_CPO_DATALENGTH
Definition: EMdgmFormat.h:60
EMdgmMbody_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:719
EMdgmCPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:1252
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:449
KMbinary_def::downAcceleration
float downAcceleration
Definition: EMdgmFormat.h:386
EMdgmCPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:1249
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1126
EMdgmMRZ_extraSI_def::starbSIsample_desidB
int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1074
EMdgmSVTinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:491
EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
Definition: EMdgmFormat.h:869
EMdgmMWCtxInfo_def::padding
int16_t padding
Definition: EMdgmFormat.h:1129
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:995
EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:744
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1411
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:461
EMdgmSCLdataFromSensor_def::offset_sec
float offset_sec
Definition: EMdgmFormat.h:576
KMbinary_def::rollError_deg
float rollError_deg
Definition: EMdgmFormat.h:376
EMdgmMWCrxInfo_def::numBytesPerBeamEntry
uint8_t numBytesPerBeamEntry
Definition: EMdgmFormat.h:1150
EMdgmMRZ_sounding_def::WCBeamNumb
uint16_t WCBeamNumb
Definition: EMdgmFormat.h:1005
EMdgmIB_def::BISTNumber
uint8_t BISTNumber
Definition: EMdgmFormat.h:1412
EMdgmSVTsample_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:544
EMdgmMRZ_sounding_def::beamAngleReRx_deg
float beamAngleReRx_deg
Definition: EMdgmFormat.h:1031
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings....
Definition: EMdgmFormat.h:1353