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EMdgmFormat.h
Go to the documentation of this file.
1 /*h+*/
15 /*
16
17 Revision History:
18
19 01 01 SEP 2016 Rev A.
20 02 01 MAR 2017 Rev B.
21
22 */
23
241 #ifndef _EMDGMFORMAT_H
242 #define _EMDGMFORMAT_H
243
244 #include "stdint.h"
245
246 #ifndef _VXW
247 #pragma pack(4)
248 #endif
249
250 #define MAX_NUM_BEAMS 1024
251 #define MAX_EXTRA_DET 1024
252 #define MAX_EXTRA_DET_CLASSES 11
253 #define MAX_SIDESCAN_SAMP 60000
254 #define MAX_SIDESCAN_EXTRA_SAMP 15000
255 #define MAX_NUM_TX_PULSES 9
256 #define MAX_ATT_SAMPLES 148
257 #define MAX_SVP_POINTS 2000
258 #define MAX_HEADING_SAMPLES 1000
259 #define MAX_DGM_SIZE 64000
260 #define MAX_NUM_MST_DGMS 256
261 #define MAX_NUM_MWC_DGMS 256
262 #define MAX_NUM_MRZ_DGMS 32
264 #define MAX_SPO_DATALENGTH 250
265 #define MAX_ATT_DATALENGTH 250
266 #define MAX_SCL_DATALENGTH 64
267 #define MAX_SDE_DATALENGTH 32
268 #define MAX_SHI_DATALENGTH 32
269 #define MAX_SHA_DATALENGTH 32
270 /*
271 *
272 */
273 /*********************************************
274 Datagram names
275 *********************************************/
276
277 /* I - datagrams */
278 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
279 #define EM_DGM_I_OP_RUNTIME "#IOP"
280
281 /* S-datagrams */
282 #define EM_DGM_S_POSITION "#SPO"
283 #define EM_DGM_S_KM_BINARY "#SKM"
284 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
285 #define EM_DGM_S_CLOCK "#SCL"
286 #define EM_DGM_S_DEPTH "#SDE"
287 #define EM_DGM_S_HEIGHT "#SHI"
288 #define EM_DGM_S_HEADING "#SHA"
289
290 /* M-datagrams */
291 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
292 #define EM_DGM_M_WATER_COLUMN "#MWC"
293
294
295 /*********************************************
296
297 General datagram header
298
299 *********************************************/
300
303 struct EMdgmHeader_def
304 {
305 uint32_t numBytesDgm;
306 uint8_t dgmType[4];
307 uint8_t dgmVersion;
308 uint8_t systemID;
309 uint16_t echoSounderID;
310 uint32_t time_sec;
311 uint32_t time_nanosec;
312 };
313
314 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
315
316 /*********************************************
317
318 Sensor datagrams
319
320 *********************************************/
321
324 struct EMdgmScommon_def
325 {
326 uint16_t numBytesCmnPart;
327 uint16_t sensorSystem;
329 uint16_t sensorStatus;
333 uint16_t padding;
334 };
335
336 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
337
342 struct EMdgmSdataInfo_def
343 {
344 uint16_t numBytesInfoPart;
345 uint16_t numSamplesArray;
346 uint16_t numBytesPerSample;
347 uint16_t numBytesRawSensorData;
348 };
349
350 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
351
352
353 /************************************
354 #SPO - Sensor POsition data
355 ************************************/
359 struct EMdgmSPOdataBlock_def
360 {
361 uint32_t timeFromSensor_sec;
362 uint32_t timeFromSensor_nanosec;
363 float posFixQuality_m;
364 double correctedLat_deg;
365 double correctedLong_deg;
366 float speedOverGround_mPerSec;
367 float courseOverGround_deg;
368 float ellipsoidHeightReRefPoint_m;
371 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
372 };
373
374 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
375
379 struct EMdgmSPO_def
380 {
381 struct EMdgmHeader_def header;
382 struct EMdgmScommon_def cmnPart;
383 struct EMdgmSPOdataBlock_def sensorData;
384 };
385
386 #define SPO_VERSION 0
387 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
388
389
390 /************************************
391 #SKM - KM binary sensor data
392 ************************************/
395 struct EMdgmSKMinfo_def
396 {
397 uint16_t numBytesInfoPart;
398 uint8_t sensorSystem;
399 uint8_t sensorStatus;
401 uint16_t sensorInputFormat;
413 uint16_t numSamplesArray;
414 uint16_t numBytesPerSample;
415 uint16_t padding;
416 };
417
418 typedef struct EMdgmSKMinfo_def EMdgmSKMinfo, *pEMdgmSKMinfo;
424 struct KMbinary_def
425 {
426 uint8_t dgmType[4];
427 uint16_t numBytesDgm;
428 uint16_t dgmVersion;
429 uint32_t time_sec;
431 uint32_t time_nanosec;
433 uint32_t status;
468 double latitude_deg;
469 double longitude_deg;
470 float ellipsoidHeight_m;
474 float roll_deg;
475 float pitch_deg;
476 float heading_deg;
477 float heave_m;
482 float rollRate;
483 float pitchRate;
484 float yawRate;
489 float velNorth;
490 float velEast;
491 float velDown;
496 float latitudeError_m;
497 float longitudeError_m;
498 float ellipsoidHeightError_m;
499 float rollError_deg;
500 float pitchError_deg;
501 float headingError_deg;
502 float heaveError_m;
507 float northAcceleration;
508 float eastAcceleration;
509 float downAcceleration;
510 };
511
512 typedef struct KMbinary_def KMbinary, *pKMbinary;
513
517 struct KMdelayedHeave_def
518 {
519 uint32_t time_sec;
520 uint32_t time_nanosec;
521 float delayedHeave_m;
522 };
523 typedef struct KMdelayedHeave_def KMdelayedHeave, *pKMdelayedHeave;
524
528 struct EMdgmSKMsample_def
529 {
530 struct KMbinary_def KMdefault;
531 struct KMdelayedHeave_def delayedHeave;
532 };
533
534 typedef struct EMdgmSKMsample_def EMdgmSKMsample, *pEMdgmSKMsample;
535
545 struct EMdgmSKM_def
546 {
547 struct EMdgmHeader_def header;
548 struct EMdgmSKMinfo_def infoPart;
549 struct EMdgmSKMsample_def sample[MAX_ATT_SAMPLES];
550 };
551
552 #define SKM_VERSION 0
553 typedef struct EMdgmSKM_def EMdgmSKM, *pEMdgmSKM;
554
555
556 /************************************
557 #SVP - Sound Velocity Profile
558 ************************************/
564 struct EMdgmSVPpoint_def
565 {
566 float depth_m;
567 float soundVelocity_mPerSec;
568 float absCoeff_dBPerkm;
569 float temp_C;
570 float salinity;
571 };
572
573 typedef struct EMdgmSVPpoint_def EMdgmSVPpoint, *pEMdgmSVPpoint;
574
580 struct EMdgmSVP_def
581 {
582 struct EMdgmHeader_def header;
583 uint16_t numBytesCmnPart;
584 uint16_t numSamples;
586 uint8_t sensorFormat[4];
589 uint32_t time_sec;
591 double latitude_deg;
593 double longitude_deg;
596 struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS];
598 };
599
600 #define SVP_VERSION 0
601 typedef struct EMdgmSVP_def EMdgmSVP, *pEMdgmSVP;
602
603
604 /************************************
605 #SCL - Sensor CLock datagram
606 ************************************/
610 struct EMdgmSCLdataFromSensor_def
611 {
612 float offset_sec;
613 int32_t clockDevPU_nanosec;
616 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
618 };
619
620 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
621
625 struct EMdgmSCL_def
626 {
627 struct EMdgmHeader_def header;
628 struct EMdgmScommon_def cmnPart;
629 struct EMdgmSCLdataFromSensor_def sensData;
630 };
631
632 #define SCL_VERSION 0
633 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
634
635
636 /************************************
637 #SDE - Sensor DEpth data
638 ************************************/
642 struct EMdgmSDEdataFromSensor_def
643 {
644 float depthUsed_m;
645 float offset;
646 float scale;
647 double latitude_deg;
649 double longitude_deg;
651 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
652 };
653
654 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
655
659 struct EMdgmSDE_def
660 {
661 struct EMdgmHeader_def header;
662 struct EMdgmScommon_def cmnPart;
663 struct EMdgmSDEdataFromSensor_def sensorData;
664 };
665
666 #define SDE_VERSION 0
667 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
668
669 /************************************
670 #SHI - Sensor HeIght data
671 ************************************/
675 struct EMdgmSHIdataFromSensor_def
676 {
677 uint16_t sensorType;
678 float heigthUsed_m;
679 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
680 };
681
682 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
683
687 struct EMdgmSHI_def
688 {
689 struct EMdgmHeader_def header;
690 struct EMdgmScommon_def cmnPart;
691 struct EMdgmSHIdataFromSensor_def sensData;
692 };
693
694 #define SHI_VERSION 0
695 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
696
697
698 /************************************
699 #SHA - Sensor HeAding
700 ************************************/
704 struct EMdgmSHAdataFromSensor_def
705 {
706 uint32_t timeSinceRecStart_nanosec;
709 float headingCorrected_deg;
710 uint8_t dataFromSensor[MAX_SHA_DATALENGTH];
711 };
712
713 typedef struct EMdgmSHAdataFromSensor_def EMdgmSHAdataFromSensor, *pEMdgmSHAdataFromSensor;
714
720 struct EMdgmSHA_def
721 {
722 struct EMdgmHeader_def header;
723 struct EMdgmScommon_def cmnPart;
724 struct EMdgmSdataInfo_def dataInfo;
725 struct EMdgmSHAdataFromSensor_def sensorData[MAX_HEADING_SAMPLES];
726 };
727
728 #define SHA_VERSION 0
729 typedef struct EMdgmSHA_def EMdgmSHA, *pEMdgmSHA;
730
731
732 /*********************************************
733
734 Multibeam datagrams
735
736 *********************************************/
744 struct EMdgmMpartition_def
745 {
746 uint16_t numOfDgms;
747 uint16_t dgmNum;
748 };
749
750 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
751
789 struct EMdgmMbody_def
790 {
791 uint16_t numBytesCmnPart;
792 uint16_t pingCnt;
794 uint8_t rxFansPerPing;
796 uint8_t rxFanIndex;
797 uint8_t swathsPerPing;
798 uint8_t swathAlongPosition;
799 uint8_t txTransducerInd;
800 uint8_t rxTransducerInd;
801 uint8_t numRxTransducers;
802 uint8_t algorithmType;
804 };
805
806 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
807
808 /************************************
809 #MRZ - multibeam data for raw range,
810 depth, reflectivity, seabed image(SI) etc.
811 ************************************/
816 struct EMdgmMRZ_pingInfo_def
817 {
818 uint16_t numBytesInfoData;
819 uint16_t padding0;
823 float pingRate_Hz;
824 uint8_t beamSpacing;
825 uint8_t depthMode;
838 uint8_t subDepthMode;
839 uint8_t distanceBtwSwath;
843 uint8_t detectionMode;
844 uint8_t pulseForm;
845 uint16_t padding1;
846
847 float frequencyMode_Hz;
865 float freqRangeLowLim_Hz;
866 float freqRangeHighLim_Hz;
867 float maxTotalTxPulseLength_sec;
868 float maxEffTxPulseLength_sec;
869 float maxEffTxBandWidth_Hz;
870 float absCoeff_dBPerkm;
872 float portSectorEdge_deg;
873 float starbSectorEdge_deg;
874 float portMeanCov_deg;
875 float starbMeanCov_deg;
876 int16_t portMeanCov_m;
877 int16_t starbMeanCov_m;
879 uint8_t modeAndStabilisation;
891 uint8_t runtimeFilter1;
902 uint16_t runtimeFilter2;
912 uint32_t pipeTrackingStatus;
913 float transmitArraySizeUsed_deg;
914 float receiveArraySizeUsed_deg;
915 float transmitPower_dB;
916 uint16_t SLrampUpTimeRemaining;
917 uint16_t padding2;
918 float yawAngle_deg;
924 uint16_t numTxSectors;
925 uint16_t numBytesPerTxSector;
930 float headingVessel_deg;
931 float soundSpeedAtTxDepth_mPerSec;
932 float txTransducerDepth_m;
933 float z_waterLevelReRefPoint_m;
934 float x_txTransducerArm_SCS_m;
935 float y_txTransducerArm_SCS_m;
937 uint8_t latLongInfo;
938 uint8_t posSensorStatus;
939 uint8_t attitudeSensorStatus;
940 uint8_t padding3;
941 double latitude_deg;
942 double longitude_deg;
943 float ellipsoidHeightReRefPoint_m;
946 };
947
948 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
949
955 struct EMdgmMRZ_txSectorInfo_def
956 {
957 uint8_t txSectorNumb;
958 uint8_t txArrNumber;
959 uint8_t txSubArray;
961 uint8_t padding0;
962 float sectorTransmitDelay_sec;
963 float tiltAngleReTx_deg;
965 float txNominalSourceLevel_dB;
966 float txFocusRange_m;
967 float centreFreq_Hz;
968 float signalBandWidth_Hz;
969 float totalSignalLength_sec;
970 uint8_t pulseShading;
971 uint8_t signalWaveForm;
972 uint16_t padding1;
974 };
975
976 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
977
982 struct EMdgmMRZ_rxInfo_def
983 {
984 uint16_t numBytesRxInfo;
985 uint16_t numSoundingsMaxMain;
986 uint16_t numSoundingsValidMain;
987 uint16_t numBytesPerSounding;
988 float WCSampleRate;
989 float seabedImageSampleRate;
990 float BSnormal_dB;
991 float BSoblique_dB;
992 uint16_t extraDetectionAlarmFlag;
993 uint16_t numExtraDetections;
994 uint16_t numExtraDetectionClasses;
995 uint16_t numBytesPerClass;
997 };
998
999 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
1000
1005 struct EMdgmMRZ_extraDetClassInfo_def
1006 {
1007 uint16_t numExtraDetInClass;
1008 int8_t padding;
1009 uint8_t alarmFlag;
1011 };
1012
1013 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
1014
1022 struct EMdgmMRZ_sounding_def
1023 {
1024
1025 uint16_t soundingIndex;
1026 uint8_t txSectorNumb;
1030 uint8_t detectionType;
1032 uint8_t detectionMethod;
1033 uint8_t rejectionInfo1;
1034 uint8_t rejectionInfo2;
1035 uint8_t postProcessingInfo;
1036 uint8_t detectionClass;
1037 uint8_t detectionConfidenceLevel;
1038 uint16_t padding;
1039 float rangeFactor;
1040 float qualityFactor;
1041 float detectionUncertaintyVer_m;
1042 float detectionUncertaintyHor_m;
1043 float detectionWindowLength_sec;
1044 float echoLength_sec;
1049 uint16_t WCBeamNumb;
1050 uint16_t WCrange_samples;
1051 float WCNomBeamAngleAcross_deg;
1056 float meanAbsCoeff_dBPerkm;
1057 float reflectivity1_dB;
1062 float reflectivity2_dB;
1063 float receiverSensitivityApplied_dB;
1064 float sourceLevelApplied_dB;
1069 float BScalibration_dB;
1070 float TVG_dB;
1075 float beamAngleReRx_deg;
1076 float beamAngleCorrection_deg;
1077 float twoWayTravelTime_sec;
1078 float twoWayTravelTimeCorrection_sec;
1083 float deltaLatitude_deg;
1085 float deltaLongitude_deg;
1087 float z_reRefPoint_m;
1089 float y_reRefPoint_m;
1091 float x_reRefPoint_m;
1094 float beamIncAngleAdj_deg;
1095 uint16_t realTimeCleanInfo;
1100 uint16_t SIstartRange_samples;
1101 uint16_t SIcentreSample;
1102 uint16_t SInumSamples;
1104 };
1105
1106 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1107
1110 struct EMdgmMRZ_extraSI_def
1111 {
1112
1113 uint16_t portStartRange_samples;
1114 uint16_t numPortSamples;
1115 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1116 uint16_t starbStartRange_samples;
1117 uint16_t numStarbSamples;
1118 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1120 };
1121
1122 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1123
1138 struct EMdgmMRZ_def
1139 {
1140 struct EMdgmHeader_def header;
1141 struct EMdgmMpartition_def partition;
1142 struct EMdgmMbody_def cmnPart;
1143 struct EMdgmMRZ_pingInfo_def pingInfo;
1144 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1145 struct EMdgmMRZ_rxInfo_def rxInfo;
1146 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1147 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1148 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1156 };
1157
1158 #define MRZ_VERSION 0
1159 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1160
1161 /************************************
1162 #MWC - water column datagram
1163 ************************************/
1165 struct EMdgmMWCtxInfo_def
1166 {
1167 uint16_t numBytesTxInfo;
1168 uint16_t numTxSectors;
1170 uint16_t numBytesPerTxSector;
1171 int16_t padding;
1172 float heave_m;
1173 };
1174
1175 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1176
1178 struct EMdgmMWCtxSectorData_def
1179 {
1180 float tiltAngleReTx_deg;
1181 float centreFreq_Hz;
1182 float txBeamWidthAlong_deg;
1183 uint16_t txSectorNum;
1184 int16_t padding;
1185 };
1186
1187 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1188
1190 struct EMdgmMWCrxInfo_def
1191 {
1192 uint16_t numBytesRxInfo;
1193 uint16_t numBeams;
1194 uint8_t numBytesPerBeamEntry;
1196 uint8_t phaseFlag;
1197 uint8_t TVGfunctionApplied;
1199 int8_t TVGoffset_dB;
1201 float sampleFreq_Hz;
1202 float soundVelocity_mPerSec;
1204 };
1205
1206 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1207
1209 struct EMdgmMWCrxBeamData_def
1210 {
1211 float beamPointAngReVertical_deg;
1212 uint16_t startRangeSampleNum;
1213 uint16_t detectedRangeInSamples;
1215 uint16_t beamTxSectorNum;
1216 uint16_t numSampleData;
1217 int8_t *sampleAmplitude05dB_p;
1218 };
1219
1220 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1221
1223 struct EMdgmMWCrxBeamPhase1_def
1224 {
1225 int8_t rxBeamPhase;
1226 };
1227
1228 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1229
1231 struct EMdgmMWCrxBeamPhase2_def
1232 {
1233 int16_t rxBeamPhase;
1234 };
1235
1236 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1237
1239 struct EMdgmMWC_def
1240 {
1241 struct EMdgmHeader_def header;
1242 struct EMdgmMpartition_def partition;
1243 struct EMdgmMbody_def cmnPart;
1244 struct EMdgmMWCtxInfo_def txInfo;
1245 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1246 struct EMdgmMWCrxInfo_def rxInfo;
1247 struct EMdgmMWCrxBeamData_def *beamData_p;
1250 };
1251
1252 #define MWC_VERSION 0
1253 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1254
1255
1256 /*********************************************
1257
1258 Installation and runtime datagrams
1259
1260 *********************************************/
1261
1262 /************************************
1263 #IIP - Info Installation PU
1264 ************************************/
1269 struct EMdgmIIP_def
1270 {
1271 EMdgmHeader header;
1272 uint16_t numBytesCmnPart;
1273 uint16_t info;
1274 uint16_t status;
1275 uint8_t install_txt;
1279 };
1280
1281 #define IIP_VERSION 0
1282 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1283
1284
1285 /************************************
1286 #IOP - Runtime datagram
1287 ************************************/
1295 struct EMdgmIOP_def
1296 {
1297 EMdgmHeader header;
1298 uint16_t numBytesCmnPart;
1299 uint16_t info;
1300 uint16_t status;
1301 uint8_t runtime_txt;
1307 };
1308
1309 #define IOP_VERSION 0
1310 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1311
1312
1313 /************************************
1314 #IB - BIST Error Datagrams
1315 ************************************/
1320 struct EMdgmIB_def
1321 {
1322 EMdgmHeader header;
1323 uint16_t numBytesCmnPart;
1324 uint8_t BISTInfo;
1325 uint8_t BISTStyle;
1326 int8_t BISTNumber;
1327 uint8_t BISTStatus;
1328 uint8_t BISTText;
1329 };
1330
1331 #define BIST_VERSION 0
1332 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1333
1334 #ifndef _VXW
1335 #pragma pack()
1336 #endif
1337 #endif
KMbinary_def::pitchError_deg
float pitchError_deg
Definition: EMdgmFormat.h:500
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:937
KMbinary_def::yawRate
float yawRate
Definition: EMdgmFormat.h:484
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:569
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:398
EMdgmMRZ_pingInfo_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:943
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1328
EMdgmMRZ_txSectorInfo_def::signalBandWidth_Hz
float signalBandWidth_Hz
Definition: EMdgmFormat.h:968
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:498
EMdgmSHAdataFromSensor_def
Part of Heading datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:704
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1209
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:932
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1170
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:991
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:955
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1192
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:368
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1225
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:746
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:367
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:869
EMdgmSVP_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:589
EMdgmSVPpoint_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile. Sound velocity is measured directly or estimated, respectively.
Definition: EMdgmFormat.h:564
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:268
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1178
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float downAcceleration
Definition: EMdgmFormat.h:509
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:794
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:610
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:254
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:306
EMdgmMRZ_pingInfo_def::x_txTransducerArm_SCS_m
float x_txTransducerArm_SCS_m
Definition: EMdgmFormat.h:934
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1275
EMdgmMRZ_txSectorInfo_def::txArrNumber
uint8_t txArrNumber
Definition: EMdgmFormat.h:958
EMdgmIOP_def::runtime_txt
uint8_t runtime_txt
Definition: EMdgmFormat.h:1301
EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:395
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:413
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1083
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:267
EMdgmSHAdataFromSensor_def::headingCorrected_deg
float headingCorrected_deg
Definition: EMdgmFormat.h:709
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:987
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:327
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1114
EMdgmSKMinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:397
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
Definition: EMdgmFormat.h:1087
EMdgmMRZ_rxInfo_def::extraDetectionAlarmFlag
uint16_t extraDetectionAlarmFlag
Definition: EMdgmFormat.h:992
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:823
EMdgmMbody_def::rxTransducerInd
uint8_t rxTransducerInd
Definition: EMdgmFormat.h:800
EMdgmIOP_def::status
uint16_t status
Definition: EMdgmFormat.h:1300
EMdgmSdataInfo_def::numBytesRawSensorData
uint16_t numBytesRawSensorData
Definition: EMdgmFormat.h:347
EMdgmSVP_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:591
EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
Definition: EMdgmFormat.h:1035
EMdgmMRZ_sounding_def::detectionMethod
uint8_t detectionMethod
Definition: EMdgmFormat.h:1032
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
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EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
Definition: EMdgmFormat.h:931
EMdgmMRZ_txSectorInfo_def::signalWaveForm
uint8_t signalWaveForm
Definition: EMdgmFormat.h:971
EMdgmMRZ_sounding_def::deltaLongitude_deg
float deltaLongitude_deg
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float eastAcceleration
Definition: EMdgmFormat.h:508
EMdgmMRZ_sounding_def::reflectivity1_dB
float reflectivity1_dB
Definition: EMdgmFormat.h:1057
EMdgmHeader_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:310
EMdgmMRZ_rxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:984
EMdgmMWCtxInfo_def::numBytesTxInfo
uint16_t numBytesTxInfo
Definition: EMdgmFormat.h:1167
EMdgmMRZ_pingInfo_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:870
EMdgmMRZ_extraDetClassInfo_def::numExtraDetInClass
uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:1007
EMdgmMbody_def
Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:789
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
Definition: EMdgmFormat.h:1233
EMdgmSKMinfo_def::sensorStatus
uint8_t sensorStatus
Definition: EMdgmFormat.h:399
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:902
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:642
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1168
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:876
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1324
EMdgmMWCtxInfo_def::padding
int16_t padding
Definition: EMdgmFormat.h:1171
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:482
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1216
EMdgmMRZ_rxInfo_def::WCSampleRate
float WCSampleRate
Definition: EMdgmFormat.h:988
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
Definition: EMdgmFormat.h:962
EMdgmMRZ_pingInfo_def::modeAndStabilisation
uint8_t modeAndStabilisation
Definition: EMdgmFormat.h:879
EMdgmMbody_def::pingCnt
uint16_t pingCnt
Definition: EMdgmFormat.h:792
EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
Definition: EMdgmFormat.h:990
EMdgmIB_def::BISTStatus
uint8_t BISTStatus
Definition: EMdgmFormat.h:1327
EMdgmMRZ_sounding_def::detectionConfidenceLevel
uint8_t detectionConfidenceLevel
Definition: EMdgmFormat.h:1037
EMdgmMRZ_rxInfo_def::numBytesPerClass
uint16_t numBytesPerClass
Definition: EMdgmFormat.h:995
EMdgmMWCtxInfo_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1172
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:747
EMdgmHeader_def::systemID
uint8_t systemID
Definition: EMdgmFormat.h:308
KMbinary_def::velEast
float velEast
Definition: EMdgmFormat.h:490
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:1040
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
Definition: EMdgmFormat.h:1116
EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:847
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:914
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:989
EMdgmSDE_def
#SDE - DEpth datagram.
Definition: EMdgmFormat.h:659
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:868
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:872
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1070
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:583
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:1005
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1113
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1078
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:401
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:521
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:912
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:798
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:1038
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:916
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1196
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:305
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:307
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1273
KMbinary_def::velDown
float velDown
Definition: EMdgmFormat.h:491
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:364
EMdgmSHAdataFromSensor_def::timeSinceRecStart_nanosec
uint32_t timeSinceRecStart_nanosec
Definition: EMdgmFormat.h:706
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:570
EMdgmIB_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1323
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:433
EMdgmSHA_def
#SHA - Heading
Definition: EMdgmFormat.h:720
EMdgmMRZ_extraDetClassInfo_def::alarmFlag
uint8_t alarmFlag
Definition: EMdgmFormat.h:1009
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:528
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:965
EMdgmMRZ_sounding_def::SIstartRange_samples
uint16_t SIstartRange_samples
Definition: EMdgmFormat.h:1100
EMdgmMRZ_pingInfo_def::pulseForm
uint8_t pulseForm
Definition: EMdgmFormat.h:844
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:431
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:875
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:649
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1217
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:938
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:366
KMbinary_def::headingError_deg
float headingError_deg
Definition: EMdgmFormat.h:501
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:843
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:361
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1182
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:644
EMdgmMRZ_sounding_def::reflectivity2_dB
float reflectivity2_dB
Definition: EMdgmFormat.h:1062
EMdgmMRZ_sounding_def::detectionType
uint8_t detectionType
Definition: EMdgmFormat.h:1030
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:326
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:496
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1201
MAX_SHA_DATALENGTH
#define MAX_SHA_DATALENGTH
Definition: EMdgmFormat.h:269
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:362
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:969
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:838
EMdgmMRZ_pingInfo_def::depthMode
uint8_t depthMode
Definition: EMdgmFormat.h:825
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:818
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:941
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:1026
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:678
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1110
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:891
EMdgmMRZ_sounding_def::y_reRefPoint_m
float y_reRefPoint_m
Definition: EMdgmFormat.h:1089
EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:802
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:646
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:796
EMdgmSdataInfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:346
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1272
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1239
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:1044
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:959
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:625
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:966
EMdgmMRZ_pingInfo_def::transmitPower_dB
float transmitPower_dB
Definition: EMdgmFormat.h:915
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1299
EMdgmMRZ_sounding_def::SIcentreSample
uint16_t SIcentreSample
Definition: EMdgmFormat.h:1101
EMdgmMRZ_extraSI_def::numStarbSamples
uint16_t numStarbSamples
Definition: EMdgmFormat.h:1117
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:257
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
float z_waterLevelReRefPoint_m
Definition: EMdgmFormat.h:933
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1181
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:924
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:414
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
Definition: EMdgmFormat.h:819
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams...
Definition: EMdgmFormat.h:1320
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
float twoWayTravelTime_sec
Definition: EMdgmFormat.h:1077
EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:1043
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:311
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:424
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1199
KMbinary_def::heaveError_m
float heaveError_m
Definition: EMdgmFormat.h:502
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:1050
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:877
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:874
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:799
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data...
Definition: EMdgmFormat.h:1138
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1298
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:266
KMbinary_def::ellipsoidHeight_m
float ellipsoidHeight_m
Definition: EMdgmFormat.h:470
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:970
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1213
EMdgmMbody_def::swathsPerPing
uint8_t swathsPerPing
Definition: EMdgmFormat.h:797
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:957
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:1041
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:930
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:917
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:1056
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:264
EMdgmSVP_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile. Sound velocity is measured directly or estimated, respectively.
Definition: EMdgmFormat.h:580
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings. Details in separate document Installation parameters
Definition: EMdgmFormat.h:1269
EMdgmSVPpoint_def::depth_m
float depth_m
Definition: EMdgmFormat.h:566
EMdgmSDEdataFromSensor_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:647
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:675
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:839
EMdgmMWCrxBeamPhase1_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1223
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:593
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1094
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:967
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:1042
EMdgmSPO_def
#SPO - Struct of position sensor datagram.
Definition: EMdgmFormat.h:379
KMbinary_def::dgmVersion
uint16_t dgmVersion
Definition: EMdgmFormat.h:428
MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:253
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1193
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:1022
EMdgmMWCrxBeamPhase2_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1231
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:545
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:744
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1165
EMdgmSdataInfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:344
EMdgmMRZ_rxInfo_def::numExtraDetections
uint16_t numExtraDetections
Definition: EMdgmFormat.h:993
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:489
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:1008
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:324
EMdgmMRZ_sounding_def::SInumSamples
uint16_t SInumSamples
Definition: EMdgmFormat.h:1102
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:507
EMdgmIB_def::BISTNumber
int8_t BISTNumber
Definition: EMdgmFormat.h:1326
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:985
EMdgmMRZ_pingInfo_def::yawAngle_deg
float yawAngle_deg
Definition: EMdgmFormat.h:918
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:427
EMdgmSPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:363
EMdgmMRZ_pingInfo_def::transmitArraySizeUsed_deg
float transmitArraySizeUsed_deg
Definition: EMdgmFormat.h:913
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:1034
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data given both decoded and corrected, and raw as received from se...
Definition: EMdgmFormat.h:359
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:474
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1184
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:1039
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:867
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:801
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1247
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:342
EMdgmMRZ_sounding_def::soundingIndex
uint16_t soundingIndex
Definition: EMdgmFormat.h:1025
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:469
EMdgmHeader_def::echoSounderID
uint16_t echoSounderID
Definition: EMdgmFormat.h:309
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1325
EMdgmMbody_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:791
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
uint16_t numExtraDetectionClasses
Definition: EMdgmFormat.h:994
EMdgmSPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:365
EMdgmMRZ_txSectorInfo_def::padding0
uint8_t padding0
Definition: EMdgmFormat.h:961
EMdgmSVPpoint_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:567
EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
Definition: EMdgmFormat.h:1197
EMdgmSVPpoint_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:568
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float heading_deg
Definition: EMdgmFormat.h:476
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uint32_t time_sec
Definition: EMdgmFormat.h:429
EMdgmMRZ_sounding_def::WCNomBeamAngleAcross_deg
float WCNomBeamAngleAcross_deg
Definition: EMdgmFormat.h:1051
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float tiltAngleReTx_deg
Definition: EMdgmFormat.h:963
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float heave_m
Definition: EMdgmFormat.h:477
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uint8_t beamSpacing
Definition: EMdgmFormat.h:824
EMdgmSVP_def::numSamples
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Definition: EMdgmFormat.h:584
EMdgmMRZ_sounding_def::WCBeamNumb
uint16_t WCBeamNumb
Definition: EMdgmFormat.h:1049
KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:517
EMdgmMRZ_pingInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:925
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uint16_t padding1
Definition: EMdgmFormat.h:845
EMdgmMWCrxInfo_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:1202
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int32_t clockDevPU_nanosec
Definition: EMdgmFormat.h:613
EMdgmMWCrxInfo_def::numBytesPerBeamEntry
uint8_t numBytesPerBeamEntry
Definition: EMdgmFormat.h:1194
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float pitch_deg
Definition: EMdgmFormat.h:475
EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:816
EMdgmMRZ_sounding_def::beamAngleReRx_deg
float beamAngleReRx_deg
Definition: EMdgmFormat.h:1075
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float rollError_deg
Definition: EMdgmFormat.h:499
EMdgmMRZ_pingInfo_def::padding3
uint8_t padding3
Definition: EMdgmFormat.h:940
EMdgmMRZ_pingInfo_def::starbSectorEdge_deg
float starbSectorEdge_deg
Definition: EMdgmFormat.h:873
KMbinary_def::longitudeError_m
float longitudeError_m
Definition: EMdgmFormat.h:497
EMdgmSCLdataFromSensor_def::offset_sec
float offset_sec
Definition: EMdgmFormat.h:612
EMdgmMWCtxSectorData_def::txSectorNum
uint16_t txSectorNum
Definition: EMdgmFormat.h:1183
EMdgmMRZ_pingInfo_def::y_txTransducerArm_SCS_m
float y_txTransducerArm_SCS_m
Definition: EMdgmFormat.h:935
EMdgmMRZ_sounding_def::sourceLevelApplied_dB
float sourceLevelApplied_dB
Definition: EMdgmFormat.h:1064
EMdgmMRZ_sounding_def::realTimeCleanInfo
uint16_t realTimeCleanInfo
Definition: EMdgmFormat.h:1095
EMdgmMRZ_pingInfo_def::freqRangeHighLim_Hz
float freqRangeHighLim_Hz
Definition: EMdgmFormat.h:866
EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1190
EMdgmMRZ_sounding_def::detectionClass
uint8_t detectionClass
Definition: EMdgmFormat.h:1036
EMdgmMWCtxSectorData_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1180
EMdgmScommon_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:329
EMdgmMRZ_pingInfo_def::freqRangeLowLim_Hz
float freqRangeLowLim_Hz
Definition: EMdgmFormat.h:865
EMdgmMRZ_sounding_def::receiverSensitivityApplied_dB
float receiverSensitivityApplied_dB
Definition: EMdgmFormat.h:1063
EMdgmIIP_def::status
uint16_t status
Definition: EMdgmFormat.h:1274
EMdgmMRZ_sounding_def::x_reRefPoint_m
float x_reRefPoint_m
Definition: EMdgmFormat.h:1091
EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1295
EMdgmMRZ_sounding_def::rejectionInfo1
uint8_t rejectionInfo1
Definition: EMdgmFormat.h:1033
EMdgmMRZ_sounding_def::BScalibration_dB
float BScalibration_dB
Definition: EMdgmFormat.h:1069
EMdgmMRZ_pingInfo_def::attitudeSensorStatus
uint8_t attitudeSensorStatus
Definition: EMdgmFormat.h:939
EMdgmSdataInfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:345
EMdgmMRZ_rxInfo_def::numSoundingsValidMain
uint16_t numSoundingsValidMain
Definition: EMdgmFormat.h:986
EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:982
KMbinary_def::pitchRate
float pitchRate
Definition: EMdgmFormat.h:483
KMbinary_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:468
EMdgmSDEdataFromSensor_def::offset
float offset
Definition: EMdgmFormat.h:645
EMdgmMRZ_txSectorInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:972
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:687
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:303
EMdgmMRZ_pingInfo_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:942