| EM datagrams on *.kmall format Reg.no. 410224 rev G

Document information

## Document information

- Product: EM
- Document: EM datagram on *.kmall format
- Document number: 410224
- Revision: G
- Date of issue: November 2019

## Revision history

### Rev G. 01 NOV 2019

Code changes:

- #FCF datagram, new datagram for backscatter calibration
- #MRZ datagram, updated to version 1
  Line 880: float bsCorrectionOffset_dB - Backscatter offset set in the installation menu.
  Line 881: uint8_t lambertsLawApplied - Beam intensity data corrected as seabed image data (Lambert and normal incidence corrections).
  Line 882: uint8_t iceWindow - Ice window installed.
  Line 883: uint16_t padding4 - Padding for byte alignment.
  Line 905: Description changed: float txNominalSourceLevel_dB; - Actual SL = txNominalSourceLevel_dB + highVoltageLevel_dB. Unit dB re 1 microPascal.
  Line 916: float highVoltageLevel_dB - 20log(Measured high voltage power level at TX pulse or Nominal high voltage power level). This parameter will also include the effect of user selected transmit power reduction (transmitPower_dB) and mammal protection. Actual SL = txNominalSourceLevel_dB + highVoltageLevel_dB. Unit dB.
  Line 917: float sectorTrackingCorr_dB - Backscatter correction added in sector tracking mode. Unit dB.
  Line 918: float effectiveSignalLength_sec - Signal length used for backscatter footprint calculation. This compensates for the TX pulse tapering and the RX filter bandwidths. Unit second.
- #MWC datagram, updated to version 1
  Line 1163: float detectedRangeInSamplesHighResolution - The same information as in detectedRangeInSamples with higher resolution. Two way range in samples. Approximation to calculated distance from tx to bottom detection [meters] = soundVelocity_mPerSec * detectedRangeInSamples / (sampleFreq_Hz * 2). The detected range is set to zero when the beam has no bottom detection.
- #SVT datagram
  Line 515, 516: Kongsberg sound velocity datagrams KSSIS 80 and KSSIS 43 added.

### Rev F. 16 NOV 2018

The following content and pages have been added to Rev F.

- Datagram format philosophy
- Extra detections
- Supported sensor input (partially replacing separate document)
- KM Binary sensor input format (replacing separate document)
- Document information (revision history)

Code changes:

- Common
  Line 279: Define added
  Line 359, 444, 548, 781, 1454: Definition of time changed. Leap seconds are not ignored.
  Old: From Time in second. Epoch 1970-01-01. Ignoring leap seconds.
  New: UTC time in seconds. Epoch 1970-01-01.
- #SVP datagram, updated to version 1.
  Line 686: float absCoeff_dBPerkm voided. Replaced by uint32_t padding;
- #MRZ datagram
  Line 861: Description of attitudeSensorStatus changed.
  Line 968: Table describing depthMode updated. New table including all EM system.
  Line 1013: Description of detectionMode updated. Added 100 to indicate data from system simulator.
  Line 1141: Description of pulseShading changed.

### Rev E. 25 MAY 2018

- #CPO datagram added, version 0.
- #CHE datagram added, version 0.
- #MWC datagram
  Line 1365: description changed.
  Line 1395: table describing of how to decode beamData updated.

### Rev D. 08 DES 2017

- Common
  Line 273: Defines describing unavailable data added.
- Common #Sxx (sensor) datagrams
  Line 336: Table descring time synchronization source added.
- #SPO datagrams
  Line 406-410 417: Descriptions changed.
- #SVP datagram
  Line 641, 674, 677: Descriptions changed.
- #SVT datagram added, version 0.
  Line 686: Multiple new structs and data fields.
- #SDE datagram
  Line 813, 815: Decriptions changed.
- #MRZ datagram
  Line 957, 1005, 1076, 1077: Descriptions changed.
  Line 1195: Content swapped.
  float reflectivity1_dB and float reflectivity2_dB swapped data.
- #IB datagram
  Line 1462: Variable definition change.
  int8_t BISTNumber to uint8_t BISTNumber
  Line 1463: Variable definition change.
  uint8_t BISTStatus to int8_t BISTStatus

### Rev C. 05 JUL 2017

- #SHA datagram removed.
- #SPO datagram:
  Line 325: Table describing sensorStatus added.
- #SKM datagram, version updated to 1.
  Line 418: Table describing sensorStatus added. Information of active sensors.
  Line 449: New data field sensorDataContents added replacing padding.
- #MRZ datagram, no version change.
  Line 845: Table describing depthMode changed:
  Line 954: Variable name change
  float x_txTransducerArm_SCS_m renamed to float x_kmallToall_m.
  float y_txTransducerArm_SCS_m renamed to float float y_kmallToall_m.

### Rev B. 01 MAR 2017

- Common
  Line 259: defines added.
  #define MAX_NUM_MST_DGMS 256
  #define MAX_NUM_MWC_DGMS 256
  #define MAX_NUM_MRZ_DGMS 32
- #SPO datagram
  Line 365: Description only.
  float speedOverGround_mPerSec;
  float courseOverGround_deg;
- #SKM datagram
  Line 397: Description only.
  uint8_t sensorSystem;

## Copyright

The information contained in this document remains the sole property of Kongsberg Maritime AS. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime AS.

## Warning

The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.

## Disclaimer

Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions.