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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 03 05 JUL 2017 Rev C.
22
23 */
24
240 #ifndef _EMDGMFORMAT_H
241 #define _EMDGMFORMAT_H
242
243 #include "stdint.h"
244
245 #ifndef _VXW
246 #pragma pack(4)
247 #endif
248
249 #define MAX_NUM_BEAMS 1024
250 #define MAX_EXTRA_DET 1024
251 #define MAX_EXTRA_DET_CLASSES 11
252 #define MAX_SIDESCAN_SAMP 60000
253 #define MAX_SIDESCAN_EXTRA_SAMP 15000
254 #define MAX_NUM_TX_PULSES 9
255 #define MAX_ATT_SAMPLES 148
256 #define MAX_SVP_POINTS 2000
257 #define MAX_DGM_SIZE 64000
258 #define MAX_NUM_MST_DGMS 256
259 #define MAX_NUM_MWC_DGMS 256
260 #define MAX_NUM_MRZ_DGMS 32
262 #define MAX_SPO_DATALENGTH 250
263 #define MAX_ATT_DATALENGTH 250
264 #define MAX_SCL_DATALENGTH 64
265 #define MAX_SDE_DATALENGTH 32
266 #define MAX_SHI_DATALENGTH 32
267 /*
268 *
269 */
270 /*********************************************
271 Datagram names
272 *********************************************/
273
274 /* I - datagrams */
275 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
276 #define EM_DGM_I_OP_RUNTIME "#IOP"
277
278 /* S-datagrams */
279 #define EM_DGM_S_POSITION "#SPO"
280 #define EM_DGM_S_KM_BINARY "#SKM"
281 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
282 #define EM_DGM_S_CLOCK "#SCL"
283 #define EM_DGM_S_DEPTH "#SDE"
284 #define EM_DGM_S_HEIGHT "#SHI"
285
286 /* M-datagrams */
287 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
288 #define EM_DGM_M_WATER_COLUMN "#MWC"
289
290
291 /*********************************************
292
293 General datagram header
294
295 *********************************************/
296
299 struct EMdgmHeader_def
300 {
301 uint32_t numBytesDgm;
302 uint8_t dgmType[4];
303 uint8_t dgmVersion;
304 uint8_t systemID;
305 uint16_t echoSounderID;
306 uint32_t time_sec;
307 uint32_t time_nanosec;
308 };
309
310 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
311
312 /*********************************************
313
314 Sensor datagrams
315
316 *********************************************/
317
320 struct EMdgmScommon_def
321 {
322 uint16_t numBytesCmnPart;
323 uint16_t sensorSystem;
325 uint16_t sensorStatus;
352 uint16_t padding;
353 };
354
355 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
356
361 struct EMdgmSdataInfo_def
362 {
363 uint16_t numBytesInfoPart;
364 uint16_t numSamplesArray;
365 uint16_t numBytesPerSample;
366 uint16_t numBytesRawSensorData;
367 };
368
369 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
370
371
372 /************************************
373 #SPO - Sensor POsition data
374 ************************************/
378 struct EMdgmSPOdataBlock_def
379 {
380 uint32_t timeFromSensor_sec;
381 uint32_t timeFromSensor_nanosec;
382 float posFixQuality_m;
383 double correctedLat_deg;
384 double correctedLong_deg;
385 float speedOverGround_mPerSec;
386 float courseOverGround_deg;
387 float ellipsoidHeightReRefPoint_m;
390 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
391 };
392
393 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
394
398 struct EMdgmSPO_def
399 {
400 struct EMdgmHeader_def header;
401 struct EMdgmScommon_def cmnPart;
402 struct EMdgmSPOdataBlock_def sensorData;
403 };
404
405 #define SPO_VERSION 0
406 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
407
408
409 /************************************
410 #SKM - KM binary sensor data
411 ************************************/
414 struct EMdgmSKMinfo_def
415 {
416 uint16_t numBytesInfoPart;
417 uint8_t sensorSystem;
418 uint8_t sensorStatus;
434 uint16_t sensorInputFormat;
447 uint16_t numSamplesArray;
448 uint16_t numBytesPerSample;
449 uint16_t sensorDataContents;
470 };
471
472 typedef struct EMdgmSKMinfo_def EMdgmSKMinfo, *pEMdgmSKMinfo;
478 struct KMbinary_def
479 {
480 uint8_t dgmType[4];
481 uint16_t numBytesDgm;
482 uint16_t dgmVersion;
483 uint32_t time_sec;
485 uint32_t time_nanosec;
487 uint32_t status;
522 double latitude_deg;
523 double longitude_deg;
524 float ellipsoidHeight_m;
528 float roll_deg;
529 float pitch_deg;
530 float heading_deg;
531 float heave_m;
536 float rollRate;
537 float pitchRate;
538 float yawRate;
543 float velNorth;
544 float velEast;
545 float velDown;
550 float latitudeError_m;
551 float longitudeError_m;
552 float ellipsoidHeightError_m;
553 float rollError_deg;
554 float pitchError_deg;
555 float headingError_deg;
556 float heaveError_m;
561 float northAcceleration;
562 float eastAcceleration;
563 float downAcceleration;
564 };
565
566 typedef struct KMbinary_def KMbinary, *pKMbinary;
567
571 struct KMdelayedHeave_def
572 {
573 uint32_t time_sec;
574 uint32_t time_nanosec;
575 float delayedHeave_m;
576 };
577 typedef struct KMdelayedHeave_def KMdelayedHeave, *pKMdelayedHeave;
578
582 struct EMdgmSKMsample_def
583 {
584 struct KMbinary_def KMdefault;
585 struct KMdelayedHeave_def delayedHeave;
586 };
587
588 typedef struct EMdgmSKMsample_def EMdgmSKMsample, *pEMdgmSKMsample;
589
599 struct EMdgmSKM_def
600 {
601 struct EMdgmHeader_def header;
602 struct EMdgmSKMinfo_def infoPart;
603 struct EMdgmSKMsample_def sample[MAX_ATT_SAMPLES];
604 };
605
606 #define SKM_VERSION 1
607 typedef struct EMdgmSKM_def EMdgmSKM, *pEMdgmSKM;
608
609
610 /************************************
611 #SVP - Sound Velocity Profile
612 ************************************/
618 struct EMdgmSVPpoint_def
619 {
620 float depth_m;
621 float soundVelocity_mPerSec;
622 float absCoeff_dBPerkm;
623 float temp_C;
624 float salinity;
625 };
626
627 typedef struct EMdgmSVPpoint_def EMdgmSVPpoint, *pEMdgmSVPpoint;
628
634 struct EMdgmSVP_def
635 {
636 struct EMdgmHeader_def header;
637 uint16_t numBytesCmnPart;
638 uint16_t numSamples;
640 uint8_t sensorFormat[4];
643 uint32_t time_sec;
645 double latitude_deg;
647 double longitude_deg;
650 struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS];
652 };
653
654 #define SVP_VERSION 0
655 typedef struct EMdgmSVP_def EMdgmSVP, *pEMdgmSVP;
656
657
658 /************************************
659 #SCL - Sensor CLock datagram
660 ************************************/
664 struct EMdgmSCLdataFromSensor_def
665 {
666 float offset_sec;
667 int32_t clockDevPU_nanosec;
670 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
672 };
673
674 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
675
679 struct EMdgmSCL_def
680 {
681 struct EMdgmHeader_def header;
682 struct EMdgmScommon_def cmnPart;
683 struct EMdgmSCLdataFromSensor_def sensData;
684 };
685
686 #define SCL_VERSION 0
687 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
688
689
690 /************************************
691 #SDE - Sensor DEpth data
692 ************************************/
696 struct EMdgmSDEdataFromSensor_def
697 {
698 float depthUsed_m;
699 float offset;
700 float scale;
701 double latitude_deg;
703 double longitude_deg;
705 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
706 };
707
708 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
709
713 struct EMdgmSDE_def
714 {
715 struct EMdgmHeader_def header;
716 struct EMdgmScommon_def cmnPart;
717 struct EMdgmSDEdataFromSensor_def sensorData;
718 };
719
720 #define SDE_VERSION 0
721 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
722
723 /************************************
724 #SHI - Sensor HeIght data
725 ************************************/
729 struct EMdgmSHIdataFromSensor_def
730 {
731 uint16_t sensorType;
732 float heigthUsed_m;
733 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
734 };
735
736 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
737
741 struct EMdgmSHI_def
742 {
743 struct EMdgmHeader_def header;
744 struct EMdgmScommon_def cmnPart;
745 struct EMdgmSHIdataFromSensor_def sensData;
746 };
747
748 #define SHI_VERSION 0
749 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
750
751
752 /*********************************************
753
754 Multibeam datagrams
755
756 *********************************************/
764 struct EMdgmMpartition_def
765 {
766 uint16_t numOfDgms;
767 uint16_t dgmNum;
768 };
769
770 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
771
809 struct EMdgmMbody_def
810 {
811 uint16_t numBytesCmnPart;
812 uint16_t pingCnt;
814 uint8_t rxFansPerPing;
816 uint8_t rxFanIndex;
817 uint8_t swathsPerPing;
818 uint8_t swathAlongPosition;
819 uint8_t txTransducerInd;
820 uint8_t rxTransducerInd;
821 uint8_t numRxTransducers;
822 uint8_t algorithmType;
824 };
825
826 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
827
828 /************************************
829 #MRZ - multibeam data for raw range,
830 depth, reflectivity, seabed image(SI) etc.
831 ************************************/
836 struct EMdgmMRZ_pingInfo_def
837 {
838 uint16_t numBytesInfoData;
839 uint16_t padding0;
843 float pingRate_Hz;
844 uint8_t beamSpacing;
845 uint8_t depthMode;
858 uint8_t subDepthMode;
859 uint8_t distanceBtwSwath;
863 uint8_t detectionMode;
864 uint8_t pulseForm;
865 uint16_t padding1;
866
867 float frequencyMode_Hz;
885 float freqRangeLowLim_Hz;
886 float freqRangeHighLim_Hz;
887 float maxTotalTxPulseLength_sec;
888 float maxEffTxPulseLength_sec;
889 float maxEffTxBandWidth_Hz;
890 float absCoeff_dBPerkm;
892 float portSectorEdge_deg;
893 float starbSectorEdge_deg;
894 float portMeanCov_deg;
895 float starbMeanCov_deg;
896 int16_t portMeanCov_m;
897 int16_t starbMeanCov_m;
899 uint8_t modeAndStabilisation;
911 uint8_t runtimeFilter1;
922 uint16_t runtimeFilter2;
932 uint32_t pipeTrackingStatus;
933 float transmitArraySizeUsed_deg;
934 float receiveArraySizeUsed_deg;
935 float transmitPower_dB;
936 uint16_t SLrampUpTimeRemaining;
937 uint16_t padding2;
938 float yawAngle_deg;
944 uint16_t numTxSectors;
945 uint16_t numBytesPerTxSector;
950 float headingVessel_deg;
951 float soundSpeedAtTxDepth_mPerSec;
952 float txTransducerDepth_m;
953 float z_waterLevelReRefPoint_m;
954 float x_kmallToall_m;
955 float y_kmallToall_m;
957 uint8_t latLongInfo;
958 uint8_t posSensorStatus;
959 uint8_t attitudeSensorStatus;
960 uint8_t padding3;
961 double latitude_deg;
962 double longitude_deg;
963 float ellipsoidHeightReRefPoint_m;
966 };
967
968 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
969
975 struct EMdgmMRZ_txSectorInfo_def
976 {
977 uint8_t txSectorNumb;
978 uint8_t txArrNumber;
979 uint8_t txSubArray;
981 uint8_t padding0;
982 float sectorTransmitDelay_sec;
983 float tiltAngleReTx_deg;
985 float txNominalSourceLevel_dB;
986 float txFocusRange_m;
987 float centreFreq_Hz;
988 float signalBandWidth_Hz;
989 float totalSignalLength_sec;
990 uint8_t pulseShading;
991 uint8_t signalWaveForm;
992 uint16_t padding1;
994 };
995
996 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
997
1002 struct EMdgmMRZ_rxInfo_def
1003 {
1004 uint16_t numBytesRxInfo;
1005 uint16_t numSoundingsMaxMain;
1006 uint16_t numSoundingsValidMain;
1007 uint16_t numBytesPerSounding;
1008 float WCSampleRate;
1009 float seabedImageSampleRate;
1010 float BSnormal_dB;
1011 float BSoblique_dB;
1012 uint16_t extraDetectionAlarmFlag;
1013 uint16_t numExtraDetections;
1014 uint16_t numExtraDetectionClasses;
1015 uint16_t numBytesPerClass;
1017 };
1018
1019 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
1020
1025 struct EMdgmMRZ_extraDetClassInfo_def
1026 {
1027 uint16_t numExtraDetInClass;
1028 int8_t padding;
1029 uint8_t alarmFlag;
1031 };
1032
1033 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
1034
1042 struct EMdgmMRZ_sounding_def
1043 {
1044
1045 uint16_t soundingIndex;
1046 uint8_t txSectorNumb;
1050 uint8_t detectionType;
1052 uint8_t detectionMethod;
1053 uint8_t rejectionInfo1;
1054 uint8_t rejectionInfo2;
1055 uint8_t postProcessingInfo;
1056 uint8_t detectionClass;
1057 uint8_t detectionConfidenceLevel;
1058 uint16_t padding;
1059 float rangeFactor;
1060 float qualityFactor;
1061 float detectionUncertaintyVer_m;
1062 float detectionUncertaintyHor_m;
1063 float detectionWindowLength_sec;
1064 float echoLength_sec;
1069 uint16_t WCBeamNumb;
1070 uint16_t WCrange_samples;
1071 float WCNomBeamAngleAcross_deg;
1076 float meanAbsCoeff_dBPerkm;
1077 float reflectivity1_dB;
1082 float reflectivity2_dB;
1083 float receiverSensitivityApplied_dB;
1084 float sourceLevelApplied_dB;
1089 float BScalibration_dB;
1090 float TVG_dB;
1095 float beamAngleReRx_deg;
1096 float beamAngleCorrection_deg;
1097 float twoWayTravelTime_sec;
1098 float twoWayTravelTimeCorrection_sec;
1103 float deltaLatitude_deg;
1105 float deltaLongitude_deg;
1107 float z_reRefPoint_m;
1109 float y_reRefPoint_m;
1111 float x_reRefPoint_m;
1114 float beamIncAngleAdj_deg;
1115 uint16_t realTimeCleanInfo;
1120 uint16_t SIstartRange_samples;
1121 uint16_t SIcentreSample;
1122 uint16_t SInumSamples;
1124 };
1125
1126 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1127
1130 struct EMdgmMRZ_extraSI_def
1131 {
1132
1133 uint16_t portStartRange_samples;
1134 uint16_t numPortSamples;
1135 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1136 uint16_t starbStartRange_samples;
1137 uint16_t numStarbSamples;
1138 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1140 };
1141
1142 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1143
1158 struct EMdgmMRZ_def
1159 {
1160 struct EMdgmHeader_def header;
1161 struct EMdgmMpartition_def partition;
1162 struct EMdgmMbody_def cmnPart;
1163 struct EMdgmMRZ_pingInfo_def pingInfo;
1164 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1165 struct EMdgmMRZ_rxInfo_def rxInfo;
1166 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1167 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1168 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1176 };
1177
1178 #define MRZ_VERSION 0
1179 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1180
1181 /************************************
1182 #MWC - water column datagram
1183 ************************************/
1185 struct EMdgmMWCtxInfo_def
1186 {
1187 uint16_t numBytesTxInfo;
1188 uint16_t numTxSectors;
1190 uint16_t numBytesPerTxSector;
1191 int16_t padding;
1192 float heave_m;
1193 };
1194
1195 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1196
1198 struct EMdgmMWCtxSectorData_def
1199 {
1200 float tiltAngleReTx_deg;
1201 float centreFreq_Hz;
1202 float txBeamWidthAlong_deg;
1203 uint16_t txSectorNum;
1204 int16_t padding;
1205 };
1206
1207 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1208
1210 struct EMdgmMWCrxInfo_def
1211 {
1212 uint16_t numBytesRxInfo;
1213 uint16_t numBeams;
1214 uint8_t numBytesPerBeamEntry;
1216 uint8_t phaseFlag;
1217 uint8_t TVGfunctionApplied;
1219 int8_t TVGoffset_dB;
1221 float sampleFreq_Hz;
1222 float soundVelocity_mPerSec;
1224 };
1225
1226 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1227
1229 struct EMdgmMWCrxBeamData_def
1230 {
1231 float beamPointAngReVertical_deg;
1232 uint16_t startRangeSampleNum;
1233 uint16_t detectedRangeInSamples;
1235 uint16_t beamTxSectorNum;
1236 uint16_t numSampleData;
1237 int8_t *sampleAmplitude05dB_p;
1238 };
1239
1240 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1241
1243 struct EMdgmMWCrxBeamPhase1_def
1244 {
1245 int8_t rxBeamPhase;
1246 };
1247
1248 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1249
1251 struct EMdgmMWCrxBeamPhase2_def
1252 {
1253 int16_t rxBeamPhase;
1254 };
1255
1256 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1257
1259 struct EMdgmMWC_def
1260 {
1261 struct EMdgmHeader_def header;
1262 struct EMdgmMpartition_def partition;
1263 struct EMdgmMbody_def cmnPart;
1264 struct EMdgmMWCtxInfo_def txInfo;
1265 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1266 struct EMdgmMWCrxInfo_def rxInfo;
1267 struct EMdgmMWCrxBeamData_def *beamData_p;
1270 };
1271
1272 #define MWC_VERSION 0
1273 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1274
1275
1276 /*********************************************
1277
1278 Installation and runtime datagrams
1279
1280 *********************************************/
1281
1282 /************************************
1283 #IIP - Info Installation PU
1284 ************************************/
1289 struct EMdgmIIP_def
1290 {
1291 EMdgmHeader header;
1292 uint16_t numBytesCmnPart;
1293 uint16_t info;
1294 uint16_t status;
1295 uint8_t install_txt;
1299 };
1300
1301 #define IIP_VERSION 0
1302 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1303
1304
1305 /************************************
1306 #IOP - Runtime datagram
1307 ************************************/
1315 struct EMdgmIOP_def
1316 {
1317 EMdgmHeader header;
1318 uint16_t numBytesCmnPart;
1319 uint16_t info;
1320 uint16_t status;
1321 uint8_t runtime_txt;
1327 };
1328
1329 #define IOP_VERSION 0
1330 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1331
1332
1333 /************************************
1334 #IB - BIST Error Datagrams
1335 ************************************/
1340 struct EMdgmIB_def
1341 {
1342 EMdgmHeader header;
1343 uint16_t numBytesCmnPart;
1344 uint8_t BISTInfo;
1345 uint8_t BISTStyle;
1346 int8_t BISTNumber;
1347 uint8_t BISTStatus;
1348 uint8_t BISTText;
1349 };
1350
1351 #define BIST_VERSION 0
1352 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1353
1354 #ifndef _VXW
1355 #pragma pack()
1356 #endif
1357 #endif
KMbinary_def::pitchError_deg
float pitchError_deg
Definition: EMdgmFormat.h:554
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:957
KMbinary_def::yawRate
float yawRate
Definition: EMdgmFormat.h:538
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:623
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:417
EMdgmMRZ_pingInfo_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:963
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1348
EMdgmMRZ_txSectorInfo_def::signalBandWidth_Hz
float signalBandWidth_Hz
Definition: EMdgmFormat.h:988
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:552
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1229
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:952
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1190
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:1011
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:975
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1212
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:387
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1245
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:766
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:386
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:889
EMdgmSVP_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:643
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:618
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:266
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1198
KMbinary_def::downAcceleration
float downAcceleration
Definition: EMdgmFormat.h:563
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:814
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:664
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:253
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:302
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1295
EMdgmMRZ_txSectorInfo_def::txArrNumber
uint8_t txArrNumber
Definition: EMdgmFormat.h:978
EMdgmIOP_def::runtime_txt
uint8_t runtime_txt
Definition: EMdgmFormat.h:1321
EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:414
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:447
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1103
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:265
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:1007
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:323
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1134
EMdgmSKMinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:416
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
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Definition: EMdgmFormat.h:1012
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:843
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uint8_t rxTransducerInd
Definition: EMdgmFormat.h:820
EMdgmIOP_def::status
uint16_t status
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uint16_t numBytesRawSensorData
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EMdgmSVP_def::latitude_deg
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EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
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uint8_t detectionMethod
Definition: EMdgmFormat.h:1052
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
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EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
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EMdgmMRZ_txSectorInfo_def::signalWaveForm
uint8_t signalWaveForm
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EMdgmMRZ_sounding_def::deltaLongitude_deg
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uint32_t time_sec
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uint16_t numBytesRxInfo
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float absCoeff_dBPerkm
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uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:1027
EMdgmMbody_def
Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:809
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
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EMdgmSKMinfo_def::sensorStatus
uint8_t sensorStatus
Definition: EMdgmFormat.h:418
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:922
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:696
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1188
EMdgmMRZ_pingInfo_def::y_kmallToall_m
float y_kmallToall_m
Definition: EMdgmFormat.h:955
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:896
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1344
EMdgmMWCtxInfo_def::padding
int16_t padding
Definition: EMdgmFormat.h:1191
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:536
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1236
EMdgmMRZ_rxInfo_def::WCSampleRate
float WCSampleRate
Definition: EMdgmFormat.h:1008
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
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EMdgmMRZ_pingInfo_def::modeAndStabilisation
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Definition: EMdgmFormat.h:899
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EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
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EMdgmMRZ_sounding_def::detectionConfidenceLevel
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EMdgmMRZ_rxInfo_def::numBytesPerClass
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float heave_m
Definition: EMdgmFormat.h:1192
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:767
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uint8_t systemID
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float velEast
Definition: EMdgmFormat.h:544
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:1060
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
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EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:867
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:934
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:1009
EMdgmSDE_def
#SDE - DEpth datagram.
Definition: EMdgmFormat.h:713
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:888
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:892
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1090
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:637
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:1025
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1133
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1098
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:434
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:575
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:932
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:818
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:1058
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:936
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1216
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:301
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:303
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1293
KMbinary_def::velDown
float velDown
Definition: EMdgmFormat.h:545
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:383
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:624
EMdgmIB_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1343
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:487
EMdgmMRZ_extraDetClassInfo_def::alarmFlag
uint8_t alarmFlag
Definition: EMdgmFormat.h:1029
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:582
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:985
EMdgmMRZ_sounding_def::SIstartRange_samples
uint16_t SIstartRange_samples
Definition: EMdgmFormat.h:1120
EMdgmMRZ_pingInfo_def::pulseForm
uint8_t pulseForm
Definition: EMdgmFormat.h:864
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:485
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:895
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:703
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1237
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:958
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:385
KMbinary_def::headingError_deg
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Definition: EMdgmFormat.h:555
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:863
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:380
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1202
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:698
EMdgmMRZ_sounding_def::reflectivity2_dB
float reflectivity2_dB
Definition: EMdgmFormat.h:1082
EMdgmMRZ_sounding_def::detectionType
uint8_t detectionType
Definition: EMdgmFormat.h:1050
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:322
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:550
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1221
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:381
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:989
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:858
EMdgmSKMinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:449
EMdgmMRZ_pingInfo_def::depthMode
uint8_t depthMode
Definition: EMdgmFormat.h:845
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:838
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:961
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:1046
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:732
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1130
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:911
EMdgmMRZ_sounding_def::y_reRefPoint_m
float y_reRefPoint_m
Definition: EMdgmFormat.h:1109
EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:822
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:700
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:816
EMdgmSdataInfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:365
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1292
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1259
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:1064
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:979
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:679
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:986
EMdgmMRZ_pingInfo_def::transmitPower_dB
float transmitPower_dB
Definition: EMdgmFormat.h:935
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1319
EMdgmMRZ_sounding_def::SIcentreSample
uint16_t SIcentreSample
Definition: EMdgmFormat.h:1121
EMdgmMRZ_extraSI_def::numStarbSamples
uint16_t numStarbSamples
Definition: EMdgmFormat.h:1137
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:256
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
float z_waterLevelReRefPoint_m
Definition: EMdgmFormat.h:953
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1201
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:944
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:448
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
Definition: EMdgmFormat.h:839
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams...
Definition: EMdgmFormat.h:1340
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
float twoWayTravelTime_sec
Definition: EMdgmFormat.h:1097
EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:1063
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:307
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:478
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1219
KMbinary_def::heaveError_m
float heaveError_m
Definition: EMdgmFormat.h:556
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:1070
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:897
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:894
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:819
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data...
Definition: EMdgmFormat.h:1158
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1318
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:264
KMbinary_def::ellipsoidHeight_m
float ellipsoidHeight_m
Definition: EMdgmFormat.h:524
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:990
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1233
EMdgmMbody_def::swathsPerPing
uint8_t swathsPerPing
Definition: EMdgmFormat.h:817
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:977
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:1061
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:950
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:937
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:1076
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:262
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:634
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings. Details in separate document Installation parameters
Definition: EMdgmFormat.h:1289
EMdgmSVPpoint_def::depth_m
float depth_m
Definition: EMdgmFormat.h:620
EMdgmSDEdataFromSensor_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:701
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:729
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:859
EMdgmMWCrxBeamPhase1_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1243
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:647
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1114
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:987
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:1062
EMdgmSPO_def
#SPO - Struct of position sensor datagram.
Definition: EMdgmFormat.h:398
KMbinary_def::dgmVersion
uint16_t dgmVersion
Definition: EMdgmFormat.h:482
MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:252
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1213
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:1042
EMdgmMWCrxBeamPhase2_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1251
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:599
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:764
EMdgmMRZ_pingInfo_def::x_kmallToall_m
float x_kmallToall_m
Definition: EMdgmFormat.h:954
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1185
EMdgmSdataInfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:363
EMdgmMRZ_rxInfo_def::numExtraDetections
uint16_t numExtraDetections
Definition: EMdgmFormat.h:1013
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:543
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:1028
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:320
EMdgmMRZ_sounding_def::SInumSamples
uint16_t SInumSamples
Definition: EMdgmFormat.h:1122
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:561
EMdgmIB_def::BISTNumber
int8_t BISTNumber
Definition: EMdgmFormat.h:1346
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:1005
EMdgmMRZ_pingInfo_def::yawAngle_deg
float yawAngle_deg
Definition: EMdgmFormat.h:938
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:481
EMdgmSPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:382
EMdgmMRZ_pingInfo_def::transmitArraySizeUsed_deg
float transmitArraySizeUsed_deg
Definition: EMdgmFormat.h:933
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:1054
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data given both decoded and corrected, and raw as received from se...
Definition: EMdgmFormat.h:378
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:528
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1204
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:1059
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:887
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:821
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1267
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:361
EMdgmMRZ_sounding_def::soundingIndex
uint16_t soundingIndex
Definition: EMdgmFormat.h:1045
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:523
EMdgmHeader_def::echoSounderID
uint16_t echoSounderID
Definition: EMdgmFormat.h:305
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1345
EMdgmMbody_def::numBytesCmnPart
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Definition: EMdgmFormat.h:811
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
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Definition: EMdgmFormat.h:1014
EMdgmSPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:384
EMdgmMRZ_txSectorInfo_def::padding0
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EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
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float WCNomBeamAngleAcross_deg
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KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:571
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EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:836
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EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1210
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EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1315
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EMdgmMRZ_sounding_def::BScalibration_dB
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EMdgmMRZ_rxInfo_def::numSoundingsValidMain
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EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:1002
KMbinary_def::pitchRate
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Definition: EMdgmFormat.h:537
KMbinary_def::latitude_deg
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Definition: EMdgmFormat.h:522
EMdgmSDEdataFromSensor_def::offset
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Definition: EMdgmFormat.h:699
EMdgmMRZ_txSectorInfo_def::padding1
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Definition: EMdgmFormat.h:992
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:741
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:299
EMdgmMRZ_pingInfo_def::longitude_deg
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Definition: EMdgmFormat.h:962