| EM datagrams on *.kmall format Reg. nr. 410224 rev I

EMdgmFormat.h
Go to the documentation of this file.
1 /*h+*/
13 #ifndef _EMDGMFORMAT_H
14 #define _EMDGMFORMAT_H
15
16 #include <stdint.h>
17
18 #ifndef _VXW
19 #pragma pack(4)
20 #endif
21
22 /*
23
24 Revision History:
25
26 01 01 SEP 2016 Rev A.
27 02 01 MAR 2017 Rev B.
28 03 05 JUL 2017 Rev C.
29 04 08 DES 2017 Rev D.
30 05 25 MAY 2018 Rev E.
31 06 16 NOV 2018 Rev F.
32 07 01 NOV 2019 Rev G.
33 08 20 MAR 2020 Rev H.
34 09 04 JUN 2021 Rev I.
35 */
36
37 #define EM_DGM_FORMAT_VERSION "Rev I 2021-06-04"
39 #define MAX_NUM_BEAMS 1024
40 #define MAX_EXTRA_DET 1024
41 #define MAX_EXTRA_DET_CLASSES 11
42 #define MAX_SIDESCAN_SAMP 60000
43 #define MAX_SIDESCAN_EXTRA_SAMP 15000
44 #define MAX_NUM_TX_PULSES 9
45 #define MAX_ATT_SAMPLES 148
46 #define MAX_SVP_POINTS 2000
47 #define MAX_SVT_SAMPLES 1
48 #define MAX_DGM_SIZE 64000
49 #define MAX_NUM_MST_DGMS 256
50 #define MAX_NUM_MWC_DGMS 256
51 #define MAX_NUM_MRZ_DGMS 32
52 #define MAX_NUM_FCF_DGMS 1
54 #define MAX_SPO_DATALENGTH 250
55 #define MAX_ATT_DATALENGTH 250
56 #define MAX_SVT_DATALENGTH 64
57 #define MAX_SCL_DATALENGTH 64
58 #define MAX_SDE_DATALENGTH 32
59 #define MAX_SHI_DATALENGTH 32
61 #define MAX_CPO_DATALENGTH 250
62 #define MAX_CHE_DATALENGTH 64
64 #define MAX_F_FILENAME_LENGTH 64
65 #define MAX_F_FILE_SIZE 63000
67 #define UNAVAILABLE_POSFIX 0xffff
68 #define UNAVAILABLE_LATITUDE 200.0f
69 #define UNAVAILABLE_LONGITUDE 200.0f
70 #define UNAVAILABLE_SPEED -1.0f
71 #define UNAVAILABLE_COURSE -4.0f
72 #define UNAVAILABLE_ELLIPSOIDHEIGHT -999.0f
75 /*********************************************
76 Datagram names
77 *********************************************/
78
79 /* I-datagrams */
80 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
81 #define EM_DGM_I_OP_RUNTIME "#IOP"
82
83 /* S-datagrams */
84 #define EM_DGM_S_POSITION "#SPO"
85 #define EM_DGM_S_KM_BINARY "#SKM"
86 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
87 #define EM_DGM_S_SOUND_VELOCITY_TRANSDUCER "#SVT"
88 #define EM_DGM_S_CLOCK "#SCL"
89 #define EM_DGM_S_DEPTH "#SDE"
90 #define EM_DGM_S_HEIGHT "#SHI"
91
92 /* M-datagrams */
93 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
94 #define EM_DGM_M_WATER_COLUMN "#MWC"
95
96 /* C-datagrams */
97 #define EM_DGM_C_POSITION "#CPO"
98 #define EM_DGM_C_HEAVE "#CHE"
99
100 /* F-datagrams */
101 #define EM_DGM_F_CALIBRATION_FILE "#FCF"
102
103 /*********************************************
104
105 General datagram header
106
107 *********************************************/
108
111 struct EMdgmHeader_def
112 {
113 uint32_t numBytesDgm;
114 uint8_t dgmType[4];
115 uint8_t dgmVersion;
116 uint8_t systemID;
117 uint16_t echoSounderID;
118 uint32_t time_sec;
119 uint32_t time_nanosec;
120 };
121
122 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
123
124 /*********************************************
125
126 Sensor datagrams
127
128 *********************************************/
129
132 struct EMdgmScommon_def
133 {
134 uint16_t numBytesCmnPart;
135 uint16_t sensorSystem;
146 uint16_t sensorStatus;
174 uint16_t padding;
175 };
176
177 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
178
183 struct EMdgmSdataInfo_def
184 {
185 uint16_t numBytesInfoPart;
186 uint16_t numSamplesArray;
187 uint16_t numBytesPerSample;
188 uint16_t numBytesRawSensorData;
189 };
190
191 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
192
193
194 /************************************
195 #SPO - Sensor Position data
196 ************************************/
201 struct EMdgmSPOdataBlock_def
202 {
203 uint32_t timeFromSensor_sec;
204 uint32_t timeFromSensor_nanosec;
205 float posFixQuality_m;
206 double correctedLat_deg;
207 double correctedLong_deg;
208 float speedOverGround_mPerSec;
209 float courseOverGround_deg;
210 float ellipsoidHeightReRefPoint_m;
211 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
212 };
213
214 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
215
221 struct EMdgmSPO_def
222 {
223 struct EMdgmHeader_def header;
224 struct EMdgmScommon_def cmnPart;
225 struct EMdgmSPOdataBlock_def sensorData;
226 };
227
228 #define SPO_VERSION 0
229 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
230
231
232 /************************************
233 #SKM - KM binary sensor data
234 ************************************/
237 struct EMdgmSKMinfo_def
238 {
239 uint16_t numBytesInfoPart;
240 uint8_t sensorSystem;
241 uint8_t sensorStatus;
257 uint16_t sensorInputFormat;
269 uint16_t numSamplesArray;
270 uint16_t numBytesPerSample;
271 uint16_t sensorDataContents;
292 };
293
294 typedef struct EMdgmSKMinfo_def EMdgmSKMinfo, *pEMdgmSKMinfo;
300 struct KMbinary_def
301 {
302 uint8_t dgmType[4];
303 uint16_t numBytesDgm;
304 uint16_t dgmVersion;
305 uint32_t time_sec;
307 uint32_t time_nanosec;
309 uint32_t status;
344 double latitude_deg;
345 double longitude_deg;
346 float ellipsoidHeight_m;
350 float roll_deg;
351 float pitch_deg;
352 float heading_deg;
353 float heave_m;
358 float rollRate;
359 float pitchRate;
360 float yawRate;
365 float velNorth;
366 float velEast;
367 float velDown;
372 float latitudeError_m;
373 float longitudeError_m;
374 float ellipsoidHeightError_m;
375 float rollError_deg;
376 float pitchError_deg;
377 float headingError_deg;
378 float heaveError_m;
383 float northAcceleration;
384 float eastAcceleration;
385 float downAcceleration;
386 };
387
388 typedef struct KMbinary_def KMbinary, *pKMbinary;
389
393 struct KMdelayedHeave_def
394 {
395 uint32_t time_sec;
396 uint32_t time_nanosec;
397 float delayedHeave_m;
398 };
399 typedef struct KMdelayedHeave_def KMdelayedHeave, *pKMdelayedHeave;
400
406 struct EMdgmSKMsample_def
407 {
408 struct KMbinary_def KMdefault;
409 struct KMdelayedHeave_def delayedHeave;
410 };
411
412 typedef struct EMdgmSKMsample_def EMdgmSKMsample, *pEMdgmSKMsample;
413
423 struct EMdgmSKM_def
424 {
425 struct EMdgmHeader_def header;
426 struct EMdgmSKMinfo_def infoPart;
427 struct EMdgmSKMsample_def sample[MAX_ATT_SAMPLES];
428 };
429
430 #define SKM_VERSION 1
431 typedef struct EMdgmSKM_def EMdgmSKM, *pEMdgmSKM;
432
433
434 /************************************
435 #SVP - Sound Velocity Profile
436 ************************************/
441 struct EMdgmSVPpoint_def
442 {
443 float depth_m;
444 float soundVelocity_mPerSec;
445 uint32_t padding;
446 float temp_C;
447 float salinity;
448 };
449
450 typedef struct EMdgmSVPpoint_def EMdgmSVPpoint, *pEMdgmSVPpoint;
451
457 struct EMdgmSVP_def
458 {
459 struct EMdgmHeader_def header;
460 uint16_t numBytesCmnPart;
461 uint16_t numSamples;
463 uint8_t sensorFormat[4];
466 uint32_t time_sec;
468 double latitude_deg;
470 double longitude_deg;
473 struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS];
475 };
476
477 #define SVP_VERSION 1
478 typedef struct EMdgmSVP_def EMdgmSVP, *pEMdgmSVP;
479
480 /************************************
481 * #SVT - Sensor sound Velocity measured at Transducer
482 ************************************/
486 struct EMdgmSVTinfo_def
487 {
488 uint16_t numBytesInfoPart;
489 uint16_t sensorStatus;
504 uint16_t sensorInputFormat;
520 uint16_t numSamplesArray;
521 uint16_t numBytesPerSample;
522 uint16_t sensorDataContents;
535 float filterTime_sec;
536 float soundVelocity_mPerSec_offset;
537 };
538
542 struct EMdgmSVTsample_def
543 {
544 uint32_t time_sec;
545 uint32_t time_nanosec;
546 float soundVelocity_mPerSec;
547 float temp_C;
548 float pressure_Pa;
549 float salinity;
550 };
551
552 typedef struct EMdgmSVTsample_def EMdgmSVTsample, *pEMdgmSVTsample;
553
557 struct EMdgmSVT_def
558 {
559 struct EMdgmHeader_def header;
560 struct EMdgmSVTinfo_def infoPart;
561 struct EMdgmSVTsample_def sensorData[MAX_SVT_SAMPLES];
562 };
563
564 #define SVT_VERSION 0
565 typedef struct EMdgmSVT_def EMdgmSVT, *pEMdgmSVT;
566
567 /************************************
568 #SCL - Sensor CLock datagram
569 ************************************/
573 struct EMdgmSCLdataFromSensor_def
574 {
575 float offset_sec;
576 int32_t clockDevPU_microsec;
579 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
581 };
582
583 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
584
588 struct EMdgmSCL_def
589 {
590 struct EMdgmHeader_def header;
591 struct EMdgmScommon_def cmnPart;
592 struct EMdgmSCLdataFromSensor_def sensData;
593 };
594
595 #define SCL_VERSION 0
596 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
597
598
599 /************************************
600 #SDE - Sensor Depth data
601 ************************************/
605 struct EMdgmSDEdataFromSensor_def
606 {
607 float depthUsed_m;
608 float depthRaw_m;
609 float offset;
610 float scale;
611 double latitude_deg;
613 double longitude_deg;
615 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
616 };
617
618 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
619
623 struct EMdgmSDE_def
624 {
625 struct EMdgmHeader_def header;
626 struct EMdgmScommon_def cmnPart;
627 struct EMdgmSDEdataFromSensor_def sensorData;
628 };
629
630 #define SDE_VERSION 1
631 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
632
633 /************************************
634 #SHI - Sensor Height data
635 ************************************/
639 struct EMdgmSHIdataFromSensor_def
640 {
641 uint16_t sensorType;
642 float heigthUsed_m;
643 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
644 };
645
646 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
647
651 struct EMdgmSHI_def
652 {
653 struct EMdgmHeader_def header;
654 struct EMdgmScommon_def cmnPart;
655 struct EMdgmSHIdataFromSensor_def sensData;
656 };
657
658 #define SHI_VERSION 0
659 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
660
661
662 /*********************************************
663
664 Multibeam datagrams
665
666 *********************************************/
674 struct EMdgmMpartition_def
675 {
676 uint16_t numOfDgms;
677 uint16_t dgmNum;
678 };
679
680 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
681
719 struct EMdgmMbody_def
720 {
721 uint16_t numBytesCmnPart;
722 uint16_t pingCnt;
724 uint8_t rxFansPerPing;
726 uint8_t rxFanIndex;
727 uint8_t swathsPerPing;
728 uint8_t swathAlongPosition;
729 uint8_t txTransducerInd;
730 uint8_t rxTransducerInd;
731 uint8_t numRxTransducers;
732 uint8_t algorithmType;
734 };
735
736 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
737
738 /************************************
739 #MRZ - multibeam data for raw range,
740 depth, reflectivity, seabed image(SI) etc.
741 ************************************/
746 struct EMdgmMRZ_pingInfo_def
747 {
748 uint16_t numBytesInfoData;
749 uint16_t padding0;
753 float pingRate_Hz;
754 uint8_t beamSpacing;
755 uint8_t depthMode;
772 uint8_t subDepthMode;
773 uint8_t distanceBtwSwath;
777 uint8_t detectionMode;
779 uint8_t pulseForm;
780 uint16_t padding1;
781
782 float frequencyMode_Hz;
802 float freqRangeLowLim_Hz;
803 float freqRangeHighLim_Hz;
804 float maxTotalTxPulseLength_sec;
805 float maxEffTxPulseLength_sec;
806 float maxEffTxBandWidth_Hz;
807 float absCoeff_dBPerkm;
809 float portSectorEdge_deg;
810 float starbSectorEdge_deg;
811 float portMeanCov_deg;
812 float starbMeanCov_deg;
813 int16_t portMeanCov_m;
814 int16_t starbMeanCov_m;
816 uint8_t modeAndStabilisation;
828 uint8_t runtimeFilter1;
839 uint16_t runtimeFilter2;
849 uint32_t pipeTrackingStatus;
850 float transmitArraySizeUsed_deg;
851 float receiveArraySizeUsed_deg;
852 float transmitPower_dB;
853 uint16_t SLrampUpTimeRemaining;
854 uint16_t padding2;
855 float yawAngle_deg;
861 uint16_t numTxSectors;
862 uint16_t numBytesPerTxSector;
867 float headingVessel_deg;
868 float soundSpeedAtTxDepth_mPerSec;
869 float txTransducerDepth_m;
870 float z_waterLevelReRefPoint_m;
871 float x_kmallToall_m;
872 float y_kmallToall_m;
874 uint8_t latLongInfo;
875 uint8_t posSensorStatus;
876 uint8_t attitudeSensorStatus;
877 uint8_t padding3;
878 double latitude_deg;
879 double longitude_deg;
880 float ellipsoidHeightReRefPoint_m;
885 float bsCorrectionOffset_dB;
886 uint8_t lambertsLawApplied;
887 uint8_t iceWindow;
888 uint16_t activeModes;
898 };
899
900 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
901
907 struct EMdgmMRZ_txSectorInfo_def
908 {
909 uint8_t txSectorNumb;
910 uint8_t txArrNumber;
911 uint8_t txSubArray;
913 uint8_t padding0;
914 float sectorTransmitDelay_sec;
915 float tiltAngleReTx_deg;
917 float txNominalSourceLevel_dB;
918 float txFocusRange_m;
919 float centreFreq_Hz;
920 float signalBandWidth_Hz;
921 float totalSignalLength_sec;
922 uint8_t pulseShading;
923 uint8_t signalWaveForm;
924 uint16_t padding1;
928 float highVoltageLevel_dB;
929 float sectorTrackingCorr_dB;
930 float effectiveSignalLength_sec;
932 };
933
934 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
935
940 struct EMdgmMRZ_rxInfo_def
941 {
942 uint16_t numBytesRxInfo;
943 uint16_t numSoundingsMaxMain;
944 uint16_t numSoundingsValidMain;
945 uint16_t numBytesPerSounding;
946 float WCSampleRate;
947 float seabedImageSampleRate;
948 float BSnormal_dB;
949 float BSoblique_dB;
950 uint16_t extraDetectionAlarmFlag;
951 uint16_t numExtraDetections;
952 uint16_t numExtraDetectionClasses;
953 uint16_t numBytesPerClass;
955 };
956
957 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
958
963 struct EMdgmMRZ_extraDetClassInfo_def
964 {
965 uint16_t numExtraDetInClass;
966 int8_t padding;
967 uint8_t alarmFlag;
969 };
970
971 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
972
980 struct EMdgmMRZ_sounding_def
981 {
982
983 uint16_t soundingIndex;
984 uint8_t txSectorNumb;
988 uint8_t detectionType;
990 uint8_t detectionMethod;
991 uint8_t rejectionInfo1;
992 uint8_t rejectionInfo2;
993 uint8_t postProcessingInfo;
994 uint8_t detectionClass;
995 uint8_t detectionConfidenceLevel;
996 uint16_t padding;
997 float rangeFactor;
998 float qualityFactor;
999 float detectionUncertaintyVer_m;
1000 float detectionUncertaintyHor_m;
1001 float detectionWindowLength_sec;
1002 float echoLength_sec;
1007 uint16_t WCBeamNumb;
1008 uint16_t WCrange_samples;
1009 float WCNomBeamAngleAcross_deg;
1014 float meanAbsCoeff_dBPerkm;
1015 float reflectivity1_dB;
1016 float reflectivity2_dB;
1021 float receiverSensitivityApplied_dB;
1022 float sourceLevelApplied_dB;
1027 float BScalibration_dB;
1028 float TVG_dB;
1033 float beamAngleReRx_deg;
1034 float beamAngleCorrection_deg;
1035 float twoWayTravelTime_sec;
1036 float twoWayTravelTimeCorrection_sec;
1041 float deltaLatitude_deg;
1043 float deltaLongitude_deg;
1045 float z_reRefPoint_m;
1047 float y_reRefPoint_m;
1049 float x_reRefPoint_m;
1052 float beamIncAngleAdj_deg;
1053 uint16_t realTimeCleanInfo;
1058 uint16_t SIstartRange_samples;
1059 uint16_t SIcentreSample;
1060 uint16_t SInumSamples;
1062 };
1063
1064 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1065
1068 struct EMdgmMRZ_extraSI_def
1069 {
1070
1071 uint16_t portStartRange_samples;
1072 uint16_t numPortSamples;
1073 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1074 uint16_t starbStartRange_samples;
1075 uint16_t numStarbSamples;
1076 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1078 };
1079
1080 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1081
1096 struct EMdgmMRZ_def
1097 {
1098 struct EMdgmHeader_def header;
1099 struct EMdgmMpartition_def partition;
1100 struct EMdgmMbody_def cmnPart;
1101 struct EMdgmMRZ_pingInfo_def pingInfo;
1102 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1103 struct EMdgmMRZ_rxInfo_def rxInfo;
1104 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1105 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1106 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1114 };
1115
1116 #define MRZ_VERSION 3
1117 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1118
1119 /************************************
1120 #MWC - water column datagram
1121 ************************************/
1123 struct EMdgmMWCtxInfo_def
1124 {
1125 uint16_t numBytesTxInfo;
1126 uint16_t numTxSectors;
1128 uint16_t numBytesPerTxSector;
1129 int16_t padding;
1130 float heave_m;
1131 };
1132
1133 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1134
1136 struct EMdgmMWCtxSectorData_def
1137 {
1138 float tiltAngleReTx_deg;
1139 float centreFreq_Hz;
1140 float txBeamWidthAlong_deg;
1141 uint16_t txSectorNum;
1142 int16_t padding;
1143 };
1144
1145 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1146
1148 struct EMdgmMWCrxInfo_def
1149 {
1150 uint16_t numBytesRxInfo;
1151 uint16_t numBeams;
1152 uint8_t numBytesPerBeamEntry;
1154 uint8_t phaseFlag;
1155 uint8_t TVGfunctionApplied;
1157 int8_t TVGoffset_dB;
1159 float sampleFreq_Hz;
1160 float soundVelocity_mPerSec;
1162 };
1163
1164 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1165
1167 struct EMdgmMWCrxBeamData_def
1168 {
1169 float beamPointAngReVertical_deg;
1170 uint16_t startRangeSampleNum;
1171 uint16_t detectedRangeInSamples;
1173 uint16_t beamTxSectorNum;
1174 uint16_t numSampleData;
1175 float detectedRangeInSamplesHighResolution;
1177 int8_t *sampleAmplitude05dB_p;
1178 };
1179
1180 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1181
1183 struct EMdgmMWCrxBeamPhase1_def
1184 {
1185 int8_t rxBeamPhase;
1186 };
1187
1188 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1189
1191 struct EMdgmMWCrxBeamPhase2_def
1192 {
1193 int16_t rxBeamPhase;
1194 };
1195
1196 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1197
1199 struct EMdgmMWC_def
1200 {
1201 struct EMdgmHeader_def header;
1202 struct EMdgmMpartition_def partition;
1203 struct EMdgmMbody_def cmnPart;
1204 struct EMdgmMWCtxInfo_def txInfo;
1205 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1206 struct EMdgmMWCrxInfo_def rxInfo;
1207 struct EMdgmMWCrxBeamData_def *beamData_p;
1220 };
1221
1222 #define MWC_VERSION 2
1223 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1224
1225
1226 /*********************************************
1227
1228 Compatibility datagrams for .all to .kmall conversion support
1229
1230 *********************************************/
1231
1232 /************************************
1233 #CPO - Compatibility position sensor data
1234 ************************************/
1239 struct EMdgmCPOdataBlock_def
1240 {
1241 uint32_t timeFromSensor_sec;
1242 uint32_t timeFromSensor_nanosec;
1243 float posFixQuality_m;
1244 double correctedLat_deg;
1245 double correctedLong_deg;
1246 float speedOverGround_mPerSec;
1247 float courseOverGround_deg;
1248 float ellipsoidHeightReRefPoint_m;
1249 int8_t posDataFromSensor[MAX_CPO_DATALENGTH];
1250 };
1251
1252 typedef struct EMdgmCPOdataBlock_def EMdgmCPOdataBlock, *pEMdgmCPOdataBlock;
1253
1259 struct EMdgmCPO_def
1260 {
1261 struct EMdgmHeader_def header;
1262 struct EMdgmScommon_def cmnPart;
1263 struct EMdgmCPOdataBlock_def sensorData;
1264 };
1265
1266 #define CPO_VERSION 0
1267 typedef struct EMdgmCPO_def EMdgmCPO, *pEMdgmCPO;
1268
1269
1270 /************************************
1271 #CHE - Compatibility heave data
1272 ************************************/
1276 struct EMdgmCHEdata_def
1277 {
1278 float heave_m;
1279 };
1280
1281 typedef struct EMdgmCHEdata_def EMdgmCHEdata, *pEMdgmCHEdata;
1282
1289 struct EMdgmCHE_def
1290 {
1291 struct EMdgmHeader_def header;
1292 struct EMdgmMbody_def cmnPart;
1293 struct EMdgmCHEdata_def data;
1294 };
1295
1296 #define CHE_VERSION 0
1297 typedef struct EMdgmCHE_def EMdgmCHE, *pEMdgmCHE;
1298
1299
1300 /*********************************************
1301
1302 File datagrams
1303
1304 *********************************************/
1305
1308 struct EMdgmFcommon_def
1309 {
1310 uint16_t numBytesCmnPart;
1311 int8_t fileStatus;
1312 uint8_t padding1;
1313 uint32_t numBytesFile;
1314 uint8_t fileName[MAX_F_FILENAME_LENGTH];
1315 };
1316
1317 typedef struct EMdgmFcommon_def EMdgmFcommon, *pEMdgmFcommon;
1318
1319 /********************************************
1320 #FCF - Backscatter calibration file datagram
1321 ********************************************/
1329 struct EMdgmFCF_def
1330 {
1331 struct EMdgmHeader_def header;
1332 struct EMdgmMpartition_def partition;
1333 struct EMdgmFcommon_def cmnPart;
1334 uint8_t bsCalibrationFile[MAX_F_FILE_SIZE];
1335 };
1336
1337 typedef struct EMdgmFCF_def EMdgmFCF, *pEMdgmFCF;
1338 #define FCF_VERSION 0
1339
1340
1341 /*********************************************
1342
1343 Installation and runtime datagrams
1344
1345 *********************************************/
1346
1347 /************************************
1348 #IIP - Info Installation PU
1349 ************************************/
1354 struct EMdgmIIP_def
1355 {
1356 EMdgmHeader header;
1357 uint16_t numBytesCmnPart;
1358 uint16_t info;
1359 uint16_t status;
1360 uint8_t install_txt;
1364 };
1365
1366 #define IIP_VERSION 0
1367 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1368
1369
1370 /************************************
1371 #IOP - Runtime datagram
1372 ************************************/
1380 struct EMdgmIOP_def
1381 {
1382 EMdgmHeader header;
1383 uint16_t numBytesCmnPart;
1384 uint16_t info;
1385 uint16_t status;
1386 uint8_t runtime_txt;
1392 };
1393
1394 #define IOP_VERSION 0
1395 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1396
1397
1398 /************************************
1399 #IB - BIST Error Datagrams
1400 ************************************/
1405 struct EMdgmIB_def
1406 {
1407 EMdgmHeader header;
1408 uint16_t numBytesCmnPart;
1409 uint8_t BISTInfo;
1410 uint8_t BISTStyle;
1411 uint8_t BISTNumber;
1412 int8_t BISTStatus;
1413 uint8_t BISTText;
1414 };
1415
1416 #define BIST_VERSION 0
1417 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1418
1419 #ifndef _VXW
1420 #pragma pack()
1421 #endif
1422 #endif
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:242
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:139
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:309
EMdgmMbody_def::rxTransducerInd
uint8_t rxTransducerInd
Definition: EMdgmFormat.h:730
EMdgmMRZ_sounding_def::WCNomBeamAngleAcross_deg
float WCNomBeamAngleAcross_deg
Definition: EMdgmFormat.h:1009
EMdgmSVPpoint_def
#SVP - Sound Velocity Profile. Data from one depth point contains information specified in this struc...
Definition: EMdgmFormat.h:441
EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
Definition: EMdgmFormat.h:1155
EMdgmSVTsample_def::pressure_Pa
float pressure_Pa
Definition: EMdgmFormat.h:548
EMdgmMWCtxInfo_def::numBytesTxInfo
uint16_t numBytesTxInfo
Definition: EMdgmFormat.h:1127
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:138
MAX_EXTRA_DET
#define MAX_EXTRA_DET
Definition: EMdgmFormat.h:40
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:350
EMdgmIIP_def::status
uint16_t status
Definition: EMdgmFormat.h:1365
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:945
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1171
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:919
EMdgmMRZ_sounding_def::detectionClass
uint8_t detectionClass
Definition: EMdgmFormat.h:994
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:358
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:118
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:909
EMdgmSVTinfo_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:491
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:59
EMdgmMRZ_sounding_def::receiverSensitivityApplied_dB
float receiverSensitivityApplied_dB
Definition: EMdgmFormat.h:1021
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:911
EMdgmFCF_def::bsCalibrationFile
uint8_t bsCalibrationFile[MAX_F_FILE_SIZE]
Definition: EMdgmFormat.h:1336
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:374
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1385
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:998
EMdgmMRZ_pingInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:783
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:816
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1366
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:609
EMdgmMWCtxSectorData_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1138
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:812
MAX_EXTRA_DET_CLASSES
#define MAX_EXTRA_DET_CLASSES
Definition: EMdgmFormat.h:41
EMdgmMbody_def::pingCnt
uint16_t pingCnt
Definition: EMdgmFormat.h:722
EMdgmMRZ_pingInfo_def::padding3
uint8_t padding3
Definition: EMdgmFormat.h:880
EMdgmCHE_def
#CHE - Struct of compatibility heave sensor datagram. Used for backward compatibility with ....
Definition: EMdgmFormat.h:1289
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1072
EMdgmMRZ_txSectorInfo_def::padding0
uint8_t padding0
Definition: EMdgmFormat.h:913
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:852
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:406
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:211
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:183
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:644
EMdgmFcommon_def::fileStatus
int8_t fileStatus
Definition: EMdgmFormat.h:1315
EMdgmHeader_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:122
EMdgmMRZ_pingInfo_def::freqRangeHighLim_Hz
float freqRangeHighLim_Hz
Definition: EMdgmFormat.h:806
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1150
EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:785
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:907
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1199
KMbinary_def::eastAcceleration
float eastAcceleration
Definition: EMdgmFormat.h:384
EMdgmSVTsample_def::temp_C
float temp_C
Definition: EMdgmFormat.h:547
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1068
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:878
EMdgmMRZ_rxInfo_def::numBytesPerClass
uint16_t numBytesPerClass
Definition: EMdgmFormat.h:953
EMdgmSVTsample_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:544
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:780
EMdgmSDEdataFromSensor_def::offset
float offset
Definition: EMdgmFormat.h:611
EMdgmSVTinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:524
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:724
MAX_F_FILE_SIZE
#define MAX_F_FILE_SIZE
Definition: EMdgmFormat.h:65
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:996
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1142
EMdgmIB_def::BISTStatus
int8_t BISTStatus
Definition: EMdgmFormat.h:1414
EMdgmSVPpoint_def::padding
uint32_t padding
Definition: EMdgmFormat.h:447
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:815
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:808
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:775
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:117
EMdgmMRZ_txSectorInfo_def::highVoltageLevel_dB
float highVoltageLevel_dB
Definition: EMdgmFormat.h:928
EMdgmCPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:1248
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1140
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1159
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data from active sensor is corrected data for position system inst...
Definition: EMdgmFormat.h:201
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:212
EMdgmCPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:1252
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
Definition: EMdgmFormat.h:1074
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:881
EMdgmMRZ_pingInfo_def::activeModes
uint16_t activeModes
Definition: EMdgmFormat.h:891
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data.
Definition: EMdgmFormat.h:1096
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:639
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:922
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:111
EMdgmSKMinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:273
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:303
EMdgmSDE_def
#SDE - Depth datagram.
Definition: EMdgmFormat.h:623
EMdgmSVP_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:468
EMdgmFCF_def
#FCF - Backscatter calibration file The backscatter calibration file contains the measured backsc...
Definition: EMdgmFormat.h:1329
KMbinary_def::headingError_deg
float headingError_deg
Definition: EMdgmFormat.h:377
EMdgmMWCtxSectorData_def::txSectorNum
uint16_t txSectorNum
Definition: EMdgmFormat.h:1141
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:751
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:259
EMdgmSVTinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:523
EMdgmCPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:1247
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:947
EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1380
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:449
EMdgmMRZ_pingInfo_def::bsCorrectionOffset_dB
float bsCorrectionOffset_dB
Definition: EMdgmFormat.h:888
EMdgmSVTsample_def
#SVT - Sound Velocity at Transducer. Data sample.
Definition: EMdgmFormat.h:542
EMdgmScommon_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:150
KMbinary_def::velEast
float velEast
Definition: EMdgmFormat.h:366
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:615
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
Definition: EMdgmFormat.h:1045
MAX_SVT_SAMPLES
#define MAX_SVT_SAMPLES
Definition: EMdgmFormat.h:47
EMdgmMRZ_pingInfo_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:810
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1207
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:984
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:756
EMdgmSVTinfo_def::filterTime_sec
float filterTime_sec
Definition: EMdgmFormat.h:537
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:132
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:831
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:612
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:726
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1154
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1130
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:963
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:210
EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
Definition: EMdgmFormat.h:993
EMdgmCPOdataBlock_def
#CPO - Compatibility sensor position compatibility data block. Data from active sensor is referenced ...
Definition: EMdgmFormat.h:1239
KMbinary_def::heading_deg
float heading_deg
Definition: EMdgmFormat.h:352
EMdgmSDEdataFromSensor_def::depthRaw_m
float depthRaw_m
Definition: EMdgmFormat.h:610
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:205
EMdgmSCLdataFromSensor_def::dataFromSensor
uint8_t dataFromSensor[MAX_SCL_DATALENGTH]
Definition: EMdgmFormat.h:581
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
Definition: EMdgmFormat.h:1034
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:1002
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:46
EMdgmMRZ_sounding_def::deltaLongitude_deg
float deltaLongitude_deg
Definition: EMdgmFormat.h:1043
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:1008
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1167
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1157
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:383
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1071
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:943
EMdgmCHEdata_def
#CHE - Heave compatibility data part. Heave reference point is at transducer instead of at vessel ref...
Definition: EMdgmFormat.h:1276
EMdgmSVP_def::sensorData
struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS]
Definition: EMdgmFormat.h:473
EMdgmMRZ_txSectorInfo_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:915
EMdgmMWCtxInfo_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1132
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1363
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:728
EMdgmFcommon_def::padding1
uint8_t padding1
Definition: EMdgmFormat.h:1316
EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
Definition: EMdgmFormat.h:948
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:864
EMdgmMRZ_sounding_def::detectionMethod
uint8_t detectionMethod
Definition: EMdgmFormat.h:990
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:854
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:119
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
uint16_t numExtraDetectionClasses
Definition: EMdgmFormat.h:952
EMdgmSVP_def::sensorFormat
uint8_t sensorFormat[4]
Definition: EMdgmFormat.h:463
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:729
EMdgmMRZ_pingInfo_def::modeAndStabilisation
uint8_t modeAndStabilisation
Definition: EMdgmFormat.h:819
EMdgmHeader_def::systemID
uint8_t systemID
Definition: EMdgmFormat.h:120
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
Definition: EMdgmFormat.h:1193
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:372
EMdgmMRZ_sounding_def::reflectivity1_dB
float reflectivity1_dB
Definition: EMdgmFormat.h:1015
EMdgmSVTinfo_def
Part of Sound Velocity at Transducer datagram.
Definition: EMdgmFormat.h:486
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:814
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:856
EMdgmMRZ_sounding_def::detectionConfidenceLevel
uint8_t detectionConfidenceLevel
Definition: EMdgmFormat.h:995
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:307
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:271
EMdgmMRZ_txSectorInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:924
EMdgmSVTsample_def::salinity
float salinity
Definition: EMdgmFormat.h:549
EMdgmMRZ_pingInfo_def::y_kmallToall_m
float y_kmallToall_m
Definition: EMdgmFormat.h:875
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:999
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:870
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1364
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:588
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:857
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:345
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1028
EMdgmMRZ_pingInfo_def::iceWindow
uint8_t iceWindow
Definition: EMdgmFormat.h:890
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:1014
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1139
EMdgmSdataInfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:186
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1036
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:208
EMdgmCPOdataBlock_def::posDataFromSensor
int8_t posDataFromSensor[MAX_CPO_DATALENGTH]
Definition: EMdgmFormat.h:1255
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:206
EMdgmFcommon_def::numBytesFile
uint32_t numBytesFile
Definition: EMdgmFormat.h:1317
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:842
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams,...
Definition: EMdgmFormat.h:1405
EMdgmMWCrxBeamPhase1_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1183
EMdgmMRZ_pingInfo_def::x_kmallToall_m
float x_kmallToall_m
Definition: EMdgmFormat.h:874
MAX_ATT_SAMPLES
#define MAX_ATT_SAMPLES
Definition: EMdgmFormat.h:45
EMdgmMWCrxBeamData_def::detectedRangeInSamplesHighResolution
float detectedRangeInSamplesHighResolution
Definition: EMdgmFormat.h:1175
EMdgmSVT_def
#SVT - Sound Velocity at Transducer. Data for sound velocity and temperature are measured directely o...
Definition: EMdgmFormat.h:557
EMdgmMRZ_rxInfo_def::extraDetectionAlarmFlag
uint16_t extraDetectionAlarmFlag
Definition: EMdgmFormat.h:950
EMdgmSVTinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:522
EMdgmMRZ_extraSI_def::portSIsample_desidB
int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1073
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:992
EMdgmMWCrxBeamPhase2_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1191
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int8_t posDataFromSensor[MAX_SPO_DATALENGTH]
Definition: EMdgmFormat.h:213
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uint16_t SIstartRange_samples
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EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:732
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float pitchError_deg
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uint8_t txArrNumber
Definition: EMdgmFormat.h:910
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uint32_t time_sec
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uint16_t numBytesRxInfo
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EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:237
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:980
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float signalBandWidth_Hz
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uint16_t numBytesCmnPart
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Definition: EMdgmFormat.h:359
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:300
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uint16_t echoSounderID
Definition: EMdgmFormat.h:121
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Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:719
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Definition: EMdgmFormat.h:1106
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Definition: EMdgmFormat.h:351
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:423
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:54
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Definition: EMdgmFormat.h:988
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Definition: EMdgmFormat.h:782
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:674
EMdgmMRZ_pingInfo_def::freqRangeLowLim_Hz
float freqRangeLowLim_Hz
Definition: EMdgmFormat.h:805
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Definition: EMdgmFormat.h:188
EMdgmMRZ_pingInfo_def::beamSpacing
uint8_t beamSpacing
Definition: EMdgmFormat.h:757
KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:393
EMdgmSVP_def::numSamples
uint16_t numSamples
Definition: EMdgmFormat.h:461
EMdgmSdataInfo_def::numBytesPerSample
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Definition: EMdgmFormat.h:187
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
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Definition: EMdgmFormat.h:378
EMdgmSVPpoint_def::depth_m
float depth_m
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EMdgmMRZ_sounding_def::sourceLevelApplied_dB
float sourceLevelApplied_dB
Definition: EMdgmFormat.h:1022
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:573
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uint8_t lambertsLawApplied
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MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:42
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Definition: EMdgmFormat.h:758
EMdgmMbody_def::swathsPerPing
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Definition: EMdgmFormat.h:727
EMdgmMRZ_sounding_def::SIcentreSample
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EMdgmFcommon_def
File (F) output datagram - common all for file datagrams.
Definition: EMdgmFormat.h:1308
EMdgmMRZ_txSectorInfo_def::sectorTrackingCorr_dB
float sectorTrackingCorr_dB
Definition: EMdgmFormat.h:929
EMdgmMRZ_pingInfo_def::starbSectorEdge_deg
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Definition: EMdgmFormat.h:813
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Definition: EMdgmFormat.h:1160
KMbinary_def::ellipsoidHeight_m
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Definition: EMdgmFormat.h:346
MAX_NUM_BEAMS
#define MAX_NUM_BEAMS
Definition: EMdgmFormat.h:39
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:470
EMdgmSVP_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile....
Definition: EMdgmFormat.h:457
EMdgmIOP_def::status
uint16_t status
Definition: EMdgmFormat.h:1387
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
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EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:1001
EMdgmMRZ_sounding_def::rejectionInfo1
uint8_t rejectionInfo1
Definition: EMdgmFormat.h:991
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:917
EMdgmMRZ_sounding_def::BScalibration_dB
float BScalibration_dB
Definition: EMdgmFormat.h:1027
EMdgmMRZ_pingInfo_def::attitudeSensorStatus
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Definition: EMdgmFormat.h:879
EMdgmMRZ_sounding_def::realTimeCleanInfo
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Definition: EMdgmFormat.h:1053
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:123
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1123
EMdgmSCLdataFromSensor_def::clockDevPU_microsec
int32_t clockDevPU_microsec
Definition: EMdgmFormat.h:578
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Definition: EMdgmFormat.h:241
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Definition: EMdgmFormat.h:304
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Definition: EMdgmFormat.h:883
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
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Definition: EMdgmFormat.h:873
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Definition: EMdgmFormat.h:353
EMdgmCPO_def
#CPO - Struct of compatibility position sensor datagram. Data from active sensor will be motion c...
Definition: EMdgmFormat.h:1259
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:776
EMdgmSPO_def
#SPO - Struct of position sensor datagram. Data from active sensor will be motion corrected if in...
Definition: EMdgmFormat.h:221
EMdgmSVTinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:506
EMdgmMRZ_sounding_def::x_reRefPoint_m
float x_reRefPoint_m
Definition: EMdgmFormat.h:1049
EMdgmSVPpoint_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:446
EMdgmCHEdata_def::heave_m
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Definition: EMdgmFormat.h:1280
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:681
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Definition: EMdgmFormat.h:855
EMdgmCPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:1253
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uint8_t dgmType[4]
Definition: EMdgmFormat.h:302
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1177
EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:940
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:809
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:921
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1415
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
Definition: EMdgmFormat.h:914
EMdgmSPOdataBlock_def::correctedLong_deg
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Definition: EMdgmFormat.h:209
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:605
EMdgmMRZ_rxInfo_def::numSoundingsValidMain
uint16_t numSoundingsValidMain
Definition: EMdgmFormat.h:944
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1185
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1174
EMdgmSVTsample_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:546
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1136
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:872
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:272
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:817
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1386
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:1000
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:877
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:43
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:57
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:397
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1411
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:365
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:58
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1052
MAX_NUM_TX_PULSES
#define MAX_NUM_TX_PULSES
Definition: EMdgmFormat.h:44
EMdgmMRZ_pingInfo_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:882
EMdgmMRZ_extraDetClassInfo_def::numExtraDetInClass
uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:965
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1151
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:918
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:807
EMdgmFcommon_def::fileName
uint8_t fileName[MAX_F_FILENAME_LENGTH]
Definition: EMdgmFormat.h:1318
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:966
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:949
EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1148
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:651
KMbinary_def::longitudeError_m
float longitudeError_m
Definition: EMdgmFormat.h:373
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:731
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1041
EMdgmCPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:1249
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:680
MAX_CPO_DATALENGTH
#define MAX_CPO_DATALENGTH
Definition: EMdgmFormat.h:61
EMdgmMbody_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:721
EMdgmCPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:1254
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:448
KMbinary_def::downAcceleration
float downAcceleration
Definition: EMdgmFormat.h:385
EMdgmCPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:1251
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1128
EMdgmMRZ_extraSI_def::starbSIsample_desidB
int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1076
EMdgmSVTinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:490
EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
Definition: EMdgmFormat.h:871
EMdgmMWCtxInfo_def::padding
int16_t padding
Definition: EMdgmFormat.h:1131
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:997
EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:746
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1412
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:460
EMdgmSCLdataFromSensor_def::offset_sec
float offset_sec
Definition: EMdgmFormat.h:577
KMbinary_def::rollError_deg
float rollError_deg
Definition: EMdgmFormat.h:375
EMdgmMWCrxInfo_def::numBytesPerBeamEntry
uint8_t numBytesPerBeamEntry
Definition: EMdgmFormat.h:1152
EMdgmMRZ_sounding_def::WCBeamNumb
uint16_t WCBeamNumb
Definition: EMdgmFormat.h:1007
EMdgmIB_def::BISTNumber
uint8_t BISTNumber
Definition: EMdgmFormat.h:1413
EMdgmSVTsample_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:545
EMdgmMRZ_sounding_def::beamAngleReRx_deg
float beamAngleReRx_deg
Definition: EMdgmFormat.h:1033
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings....
Definition: EMdgmFormat.h:1354