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

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 */
34
35 #define EM_DGM_FORMAT_VERSION "Rev G 2019-11-01"
37 #define MAX_NUM_BEAMS 1024
38 #define MAX_EXTRA_DET 1024
39 #define MAX_EXTRA_DET_CLASSES 11
40 #define MAX_SIDESCAN_SAMP 60000
41 #define MAX_SIDESCAN_EXTRA_SAMP 15000
42 #define MAX_NUM_TX_PULSES 9
43 #define MAX_ATT_SAMPLES 148
44 #define MAX_SVP_POINTS 2000
45 #define MAX_SVT_SAMPLES 1
46 #define MAX_DGM_SIZE 64000
47 #define MAX_NUM_MST_DGMS 256
48 #define MAX_NUM_MWC_DGMS 256
49 #define MAX_NUM_MRZ_DGMS 32
50 #define MAX_NUM_FCF_DGMS 1
52 #define MAX_SPO_DATALENGTH 250
53 #define MAX_ATT_DATALENGTH 250
54 #define MAX_SVT_DATALENGTH 64
55 #define MAX_SCL_DATALENGTH 64
56 #define MAX_SDE_DATALENGTH 32
57 #define MAX_SHI_DATALENGTH 32
59 #define MAX_CPO_DATALENGTH 250
60 #define MAX_CHE_DATALENGTH 64
62 #define MAX_F_FILENAME_LENGTH 64
63 #define MAX_F_FILE_SIZE 63000
65 #define UNAVAILABLE_POSFIX 0xffff
66 #define UNAVAILABLE_LATITUDE 200.0f
67 #define UNAVAILABLE_LONGITUDE 200.0f
68 #define UNAVAILABLE_SPEED -1.0f
69 #define UNAVAILABLE_COURSE -4.0f
70 #define UNAVAILABLE_ELLIPSOIDHEIGHT -999.0f
73 /*********************************************
74 Datagram names
75 *********************************************/
76
77 /* I-datagrams */
78 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
79 #define EM_DGM_I_OP_RUNTIME "#IOP"
80
81 /* S-datagrams */
82 #define EM_DGM_S_POSITION "#SPO"
83 #define EM_DGM_S_KM_BINARY "#SKM"
84 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
85 #define EM_DGM_S_SOUND_VELOCITY_TRANSDUCER "#SVT"
86 #define EM_DGM_S_CLOCK "#SCL"
87 #define EM_DGM_S_DEPTH "#SDE"
88 #define EM_DGM_S_HEIGHT "#SHI"
89
90 /* M-datagrams */
91 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
92 #define EM_DGM_M_WATER_COLUMN "#MWC"
93
94 /* C-datagrams */
95 #define EM_DGM_C_POSITION "#CPO"
96 #define EM_DGM_C_HEAVE "#CHE"
97
98 /* F-datagrams */
99 #define EM_DGM_F_CALIBRATION_FILE "#FCF"
100
101 /*********************************************
102
103 General datagram header
104
105 *********************************************/
106
109 struct EMdgmHeader_def
110 {
111 uint32_t numBytesDgm;
112 uint8_t dgmType[4];
113 uint8_t dgmVersion;
114 uint8_t systemID;
115 uint16_t echoSounderID;
116 uint32_t time_sec;
117 uint32_t time_nanosec;
118 };
119
120 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
121
122 /*********************************************
123
124 Sensor datagrams
125
126 *********************************************/
127
130 struct EMdgmScommon_def
131 {
132 uint16_t numBytesCmnPart;
133 uint16_t sensorSystem;
144 uint16_t sensorStatus;
172 uint16_t padding;
173 };
174
175 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
176
181 struct EMdgmSdataInfo_def
182 {
183 uint16_t numBytesInfoPart;
184 uint16_t numSamplesArray;
185 uint16_t numBytesPerSample;
186 uint16_t numBytesRawSensorData;
187 };
188
189 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
190
191
192 /************************************
193 #SPO - Sensor Position data
194 ************************************/
199 struct EMdgmSPOdataBlock_def
200 {
201 uint32_t timeFromSensor_sec;
202 uint32_t timeFromSensor_nanosec;
203 float posFixQuality_m;
204 double correctedLat_deg;
205 double correctedLong_deg;
206 float speedOverGround_mPerSec;
207 float courseOverGround_deg;
208 float ellipsoidHeightReRefPoint_m;
209 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
210 };
211
212 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
213
220 struct EMdgmSPO_def
221 {
222 struct EMdgmHeader_def header;
223 struct EMdgmScommon_def cmnPart;
224 struct EMdgmSPOdataBlock_def sensorData;
225 };
226
227 #define SPO_VERSION 0
228 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
229
230
231 /************************************
232 #SKM - KM binary sensor data
233 ************************************/
236 struct EMdgmSKMinfo_def
237 {
238 uint16_t numBytesInfoPart;
239 uint8_t sensorSystem;
240 uint8_t sensorStatus;
256 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;
518 uint16_t numSamplesArray;
519 uint16_t numBytesPerSample;
520 uint16_t sensorDataContents;
533 float filterTime_sec;
534 float soundVelocity_mPerSec_offset;
535 };
536
540 struct EMdgmSVTsample_def
541 {
542 uint32_t time_sec;
543 uint32_t time_nanosec;
544 float soundVelocity_mPerSec;
545 float temp_C;
546 float pressure_Pa;
547 float salinity;
548 };
549
550 typedef struct EMdgmSVTsample_def EMdgmSVTsample, *pEMdgmSVTsample;
551
555 struct EMdgmSVT_def
556 {
557 struct EMdgmHeader_def header;
558 struct EMdgmSVTinfo_def infoPart;
559 struct EMdgmSVTsample_def sensorData[MAX_SVT_SAMPLES];
560 };
561
562 #define SVT_VERSION 0
563 typedef struct EMdgmSVT_def EMdgmSVT, *pEMdgmSVT;
564
565 /************************************
566 #SCL - Sensor CLock datagram
567 ************************************/
571 struct EMdgmSCLdataFromSensor_def
572 {
573 float offset_sec;
574 int32_t clockDevPU_nanosec;
577 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
579 };
580
581 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
582
586 struct EMdgmSCL_def
587 {
588 struct EMdgmHeader_def header;
589 struct EMdgmScommon_def cmnPart;
590 struct EMdgmSCLdataFromSensor_def sensData;
591 };
592
593 #define SCL_VERSION 0
594 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
595
596
597 /************************************
598 #SDE - Sensor Depth data
599 ************************************/
603 struct EMdgmSDEdataFromSensor_def
604 {
605 float depthUsed_m;
606 float offset;
607 float scale;
608 double latitude_deg;
610 double longitude_deg;
612 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
613 };
614
615 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
616
620 struct EMdgmSDE_def
621 {
622 struct EMdgmHeader_def header;
623 struct EMdgmScommon_def cmnPart;
624 struct EMdgmSDEdataFromSensor_def sensorData;
625 };
626
627 #define SDE_VERSION 0
628 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
629
630 /************************************
631 #SHI - Sensor Height data
632 ************************************/
636 struct EMdgmSHIdataFromSensor_def
637 {
638 uint16_t sensorType;
639 float heigthUsed_m;
640 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
641 };
642
643 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
644
648 struct EMdgmSHI_def
649 {
650 struct EMdgmHeader_def header;
651 struct EMdgmScommon_def cmnPart;
652 struct EMdgmSHIdataFromSensor_def sensData;
653 };
654
655 #define SHI_VERSION 0
656 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
657
658
659 /*********************************************
660
661 Multibeam datagrams
662
663 *********************************************/
671 struct EMdgmMpartition_def
672 {
673 uint16_t numOfDgms;
674 uint16_t dgmNum;
675 };
676
677 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
678
716 struct EMdgmMbody_def
717 {
718 uint16_t numBytesCmnPart;
719 uint16_t pingCnt;
721 uint8_t rxFansPerPing;
723 uint8_t rxFanIndex;
724 uint8_t swathsPerPing;
725 uint8_t swathAlongPosition;
726 uint8_t txTransducerInd;
727 uint8_t rxTransducerInd;
728 uint8_t numRxTransducers;
729 uint8_t algorithmType;
731 };
732
733 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
734
735 /************************************
736 #MRZ - multibeam data for raw range,
737 depth, reflectivity, seabed image(SI) etc.
738 ************************************/
743 struct EMdgmMRZ_pingInfo_def
744 {
745 uint16_t numBytesInfoData;
746 uint16_t padding0;
750 float pingRate_Hz;
751 uint8_t beamSpacing;
752 uint8_t depthMode;
769 uint8_t subDepthMode;
770 uint8_t distanceBtwSwath;
774 uint8_t detectionMode;
776 uint8_t pulseForm;
777 uint16_t padding1;
778
779 float frequencyMode_Hz;
797 float freqRangeLowLim_Hz;
798 float freqRangeHighLim_Hz;
799 float maxTotalTxPulseLength_sec;
800 float maxEffTxPulseLength_sec;
801 float maxEffTxBandWidth_Hz;
802 float absCoeff_dBPerkm;
804 float portSectorEdge_deg;
805 float starbSectorEdge_deg;
806 float portMeanCov_deg;
807 float starbMeanCov_deg;
808 int16_t portMeanCov_m;
809 int16_t starbMeanCov_m;
811 uint8_t modeAndStabilisation;
823 uint8_t runtimeFilter1;
834 uint16_t runtimeFilter2;
844 uint32_t pipeTrackingStatus;
845 float transmitArraySizeUsed_deg;
846 float receiveArraySizeUsed_deg;
847 float transmitPower_dB;
848 uint16_t SLrampUpTimeRemaining;
849 uint16_t padding2;
850 float yawAngle_deg;
856 uint16_t numTxSectors;
857 uint16_t numBytesPerTxSector;
862 float headingVessel_deg;
863 float soundSpeedAtTxDepth_mPerSec;
864 float txTransducerDepth_m;
865 float z_waterLevelReRefPoint_m;
866 float x_kmallToall_m;
867 float y_kmallToall_m;
869 uint8_t latLongInfo;
870 uint8_t posSensorStatus;
871 uint8_t attitudeSensorStatus;
872 uint8_t padding3;
873 double latitude_deg;
874 double longitude_deg;
875 float ellipsoidHeightReRefPoint_m;
880 float bsCorrectionOffset_dB;
881 uint8_t lambertsLawApplied;
882 uint8_t iceWindow;
883 uint16_t padding4;
886 };
887
888 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
889
895 struct EMdgmMRZ_txSectorInfo_def
896 {
897 uint8_t txSectorNumb;
898 uint8_t txArrNumber;
899 uint8_t txSubArray;
901 uint8_t padding0;
902 float sectorTransmitDelay_sec;
903 float tiltAngleReTx_deg;
905 float txNominalSourceLevel_dB;
906 float txFocusRange_m;
907 float centreFreq_Hz;
908 float signalBandWidth_Hz;
909 float totalSignalLength_sec;
910 uint8_t pulseShading;
911 uint8_t signalWaveForm;
912 uint16_t padding1;
916 float highVoltageLevel_dB;
917 float sectorTrackingCorr_dB;
918 float effectiveSignalLength_sec;
920 };
921
922 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
923
928 struct EMdgmMRZ_rxInfo_def
929 {
930 uint16_t numBytesRxInfo;
931 uint16_t numSoundingsMaxMain;
932 uint16_t numSoundingsValidMain;
933 uint16_t numBytesPerSounding;
934 float WCSampleRate;
935 float seabedImageSampleRate;
936 float BSnormal_dB;
937 float BSoblique_dB;
938 uint16_t extraDetectionAlarmFlag;
939 uint16_t numExtraDetections;
940 uint16_t numExtraDetectionClasses;
941 uint16_t numBytesPerClass;
943 };
944
945 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
946
951 struct EMdgmMRZ_extraDetClassInfo_def
952 {
953 uint16_t numExtraDetInClass;
954 int8_t padding;
955 uint8_t alarmFlag;
957 };
958
959 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
960
968 struct EMdgmMRZ_sounding_def
969 {
970
971 uint16_t soundingIndex;
972 uint8_t txSectorNumb;
976 uint8_t detectionType;
978 uint8_t detectionMethod;
979 uint8_t rejectionInfo1;
980 uint8_t rejectionInfo2;
981 uint8_t postProcessingInfo;
982 uint8_t detectionClass;
983 uint8_t detectionConfidenceLevel;
984 uint16_t padding;
985 float rangeFactor;
986 float qualityFactor;
987 float detectionUncertaintyVer_m;
988 float detectionUncertaintyHor_m;
989 float detectionWindowLength_sec;
990 float echoLength_sec;
995 uint16_t WCBeamNumb;
996 uint16_t WCrange_samples;
997 float WCNomBeamAngleAcross_deg;
1002 float meanAbsCoeff_dBPerkm;
1003 float reflectivity1_dB;
1004 float reflectivity2_dB;
1009 float receiverSensitivityApplied_dB;
1010 float sourceLevelApplied_dB;
1015 float BScalibration_dB;
1016 float TVG_dB;
1021 float beamAngleReRx_deg;
1022 float beamAngleCorrection_deg;
1023 float twoWayTravelTime_sec;
1024 float twoWayTravelTimeCorrection_sec;
1029 float deltaLatitude_deg;
1031 float deltaLongitude_deg;
1033 float z_reRefPoint_m;
1035 float y_reRefPoint_m;
1037 float x_reRefPoint_m;
1040 float beamIncAngleAdj_deg;
1041 uint16_t realTimeCleanInfo;
1046 uint16_t SIstartRange_samples;
1047 uint16_t SIcentreSample;
1048 uint16_t SInumSamples;
1050 };
1051
1052 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1053
1056 struct EMdgmMRZ_extraSI_def
1057 {
1058
1059 uint16_t portStartRange_samples;
1060 uint16_t numPortSamples;
1061 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1062 uint16_t starbStartRange_samples;
1063 uint16_t numStarbSamples;
1064 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1066 };
1067
1068 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1069
1084 struct EMdgmMRZ_def
1085 {
1086 struct EMdgmHeader_def header;
1087 struct EMdgmMpartition_def partition;
1088 struct EMdgmMbody_def cmnPart;
1089 struct EMdgmMRZ_pingInfo_def pingInfo;
1090 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1091 struct EMdgmMRZ_rxInfo_def rxInfo;
1092 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1093 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1094 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1102 };
1103
1104 #define MRZ_VERSION 1
1105 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1106
1107 /************************************
1108 #MWC - water column datagram
1109 ************************************/
1111 struct EMdgmMWCtxInfo_def
1112 {
1113 uint16_t numBytesTxInfo;
1114 uint16_t numTxSectors;
1116 uint16_t numBytesPerTxSector;
1117 int16_t padding;
1118 float heave_m;
1119 };
1120
1121 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1122
1124 struct EMdgmMWCtxSectorData_def
1125 {
1126 float tiltAngleReTx_deg;
1127 float centreFreq_Hz;
1128 float txBeamWidthAlong_deg;
1129 uint16_t txSectorNum;
1130 int16_t padding;
1131 };
1132
1133 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1134
1136 struct EMdgmMWCrxInfo_def
1137 {
1138 uint16_t numBytesRxInfo;
1139 uint16_t numBeams;
1140 uint8_t numBytesPerBeamEntry;
1142 uint8_t phaseFlag;
1143 uint8_t TVGfunctionApplied;
1145 int8_t TVGoffset_dB;
1147 float sampleFreq_Hz;
1148 float soundVelocity_mPerSec;
1150 };
1151
1152 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1153
1155 struct EMdgmMWCrxBeamData_def
1156 {
1157 float beamPointAngReVertical_deg;
1158 uint16_t startRangeSampleNum;
1159 uint16_t detectedRangeInSamples;
1161 uint16_t beamTxSectorNum;
1162 uint16_t numSampleData;
1163 float detectedRangeInSamplesHighResolution;
1165 int8_t *sampleAmplitude05dB_p;
1166 };
1167
1168 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1169
1171 struct EMdgmMWCrxBeamPhase1_def
1172 {
1173 int8_t rxBeamPhase;
1174 };
1175
1176 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1177
1179 struct EMdgmMWCrxBeamPhase2_def
1180 {
1181 int16_t rxBeamPhase;
1182 };
1183
1184 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1185
1187 struct EMdgmMWC_def
1188 {
1189 struct EMdgmHeader_def header;
1190 struct EMdgmMpartition_def partition;
1191 struct EMdgmMbody_def cmnPart;
1192 struct EMdgmMWCtxInfo_def txInfo;
1193 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1194 struct EMdgmMWCrxInfo_def rxInfo;
1195 struct EMdgmMWCrxBeamData_def *beamData_p;
1208 };
1209
1210 #define MWC_VERSION 1
1211 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1212
1213
1214 /*********************************************
1215
1216 Compatibility datagrams for .all to .kmall conversion support
1217
1218 *********************************************/
1219
1220 /************************************
1221 #CPO - Compatibility position sensor data
1222 ************************************/
1227 struct EMdgmCPOdataBlock_def
1228 {
1229 uint32_t timeFromSensor_sec;
1230 uint32_t timeFromSensor_nanosec;
1231 float posFixQuality_m;
1232 double correctedLat_deg;
1233 double correctedLong_deg;
1234 float speedOverGround_mPerSec;
1235 float courseOverGround_deg;
1236 float ellipsoidHeightReRefPoint_m;
1237 int8_t posDataFromSensor[MAX_CPO_DATALENGTH];
1238 };
1239
1240 typedef struct EMdgmCPOdataBlock_def EMdgmCPOdataBlock, *pEMdgmCPOdataBlock;
1241
1248 struct EMdgmCPO_def
1249 {
1250 struct EMdgmHeader_def header;
1251 struct EMdgmScommon_def cmnPart;
1252 struct EMdgmCPOdataBlock_def sensorData;
1253 };
1254
1255 #define CPO_VERSION 0
1256 typedef struct EMdgmCPO_def EMdgmCPO, *pEMdgmCPO;
1257
1258
1259 /************************************
1260 #CHE - Compatibility heave data
1261 ************************************/
1265 struct EMdgmCHEdata_def
1266 {
1267 float heave_m;
1268 };
1269
1270 typedef struct EMdgmCHEdata_def EMdgmCHEdata, *pEMdgmCHEdata;
1271
1278 struct EMdgmCHE_def
1279 {
1280 struct EMdgmHeader_def header;
1281 struct EMdgmMbody_def cmnPart;
1282 struct EMdgmCHEdata_def data;
1283 };
1284
1285 #define CHE_VERSION 0
1286 typedef struct EMdgmCHE_def EMdgmCHE, *pEMdgmCHE;
1287
1288
1289 /*********************************************
1290
1291 File datagrams
1292
1293 *********************************************/
1294
1297 struct EMdgmFcommon_def
1298 {
1299 uint16_t numBytesCmnPart;
1300 int8_t fileStatus;
1301 uint8_t padding1;
1302 uint32_t numBytesFile;
1303 uint8_t fileName[MAX_F_FILENAME_LENGTH];
1304 };
1305
1306 typedef struct EMdgmFcommon_def EMdgmFcommon, *pEMdgmFcommon;
1307
1308 /********************************************
1309 #FCF - Backscatter calibration file datagram
1310 ********************************************/
1318 struct EMdgmFCF_def
1319 {
1320 struct EMdgmHeader_def header;
1321 struct EMdgmMpartition_def partition;
1322 struct EMdgmFcommon_def cmnPart;
1323 uint8_t bsCalibrationFile[MAX_F_FILE_SIZE];
1324 };
1325
1326 typedef struct EMdgmFCF_def EMdgmFCF, *pEMdgmFCF;
1327 #define FCF_VERSION 0
1328
1329
1330 /*********************************************
1331
1332 Installation and runtime datagrams
1333
1334 *********************************************/
1335
1336 /************************************
1337 #IIP - Info Installation PU
1338 ************************************/
1343 struct EMdgmIIP_def
1344 {
1345 EMdgmHeader header;
1346 uint16_t numBytesCmnPart;
1347 uint16_t info;
1348 uint16_t status;
1349 uint8_t install_txt;
1353 };
1354
1355 #define IIP_VERSION 0
1356 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1357
1358
1359 /************************************
1360 #IOP - Runtime datagram
1361 ************************************/
1369 struct EMdgmIOP_def
1370 {
1371 EMdgmHeader header;
1372 uint16_t numBytesCmnPart;
1373 uint16_t info;
1374 uint16_t status;
1375 uint8_t runtime_txt;
1381 };
1382
1383 #define IOP_VERSION 0
1384 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1385
1386
1387 /************************************
1388 #IB - BIST Error Datagrams
1389 ************************************/
1394 struct EMdgmIB_def
1395 {
1396 EMdgmHeader header;
1397 uint16_t numBytesCmnPart;
1398 uint8_t BISTInfo;
1399 uint8_t BISTStyle;
1400 uint8_t BISTNumber;
1401 int8_t BISTStatus;
1402 uint8_t BISTText;
1403 };
1404
1405 #define BIST_VERSION 0
1406 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1407
1408 #ifndef _VXW
1409 #pragma pack()
1410 #endif
1411 #endif
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:235
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:133
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:304
EMdgmMbody_def::rxTransducerInd
uint8_t rxTransducerInd
Definition: EMdgmFormat.h:716
EMdgmMRZ_sounding_def::WCNomBeamAngleAcross_deg
float WCNomBeamAngleAcross_deg
Definition: EMdgmFormat.h:985
EMdgmSVPpoint_def
#SVP - Sound Velocity Profile. Data from one depth point contains information specified in this struc...
Definition: EMdgmFormat.h:435
EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
Definition: EMdgmFormat.h:1130
EMdgmSVTsample_def::pressure_Pa
float pressure_Pa
Definition: EMdgmFormat.h:539
EMdgmMWCtxInfo_def::numBytesTxInfo
uint16_t numBytesTxInfo
Definition: EMdgmFormat.h:1101
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:132
MAX_EXTRA_DET
#define MAX_EXTRA_DET
Definition: EMdgmFormat.h:38
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:345
EMdgmIIP_def::status
uint16_t status
Definition: EMdgmFormat.h:1332
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:921
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1146
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:895
EMdgmMRZ_sounding_def::detectionClass
uint8_t detectionClass
Definition: EMdgmFormat.h:970
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:353
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:113
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:885
EMdgmSVTinfo_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:483
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:57
EMdgmMRZ_sounding_def::receiverSensitivityApplied_dB
float receiverSensitivityApplied_dB
Definition: EMdgmFormat.h:997
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:887
EMdgmFCF_def::bsCalibrationFile
uint8_t bsCalibrationFile[MAX_F_FILE_SIZE]
Definition: EMdgmFormat.h:1306
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:369
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1352
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:974
EMdgmMRZ_pingInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:767
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:798
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1333
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:597
EMdgmMWCtxSectorData_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1113
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:794
MAX_EXTRA_DET_CLASSES
#define MAX_EXTRA_DET_CLASSES
Definition: EMdgmFormat.h:39
EMdgmMbody_def::pingCnt
uint16_t pingCnt
Definition: EMdgmFormat.h:708
EMdgmMRZ_pingInfo_def::padding3
uint8_t padding3
Definition: EMdgmFormat.h:862
EMdgmCHE_def
#CHE - Struct of compatibility heave sensor datagram. Used for backward compatibility with ....
Definition: EMdgmFormat.h:1262
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1048
EMdgmMRZ_txSectorInfo_def::padding0
uint8_t padding0
Definition: EMdgmFormat.h:889
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:834
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:401
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:204
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:178
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:630
EMdgmFcommon_def::fileStatus
int8_t fileStatus
Definition: EMdgmFormat.h:1286
EMdgmHeader_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:117
EMdgmMRZ_pingInfo_def::freqRangeHighLim_Hz
float freqRangeHighLim_Hz
Definition: EMdgmFormat.h:788
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1125
EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:769
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:883
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1174
KMbinary_def::eastAcceleration
float eastAcceleration
Definition: EMdgmFormat.h:379
EMdgmSVTsample_def::temp_C
float temp_C
Definition: EMdgmFormat.h:538
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1044
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:860
EMdgmMRZ_rxInfo_def::numBytesPerClass
uint16_t numBytesPerClass
Definition: EMdgmFormat.h:929
EMdgmMRZ_pingInfo_def::padding4
uint16_t padding4
Definition: EMdgmFormat.h:873
EMdgmSVTsample_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:535
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:764
EMdgmSDEdataFromSensor_def::offset
float offset
Definition: EMdgmFormat.h:598
EMdgmSVTinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:514
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:710
MAX_F_FILE_SIZE
#define MAX_F_FILE_SIZE
Definition: EMdgmFormat.h:63
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:972
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1117
EMdgmIB_def::BISTStatus
int8_t BISTStatus
Definition: EMdgmFormat.h:1380
EMdgmSVPpoint_def::padding
uint32_t padding
Definition: EMdgmFormat.h:440
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:797
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:790
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:759
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:112
EMdgmMRZ_txSectorInfo_def::highVoltageLevel_dB
float highVoltageLevel_dB
Definition: EMdgmFormat.h:904
EMdgmCPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:1219
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1115
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1134
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data from active sensor is corrected data for position system inst...
Definition: EMdgmFormat.h:195
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:205
EMdgmCPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:1223
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
Definition: EMdgmFormat.h:1050
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:863
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data.
Definition: EMdgmFormat.h:1072
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:626
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:898
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:107
EMdgmSKMinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:267
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:298
EMdgmSDE_def
#SDE - Depth datagram.
Definition: EMdgmFormat.h:611
EMdgmSVP_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:462
EMdgmFCF_def
#FCF - Backscatter calibration file The backscatter calibration file contains the measured backsc...
Definition: EMdgmFormat.h:1300
EMdgmSCLdataFromSensor_def::clockDevPU_nanosec
int32_t clockDevPU_nanosec
Definition: EMdgmFormat.h:567
KMbinary_def::headingError_deg
float headingError_deg
Definition: EMdgmFormat.h:372
EMdgmMWCtxSectorData_def::txSectorNum
uint16_t txSectorNum
Definition: EMdgmFormat.h:1116
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:735
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:252
EMdgmSVTinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:513
EMdgmCPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:1218
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:923
EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1348
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:442
EMdgmMRZ_pingInfo_def::bsCorrectionOffset_dB
float bsCorrectionOffset_dB
Definition: EMdgmFormat.h:870
EMdgmSVTsample_def
#SVT - Sound Velocity at Transducer. Data sample.
Definition: EMdgmFormat.h:533
EMdgmScommon_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:144
KMbinary_def::velEast
float velEast
Definition: EMdgmFormat.h:361
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:602
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
Definition: EMdgmFormat.h:1021
MAX_SVT_SAMPLES
#define MAX_SVT_SAMPLES
Definition: EMdgmFormat.h:45
EMdgmMRZ_pingInfo_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:792
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1182
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:960
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:740
EMdgmSVTinfo_def::filterTime_sec
float filterTime_sec
Definition: EMdgmFormat.h:527
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:127
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:813
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:599
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:712
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1129
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1104
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:939
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:203
EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
Definition: EMdgmFormat.h:969
EMdgmCPOdataBlock_def
#CPO - Compatibility sensor position compatibility data block. Data from active sensor is referenced ...
Definition: EMdgmFormat.h:1212
KMbinary_def::heading_deg
float heading_deg
Definition: EMdgmFormat.h:347
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:198
EMdgmSCLdataFromSensor_def::dataFromSensor
uint8_t dataFromSensor[MAX_SCL_DATALENGTH]
Definition: EMdgmFormat.h:570
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
Definition: EMdgmFormat.h:1010
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:978
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:44
EMdgmMRZ_sounding_def::deltaLongitude_deg
float deltaLongitude_deg
Definition: EMdgmFormat.h:1019
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:984
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1142
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1132
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:378
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1047
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:919
EMdgmCHEdata_def
#CHE - Heave compatibility data part. Heave reference point is at transducer instead of at vessel ref...
Definition: EMdgmFormat.h:1249
EMdgmSVP_def::sensorData
struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS]
Definition: EMdgmFormat.h:467
EMdgmMRZ_txSectorInfo_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:891
EMdgmMWCtxInfo_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1106
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1330
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:714
EMdgmFcommon_def::padding1
uint8_t padding1
Definition: EMdgmFormat.h:1287
EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
Definition: EMdgmFormat.h:924
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:846
EMdgmMRZ_sounding_def::detectionMethod
uint8_t detectionMethod
Definition: EMdgmFormat.h:966
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:836
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:114
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
uint16_t numExtraDetectionClasses
Definition: EMdgmFormat.h:928
EMdgmSVP_def::sensorFormat
uint8_t sensorFormat[4]
Definition: EMdgmFormat.h:457
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:715
EMdgmMRZ_pingInfo_def::modeAndStabilisation
uint8_t modeAndStabilisation
Definition: EMdgmFormat.h:801
EMdgmHeader_def::systemID
uint8_t systemID
Definition: EMdgmFormat.h:115
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
Definition: EMdgmFormat.h:1168
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:367
EMdgmMRZ_sounding_def::reflectivity1_dB
float reflectivity1_dB
Definition: EMdgmFormat.h:991
EMdgmSVTinfo_def
Part of Sound Velocity at Transducer datagram.
Definition: EMdgmFormat.h:479
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:796
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:838
EMdgmMRZ_sounding_def::detectionConfidenceLevel
uint8_t detectionConfidenceLevel
Definition: EMdgmFormat.h:971
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:302
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:265
EMdgmMRZ_txSectorInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:900
EMdgmSVTsample_def::salinity
float salinity
Definition: EMdgmFormat.h:540
EMdgmMRZ_pingInfo_def::y_kmallToall_m
float y_kmallToall_m
Definition: EMdgmFormat.h:857
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:975
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:852
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1331
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:578
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:839
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:340
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1004
EMdgmMRZ_pingInfo_def::iceWindow
uint8_t iceWindow
Definition: EMdgmFormat.h:872
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:990
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1114
EMdgmSdataInfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:181
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1012
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:201
EMdgmCPOdataBlock_def::posDataFromSensor
int8_t posDataFromSensor[MAX_CPO_DATALENGTH]
Definition: EMdgmFormat.h:1226
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:199
EMdgmFcommon_def::numBytesFile
uint32_t numBytesFile
Definition: EMdgmFormat.h:1288
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:824
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams,...
Definition: EMdgmFormat.h:1372
EMdgmMWCrxBeamPhase1_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1158
EMdgmMRZ_pingInfo_def::x_kmallToall_m
float x_kmallToall_m
Definition: EMdgmFormat.h:856
MAX_ATT_SAMPLES
#define MAX_ATT_SAMPLES
Definition: EMdgmFormat.h:43
EMdgmMWCrxBeamData_def::detectedRangeInSamplesHighResolution
float detectedRangeInSamplesHighResolution
Definition: EMdgmFormat.h:1150
EMdgmSVT_def
#SVT - Sound Velocity at Transducer. Data for sound velocity and temperature are measured directely o...
Definition: EMdgmFormat.h:548
EMdgmMRZ_rxInfo_def::extraDetectionAlarmFlag
uint16_t extraDetectionAlarmFlag
Definition: EMdgmFormat.h:926
EMdgmSVTinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:512
EMdgmMRZ_extraSI_def::portSIsample_desidB
int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1049
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:968
EMdgmMWCrxBeamPhase2_def
#MWC - Beam sample phase info, specific for each beam and water column sample. numBeams * numSampleDa...
Definition: EMdgmFormat.h:1166
EMdgmSPOdataBlock_def::posDataFromSensor
int8_t posDataFromSensor[MAX_SPO_DATALENGTH]
Definition: EMdgmFormat.h:206
EMdgmMRZ_sounding_def::SIstartRange_samples
uint16_t SIstartRange_samples
Definition: EMdgmFormat.h:1034
EMdgmSKMinfo_def::sensorStatus
uint8_t sensorStatus
Definition: EMdgmFormat.h:236
KMbinary_def::velDown
float velDown
Definition: EMdgmFormat.h:362
EMdgmCPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:1221
EMdgmMRZ_extraDetClassInfo_def::alarmFlag
uint8_t alarmFlag
Definition: EMdgmFormat.h:943
EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:718
KMbinary_def::pitchError_deg
float pitchError_deg
Definition: EMdgmFormat.h:371
EMdgmMRZ_sounding_def::SInumSamples
uint16_t SInumSamples
Definition: EMdgmFormat.h:1036
EMdgmMRZ_txSectorInfo_def::txArrNumber
uint8_t txArrNumber
Definition: EMdgmFormat.h:886
EMdgmSVP_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:460
KMbinary_def::yawRate
float yawRate
Definition: EMdgmFormat.h:355
EMdgmMRZ_pingInfo_def::yawAngle_deg
float yawAngle_deg
Definition: EMdgmFormat.h:840
EMdgmMRZ_rxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:918
EMdgmMRZ_pingInfo_def::transmitArraySizeUsed_deg
float transmitArraySizeUsed_deg
Definition: EMdgmFormat.h:835
EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:231
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:956
EMdgmMRZ_txSectorInfo_def::signalBandWidth_Hz
float signalBandWidth_Hz
Definition: EMdgmFormat.h:896
MAX_F_FILENAME_LENGTH
#define MAX_F_FILENAME_LENGTH
Definition: EMdgmFormat.h:62
EMdgmSVTinfo_def::soundVelocity_mPerSec_offset
float soundVelocity_mPerSec_offset
Definition: EMdgmFormat.h:528
EMdgmSdataInfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:180
EMdgmMRZ_sounding_def::reflectivity2_dB
float reflectivity2_dB
Definition: EMdgmFormat.h:992
EMdgmSPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:200
EMdgmMRZ_sounding_def::soundingIndex
uint16_t soundingIndex
Definition: EMdgmFormat.h:959
EMdgmMRZ_extraSI_def::numStarbSamples
uint16_t numStarbSamples
Definition: EMdgmFormat.h:1051
KMbinary_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:339
KMbinary_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:300
EMdgmIOP_def::runtime_txt
uint8_t runtime_txt
Definition: EMdgmFormat.h:1355
EMdgmMRZ_pingInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:847
EMdgmMRZ_txSectorInfo_def::effectiveSignalLength_sec
float effectiveSignalLength_sec
Definition: EMdgmFormat.h:906
EMdgmMRZ_rxInfo_def::WCSampleRate
float WCSampleRate
Definition: EMdgmFormat.h:922
EMdgmSDEdataFromSensor_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:600
EMdgmIB_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1376
KMbinary_def::pitchRate
float pitchRate
Definition: EMdgmFormat.h:354
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:295
EMdgmHeader_def::echoSounderID
uint16_t echoSounderID
Definition: EMdgmFormat.h:116
EMdgmMbody_def
Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:705
EMdgmMRZ_def::SIsample_desidB
int16_t SIsample_desidB[MAX_SIDESCAN_SAMP]
Definition: EMdgmFormat.h:1082
KMbinary_def::pitch_deg
float pitch_deg
Definition: EMdgmFormat.h:346
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:418
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:52
EMdgmMRZ_sounding_def::detectionType
uint8_t detectionType
Definition: EMdgmFormat.h:964
EMdgmMRZ_sounding_def::y_reRefPoint_m
float y_reRefPoint_m
Definition: EMdgmFormat.h:1023
EMdgmMRZ_pingInfo_def::pulseForm
uint8_t pulseForm
Definition: EMdgmFormat.h:766
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:660
EMdgmMRZ_pingInfo_def::freqRangeLowLim_Hz
float freqRangeLowLim_Hz
Definition: EMdgmFormat.h:787
EMdgmSdataInfo_def::numBytesRawSensorData
uint16_t numBytesRawSensorData
Definition: EMdgmFormat.h:183
EMdgmMRZ_pingInfo_def::beamSpacing
uint8_t beamSpacing
Definition: EMdgmFormat.h:741
KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:388
EMdgmSVP_def::numSamples
uint16_t numSamples
Definition: EMdgmFormat.h:455
EMdgmSdataInfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:182
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
Definition: EMdgmFormat.h:736
KMbinary_def::heaveError_m
float heaveError_m
Definition: EMdgmFormat.h:373
EMdgmSVPpoint_def::depth_m
float depth_m
Definition: EMdgmFormat.h:438
EMdgmMRZ_sounding_def::sourceLevelApplied_dB
float sourceLevelApplied_dB
Definition: EMdgmFormat.h:998
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:563
EMdgmMRZ_pingInfo_def::lambertsLawApplied
uint8_t lambertsLawApplied
Definition: EMdgmFormat.h:871
MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:40
EMdgmMRZ_pingInfo_def::depthMode
uint8_t depthMode
Definition: EMdgmFormat.h:742
EMdgmMbody_def::swathsPerPing
uint8_t swathsPerPing
Definition: EMdgmFormat.h:713
EMdgmMRZ_sounding_def::SIcentreSample
uint16_t SIcentreSample
Definition: EMdgmFormat.h:1035
EMdgmFcommon_def
File (F) output datagram - common all for file datagrams.
Definition: EMdgmFormat.h:1280
EMdgmMRZ_txSectorInfo_def::sectorTrackingCorr_dB
float sectorTrackingCorr_dB
Definition: EMdgmFormat.h:905
EMdgmMRZ_pingInfo_def::starbSectorEdge_deg
float starbSectorEdge_deg
Definition: EMdgmFormat.h:795
EMdgmMWCrxInfo_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:1135
KMbinary_def::ellipsoidHeight_m
float ellipsoidHeight_m
Definition: EMdgmFormat.h:341
MAX_NUM_BEAMS
#define MAX_NUM_BEAMS
Definition: EMdgmFormat.h:37
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:464
EMdgmSVP_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile....
Definition: EMdgmFormat.h:451
EMdgmIOP_def::status
uint16_t status
Definition: EMdgmFormat.h:1354
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
float twoWayTravelTime_sec
Definition: EMdgmFormat.h:1011
EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:977
EMdgmMRZ_sounding_def::rejectionInfo1
uint8_t rejectionInfo1
Definition: EMdgmFormat.h:967
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:893
EMdgmMRZ_sounding_def::BScalibration_dB
float BScalibration_dB
Definition: EMdgmFormat.h:1003
EMdgmMRZ_pingInfo_def::attitudeSensorStatus
uint8_t attitudeSensorStatus
Definition: EMdgmFormat.h:861
EMdgmMRZ_sounding_def::realTimeCleanInfo
uint16_t realTimeCleanInfo
Definition: EMdgmFormat.h:1029
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:118
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1098
EMdgmMRZ_txSectorInfo_def::signalWaveForm
uint8_t signalWaveForm
Definition: EMdgmFormat.h:899
EMdgmSKMinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:234
EMdgmMRZ_rxInfo_def::numExtraDetections
uint16_t numExtraDetections
Definition: EMdgmFormat.h:927
KMbinary_def::dgmVersion
uint16_t dgmVersion
Definition: EMdgmFormat.h:299
EMdgmFcommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1285
EMdgmMRZ_pingInfo_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:865
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
float z_waterLevelReRefPoint_m
Definition: EMdgmFormat.h:855
KMbinary_def::heave_m
float heave_m
Definition: EMdgmFormat.h:348
EMdgmCPO_def
#CPO - Struct of compatibility position sensor datagram. Data from active sensor will be motion c...
Definition: EMdgmFormat.h:1233
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:760
EMdgmSPO_def
#SPO - Struct of position sensor datagram. Data from active sensor will be motion corrected if in...
Definition: EMdgmFormat.h:216
EMdgmSVTinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:498
EMdgmMRZ_sounding_def::x_reRefPoint_m
float x_reRefPoint_m
Definition: EMdgmFormat.h:1025
EMdgmSVPpoint_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:439
EMdgmCHEdata_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1252
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:666
EMdgmMRZ_pingInfo_def::transmitPower_dB
float transmitPower_dB
Definition: EMdgmFormat.h:837
EMdgmCPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:1224
KMbinary_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:297
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1152
EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:916
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:791
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:897
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1381
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
Definition: EMdgmFormat.h:890
EMdgmSPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:202
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:594
EMdgmMRZ_rxInfo_def::numSoundingsValidMain
uint16_t numSoundingsValidMain
Definition: EMdgmFormat.h:920
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1160
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1149
EMdgmSVTsample_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:537
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1111
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:854
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:266
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:799
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1353
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:976
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:859
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:41
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:55
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:392
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1377
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:360
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:56
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1028
MAX_NUM_TX_PULSES
#define MAX_NUM_TX_PULSES
Definition: EMdgmFormat.h:42
EMdgmMRZ_pingInfo_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:864
EMdgmMRZ_extraDetClassInfo_def::numExtraDetInClass
uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:941
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1126
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:894
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:789
EMdgmFcommon_def::fileName
uint8_t fileName[MAX_F_FILENAME_LENGTH]
Definition: EMdgmFormat.h:1289
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:942
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:925
EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1123
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:638
KMbinary_def::longitudeError_m
float longitudeError_m
Definition: EMdgmFormat.h:368
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:717
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1017
EMdgmCPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:1220
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:665
MAX_CPO_DATALENGTH
#define MAX_CPO_DATALENGTH
Definition: EMdgmFormat.h:59
EMdgmMbody_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:707
EMdgmCPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:1225
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:441
KMbinary_def::downAcceleration
float downAcceleration
Definition: EMdgmFormat.h:380
EMdgmCPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:1222
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1102
EMdgmMRZ_extraSI_def::starbSIsample_desidB
int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP]
Definition: EMdgmFormat.h:1052
EMdgmSVTinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:482
EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
Definition: EMdgmFormat.h:853
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:973
EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:731
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1378
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:454
EMdgmSCLdataFromSensor_def::offset_sec
float offset_sec
Definition: EMdgmFormat.h:566
KMbinary_def::rollError_deg
float rollError_deg
Definition: EMdgmFormat.h:370
EMdgmMWCrxInfo_def::numBytesPerBeamEntry
uint8_t numBytesPerBeamEntry
Definition: EMdgmFormat.h:1127
EMdgmMRZ_sounding_def::WCBeamNumb
uint16_t WCBeamNumb
Definition: EMdgmFormat.h:983
EMdgmIB_def::BISTNumber
uint8_t BISTNumber
Definition: EMdgmFormat.h:1379
EMdgmSVTsample_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:536
EMdgmMRZ_sounding_def::beamAngleReRx_deg
float beamAngleReRx_deg
Definition: EMdgmFormat.h:1009
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings....
Definition: EMdgmFormat.h:1323