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

- Main Page
- Related Pages
- Data Structures
- Files

- File List
- Globals

EMdgmFormat.h
Go to the documentation of this file.
1 /*h+*/
15 /*
16
17 Revision History:
18
19 01 01 SEP 2016 Rev A.
20 02 01 MAR 2017 Rev B.
21 03 05 JUL 2017 Rev C.
22 04 08 DES 2017 Rev D.
23
24 */
25
243 #ifndef _EMDGMFORMAT_H
244 #define _EMDGMFORMAT_H
245
246 #include "stdint.h"
247
248 #ifndef _VXW
249 #pragma pack(4)
250 #endif
251
252 #define MAX_NUM_BEAMS 1024
253 #define MAX_EXTRA_DET 1024
254 #define MAX_EXTRA_DET_CLASSES 11
255 #define MAX_SIDESCAN_SAMP 60000
256 #define MAX_SIDESCAN_EXTRA_SAMP 15000
257 #define MAX_NUM_TX_PULSES 9
258 #define MAX_ATT_SAMPLES 148
259 #define MAX_SVP_POINTS 2000
260 #define MAX_SVT_SAMPLES 1
261 #define MAX_DGM_SIZE 64000
262 #define MAX_NUM_MST_DGMS 256
263 #define MAX_NUM_MWC_DGMS 256
264 #define MAX_NUM_MRZ_DGMS 32
266 #define MAX_SPO_DATALENGTH 250
267 #define MAX_ATT_DATALENGTH 250
268 #define MAX_SVT_DATALENGTH 64
269 #define MAX_SCL_DATALENGTH 64
270 #define MAX_SDE_DATALENGTH 32
271 #define MAX_SHI_DATALENGTH 32
273 #define UNAVAILABLE_POSFIX 0xffff
274 #define UNAVAILABLE_LATITUDE 200.0f
275 #define UNAVAILABLE_LONGITUDE 200.0f
276 #define UNAVAILABLE_SPEED -1.0f
277 #define UNAVAILABLE_COURSE -4.0f
278 #define UNAVAILABLE_ELLIPSOIDHEIGHT -999.0f
279 /*
280 *
281 */
282 /*********************************************
283 Datagram names
284 *********************************************/
285
286 /* I - datagrams */
287 #define EM_DGM_I_INSTALLATION_PARAM "#IIP"
288 #define EM_DGM_I_OP_RUNTIME "#IOP"
289
290 /* S-datagrams */
291 #define EM_DGM_S_POSITION "#SPO"
292 #define EM_DGM_S_KM_BINARY "#SKM"
293 #define EM_DGM_S_SOUND_VELOCITY_PROFILE "#SVP"
294 #define EM_DGM_S_SOUND_VELOCITY_TRANSDUCER "#SVT"
295 #define EM_DGM_S_CLOCK "#SCL"
296 #define EM_DGM_S_DEPTH "#SDE"
297 #define EM_DGM_S_HEIGHT "#SHI"
298
299 /* M-datagrams */
300 #define EM_DGM_M_RANGE_AND_DEPTH "#MRZ"
301 #define EM_DGM_M_WATER_COLUMN "#MWC"
302
303
304 /*********************************************
305
306 General datagram header
307
308 *********************************************/
309
312 struct EMdgmHeader_def
313 {
314 uint32_t numBytesDgm;
315 uint8_t dgmType[4];
316 uint8_t dgmVersion;
317 uint8_t systemID;
318 uint16_t echoSounderID;
319 uint32_t time_sec;
320 uint32_t time_nanosec;
321 };
322
323 typedef struct EMdgmHeader_def EMdgmHeader, *pEMdgmHeader;
324
325 /*********************************************
326
327 Sensor datagrams
328
329 *********************************************/
330
333 struct EMdgmScommon_def
334 {
335 uint16_t numBytesCmnPart;
336 uint16_t sensorSystem;
347 uint16_t sensorStatus;
374 uint16_t padding;
375 };
376
377 typedef struct EMdgmScommon_def EMdgmScommon, *pEMdgmScommon;
378
383 struct EMdgmSdataInfo_def
384 {
385 uint16_t numBytesInfoPart;
386 uint16_t numSamplesArray;
387 uint16_t numBytesPerSample;
388 uint16_t numBytesRawSensorData;
389 };
390
391 typedef struct EMdgmSdataInfo_def EMdgmSdataInfo, *pEMdgmSdataInfo;
392
393
394 /************************************
395 #SPO - Sensor Position data
396 ************************************/
401 struct EMdgmSPOdataBlock_def
402 {
403 uint32_t timeFromSensor_sec;
404 uint32_t timeFromSensor_nanosec;
405 float posFixQuality_m;
406 double correctedLat_deg;
407 double correctedLong_deg;
408 float speedOverGround_mPerSec;
409 float courseOverGround_deg;
410 float ellipsoidHeightReRefPoint_m;
411 int8_t posDataFromSensor[MAX_SPO_DATALENGTH];
412 };
413
414 typedef struct EMdgmSPOdataBlock_def EMdgmSPOdataBlock, *pEMdgmSPOdataBlock;
415
422 struct EMdgmSPO_def
423 {
424 struct EMdgmHeader_def header;
425 struct EMdgmScommon_def cmnPart;
426 struct EMdgmSPOdataBlock_def sensorData;
427 };
428
429 #define SPO_VERSION 0
430 typedef struct EMdgmSPO_def EMdgmSPO, *pEMdgmSPO;
431
432
433 /************************************
434 #SKM - KM binary sensor data
435 ************************************/
438 struct EMdgmSKMinfo_def
439 {
440 uint16_t numBytesInfoPart;
441 uint8_t sensorSystem;
442 uint8_t sensorStatus;
458 uint16_t sensorInputFormat;
471 uint16_t numSamplesArray;
472 uint16_t numBytesPerSample;
473 uint16_t sensorDataContents;
494 };
495
496 typedef struct EMdgmSKMinfo_def EMdgmSKMinfo, *pEMdgmSKMinfo;
502 struct KMbinary_def
503 {
504 uint8_t dgmType[4];
505 uint16_t numBytesDgm;
506 uint16_t dgmVersion;
507 uint32_t time_sec;
509 uint32_t time_nanosec;
511 uint32_t status;
546 double latitude_deg;
547 double longitude_deg;
548 float ellipsoidHeight_m;
552 float roll_deg;
553 float pitch_deg;
554 float heading_deg;
555 float heave_m;
560 float rollRate;
561 float pitchRate;
562 float yawRate;
567 float velNorth;
568 float velEast;
569 float velDown;
574 float latitudeError_m;
575 float longitudeError_m;
576 float ellipsoidHeightError_m;
577 float rollError_deg;
578 float pitchError_deg;
579 float headingError_deg;
580 float heaveError_m;
585 float northAcceleration;
586 float eastAcceleration;
587 float downAcceleration;
588 };
589
590 typedef struct KMbinary_def KMbinary, *pKMbinary;
591
595 struct KMdelayedHeave_def
596 {
597 uint32_t time_sec;
598 uint32_t time_nanosec;
599 float delayedHeave_m;
600 };
601 typedef struct KMdelayedHeave_def KMdelayedHeave, *pKMdelayedHeave;
602
606 struct EMdgmSKMsample_def
607 {
608 struct KMbinary_def KMdefault;
609 struct KMdelayedHeave_def delayedHeave;
610 };
611
612 typedef struct EMdgmSKMsample_def EMdgmSKMsample, *pEMdgmSKMsample;
613
623 struct EMdgmSKM_def
624 {
625 struct EMdgmHeader_def header;
626 struct EMdgmSKMinfo_def infoPart;
627 struct EMdgmSKMsample_def sample[MAX_ATT_SAMPLES];
628 };
629
630 #define SKM_VERSION 1
631 typedef struct EMdgmSKM_def EMdgmSKM, *pEMdgmSKM;
632
633
634 /************************************
635 #SVP - Sound Velocity Profile
636 ************************************/
641 struct EMdgmSVPpoint_def
642 {
643 float depth_m;
644 float soundVelocity_mPerSec;
645 float absCoeff_dBPerkm;
646 float temp_C;
647 float salinity;
648 };
649
650 typedef struct EMdgmSVPpoint_def EMdgmSVPpoint, *pEMdgmSVPpoint;
651
657 struct EMdgmSVP_def
658 {
659 struct EMdgmHeader_def header;
660 uint16_t numBytesCmnPart;
661 uint16_t numSamples;
663 uint8_t sensorFormat[4];
666 uint32_t time_sec;
668 double latitude_deg;
670 double longitude_deg;
673 struct EMdgmSVPpoint_def sensorData[MAX_SVP_POINTS];
675 };
676
677 #define SVP_VERSION 0
678 typedef struct EMdgmSVP_def EMdgmSVP, *pEMdgmSVP;
679
680 /************************************
681 * #SVT - Sensor sound Velocity measured at Transducer
682 ************************************/
686 struct EMdgmSVTinfo_def
687 {
688 uint16_t numBytesInfoPart;
689 uint16_t sensorStatus;
704 uint16_t sensorInputFormat;
716 uint16_t numSamplesArray;
717 uint16_t numBytesPerSample;
718 uint16_t sensorDataContents;
731 float filterTime_sec;
732 float soundVelocity_mPerSec_offset;
733 };
734
738 struct EMdgmSVTsample_def
739 {
740 uint32_t time_sec;
741 uint32_t time_nanosec;
742 float soundVelocity_mPerSec;
743 float temp_C;
744 float pressure_Pa;
745 float salinity;
746 };
747
748 typedef struct EMdgmSVTsample_def EMdgmSVTsample, *pEMdgmSVTsample;
749
753 struct EMdgmSVT_def
754 {
755 struct EMdgmHeader_def header;
756 struct EMdgmSVTinfo_def infoPart;
757 struct EMdgmSVTsample_def sensorData[MAX_SVT_SAMPLES];
758 };
759
760 #define SVT_VERSION 0
761 typedef struct EMdgmSVT_def EMdgmSVT, *pEMdgmSVT;
762
763 /************************************
764 #SCL - Sensor CLock datagram
765 ************************************/
769 struct EMdgmSCLdataFromSensor_def
770 {
771 float offset_sec;
772 int32_t clockDevPU_nanosec;
775 uint8_t dataFromSensor[MAX_SCL_DATALENGTH];
777 };
778
779 typedef struct EMdgmSCLdataFromSensor_def EMdgmSCLdataFromSensor, *pEMdgmSCLdataFromSensor;
780
784 struct EMdgmSCL_def
785 {
786 struct EMdgmHeader_def header;
787 struct EMdgmScommon_def cmnPart;
788 struct EMdgmSCLdataFromSensor_def sensData;
789 };
790
791 #define SCL_VERSION 0
792 typedef struct EMdgmSCL_def EMdgmSCL, *pEMdgmSCL;
793
794
795 /************************************
796 #SDE - Sensor DEpth data
797 ************************************/
801 struct EMdgmSDEdataFromSensor_def
802 {
803 float depthUsed_m;
804 float offset;
805 float scale;
806 double latitude_deg;
808 double longitude_deg;
810 uint8_t dataFromSensor[MAX_SDE_DATALENGTH];
811 };
812
813 typedef struct EMdgmSDEdataFromSensor_def EMdgmSDEdataFromSensor, *pEMdgmSDEdataFromSensor;
814
818 struct EMdgmSDE_def
819 {
820 struct EMdgmHeader_def header;
821 struct EMdgmScommon_def cmnPart;
822 struct EMdgmSDEdataFromSensor_def sensorData;
823 };
824
825 #define SDE_VERSION 0
826 typedef struct EMdgmSDE_def EMdgmSDE, *pEMdgmSDE;
827
828 /************************************
829 #SHI - Sensor HeIght data
830 ************************************/
834 struct EMdgmSHIdataFromSensor_def
835 {
836 uint16_t sensorType;
837 float heigthUsed_m;
838 uint8_t dataFromSensor[MAX_SHI_DATALENGTH];
839 };
840
841 typedef struct EMdgmSHIdataFromSensor_def EMdgmSHIdataFromSensor, *pEMdgmSHIdataFromSensor;
842
846 struct EMdgmSHI_def
847 {
848 struct EMdgmHeader_def header;
849 struct EMdgmScommon_def cmnPart;
850 struct EMdgmSHIdataFromSensor_def sensData;
851 };
852
853 #define SHI_VERSION 0
854 typedef struct EMdgmSHI_def EMdgmSHI, *pEMdgmSHI;
855
856
857 /*********************************************
858
859 Multibeam datagrams
860
861 *********************************************/
869 struct EMdgmMpartition_def
870 {
871 uint16_t numOfDgms;
872 uint16_t dgmNum;
873 };
874
875 typedef struct EMdgmMpartition_def EMdgmMpartition, *pEMdgmMpartition;
876
914 struct EMdgmMbody_def
915 {
916 uint16_t numBytesCmnPart;
917 uint16_t pingCnt;
919 uint8_t rxFansPerPing;
921 uint8_t rxFanIndex;
922 uint8_t swathsPerPing;
923 uint8_t swathAlongPosition;
924 uint8_t txTransducerInd;
925 uint8_t rxTransducerInd;
926 uint8_t numRxTransducers;
927 uint8_t algorithmType;
929 };
930
931 typedef struct EMdgmMbody_def EMdgmMbody, *pEMdgmMbody;
932
933 /************************************
934 #MRZ - multibeam data for raw range,
935 depth, reflectivity, seabed image(SI) etc.
936 ************************************/
941 struct EMdgmMRZ_pingInfo_def
942 {
943 uint16_t numBytesInfoData;
944 uint16_t padding0;
948 float pingRate_Hz;
949 uint8_t beamSpacing;
950 uint8_t depthMode;
966 uint8_t subDepthMode;
967 uint8_t distanceBtwSwath;
971 uint8_t detectionMode;
972 uint8_t pulseForm;
973 uint16_t padding1;
974
975 float frequencyMode_Hz;
993 float freqRangeLowLim_Hz;
994 float freqRangeHighLim_Hz;
995 float maxTotalTxPulseLength_sec;
996 float maxEffTxPulseLength_sec;
997 float maxEffTxBandWidth_Hz;
998 float absCoeff_dBPerkm;
1000 float portSectorEdge_deg;
1001 float starbSectorEdge_deg;
1002 float portMeanCov_deg;
1003 float starbMeanCov_deg;
1004 int16_t portMeanCov_m;
1005 int16_t starbMeanCov_m;
1007 uint8_t modeAndStabilisation;
1019 uint8_t runtimeFilter1;
1030 uint16_t runtimeFilter2;
1040 uint32_t pipeTrackingStatus;
1041 float transmitArraySizeUsed_deg;
1042 float receiveArraySizeUsed_deg;
1043 float transmitPower_dB;
1044 uint16_t SLrampUpTimeRemaining;
1045 uint16_t padding2;
1046 float yawAngle_deg;
1052 uint16_t numTxSectors;
1053 uint16_t numBytesPerTxSector;
1058 float headingVessel_deg;
1059 float soundSpeedAtTxDepth_mPerSec;
1060 float txTransducerDepth_m;
1061 float z_waterLevelReRefPoint_m;
1062 float x_kmallToall_m;
1063 float y_kmallToall_m;
1065 uint8_t latLongInfo;
1066 uint8_t posSensorStatus;
1067 uint8_t attitudeSensorStatus;
1068 uint8_t padding3;
1069 double latitude_deg;
1070 double longitude_deg;
1071 float ellipsoidHeightReRefPoint_m;
1074 };
1075
1076 typedef struct EMdgmMRZ_pingInfo_def EMdgmMRZ_pingInfo, *pEMdgmMRZ_pingInfo;
1077
1083 struct EMdgmMRZ_txSectorInfo_def
1084 {
1085 uint8_t txSectorNumb;
1086 uint8_t txArrNumber;
1087 uint8_t txSubArray;
1089 uint8_t padding0;
1090 float sectorTransmitDelay_sec;
1091 float tiltAngleReTx_deg;
1093 float txNominalSourceLevel_dB;
1094 float txFocusRange_m;
1095 float centreFreq_Hz;
1096 float signalBandWidth_Hz;
1097 float totalSignalLength_sec;
1098 uint8_t pulseShading;
1099 uint8_t signalWaveForm;
1100 uint16_t padding1;
1102 };
1103
1104 typedef struct EMdgmMRZ_txSectorInfo_def EMdgmMRZ_txSectorInfo, *pEMdgmMRZ_txSectorInfo;
1105
1110 struct EMdgmMRZ_rxInfo_def
1111 {
1112 uint16_t numBytesRxInfo;
1113 uint16_t numSoundingsMaxMain;
1114 uint16_t numSoundingsValidMain;
1115 uint16_t numBytesPerSounding;
1116 float WCSampleRate;
1117 float seabedImageSampleRate;
1118 float BSnormal_dB;
1119 float BSoblique_dB;
1120 uint16_t extraDetectionAlarmFlag;
1121 uint16_t numExtraDetections;
1122 uint16_t numExtraDetectionClasses;
1123 uint16_t numBytesPerClass;
1125 };
1126
1127 typedef struct EMdgmMRZ_rxInfo_def EMdgmMRZ_rxInfo, *pEMdgmMRZ_rxInfo;
1128
1133 struct EMdgmMRZ_extraDetClassInfo_def
1134 {
1135 uint16_t numExtraDetInClass;
1136 int8_t padding;
1137 uint8_t alarmFlag;
1139 };
1140
1141 typedef struct EMdgmMRZ_extraDetClassInfo_def EMdgmMRZ_extraDetClassInfo, *pEMdgmMRZ_extraDetClassInfo;
1142
1150 struct EMdgmMRZ_sounding_def
1151 {
1152
1153 uint16_t soundingIndex;
1154 uint8_t txSectorNumb;
1158 uint8_t detectionType;
1160 uint8_t detectionMethod;
1161 uint8_t rejectionInfo1;
1162 uint8_t rejectionInfo2;
1163 uint8_t postProcessingInfo;
1164 uint8_t detectionClass;
1165 uint8_t detectionConfidenceLevel;
1166 uint16_t padding;
1167 float rangeFactor;
1168 float qualityFactor;
1169 float detectionUncertaintyVer_m;
1170 float detectionUncertaintyHor_m;
1171 float detectionWindowLength_sec;
1172 float echoLength_sec;
1177 uint16_t WCBeamNumb;
1178 uint16_t WCrange_samples;
1179 float WCNomBeamAngleAcross_deg;
1184 float meanAbsCoeff_dBPerkm;
1185 float reflectivity1_dB;
1186 float reflectivity2_dB;
1191 float receiverSensitivityApplied_dB;
1192 float sourceLevelApplied_dB;
1197 float BScalibration_dB;
1198 float TVG_dB;
1203 float beamAngleReRx_deg;
1204 float beamAngleCorrection_deg;
1205 float twoWayTravelTime_sec;
1206 float twoWayTravelTimeCorrection_sec;
1211 float deltaLatitude_deg;
1213 float deltaLongitude_deg;
1215 float z_reRefPoint_m;
1217 float y_reRefPoint_m;
1219 float x_reRefPoint_m;
1222 float beamIncAngleAdj_deg;
1223 uint16_t realTimeCleanInfo;
1228 uint16_t SIstartRange_samples;
1229 uint16_t SIcentreSample;
1230 uint16_t SInumSamples;
1232 };
1233
1234 typedef struct EMdgmMRZ_sounding_def EMdgmMRZ_sounding, *pEMdgmMRZ_sounding;
1235
1238 struct EMdgmMRZ_extraSI_def
1239 {
1240
1241 uint16_t portStartRange_samples;
1242 uint16_t numPortSamples;
1243 int16_t portSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1244 uint16_t starbStartRange_samples;
1245 uint16_t numStarbSamples;
1246 int16_t starbSIsample_desidB[MAX_SIDESCAN_EXTRA_SAMP];
1248 };
1249
1250 typedef struct EMdgmMRZ_extraSI_def EMdgmMRZ_extraSI, *pEMdgmMRZ_extraSI;
1251
1266 struct EMdgmMRZ_def
1267 {
1268 struct EMdgmHeader_def header;
1269 struct EMdgmMpartition_def partition;
1270 struct EMdgmMbody_def cmnPart;
1271 struct EMdgmMRZ_pingInfo_def pingInfo;
1272 struct EMdgmMRZ_txSectorInfo_def sectorInfo[MAX_NUM_TX_PULSES];
1273 struct EMdgmMRZ_rxInfo_def rxInfo;
1274 struct EMdgmMRZ_extraDetClassInfo_def extraDetClassInfo[MAX_EXTRA_DET_CLASSES];
1275 struct EMdgmMRZ_sounding_def sounding[MAX_NUM_BEAMS+MAX_EXTRA_DET];
1276 int16_t SIsample_desidB[MAX_SIDESCAN_SAMP];
1284 };
1285
1286 #define MRZ_VERSION 0
1287 typedef struct EMdgmMRZ_def EMdgmMRZ, *pEMdgmMRZ;
1288
1289 /************************************
1290 #MWC - water column datagram
1291 ************************************/
1293 struct EMdgmMWCtxInfo_def
1294 {
1295 uint16_t numBytesTxInfo;
1296 uint16_t numTxSectors;
1298 uint16_t numBytesPerTxSector;
1299 int16_t padding;
1300 float heave_m;
1301 };
1302
1303 typedef struct EMdgmMWCtxInfo_def EMdgmMWCtxInfo, *pEMdgmMWCtxInfo;
1304
1306 struct EMdgmMWCtxSectorData_def
1307 {
1308 float tiltAngleReTx_deg;
1309 float centreFreq_Hz;
1310 float txBeamWidthAlong_deg;
1311 uint16_t txSectorNum;
1312 int16_t padding;
1313 };
1314
1315 typedef struct EMdgmMWCtxSectorData_def EMdgmMWCtxSectorData, *pEMdgmMWCtxSectorData;
1316
1318 struct EMdgmMWCrxInfo_def
1319 {
1320 uint16_t numBytesRxInfo;
1321 uint16_t numBeams;
1322 uint8_t numBytesPerBeamEntry;
1324 uint8_t phaseFlag;
1325 uint8_t TVGfunctionApplied;
1327 int8_t TVGoffset_dB;
1329 float sampleFreq_Hz;
1330 float soundVelocity_mPerSec;
1332 };
1333
1334 typedef struct EMdgmMWCrxInfo_def EMdgmMWCrxInfo, *pEMdgmMWCrxInfo;
1335
1337 struct EMdgmMWCrxBeamData_def
1338 {
1339 float beamPointAngReVertical_deg;
1340 uint16_t startRangeSampleNum;
1341 uint16_t detectedRangeInSamples;
1343 uint16_t beamTxSectorNum;
1344 uint16_t numSampleData;
1345 int8_t *sampleAmplitude05dB_p;
1346 };
1347
1348 typedef struct EMdgmMWCrxBeamData_def EMdgmMWCrxBeamData, *pEMdgmMWCrxBeamData;
1349
1351 struct EMdgmMWCrxBeamPhase1_def
1352 {
1353 int8_t rxBeamPhase;
1354 };
1355
1356 typedef struct EMdgmMWCrxBeamPhase1_def EMdgmMWCrxBeamPhase1, *pEMdgmMWCrxBeamPhase1;
1357
1359 struct EMdgmMWCrxBeamPhase2_def
1360 {
1361 int16_t rxBeamPhase;
1362 };
1363
1364 typedef struct EMdgmMWCrxBeamPhase2_def EMdgmMWCrxBeamPhase2, *pEMdgmMWCrxBeamPhase2;
1365
1367 struct EMdgmMWC_def
1368 {
1369 struct EMdgmHeader_def header;
1370 struct EMdgmMpartition_def partition;
1371 struct EMdgmMbody_def cmnPart;
1372 struct EMdgmMWCtxInfo_def txInfo;
1373 struct EMdgmMWCtxSectorData_def sectorData[MAX_NUM_TX_PULSES];
1374 struct EMdgmMWCrxInfo_def rxInfo;
1375 struct EMdgmMWCrxBeamData_def *beamData_p;
1378 };
1379
1380 #define MWC_VERSION 0
1381 typedef struct EMdgmMWC_def EMdgmMWC, *pEMdgmMWC;
1382
1383
1384 /*********************************************
1385
1386 Installation and runtime datagrams
1387
1388 *********************************************/
1389
1390 /************************************
1391 #IIP - Info Installation PU
1392 ************************************/
1397 struct EMdgmIIP_def
1398 {
1399 EMdgmHeader header;
1400 uint16_t numBytesCmnPart;
1401 uint16_t info;
1402 uint16_t status;
1403 uint8_t install_txt;
1407 };
1408
1409 #define IIP_VERSION 0
1410 typedef struct EMdgmIIP_def dgm_IIP, *pdgm_IIP;
1411
1412
1413 /************************************
1414 #IOP - Runtime datagram
1415 ************************************/
1423 struct EMdgmIOP_def
1424 {
1425 EMdgmHeader header;
1426 uint16_t numBytesCmnPart;
1427 uint16_t info;
1428 uint16_t status;
1429 uint8_t runtime_txt;
1435 };
1436
1437 #define IOP_VERSION 0
1438 typedef struct EMdgmIOP_def dgm_IOP, *pdgm_IOP;
1439
1440
1441 /************************************
1442 #IB - BIST Error Datagrams
1443 ************************************/
1448 struct EMdgmIB_def
1449 {
1450 EMdgmHeader header;
1451 uint16_t numBytesCmnPart;
1452 uint8_t BISTInfo;
1453 uint8_t BISTStyle;
1454 int8_t BISTNumber;
1455 uint8_t BISTStatus;
1456 uint8_t BISTText;
1457 };
1458
1459 #define BIST_VERSION 0
1460 typedef struct EMdgmIB_def dgm_IB, *pdgm_IB;
1461
1462 #ifndef _VXW
1463 #pragma pack()
1464 #endif
1465 #endif
KMbinary_def::pitchError_deg
float pitchError_deg
Definition: EMdgmFormat.h:578
EMdgmMRZ_pingInfo_def::latLongInfo
uint8_t latLongInfo
Definition: EMdgmFormat.h:1065
KMbinary_def::yawRate
float yawRate
Definition: EMdgmFormat.h:562
EMdgmSVPpoint_def::temp_C
float temp_C
Definition: EMdgmFormat.h:646
EMdgmSKMinfo_def::sensorSystem
uint8_t sensorSystem
Definition: EMdgmFormat.h:441
EMdgmMRZ_pingInfo_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:1071
EMdgmIB_def::BISTText
uint8_t BISTText
Definition: EMdgmFormat.h:1456
EMdgmMRZ_txSectorInfo_def::signalBandWidth_Hz
float signalBandWidth_Hz
Definition: EMdgmFormat.h:1096
KMbinary_def::ellipsoidHeightError_m
float ellipsoidHeightError_m
Definition: EMdgmFormat.h:576
EMdgmMWCrxBeamData_def
#MWC - data block 2: receiver, specific info for each beam.
Definition: EMdgmFormat.h:1337
EMdgmMRZ_pingInfo_def::txTransducerDepth_m
float txTransducerDepth_m
Definition: EMdgmFormat.h:1060
EMdgmMWCtxInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1298
EMdgmSVTsample_def
#SVT - Sound Velocity at Transducer. Data sample.
Definition: EMdgmFormat.h:738
EMdgmMRZ_rxInfo_def::BSoblique_dB
float BSoblique_dB
Definition: EMdgmFormat.h:1119
EMdgmMRZ_txSectorInfo_def
#MRZ - sector information.
Definition: EMdgmFormat.h:1083
EMdgmMWCrxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1320
EMdgmSPOdataBlock_def::ellipsoidHeightReRefPoint_m
float ellipsoidHeightReRefPoint_m
Definition: EMdgmFormat.h:410
EMdgmMWCrxBeamPhase1_def::rxBeamPhase
int8_t rxBeamPhase
Definition: EMdgmFormat.h:1353
EMdgmMpartition_def::numOfDgms
uint16_t numOfDgms
Definition: EMdgmFormat.h:871
EMdgmSPOdataBlock_def::courseOverGround_deg
float courseOverGround_deg
Definition: EMdgmFormat.h:409
EMdgmMRZ_pingInfo_def::maxEffTxBandWidth_Hz
float maxEffTxBandWidth_Hz
Definition: EMdgmFormat.h:997
EMdgmSVP_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:666
EMdgmSVPpoint_def
#SVP - Sound Velocity Profile. Data from one depth point contains information specified in this struc...
Definition: EMdgmFormat.h:641
MAX_SHI_DATALENGTH
#define MAX_SHI_DATALENGTH
Definition: EMdgmFormat.h:271
EMdgmMWCtxSectorData_def
#MWC - data block 1: transmit sector data, loop for all i = numTxSectors.
Definition: EMdgmFormat.h:1306
KMbinary_def::downAcceleration
float downAcceleration
Definition: EMdgmFormat.h:587
EMdgmMbody_def::rxFansPerPing
uint8_t rxFansPerPing
Definition: EMdgmFormat.h:919
EMdgmSCLdataFromSensor_def
Part of clock datagram giving offsets and the raw input in text format.
Definition: EMdgmFormat.h:769
MAX_SIDESCAN_EXTRA_SAMP
#define MAX_SIDESCAN_EXTRA_SAMP
Definition: EMdgmFormat.h:256
EMdgmHeader_def::dgmType
uint8_t dgmType[4]
Definition: EMdgmFormat.h:315
EMdgmIIP_def::install_txt
uint8_t install_txt
Definition: EMdgmFormat.h:1403
EMdgmMRZ_txSectorInfo_def::txArrNumber
uint8_t txArrNumber
Definition: EMdgmFormat.h:1086
EMdgmIOP_def::runtime_txt
uint8_t runtime_txt
Definition: EMdgmFormat.h:1429
EMdgmSKMinfo_def
Sensor (S) output datagram - info of KMB datagrams.
Definition: EMdgmFormat.h:438
EMdgmSKMinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:471
EMdgmSVTsample_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:742
EMdgmMRZ_sounding_def::deltaLatitude_deg
float deltaLatitude_deg
Definition: EMdgmFormat.h:1211
MAX_SDE_DATALENGTH
#define MAX_SDE_DATALENGTH
Definition: EMdgmFormat.h:270
EMdgmMRZ_rxInfo_def::numBytesPerSounding
uint16_t numBytesPerSounding
Definition: EMdgmFormat.h:1115
EMdgmScommon_def::sensorSystem
uint16_t sensorSystem
Definition: EMdgmFormat.h:336
EMdgmMRZ_extraSI_def::numPortSamples
uint16_t numPortSamples
Definition: EMdgmFormat.h:1242
EMdgmSKMinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:440
EMdgmMRZ_sounding_def::z_reRefPoint_m
float z_reRefPoint_m
Definition: EMdgmFormat.h:1215
EMdgmMRZ_rxInfo_def::extraDetectionAlarmFlag
uint16_t extraDetectionAlarmFlag
Definition: EMdgmFormat.h:1120
EMdgmMRZ_pingInfo_def::pingRate_Hz
float pingRate_Hz
Definition: EMdgmFormat.h:948
EMdgmMbody_def::rxTransducerInd
uint8_t rxTransducerInd
Definition: EMdgmFormat.h:925
EMdgmIOP_def::status
uint16_t status
Definition: EMdgmFormat.h:1428
EMdgmSdataInfo_def::numBytesRawSensorData
uint16_t numBytesRawSensorData
Definition: EMdgmFormat.h:388
EMdgmSVP_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:668
EMdgmMRZ_sounding_def::postProcessingInfo
uint8_t postProcessingInfo
Definition: EMdgmFormat.h:1163
EMdgmMRZ_sounding_def::detectionMethod
uint8_t detectionMethod
Definition: EMdgmFormat.h:1160
EMdgmMRZ_sounding_def::beamAngleCorrection_deg
float beamAngleCorrection_deg
Definition: EMdgmFormat.h:1204
EMdgmMRZ_pingInfo_def::soundSpeedAtTxDepth_mPerSec
float soundSpeedAtTxDepth_mPerSec
Definition: EMdgmFormat.h:1059
EMdgmMRZ_txSectorInfo_def::signalWaveForm
uint8_t signalWaveForm
Definition: EMdgmFormat.h:1099
EMdgmMRZ_sounding_def::deltaLongitude_deg
float deltaLongitude_deg
Definition: EMdgmFormat.h:1213
KMbinary_def::eastAcceleration
float eastAcceleration
Definition: EMdgmFormat.h:586
EMdgmMRZ_sounding_def::reflectivity1_dB
float reflectivity1_dB
Definition: EMdgmFormat.h:1185
EMdgmHeader_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:319
EMdgmMRZ_rxInfo_def::numBytesRxInfo
uint16_t numBytesRxInfo
Definition: EMdgmFormat.h:1112
EMdgmMWCtxInfo_def::numBytesTxInfo
uint16_t numBytesTxInfo
Definition: EMdgmFormat.h:1295
EMdgmMRZ_pingInfo_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:998
EMdgmMRZ_extraDetClassInfo_def::numExtraDetInClass
uint16_t numExtraDetInClass
Definition: EMdgmFormat.h:1135
EMdgmMbody_def
Multibeam (M) datagrams - body part. Start of body of all M datagrams.
Definition: EMdgmFormat.h:914
EMdgmMWCrxBeamPhase2_def::rxBeamPhase
int16_t rxBeamPhase
Definition: EMdgmFormat.h:1361
EMdgmSKMinfo_def::sensorStatus
uint8_t sensorStatus
Definition: EMdgmFormat.h:442
EMdgmMRZ_pingInfo_def::runtimeFilter2
uint16_t runtimeFilter2
Definition: EMdgmFormat.h:1030
EMdgmSDEdataFromSensor_def
Part of depth datagram giving depth as used, offsets, scale factor and data as received from sensor (...
Definition: EMdgmFormat.h:801
EMdgmMWCtxInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1296
EMdgmMRZ_pingInfo_def::y_kmallToall_m
float y_kmallToall_m
Definition: EMdgmFormat.h:1063
EMdgmMRZ_pingInfo_def::portMeanCov_m
int16_t portMeanCov_m
Definition: EMdgmFormat.h:1004
EMdgmIB_def::BISTInfo
uint8_t BISTInfo
Definition: EMdgmFormat.h:1452
EMdgmMWCtxInfo_def::padding
int16_t padding
Definition: EMdgmFormat.h:1299
KMbinary_def::rollRate
float rollRate
Definition: EMdgmFormat.h:560
EMdgmMWCrxBeamData_def::numSampleData
uint16_t numSampleData
Definition: EMdgmFormat.h:1344
EMdgmMRZ_rxInfo_def::WCSampleRate
float WCSampleRate
Definition: EMdgmFormat.h:1116
EMdgmMRZ_txSectorInfo_def::sectorTransmitDelay_sec
float sectorTransmitDelay_sec
Definition: EMdgmFormat.h:1090
EMdgmMRZ_pingInfo_def::modeAndStabilisation
uint8_t modeAndStabilisation
Definition: EMdgmFormat.h:1007
EMdgmMbody_def::pingCnt
uint16_t pingCnt
Definition: EMdgmFormat.h:917
EMdgmMRZ_rxInfo_def::BSnormal_dB
float BSnormal_dB
Definition: EMdgmFormat.h:1118
EMdgmIB_def::BISTStatus
uint8_t BISTStatus
Definition: EMdgmFormat.h:1455
EMdgmMRZ_sounding_def::detectionConfidenceLevel
uint8_t detectionConfidenceLevel
Definition: EMdgmFormat.h:1165
EMdgmMRZ_rxInfo_def::numBytesPerClass
uint16_t numBytesPerClass
Definition: EMdgmFormat.h:1123
EMdgmMWCtxInfo_def::heave_m
float heave_m
Definition: EMdgmFormat.h:1300
EMdgmMpartition_def::dgmNum
uint16_t dgmNum
Definition: EMdgmFormat.h:872
EMdgmHeader_def::systemID
uint8_t systemID
Definition: EMdgmFormat.h:317
KMbinary_def::velEast
float velEast
Definition: EMdgmFormat.h:568
EMdgmMRZ_sounding_def::qualityFactor
float qualityFactor
Definition: EMdgmFormat.h:1168
EMdgmSVTinfo_def
Part of Sound Velocity at Transducer datagram.
Definition: EMdgmFormat.h:686
EMdgmMRZ_extraSI_def::starbStartRange_samples
uint16_t starbStartRange_samples
Definition: EMdgmFormat.h:1244
EMdgmMRZ_pingInfo_def::frequencyMode_Hz
float frequencyMode_Hz
Definition: EMdgmFormat.h:975
EMdgmMRZ_pingInfo_def::receiveArraySizeUsed_deg
float receiveArraySizeUsed_deg
Definition: EMdgmFormat.h:1042
EMdgmMRZ_rxInfo_def::seabedImageSampleRate
float seabedImageSampleRate
Definition: EMdgmFormat.h:1117
EMdgmSDE_def
#SDE - DEpth datagram.
Definition: EMdgmFormat.h:818
EMdgmMRZ_pingInfo_def::maxEffTxPulseLength_sec
float maxEffTxPulseLength_sec
Definition: EMdgmFormat.h:996
EMdgmMRZ_pingInfo_def::portSectorEdge_deg
float portSectorEdge_deg
Definition: EMdgmFormat.h:1000
EMdgmSVTinfo_def::soundVelocity_mPerSec_offset
float soundVelocity_mPerSec_offset
Definition: EMdgmFormat.h:732
EMdgmMRZ_sounding_def::TVG_dB
float TVG_dB
Definition: EMdgmFormat.h:1198
EMdgmSVP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:660
EMdgmMRZ_extraDetClassInfo_def
#MRZ - Extra detection class information.
Definition: EMdgmFormat.h:1133
EMdgmMRZ_extraSI_def::portStartRange_samples
uint16_t portStartRange_samples
Definition: EMdgmFormat.h:1241
EMdgmMRZ_sounding_def::twoWayTravelTimeCorrection_sec
float twoWayTravelTimeCorrection_sec
Definition: EMdgmFormat.h:1206
EMdgmSKMinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:458
KMdelayedHeave_def::delayedHeave_m
float delayedHeave_m
Definition: EMdgmFormat.h:599
EMdgmMRZ_pingInfo_def::pipeTrackingStatus
uint32_t pipeTrackingStatus
Definition: EMdgmFormat.h:1040
EMdgmMbody_def::swathAlongPosition
uint8_t swathAlongPosition
Definition: EMdgmFormat.h:923
EMdgmMRZ_sounding_def::padding
uint16_t padding
Definition: EMdgmFormat.h:1166
EMdgmMRZ_pingInfo_def::SLrampUpTimeRemaining
uint16_t SLrampUpTimeRemaining
Definition: EMdgmFormat.h:1044
EMdgmMWCrxInfo_def::phaseFlag
uint8_t phaseFlag
Definition: EMdgmFormat.h:1324
EMdgmHeader_def::numBytesDgm
uint32_t numBytesDgm
Definition: EMdgmFormat.h:314
EMdgmHeader_def::dgmVersion
uint8_t dgmVersion
Definition: EMdgmFormat.h:316
EMdgmIIP_def::info
uint16_t info
Definition: EMdgmFormat.h:1401
KMbinary_def::velDown
float velDown
Definition: EMdgmFormat.h:569
EMdgmSPOdataBlock_def::correctedLat_deg
double correctedLat_deg
Definition: EMdgmFormat.h:406
EMdgmSVPpoint_def::salinity
float salinity
Definition: EMdgmFormat.h:647
EMdgmSVTinfo_def::sensorInputFormat
uint16_t sensorInputFormat
Definition: EMdgmFormat.h:704
EMdgmIB_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1451
EMdgmSVTsample_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:740
KMbinary_def::status
uint32_t status
Definition: EMdgmFormat.h:511
EMdgmMRZ_extraDetClassInfo_def::alarmFlag
uint8_t alarmFlag
Definition: EMdgmFormat.h:1137
EMdgmSKMsample_def
#SKM - all available data.
Definition: EMdgmFormat.h:606
EMdgmMRZ_txSectorInfo_def::txNominalSourceLevel_dB
float txNominalSourceLevel_dB
Definition: EMdgmFormat.h:1093
EMdgmMRZ_sounding_def::SIstartRange_samples
uint16_t SIstartRange_samples
Definition: EMdgmFormat.h:1228
EMdgmMRZ_pingInfo_def::pulseForm
uint8_t pulseForm
Definition: EMdgmFormat.h:972
KMbinary_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:509
EMdgmMRZ_pingInfo_def::starbMeanCov_deg
float starbMeanCov_deg
Definition: EMdgmFormat.h:1003
EMdgmSDEdataFromSensor_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:808
EMdgmMWCrxBeamData_def::sampleAmplitude05dB_p
int8_t * sampleAmplitude05dB_p
Definition: EMdgmFormat.h:1345
EMdgmMRZ_pingInfo_def::posSensorStatus
uint8_t posSensorStatus
Definition: EMdgmFormat.h:1066
EMdgmSPOdataBlock_def::speedOverGround_mPerSec
float speedOverGround_mPerSec
Definition: EMdgmFormat.h:408
KMbinary_def::headingError_deg
float headingError_deg
Definition: EMdgmFormat.h:579
EMdgmSVTsample_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:741
EMdgmMRZ_pingInfo_def::detectionMode
uint8_t detectionMode
Definition: EMdgmFormat.h:971
EMdgmSPOdataBlock_def::timeFromSensor_sec
uint32_t timeFromSensor_sec
Definition: EMdgmFormat.h:403
EMdgmMWCtxSectorData_def::txBeamWidthAlong_deg
float txBeamWidthAlong_deg
Definition: EMdgmFormat.h:1310
EMdgmSDEdataFromSensor_def::depthUsed_m
float depthUsed_m
Definition: EMdgmFormat.h:803
EMdgmSVT_def
#SVT - Sound Velocity at Transducer. Data for sound velocity and temperature are measured directely o...
Definition: EMdgmFormat.h:753
EMdgmMRZ_sounding_def::reflectivity2_dB
float reflectivity2_dB
Definition: EMdgmFormat.h:1186
EMdgmMRZ_sounding_def::detectionType
uint8_t detectionType
Definition: EMdgmFormat.h:1158
EMdgmScommon_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:335
KMbinary_def::latitudeError_m
float latitudeError_m
Definition: EMdgmFormat.h:574
EMdgmMWCrxInfo_def::sampleFreq_Hz
float sampleFreq_Hz
Definition: EMdgmFormat.h:1329
EMdgmSPOdataBlock_def::timeFromSensor_nanosec
uint32_t timeFromSensor_nanosec
Definition: EMdgmFormat.h:404
EMdgmMRZ_txSectorInfo_def::totalSignalLength_sec
float totalSignalLength_sec
Definition: EMdgmFormat.h:1097
EMdgmMRZ_pingInfo_def::subDepthMode
uint8_t subDepthMode
Definition: EMdgmFormat.h:966
EMdgmSKMinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:473
EMdgmSVTsample_def::salinity
float salinity
Definition: EMdgmFormat.h:745
EMdgmMRZ_pingInfo_def::depthMode
uint8_t depthMode
Definition: EMdgmFormat.h:950
EMdgmMRZ_pingInfo_def::numBytesInfoData
uint16_t numBytesInfoData
Definition: EMdgmFormat.h:943
EMdgmMRZ_pingInfo_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:1069
EMdgmMRZ_sounding_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:1154
EMdgmSHIdataFromSensor_def::heigthUsed_m
float heigthUsed_m
Definition: EMdgmFormat.h:837
EMdgmMRZ_extraSI_def
#MRZ - Extra seabed image samples.
Definition: EMdgmFormat.h:1238
EMdgmMRZ_pingInfo_def::runtimeFilter1
uint8_t runtimeFilter1
Definition: EMdgmFormat.h:1019
EMdgmMRZ_sounding_def::y_reRefPoint_m
float y_reRefPoint_m
Definition: EMdgmFormat.h:1217
EMdgmMbody_def::algorithmType
uint8_t algorithmType
Definition: EMdgmFormat.h:927
EMdgmSDEdataFromSensor_def::scale
float scale
Definition: EMdgmFormat.h:805
EMdgmMbody_def::rxFanIndex
uint8_t rxFanIndex
Definition: EMdgmFormat.h:921
EMdgmSdataInfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:387
EMdgmIIP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1400
EMdgmMWC_def
#MWC - Multibeam Water Column Datagram. Entire datagram containing several sub structs.
Definition: EMdgmFormat.h:1367
EMdgmMRZ_sounding_def::echoLength_sec
float echoLength_sec
Definition: EMdgmFormat.h:1172
EMdgmMRZ_txSectorInfo_def::txSubArray
uint8_t txSubArray
Definition: EMdgmFormat.h:1087
EMdgmSCL_def
#SCL - CLock datagram.
Definition: EMdgmFormat.h:784
EMdgmMRZ_txSectorInfo_def::txFocusRange_m
float txFocusRange_m
Definition: EMdgmFormat.h:1094
EMdgmMRZ_pingInfo_def::transmitPower_dB
float transmitPower_dB
Definition: EMdgmFormat.h:1043
EMdgmIOP_def::info
uint16_t info
Definition: EMdgmFormat.h:1427
EMdgmMRZ_sounding_def::SIcentreSample
uint16_t SIcentreSample
Definition: EMdgmFormat.h:1229
EMdgmMRZ_extraSI_def::numStarbSamples
uint16_t numStarbSamples
Definition: EMdgmFormat.h:1245
MAX_SVP_POINTS
#define MAX_SVP_POINTS
Definition: EMdgmFormat.h:259
EMdgmMRZ_pingInfo_def::z_waterLevelReRefPoint_m
float z_waterLevelReRefPoint_m
Definition: EMdgmFormat.h:1061
EMdgmMWCtxSectorData_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1309
EMdgmMRZ_pingInfo_def::numTxSectors
uint16_t numTxSectors
Definition: EMdgmFormat.h:1052
EMdgmSKMinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:472
EMdgmMRZ_pingInfo_def::padding0
uint16_t padding0
Definition: EMdgmFormat.h:944
EMdgmIB_def
#IB - Results from online built in test (BIST). Definition used for three different BIST datagrams...
Definition: EMdgmFormat.h:1448
EMdgmMRZ_sounding_def::twoWayTravelTime_sec
float twoWayTravelTime_sec
Definition: EMdgmFormat.h:1205
EMdgmMRZ_sounding_def::detectionWindowLength_sec
float detectionWindowLength_sec
Definition: EMdgmFormat.h:1171
EMdgmHeader_def::time_nanosec
uint32_t time_nanosec
Definition: EMdgmFormat.h:320
KMbinary_def
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
Definition: EMdgmFormat.h:502
EMdgmMWCrxInfo_def::TVGoffset_dB
int8_t TVGoffset_dB
Definition: EMdgmFormat.h:1327
KMbinary_def::heaveError_m
float heaveError_m
Definition: EMdgmFormat.h:580
EMdgmMRZ_sounding_def::WCrange_samples
uint16_t WCrange_samples
Definition: EMdgmFormat.h:1178
EMdgmMRZ_pingInfo_def::starbMeanCov_m
int16_t starbMeanCov_m
Definition: EMdgmFormat.h:1005
EMdgmMRZ_pingInfo_def::portMeanCov_deg
float portMeanCov_deg
Definition: EMdgmFormat.h:1002
EMdgmMbody_def::txTransducerInd
uint8_t txTransducerInd
Definition: EMdgmFormat.h:924
EMdgmMRZ_def
#MRZ - Multibeam Raw Range and Depth datagram. The datagram also contains seabed image data...
Definition: EMdgmFormat.h:1266
EMdgmIOP_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:1426
MAX_SCL_DATALENGTH
#define MAX_SCL_DATALENGTH
Definition: EMdgmFormat.h:269
KMbinary_def::ellipsoidHeight_m
float ellipsoidHeight_m
Definition: EMdgmFormat.h:548
EMdgmMRZ_txSectorInfo_def::pulseShading
uint8_t pulseShading
Definition: EMdgmFormat.h:1098
EMdgmMWCrxBeamData_def::detectedRangeInSamples
uint16_t detectedRangeInSamples
Definition: EMdgmFormat.h:1341
EMdgmMbody_def::swathsPerPing
uint8_t swathsPerPing
Definition: EMdgmFormat.h:922
EMdgmMRZ_txSectorInfo_def::txSectorNumb
uint8_t txSectorNumb
Definition: EMdgmFormat.h:1085
EMdgmMRZ_sounding_def::detectionUncertaintyVer_m
float detectionUncertaintyVer_m
Definition: EMdgmFormat.h:1169
EMdgmMRZ_pingInfo_def::headingVessel_deg
float headingVessel_deg
Definition: EMdgmFormat.h:1058
EMdgmMRZ_pingInfo_def::padding2
uint16_t padding2
Definition: EMdgmFormat.h:1045
EMdgmMRZ_sounding_def::meanAbsCoeff_dBPerkm
float meanAbsCoeff_dBPerkm
Definition: EMdgmFormat.h:1184
MAX_SPO_DATALENGTH
#define MAX_SPO_DATALENGTH
Definition: EMdgmFormat.h:266
EMdgmSVP_def
#SVP - Sound Velocity Profile. Data from sound velocity profile or from CTD profile. Sound velocity is measured directly or estimated, respectively.
Definition: EMdgmFormat.h:657
EMdgmIIP_def
Definition of #IIP datagram containing installation parameters and sensor format settings. Details in separate document Installation parameters
Definition: EMdgmFormat.h:1397
EMdgmSVPpoint_def::depth_m
float depth_m
Definition: EMdgmFormat.h:643
EMdgmSVTinfo_def::numBytesPerSample
uint16_t numBytesPerSample
Definition: EMdgmFormat.h:717
EMdgmSDEdataFromSensor_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:806
EMdgmSHIdataFromSensor_def
Part of Height datagram, giving corrected and uncorrected data as received from sensor.
Definition: EMdgmFormat.h:834
EMdgmMRZ_pingInfo_def::distanceBtwSwath
uint8_t distanceBtwSwath
Definition: EMdgmFormat.h:967
EMdgmMWCrxBeamPhase1_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1351
EMdgmSVP_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:670
EMdgmMRZ_sounding_def::beamIncAngleAdj_deg
float beamIncAngleAdj_deg
Definition: EMdgmFormat.h:1222
EMdgmMRZ_txSectorInfo_def::centreFreq_Hz
float centreFreq_Hz
Definition: EMdgmFormat.h:1095
EMdgmMRZ_sounding_def::detectionUncertaintyHor_m
float detectionUncertaintyHor_m
Definition: EMdgmFormat.h:1170
EMdgmSVTsample_def::temp_C
float temp_C
Definition: EMdgmFormat.h:743
EMdgmSPO_def
#SPO - Struct of position sensor datagram. Data from active sensor will be motion corrected if in...
Definition: EMdgmFormat.h:422
EMdgmSVTinfo_def::filterTime_sec
float filterTime_sec
Definition: EMdgmFormat.h:731
KMbinary_def::dgmVersion
uint16_t dgmVersion
Definition: EMdgmFormat.h:506
MAX_SIDESCAN_SAMP
#define MAX_SIDESCAN_SAMP
Definition: EMdgmFormat.h:255
EMdgmMWCrxInfo_def::numBeams
uint16_t numBeams
Definition: EMdgmFormat.h:1321
EMdgmMRZ_sounding_def
#MRZ - Data for each sounding, e.g. XYZ, reflectivity, two way travel time etc.
Definition: EMdgmFormat.h:1150
EMdgmMWCrxBeamPhase2_def
#MWC - specific info for each beam and water column sample. (Nrx * Ns) entries. Only added to datagra...
Definition: EMdgmFormat.h:1359
EMdgmSKM_def
#SKM - data from attitude and attitude velocity sensors.
Definition: EMdgmFormat.h:623
EMdgmMpartition_def
Multibeam (M) datagrams - data partition information. General for all M datagrams.
Definition: EMdgmFormat.h:869
EMdgmMRZ_pingInfo_def::x_kmallToall_m
float x_kmallToall_m
Definition: EMdgmFormat.h:1062
EMdgmMWCtxInfo_def
#MWC - data block 1: transmit sectors, general info for all sectors
Definition: EMdgmFormat.h:1293
EMdgmSdataInfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:385
EMdgmMRZ_rxInfo_def::numExtraDetections
uint16_t numExtraDetections
Definition: EMdgmFormat.h:1121
KMbinary_def::velNorth
float velNorth
Definition: EMdgmFormat.h:567
EMdgmMRZ_extraDetClassInfo_def::padding
int8_t padding
Definition: EMdgmFormat.h:1136
EMdgmScommon_def
Sensor (S) output datagram - common part for all external sensors.
Definition: EMdgmFormat.h:333
EMdgmMRZ_sounding_def::SInumSamples
uint16_t SInumSamples
Definition: EMdgmFormat.h:1230
KMbinary_def::northAcceleration
float northAcceleration
Definition: EMdgmFormat.h:585
EMdgmIB_def::BISTNumber
int8_t BISTNumber
Definition: EMdgmFormat.h:1454
EMdgmMRZ_rxInfo_def::numSoundingsMaxMain
uint16_t numSoundingsMaxMain
Definition: EMdgmFormat.h:1113
EMdgmMRZ_pingInfo_def::yawAngle_deg
float yawAngle_deg
Definition: EMdgmFormat.h:1046
KMbinary_def::numBytesDgm
uint16_t numBytesDgm
Definition: EMdgmFormat.h:505
EMdgmSPOdataBlock_def::posFixQuality_m
float posFixQuality_m
Definition: EMdgmFormat.h:405
EMdgmMRZ_pingInfo_def::transmitArraySizeUsed_deg
float transmitArraySizeUsed_deg
Definition: EMdgmFormat.h:1041
EMdgmMRZ_sounding_def::rejectionInfo2
uint8_t rejectionInfo2
Definition: EMdgmFormat.h:1162
EMdgmSPOdataBlock_def
#SPO - Sensor position data block. Data from active sensor is corrected data for position system inst...
Definition: EMdgmFormat.h:401
KMbinary_def::roll_deg
float roll_deg
Definition: EMdgmFormat.h:552
EMdgmSVTinfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:716
EMdgmMWCtxSectorData_def::padding
int16_t padding
Definition: EMdgmFormat.h:1312
EMdgmMRZ_sounding_def::rangeFactor
float rangeFactor
Definition: EMdgmFormat.h:1167
EMdgmMRZ_pingInfo_def::maxTotalTxPulseLength_sec
float maxTotalTxPulseLength_sec
Definition: EMdgmFormat.h:995
EMdgmMbody_def::numRxTransducers
uint8_t numRxTransducers
Definition: EMdgmFormat.h:926
EMdgmMWC_def::beamData_p
struct EMdgmMWCrxBeamData_def * beamData_p
Definition: EMdgmFormat.h:1375
EMdgmSdataInfo_def
Information of repeated sensor data in one datagram.
Definition: EMdgmFormat.h:383
EMdgmMRZ_sounding_def::soundingIndex
uint16_t soundingIndex
Definition: EMdgmFormat.h:1153
KMbinary_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:547
EMdgmHeader_def::echoSounderID
uint16_t echoSounderID
Definition: EMdgmFormat.h:318
EMdgmIB_def::BISTStyle
uint8_t BISTStyle
Definition: EMdgmFormat.h:1453
EMdgmMbody_def::numBytesCmnPart
uint16_t numBytesCmnPart
Definition: EMdgmFormat.h:916
EMdgmMRZ_rxInfo_def::numExtraDetectionClasses
uint16_t numExtraDetectionClasses
Definition: EMdgmFormat.h:1122
EMdgmSPOdataBlock_def::correctedLong_deg
double correctedLong_deg
Definition: EMdgmFormat.h:407
EMdgmMRZ_txSectorInfo_def::padding0
uint8_t padding0
Definition: EMdgmFormat.h:1089
EMdgmSVPpoint_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:644
EMdgmMWCrxInfo_def::TVGfunctionApplied
uint8_t TVGfunctionApplied
Definition: EMdgmFormat.h:1325
EMdgmSVPpoint_def::absCoeff_dBPerkm
float absCoeff_dBPerkm
Definition: EMdgmFormat.h:645
KMbinary_def::heading_deg
float heading_deg
Definition: EMdgmFormat.h:554
KMbinary_def::time_sec
uint32_t time_sec
Definition: EMdgmFormat.h:507
EMdgmMRZ_sounding_def::WCNomBeamAngleAcross_deg
float WCNomBeamAngleAcross_deg
Definition: EMdgmFormat.h:1179
EMdgmMRZ_txSectorInfo_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1091
KMbinary_def::heave_m
float heave_m
Definition: EMdgmFormat.h:555
EMdgmMRZ_pingInfo_def::beamSpacing
uint8_t beamSpacing
Definition: EMdgmFormat.h:949
EMdgmSVP_def::numSamples
uint16_t numSamples
Definition: EMdgmFormat.h:661
EMdgmMRZ_sounding_def::WCBeamNumb
uint16_t WCBeamNumb
Definition: EMdgmFormat.h:1177
KMdelayedHeave_def
#SKM - delayed heave. Included if available from sensor.
Definition: EMdgmFormat.h:595
EMdgmMRZ_pingInfo_def::numBytesPerTxSector
uint16_t numBytesPerTxSector
Definition: EMdgmFormat.h:1053
EMdgmSVTsample_def::pressure_Pa
float pressure_Pa
Definition: EMdgmFormat.h:744
EMdgmMRZ_pingInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:973
EMdgmMWCrxInfo_def::soundVelocity_mPerSec
float soundVelocity_mPerSec
Definition: EMdgmFormat.h:1330
EMdgmSCLdataFromSensor_def::clockDevPU_nanosec
int32_t clockDevPU_nanosec
Definition: EMdgmFormat.h:772
EMdgmMWCrxInfo_def::numBytesPerBeamEntry
uint8_t numBytesPerBeamEntry
Definition: EMdgmFormat.h:1322
KMbinary_def::pitch_deg
float pitch_deg
Definition: EMdgmFormat.h:553
EMdgmMRZ_pingInfo_def
#MRZ - ping info. Information on vessel/system level, i.e. information common to all beams in the cur...
Definition: EMdgmFormat.h:941
EMdgmMRZ_sounding_def::beamAngleReRx_deg
float beamAngleReRx_deg
Definition: EMdgmFormat.h:1203
EMdgmSVTinfo_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:689
KMbinary_def::rollError_deg
float rollError_deg
Definition: EMdgmFormat.h:577
EMdgmMRZ_pingInfo_def::padding3
uint8_t padding3
Definition: EMdgmFormat.h:1068
EMdgmMRZ_pingInfo_def::starbSectorEdge_deg
float starbSectorEdge_deg
Definition: EMdgmFormat.h:1001
EMdgmSVTinfo_def::sensorDataContents
uint16_t sensorDataContents
Definition: EMdgmFormat.h:718
KMbinary_def::longitudeError_m
float longitudeError_m
Definition: EMdgmFormat.h:575
EMdgmSCLdataFromSensor_def::offset_sec
float offset_sec
Definition: EMdgmFormat.h:771
EMdgmMWCtxSectorData_def::txSectorNum
uint16_t txSectorNum
Definition: EMdgmFormat.h:1311
EMdgmMRZ_sounding_def::sourceLevelApplied_dB
float sourceLevelApplied_dB
Definition: EMdgmFormat.h:1192
EMdgmMRZ_sounding_def::realTimeCleanInfo
uint16_t realTimeCleanInfo
Definition: EMdgmFormat.h:1223
EMdgmMRZ_pingInfo_def::freqRangeHighLim_Hz
float freqRangeHighLim_Hz
Definition: EMdgmFormat.h:994
EMdgmMWCrxInfo_def
#MWC - data block 2: receiver, general info
Definition: EMdgmFormat.h:1318
EMdgmMRZ_sounding_def::detectionClass
uint8_t detectionClass
Definition: EMdgmFormat.h:1164
EMdgmSVTinfo_def::numBytesInfoPart
uint16_t numBytesInfoPart
Definition: EMdgmFormat.h:688
EMdgmMWCtxSectorData_def::tiltAngleReTx_deg
float tiltAngleReTx_deg
Definition: EMdgmFormat.h:1308
EMdgmScommon_def::sensorStatus
uint16_t sensorStatus
Definition: EMdgmFormat.h:347
EMdgmMRZ_pingInfo_def::freqRangeLowLim_Hz
float freqRangeLowLim_Hz
Definition: EMdgmFormat.h:993
EMdgmMRZ_sounding_def::receiverSensitivityApplied_dB
float receiverSensitivityApplied_dB
Definition: EMdgmFormat.h:1191
EMdgmIIP_def::status
uint16_t status
Definition: EMdgmFormat.h:1402
EMdgmMRZ_sounding_def::x_reRefPoint_m
float x_reRefPoint_m
Definition: EMdgmFormat.h:1219
EMdgmIOP_def
Definition of #IOP datagram containing runtime parameters, exactly as chosen by operator in the K-Con...
Definition: EMdgmFormat.h:1423
EMdgmMRZ_sounding_def::rejectionInfo1
uint8_t rejectionInfo1
Definition: EMdgmFormat.h:1161
EMdgmMRZ_sounding_def::BScalibration_dB
float BScalibration_dB
Definition: EMdgmFormat.h:1197
EMdgmMRZ_pingInfo_def::attitudeSensorStatus
uint8_t attitudeSensorStatus
Definition: EMdgmFormat.h:1067
EMdgmSdataInfo_def::numSamplesArray
uint16_t numSamplesArray
Definition: EMdgmFormat.h:386
EMdgmMRZ_rxInfo_def::numSoundingsValidMain
uint16_t numSoundingsValidMain
Definition: EMdgmFormat.h:1114
EMdgmMRZ_rxInfo_def
#MRZ - receiver specific information.
Definition: EMdgmFormat.h:1110
KMbinary_def::pitchRate
float pitchRate
Definition: EMdgmFormat.h:561
KMbinary_def::latitude_deg
double latitude_deg
Definition: EMdgmFormat.h:546
EMdgmSDEdataFromSensor_def::offset
float offset
Definition: EMdgmFormat.h:804
EMdgmMRZ_txSectorInfo_def::padding1
uint16_t padding1
Definition: EMdgmFormat.h:1100
EMdgmSHI_def
#SHI - Height datagram.
Definition: EMdgmFormat.h:846
EMdgmHeader_def
Definition of general datagram header.
Definition: EMdgmFormat.h:312
EMdgmMRZ_pingInfo_def::longitude_deg
double longitude_deg
Definition: EMdgmFormat.h:1070