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

Supported sensor input

### Position

Datagram | Contents | Definition
--- | --- | ---
NMEA GGA | Position and time | See EM datagram formats, Rev. W, page 12.
PTNL GGK | Position and time. Trimble’s proprietary version. | See EM datagram formats, Rev. W, page 14.
NMEA VTG | Course and velocity. An addition to GGA or GGK. | See EM datagram formats, Rev. W, page 16.

GGA and VTG are given according to the NMEA 0183 version 2.30 description.

### Attitude

Datagram | Contents | Definition
--- | --- | ---
EM Attitude / EM 3000 | Roll, pitch, heave, heading | See EM datagram formats, Rev. W, page 23.
KM Binary | Timestamp, roll, pitch, heave, heading used. | KM Binary definition
Seatex Binary 26 | Timestamp, roll, pitch, heave, heading used. | See vendors documentation.
Seatex Binary 23 | Timestamp, roll, pitch, heave, heading used. | See vendors documentation.
Seatex Binary 11 | Same as above. See 1) | See vendors documentation.
POS MV GRP 102/103 | Timestamp, roll, pitch, heave, heading used. | See vendors documentation.

1) Seapath Binary 11 can only be used for FM correction. For example in combination with EM Attitude.

### Sound velocity

Datagram | Contents used in KMall | Definition | Example
--- | --- | --- | ---
AML NMEA | Sound velocity (m/s), temperature (C) | `$AML,SVM,x.x,TC,x.x,SN,xxxxx*hh<cr><lf>` | `"$AML,SVM,1491.011,TC,23.111,SN,12345*3E"`
AML SV | Sound velocity (m/s) | `<space>x.x<space><cr><lf>` | `" 1491.0 "`
AML SVT | Temperature (C), sound velocity (m/s) | `<space>x.x<space>x.x<space><cr><lf>` | `" 23.111 1491.0 "`
AML SVP | Pressure (decibar), sound velocity (m/s) | `<space>x.x<space>x.x<space><cr><lf>` | `" 1.90 1491.0 "`
AML Micro SV | Sound velocity (m/s) | `<space>x.x<space><cr><lf>` | `" 1491.01 "`
AML Micro SVT | Sound velocity (m/s), temperature (C) | `<space>x.x<space>x.x<space><cr><lf>` | `" 1491.011 23.111 "`
AML Micro SVP | Sound velocity (m/s) and pressure (decibar) | `<space>x.x<space>x.x<space><cr><lf>` | `" 1491.01 1.90 "`
Valeport Mini SVS | Sound velocity, two alternatives: (mm/s), (m/s) | #1: `<space>xxxxxxx<cr><lf>` #2: `<space>x.x<cr><lf>` | #1: `" 1491011"`, #2:`" 1491.011"`
KSSIS 80 | Sound velocity (m/s), temperature (C) | `$KSSIS,80,x.x,x.x<cr><lf>` | `"$KSSIS,80,1491.01,23.111"`
KSSIS 43 | Sound velocity (m/s), temperature (C), pressure (decibar) | `$KSSIS,43,x.x,x.x,x.x<cr><lf>` | `"$KSSIS,43,1491.01,23.11,1.90"`
NMEA XDR S | Sound velocity (m/s) | `$–XDR,S,x.x,M,SV*hh<cr><lf>` | `"$KMXDR,S,1491.0,M,KMSV*46"`
Valeport NMEA | Sound velocity (m/s), temperature (C), pressure (decibar), salinity (PSU) | `$PVSVX,xx,xxxxx,x.x,x.x,M,x.x,x.x,x.x,x.x*hh<cr><lf>` | `"$PVSVX,01,12345,1.900,1.860,M,23.111,1491.011,35.500,1011.567*06"`

Note: The sensor input datagram examples are contained within quotation marks such that leading and trailing spaces are visible.

Values used in the examples: Sound velocity: 1491.011 m/s, Temperature: 23.111 C, Pressure: 1.90 decibar, Salinity: 35,5 g salt/kg, Depth (not used): 1.86 m, Density (not used): 1011.567 kg/m3, Instrument address (not used): 01, Serial number (not used): 12345

### Clock

Datagram | Contents | Definition
--- | --- | ---
NMEA ZDA | Time and date | See EM datagram formats, Rev. W, page 27.

ZDA is given according to the NMEA 0183 version 2.30 description.

### Depth

Datagram | Contents | Definition
--- | --- | ---
Digiquartz | Depth pressure | See EM datagram formats, Rev. W, page 20.
NMEA DPT | Depth in meters | See EM datagram formats, Rev. W, page 33.
NMEA XDR P | Depth in meters | $–XDR,P,x.x,M,DEPTH*hh