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Telegramformats
isusedinsidethesysteminalldatadisplaysandinloggeddata(atransformationis
appliediftherollisgivenwithrespecttothehorizontal).
4Notethatheaveisdisplayedandloggedaspositivedownwards(thesignis
changed).Heaveiscorrectedforrollandpitch.
5ThisformatwasoriginallydesignedforusewiththeEM950andtheEM1000
multibeamechosounderswiththerstsynchronisationbytealwaysassumedtobe
zero.Thesensormanufacturerswasthenrequestedtoincludesensorstatusinthe
formatusingtherstsynchronisationbyteforthispurpose.Withthisadditional
informationadded,thedatagramformatisknownasKongsbergEMAttitude3000.
KongsbergEMAttitude3000
ThisproprietaryKongsbergbinarytelegramconsistsofaxedlength10-bytesmessage.
Itisdenedasfollows:
•Byte1:Syncbyte1=00h,orSensorstatus=90h-AFh
•Byte2:Syncbyte2=90h
•Byte3:RollLSB
•Byte4:RollMSB
•Byte5:PitchLSB
•Byte6:PitchMSB
•Byte7:HeaveLSB
•Byte8:HeaveMSB
•Byte9:HeadingLSB
•Byte10:HeadingMSB
LSB=leastsignicantbyte,MSB=mostsignicantbyte.
1Alldataarein2’scomplementbinary,with0.01°resolutionforroll,pitchand
heading,and1cmresolutionforheave.
•Rollispositivewithportsideupwith±179.99°validrange
•Pitchispositivewithbowupwith±179.99°validrange
•Heaveispositiveupwith±9.99mvalidrange
•Headingispositiveclockwisewith0to359.99°validrange
Non-validdataareassumedwhenavalueisoutsidethevalidrange.
2Youcandenehowrollisassumedtobemeasured,eitherwithrespecttothe
horizontalplane(theHippy120orTSSconvention),ortotheplanetiltedbythe
givenpitchangle(i.e.asarotationanglearoundthepitchtiltedforwardpointing
x-axis).Thelatterconvention(calledTate-BryantinthePOS/MVdocumentation)is
usedinsidethesysteminalldatadisplaysandinloggeddata(atransformationis
appliediftherollisgivenwithrespecttothehorizontal).
3Notethatheaveisdisplayedandloggedaspositivedownwards(thesignischanged)
includingrollandpitchinducedleverarmtranslationtothesystem’stransmit
transducer.
338106/C
275
- Reference manual 1
- KongsbergMaritimeAS 4
- Tableofcontents 5
- 338106/C 10
- SimradES70 12
- Aboutthismanual 13
- Systemdescription 17
- Systemdiagram 19
- Networksecurity 19
- Supportinformation 21
- Gettingstarted 22
- Poweron/offprocedures 23
- Startingnormaloperation 25
- Selectingmenulanguage 26
- Checkingtheechogramsettings 31
- Checkingtherangesettings 34
- Savingthecurrentusersettings 35
- Operatingprinciples 36
- Presentationoverview 37
- Echosounderpresentations 38
- Themenubuttons 43
- Operationalprocedures 46
- PoweringdowntheES70 49
- Usersettingprocedures 50
- Usingpreviouslysavedsettings 51
- Userpreferenceprocedures 52
- Choosingscreenbrightness 53
- Selectingmeasurementunits 53
- Saveandrecallechograms 55
- Recallingsingleechogramimages 57
- Presentationprocedures 60
- Echogramprocedures 63
- Selectingechogramtype 64
- ‘ping-ping’lter 70
- Makingiteasiertoseethebottom 71
- Rangeprocedures 72
- Bottomdetectionprocedures 73
- Settingupthedepthalarms 76
- Monitoringthecurrentbiomass 79
- Gainprocedures 80
- Adjustingthesignalgain 81
- Changingtheoutputpower 83
- Initialtransceiversetup 85
- Installingafrequencychannel 86
- Updatingtheon-linehelp 89
- HowtoinstalltheES70software 92
- HowtoobtaintheES70license 92
- HowtoupgradetheES70software 93
- HowtoremovetheES70software 93
- Externalinterfaceprocedures 95
- Important 100
- TalkerID 101
- Auxiliaryconnector 105
- Testandmaintenance 108
- RecyclingGPTpowerrecycle 109
- Rulesfortransducerhandling 111
- Transportprotection 111
- Displayviews 114
- Displayorganization 115
- TitleBar 117
- Logoandproductname 118
- Menubutton 118
- ScreenCapturebutton 118
- Recordbutton 119
- Eventbutton 119
- Informationpaneicons 119
- ColourScale 121
- SizeDistribution 121
- FishPosition 121
- NavigationField 122
- DepthAlarms 123
- Functionbuttons 124
- Helpbutton 125
- Minimizebutton 125
- Resizebutton 125
- Exitbutton 125
- Replaybar 126
- Menusystem 126
- Echograms 127
- Surfaceechogram 128
- Bottomechogram 129
- Pelagicechogram 130
- Trawlechogram 130
- Echogrammarkers 131
- Bottomline 132
- Whiteline 132
- Hardnessline 133
- Trawlline 133
- Variabledepthline 134
- Rangeotherlines 134
- Biomassline 134
- Rangescales 135
- Verticalticks 135
- Informationpanes 136
- Aboutinformationpanes 137
- Depthinformationpane 138
- Biomassinformationpane 138
- ColourScaleinformationpane 139
- BottomHardnessinformationpane 140
- FishPositioninformationpane 142
- EchoPositioninformationpane 143
- Zoominformationpane 143
- Historyinformationpane 144
- StatusBar 145
- Screencaptures 147
- Themenusystem 148
- Buttontypes 149
- Enterkey 150
- Mainmenu 151
- Operationmenu 152
- Displaymenu 153
- Setupmenu 154
- Activemenu 155
- BottomDetector 156
- Functionsanddialogs 157
- Mainmenu;functionsanddialogs 158
- FactorySettings 159
- SavedSettings 159
- ActivateSelectedSetting 159
- StartRange 162
- Applytoall 164
- Operation 167
- PingMode 169
- PingInterval 170
- NormalOperation 171
- PulseDuration 173
- ColourSetup 178
- EchogramColours 179
- ScreenBrightness 180
- Transparency 181
- Language 182
- DisplayOptions 184
- DisplayOptions;General 185
- AboutdialogidentiestheES70 187
- Softwareversion 187
- Setupmenu;functionsanddialogs 188
- Synchronization 189
- Stand-alone 190
- Synchronizationdelay 190
- Annotations 191
- FishSelect 193
- CalculationInterval 194
- Navigation 195
- Navigation;Positiontab 196
- Navigation;Speedtab 198
- Navigation;Distancetab 199
- Navigation;Headingtab 201
- EthernetOutput 203
- DepthOutput 205
- Installation 208
- Environment 208
- I/OSetup 210
- I/OSetup;Serialports 211
- I/OSetup;LAN(Ethernet)ports 212
- TransceiverInstallation 214
- Channellist 215
- Transceiverinformation 216
- Transceiverbrowsing 218
- SoftwareLicense 219
- Echogram 222
- Echogram;Linestab 223
- Echogram;Echogramtab 226
- Echogram;HorizontalAxistab 229
- Ping-PingFilter 231
- BottomGain 232
- (CD010217-003) 236
- •Bottomslopesonpage288 237
- Secondaryfunctionsanddialogs 238
- LANPortSetup 242
- InternetProtocol(IP)address 243
- UserDatagramProtocol(UDP) 244
- Datagramsocketsandports 244
- SerialPortSetup 246
- AddSerialPort 247
- PortMonitor 247
- SelectInputs 249
- SelectOutputs 251
- Messages 253
- ReplayFile 255
- FileOutput 256
- FileOutput;Directorytab 257
- FileOutput;RawDatatab 257
- FileOutput;ProcessedDatatab 258
- EK500Datagram 259
- EK500Datagram;Datagram 260
- EK500Datagram;Range 260
- BottomRange 261
- SurfaceRange 262
- SingleT argetDetection 263
- Telegramformats 265
- NMEAtelegramprinciples 266
- SpecicationofNMEAtelegrams 267
- DBSDepthbelowsurface 268
- DBTDepthbelowtransducer 268
- DPTDepth 269
- HDMHeading,magnetic 271
- HDTHeading,true 272
- VHWWaterspeedandheading 273
- VLWDualground/waterdistance 273
- SimradEK500Depthtelegram 275
- KongsbergEMAttitude1000 276
- KongsbergEMAttitude3000 277
- DBSDepthoftrawlbelowsurface 278
- PSIMP-DPISensordata 278
- SimradATSAnnotation 282
- Atlasdepthtelegram 283
- FurunoGPhveheavetelegram 283
- Echosoundertheory 284
- Concepts 285
- Split-beamoperation 286
- (CD010217K) 286
- Bottomecho 287
- (CD010217I) 287
- Wavepropagation 287
- Echogramdialog20logTVG 288
- Bottomslopes 290
- (CD010217-002) 292
- Parameters 293
- Outputpower 295
- Pulseduration 297
- Rangeselection 299
- Rangetothe5metersplus 301
- InstallationoftheES70software 303
- Obtainingthesoftwarelicense 304
- rsttime 305
- Installingfrequencychannels 306
- ISBN-13:978-82-8066-116-6 326
- 2012KongsbergMaritimeAS 326
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