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6205s BATHYMETRIC AND SIDE SCAN SONAR 0020300_REV_E
CONNECTIONS AND FORMATS
The 6205s System relies on specific data formats and connections to produce high-quality images and
measurements. This section describes these data formats and connections and provides diagrams to
better understand the system's hardware and data flow.
4.1 Data Formats
There are several types of data required to support the survey operations, and correct processing of the
6205s Bathymetry and Dual Frequency Side Scan echo data:
a. GNSS Position in NMEA format, latitude and longitude and height; minimum of 5Hz
b. Heading data in NMEA format or EM1000 binary format; minimum of 20Hz
c. Attitude or roll, pitch, and heave data in TSS1 or EM1000 binary format; minimum of 20Hz
d. Time sync data in NMEA format; minimum of 1Hz
e. 1PPS TTL, typically from the GNSS receiver
Data may be supplied by 1, 2, or 3 individual sources (sensors) and are listed below in order of priority.
a. Position Data – this may be supplied via any of the following NMEA type sentences/messages:
i. $xxGGA
ii. $xxGLL
iii. $xxRMC
$xxGGK ** (Applanix PosMV Format) ** = Non-NMEA standard sentences
iv. $PTNL, GGK, … ** (Trimble Format)
b. Heading Data – this may be input via:
i. NMEA, $xxHDT sentence, OR
ii. EM1000 binary format along with attitude data
c. Attitude (Roll, Pitch, and Heave) Data – this may be input via:
i. TSS1 format, OR
ii. EM1000 binary format
d. Time Input - supported sentences are in order of priority/use
i. $xxZDA
ii. $xxRMC
iii. $xxGGK (derived from data in item a. above)
iv. $xxGGA (only supports time, no date field)
v. $xxGLL (only supports time, no date field)
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