Table of Contents
Real-Time GNSS Positioning
The following navigation formats are a subset of those supported by SonarWiz, for providing position information during sidescan, sub-bottom, bathymetric, or magnetometry survey (real-time data acquisition). They are accessed as choices in the Data Acquisition > NAVIGATION dialog.
C & C Technologies Custom Interface
This is a space delimited string with the following fields.
Example sentence:
00016 10:46:10.18 06/08/1998 3012.0388 09200.0426 0170212.47 545341.94 143.3 00.0 0000.00 000000.00 0000000 0000000
Field # | Field Name | Sample | Description |
1 | Event | 16 | Event Number |
2 | Time | 46:10.2 | Time of Day |
3 | Date | 6/8/1998 | Date |
4 | LatX10 | 3012.0388 | Latitude Deg X 10 |
5 | LonX10 | 9200.0426 | Longitude Deg X 10 |
6 | Northing | 170212.47 | Northing Units |
7 | Easting | 545341.94 | Easting Units |
8 | Heading | 143.3 | Heading degrees |
9 | Speed | 0 | Speed Knots |
10 | Not Used | 0 | Unknown |
11 | Not Used | 0 | Unknown |
12 | Not Used | 0 | Unknown |
13 | Not Used | 0 | Unknown |
Fugro Starfix.NAV SSS
SonarWiz supports a custom navigation interface to the Fugro Geoservices Starfix.NAV application. Starfix.NAV controls the logging, eventing and navigation information in SonarWiz.MAP. Each field is comma delimited.
Example sentence:
27,02,2002,00,42,14.49,+3337163.15,+0388738.75,+3337190.48,+0388674.25,292.00,292.96,+070.05,+004.51,0000000,+004.51,+1000.00,+000.00,+149.00,1,test_line
Fugro Starfix.NAV SBP
SonarWiz supports a custom navigation interface to the Furgo Geoservices Starfix.NAV application. Starfix.NAV controls the logging, eventing and navigation information in SonarWiz.MAP. Each field is comma delimited.
Example sentence:
27,02,2002,01,10,3.37,+00033372.99,+0000003884.54,+00033373.23,+0000003883.97,+00033373.17,+0000003884.13,+292.00,00000003,+0000.00,0,0,0,+0000.00,+0179.00,1,+065.30,test_line
GeoNav Marine Systems – EZNav Custom Interface
The following describes the interface protocol between the GeoNav/EZNav system and SonarWiz. The communication is single direction in the first instance, but can be expanded to bi-directional to send target information from the sonar system to the positioning system. The protocol is based on NMEA 183. Baud rate would be 9600 or 19200 with no handshake. There are 4 groups of messages, those sent once per second, the start of line message, the event message, and the end of line message.
Every Second
GPGGA – ship position
GPVTG – ship velocity
These can be in either WGS84 or Local Datum
Example sentence:
$GPGGA,073721,2842.48951,N,09056.15433,W,2,8,1.8,4.4,M,14.5,M,3.,100*49 $GPVTG,180.7,T,,M,4.52,N,,K*73
Optional messages
PFGGA – fish position
PFVTG – fish velocity
HEHDT – ship heading
DPDPT – ship water depth
PGSEN – sensor data
The PF sender ID indicates fish position & velocity
Example
$PFGGA,073721,2842.61848,N,09056.16348,W,2,8,1.8,4.4,M,14.5,M,3.,100*42 $PFVTG,2.0,T,,M,4.52,N,,K*7E
HDT and DPT are standard NMEA
Example
$HEHDT,180.0,T*26
$SDDPT,45.4,0,,*7C
The PGSEN sentences has the following data fields
$PGSEN, wire out, Mag1, Mag2, Mag Fish Lat, Mag Fish Lon
The PGSEN allows the nav to send wire out data for the sonar fish, and also magnetometer data, mLat, mLon defines the position of the Magnetometer in whatever the specified datum is.
Example
$PGSEN,1000.766,2999.197,1999.017,2842.58301,N,09056.15387,W*59 If only wire out $PGSEN,1000.766, , , , , , *59
At Start of Line
PGSOL – start of line message,
$PGSOL, Time, Date, Line Name, Re-shoot, length, bearing, Position Datum
Example - Numeric Line name ( 15 ), Null re-shoot code
$PGSOL,072252,100703,15, ,883.9,180.2,NAD 1927 (NADCON CONUS)*41
Example – Alpha Numeric Line Name , AA as re-shoot code
$PGSOL,073448,100703,L17Text,AA,4480.6,180.2,NAD 1927 (NADCON CONUS)*A
At Event
PGEVT – event message $PGEVT, time, line name, event
$PGEVT,072400,15,10*78 $PGEVT,073528,L17Text,10AA*1
Note: Event string includes re-shoot code
At End Of Line
PGEOL – end of line message
$PGEOL, time, Line Name, status
Status indicates if the line has been accepted for storage.
Status =1 good line
Status = -1 line to be re-shot
Status =0 line to be run ( this should not be seen here )
Example
$PGEOL,072531,15,1*4A
or
$PGEOL,073724,L17Text,-1*13
Geowork Trimble Hydro PRO
SonarWiz supports a custom navigation interface to the Trimble Hydro PRO system as configured by Geowork. Each field is space delimited.
Example sentence:
SETU001 33 20.42 500154 700157 500153 700160 222.00
Hypack Delph.DLL
The Hypack Delph.DLL output format sample is shown below. Each field is space delimited.
Example sentence:
23/8/2014 12:00:18.00 7 000000 +37.00010995 -122.00013740 +37.00013194 -122.00016488 5.0 10.0 2.0 2.5 2.5 45.0 1 line-0001
Format:
Field # | Field Name | Sample | Description |
1 | Date | 23/08/2014 | DD/MM/YYYY |
2 | Time | 12:00:18.00 | HH:MM:SS.ss 24-hr time |
3 | Line Number | 7 | Line number |
4 | Event Number | 000000 | System event number |
5 | Fish Latitude | +37.00010995 | Fish latitude in decimal degrees + = N, - = S DDD.dddd format |
6 | Fish Longitude |
| Fish longitude in decimal degrees + = E, - = W DDD.dddd format |
7 | Ship Latitude | +37.00013194 | Ship latitude in decimal degrees + = N, - = S DDD.dddd format |
8 | Ship Longitude |
| Fish longitude in decimal degrees + = E, - = W DDD.dddd format |
9 | Fish Height | 5.0 | Towfish altitude in meters |
10 | Water Depth | 10.0 | Water depth at ship in meters |
11 | Cable Out | 2.0 | Cable payout in meters |
12 | Fish Speed | 2.5 | Towfish speed made good |
13 | Ship Speed | 2.5 | Ship speed |
14 | Ship Heading | 45.0 | Ship heading in degrees true |
15 | Online Flag | 1 | 0=Offline 1=Online |
16 | Filename | line-0001 | When Online flag is 1 then Filename will contain the current filename to use. Otherwise this field will be empty.
|
Sample file nav_hypackDelphDLL.txt available for comparison to your data format. This file has been used in simulation with SonarWIz 5 V5.07.0002 in a real-time simulation for SysInfo presentation testing.
Online Flag information: when the online flag switch goes from 0 to 1 then the current file if any will be closed and the file specified in the datagram will be started. When the online flag changes from 1 to 0, recording will stop.
HYPACK Shared Memory Interface
The Coastal Oceanographics HYPACK Surveyor product is capable of creating a shared memory address space that is populated with the current navigation and survey parameters. SonarWiz.MAP can utilize this interface only when Hypack is running on the same physical computer as SonarWiz.MAP. The table below lists the variables that SonarWiz.MAP utilizes from the Hypack Shared Memory interface.
LinkQuest TrackLink LQF format
The following describes the interface protocol between the LinkQuest USBL LQF format and SonarWiz. The communication is single direction from the LinkQuest system to SonarWiz. This interface provides geodetic position of both the ship and the tracked towfish.
Example sentence: (line terminated with CRLF)
1,02/18/05,13:22:01, 4250.5622,-14718.5026, 4250.5660,-14718.5099,115.7,207.4
Field # | Field Name | Sample | Description |
1 | Target # | 1 | Target ID (not used) |
2 | Date | 2/18/05 | Date |
3 | Time | 13:22 :01 | Time of Day |
4 | Ship Lat DDMM.mmmm | 4250.5622 | Ship Position (NMEA-like format 4250.5685N) |
5 | Ship Lon DDDMM.mmmm |
| Ship Longitude (NMEA-like format 14718.4974W) |
6 | Fish Lat DDMM.mmmm | 4250.5660 | Towfish Position (NMEA-like format 4250.5627N) |
7 | Fish Lon DDDMM.mmmm |
| Ship Longitude (NMEA-like format 147 18.5035W) |
8 | Ship Heading | 115.7 | Ship Heading in degrees |
9 | Towfish depth delow sea surface | 207.4 | Towfish depth below sea surface in meters. |
Reference:
Kevin Zhao
LinkQuest Inc.
6339 Nancy Ridge Drive
San Diego, CA 92121
Phone: (858) 623-9916 ext. 10
Extended Data Example:
1,02/24/05,11:25:12, 4250.5685,-14718.4974, 4250.5627,-14718.5035, 72.0, 207.4
1,02/24/05,11:25:17, 4250.5693,-14718.4974, 4250.5642,-14718.5036,157.7, 202.9
1,02/24/05,11:25:22, 4250.5700,-14718.4966, 4250.5655,-14718.5026,129.4, 203.5
1,02/24/05,11:25:27, 4250.5702,-14718.4957, 4250.5663,-14718.5021, 60.0, 204.8
1,02/24/05,11:26:13, 4250.5584,-14718.5071, 4250.5527,-14718.5134,112.2, 199.2
1,02/24/05,11:26:17, 4250.5594,-14718.5066, 4250.5535,-14718.5131,125.1, 198.7
1,02/24/05,11:26:18, 4250.5594,-14718.5058, 4250.5536,-14718.5118,160.0, 199.2
NUWC Custom Navigation Interface
The following describes the interface protocol between the customized Naval Underwater Weapons Center navigation interface from their navigation system to SonarWiz. The communication is single direction from the NUWC navigation system to SonarWiz.
Format:
LINE, FIX#, DATE ,PPS TIME ,PC TIME ,fish lat ,fish lon ,fspd,fcmg ,vessel lat ,vessel lon ,vspd,vcmg ,vgyro ,along,xte
Example sentence:
Baseline,9354,10/12/04,21:32:47.0,21:32:01.3,41.2353962,-124.4426066,2.31,139.70,41.2350498,-124.4423460,2.73, 134.51,144.50,2659.94,199.26<CRLF>
Field # | Field Name | Sample | Description |
1 | Line | Baseline | Line name |
2 | Fix # | 9354 | Sequential fix number |
3 | Date | 10/12/2004 | MM/DD/YY |
4 | PPS Time | 32:47.0 | PC Clock Time |
5 | PC Time | 32:01.3 | GPS PPS Time |
6 | Fish Lat | 41.2353962 | Fish Latitude DD.ddddddd |
7 | Fish Lon |
| Fish Longitude DDD.ddddddd |
8 | Fish Speed | 2.31 | Fish Speed in Knots |
9 | Fish CMG | 139.7 | Fish CMG degrees |
10 | Ship Lat | 41.2350498 | Ship Latitude DD.ddddddd |
11 | Ship Lon |
| Ship Longitude DDD.ddddddd |
12 | Ship Speed | 2.73 | Ship Speed in Knots |
13 | Ship CMG | 134.51 | Ship CMG in degrees |
14 | Ship heading | 144.5 | Ship Heading degrees True |
15 | Along Track Distance | 2659.94 | Along track distance in meters relative to current survey line. |
16 | Cross Track Error | 199.26 | Cross track distance in meters relative to current survey line. |
Subsea 7 Custom Navigation Interface ‘ABDMYHISNEGOvyx?>’
SonarWiz supports a custom navigation interface for SubSea7 (formerly known as Consub DSND) based on a previous navigation template developed for a competing sonar data acquisition system Isis.
Example sentence:
28/11/2002 14:35:09 07549968.16 692274.33 092.00 00007 002.0 07549968.16 692274.33 51.0 178.0
Field # | Field Name | Sample | Description |
1 | Day | 28 | Day of Month |
2 | Month | 11 | Month of Year |
3 | Year | 2002 | Calendar Year |
4 | Hour | 14 | Hour of Day |
5 | Minute | 35 | Minute of Hour |
6 | Second | 9 | Second of Minute |
7 | Fish Northing | 7549968.16 | UTM Meters |
8 | Fish Easting | 692274.33 | UTM Meters |
9 | Vessel Heading | 92 | In degrees |
10 | Fix Number | 7 | Event Number |
11 | Fish Speed | 2 | Knots |
12 | Vessel Northing | 7549968.16 | UTM Meters |
13 | Vessel Easting | 692274.33 | UTM Meters |
14 | Vessel to Fish Slant Range | 51 | Meters |
15 | Vessel to Fish Bearing | 178 | Degrees |
Standard NMEA-0183 Messages Supported
GGA - Global Positioning System Fix Data
Example sentence:
GGA,123519,4807.038,N,01131.324,E,1,08,0.9,545.4,M,46.9,M, , *42
Value Field description
123519 Fix taken at 12:35:19 UTC
4807.038,N Latitude 48 deg 07.038' N
01131.324,E Longitude 11 deg 31.324' E
1 Fix quality: 0 = invalid
1 = GPS fix
2 = DGPS fix
08 Number of satellites being tracked
0.9 Horizontal dilution of position
545.4,M Altitude, Metres, above mean sea level
46.9,M Height of geoid (mean sea level) above WGS84 ellipsoid
(empty field) time in seconds since last DGPS update
(empty field) DGPS station ID number
GLL - Geographic position, Latitude and Longitude
Example sentence:
GLL,4916.45,N,12311.12,W,225444,A
Value Field description
4916.46,N Latitude 49 deg. 16.45 min. North
12311.12,W Longitude 123 deg. 11.12 min. West
225444 Fix taken at 22:54:44 UTC
A Data valid
RMC - Recommended minimum specific GPS/Transit data
Example sentence:
RMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68
Value Field description
225446 Time of fix 22:54:46 UTC
A Navigation receiver warning A = OK, V = warning
4916.45,N Latitude 49 deg. 16.45 min North
12311.12,W Longitude 123 deg. 11.12 min West
000.5 Speed over ground, Knots
054.7 Course Made Good, True
191194 Date of fix 19 November 1994
020.3,E Magnetic variation 20.3 deg East
*68 mandatory checksum
VHW - Water speed and heading
Example sentence:
VHW,259.,T,237.,M,05.00,N,09.26,K
Value Field description
259.,T Heading 259 deg. True
237.,M Heading 237 deg. Magnetic
05.00,N Speed 5 knots through the water
09.26,K Speed 9.26 KPH
VTG - Track made good and ground speed
Example sentence:
VTG,054.7,T,034.4,M,005.5,N,010.2,K
Value Field description
054.7,T True track made good
034.4,M Magnetic track made good
005.5,N Ground speed, knots
010.2,K Ground speed, Kilometers per hour
Applanix POS MV Format - options
SonarWiz and our servers that talk to the Applanix sensors process $GRP 102 messages... like when you select this choice in the SonarWiz NAV dialog:
If you do not need all that data recorded, but just need position of heading data, Applanix POS MV does support a variety of NMEA-0183 type messages too, like RMC, GGA, HDT, VTG, and these may be selected as output options on the POS MV, with corresponding input parsing formats selected in SonarWiz (specify which types of NMEA-0183 to parse).
The $GRP 102 message format is defined in the Applanix POS MV document "Applanix POS MV V4 Use ICD" (User Manual) number "PUBS-ICD-000551 Rev 2". The output sentence-rate options are 1-200 Hz. For sub-bottom position / heave-sensor input, and sidescan position data recording, we recommend 4 Hz input rate, which is fast enough, and leaves lots of real-time bandwidth for other data recording.
For bathymetry data, you record and parse this data directly in the real-time server itself, not via the main SonarWiz NAVIGATION dialog, and 10-20 Hz is the fastest we recommend for sentence rate.
For bathymetry real-time servers, or for the main SonarWiz NAVIGATION dialog choice "Applanix POS MV", the user should configure their Applanix POS MV to output $GRP 102 type sentences on your high-speed UDP REAL-TIME DATA PORT (see Applanix reference, section 3.2.1).
On the SonarWiz PC, verify your Applanix POS MV output data by using the MTTTY.exe (serial port test) for COM PORT, or UDP Sniffer, for UDP port, to be sure your data are reaching the specific COM or UDP port to which you are sending it (e.g. make sure you are in NAVIGATE transmit mode, not STANDBY, on the Applanix POS MV). If you are sending ok, then closing the MTTTY.exe should allow SonarWiz to receive and parse the same data. The COM port will be locked for access by MTTTY.exe if you had used a serial port, but both UDP Sniffer and SonarWiz may access a UDP port in parallel.
External Navigation Data Formats
The following formats may be selected in the Project Explorer when right-clicking the External Files branch, then selecting ADD/Import External Navigation Files command.
In the resulting dialog, the FILE TEMPLATE choice allows you to select from the set of pre-defined import formats shown below:
Not all of these will actually re-position your bathymetry data or replace the navigation, but we document below a sampling of the FILE TEMPLATE formats that may help you do it.
Note that new formats may be created upon request.
AIST-1
The AIST-1 import format sample is shown below. Each field is space delimited.
Format:
DATE TIME FISH-LATITUDE FISH-LONGITUDE
Example sentence:
2019/05/27 22:01:25.120 35.887976 -122.7745125
Field # | Field Name | Sample | Description |
1 | DATE | 2019/05/27 | YYYY/MM/DD format |
2 | TIME | 22:01:25.120 | HH:MM:SS.sss format |
3 | FISH-LATITUDE | 10/12/2004 | DDD.ddd format |
4 | FISH-LONGITUDE | 32:47.0 | DDD.ddd format |
Applanix RAW File True (Delayed) Heave
Just supply the name of your RAW Applanix data set file.
Format: (Binary)
Applanix SBET
Just supply the name of your SBET OUT file when asked for the file.
Format: (Binary)
FGSI-Position-Feet or FGSI-Position-Meters
The FGSI-Position-Feet / Meters import format samples are shown below. Each field is space or comma delimited.
Format:
DATE TIME EASTING NORTHING
or
DATE,TIME,EASTING,NORTHING
Example sentence:
20/08/2019 22:02:03.000,574852.199,2190984.341
Field # | Field Name | Sample | Description |
1 | DATE | 20/08/2019 | DD/MM/YYYY format |
2 | TIME | 22:01:25.120 | HH:MM:SS.sss format |
3 | EASTING (x) | 574852.199 | Geo-coordinate floating-point |
4 | NORTHING (y) | 2190984.341 | Geo-coordinate floating-point |
Kearfott INS
The Kearfott INS import format sample is shown below. Each field is semi-colon delimited.
Format:
UTCTime1,cycles,mode,monitor,latitude,longitude,depth,bheight,roll,pitch,heading,surge,sway,heave,accelx,accely,accelz,prate,qrate,rrate,UTCTime2
Field # | Field Name | Sample | Description |
1 | UTCTime1 | ||
2 | cycles | ||
3 | mode | ||
4 | monitor | ||
5 | latitude | ||
6 | longitude | ||
7 | depth | ||
8 | bheight | ||
9 | roll | ||
10 | pitch | ||
11 | heading | ||
12 | surge | ||
13 | sway | ||
14 | heave | ||
15 | accelx | ||
16 | accely | ||
17 | accelz | ||
18 | prate | ||
19 | qrate | ||
20 | rrate | ||
21 | UTCTime2 |
SWM-CSF Nav Export
The SWM-CSF Nav Export format sample is shown below. Each field is comma delimited.
Format:
DATE,TIME,EASTING,NORTHING,FISH-LATITUDE,FISH-LONGITUDE
Example sentence:
7/21/2007,12:40:28.800, 554686.87,4184823.77,37.80916667,-122.3787333
Field # | Field Name | Sample | Description |
1 | DATE | 7/21/2007 | MM/DD/YYYY format |
2 | TIME | 12:40:28.800 | HH:MM:SS.sss format |
3 | EASTING (x) | 554686.87 | Geo-coordinate floating-point |
4 | NORTHING (y) | 4184823.77 | Geo-coordinate floating-point |
5 | FISH-LATITUDE | 37.80916667 | DDD.ddd.format |
6 | FISH-LONGITUDE |
| DDD.ddd.format |
TimePosition_Generic01
The TimePosition_Generic01 format sample is shown below. Each field is comma delimited. Note the HH:MM:SS simple time format.
Format:
DATE,TIME,EASTING,NORTHING,FISH-LATITUDE,FISH-LONGITUDE
Example sentence:
7/21/2007,12:40:28, 554686.87,4184823.77, 4184823.77,554686.87
Field # | Field Name | Sample | Description |
1 | DATE | 7/21/2007 | MM/DD/YYYY format |
2 | TIME | 12:40:28 | HH:MM:SS format |
3 | EASTING (x) | 554686.87 | Geo-coordinate floating-point |
4 | NORTHING (y) | 4184823.77 | Geo-coordinate floating-point |
5 | FISH-LATITUDE | 4184823.77 | Geo-coordinate floating-point |
6 | FISH-LONGITUDE | 554686.87 | Geo-coordinate floating-point |
TimePosition_Generic02
The TimePosition_Generic02 format sample is shown below. Each field is comma delimited.
Format:
DATE,TIME,EASTING,NORTHING,HEADING
Example sentence:
7/21/2007,12:40:28.800, 554686.87,4184823.77,235.77
Field # | Field Name | Sample | Description |
1 | DATE | 7/21/2007 | MM/DD/YYYY format |
2 | TIME | 12:40:28.800 | HH:MM:SS.sss format |
3 | EASTING (x) | 554686.87 | Geo-coordinate floating-point |
4 | NORTHING (y) | 4184823.77 | Geo-coordinate floating-point |
5 | HEADING | 235.77 | Floating point 0.00 - 360.00 range |
Document Versions
Rev 7, 4/24/2020 - Transfered to Confluence. Formatting changes.
Rev 6, 7/03/2019 - New Section 2 described EXTERNAL NAV FILE formats for bathymetry import
Rev 5, 5/22/2017 - Applanix POS MV navigation format section added
Rev 4, 1/22/2015 - Main User Guide navigation format sections added
Rev 3, 11/14/2014 - Online Flag control of Hypack Delph DLL explained in more detail.
Rev 2, 8/12/2014 -0 Section 1.1 validation testing performed with NMEAWiz sending in from file, using nav_hypackDelphDLL.txt into a real-time simulations sidescan recording.