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Geophysics and navigation file formats, protocols, standards and procedure's guides

Paper Types
Link Comments
Guides Navigation and Geophysical Guides.
File Formats File formats description: P1, P2, P5, P6, P7, seg-y, seg-d, xtf, jsf, etc.
Protocols Equipment's in/out protocols description: Nmea, Tss, Smc, etc.
Standards Standards lists.
Paper Heaps Papers Heap.
Navigation RTK Short information about RTK protocols.


IOGP publications
File Comments
373-01.pdf Surveying & Positioning Guidance note 1. Geodetic awareness guidance note. Ver:1.1. 22 August2008.
373-02.pdf Surveying & Positioning Guidance note 2. Use of bin grids and coordinate reference systems in workstations. Ver:1.1. May2002.
373-03.pdf Geomatics Guidance Note 3. Contract area description. Ver:5.1. December2014.
373-04.pdf Surveying & Positioning Guidance note 4. Use of the International Terrestrial Reference Frame (ITRF) as the reference geodetic system for surveying and real-time positioning. Ver:2.0. July2002.
373-05.pdf Surveying & Positioning Guidance note 5. Coordinate reference system destnition - recommended practice. Ver:2.1. January2009.
373-07-1.pdf Surveying and Positioning. Guidance Note Number7, part1. Using the EPSG Geodetic Parameter Dataset. Ver:8. August2012.
373-07-2-1_2017.pdf Geomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:October 2017.
373-07-2_2015.pdf Geomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:April 2015.
373-07-2_2012.pdf Geomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:July 2012.
373-07-3.pdf Geomatics Guidance Note Number7, part3. EPSG Geodetic Parameter Registry - Developer Guide. Ver:3.0. August2012.
373-07-4.pdf Geomatics Guidance Note Number7, part4. EPSG Geodetic Parameter Relational Database - Developers Guide. Ver:4. April 2009.
373-13.pdf Surveying & Positioning Guidance note 13. Advisory note on derivation of geodetic datum transformations. Ver:1.0 April 2015.
373-16.pdf Surveying & Positioning Guidance note 16. Guidelines for the Quality Control of Proposed Well Coordinates. Ver:1.0. January2006.
373-18-1.pdf Guidelines for the conduct of offshore drilling hazard site surveys. Ver:1.2. April 2013.
373-18-2.pdf Conduct of offshore drilling hazard Site Surveys - Technical Notes. Ver:1.0. October 2015.
373-19.pdf Guidelines for GNSS positioning in the oil & gas industry. Ver:1. June2011.
373-21.pdf Geomatics guidance note 21. Grid convergence. Ver:1.1. August2013.
430-1.pdf Geospatial Integrity of Geoscience Software. Part I - GIGS guidlines. September 2011.
430-2.pdf Geospatial Integrity of Geoscience Software. Part 2 - GIGS software review. September 2011.
430-3.pdf Geospatial Integrity of Geoscience Software. Part 3 - User guide for the GIGS Test Dataset. September 2011.
448.pdf An overview of marine seismic operations. April 2011.
462_01.pdf Geomatics 462 series. Data models note 1. Guidelines for the use of the Seabed Survey Data Model. Ver:1.1. March 2013.
462_02.pdf Geomatics 462 series. Data models note 2. Guideline for the delivery of the Seabed Survey Data Model. Ver:1. January 2013.
462_03.pdf Geomatics 462 series. Data models note 3. Interface between pipeline data models and the OGP Seabed Survey Data Model. Ver:1. January 2014.
1065.pdf Guidance notes on the use of co-ordinate systems in data management on the UKCS. Ver:1.0c. December 1999.
406.pdf Fundamentals of underwater sound. May 2008.
425.pdf Geohazards from sea floor instability and mass flow. December 2009.
451.pdf Model based assessment of underwater noise from an airgun array soft-start operation. February 2011.

SEG papers
File Comments
seg_se_metric_1980.pdf The SI Metric System of Units And SEG Tentative Metric Standard. 1980.
seg_marine_hydrophones_streamer_cable.pdf SEG Standards for marine seismic hydrophones and streamer cables. 1987.
seg_marine_energy_sources.pdf SEG standards for specifying marine seismic energy sources. 1988.
seg_digital_seismic_recorder.pdf SEG Subcommittee of the Technical Standards Committee on digital seismic recorder specifications. 1988.
seg_polarity_1975.pdf Special report of the subcommittee on polarity standards. 1975.
seg_polarity_1993.pdf Report to the SEG Technical Standards Committee Regarding Polarity Convention for Vibratory Source/RecordingSystems. May 4, 1993.

IMCA papers
File Comments
IMCA_C004_..._202006.pdf Guidance on Competence Assurance and Assessment Offshore Survey Division, IMCA C 004 Rev. 3.1, June 2020.
IMCA_M189_S004_201205.pdf Example Marine Inspection for Small Workboats (Common Marine Inspection Document for Small Workboats), IMCA M 189 Rev. 2, IMCA S 004 Rev. 2 // Vessel IMOR, May 2012.

File formats description

IOGP file formats description
File Revision Description
P1_1984_UKOOA.pdf Ver:-- / 1984 UKOOA P1/84 format.
P1_1990.pdf Ver:-- / 28 June 1990 U.K.O.O.A. P1/90 Post plot data exchange tape format.
P1_2011_v1_0.pdf Ver:1.0 / November 2012 OGP P1/11 Geophysical position data exchange format.
P1_2011_v1_0u.pdf Ver:1.0 / November 2012 OGP P1/11 Geophysical position data exchange format - user guide.
P1_2011_v1_1.pdf Ver:1.1 / April 2015 OGP P1/11 Geophysical position data exchange format.
P2_1986_UKOOA.pdf Ver:1.1 / December 1986 UKOOA P2/86 Raw marine positioning data exchange tape format.
P2_1994.pdf Ver:1.0 / 1994 P2/94 Exchange format for raw marine positioning data.
P2_2011_v1_0.pdf Ver:1.0 / November 2012 OGP P2/11 Positioning data exchange format.
P2_2011_v1_1.pdf Ver:1.1 / April 2015 OGP P2/11 Positioning data exchange format.
P5_1976_UKOOA.pdf Ver:-- / 1976 Final cable positioning tape format.
P5_1994.pdf Iss:1 / October 1994 UKOOA data exchange format. P5/94. Pipeline position data.
P6_1978_UKOOA.pdf Ver:-- / 1978 UKOOA Standard format for post plot seismic positional data tape.
P6_1998.pdf Rev:3.0 / May 2000 UKOOA data exchange format. P6/98. Definition of 3D seismic binning grids.
P6_2011_v1_0.pdf Ver:1.1 / November 2012 OGP P6/11 Seismic bin grid data exchange format.
P6_2011_v1_0g.pdf Ver:1.0 / July 2013 OGP P6/11 Seismic bin grid data exchange format.
P6_2011_v1_1.pdf Ver:1.0 / June 2017 Guidelines for the use of the OGP P6/11 Bin grid GIS data model.
P7_2000_v5.pdf Iss:1, Rev5 / October 2002 UKOOA data exchange format. P7/2000. Format for well deviation data.

SEG file formats description
File Revision
Seg_a_b_ex.pdf 1967
Seg_c.pdf 1972
Seg_p1_p2_p3.pdf 1983
Seg2.pdf --
Segy_rev0.pdf Revision:0 / February1975
Segy_rev1.pdf Revision:1 / May2002
Segy_rev2.pdf Revision:2 / January2017
Segd_rev0.pdf Revision:0 / February1975
Segd_rev1.pdf Revision:1 / April1994
Segd_rev2.pdf Revision:2 / December1996
Segd_rev2_01.pdf Revision:2.1 / January2006
Segd_rev3.pdf Revision:3 / May2011
Segd_rev3_1.pdf Revision:3.1 / October2015

TritonImaging file format description
File Revision RecordTypes
Xtf_rev26.pdf Revision:26 / December2008 0, 1, 2, 3, 6, 15, 19, 26, 27, 107, 199
Xtf_rev33.pdf Revision:33 / December2011 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev34.pdf Revision:34 / February2012 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev35.pdf Revision:35 / April2013 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev37.pdf Revision:37 / October2014 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev40.pdf Revision:40 / September2015 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev41.pdf Revision:41 / September2016 0, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199

EdgeTech file format description
File Revision MessageTypes
Jsf_rev1_03.pdf Revision:1.3 / April2005 80, 82, 86, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_04.pdf Revision:1.4 / November2005 80, 82, 86, 182, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_07.pdf Revision:1.7 / November2006 80, 82, 86, 182, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_08.pdf Revision:1.8 / October2009 80, 82, 182, 2002, 2020, 2060, 2080, 2090
Jsf_rev1_10.pdf Revision:1.10 / August2010 80, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2100, 2111
Jsf_rev1_13.pdf Revision:1.13 / September2011 80, 82, 182, 426, 428, 2002, 2060, 2080, 2090, 2100, 2111, 9001, 9002, 9003
Jsf_rev1_15.pdf Revision:1.15 / June2012 80, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2100, 2111, 9001, 9002, 9003
Jsf_rev1_17.pdf Revision:1.17 / February2014 80, 82, 182, 426, 428, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111, 9001, 9002, 9003
Jsf_rev1_18.pdf Revision:1.18 / October2014 80, 82, 182, 426, 428, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111, 9002
Jsf_rev1_20.pdf Revision:1.20 / March2016 80, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111
Jsf_bathy_rev_A.pdf Revision:A / 2014 3000 (v0,v1,v2,v3,v4), 3001, 3002, 3003, 3004, 3005
Jsf_bathy_rev_D.pdf Revision:D / March2016 3000 (v4), 3001, 3002, 3003, 3004, 3005
Jsf_rev_C.pdf Revision:C / April2021 80, 181, 182, 2002, 2020, 2060, 2071, 2080, 2091, 2100, 2101, 2111, 3000, 3001, 3002, 3003, 3004, 3005, 3041

Bathyswath file formats description
File Revision
BathyswathFileFormats_rev7.02.pdf Revision:7.02 / September2013
BathyswathParsedFileFormat_ext7.06.pdf Revision:1.0 / June2015
BathyswathFileFormats_rev8.01.pdf Revision:8.01 / November2017

GeoAcoustics (today Kongsberg) file formats description
File Revision
Geoacoustics_geoswathplus_rdf_filter_revB.pdf Revision:B / December2004
Geoacoustics_geoswathplus_broadcast_raw_revB.pdf Revision:B / January2005
Geoacoustics_geoswathplus_raw_revB.pdf Revision:B / January2005
Geoacoustics_gcf_revB.pdf Revision:B / March2006

Kongsberg file formats description
File Revision
Kongsberg_SimradEK60_revD.pdf Revision:D / --
Kongsberg_SimradME70_revA.pdf Revision:A / --
Kongsberg_SimradEM100.pdf Revision:-- / --
Kongsberg_SimradEM121A_revE.pdf Revision:E / --
Kongsberg_SimradEM_revF.pdf Revision:F / September2000
Kongsberg_EM_series_revG.pdf Revision:G / December2002
Kongsberg_EM_series_revH.pdf Revision:H / April2004
Kongsberg_EM_series_revI.pdf Revision:I / January2006
Kongsberg_EM_series_revJ.pdf Revision:J / February2008
Kongsberg_EM_series_revK.pdf Revision:K / June2009
Kongsberg_EM_series_revM.pdf Revision:M / January2010
Kongsberg_EM_series_revN.pdf Revision:N / September2010
Kongsberg_EM_series_revP.pdf Revision:P / June2012
Kongsberg_EM_series_revQ.pdf Revision:Q / February2013
Kongsberg_EM_series_revR.pdf Revision:R / October2013
Kongsberg_EM_series_revS.pdf Revision:S / May2015
Kongsberg_EM_series_revT.pdf Revision:T / June2015
Kongsberg_EM_series_revU.pdf Revision:U / June2015
Kongsberg_EM_series_revV.pdf Revision:V / July2016

SeaBeam Instruments (today Klein Marine Systems, L3) file formats description
File Revision
L3_elac_seabeam2100_revH.pdf Revision:H / 1999
L3_elac_xse_rev1.7.00.pdf Revision:1.7.00 / February2001
L3_elac_xse_rev1.8.04.pdf Revision:1.8.04 / August2002
L3_elac_xse_rev1.8.05.pdf Revision:1.8.04 / July2003
L3_elac_xse_rev1.8.07.pdf Revision:1.8.04 / December2004
L3_elac_xse_rev1.8.22I.pdf Revision:1.8.22I / August2009
L3_elac_xse_rev1.8.28M.pdf Revision:1.8.28M / January2011
L3_elac_xse_seabeam30xx_revD.pdf Revision:D / May2011
L3_elac_xse_rev1.8.36S.pdf Revision:1.8.36S / May2012
L3_klein_sdf_sdfx_rev3.16.pdf Revision:3.16 / July2012
L3_elac_xse_rev1.8.38W.pdf Revision:1.8.38W / March2014
L3_elac_xse_rev1.8.39X.pdf Revision:1.8.39X / August2014

Teledyne Technologies files formats description
File Revision
Teledyne_odom_rdi_tdy_rev08.pdf Revision:8,v3 / --
Teledyne_reson_seabat_7k_series_rev0.35.pdf Revision:0.35 / 2002
Teledyne_reson_seabat_7k_series_rev0.41.pdf Revision:0.41 / 2002
Teledyne_reson_seabat_7k_series_rev0.42.pdf Revision:0.42 / 2002
Teledyne_reson_seabat_7k_series_rev0.50v1.pdf Revision:0.50 / 2003
Teledyne_reson_seabat_7k_series_rev0.50v3.pdf Revision:0.50 / 2003
Teledyne_reson_seabat_7k_series_rev0.51v1.pdf Revision:0.51 / March2004
Teledyne_reson_seabat_7k_series_rev0.51v3.pdf Revision:0.51 / March2004
Teledyne_reson_seabat_7k_series_rev0.53v1.pdf Revision:0.53 / June2004
Teledyne_reson_seabat_7k_series_rev0.53v3.pdf Revision:0.53 / June2004
Teledyne_reson_seabat_7k_series_rev0.54.pdf Revision:0.54 / August2004
Teledyne_reson_seabat_7k_series_rev1.00.pdf Revision:1.00 / November2006
Teledyne_reson_seabat_7k_series_rev2.20.pdf Revision:2.20 / November2011
Teledyne_reson_seabat_7k_series_rev2.21.pdf Revision:2.21 / January2012
Teledyne_reson_seabat_7k_series_rev2.22.pdf Revision:2.22 / May2012
Teledyne_reson_seabat_7k_series_rev2.30.pdf Revision:2.30 / July2013
Teledyne_reson_seabat_7k_series_rev2.31.pdf Revision:2.31 / September2013
Teledyne_reson_seabat_7k_series_rev2.33.pdf Revision:2.33 / May2014
Teledyne_reson_seabat_7k_series_rev2.40.pdf Revision:2.40 / March2015
Teledyne_reson_seabat_7k_series_rev2.41.pdf Revision:2.41 / August2015

R2Sonic file formats description
File Revision
R2sonic_sonic_series_rev3.0.0_full.pdf Revision:3.0 / August2010
R2sonic_sonic_series_rev3.1.0.pdf Revision:3.1 / April2011
R2sonic_sonic_series_rev5.0.1.pdf Revision:3.16 / May2014

HYPACK HYSWEEP HSX file formats description
File Revision
HypackUserManual&formats2011.pdf Revision:-- / February2011
HypackUserManual&formats2013.pdf Revision:-- / January2013
HypackUserManual&formats2015.pdf Revision:-- / February2015
HypackUserManual&formats2016.pdf Revision:-- / February2016
Hypack_common_driver_notes2017.pdf Revision:-- / January2017

SAIC's GSF file formats description
File Revision
SAIC_GSF_rev3.04.pdf Revision:3.04 / June2012
SAIC_GSF_rev3.05.pdf Revision:3.05 / May2014
SAIC_GSF_rev3.06.pdf Revision:3.06 / June2014

WASSP data formats description
File Description
WASSP_output_format_rev1.0.pdf Revision:1.1 / December2008
WASSP_generic_icd_rev2.2.pdf Revision:2.2 / October2013
WAASP_codinganmb-systemiomodulev4.pdf Developer's Guide to Coding an MB-System I/O Module
David W. Caress, Monterey Bay Aquarium Research Institute, February2014.

Leidos Generic Sensor Format Specification
File Revision
GSF_spec_rev03.07.pdf Revision:03.07 / October2016

Imagenex IMAGE83P DeltaT multibeam profile point format
File Revision
Image83P_rev1.0.pdf Revision:1.0 / December2004
Image83P_rev1.1.pdf Revision:1.1 / March2010

Marine Sonic Technology MSTIFF Image Data File Format
File Revision
MSTIFF_MSTL_201108.pdf Revision:-- / August2011

Scripps Institution of Oceanography SeaBeam Merge Format
File Revision
sio_merge_format.pdf Revision:-- / 1990

NOAA National Geophysical Data Center Marine Geophysical Data Exchange Format
File Revision
mgd77.pdf Revision:-- / February2010
mgd77T.pdf Revision:-- / February2010

Systems Engineering & Assessment (SEA) SEA 7k SWATHplus data formats (interferometric sonars)
File Revision
SEA 7k SWATHplus_rev6.00C.pdf Revision:6.00C / February2010

USPRO's IGES (graphics) file format description
File Revision RecordTypes
Iges_rev5_03.pdf Revision:5.3 / September1996 -------

RINEX: The Receiver Independent Exchange Format
File Revision RecordTypes
RINEX_2.11.pdf Revision:2.11 / Dec 2007 -------
RINEX_3.02.pdf Revision:3.02 / April 2013 -------
RINEX_3.03.pdf Revision:3.03 / July 2015 -------
RINEX_3.04.pdf Revision:3.04 / November 2018 -------

Un-public formats description (reverse engineering results)
File Comments
Garmin_BIN.pdf Filename extensions: *.BIN
Single ARM firmware file for Garmin outdoor GPS devices.This type of firmware files is encountered only embedded in GCD and RGN firmware update files.
Last change: 2019-03-02; Link
Garmin_GCD.pdf Filename extensions: *.GCD
Firmware update file for Garmin outdoor GPS devices.
Last change: 2019-03-02; Link
Garmin_IMG_ADM.pdf Filename extensions: *.IMG and *.ADM
Garmin Image (IMG) and UserData (ADM) Container File Format.
This file format is used to combine a set of files into a single file. It is similar to a file system on a disk, but it lacks hierarchy. The contained files (called subfiles) form a flat list - there are no subdirectories.
This file format is used for image files (IMG) with filename extension *.img and for user data files (ADM) with filename extension *.adm.
There are separate documents available here for the IMG and ADM subfiles.
Last change: 2019-11-17; Link
Garmin_IMG_Subfiles.pdf Filename extensions: *.DEM, *.GMP, *.IDX, ...
Garmin IMG map file for use in outdoor GPS devices.
Uses the IMG/ADM container file format (documentation also available here) to combine all the subfiles into a single file.
This document describes the file format of the following subfile types:
--DEM Digital Elevation Model;
--GMP Subtile of a larger area;
--IDX ?;
--LBL Labels for map elements, city names, localities, etc.;
--MAR ? marine? (in bluechart 2 nautical charts);
--MD2 ?;
--MDR Binding individual map files together;
--MPS Similar to the TDB file in that it is a list of maps along with other information describing the set;
--NET Road network information (intersections, etc.);
--NOD Routing information;
--QSI ?;
--RGN Map elements such as polylines, polygons and points;
--S16 ?;
--SNR ?;
--SRT Lookup table for characters;
--TRE Map structure information that organizes the map elements into a data tree;
--TRF ?;
--TYP Custom rendering styles. How a map element will be rendered on the GPS which allows you to display things in a different way.
Last change: 2019-11-16; Link
Garmin_ADM_Subfiles.pdf Filename extensions: *.PRX, *.RTE, *.TRK and *.WPT
Garmin ADM file for storage of user data on marine GPS devices.
Uses the IMG/ADM container file format (documentation also available here) to combine all the subfiles into a single file.
This document describes the file format of the following subfile types:
--PRX Proximity records;
--RTE Routes;
--TRK Tracks;
--WPT Waypoints.
Last change: 2018-11-17; Link
Garmin_MDX.pdf Filename extensions: *.MDX
Garmin map index file for use with MapSource and BaseCamp.
Last change: 2019-05-05; Link
Garmin_MPS_GDB_and_GFI.pdf Filename extensions: *.MPS, *.GDB and *.GFI
Files with filename extension *.mps are created by MapSource. Starting with version 6, MapSource introduced a slightly modified format using filename extension *.gdb. BaseCamp stores its user interface data in *.gfi format.
Last change: 2018-01-01; Link
Garmin_RGN.pdf Filename extensions: *.RGN
Firmware update file for Garmin outdoor GPS devices.
RGN probably stands for "region". Note that the RGN files contained in IMG files have a completely different structure and purpose.
Last change: 2019-02-26; Link
Garmin_TDB.pdf Filename extensions: *.TDB
Topographic Database: The file that holds the information which *.img belong to the mapset. Mapset: An assortment of map tiles (*.img) that is joined together by .tdb, overview image (mapset00.img), and .mdx (cited from here).
Last change: 2019-03-08; Link
Navico_AT5.pdf Filename extensions: *.LCM and *.AT5
Navico map format.
The AT5 map format is a Lowrance map format supported by a wide range of Lowrance GPS devices [..]. The AT5 format is able to combine vector layers, such as contour lines, with raster (image) layers (cited from here).
AT5-charts work with seachart-plotters from Lowrance, Simrad and B&G. It is also possible to use them with Insight Planner which is a tool for marine navigation (cited from here).
Last change: 2018-01-01; Link
Navico_Map_Creator_Project.pdf Filename extensions: *.SAP
Navico Map Creator / Insight Map Creator Project File. Stores all program settings and the directories and file names of input and output files.
Last change: 2018-01-01; Link
Navico_SLG.pdf Filename extensions: *.SLG, *.SL2 and *.SL3
Binary format used by Navico (Lowrance, Simrad, B&G) chart plotters to save tracks. *.slg is format 1 (sonar only), *.sl2 is format 2 ( sonar and structure) and *.sl3 is format 3 (includes ForwardScan).
Last change: 2018-01-01; Link
Panasonic_HD_Writer_AE.pdf Filename extensions: *.CONT, *.IIS, *.TMB and *.PMPD
HD Writer AE is a program from Panasonic that comes with their Digital Video Cameras which use the AVCHD recording format.
A *.cont file describes the content of a scene or directory, an *.iis file contains data for the Intelligent Index System, an *.mtv file contains additional info for the MPEG2 video (*.m2ts), a *.tmb contains a thumbnail image, and an *.pmpd file contains "maker private data". Link
Filename extensions: *.DAT, *.SON, *.IDX
Get from PyHum project, some text get from page.
This format description has (so far) been used only with Humminbird 700, 800, 900, 1100, HELIX, MEGA and ONIX series instruments. Format is not compatable with SOLIXICE, ION, or PMAX systems. Example data available in the PyNum zip-file. Link 1, Link 2

Formats from manuals
File Comments
00_MagPostProcessingReference.pdf SonarWiz Magnetometry Post-Processing Reference, Revision 31, 7/25/2019. Includes follow magnetometers format description:
AquaScan AXL, Arts Gavia MAG, Balaswamy-MAG, C&C Magnetometer, FSL-MAG, G882_Type3, GEMS_Meren13_INT, GEMS_Meren13_INT_SHIFT, GEMS-gradiometer, GEMS-INT-mag1, GEMS-INT-mag2, GEMS-MagLog, GEMS-MagLog-CSV, GEO_G882_Mag, HWTMA-2011-1-MAG, Maglog Type 4, Maglog Type 5, Maglog Type 6, Maglog Type 7, Maglog Type 8, Maglog GPS-Pos w/Altitude, Maglog GPS-Pos-Alt-MAG2-MAG3, Maglog Magnetometer, Maglog w/Altitude, MagLog-Spencer, MMT Maglog GPS-Pos w/Altitude, OFG-Mag-2, PLR Magnetometer, PLR Magnetometer (m), SeaLink MAG, SeaLink-Wilhelm, SeaSpy Type 3, SonarWiz-Default-MAG, SWM-(E,T,D,L,L,X,M,A,D,S), SWM-MAG882, SonarWiz-MAG-file-default, SWM-SEASPY, SWM-SEASPY_XY, TBSmith Hypack MAG, TeslaOffshore-MAG-1, UDEL_G882_1, UDEL_G882_2, XYZ MAG, XYZA MAG.
00_SonarWiz_Single-beam_Reference.pdf SonarWiz Single-beam Reference, Revision 3.0, 8/31/2017. Includes follow single-beams format description:
DEP-1, Lat Long Depth, MLG Single Beam (QINSy-based export of CSV data).

Equipment's in/out protocols description

NMEA 0183 protocol description
File Comments
Nmea_rev2_30.pdf NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 2.30, March 1, 1998. NMEA
Nmea_rev3_01.pdf NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 3.01, January 1, 2002. NMEA
Nmea_garmin_revC.pdf Garmin Proprietary NMEA 0183 Sentences TECHNICAL SPECIFICATIONS. Garmin
Nmea_0183.pdf The NMEA 0183 Protocol. Klaus Betke, May 2000. Revised August 2001.
Starlink, Inc. proprietary sentence: $PSLIB
Nmea0183_not.pdf The NMEA 0183 sentences not recommended for new designs. Approved by the NMEA 0183 Standard Committee as of October 1, 2000. Link
Nmea_RTKNav_User_Guide.pdf NMEA-RTK messages // RTKNav 4.00 User Guide Rev 2, Copyright 2008 NovAtel Inc. Link:

GNSS -- SiRF (Qualcom) protocols description
File Comments
SiRF_Nmea_rev2_2.pdf NMEA Reference Manual SiRF Technology, Inc. Part Number: 1050-0042, Revision 2.2, November 2008.
SiRF proprietary: $PSRF140 $PSRF150 $PSRF151 $PSRF152 $PSRF154 $PSRF155 (input: 100 101 102 103 104 105 106 107 108 110 112 200)
SiRF_Nmea_rev3_0.pdf NMEA Reference Manual SiRF Technology, Inc. Issue 3, 29 Feb 2012.
SiRF_Binary_Protocol..2.4.pdf SiRF Binary Protocol Reference Manual, Revision 2.4, November 2008.
SiRF_One_Socket_Protocol...pdf One Socket Protocol Interface Control Document, Issue 15, April 2013.

GNSS -- Trimble protocols description -- HIPO, TAIP, TSIP
File Comments
Trimble_HIPO_DR_GPS_Manual_58059-00_RevA.pdf HIPO // User guide reference manual Lassen DR+GPS starter kit, Revision A, Part Number 58059-00, March 2007.
Trimble_TAIP_LassenBook.pdf TAIP // Lassen SQ GPS Receiver Trimble ASCII Interface Protocol (TAIP).
Trimble_TAIP_sv8_app_c.pdf TAIP // Trimble ASCII Interface Protocol (TAIP), SVeeEight Plus GPS.
Trimble_TSIP_BinaryInterfaceControlDoc.pdf TSIP // Trimble OEM BD9xx GNSS Receiver Family Interface Control Document, Version 4.85, Revision B, October 2014.
Trimble_TSIP_sv8_app_a.pdf TSIP // Trimble Standard Interface Protocol, SVeeEight Plus GPS.
Trimble_TSIP_tsip_reference_revC.pdf TSIP // TSIP Reference, Part Number: 34462-00, Revision: C, April 1999. Containe follow Reference_Manuals:
- ACE II GPS System Designer Reference Manual, June 1999;
- Copernicus GPS Receiver Reference Manual, July 2006;
- Copernicus GPS Receiver For Modules with Firmware Version 3.02 (or later)..., July 2008;
- Lassen iQ GPS Receiver System Designer Reference Manual, February 2005;
- Lassen iQ GPS Receiver System Designer Reference Manual, April 2005;
- Lassen LP GPS System Designer Reference Manual, August 1999;
- Lassen PT GPS Timing Receiver System Designer Reference Manual, October 2003;
- Lassen SQ GPS Receiver System Designer Reference Manual, June 2002;
- Lassen-SK8 Embedded GPS Module System Designer Reference Manual, August 1997;
- SVeeEight Plus GPS System Designer Reference Manual, April 2000.

GNSS -- Topcon -- GRIL protocol/language description
File Comments
Topcon_GRIL_rm.pdf GRIL, GNSS Receiver Interface Language, Reference Manual, Topcon Positioning Systems Inc., Rev.A, June 2008.

GNSS -- NovAtel protocols description
File Comments
Novatel_OEM7_Commands_Logs...pdf GNSS & SPAN Commands // OEM7 Commands and Logs Reference Manual, NovAtel Inc., v15D, August 2020.

GNSS (RTK) -- Trimble protocols description -- CMR packets 0,1,2,3
File Comments
cmr_PatentUS20100085249A1.pdf CMR // United States Patent Application Publication, Compact transmission of GPS information using compressed measurement record format, Apr.8, 2010.
cmr_Talbot.pdf CMR // Dr. Nicholas C. Talbot, Compact Data Transmission Standard for High-Precision GPS, 1990(?).
cmr_GLONASS_Observation_Message_Specification.pdf CMR // Leica Geosystems AG, A GLONASS Observation Message Compatible With The Compact Measurement Record Format.
cmr_HeavyHighway_CMRx_rev1.pdf CMR // CMRx: A new correction format from Trimble, Trimble, June 2009.
cmr_022543-130_NetworkInfras_WP_0605.pdf Support of network formats by Trimble GPSNet network RTK solution, Trimble, 2005.

GNSS (RTK) -- RTCM protocol's description
File Comments
RTCM_heo_etal2009b.pdf Thomas Yan, Samsung Lim, Chris Rizos. International standard GNSS real-time data formats and protocols. IGNSS Symposium 2009.
RTCM_SC-104_v2.3.pdf RTCM messages, v2.3, 20 August 2001, Pages4.7-4.13,4.27.
RTCM_SC-104_v3.1.pdf RTCM messages v3.1, 27 October 2006.
RTCM_SC-104_v3.2.pdf RTCM messages v3.2, 1 February 2013.
RTCM_Basics_RTCM31.pdf Mohamed Eleiche, Basics of RTCM 3.1 transformation messages standard for GNSS positioning services, Geomatics, 2009.
RTCM_NtripDocumentation.pdf Networked Transport of RTCM via Internet Protocol (Ntrip) Version 1.0

IMU/MRU -- Teledyne protocols description
File Comments
TeledyneTSS.pdf TSS1 ; TSS HHRP2 ; TSS3 ; Simrad EM1000 ; Simrad EM3000 ; BMT2 ; Honeywell HMR3000 ; TSS Binary ; TSS Euler Binary ; TSS HiRes Binary ; TSS HiRes Euler Binary ; TSS IMU Raw ; NMEA 0183 PRDID ; NMEA 0183 PSXN ; IEC 61162 HDT ; IEC 61162 ROT ; IEC 61162 GGA ; IEC 61162 VTG ; IEC 61162 ZDA ; IEC 61162 THS ; NMEA 0183 VTG ; IEC 61162 VTG ; IEC 61162 GGA ; NMEA 0183 VBW ; IEC 61162 VBW

IMU/MRU -- Smc protocol description
File Comments
Smc.pdf $PSMCR ; $PSMCS ; $PSMCT ; $PSMCA ; $PSMCF ; TSS1/DMS ; $PSXN,10 ; $PSXN,23

USBL/HiPAP -- Kongsberg Maritime
File Comments
Kongsberg_hpr_300_telegrams.pdf HPR300 telegrams // Kongsberg Simrad HPR 300 telegrams, Rev.B, 27.01.1999.
Kongsberg_164581_apos_for_hipap...pdf HPR300 telegrams, HPR400 Binary Communication Protocol // APOS for the HiPAP system, Acoustic Positioning Operator Station (APOS) - Instruction Manual, Rev.C, 10.05.2005.

Protocols description from Drivers and interfacing manual paper
File Comments
Qinsy_F.pdf QPS // QINSy Drivers And Interfacing Manual, 29 September, 2004.
___PPS___: $PASHR,PPS ; $IMRPY ; $IMLLH (IMU) ; $PMVXG (Magnavox) ; POS1B ; TM1B ; #T ; !M ; UTC
___POSITION___: $GPRMC $GPGLL $GPGGK $GPGGA $GPGST $GPGSA $GPGNS $PSIMLBP (NMEA-0183) ; $PDAS,QUAL ; $PDAS,FIXMODE ; $PDAS,DGPS,MODE ; $GPLRKA ; $GQLRKA ; $GPLRKR ; $GQLRKR ; $PASHR,CBN ; $PASHR,POS ; $GPRRE ; $GLRRE ; AUXCOM3 string ; NaviPac string ; FUGRO MRDGPS ; $PTSAG ; AR XA ap SE po at (Javad) ; NP NAVPOS (Javad) ; ^ (Naval) ; $GPLLQ ; GPGGA (Ashtech) ; GPGGA (Western) ; $CARXD ; 0 Message (RWSLod, Sercel Axyle) ; ZDA GLL (Sercel) ; $SW ; FXT TRACV NAVCO (Sonardyne) ; $Gn $Hn ; Syledis SR3 messages ; Trimble 4000 (ASCII Printout) ; TSIP forma ; UDI-NAV Header telegrams ; SURFACE POSITION TELEGRAM ; ACOUSTIC POSITION TELEGRAM
___GYRO'S AND COMPASSES SYSTEM DRIVERS___: $HEHCC $HEHDT (NMEA-0183) ; Digilog ASCII ; STX (Digilog Modified Anschutz) ; $HEHDT $PHTRH $PHTRO $PHSPD (Octans MRU) ; AR XA ap SE po at (Javad) ; KVH ROV GyroTrac ; SeaEye Boxer ROV ; SG-Brown 1000-A Gyrocompass (ASCII Heading) ; Sperry Gyrocompass (ASCII Heading)
___PITCH, ROLL AND HEAVE SENSOR___: Standard Atlas binary message ; Hippy Datawell Piro MRU ; $HEHDT ; $PHTRH ; $PHTRO ; $PHSPD ; $PIXSE,ATITUD ; $PIXSE,SPEED ; $PIXSE,POSITI ; $PIXSE,STDPOS ; $PIXSE,STATUS ; Litef Gyro LFK95 (Binary) ; EM1000 ; EM3000 ; $PSXN,10 ; $PSXN,23 ; Sounder Sentence protocol ; $PSER,ATT ; $A ; TSS1 ; TSS3
___USBL SYSTEM___: #QATT ; #QXYZ ; #QD ; VanDerLeun format ; Dredging Tool ; $PIHC ; $PTSAX ; Nautronics ATS (ASCII) ; $PSIMSSB ; Simrad HiPAP (400 Format) ; Simrad HPR300 (ASCII) ; Simrad Binary HPR ; Sonardyne USBL (Surveyors Output) ; STANDARD STANDARD-EC NUWC NUWC-EC
___SINGLEBEAM ECHOSOUNDER___: EM, TX, VS (Deso 25) ; STX (Odom Echotrac) ; $INATS (Simrad) ; $INATS (NMEA) ; EN, IN (Klein 595) ; $PKLA (Klein 2000) ; $PKEL02 $PKEL03 $PKEL13 EG&G Text Out (Knudsen) ; EVE MES DASHED $@01 (EPC GSP-1086 annotation); DA DB (Deso 15 / 20 / 25 Echosounder) ; Bathy UK94 ; EG&G Sonar System ; $SDDBK ; Elac STG 721 Echosounder ; Kaijo Denki PS20R Echosounder ; $PKEL LF HF ; Marimatech E-Sea Sound Echosounder ; FETEC FETEH FETEB ; NMEA DPT DBT DBS ; D# D1 D2 D3 (Simrad Ping Based ASCII Telegram) ATS
___MULTIBEAM ECHOSOUNDER___: Marimatech E-Sea Swath 501 (5 Channel echosounder) ; Odom Echoscan XTF ; EM1000 EM3000 EM3000D EM3000F EM3000C ; Simrad Mesotech MS 971 / MS 990 ; Simrad Mesotech SM2000 ; $ROV (SMD ROV) ; STN Atlas Fansweep ; TSS 340 T record I record ; TSS 350 S record F record ; Tritech SeaKing SCU ; SC1 SD (Ulvertech Profiler) ; Ulvertech Enhanced Format
___SIDESCAN SONAR___: Q# RAW0 (Simrad EA-Series Sidescan)
___UNDERWATER SENSOR___: $--DPT ; $Draught01 ; Hyspec OSP Bathy ; ISIS ROV ; $PKLA,SD ; K (Klein595 SSS) ; Geometrics G880 ; Smart SV ; Tritech SCU-3 ; Bathy Plus O.S.P. Telegram (Ulvertech Bathy) ; SC1 SD (Ulvertech Profiler)
___SPEED LOG___: EDO 3050 Dopplerlog ; $VMVHW ; $PHSPD (Octans MRU) ; PD0 PD6 (RDI Doppler BottomTrack Speed) ; Remote Cherry (RDI Doppler BottomTrack)
___TIDE GAUGE___: DCI SBU92 Radio Tide Gauges 'Snelpeilbericht' Output Format ; DCI SBU92 Radio Tide Gauges 'Geselecteerde Data' Output Format ; Digitrans Radio Tide Gauge ; Bild 4 Bild 9 (Kuhnt Pegel Tide Gauge) ; Pacific Crest Tide Gauge ; Sonar Research LPM23 Tide Gauge ; Valeport 700 Tide Gauge ; Van Essen RGC920 Tide Gauge ; Vyner Medway Radio Tide Gauge MK
___SURFACE NAVIGATION SYSTEM___: KA-BCD(0.1) KA-BCD(0.01) ASCII-16 ASCII-17 (Artemis Range & Bearing) ; AUV/Buoy Tracking (PARADIGM) ; Cable Counter (Dynapar, Sidescan Winch) ; Cable Counter (Red Lion) ; Cable Counter (MD Totco) ; DCI Minilir-Fennel ; Geodimeter 600 ; Geodimeter Aga 140T ; MDL STANDARD SIMRAD BINARY ARTEMIS FB Mk.II (MDL Fanbeam Mk III R & B) ; GECO Trinav rGPS ; $ANLG ; ParkerPDFX Stepping ; $PSIMLBM ; SI/FS format LB format (Sonardyne PAN) ; $WAGO
___OUTPUT SYSTEM DRIVERS___: $GHR (ADCP X/Y Position) ; $SNGLL (ADCP Lat/Lon Position) ; Anchor Output ; Atlas Deso 15 Annotator ; $1AO (AutoPilot Euro500) ; $DNRTR (AutoPilot RobTrack/STS500) ; AUXCOM3 ; Bennex Left Right Indicator ; CODA (Coda Navigation) ; CorrOcean ; $SDDPT $SDDBT $SONDEP $DBS (NMEA) ; $QPS_OUT (Ballast Nedam) ; $GCX (GeoCom X-Start) ; GeoLab ESP Annotator ; Geomap (Fish Positions) ; HDAS-A HDAS-B (HOV) ; STX (LAMs Gyro Position) ; VOACZ Video Eventing ; ISIS ; ISIS (Vessel and Fish Positions) ; REDAS (Vessel and Fish Positions) ; SMD ROV Format ; DOWTY Format ; ^ (Naval GPS Data Link) ; BBXX (Meteo Report Generator) ; $--APA $--APB $--VWH $--BWW $--XTE (NMEA Autopilot Strings) ; $PESSA $PESSD $PESSX (EMRI SEM200 Autopilot specific messages) ; $GPGGA $GPVTG (NMEA) ; PGS NAV Header ; KA-BCD(0.1) KA-BCD(0.01) ASCII-16 ASCII-17 (Pseudo Artemis) ; $UTC (Seabat 8000 Series UTC) ; 000 ( Sercel Axyle UTC) ; POSITION TELEGRAM 11 WAYPOINT TELEGRAM 04 (Simrad ADP70X) ; $PQPSC (Simrad DP Force) ; $G (Statoil Data Server) ; Syledis Y/X Position ; Syntrak 480 ; $PQTUG $PQTUC $PQRIG $PQANC (Tug Manager); VisualWorks Event ; WinFrog Decoder
___MAGNETOMETER___: Geometrics G880 ; SeaSPY
___MISCELLANEOUS SYSTEM___: Airpax Tachtrol RPM ; $--ROT $--MWD $--MWV $--XDR $--MTW $--MTR (NMEA 0183) ; Nortek Aquadopp ; OISTAR FieldBus TimeMaster ; $DBMMINE ; RWS Directional Waverider ; STDDDD (Standard RMI) ; Stappenbaak (RWS) ; $PSTSUR (Seatools Grab Excavation)
02_SeaSpy2_..._v5.02.pdf Marine Magnetics // SeaSPY Operation Manual Revision 5.02. Includes follow SeaSPY-magnetometers messages description:
Standard Format, Compact Format, SIS-1000 Compatible Format, Gradiometer Format.
01_G-882Manual_RevF.pdf Geometrics // G-882 Cesium marine magnetometer 25919-OM REV.F. CM-221 Counter Data Format and Command Structure.

Standards lists

IOGP source
File Comments
362.pdf Catalogue of international standards used in the petroleum and natural gas industries. Report No.362. February2012 update.
426.pdff OGP Regulators' use of standard. Report No.426. March2010.
485.pdf Standards and guidelines for well construction and well operations. Report No.485. May2015.
4015.pdf ISO Standards for use in the oil & gas industry. 2014:Standards Bulletin No.15.
4210.pdf List of ISO TC67 standards and their status with API, CEN and various other standards developing organisations. Report No.4210. Revision - August 2011.
SR_12_12047.pdf Shell Standard Legend (RED). Unrestricted SR.12.12047. November2012.
SR_12_12048.pdf Shell Standard Legend (GREEN). Unrestricted SR.12.12048. November 2012.

Papers Heap

Matlab for seismic
Sourse Link File Description
------ inversion_using_seislab.pdf Emilson Pereira Leite, Seiemic model-based inversion using Matlab //Matlab - Modelling, Programming and Simulations.
Mathworks Large Data in MATLAB: A Case Study in Seismic Data Processing //Webinar.
------ SNew_seismic_modelling.pdf Gary F. Margrave, New seismic modelling facilities in Matlab //CREWES Research Report - Volume 12 (2000).
------ SEG-YfileIO.pdf Henry C. Bland and Paul R. MacDonald, A SEG-Y file I/O toolbox for Matlab//CREWES Research Report - Volume 12 (2000).
------ seisplot.pdf How to plot a seismic trace with MATLAB? )
------ Matlab_tool_REGCONT2.pdf Matlab tool REGCONT2: effective source depth estimation by means of Tikhonov's regularized downwards continuation of potential ?elds, Contributions to Geophysics and Geodesy Vol. 48/3, 2018.
------ sageep2004.pdf Basic magnetic processing and display in MatLab / Charles T. Young, Department of Geological and Mining Engineering and Sciences, Michigan Technological University, Houghton, 2004.
------ Upward_and_Down_Continuation_Magnetic.pdf Upward and Downward Continuation of Magnetic Field Data, Montasir Bechir Nasir, University of Calgary, Department of Geoscience, Winter, 2016

RTK Correction Data Formats


In the world of RTK, there are a handful of correction data formats. Most receivers will accept one or more of these formats, so when building a system, you need to be aware of which formats each of your systems supports and try to standardize.

NCT - John Deere's proprietary correction data format. In 1999, as precision agriculture was really starting to get going, John Deere acquired GNSS manufacturer NavCom. Today the company makes receivers for both agriculture and other industries. While their non-agricultural receivers are capable of a wide variety of standard formats, the ag receivers are limited to only this proprietary format. Generally speaking, if you want to use a JD rover on RTK, you'll need to use a JD base station. The format supports GPS and GLONASS, but if you want to use the GLONASS satellites in the RTK solution, you will need a GLONASS capable receiver at both the base and rover.

CMR - Trimble's original format. Initially this was a proprietary format, but other receiver manufacturers figured out how to parse it, and Trimble eventually published their specs so everyone could use it. Today it is rarely used unless you have legacy equipment that doesn't support anything newer. The messages can view as the Trimble_TSIP part; the follow messages (packets) numbers were open: 0, 1, 2, 3.

CMR+ - The second generation of Trimble's CMR. It features a more compact message structure than CMR had. The GPS portion of this protocol was originally Trimble proprietary, but was later released and has become a widely used standard. No GLONASS specifications were released by Trimble, but other manufacturers have extended the format to include GLONASS information as well. Unfortunately the GLONASS portion isn't as standardized as the GPS portion is. Compatibility between receiver manufacturers when using GLONASS is a crapshoot.

CMRX - This is the latest correction data format from Trimble, offering even more data compression than CMR+ did. As of today, it remains proprietary to Trimble receivers.

RTX - This is a Trimble specific system that uses satellites to transport RTK correction data to the rover rather than terrestrial radios or cellular networks. The data stream is actually CMRX correction data. The improved data compression of CMRX is extremely valuable to a satellite based system as bandwidth on a satellite is rather expensive. As with CMRX, this is only available on Trimble receivers.

TSIP - This is a communications protocol designed by Trimble for communication between devices and GPS receivers. It allows bi-directional configuration and position data. The Trimble NAV-2 steering controller connects to a GPS receiver via TSIP, so it requires a receiver that can communicate in TSIP, which essentially means a receiver made by Trimble for that purpose. As of this writing, I am not aware of any non-Trimble receivers that use TSIP.

RTCM v2 - The Radio Technical Commission for Maritime Services is an independent international non-profit organization that produces standards for radio communications. Version 1 had problems and was replaced by version 2.0. Version 2.1 added RTK support, version 2.2 added GLONASS support, and version 2.3 added some messages to improve the accuracy of RTK. This is an open standard used by many manufactures, but as it is old, it is only used on legacy equipment that cannot use version 3.

RTCM v3 - The newest data format from RTCM, which has better data compression and message integrity than version 2.x had. Version 3.1 added support for Network RTK via the Master Auxiliary concept. Still an open standard, this format is used by most modern receivers.

NMEA 0183 - This is the international standard for GPS position data. Various message types within this data format can contain info about position, accuracy, speed, time, and satellites tracked. This message type is supported by nearly every GNSS receiver on the market. This is a one-way data stream from the GNSS receiver to the device using the data. Configuration of the receiver has to be done via some other data format.

Last updated: March 3, 2013; Link

The following rules apply:

When output is RTCM 2.1, position accuracy is 1 cm.

When output is RTCM 2.3 and messages #22 and #24 are disabled, position accuracy is 1 cm;

When output is RTCM 2.3, message #22 is enabled and message #24 is disabled, position accuracy is 1/256 cm.

When output is RTCM 2.3 and message #24 is enabled, position accuracy is 0.1 mm.

When output is RTCM 3.1, position accuracy is 0.1 mm.

When output is CMR, CMR+, or CMRx, position accuracy is 1 mm.

The above is a copy/paste from: (WV RTN) // @Plumb Bill, August 28, 2014

RTK elementary&popular
File Comments
-RTK_Shkalikava...pdf Transmission of position information via a data network, Bachelor degree: Anastasia Shkalikava, 2015
-RTK_NetworkRTK_NZ_V4p1.pdf P.Denys, A.Liggett NetworkRTK - New Zealand. A summary of the concepts, methods, limitations and services in New Zealand, Version 17.01, June 2017
-RTK_ppp-rtk_market_...pdf PPP-RTK market and technology report, European GNSS Agency, 2019

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