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Geophysics and navigation file formats, protocols, standards, guides and data examples

Paper Types
Geo Notesge0mlib -- additional notes
File FormatsFile formats description: P1, P2, P5, P6, P7, seg-y, seg-d, xtf, jsf, etc.
ProtocolsEquipment's in/out protocols description: Nmea, Tss, Smc, etc.
GuidesNavigation and Geophysical Guides.
StandardsStandards lists.
Paper HeapsPapers Heap.
Navigation RTKShort information about RTK protocols.
Data ExampleMarine geophysical equipments data examples.
Free SoftFree software and utilities page ===>
Rus DocRussian language documentation page ===>

Geo Notes

ge0mlib -- additional notes
ge0mlib old versionsge0mlib -- old versions and changes (from 2017 to 2021) page ===>
202306_SSS seabed interp...fishing area...pdfSSS, seabed interpretation in a fishing area at 100m sea depth: ancient trawl marks and milli-sandwaves.
202303_EdgeTech SSAHRS compass description.pdfEdgeTech SSAHRS compass electronic and the command system.
202211_SSS Heading.pdfFeatures of SSS heading using in rough seas.
202211_Pipeline detection.pdfSBP pipeline detection - second hyperbola and along-pipe survey.
202110_SSS processing issues.pdf [ru]SSS processing issues - jsf concatenation, sonograms and pocessing of coordinates.
202011_The navigation messages Qinsy.pdf [ru]A format of navigation messages and format of additional navigation files provided for geophysical survey from QINSy.
202008_Pico&Mini Motherboards12V.pdfLogging computer. Comparison of motherboards with 12V DC power and own processors (2020/08):
GA-PICO3350 manual, datasheet; GA-SBCAP3940 manual; GA-IMB4100TN manual, datasheet; GA-IMB370TN manual, datasheet.
201904_Depth&Alt calibration report example.pdfDepth sensor and altimeter calibration report for G882 (includes short Matlab code).

File formats description

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

SEG file formats description
Segy_rev0.pdfRevision:0 / February 1975
Segy_rev1.pdfRevision:1 / May 2002
Segy_rev2.pdfRevision:2 / January 2017
Segd_rev0.pdfRevision:0 / February 1975
Segd_rev1.pdfRevision:1 / April 1994
Segd_rev2.pdfRevision:2 / December 1996
Segd_rev2_01.pdfRevision:2.1 / January 2006
Segd_rev3.pdfRevision:3 / May 2011
Segd_rev3_1.pdfRevision:3.1 / October 2015

TritonImaging file format description (ECAGroup)
Xtf_rev26.pdfRevision:26 / December 20080, 1, 2, 3, 6, 15, 19, 26, 27, 107, 199
Xtf_rev33.pdfRevision:33 / December 20110, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev34.pdfRevision:34 / February 20120, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev35.pdfRevision:35 / April 20130, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev36.pdfRevision:36 / October 2014
Xtf_rev37.pdfRevision:37 / October 20140, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev40.pdfRevision:40 / September 20150, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev41.pdfRevision:41 / September 20160, 1, 2, 3, 6, 15, 19, 26, 27, 42, 84, 107, 199
Xtf_rev42.pdfRevision:42 / October 2019

EdgeTech file format description
Jsf_rev1_03.pdfRevision:1.3 / April 200580, 82, 86, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_04.pdfRevision:1.4 / November 200580, 82, 86, 182, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_07.pdfRevision:1.7 / November 200680, 82, 86, 182, 2002, 2020, 2040, 2060, 2080, 2090
Jsf_rev1_08.pdfRevision:1.8 / October 200980, 82, 182, 2002, 2020, 2060, 2080, 2090
Jsf_rev1_10.pdfRevision:1.10 / August 201080, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2100, 2111
Jsf_rev1_13.pdfRevision:1.13 / September 201180, 82, 182, 426, 428, 2002, 2060, 2080, 2090, 2100, 2111, 9001, 9002, 9003
Jsf_rev1_15.pdfRevision:1.15 / June 201280, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2100, 2111, 9001, 9002, 9003
Jsf_rev1_17.pdfRevision:1.17 / February 201480, 82, 182, 426, 428, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111, 9001, 9002, 9003
Jsf_rev1_18.pdfRevision:1.18 / October 201480, 82, 182, 426, 428, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111, 9002
Jsf_rev1_20.pdfRevision:1.20 / March 201680, 82, 182, 426, 428, 2002, 2020, 2060, 2080, 2090, 2091, 2100, 2101, 2111
Jsf_bathy_rev_A.pdfRevision:A / 20143000 (v0,v1,v2,v3,v4), 3001, 3002, 3003, 3004, 3005
Jsf_bathy_rev_D.pdfRevision:D / March 20163000 (v4), 3001, 3002, 3003, 3004, 3005
Jsf_rev_C.pdfRevision:C / April 202180, 181, 182, 2002, 2020, 2060, 2071, 2080, 2091, 2100, 2101, 2111, 3000, 3001, 3002, 3003, 3004, 3005, 3041
Jsf_rev_F.pdfRevision:F / December 202180, 181, 182, 2002, 2020, 2060, 2071, 2080, 2091, 2100, 2101, 2111, 3000, 3001, 3002, 3003, 3004, 3005, 3041
Jsf_rev_H.pdfRevision:H / April 202180, 181, 182, 2002, 2020, 2060, 2071, 2080, 2091, 2100, 2101, 2111, 3000, 3001, 3002, 3003, 3004, 3005, 3041

FAU (Danish Hydrographic Office) file formats description
FAU_Format_Specs.v1.20211118.pdfRevision: 1 / 18 November 2021

Bathyswath file formats description
BathyswathFileFormats_rev7.02.pdfRevision:7.02 / September 2013
BathyswathParsedFileFormat_ext7.06.pdfRevision:1.0 / June 2015
BathyswathFileFormats_rev8.01.pdfRevision:8.01 / November 2017

GeoAcoustics (today Kongsberg) file formats description
Geoacoustics_geoswathplus_rdf_filter_revB.pdfRevision:B / December 2004
Geoacoustics_geoswathplus_broadcast_raw_revB.pdfRevision:B / January 2005
Geoacoustics_geoswathplus_raw_revB.pdfRevision:B / January 2005
Geoacoustics_gcf_revB.pdfRevision:B / March 2006

Kongsberg file formats description
Kongsberg_SimradEK60_revD.pdfRevision:D / --
Kongsberg_SimradME70_revA.pdfRevision:A / --
Kongsberg_SimradEM100.pdfRevision:-- / --
Kongsberg_SimradEM121A_revE.pdfRevision:E / --
Kongsberg_SimradEM_revF.pdfRevision:F / September 2000
Kongsberg_EM_series_revG.pdfRevision:G / December 2002
Kongsberg_EM_series_revH.pdfRevision:H / April 2004
Kongsberg_EM_series_revI.pdfRevision:I / January 2006
Kongsberg_EM_series_revJ.pdfRevision:J / February 2008
Kongsberg_EM_series_revK.pdfRevision:K / June 2009
Kongsberg_EM_series_revM.pdfRevision:M / January 2010
Kongsberg_EM_series_revN.pdfRevision:N / September 2010
Kongsberg_EM_series_revP.pdfRevision:P / June 2012
Kongsberg_EM_series_revQ.pdfRevision:Q / February 2013
Kongsberg_EM_series_revR.pdfRevision:R / October 2013
Kongsberg_EM_series_revS.pdfRevision:S / May 2015
Kongsberg_EM_series_revT.pdfRevision:T / June 2015
Kongsberg_EM_series_revU.pdfRevision:U / June 2015
Kongsberg_EM_series_revV.pdfRevision:V / July 2016

SeaBeam Instruments (today Klein Marine Systems, L3) file formats description
L3_elac_seabeam2100_revH.pdfRevision:H / 1999
L3_elac_xse_rev1.7.00.pdfRevision:1.7.00 / February 2001
L3_elac_xse_rev1.8.04.pdfRevision:1.8.04 / August 2002
L3_elac_xse_rev1.8.05.pdfRevision:1.8.04 / July 2003
L3_elac_xse_rev1.8.07.pdfRevision:1.8.04 / December 2004
L3_elac_xse_rev1.8.22I.pdfRevision:1.8.22I / August 2009
L3_elac_xse_rev1.8.28M.pdfRevision:1.8.28M / January 2011
L3_elac_xse_seabeam30xx_revD.pdfRevision:D / May 2011
L3_elac_xse_rev1.8.36S.pdfRevision:1.8.36S / May 2012
L3_klein_sdf_sdfx_rev3.16.pdfRevision:3.16 / July 2012
L3_elac_xse_rev1.8.38W.pdfRevision:1.8.38W / March 2014
L3_elac_xse_rev1.8.39X.pdfRevision:1.8.39X / August 2014

Teledyne Technologies files formats description
Teledyne_odom_rdi_tdy_rev08.pdfRevision:8,v3 / --
Teledyne_reson_seabat_7k_series_rev0.35.pdfRevision:0.35 / 2002
Teledyne_reson_seabat_7k_series_rev0.41.pdfRevision:0.41 / 2002
Teledyne_reson_seabat_7k_series_rev0.42.pdfRevision:0.42 / 2002
Teledyne_reson_seabat_7k_series_rev0.50v1.pdfRevision:0.50 / 2003
Teledyne_reson_seabat_7k_series_rev0.50v3.pdfRevision:0.50 / 2003
Teledyne_reson_seabat_7k_series_rev0.51v1.pdfRevision:0.51 / March 2004
Teledyne_reson_seabat_7k_series_rev0.51v3.pdfRevision:0.51 / March 2004
Teledyne_reson_seabat_7k_series_rev0.53v1.pdfRevision:0.53 / June 2004
Teledyne_reson_seabat_7k_series_rev0.53v3.pdfRevision:0.53 / June 2004
Teledyne_reson_seabat_7k_series_rev0.54.pdfRevision:0.54 / August 2004
Teledyne_reson_seabat_7k_series_rev1.00.pdfRevision:1.00 / November 2006
Teledyne_reson_seabat_7k_series_rev2.20.pdfRevision:2.20 / November 2011
Teledyne_reson_seabat_7k_series_rev2.21.pdfRevision:2.21 / January 2012
Teledyne_reson_seabat_7k_series_rev2.22.pdfRevision:2.22 / May 2012
Teledyne_reson_seabat_7k_series_rev2.30.pdfRevision:2.30 / July 2013
Teledyne_reson_seabat_7k_series_rev2.31.pdfRevision:2.31 / September 2013
Teledyne_reson_seabat_7k_series_rev2.33.pdfRevision:2.33 / May 2014
Teledyne_reson_seabat_7k_series_rev2.40.pdfRevision:2.40 / March 2015
Teledyne_reson_seabat_7k_series_rev2.41.pdfRevision:2.41 / August 2015
Teledyne_reson_seabat_7k_series_rev3.14.pdfRevision:3.14 / November 2021

R2Sonic file formats description
R2sonic_sonic_series_rev3.0.0_full.pdfRevision:3.0 / August 2010
R2sonic_sonic_series_rev3.1.0.pdfRevision:3.1 / April 2011
R2sonic_sonic_series_rev5.0.1.pdfRevision:3.16 / May 2014

HYPACK HYSWEEP HSX file formats description
HypackUserManual&formats2011.pdfRevision:-- / February 2011
HypackUserManual&formats2013.pdfRevision:-- / January 2013
HypackUserManual&formats2015.pdfRevision:-- / February 2015
HypackUserManual&formats2016.pdfRevision:-- / February 2016
Hypack_common_driver_notes2017.pdfRevision:-- / January 2017

SAIC's GSF file formats description
SAIC_GSF_rev3.04.pdfRevision:3.04 / June 2012
SAIC_GSF_rev3.05.pdfRevision:3.05 / May 2014
SAIC_GSF_rev3.06.pdfRevision:3.06 / June 2014

WASSP data formats description
WASSP_output_format_rev1.0.pdfRevision:1.1 / December 2008
WASSP_generic_icd_rev2.2.pdfRevision:2.2 / October 2013
WAASP_codinganmb-systemiomodulev4.pdfDeveloper's Guide to Coding an MB-System I/O Module
David W. Caress, Monterey Bay Aquarium Research Institute, February 2014.

Leidos Generic Sensor Format Specification
GSF_spec_rev03.07.pdfRevision:03.07 / October 2016

Imagenex IMAGE83P DeltaT multibeam profile point format
Image83P_rev1.0.pdfRevision:1.0 / December 2004
Image83P_rev1.1.pdfRevision:1.1 / March 2010

Marine Sonic Technology MSTIFF Image Data File Format
MSTIFF_MSTL_201108.pdfRevision:-- / August 2011

Scripps Institution of Oceanography SeaBeam Merge Format
sio_merge_format.pdfRevision:-- / 1990

NOAA National Geophysical Data Center Marine Geophysical Data Exchange Format
mgd77.pdfRevision:-- / February 2010
mgd77T.pdfRevision:-- / February 2010

Systems Engineering & Assessment (SEA) SEA 7k SWATHplus data formats (interferometric sonars)
SEA 7k SWATHplus_rev6.00C.pdfRevision:6.00C / February 2010

USPRO's IGES (graphics) file format description
Iges_rev5_03.pdfRevision:5.3 / September 1996-------

ESRI shape file format description
ESRI_shapefile.pdf----- / July 1998-------

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

Golden Software Surfer formats description from help files
SurferHelp01_File Formats.pdfTable with links to formats description
SurferHelp02_ASI.pdfAmira Stacked Slices .ASI File Description
SurferHelp03_BNA.pdfAtlas Boundary .BNA File Description
SurferHelp04_PLY.pdfStanford Polygon .PLY File Description
SurferHelp05_DLG.pdfUSGS Digital Line Graph .DLG File Description
SurferHelp06_ASC.pdfASC Arc_Info ASCII Grid File Description (can used for import to QINSy)
SurferHelp07_Surfer7_GRD.pdfSurfer 7 Grid File Format
SurferHelp08_Surfer6_TextGRD.pdfSurfer 6 Text Grid Format
SurferHelp09_Surfer6_GRD.pdfSurfer 6 Binary Grid File Format
SurferHelp10_GXF.pdfGrid Exchange .GXF File Description
SurferHelp11_LAS.pdfLAS LiDAR Binary File Description

Un-public formats description (reverse engineering results)
Garmin_BIN.pdfFilename 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.pdfFilename extensions: *.GCD
Firmware update file for Garmin outdoor GPS devices.
Last change: 2019-03-02; Link
Garmin_IMG_ADM.pdfFilename 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.pdfFilename 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.pdfFilename 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.pdfFilename extensions: *.MDX
Garmin map index file for use with MapSource and BaseCamp.
Last change: 2019-05-05; Link
Garmin_MPS_GDB_and_GFI.pdfFilename 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.pdfFilename 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.pdfFilename 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.pdfFilename 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.pdfFilename 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.pdfFilename 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.pdfFilename 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 wiki.openseamap.org 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
00_MagPostProcessingReference.pdfSonarWiz 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.pdfSonarWiz 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).

Geotiff_1.0.pdfVersion: 1.8.2, 10 November 1995, link.
Geotiff_1.1.pdfVersion: 0.4, 2019-03-18, link.

KML_v1.0_cookbook.pdfVersion: 1.0. Inclues MatLab scripts.
KML_v2.1_Reference__An_OGC_Best_Practice.pdfVersion: 2.1.

Equipment's in/out protocols description

NMEA 0183 protocol description
Nmea_rev2_30.pdfNMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 2.30, March 1, 1998. NMEA
Nmea_rev3_01.pdfNMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 3.01, January 1, 2002. NMEA
Nmea_garmin_revC.pdfGarmin Proprietary NMEA 0183 Sentences TECHNICAL SPECIFICATIONS. Garmin
Nmea_0183.pdfThe NMEA 0183 Protocol. Klaus Betke, May 2000. Revised August 2001.
Starlink, Inc. proprietary sentence: $PSLIB
Nmea0183_not.pdfThe 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.pdfNMEA-RTK messages // RTKNav 4.00 User Guide Rev 2, Copyright 2008 NovAtel Inc. Link:

GNSS -- SiRF (Qualcom) protocols description
SiRF_Nmea_rev2_2.pdfNMEA 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.pdfNMEA Reference Manual SiRF Technology, Inc. Issue 3, 29 Feb 2012.
SiRF_Binary_Protocol..2.4.pdfSiRF Binary Protocol Reference Manual, Revision 2.4, November 2008.
SiRF_One_Socket_Protocol...pdfOne Socket Protocol Interface Control Document, Issue 15, April 2013.

GNSS -- Trimble protocols description -- HIPO, TAIP, TSIP
Trimble_HIPO_DR_GPS_Manual_58059-00_RevA.pdfHIPO // User guide reference manual Lassen DR+GPS starter kit, Revision A, Part Number 58059-00, March 2007.
Trimble_TAIP_LassenBook.pdfTAIP // Lassen SQ GPS Receiver Trimble ASCII Interface Protocol (TAIP).
Trimble_TAIP_sv8_app_c.pdfTAIP // Trimble ASCII Interface Protocol (TAIP), SVeeEight Plus GPS.
Trimble_TSIP_BinaryInterfaceControlDoc.pdfTSIP // Trimble OEM BD9xx GNSS Receiver Family Interface Control Document, Version 4.85, Revision B, October 2014.
Trimble_TSIP_sv8_app_a.pdfTSIP // Trimble Standard Interface Protocol, SVeeEight Plus GPS.
Trimble_TSIP_tsip_reference_revC.pdfTSIP // TSIP Reference, Part Number: 34462-00, Revision: C, April 1999.
Trimble_OEM_Reference_Manuals.zipContaine 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
Topcon_GRIL_rm.pdfGRIL, GNSS Receiver Interface Language, Reference Manual, Topcon Positioning Systems Inc., Rev.A, June 2008.

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

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

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

IMU/MRU -- Teledyne protocols description
TeledyneTSS.pdfTSS1 ; 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
TeledyneTSS1&TSS3.pdfTSS1 ; TSS3

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

USBL/HiPAP -- Kongsberg Maritime
Kongsberg_hpr_300_telegrams.pdfHPR300 telegrams // Kongsberg Simrad HPR 300 telegrams, Rev.B, 27.01.1999.
Kongsberg_164581_apos_for_hipap...pdfHPR300 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
Qinsy_F.pdfQPS // 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.pdfMarine 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.pdfGeometrics // G-882 Cesium marine magnetometer 25919-OM REV.F. CM-221 Counter Data Format and Command Structure.


IOGP publications
373-01.pdfSurveying & Positioning Guidance note 1. Geodetic awareness guidance note. Ver:1.1. 22 August2008.
373-02.pdfSurveying & Positioning Guidance note 2. Use of bin grids and coordinate reference systems in workstations. Ver:1.1. May2002.
373-03.pdfGeomatics Guidance Note 3. Contract area description. Ver:5.1. December2014.
373-04.pdfSurveying & 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.pdfSurveying & Positioning Guidance note 5. Coordinate reference system destnition - recommended practice. Ver:2.1. January2009.
373-07-1.pdfSurveying and Positioning. Guidance Note Number7, part1. Using the EPSG Geodetic Parameter Dataset. Ver:8. August2012.
373-07-2-1_2017.pdfGeomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:October 2017.
373-07-2_2015.pdfGeomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:April 2015.
373-07-2_2012.pdfGeomatics Guidance Note Number7, part2. Coordinate Conversions and Transformations including Formulas. Rev:July 2012.
373-07-3.pdfGeomatics Guidance Note Number7, part3. EPSG Geodetic Parameter Registry - Developer Guide. Ver:3.0. August2012.
373-07-4.pdfGeomatics Guidance Note Number7, part4. EPSG Geodetic Parameter Relational Database - Developers Guide. Ver:4. April 2009.
373-13.pdfSurveying & Positioning Guidance note 13. Advisory note on derivation of geodetic datum transformations. Ver:1.0 April 2015.
373-16.pdfSurveying & Positioning Guidance note 16. Guidelines for the Quality Control of Proposed Well Coordinates. Ver:1.0. January2006.
373-18-1.pdfGuidelines for the conduct of offshore drilling hazard site surveys. Ver:1.2. April 2013.
373-18-2.pdfConduct of offshore drilling hazard Site Surveys - Technical Notes. Ver:1.0. October 2015.
373-19.pdfGuidelines for GNSS positioning in the oil & gas industry. Ver:1. June2011.
373-21.pdfGeomatics guidance note 21. Grid convergence. Ver:1.1. August2013.
430-1.pdfGeospatial Integrity of Geoscience Software. Part I - GIGS guidlines. September 2011.
430-2.pdfGeospatial Integrity of Geoscience Software. Part 2 - GIGS software review. September 2011.
430-3.pdfGeospatial Integrity of Geoscience Software. Part 3 - User guide for the GIGS Test Dataset. September 2011.
448.pdfAn overview of marine seismic operations. April 2011.
462_01.pdfGeomatics 462 series. Data models note 1. Guidelines for the use of the Seabed Survey Data Model. Ver:1.1. March 2013.
462_02.pdfGeomatics 462 series. Data models note 2. Guideline for the delivery of the Seabed Survey Data Model. Ver:1. January 2013.
462_03.pdfGeomatics 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.pdfFundamentals of underwater sound. May 2008.
425.pdfGeohazards from sea floor instability and mass flow. December 2009.
451.pdfModel based assessment of underwater noise from an airgun array soft-start operation. February 2011.

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

IMCA papers
IMCA_C004_..._202006.pdfGuidance on Competence Assurance and Assessment Offshore Survey Division, IMCA C 004 Rev. 3.1, June 2020.
IMCA_M189_S004_201205.pdfExample 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.

Standards lists

IOGP source
362.pdfCatalogue of international standards used in the petroleum and natural gas industries. Report No.362. February2012 update.
426.pdffOGP Regulators' use of standard. Report No.426. March2010.
485.pdfStandards and guidelines for well construction and well operations. Report No.485. May2015.
4015.pdfISO Standards for use in the oil & gas industry. 2014:Standards Bulletin No.15.
4210.pdfList 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.pdfShell Standard Legend (RED). Unrestricted SR.12.12047. November2012.
SR_12_12048.pdfShell Standard Legend (GREEN). Unrestricted SR.12.12048. November 2012.

Papers Heap

Matlab for seismic
Sourse LinkFileDescription
------inversion_using_seislab.pdfEmilson Pereira Leite, Seiemic model-based inversion using Matlab //Matlab - Modelling, Programming and Simulations.
LargeDataSeismic_CODE.zip (20151213)Large Data in MATLAB: A Case Study in Seismic Data Processing //Webinar.
------SNew_seismic_modelling.pdfGary F. Margrave, New seismic modelling facilities in Matlab //CREWES Research Report - Volume 12 (2000).
------SEG-YfileIO.pdfHenry C. Bland and Paul R. MacDonald, A SEG-Y file I/O toolbox for Matlab//CREWES Research Report - Volume 12 (2000).
------seisplot.pdfHow to plot a seismic trace with MATLAB? )
------Matlab_tool_REGCONT2.pdfMatlab 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.pdfBasic 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.pdfUpward 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: www.cors.us (WV RTN) // @Plumb Bill, August 28, 2014

RTK elementary&popular
-RTK_Shkalikava...pdfTransmission of position information via a data network, Bachelor degree: Anastasia Shkalikava, 2015
-RTK_NetworkRTK_NZ_V4p1.pdfP.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_...pdfPPP-RTK market and technology report, European GNSS Agency, 2019

Marine geophysical equipments data examples


There are two types of data: "sample data sets" with some features (it can be used to analyze equipment's resolution and other parameters) and short "stamps" can described as file-format examples. The "stamps" has description "no features".

EdgeTech-6205_bathy_SonarWiz7_jsf.zipEquipment: EdgeTech-6205, bathymetry. File format: jsf.
Source: data example for SonarWiz_7.Original Link, June 2020.
CMax_DemoData_cm2.zipEquipment: C-Max, side scan sonar. File format: cm2.
Source: demo data attached with software. April 2007.
Geometrics-Hypack_SonarWiz7_raw.zipEquipment: Geometrics G882, magnitomerer recorded with Hypack. File format: RAW (Hypack Raw File Format).
Source: data example for SonarWiz_7.Original Link, June 2020.
Geometrics-MagLog_SonarWiz7_int.zipEquipment: Geometrics G882, magnitomerer recorded with MagLog. File format: INT only.
Source: data example for SonarWiz_7.Original Link, June 2020.
Geometrics-MagLog_ClarkSound.zipEquipment: Geometrics G882, magnitomerer recorded with MagLog. File format: MAG, GPS, INT.
Source: data example from Geometrics ftp-site. Original Link, July 2019.
International Bathymetric Chart of the Arctic Ocean (IBCAO); www.gebco.net/...; uploaded 2020/12/10 from project's site.
The goal of the IBCAO initiative is to develop a digital data base that contains all available bathymetric data north of 64deg North, for use by mapmakers, researchers, institutions, and others whose work requires a detailed and accurate knowledge of the depth and the shape of the Arctic seabed.
The data are made available in Polar Stereographic projection co-ordinates (meters), true scale set at 75N. The horizontal datum for the data set is WGS 84 and vertical datum can assumed to be Mean Sea Level (however, note there may be datum issues for older data, which can be to chart datum). THe 200mx200m grid cell spacing uploaded.

Example for depth calculation in [Lat,Lon]:
EllipParam=[6378137 0.081819190842];ProjParam=[75 0 0 0 2];[GpsE,GpsN]=gNavGeog2ProjPolarStereo(Lat,Lon,EllipParam,ProjParam);GpsZ=interp2(x,y,z,GpsN,GpsE);