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Figure 4-4: Sonar Data Flowchart
The flow chart in F
IGURE 4-4 demonstrates the following:
1. The auxiliary sensors provide time, heading, position (latitude/longitude), and motion (roll, pitch,
and heave) data to the 6205s Sonar Interface Box via the provided RS-232 serial ports or UDP
connections over the ethernet link.
2. Auxiliary data is then relayed without additional latency to the 6205s Sonar Head via the deck
cable.
3. Auxiliary data is then combined with the raw sonar data and instantaneous sound velocity (SV)
measurements. They are time-stamped with a common value and then sent back to the 6205s
topside Sonar Interface Box.
4. The Discover Bathymetric application takes in the raw sonar data and sends it to the Bathymetric
Processor.
5. The Bathymetric Processor processes the raw sonar data to produce uncorrected range and angle
data and then transmits this back to the Discover Bathymetric application, where it is packaged
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