R2Sonic 2022 - R2 Sonic SIM Commands - Binary Format

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115 of 133
Version 3.0 REV r000
Date 25-08-2010
Cmd Format Units Values Description
SVU0
u32 0 = use SVP
1 = user value
sound velocity user-enable
TXL0
f32 seconds
0 to 500μs
pulse length
TXP0
f32
dB//1μPa
0, 191 to 221 power
TWIX
u32 0 = flat bottom
1 = vertical features
bottom type
13.4 R2Sonic SIM Commands – Binary Format
Cmd Format Units Values Description
BDG0
u32 bps standard baud rates
300 to 115200
GPS baud
BDM0
u32 bps standard baud rates
300 to 115200
motion baud
BDS0
u32 bps standard baud rates
300 to 115200
SVP baud
DBG0
u32 7 or 8 GPS data bits
DBM0
u32 7 or 8 motion data bits
DBS0
u32 7 or 8 SVP data bits
DRG0
u32 0 = auto GPS driver
DRM0
u32 0 = auto motion driver
DRS0
u32 0 = auto SVP driver
ENG0
u32 0 = off
1 = on
GPS serial port enable
ENM0
u32 0 = off
1 = on
motion serial port enable
ENS0
u32 0 = off
1 = on
SVP serial port enable
PAG0
u32 0 = none
1 = odd
2 = even
GPS parity
PAM0
u32 0 = none
1 = odd
2 = even
motion parity
PAS0
u32 0 = none
1 = odd
2 = even
SVP parity
POG0
u32 0 = rising
1 = falling
PPS edge
SPO0
u32 0 = head power of
f
1 = head power on
sonar head power