R2Sonic 2024 - Head Status Format

Page 224 of 254
Version
6.3
Rev
r012
Date
05-11-2022
Part No. 96000001
f32 H0_RxAbsorption; // [dB per kilometer]
f32 H0_RxMountTilt; // [radians]
u32 H0_RxMiscInfo; // reserved for future use
u32 H0_reserved; // reserved for future use
f32 H0_MoreInfo_0; // roll [radians]
f32 H0_MoreInfo_1 //Z-offset, proj [metres]
f32 H0_MoreInfo_2; //Y-offset, proj [metres]
f32 H0_MoreInfo_3; //X-offset, proj [metres]
f32 H0_MoreInfo_4; //0 (reserved for future use)
f32 H0_MoreInfo_5; //0 (reserved for future use)
// section D0: 16-bit magnitude data (present only during "magnitude only" mode)
u16 D0_SectionName; // 'D0'
u16 D0_SectionSize; // [bytes] size of this entire section
u32 D0_PingNumber; // pings since power-up or reboot
u32 D0_TotalSamples; // number of samples in entire time series (sample rate is H0_RxSampleRate)
u32 D0_FirstSample; // first sample of this section relative to zero range
u16 D0_Samples; // number of samples in this section
u16 D0_reserved; // reserved for future use
f32 D0_MagnitudeScaling[8]; // to be determined, 0=ignore
struct
{
u16 PortMagnitude; // PortMagnitude * (tbd function of sample number and D0_MagnitudeScaling[8])
u16 StbdMagnitude; // similar but starboard side
} D0_Data[D0_Samples];
// section D1: 16-bit magnitude and direction data (present only during "magnitude+direction" mode)
u16 D1_SectionName; // 'D1'
u16 D1_SectionSize; // [bytes] size of this entire section
u32 D1_PingNumber; // pings since power-up or reboot
u32 D1_TotalSamples; // number of samples in entire time series (sample rate is H0_RxSampleRate)
u32 D1_FirstSample; // first sample of this section relative to zero range
u16 D1_Samples; // number of samples in this section
u16 D1_reserved; // reserved for future use
f32 D1_MagnitudeScaling[8]; // to be determined, 0=ignore
f32 D1_AngleScalingFactor;
struct
{
u16 PortMagnitude; // PortMagnitude * (tbd function of sample number and D1_MagnitudeScaling[8])
s16 PortAngle; // [radians from array centerline (positive towards starboard)] = PortAngle * D1_AngleScalingFactor
u16 StbdMagnitude; // similar but starboard side
s16 StbdAngle; // similar but starboard side
} D1_Data[D1_Samples];
// *** END TRUEPIX DATA FORMAT 0 ***
15.11 Head Status Format
// *** BEGIN PACKET: HEAD STATUS DATA FORMAT 0 ***
// Head Status data reports the status of the sonar head. This data is
// useful for troubleshooting. Data is sent to gui baseport + 2.