R2Sonic 2026 - 14.2.3 Command Packet Format; 14.3 Head Commands, Binary Format

Page 202 of 254
Version
6.3
Rev
r012
Date
05-11-2022
Part No. 96000001
14.3 Head Commands, Binary Format
Cmd
Format
Units
Values
Description
ABS0
ABS1
ABS2
ABS3
ABS4
f32
dB/km
0 to 200
Absorption
ABS1-ABS4 are used for MultiMode selections
AIB0
f32
dB
0 to 60
Acoustic image brightness
AIH0
u32
lines
0 = off
wedge radius in pixels
Acoustic imagery height. Set to display wedge radius
in pixels. Head will return requested lines or less,
usually less. Larger values will increase Ethernet data
rate.
AUT0
u32
Flag bits
0x00010000 = auto range on
[23:16] auto range
[31:24] spare
BIE0
u32
0 = off
1 = on
Bathy intensity enable
BOS0
u32
0 = Equiangle
1 = Equidistant
Bottom sampling
DGA0
f32
metres
0 to 1200
depth gate min
DGB0
f32
metres
0 to 1200
depth gate max
DGO0
u32
0x00000000 = gates off
0x00000001 = manual gates
0x0000ww02 = auto gates
0x0000ww03 = auto gate/slope
where ww = gate width in ± percent
of depth (5% to 90%)
Depth gates control. Manual gates mode require
DGA0, DGB0, DGS0 to be set. In auto gates mode, a
peak percentage value for gate width must be
supplied in bits [15:8] in this command.
DGS0
f32
radians
-π/2 to +π/2
depth gate slope
DHM0
u32
0 = single head
1 = master simultaneous, dual
2 = master alternating, dual
3 = slave simultaneous, dual
4 = slave alternating, dual
Head sync mode
(single and dual head modes)
DYNA
u32
0xaabbbccc
aa = spare
bbb = slope control
ccc = depth control
ex: 0x003d0523 shows a bottom at
5m depth which wobbles.
Generates a moving simulated bottom for testing
auto gate features.
Three control bits:
[0:0] = magnitude (0-f)
[1:1] = ∆ magnitude (0-f)
[2:2] = rate of change (0-f)
FIL0
u32
0 = single
1 = double
2 = quad
Bottom fill enhancement (High Density mode.)
FRQ0
FRQ1
FRQ2
FRQ3
FRQ4
f32
Hz
170000 to 450000
700000 for UHR
90000, 100000 for 2026 LF Option
Frequency
FRQ1 – FRQ4 are used for MultiMode selections.
GAN0
GAN1
GAN2
GAN3
GAN4
f32
1 to 45
Rcvr gain. gain in dB = setting * 2
GAN1 – GAN4 are used for MultiMode selections
IDCO
U32
1 = Bathy+FLS proj. (model 1004)
2 = UHR proj. (model 1006)
Projector ID override, use for emergency
PNG0
u32
1 = emit one ping only
Manual ping. Each time this command is sent, sonar
will emit one ping.