13 APPENDIX VII: Sonic 2024/2022 Mounting: Sub-Surface (ROV/AUV) .................................... 151
13.1 Installation Considerations ................................................................................................. 151
13.1.1 Ethernet wiring considerations .................................................................................. 152
13.2 Data Rates .......................................................................................................................... 152
13.3 ROV Installation Examples .................................................................................................. 153
13.4 Power Requirements........................................................................................................... 155
13.4.1 Common mode noise rejection .................................................................................. 157
13.4.2 SIM Power connections .............................................................................................. 158
13.5 SIM Installation – ROV ........................................................................................................ 159
13.6 SIM Installation – AUV ........................................................................................................ 160
13.7 SIM Board Physical Installation .......................................................................................... 161
13.8 SIM Stack LED Status Indicators ......................................................................................... 161
13.8.1 SIM Board Dimensional Information .......................................................................... 162
13.8.2 SIM Board Images ....................................................................................................... 163
13.9 Dual Sonar Head ................................................................................................................. 165
13.9.1 Dual Head Installation ................................................................................................ 165
13.9.2 Operation .................................................................................................................... 165
14 APPENDIX VIII: R2Sonic Control Commands ......................................................................... 167
14.1 Introduction ........................................................................................................................ 167
14.2 General Notes ..................................................................................................................... 167
14.2.1 Ethernet Port Numbers .............................................................................................. 167
14.2.2 Type Definitions .......................................................................................................... 167
14.2.3 Command Packet Format ........................................................................................... 167
14.3 Head Commands, Binary Format ........................................................................................ 168
14.4 SIM Commands, Binary Format .......................................................................................... 171
14.5 GUI Commands, Binary Format .......................................................................................... 172
14.6 Command Examples Sent to the Sonar Head and SIM ....................................................... 173
15 APPENDIX IX: R2Sonic Uplink Data Formats ......................................................................... 175
15.1 Introduction ........................................................................................................................ 175
15.2 General Notes ..................................................................................................................... 175
15.3 Port Numbers ...................................................................................................................... 175
Page 11 of 210
Version 5.0 Rev r002
Date 05-08-2014
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