Velodyne VLS-128 - Data Packet Structure; Figure 9-2 VLS-128 Single Return Mode Data Structure

9.3.2 Data Packet Structure
A data packet is 1248 bytes long and sent via a UDP packet on port 2368. The data packet is comprised of 42 bytes of pro-
tocol header, twelve Data Blocks, a four-byte timestamp, and two factory bytes.
There are two formats for the data packet:
Single Return Mode (either Strongest or Last)
Dual Return Mode
See Laser Return Modes on page 31 for an illustration of what Strongest, Last, and Dual mean in this context.
There are several key differences between the packet structures.
Figure 9-2 VLS-128 Single Return Mode Data Structure
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DRAFT