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Version 3.0 REV r000
Date 25-08-2010
Appendix VII: R2Sonic Data Format
14
R2Sonic Uplink Data Formats
14.1
. Introduction
This describes the data formats sent from the sonar head to the data collection software. The
formats are given in pseudo C.
Head firmware version 12-Apr-2010 utilise the data formats in this document. Head firmware
version 25-Mar-2010-11-14-27 uses the bathymetry packet format described in this document.
Future versions of firmware will adhere to this format and may include additional information.
The data format in older versions of sonar head firmware are different than the format described in
this document.
14.2
. General Notes
1.
Each bathy or snippet section includes a name/size mini-header to allow the parser to easily skip
unneeded or unrecognized sections. These formats are designed for easy 4-byte alignment. Be
sure your compiler/linker doesn't insert any extra padding between values. If necessary, use
your compiler's "packed" directive.
2.
All values have big-endian byte order. Your compiler may provide conversion functions such as
htonl, htons, ntohl, ntohs, however those assume integers so you'll need to be very careful with
floats.
3.
u8, u16, u32 means unsigned integers of 8, 16, 32 bits.
s8, s16, s32 means signed integers of 8, 16, 32 bits.
f32 means IEEE-754 32-bit floating point.
4.
All packets are UDP/IP datagrams.
14.3
. Port Numbers
Bathymetry data port = Ba 0
Snippets data port = Ba 6
Device status port = Ba 2
Where the baseport is the data collection software baseport.
Summary of Contents for 2022
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