R2Sonic 2022, Руководство по эксплуатации

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Page 121 of 133
Version 3.0 REV r000
Date 25-08-2010
14.6 . Snippet Format
// *** BEGIN PACKET: SNIPPET FORMAT 0 ***
u32 PacketName; // 'SNI0'
u32 PacketSize; // may be zero in UDP, otherwise: [bytes] size of this entire packet
u32 DataStreamID; // reserved for future use
// section H0: header (present only in first snippet packet of each ping)
u16 H0_SectionName; // 'H0'
u16 H0_SectionSize; // [bytes] size of this entire section
u8 H0_ModelNumber[12]; // example "2024", unused chars are nulls
u8 H0_SerialNumber[12]; // example "100017", unused chars are nulls
u32 H0_TimeSeconds; // [seconds] ping time relative to 0000 hours 1-Jan-1970, integer part
u32 H0_TimeNanoseconds; // [nanoseconds] ping time relative to 0000 hours 1-Jan-1970, fraction part
u32 H0_PingNumber; // pings since power-up or reboot
f32 H0_PingPeriod; // [seconds] time between most recent two pings
f32 H0_SoundSpeed; // [meters per second]
f32 H0_Frequency; // [hertz] sonar center frequency
f32 H0_TxPower; // [dB re 1 uPa at 1 meter]
f32 H0_TxPulseWidth; // [seconds]
f32 H0_TxBeamwidthVert; // [radians]
f32 H0_TxBeamwidthHoriz; // [radians]
f32 H0_TxSteeringVert; // [radians]
f32 H0_TxSteeringHoriz; // [radians]
u32 H0_TxMiscInfo; // to be determined
f32 H0_RxBandwidth; // [hertz]
f32 H0_RxSampleRate; // [hertz] sample rate of data acquisition and signal processing
f32 H0_RxRange; // [seconds two-way]
f32 H0_RxGain; // [
Δ
H0_RxGain = 1; 2dB gain change]
f32 H0_RxSpreading; // [dB (times log range in meters)]
f32 H0_RxAbsorption; // [dB per kilometer]
f32 H0_RxMountTilt; // [radians]
u32 H0_RxMiscInfo; // to be determined
u16 H0_reserved; // reserved for future use
u16 H0_Snippets; // number of snippets
f32 H0_MoreInfo[6]; // several to-be-determined values such as attitude info to assist the GUI display