Reson Seabat 8101
Reson Seabat 8101 Reson Seabat 8101
Interface Specification Document6.3.5 UDP PortsAll Data on the Ethernet uses different UDP Ports. The Base UDP port is the one you have selectedfor the Processor. The others are offsets to the base.UDP PORT TYPE OF DATAOFFSET0 Bathymetric Data+1 Sidescan (optional)+2 Control / Status+3 Alarm+4 Snapshot+5 Raw Beam Data (optional)+6 Snippet Data (optional)The download port for new Firmware has a fixed port, 8100.6.3.6 Bathymetric DataThere are two different Bathymetric Data formats, R and RI Theta. The two formats are describedin structures. The data types that are used are defined as follows and are in Big Endian.Data TypeByteschar 1short 2long 46.3.6.1 Time StampThe DATA_TIME Struct are used for time stamping:struct DATA_TIME{unsigned long Seconds; // Seconds since 00:00:00, 1 January 1970.unsigned long Millisecs; // Milliseconds, LSB = 1ms.};The Time in the DATA_TIME Struct is based on UTC message from GPS passed through theDAC System to the Processor.6.3.6.2 Sonar LatencyThe drawing below shows the ping timing sequence. It illustrates the processor’s three-ping latency.______________________________________________________________________SeaBat 8101 Operator's Manual 6-26 (ISD Rev 1.23) Version 3.02
Interface Specification Document6.3.7 R Theta Packets6.3.7.1 Packet Type 0x13 (older 8101 / 8111 only)struct{};RTHETA_8000char synch_header[4]; // synch header {0xff, 0xff, 0x00, 0x00 }char packet_type; // identifier for packet type (0x13)char packet_subtype; // identifier for packet subtypeDATA_TIME data_time; // time of ping for data packetunsigned short latency; // time from ping to output (milliseconds)unsigned short velocity; // programmed sound velocity// (LSB = 0.1 m/sec)unsigned short sample_rate; // A/D sample rate (samples per second)unsigned char pulse_width; // transmit pulse width (microseconds)unsigned short ping_rate; // Ping rate (pings per second * 1000)unsigned short range_set; // range setting for SeaBat (meters )unsigned short power; // power setting for SeaBatunsigned short gain; // gain setting for SeaBatshort projector; // projector settingunsigned char tvg_spread; // spreading coefficient for tvg * 4// valid values = 0 to 240// (0.0 to 60.0 in 0.25 steps)unsigned char tvg_absorp; // absorption coefficient for tvg// valid values = 10 to 140unsigned char beam_width; // cross track receive beam widthshort beam_count; // number of sets of beam data in packetunsigned short range[MAX_BEAMS]; // range for beam where// n = Beam Countunsigned char quality[MAX_BEAMS/2]; // packed quality array// (two 4 bit values/char)// Bytes are populated low order nibble// first with the lower 4 bits for the first// sounding and the higher 4 bits for the// second soundingunsigned short checksum; // checksum for data packet______________________________________________________________________SeaBat 8101 Operator's Manual 6-27 (ISD Rev 1.23) Version 3.02
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Interface Specification Document6.3.5 UDP PortsAll Data on the Ethernet uses different UDP Ports. The Base UDP port is the one you have selectedfor the Processor. The others are offsets to the base.UDP PORT TYPE OF DATAOFFSET0 Bathymetric Data+1 Sidescan (optional)+2 Control / Status+3 Alarm+4 Snapshot+5 Raw Beam Data (optional)+6 Snippet Data (optional)The download port for new Firmware has a fixed port, 8100.6.3.6 Bathymetric DataThere are two different Bathymetric Data formats, R and RI Theta. The two formats are describedin structures. The data types that are used are defined as follows and are in Big Endian.Data TypeByteschar 1short 2long 46.3.6.1 Time StampThe DATA_TIME Struct are used for time stamping:struct DATA_TIME{unsigned long Seconds; // Seconds since 00:00:00, 1 January 1970.unsigned long Millisecs; // Milliseconds, LSB = 1ms.};The Time in the DATA_TIME Struct is based on UTC message from GPS passed through theDAC System to the Processor.6.3.6.2 Sonar LatencyThe drawing below shows the ping timing sequence. It illustrates the processor’s three-ping latency.______________________________________________________________________SeaBat <strong>8101</strong> Operator's Manual 6-26 (ISD Rev 1.23) Version 3.02
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