Reson Seabat 8101

Interface Specification Document6.3.8.2 Packet Type 0x18struct{};RI_THETA_DATAchar synch_header[4]; // synch header {0xff, 0xff, 0x00, 0x00char packet_type; // identifier for packet type (0x18)char packet_subtype; // identifier for packet subtypeunsigned short latency; // time from ping to output (milliseconds)DATA_TIME data_time; // time of ping for data packet (0 if no UTC input)unsigned long ping_number; // sequential ping number from sonar startup/resetunsigned long sonar_id; // least significant four bytes of Ethernet addressunsigned short sonar_model; // coded model number of sonarunsigned short frequency; // sonar frequency in KHzunsigned short velocity; // programmed sound velocity (LSB = 1 m/sec)unsigned short sample_rate; // A/D sample rate (samples per second)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 SeaBat// bits 0-6 - gain (1 - 45)// bit 14 (0 = fixed, 1 = tvg)// bit 15 (0 = manual, 1 = auto)unsigned short pulse_width; // transmit pulse width (microseconds)unsigned 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 tvgunsigned char projector_type; // bits 0-4 = projector type// bit 7 - pitch steering (1=enabled, 0=disabled)unsigned char projector_beam_width; // along track transmit beam width (degrees * 10)unsigned short beam_spacing_num; // receive beam angular spacing numeratorunsigned short beam_spacing_denom; // cross track receive beam angular spacing denominator// beam width degrees = numerator / denominatorshort projector_angle; // projector pitch steering angle (degrees * 100)unsigned short min_range; // sonar filter settingsunsigned short max_range;unsigned short min_depth;unsigned short max_depth;unsigned char filters_active; // range/depth filters active// bit 0 - range filter (0 = off, 1 = active)// bit 1 - depth filter (0 = off, 1 = active)unsigned char flags; // bit 0 - Roll stabilization flag. 0 = off, 1 = on.unsigned char spare[2]; // spare field for future growthshort temperature; // temperature at sonar head (deg C * 10)short beam_count; // number of sets of beam data in packetunsigned short range[n]; // range for beam where n = beam Count// range units = sample cells * 4unsigned char quality[cnt]; // packed quality array (two 4 bit values/char)// cnt = n/2 if beam count even, n/2+1 if odd// cnt then rounded up to next even number// e.g. if beam count=101, cnt=52// unused trailing quality values set to zero// bit 0 - brightness test (0=failed, 1=passed)// bit 1 - colinearity test (0=failed, 1=passed)// bit 2 - amplitude bottom detect used// bit 3 - phase bottom detect used// bytes are populated high order nibble first with the// higher 4 bits for the first sounding and the lower 4 bits// for the second sounding// bottom detect can be amplitude, phase or bothunsigned short intensity[n]; // intensities at bottom detect * 8unsigned short checksum; // checksum for data packet______________________________________________________________________SeaBat 8101 Operator's Manual 6-30 (ISD Rev 1.23) Version 3.02