This is a testing file for HUDDL 1.0.0 containing an format description for R2Sonic Format.
R2Sonic LLC R2S Format (binary)
R2Sonic R2S Format
N/A
R2Sonic LLC
http://www.r2sonic.com/
r2support@r2sonic.com
+1 (512) 891.0000
5307 Industrial Oaks Blvd, Suite 120, Austin, Texas 78735, USA
Version 5.0 Rev. 001
Version 5.0
Version 4.1
Version 4.0
Version 3.1
Version 3.0
Version 2.0
Version 1.6
Version 1.5
Version 1.4
Version 1.3
Version 1.2
Version 1.1
This describes the data formats sent from the sonar head and SIM. Unless noted, the data packets are sent from the sonar head.
Head firmware versions 13-Dec-2011, and newer, utilise the data formats in this document. Previous head firmware versions back to 25-Mar-2010 only utilise data formats from Ethernet Data Rates and Bathymetry Packet Format 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, is different than the format described in this document and is unsupported.
The data format, in older versions of sonar head firmware, is different than the format described in this document and is unsupported.
Each info or data 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
All values have big-endian byte order
Hypack-added length
Packet name
Packet size
Reserved for future use
header: each datagram starts with this
'H0'
[bytes] size of this section
scaling factor
hd:u16
H0_points
[seconds two-way] = R0_range * R0_scalingFactor
16-bit bathy point ranges
[radians] angle of first (port side) bathy point, relative to array centerline, angle first less than angle last
[radians] angle of last (starboard side) batry point
hd:f32
6
reserved for future use
bathy point angles, equally-spaced (present only during 'equi-angle' spacing mode)
[radians] angle of first (port side) bathy point, relative to array centerline, angle first less than angle last
scaling factor
hd:f32
6
reserved for future use
hd:u16
H0_points
[radians] angle[n] - A2_angleFirst + (32-bit sum of A2_angleStep[0] through A2_angleStep[n]) * A2_scalingFactor
16-bit bathy point angles, arbitrarily-spaced (present only during 'equi-distant' spacing mode)
scaling factor
hd:u16
H0_points
[micropascals] intensity[n] = I1_intensity[n] * I1_scaling_factor
16-bit bathy intensity (present only if enabled)
[seconds two-way]
[seconds two-way]
[radians]
simple straight-line depth gates
[seconds two-way] = G1_rangeMin * G1_scalingFactor
[seconds two-way] = G1_rangeMax * G1_scalingFactor
scaling factor
G1_gate_entry
H0_points
list of ranges (min-max)
8-bit gate positions, arbitrary paths (present only during 'verbose' gate description mode)
hd:u32
H0_points
8 groups of 4 flags bits (phase detect, magnitude detect, reserved, reserved), packed left-to-right
4-bit quality flags
'H0'
[bytes] size of this section
hd:u8
12
example "2024", unused chars are nulls
hd:u8
12
example "100017", unused chars are nulls
[seconds] ping time relative to 0000 hours 1-Jan-1970, integet part
[nanoseconds] ping time relative to 0000 hours 1-Jan-1970, fraction part
pings since power-up or reboot
[seconds] time between most recent two pings
[meter per second]
[hertz] sonar center frequency
[dB re 1 uPa at 1 meter]
[seconds]
[radians]
[radians]
[radians]
[radians]
reserved for future use
[herts]
[herts] sample rate of data acquisition and signal processing
[meters] sonar range setting
[multiply by two for relative dB]
[dB (times log range in meters)]
[dB per kilometer]
[radians]
reserved for future use
reserved for future use (uncorrected pressure sensor reading in meters)
number of bathy points
Bathymetry Packet Format
hd:u8
12
example "2024", unused chars are nulls
hd:u8
12
example "100017", unused chars are nulls
[seconds] ping time relative to 0000 hours 1-Jan-1970, integet part
[nanoseconds] ping time relative to 0000 hours 1-Jan-1970, fraction part
pings since power-up or reboot
[seconds] time between most recent two pings
[meter per second]
[hertz] sonar center frequency
[dB re 1 uPa at 1 meter]
[seconds]
[radians]
[radians]
[radians]
[radians]
reserved for future use
[herts]
[herts] sample rate of data acquisition and signal processing
[meters] sonar range setting
[multiply by two for relative dB]
[dB (times log range in meters)]
[dB per kilometer]
[radians]
reserved for future use
reserved for future use (uncorrected pressure sensor reading in meters)
number of snippets
hd:f32
6
reserved for future use
pings since power-up or reboot
snippet number, 0 to H0_snippets - 1
number of samples in this snippet, sample rate is H0_rxSampleRate
first sample of this snippet relative to zero range, sample rate is H0_rxSampleRate
[radians] angle of this snippet, relative to array centerline
scaling factor at start of snippet, 0=ignore, use linear interpolation to get other values
scaling factor at end of snippet, 0=ignore
reserved for future use
hd:u16
S1_samples
[micropascals] = S1_magnitude[n] * (linear interpolate between S1_scalingFactorFirst and S1_scalingFactorLast)
16-bit snippet data (for network efficiency packet may contain several of these sections) (supports snippets up to 32K samples by fragmenting at the IP level rather than by the application like 81xx)
Snippet Format