Surveyor240 messages

control

17 set_net_info

The first octet of the IP address is placed in the least significant byte of the u32. For example, the IP address 192.168.2.2 would be packed into a u32 like this: u32 ip = (192) | (168 << 8) | (2 << 16) | (2 << 24);

Type	Name	Description
u32	ntp_ip_address	IP address of NTP server.
u32	subnet_mask	Subnet of NTP server.
u32	gateway_ip	Gateway IP address of NTP server. Only necessary if NTP server is in different subnet than device and needs to be accessed through a gateway. Otherwise can be left as 0

3023 set_ping_parameters

Used to control the operation of Surveyor

Type	Name	Description	Units
i32	start_mm	Start range in mm at which echo data is recorded. Ignored in auto range mode. Will be forced to 5% of end range as a minimum.	mm
i32	end_mm	End range in mm over which echo data is recorded. Set to 0 for Surveyor to automatically track the bottom and adjust range dynamically.	mm
float	sos_mps	Speed of sound	m/s
i16	gain_index	Set to -1 for auto gain (recommended). Valid manual gain ranges are from 0 to 100
i16	msec_per_ping	pings per second = 1000 / msec_per_ping. So 100 msec_per_ping means 10 pings per second. Actual ping rate can be limited by range and speed of sound, so the value specified defines an upper limit on ping rate.	ms/ping
u16	deprecated	Set to 0
u8	diagnostic_injected_signal	must be set to 0
bool	ping_enable	true to start/continue pinging, false to stop
bool	enable_channel_data	Used by SonarView, but not necessary. If enabled log files will be much larger.
bool	reserved_for_raw_data	Must be set to false
bool	enable_yz_point_data	Angle and time of flight data is preferred for future SonarView enhancements.
bool	enable_atof_data	Enable angle and time of flight information for each detected point
i32	target_ping_hz	Set to 240000. Used for internal production testing only
u16	n_range_steps	Sets range resolution in number of range steps. Must be between 200 and 800 (inclusive)
u16	reserved
float	pulse_len_steps	Pulse length in number of range steps. Recommended value is 1.5

15 utc_response

Type	Name	Description	Units
u64	utc_msec
u32	accuracy_msec

general

14 utc_request

No payload.

get

3012 atof_point_data

A response packet Surveyor sends to the host application containing angle and time of flight for each detected point.

Type	Name	Description	Units
u32	pwr_up_msec	Time at start of ping, msec since power on.	msec
u64	utc_msec	Time at start of ping, utc msec (1970 epoc). Will be 0 if not avaliable.	msec
float	listening_sec	Time from start of ping to last range bin.	sec
float	sos_mps	Speed of sound (mps) used in angle calculations.	float
u32	ping_number	Assigned sequentially from power on.
u32	ping_hz	Frequency of the ping signal (Hz).	Hz
float	pulse_sec	Pulse length in seconds.	sec
u32	flags	reserved
u16	num_points	Number of points reported in the points field
u16	reserved
atof_t[]	atof_point_data	Length is derived from payload_length in the header.

504 attitude_report

A response packet Surveyor sends to the host application containing information about the attitude (pitch and roll) of the device based on it's internal sensors.

Type	Name	Description	Units
float	up_vec_x	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	up_vec_y	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	up_vec_z	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	reserved_1	reserved for future magnetic field vector
float	reserved_2	reserved for future magnetic field vector
float	reserved_3	reserved for future magnetic field vector
u64	utc_msec	utc msec (1970 epoc). Will be 0 if not avaliable	msec
u32	pwr_up_msec	msec since power up	msec

118 water_stats

A response packet Surveyor sends to the host application containing information about the temperature and pressure of the water.

Type	Name	Description	Units
float	temperature		deg C
float	pressure		Bar

3011 yz_point_data

A response packet that Surveyor sends to the host application containing the detected depth points.

Type	Name	Description	Units
u32	timestamp_msec	msec since power up	msec
u32	ping_number	Assigned sequentially from power on.
float	sos_mps	Speed of sound	m/s
float	up_vec_x	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	up_vec_y	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	up_vec_z	World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)
float	mag_vec_x	reserved for future magnetic field vector
float	mag_vec_y	reserved for future magnetic field vector
float	mag_vec_z	reserved for future magnetic field vector
u32	reserved_0
u32	reserved_1
u32	reserved_2
u32	reserved_3
u32	reserved_4
u32	reserved_5
u32	reserved_6
u32	reserved_7
u32	reserved_8
u32	reserved_9
float	water_degC	-1000 if sensor not installed	deg C
float	water_bar	Water pressure in bar. -1000 if sensor not installed	bar
float	heave_m	Reserved for heave in meters.	meters
float	start_m	Range at the beginning of the analyzed signals for this ping.	meters
float	end_m	Range at the end of the analyzed signals for this ping.	meters
u16	unused
u16	num_points	Number of points reported in the points field
float[]	yz_point_data	Y and Z value pairs for each detected point. Y is athwartships offset in meters, positive to the port side. Z is depth, positive up so all z values will be negative. Length is derived from payload_length in the header.