# YZ\_POINT\_DATA

{% hint style="warning" %}
We do not recommend using this packet. Please prefer [ATOF\_POINT\_DATA](/c/surveyor-240-16/application-programming-interface/atof_point_data.md) instead
{% endhint %}

### ID: 3011

### Payload Definition

<table><thead><tr><th width="201">Data Type</th><th width="164">Name</th><th>Description</th></tr></thead><tbody><tr><td>u32</td><td>timestamp_msec</td><td>msec since power on</td></tr><tr><td>u32</td><td>ping_number</td><td>assigned sequentially from power on</td></tr><tr><td>float</td><td>sos_mps</td><td>speed of sound, meters per second used for these computations</td></tr><tr><td>float[3]</td><td>up_vec</td><td>world up vector (x,y,z) in the device coordinate system.  x forward, y port, z up.</td></tr><tr><td>float[3]</td><td>mag_vec</td><td>reserved for future magnetic vector in the device coordinate system</td></tr><tr><td>u32[10]</td><td>reserved</td><td>for future additions</td></tr><tr><td>float</td><td>water_degC</td><td>-1000 if sensor not installed</td></tr><tr><td>float</td><td>water_bar</td><td>water pressure in bar. -1000 if sensor not installed</td></tr><tr><td>float</td><td>heave_m</td><td>reserved for heave in meters. not implemented so will be 0.0</td></tr><tr><td>float</td><td>start_m</td><td>range at the beginning of the analyzed signals for this ping</td></tr><tr><td>float</td><td>end_m</td><td>range at the end of the analyzed signals for this ping</td></tr><tr><td>u16</td><td>unused</td><td></td></tr><tr><td>u16</td><td>num_points</td><td>number of points reported in the points field</td></tr><tr><td>float[2*num_points]</td><td>yz_point_data</td><td>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. </td></tr></tbody></table>

To compute pitch and roll from the up\_vec:

Pitch (positive bow up) = asin(up\_vec.x);

Roll (positive port side up) = atan2(up\_vec.y, up\_vec.x);


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/surveyor-240-16/application-programming-interface/yz_point_data.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.