YZ_POINT_DATA

ID: 3011

Payload Definition

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

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);