Raw DVL Data Packet
| Raw DVL Data Packet | ||||
|---|---|---|---|---|
| Packet ID | 70 | |||
| Length | 60 | |||
| Read / Write | Read |
|||
| Field # | Bytes Offset | Data Type | Size | Description |
| 1 | 0 | u32 | 4 | Unix timestamp (seconds) |
| 2 | 4 | u32 | 4 | Microseconds |
| 3 | 8 | u32 | 4 | Flags, see Raw DVL Data Flags |
| 4 | 12 | fp32 | 4 | Bottom velocity X (m/s) |
| 5 | 16 | fp32 | 4 | Bottom velocity Y (m/s) |
| 6 | 20 | fp32 | 4 | Bottom velocity Z (m/s) |
| 7 | 24 | fp32 | 4 | Bottom velocity standard deviation (m/s) |
| 8 | 28 | fp32 | 4 | Water velocity X (m/s) |
| 9 | 32 | fp32 | 4 | Water velocity Y (m/s) |
| 10 | 36 | fp32 | 4 | Water velocity Z (m/s) |
| 11 | 40 | fp32 | 4 | Water velocity standard deviation (m/s) |
| 12 | 44 | fp32 | 4 | Water velocity layer depth (m) |
| 13 | 48 | fp32 | 4 | Depth (m) |
| 14 | 52 | fp32 | 4 | Altitude (m) |
| 15 | 56 | fp32 | 4 | Temperature (deg C) |
Raw DVL Data Packet
Raw DVL Data Flags
| Bit | Description |
|---|---|
| 0 | Bottom velocity valid |
| 1 | Water velocity valid |
| 2 | Temperature valid |
| 3 | Depth valid |
| 4 | Altitude valid |
Raw DVL Data Flags