Page History

sweep.json

Main metadata including timestamp, acquisition mode (“imaging”), and various sonar parameters (transmit pulse length, frequency, etc.). Some parameters can be set by direct interaction with the sonar and some are fixed.

attitude.csv

This contains data from the attitude sensor (time, pitch, roll, heading). All measurements are in degrees. Pitch and Roll are gravity referenced. Heading is magnetic. There is one record per rotator stop.

rotator.csv

This file contains data from the rotator motors (pitch, roll, yaw). All measurements are in degrees relative to an arbitrary reference. There is one record per rotator stop.

index.csv

This file is derived from the above two files but contains one record per sonar ping. It lists the pings (numbering from 1 up) and gives the time (seconds, microseconds), rotator data (pitch, roll, yaw), and attitude data ( pitch, roll, heading) for each ping.

rec_7000_xxxxxx.json

These are the metadata for each ping. Some of this information may overlap with sweep.json and some of it is set by the experimenter.

rec_7038_xxxxxx.bin

These are the actual data files ping-by-ping. They are in binary format. There should be one rec_7038_x.bin for every rec_7000_x.json.