iS A F E T Y N O T I C E S

1 I N T R O D U C T I O N

2 P R I N C I P L E S O F O P E R A T I O N

3S E T U P

5U S A G E

7External GPS Time Synchronization

9Packet Format and Status Byte for GPS Time Stamping

9Time Stamping Accuracy Rates

9Laser Timing

10Laser Firing Sequence

11T R O U B L E S H O O T I N G

11S E R V I C E A N D M A I N T E N A N C E

12S P E C I F I C A T I O N S

13A P P E N D I X A :

Digital Sensor Recorder (DSR)

16 A P P E N D I X B :

HDL-32E Sample Data Packets

22 A P P E N D I X C :

Coordinate Calculation Algorithm Sample Code

23 A P P E N D I X D :

Calibration and Orientation

24 A P P E N D I X E :

Ethernet Transit Timing Table

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Velodyne Acoustics user manual Digital Sensor Recorder DSR, HDL-32E Sample Data Packets, Calibration and Orientation