Velodyne Acoustics HDL-64E S2 - Manual (Page 26)

Data Packet Format
The sensor outputs UDP Ethernet packets. Each packet contains a header, a data payload of firing data and status data. Data packets are
assembled with the collection of all firing data for six upper block sequences and six lower block sequences. The upper block laser distance
and intensity data is collected first followed by the lower block laser data. The data packet is then combined with status and header data
in a UDP packet transmitted over Ethernet. The data packet is transmitted starting with the last byte acquired in a last in, first out (LIFO)
data order.
The status data always contains a GPS 4 byte timestamp representing microseconds from the top of the hour. In addition, the status
data contains one type of data. The other status data rotates through a sequence of different pieces of information. See datagram on
the next page.
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HDL-64E S2 and S2.1 User’s Manual aPPendix e: data PacKet forMat