Hi @rsloven, welcome to the forum 
- The protocol documentation covers what each message field is expected to include
- This post is the first result when searching the forum for “Ping360 transmitAngle”, and describes some of the practical aspects of working with that message
- This post provides some additional context around working with profile data from ping devices
Feel free to follow up if there are additional aspects you want clarification on
You specify the desired angle in your transmitAngle method call - it returns a profile from that angle[1], of echo response strength data
Note that the sonar doesn’t know about its own or the vehicle’s orientation, so the angle is a body-frame orientation of the sonar transducer relative to the sonar device (e.g.
xgradians from the penetrator), rather than a global / earth-frame / compass-aligned one. ↩︎