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scan_time will only be equal to time_increment x number_of_samples if it is a full 360 degree scan.

In the case of the message you showed it is only a 180 degree scan therefore the scan time is twicetime_increment x number_of_samples.

As described scan_time is # time between scans [seconds] not the duration of the scan. Think of scan time as the time taken for a full rotation of the sensor even if it's only producing data for part of that revolution.

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