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16UC1 is not a floating point format. It is an unsigned 16 bit integer format, and by convention for depth images they are in units of mm. The step and data size should be twice what they are at first glance though.

I would highly recommend using the cv_bridge package to extract the content of sensor_msgs/Image messages. It will take care of all this for you so you don't need to worry about how the data is encoded.