How to interpret LiDAR sensor topic outputs?

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I'm trying to understand the LiDAR outputs, but couldn't find any information on them.

Some questions I have are

What units are they in? What does each number represent? Does each number represent a beam at a certain angle or are they coordinates?

If there's a manual or something similar of that sort that would be great too.

This is a short snippet of what I'm getting. I don't understand the data section.

header: seq: 991 stamp: secs: 103 nsecs: 847000000 frame_id: "wamv/lidar_wamv_link" height: 1 width: 899 fields: - name: "x" offset: 0 datatype: 7 count: 1 - name: "y" offset: 4 datatype: 7 count: 1 - name: "z" offset: 8 datatype: 7 count: 1 - name: "intensity" offset: 12 datatype: 7 count: 1 - name: "ring" offset: 16 datatype: 4 count: 1 - name: "time" offset: 18 datatype: 7 count: 1 is_bigendian: False point_step: 22 row_step: 19778 data: [249, 154, 167, 64, 72, 19, 200, 191, 172, 119, 187, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 70, 167, 64, 78, 117, 198, 191, 197, 0, 187, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 176, 131, 167, 64, 196, 133, 197, 191, 244, 45, 187, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 234, 166, 64, 113, 154, 195, 191, 210, 107, 186, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 158, 52, 167, 64, 51, 185, 194, 191, 165, 166, 186, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 197, 208, 167, 64, 180, 54, 194, 191, 160, 61, 187, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 127, 211, 171, 64, 240, 218, 198, 191, 56, 47, 165, 191, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 211, 25, 167, 64, 69, 44, 192, 191, 111, 90, 186, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 28, 171, 64, 133, 200, 196, 191, 141, 106, 164, 191, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 200, 81, 167, 64, 205, 53, 191, 191, 229, 129, 186, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 86, 249, 170, 64, 239, 98, 195, 191, 243, 52, 164, 191, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 116, 83, 171, 64, 236, 201, 195, 191, 9, 138, 138, 191, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 243, 93, 172, 64, 120, 250, 196, 191, 220, 35, 99, 191, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 240, 183, 167, 64, 71, 115, 190, 191, 235, 220, 186, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 252, 170, 64, 25, 41, 194, 191, 209, 35, 164, 191, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 21, 167, 171, 64, 237, 234, 194, 191, 179, 188, 138, 191, 0, 0, 0, 0, 2, 0, 0, 0, 0 ... (more)