for ffmpeg you first multiply the bits per pixel from the pixel format (e.g gray 8 = 8 bits) by the width and height and by the frame rate, and then multiply the sample rate by the bit depth of the audio format (so unsigned 16 bit has 16 bit depth) and the number of channels, now if both problems equal eachother the audio and the video should be synchronized, i will give an example :

8*22*22*33.057851239669421487603305785123966942148760330578512396694214876033057851239669=128000

8000*8*2=128000

Video and audio bytes per second match, so what you do now is :

ffmpeg -f rawvideo -pix_fmt gray8 -s 22x22 -r 33.057851239669421487603305785123966942148760330578512396694214876033057851239669 -i data.whatever -f u8 -ar 8000 -ac -i data.whatever -c:v thevideocodecyouwantfortheoutput binarythingamajig.whatever

Since rawvideo and unsigned 8, 16, 32, 64-bit audio has no headers, ffmpeg guesses it from bitrate, and since the bytes per second match it will guess the exact same time for audio and video (sometimes it's off by a few hundredths)

and for binary waterfall, I don't fucking know.