Since those bytes are in Little-Endian order, being C code on an Intel processor, use ByteBuffer to help flip the bytes:
String s = "0000000000A0A240";
double d = ByteBuffer.allocate(8)
                     .putLong(Long.parseUnsignedLong(s, 16))
                     .flip()
                     .order(ByteOrder.LITTLE_ENDIAN)
                     .getDouble();
System.out.println(d); // prints 2384.0
Here I'm using Long.parseUnsignedLong(s, 16) as a quick way to do the decode('hex') for 8 bytes.
If data is already a byte array, do this:
byte[] b = { 0x00, 0x00, 0x00, 0x00, 0x00, (byte) 0xA0, (byte) 0xA2, 0x40 };
double d = ByteBuffer.wrap(b)
                     .order(ByteOrder.LITTLE_ENDIAN)
                     .getDouble();
System.out.println(d); // prints 2384.0
Imports for the above are:
import java.nio.ByteBuffer;
import java.nio.ByteOrder;