/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_xse.h	3/27/2000
 *	$Id: mbsys_xse.h 2227 2015-02-05 21:12:31Z caress $
 *
 *    Copyright (c) 2000-2015 by
 *    D. W. Caress (caress@mbari.org)
 *      Monterey Bay Aquarium Research Institute
 *      Moss Landing, CA 95039
 *    and D. N. Chayes (dale@lamont.ldgo.columbia.edu)
 *      Lamont-Doherty Earth Observatory
 *      Palisades, NY  10964
 *
 *    See README file for copying and redistribution conditions.
 *--------------------------------------------------------------------*/
/*
 * mbsys_xse.h defines the data structures used by MBIO functions
 * to store swath sonar data in the XSE Data Exchange Format
 * developed by L-3 Communications ELAC Nautik.
 * This format is used for data from ELAC Bottomchart multibeam sonars
 * and SeaBeam 2100 multibeam sonars (made by L-3 Communications
 * SeaBeam Instruments).
 * The data format associated with XSE is:
 *      MBF_L3XSERAW : MBIO ID 94
 *
 *
 * Author:	D. W. Caress
 * Date:	August 1,  1999
 * Additional Authors:	P. A. Cohen and S. Dzurenko
 *
 * $Log: mbsys_xse.h,v $
 * Revision 5.12  2007/07/03 17:28:08  caress
 * Fixes to XSE format.
 *
 * Revision 5.11  2007/06/18 01:19:48  caress
 * Changes as of 17 June 2007.
 *
 * Revision 5.10  2006/09/11 18:55:53  caress
 * Changes during Western Flyer and Thomas Thompson cruises, August-September
 * 2006.
 *
 * Revision 5.9  2005/11/05 00:48:03  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.8  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.7  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * Revision 5.6  2001/12/30 20:36:13  caress
 * Fixed array overflows in handling XSE data.
 *
 * Revision 5.5  2001/12/20 20:48:51  caress
 * Release 5.0.beta11
 *
 * Revision 5.4  2001/07/22  21:19:23  caress
 * Removed redundant define.
 *
 * Revision 5.3  2001/07/20 00:32:54  caress
 * Release 5.0.beta03
 *
 * Revision 5.2  2001/04/06  22:05:59  caress
 * Consolidated xse formats into one format.
 *
 * Revision 5.1  2001/01/22  07:43:34  caress
 * Version 5.0.beta01
 *
 * Revision 5.0  2000/12/01  22:48:41  caress
 * First cut at Version 5.0.
 *
 * Revision 4.1  2000/09/30  06:31:19  caress
 * Snapshot for Dale.
 *
 * Revision 4.0  1999/08/08  04:14:35  caress
 * Initial revision.
 *
 *
 */
/*
 * Notes on the MBSYS_XSE (XSE) data format:
 *   1. L3 Communications introduced a new format called XSE in 1999.
 *      SeaBeam Instruments (maker of SeaBeam multibeam sonars)
 *      and Elac Nautik (make of Bottomchart multibeam sonars)
 *      are both divisions of L3 Communications.
 *      This "Data Exchange Format" is associated with the new
 *      version of "Hydrostar ONLINE" and represents the intended
 *      data format for both ELAC Bottomchart Compact MK II sonars
 *      (50 kHz and/or 180 kHz) and SeaBeam 2100 series sonars
 *      (12 kHz, 20 kHz, 36 kHz). This follows the purchase of
 *      SeaBeam Instruments by L3 Communications, the parent
 *      company of ELAC Nautik.
 *   2. The XSE format implements a well defined binary format
 *      structure in which each data record is represented as
 *      a "frame" with the following structure:
 *          -------------------------------------------------------
 *          Item     Bytes   Format   Value   Units   Description
 *          -------------------------------------------------------
 *          Start      4     ulong    $HSF            Frame start
 *          Byte Count 4     ulong            bytes   Between byte count
 *                                                      and frame end
 *          Id         4     ulong                    Frame id - see below
 *          Source     4     ulong                    Sensor id
 *          Seconds    4     ulong            seconds Seconds since
 *                                                      1/1/1901 00:00:00
 *          Microsec   4     ulong            usec    Microseconds
 *          ...        ...   ...      ...     ...     Frame specific groups
 *          End        4     ulong    #HSF            Frame end
 *          -------------------------------------------------------
 *      Within each frame are "groups", each with the following structure:
 *          -------------------------------------------------------
 *          Item     Bytes   Format   Value   Units   Description
 *          -------------------------------------------------------
 *          Start      4     ulong    $HSG            Group start
 *          Byte Count 4     ulong            bytes   Between byte count
 *                                                      and group end
 *          Id         4     ulong                    Group id - see below
 *          ...        ...   ...      ...     ...     Group specific data
 *          End        4     ulong    #HSG            Group end
 *          -------------------------------------------------------
 *   2. The valid frames include:
 *        Frame Name    Id   Groups w/ group id's in ()
 *        ---------------------------------------------------------
 *        Navigation      1  General(1), Position(2), Accuracy(3),
 *                           MotionGroundTruth(4), MotionThroughWater(5),
 *                           CurrentTrack(6), HeaveRollPitch(7), Heave(8),
 *			     Roll(9), Pitch(10), Heading(11), Log(12),
 *                           GPS(13)
 *        Sound Velocity  2  General(1),
 *                           Depth(2), Velocity(3),
 *                           Conductivity(4), Salinity (5), Temperature(6),
 *                           Pressure(7), SSV(8), Position(9)
 *        Tide            3  General(1), Position(2),
 *                           Time(3), Tide(4)
 *        Ship            4  General(1), Attitude(2),
 *                           Position(3), Dynamics(4), Motion(5),
 *                           Geometry(6), Description(7),
 *                           Parameter(8), NavigationAndMotion(9),
 *                           Transducer(10), TransducerExtended(11)
 *        Sidescan        5  General(1), AmplitudeVsTravelTime(2),
 *                           PhaseVsTravelTime(3),
 *                           Amplitude(4), Phase(5), Signal(6), PingType(7)
 *                           ComplexSignal(8), Weighting(9)
 *        Multibeam       6  General(1), Beam(2),
 *                           Traveltime(3), Quality(4),
 *                           Amplitude(5), Delay(6), Lateral(7),
 *                           Along(8), Depth(9), Angle(10),
 *                           Heave(11), Roll(12), Pitch(13),
 *                           Gates(14), Noise(15), EchoLength(16),
 *                           Hits(17), HeaveReceive(18), Azimuth(19),
 *                           MBsystemNavigation(99)
 *        Single Beam     7  General(1)
 *        Control         8  Request(1), Insert(2), Change(3),
 *                           Add(4), Delete(5), Action(6), Reply(7)
 *        Bathymetry      9  General(1), Position(2), Depth(3)
 *        Project        10  General(1), Server(2), Status(3), Sources(4)
 *        Native         11  General(1), RWCollectable(2), UNB(3),
 *                           Raw(4), ELAC(5)
 *        Geodetic       12  General(1), Ellipsoid(2), Datum(3),
 *                           Projection(4), System(5), Alias(6)
 *        SeaBeam        13  Properties(1), HeaveRollPitch(2), Setup(3),
 *                           MotionReferenceUnit(4), Settings(5),
 *                           Beams(6), Gates(7), Raw(8), Center(9),
 *                           Sidescan, Shutdown(), Ping(), Calibrate(),
 *                           Collect(), Surface(), Hydrophone(),
 *                           Projector(17), Calibration(18), Acknowledge(19),
 *                           Warning(20), Message(21), Error(22)
 *        Comment        99  General(1) **MB-System ONLY!!!!**
 *   3. Not all of these frames are directly supported by this MB-System
 *      i/o module. Unsupported frames are read and passed
 *      through MB-System as MB_DATA_OTHER type data records.
 *   4. SeaBeam Instruments 2120 12 kHz and 20 KHz multibeam sonar
 *      systems output both bathymetry and amplitude
 *      information for up to 151 beams per multibeam frame.
 *      Each ping produces a variable number of beams.
 *   5. Elac Bottomchart MkII  50 KHz and 180 kHz sonar systems
 *      output both bathymetry and amplitude information
 *      for up to 126 beams per multibeam frame.
 *      Each ping produces a variable number of beams.
 *   6. The raw XSE format provides asynchronous navigation only; navigation
 *      is not included in the multibeam or sidescan pings.
 *      MB-System adds MBsystemNavigation(99) groups to the multibeam
 *      frames so that processed navigation can be directly associated
 *      with each survey ping..
 *   7. The comment records are supported by MB-System only and are
 *      not part of the L3 Communications XSE format specification.
 *      The comment frame encloses a single general comment group (id=1).
 *          -------------------------------------------------------
 *          Item     Bytes   Format   Value   Units   Description
 *          -------------------------------------------------------
 *          Start      4     ulong    $HSF            Frame start
 *          Byte Count 4     ulong            bytes   Between byte count
 *                                                      and frame end
 *          Id         4     ulong    99              Frame id - see below
 *          Source     4     ulong    0               Sensor id
 *          Seconds    4     ulong            seconds Seconds since
 *                                                      1/1/1901 00:00:00
 *          Microsec   4     ulong            usec    Microseconds
 *          ...        ...   ...      ...     ...     Frame specific groups
 *          End        4     ulong    #HSF            Frame end
 *          -------------------------------------------------------
 *      The only comment group is 1:
 *          -------------------------------------------------------
 *          Item     Bytes   Format   Value   Units   Description
 *          -------------------------------------------------------
 *          Start      4     ulong    $HSG            Group start
 *          Byte Count 4     ulong            bytes   Between byte count
 *                                                      and group end
 *          Id         4     ulong    1               Group id - see below
 *          N          4     long             bytes   Length of null terminated
 *                                                      comment string, padded
 *                                                      to a multiple of 4
 *          Comment    N     char             chars   Comment string
 *          End        4     ulong    #HSG            Group end
 *          -------------------------------------------------------
 *
 */

/* maximum number of beams and pixels */
#define	MBSYS_XSE_MAXBEAMS		630
#define	MBSYS_XSE_MAXPIXELS		32768
#define	MBSYS_XSE_MAXSAMPLES		32768
#define	MBSYS_XSE_MAXSVP		8192
#define MBSYS_XSE_MAXDRAFT		200
#define MBSYS_XSE_MAXPROPERTIES		6
#define	MBSYS_XSE_COMMENT_LENGTH	200
#define	MBSYS_XSE_DESCRIPTION_LENGTH	64
#define	MBSYS_XSE_TIME_OFFSET		2177452800.0
#define	MBSYS_XSE_BUFFER_SIZE		131072
#define	MBSYS_XSE_MAX_SIZE		200
#define	MBSYS_XSE_MAX_SENSORS		16
#define	MBSYS_XSE_MAX_TRANSDUCERS	512

/* frame and group id's */
#define MBSYS_XSE_NONE_FRAME			0

#define MBSYS_XSE_NAV_FRAME			1
#define MBSYS_XSE_NAV_GROUP_GEN			1
#define MBSYS_XSE_NAV_GROUP_POS			2
#define MBSYS_XSE_NAV_GROUP_ACCURACY		3
#define MBSYS_XSE_NAV_GROUP_MOTIONGT		4
#define MBSYS_XSE_NAV_GROUP_MOTIONTW		5
#define MBSYS_XSE_NAV_GROUP_TRACK		6
#define MBSYS_XSE_NAV_GROUP_HRP			7
#define MBSYS_XSE_NAV_GROUP_HEAVE		8
#define MBSYS_XSE_NAV_GROUP_ROLL		9
#define MBSYS_XSE_NAV_GROUP_PITCH		10
#define MBSYS_XSE_NAV_GROUP_HEADING		11
#define MBSYS_XSE_NAV_GROUP_LOG			12
#define MBSYS_XSE_NAV_GROUP_GPS			13

#define MBSYS_XSE_SVP_FRAME			2
#define MBSYS_XSE_SVP_GROUP_GEN			1
#define MBSYS_XSE_SVP_GROUP_DEPTH		2
#define MBSYS_XSE_SVP_GROUP_VELOCITY		3
#define MBSYS_XSE_SVP_GROUP_CONDUCTIVITY	4
#define MBSYS_XSE_SVP_GROUP_SALINITY		5
#define MBSYS_XSE_SVP_GROUP_TEMP		6
#define MBSYS_XSE_SVP_GROUP_PRESSURE		7
#define MBSYS_XSE_SVP_GROUP_SSV			8
#define MBSYS_XSE_SVP_GROUP_POS			9

#define MBSYS_XSE_TID_FRAME			3
#define MBSYS_XSE_TID_GROUP_GEN			1
#define MBSYS_XSE_TID_GROUP_POS			2
#define MBSYS_XSE_TID_GROUP_TIME		3
#define MBSYS_XSE_TID_GROUP_TIDE		4

#define MBSYS_XSE_SHP_FRAME			4
#define MBSYS_XSE_SHP_GROUP_GEN			1
#define MBSYS_XSE_SHP_GROUP_TIME		2
#define MBSYS_XSE_SHP_GROUP_DRAFT		3
#define MBSYS_XSE_SHP_GROUP_SENSORS		4
#define MBSYS_XSE_SHP_GROUP_MOTION		5
#define MBSYS_XSE_SHP_GROUP_GEOMETRY		6
#define MBSYS_XSE_SHP_GROUP_DESCRIPTION		7
#define MBSYS_XSE_SHP_GROUP_PARAMETER		8
#define MBSYS_XSE_SHP_GROUP_NAVIGATIONANDMOTION	9
#define MBSYS_XSE_SHP_GROUP_TRANSDUCER		10
#define MBSYS_XSE_SHP_GROUP_TRANSDUCEREXTENDED	11

#define MBSYS_XSE_SSN_FRAME			5
#define MBSYS_XSE_SSN_GROUP_GEN			1
#define MBSYS_XSE_SSN_GROUP_AMPVSTT		2
#define MBSYS_XSE_SSN_GROUP_PHASEVSTT		3
#define MBSYS_XSE_SSN_GROUP_AMPVSLAT		4
#define MBSYS_XSE_SSN_GROUP_PHASEVSLAT		5
#define MBSYS_XSE_SSN_GROUP_SIGNAL		6
#define MBSYS_XSE_SSN_GROUP_PINGTYPE		7
#define MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL	8
#define MBSYS_XSE_SSN_GROUP_WEIGHTING		9

#define MBSYS_XSE_MBM_FRAME			6
#define MBSYS_XSE_MBM_GROUP_GEN			1
#define MBSYS_XSE_MBM_GROUP_BEAM		2
#define MBSYS_XSE_MBM_GROUP_TT			3
#define MBSYS_XSE_MBM_GROUP_QUALITY		4
#define MBSYS_XSE_MBM_GROUP_AMP			5
#define MBSYS_XSE_MBM_GROUP_DELAY		6
#define MBSYS_XSE_MBM_GROUP_LATERAL		7
#define MBSYS_XSE_MBM_GROUP_ALONG		8
#define MBSYS_XSE_MBM_GROUP_DEPTH		9
#define MBSYS_XSE_MBM_GROUP_ANGLE		10
#define MBSYS_XSE_MBM_GROUP_HEAVE		11
#define MBSYS_XSE_MBM_GROUP_ROLL		12
#define MBSYS_XSE_MBM_GROUP_PITCH		13
#define MBSYS_XSE_MBM_GROUP_GATES		14
#define MBSYS_XSE_MBM_GROUP_NOISE		15
#define MBSYS_XSE_MBM_GROUP_LENGTH		16
#define MBSYS_XSE_MBM_GROUP_HITS		17
#define MBSYS_XSE_MBM_GROUP_HEAVERECEIVE	18
#define MBSYS_XSE_MBM_GROUP_AZIMUTH		19
#define MBSYS_XSE_MBM_GROUP_PROPERTIES		20
#define MBSYS_XSE_MBM_GROUP_NORMAMP		21
#define MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV		99

#define MBSYS_XSE_SNG_FRAME			7
#define MBSYS_XSE_CNT_FRAME			8
#define MBSYS_XSE_BTH_FRAME			9
#define MBSYS_XSE_PRD_FRAME			10
#define MBSYS_XSE_NTV_FRAME			11
#define MBSYS_XSE_GEO_FRAME			12

#define MBSYS_XSE_SBM_FRAME			13
#define MBSYS_XSE_SBM_GROUP_PROPERTIES		1
#define MBSYS_XSE_SBM_GROUP_HRP			2
#define MBSYS_XSE_SBM_GROUP_SETUP		3
#define MBSYS_XSE_SBM_GROUP_MRU			4
#define MBSYS_XSE_SBM_GROUP_SETTINGS		5
#define MBSYS_XSE_SBM_GROUP_BEAMS		6
#define MBSYS_XSE_SBM_GROUP_GATES		7
#define MBSYS_XSE_SBM_GROUP_SLICE		8
#define MBSYS_XSE_SBM_GROUP_SIGNAL		9
#define MBSYS_XSE_SBM_GROUP_SIDESCAN		10
#define MBSYS_XSE_SBM_GROUP_SHUTDOWN		11
#define MBSYS_XSE_SBM_GROUP_PING		12
#define MBSYS_XSE_SBM_GROUP_CALIBRATE		13
#define MBSYS_XSE_SBM_GROUP_COLLECT		14
#define MBSYS_XSE_SBM_GROUP_SURFACE		15
#define MBSYS_XSE_SBM_GROUP_HYDROPHONE		16
#define MBSYS_XSE_SBM_GROUP_PROJECTOR		17
#define MBSYS_XSE_SBM_GROUP_BIAS		18
#define MBSYS_XSE_SBM_GROUP_ACKNOWLEDGE		19
#define MBSYS_XSE_SBM_GROUP_WARNING		20
#define MBSYS_XSE_SBM_GROUP_MESSAGE		21
#define MBSYS_XSE_SBM_GROUP_SWEEPSEGMENTS	40
#define MBSYS_XSE_SBM_GROUP_SPACINGMODE		50

#define MBSYS_XSE_MSG_FRAME			14
#define MBSYS_XSE_ATT_FRAME			15

#define MBSYS_XSE_COM_FRAME			99
#define MBSYS_XSE_COM_GROUP_GEN			1

struct mbsys_xse_beam_struct
	{
	double	    tt;
	double	    delay;
	double	    lateral;
	double	    along;
	double	    depth;
	double	    angle;
	double	    heave;
	double	    roll;
	double	    pitch;
	short	    beam;
	char	    quality;
	short	    amplitude;
	double	    gate_angle;
	double	    gate_start;
	double	    gate_stop;
	float	    noise;
	float	    length;
	unsigned int hits;
	double      heavereceive;
	double      azimuth;
        short       normamp;
        float       frequency;
	};

struct mbsys_xse_struct
	{
	/* type of data record */
	int	kind;			/* Survey, nav, Comment */

	/* parameter (ship frames) */
	int	par_source;		/* sensor id */
	unsigned int	par_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	par_usec;	/* microseconds */
	unsigned int    par_ship_name_length;	/* length of ship name, chars */
	char    par_ship_name[MBSYS_XSE_DESCRIPTION_LENGTH]; /* Name of Vessel */
	double  par_ship_length;	/* vessel total length, meters */
	double  par_ship_beam;		/* vessel total width, meters */
	double  par_ship_draft;		/* vessel maximum draft, meters */
	double  par_ship_height;	/* vessel maximum height, meters */
	double  par_ship_displacement;	/* vessel maximum displacement, cubic meters */
	double  par_ship_weight;	/* vessel maximum weight, kg */

	int	par_ship_nsensor;					/* number of sensors */
	int	par_ship_sensor_id[MBSYS_XSE_MAX_SENSORS];		/* sensor id array */
	int	par_ship_sensor_type[MBSYS_XSE_MAX_SENSORS];		/* sensor type array
										1000 : SeaBeam 1000
										2000 : SeaBeam 2100
										2001 : SeaBeam 2100 V-shaped
										3000 : SeaBeam 3000
										4000 : single beam
										8000 : Edgetech sidescan
										9000 :
										9001 : SSV */
	int	par_ship_sensor_frequency[MBSYS_XSE_MAX_SENSORS];	/* sensor frequency array (kHz) */

	int	par_parameter;		/* boolean flag for parameter group */
	float	par_roll_bias;		/* radians */
	float	par_pitch_bias;		/* radians */
	float	par_heading_bias;	/* radians */
	float	par_time_delay;		/* nav time lag, seconds */
	float	par_trans_x_port;	/* port transducer x position, meters */
	float	par_trans_y_port;	/* port transducer y position, meters */
	float	par_trans_z_port;	/* port transducer z position, meters */
	float	par_trans_x_stbd;	/* starboard transducer x position, meters */
	float	par_trans_y_stbd;	/* starboard transducer y position, meters */
	float	par_trans_z_stbd;	/* starboard transducer z position, meters */
	float	par_trans_err_port;	/* port transducer rotation in roll direction, radians */
	float	par_trans_err_stbd;	/* starboard transducer rotation in roll direction, radians */
	float	par_nav_x;		/* navigation antenna x position, meters */
	float	par_nav_y;		/* navigation antenna y position, meters */
	float	par_nav_z;		/* navigation antenna z position, meters */
	float	par_hrp_x;		/* motion sensor x position, meters */
	float	par_hrp_y;		/* motion sensor y position, meters */
	float	par_hrp_z;		/* motion sensor z position, meters */

	int	par_navigationandmotion;/* boolean flag for navigationandmotion group */
	double	par_nam_roll_bias;	/* roll bias, radians */
	double	par_nam_pitch_bias;	/* pitch bias, radians */
	double	par_nam_heave_bias;	/* heave bias, meters */
	double	par_nam_heading_bias;	/* heading/gyro bias, radians */
	double	par_nam_time_delay;	/* nav time lag, seconds */
	double	par_nam_nav_x;		/* navigation antenna x position, meters */
	double	par_nam_nav_y;		/* navigation antenna y position, meters */
	double	par_nam_nav_z;		/* navigation antenna z position, meters */
	double	par_nam_hrp_x;		/* motion sensor x position, meters */
	double	par_nam_hrp_y;		/* motion sensor y position, meters */
	double	par_nam_hrp_z;		/* motion sensor z position, meters */

	int	par_xdr_num_transducer; /* number of transducers */
	int	par_xdr_sensorid[MBSYS_XSE_MAX_TRANSDUCERS]; 		/* sensor ids */
	char 	par_xdr_transducer[MBSYS_XSE_MAX_TRANSDUCERS]; 		/* transducer type:
										0: hydrophone
										1: projector
										2: transducer */
	unsigned int par_xdr_frequency[MBSYS_XSE_MAX_TRANSDUCERS]; 	/* frequency (Hz) */
	char 	par_xdr_side[MBSYS_XSE_MAX_TRANSDUCERS]; 		/* transducer side:
										0: undefined
										1: port
										2: starboard
										3: midship
										4: system defined */
	double	par_xdr_mountingroll[MBSYS_XSE_MAX_TRANSDUCERS];	/* array mounting angle roll (radians) */
	double	par_xdr_mountingpitch[MBSYS_XSE_MAX_TRANSDUCERS];	/* array mounting angle roll (radians) */
	double	par_xdr_mountingazimuth[MBSYS_XSE_MAX_TRANSDUCERS];	/* array mounting angle roll (radians) */
	double	par_xdr_mountingdistance[MBSYS_XSE_MAX_TRANSDUCERS];	/* horizontal distance between
										innermost elements of the
										transducer arrays to the
										ship center line in a
										V-shaped configuration (m) */
	double	par_xdr_x[MBSYS_XSE_MAX_TRANSDUCERS];	/* transducer center across track offset (m) */
	double	par_xdr_y[MBSYS_XSE_MAX_TRANSDUCERS];	/* transducer center along track offset (m) */
	double	par_xdr_z[MBSYS_XSE_MAX_TRANSDUCERS];	/* transducer center vertical offset (m) */
	double	par_xdr_roll[MBSYS_XSE_MAX_TRANSDUCERS];	/* beamforming roll bias (radians - port up positive) */
	double	par_xdr_pitch[MBSYS_XSE_MAX_TRANSDUCERS];	/* beamforming pitch bias (radians - bow up positive) */
	double	par_xdr_azimuth[MBSYS_XSE_MAX_TRANSDUCERS];	/* beamforming azimuth bias (radians
									- projector axis clockwise with
									respect to compass positive) */
	int	par_xdx_num_transducer; 			/* number of transducers */
	char 	par_xdx_roll[MBSYS_XSE_MAX_TRANSDUCERS]; 	/* mounting mode roll (0: auto, 1: manual) */
	char	par_xdx_pitch[MBSYS_XSE_MAX_TRANSDUCERS]; 	/* mounting mode pitch (0: auto, 1: manual) */
	char	par_xdx_azimuth[MBSYS_XSE_MAX_TRANSDUCERS]; 	/* mounting mode azimuth (0: auto, 1: manual) */

	/* svp (sound velocity frames) */
	int	svp_source;		/* sensor id */
	unsigned int	svp_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	svp_usec;	/* microseconds */
	int	svp_nsvp;		/* number of depth values */
	int	svp_nctd;		/* number of ctd values */
	double	svp_depth[MBSYS_XSE_MAXSVP];		/* m */
	double	svp_velocity[MBSYS_XSE_MAXSVP];	/* m/s */
	double	svp_conductivity[MBSYS_XSE_MAXSVP];	/* mmho/cm */
	double	svp_salinity[MBSYS_XSE_MAXSVP];	/* o/oo */
	double	svp_temperature[MBSYS_XSE_MAXSVP];	/* degree celcius */
	double	svp_pressure[MBSYS_XSE_MAXSVP];	/* bar */
	double	svp_ssv;		/* m/s */
        double  svp_ssv_depth;          /* m */
        char    svp_ssv_depthflag;      /* 0 = invalid depth, otherwise depth valid */

	/* position (navigation frames) */
	int	nav_group_general;	/* boolean flag */
	int	nav_group_position;	/* boolean flag */
	int	nav_group_accuracy;	/* boolean flag */
	int	nav_group_motiongt;	/* boolean flag */
	int	nav_group_motiontw;	/* boolean flag */
	int	nav_group_track;	/* boolean flag */
	int	nav_group_hrp;		/* boolean flag */
	int	nav_group_heave;	/* boolean flag */
	int	nav_group_roll;		/* boolean flag */
	int	nav_group_pitch;	/* boolean flag */
	int	nav_group_heading;	/* boolean flag */
	int	nav_group_log;		/* boolean flag */
	int	nav_group_gps;		/* boolean flag */
	int	nav_source;		/* sensor id */
	unsigned int	nav_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	nav_usec;	/* microseconds */
	int	nav_quality;
	int	nav_status;
	int	nav_description_len;
	char	nav_description[MBSYS_XSE_DESCRIPTION_LENGTH];
	double	nav_x;			/* eastings (m) or
					    longitude (radians) */
	double	nav_y;			/* northings (m) or
					    latitude (radians) */
	double	nav_z;			/* height (m) or
					    ellipsoidal height (m) */
	short	nav_acc_quality;	/* GPS quality:
						0: invalid
						1: SPS
						2: SPS differential
						3: PPS
						4. RTK
						5: Float RTK
						6: Estimated
						7: Manual
						8: Simulator */
	char	nav_acc_numsatellites;	/* number of satellites */
	float	nav_acc_horizdilution;	/* horizontal dilution of precision */
	float	nav_acc_diffage;	/* age of differential data (sec since last update) */
	unsigned int nav_acc_diffref;	/* differential reference station */
	double	nav_speed_ground;	/* m/s */
	double	nav_course_ground;	/* radians */
	double	nav_speed_water;	/* m/s */
	double	nav_course_water;	/* radians */
	double	nav_trk_offset_track;	/* offset track (m) */
	double	nav_trk_offset_sol;	/* offset SOL (m) */
	double	nav_trk_offset_eol;	/* offset EOL (m) */
	double	nav_trk_distance_sol;	/* distance SOL (m) */
	double	nav_trk_azimuth_sol;	/* azimuth SOL (radians) */
	double	nav_trk_distance_eol;	/* distance EOL (m) */
	double	nav_trk_azimuth_eol;	/* azimuth EOL (radians) */
	double	nav_hrp_heave;		/* heave (m) */
	double	nav_hrp_roll;		/* roll (radians) */
	double	nav_hrp_pitch;		/* pitch (radians) */
	double	nav_hea_heave;		/* heave (m) */
	double	nav_rol_roll;		/* roll (radians) */
	double	nav_pit_pitch;		/* pitch (radians) */
	double	nav_hdg_heading;	/* heading (radians) */
	double	nav_log_speed;		/* speed (m/s) */
	float	nav_gps_altitude;	/* altitude with respect to geoid */
	float	nav_gps_geoidalseparation;	/* difference between WGS84 ellipsoid and geoid (m)
							(positive means sea level geoid is above
							ellipsoid) */

	/* survey depth (multibeam frames) */
	int	mul_frame;		/* boolean flag - multibeam frame read */
	int	mul_group_beam;		/* boolean flag - beam group read */
	int	mul_group_tt;		/* boolean flag - tt group read */
	int	mul_group_quality;	/* boolean flag - quality group read */
	int	mul_group_amp;		/* boolean flag - amp group read */
	int	mul_group_delay;	/* boolean flag - delay group read */
	int	mul_group_lateral;	/* boolean flag - lateral group read */
	int	mul_group_along;	/* boolean flag - along group read */
	int	mul_group_depth;	/* boolean flag - depth group read */
	int	mul_group_angle;	/* boolean flag - angle group read */
	int	mul_group_heave;	/* boolean flag - heave group read */
	int	mul_group_roll;		/* boolean flag - roll group read */
	int	mul_group_pitch;	/* boolean flag - pitch group read */
	int	mul_group_gates;	/* boolean flag - gates group read */
	int	mul_group_noise;	/* boolean flag - noise group read */
	int	mul_group_length;	/* boolean flag - length group read */
	int	mul_group_hits;		/* boolean flag - hits group read */
	int	mul_group_heavereceive;	/* boolean flag - heavereceive group read */
	int	mul_group_azimuth;	/* boolean flag - azimuth group read */
	int	mul_group_properties;	/* boolean flag - properties group read */
	int	mul_group_normamp;	/* boolean flag - normalized amplitude group read */
	int	mul_group_mbsystemnav;	/* boolean flag - mbsystemnav group read */
	int	mul_source;		/* sensor id */
	unsigned int	mul_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	mul_usec;	/* microseconds */
	int	mul_ping;		/* ping number */
	float	mul_frequency;		/* transducer frequency (Hz) */
	float	mul_pulse;		/* transmit pulse length (sec) */
	float	mul_power;		/* transmit power (dB) */
	float	mul_bandwidth;		/* receive bandwidth (Hz) */
	float	mul_sample;		/* receive sample interval (sec) */
	float	mul_swath;		/* swath width (radians) */
	int	mul_num_beams;		/* number of beams */
	double	mul_lon;		/* longitude (radians) */
	double	mul_lat;		/* latitude (radians) */
	double	mul_heading;		/* heading (radians) */
	double	mul_speed;		/* speed (m/s) */
	struct mbsys_xse_beam_struct beams[MBSYS_XSE_MAXBEAMS];
        int     mul_num_properties;     /* number of properties */
        unsigned short mul_properties_type[MBSYS_XSE_MAXPROPERTIES];
        double  mul_properties_value[MBSYS_XSE_MAXPROPERTIES];
        char    mul_properties_reserved[40];
        int     mul_normamp_num_beams;  /* number of beams */
        int     mul_normamp_flags;      /* multi-frequency flag:
                                            0=one frequency is written,
                                            1=one frequency is written for each beam */
        float   mul_normamp_along_beamwidth;    /* along track beam width for center beam (radians) */
        float   mul_normamp_across_beamwidth;   /* across track beam width for center beam (radians) */
        short   mul_normamp_amp[MBSYS_XSE_MAXBEAMS];
                                        /* Normalized Amplitude of Bottom Echo per Beam.
                                            All System Gain Values (Receiver Gain, Source
                                            Level, etc.) have been removed from this value.
                                            System independent losses are not part of
                                            the normalization! (Beam Order is the same as
                                            in the Angle Group (Id 10) ) */
        float   mul_normamp_frequency[MBSYS_XSE_MAXBEAMS];
                                        /* System Frequency (Number of Values depends on
                                            Multi-Frequency- Flag, see above) */

	/* survey sidescan (sidescan frames) */
	int	sid_frame;		/* boolean flag - sidescan frame read */
	int	sid_group_avt;		/* boolean flag - amp vs time group read */
	int	sid_group_pvt;		/* boolean flag - phase vs time group read */
	int	sid_group_avl;		/* boolean flag - amp vs lateral group read */
	int	sid_group_pvl;		/* boolean flag - phase vs lateral group read */
	int	sid_group_signal;	/* boolean flag - signal group read */
	int	sid_group_ping;		/* boolean flag - ping group read */
	int	sid_group_complex;	/* boolean flag - complex group read */
	int	sid_group_weighting;	/* boolean flag - weighting group read */
	int	sid_source;		/* sensor id */
	unsigned int	sid_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	sid_usec;	/* microseconds */
	int	sid_ping;		/* ping number */
	float	sid_frequency;		/* transducer frequency (Hz) */
	float	sid_pulse;		/* transmit pulse length (sec) */
	float	sid_power;		/* transmit power (dB) */
	float	sid_bandwidth;		/* receive bandwidth (Hz) */
	float	sid_sample;		/* receive sample interval (sec) */
	int	sid_avt_sampleus;	/* sample interval (usec) */
	int	sid_avt_offset;		/* time offset (usec) */
	int	sid_avt_num_samples;	/* number of samples */
	short	sid_avt_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */
	int	sid_pvt_sampleus;	/* sample interval (usec) */
	int	sid_pvt_offset;		/* time offset (usec) */
	int	sid_pvt_num_samples;	/* number of samples */
	short	sid_pvt_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */
	int	sid_avl_binsize;	/* bin size (mm) */
	int	sid_avl_offset;		/* lateral offset (mm) */
	int	sid_avl_num_samples;	/* number of samples */
	short	sid_avl_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */
	int	sid_pvl_binsize;	/* bin size (mm) */
	int	sid_pvl_offset;		/* lateral offset (mm) */
	int	sid_pvl_num_samples;	/* number of samples */
	short	sid_pvl_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */
	int	sid_sig_ping;		/* ping number */
	int	sid_sig_channel;	/* channel number */
	double	sid_sig_offset;		/* start offset */
	double	sid_sig_sample;		/* bin size / sample interval */
	int	sid_sig_num_samples;	/* number of samples */
	short	sid_sig_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase in radians */
	unsigned int	sid_png_pulse;	/* pulse type (0=constant, 1=linear sweep) */
	double	sid_png_startfrequency;	/* start frequency (Hz) */
	double	sid_png_endfrequency;	/* end frequency (Hz) */
	double	sid_png_duration;	/* pulse duration (msec) */
	int	sid_png_mancode;	/* manufacturer code (1=Edgetech, 2=Elac) */
	unsigned int	sid_png_pulseid;/* pulse identifier */
	char	sid_png_pulsename[MBSYS_XSE_DESCRIPTION_LENGTH];	/* pulse name */
	int	sid_cmp_ping;		/* ping number */
	int	sid_cmp_channel;	/* channel number */
	double	sid_cmp_offset;		/* start offset (usec) */
	double	sid_cmp_sample;		/* bin size / sample interval (usec) */
	int	sid_cmp_num_samples;	/* number of samples */
	short	sid_cmp_real[MBSYS_XSE_MAXPIXELS]; /* real sidescan signal */
	short	sid_cmp_imaginary[MBSYS_XSE_MAXPIXELS]; /* imaginary sidescan signal */
	short	sid_wgt_factorleft;		/* weighting factor for block floating
						point expansion  --
						defined as 2^(-N) volts for lsb */
	unsigned int sid_wgt_samplesleft;	/* number of left samples */
	short	sid_wgt_factorright;		/* weighting factor for block floating
						point expansion  --
						defined as 2^(-N) volts for lsb */
	unsigned int sid_wgt_samplesright;	/* number of right samples */


	/* seabeam (seabeam frames) */
	int	sbm_properties;		/* boolean flag - sbm properties group read */
	int	sbm_hrp;		/* boolean flag - sbm hrp group read */
	int	sbm_signal;		/* boolean flag - sbm signal group read */
	int	sbm_sweepsegments;	/* boolean flag - sbm sweep segments group read */
	int	sbm_spacingmode;	/* boolean flag - sbm spacing mode group read */
	int	sbm_source;		/* sensor id */
	int	sbm_message;		/* sensor id */
	unsigned int	sbm_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	sbm_usec;	/* microseconds */
	int	sbm_ping;		/* ping number */
	float	sbm_ping_gain;		/* ping gain (dB) */
	float	sbm_pulse_width;	/* pulse width (s) */
	float	sbm_transmit_power;	/* transmit power (dB) */
	float	sbm_pixel_width;	/* pixel width (m) */
	float	sbm_swath_width;	/* swath width (radians) */
	float	sbm_time_slice;		/* time slice (s) */
	int	sbm_depth_mode;		/* depth mode (1=shallow, 2=deep) */
	int	sbm_beam_mode;		/* focused beam mode (0=off, 1=on) */
	float	sbm_ssv;		/* surface sound velocity (m/s) */
	float	sbm_frequency;		/* sonar frequency (kHz) */
	float	sbm_bandwidth;		/* receiver bandwidth (kHz) */
	double	sbm_heave;		/* heave (m) */
	double	sbm_roll;		/* roll (radians) */
	double	sbm_pitch;		/* pitch (radians) */
	int	sbm_signal_beam;	/* beam number for signal */
	int	sbm_signal_count;	/* number of samples in signal */
	float	sbm_signal_amp[MBSYS_XSE_MAXSAMPLES];	/* signal values */
	int	sbm_message_id;		/* seabeam message id */
	int	sbm_message_len;	/* seabeam message length */
	char	sbm_message_txt[MBSYS_XSE_COMMENT_LENGTH]; /* seabeam message */
        char    sbm_sweep_direction;    /* sweep direction 0=static, 1=port, 2=starboard */
        float   sbm_sweep_azimuth;      /* effective azimuth (radians) */
        unsigned int    sbm_sweep_segments;     /* number of segments */
        unsigned int    sbm_sweep_seconds;      /* seconds since start of ping and end of sweep segment */
        unsigned int    sbm_sweep_micro;        /* microseconds of seconds */
        float   sbm_sweep_extrapolateazimuth;   /* extrapolated azimuth at center of sweep segment (radians) */
        float   sbm_sweep_interpolatedazimuth;  /* interpolated azimuth at center of sweep segment (radians) */
        float   sbm_sweep_extrapolatepitch;     /* extrapolated pitch at center of sweep segment (radians) */
        float   sbm_sweep_interpolatedpitch;    /* interpolated pitch at center of sweep segment (radians) */
        float   sbm_sweep_extrapolateroll;      /* extrapolated roll at center of sweep segment (radians) */
        float   sbm_sweep_interpolatedroll;     /* interpolated roll at center of sweep segment (radians) */
        float   sbm_sweep_stabilizedangle;      /* sweep segment stabilized angle (radians) */
        char    sbm_spacing_mode;               /* spacing mode: 0=equiangle, 1=equidistant */
        float   sbm_spacing_equidistance;       /* equidistance (percentage of center depth) */
        float   sbm_spacing_equidistance_min;   /* equidistance minimum value (percentage of center depth) */
        float   sbm_spacing_equidistance_max;   /* equidistance maximum value (percentage of center depth) */

	/* comment */
	int	com_source;		/* sensor id */
	unsigned int	com_sec;	/* sec since 1/1/1901 00:00 */
	unsigned int	com_usec;	/* microseconds */
	char	comment[MBSYS_XSE_COMMENT_LENGTH];

	/* unsupported frames */
	int	rawsize;		/* size of unknown frame in bytes */
	char	raw[MBSYS_XSE_BUFFER_SIZE];
	};


/* system specific function prototypes */
int mbsys_xse_alloc(int verbose, void *mbio_ptr, void **store_ptr,
			int *error);
int mbsys_xse_deall(int verbose, void *mbio_ptr, void **store_ptr,
			int *error);
int mbsys_xse_dimensions(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, int *nbath, int *namp, int *nss, int *error);
int mbsys_xse_extract(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, int time_i[7], double *time_d,
			double *navlon, double *navlat,
			double *speed, double *heading,
			int *nbath, int *namp, int *nss,
			char *beamflag, double *bath, double *amp,
			double *bathacrosstrack, double *bathalongtrack,
			double *ss, double *ssacrosstrack, double *ssalongtrack,
			char *comment, int *error);
int mbsys_xse_insert(int verbose, void *mbio_ptr, void *store_ptr,
			int kind, int time_i[7], double time_d,
			double navlon, double navlat,
			double speed, double heading,
			int nbath, int namp, int nss,
			char *beamflag, double *bath, double *amp,
			double *bathacrosstrack, double *bathalongtrack,
			double *ss, double *ssacrosstrack, double *ssalongtrack,
			char *comment, int *error);
int mbsys_xse_ttimes(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, int *nbeams,
			double *ttimes, double *angles,
			double *angles_forward, double *angles_null,
			double *heave, double *alongtrack_offset,
			double *draft, double *ssv, int *error);
int mbsys_xse_detects(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, int *nbeams, int *detects, int *error);
int mbsys_xse_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, double *transducer_depth, double *altitude,
			int *error);
int mbsys_xse_extract_nav(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, int time_i[7], double *time_d,
			double *navlon, double *navlat,
			double *speed, double *heading, double *draft,
			double *roll, double *pitch, double *heave,
			int *error);
int mbsys_xse_insert_nav(int verbose, void *mbio_ptr, void *store_ptr,
			int time_i[7], double time_d,
			double navlon, double navlat,
			double speed, double heading, double draft,
			double roll, double pitch, double heave,
			int *error);
int mbsys_xse_extract_svp(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind,
			int *nsvp,
			double *depth, double *velocity,
			int *error);
int mbsys_xse_insert_svp(int verbose, void *mbio_ptr, void *store_ptr,
			int nsvp,
			double *depth, double *velocity,
			int *error);
int mbsys_xse_copy(int verbose, void *mbio_ptr,
			void *store_ptr, void *copy_ptr,
			int *error);
