/*-------------------------------------------------------------------- * The MB-system: mbsys_swathplus.h 1/28/2014 * $Id: mbsys_swathplus.h 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2014-2015 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_swathplus.h defines the MBIO data structures for handling data from * the following data formats: * MBF_TEMPFORM : MBIO ID 221 - SWATHplus intermediate format * MBF_SWPLSSXP : MBIO ID 222 - SWATHplus processed format * * Author: David Finlayson * Date: February 19, 2014 * * HISTORY * * 2014-04-11 - David Finlayson * - Reformated comments. * - Added record to hold MB System projection id */ /* * Notes on the mbsys_swathplus data structure and associated format: * * In early 2013 SEA sold the SWATHplus system to BathySwath where * the system will be rebranded the BathySwath. * * 1. BathySwath defines three data formats associated with the SWATHplus * interferometric sonar: raw, intermediate, and processed. * MB-System supports the intermediate format as MBIO * format 221 (MBF_SWPLSSXI) and the processed format as MBIO * format 222 (MBF_SWPLSSXP). Only the SXP format is fully tested at this time. * * 2. Bathyswath is a swath bathymetry sonar system. It is derived from * the SWATHplus sonar system, and uses the same file formats. In * turn, SWATHplus was derived from the Submetrix sonars, built by * Submetrix Ltd. * * 3. The data files are written using a Microsoft Windows operating system * and therefore follow the conventions of that system in terms of file * naming and low-level disk format. In particular, data structures * often contain padding bytes that must be preserved to maintain * compatibility with the format. * * 4. All Bathyswath and SWATHplus data is little-endian, i.e. in the * natural 80x86 format with the least significant byte at the lower * address. * * 5. MBF_SWPLSSXP - Processed data derived from the real-time software. * These files have all corrections applied, including: attitude, * position, tide, speed of sound, includes down-sampled position, * attitude and tide information. Processed files use a projected * coordinate system (PCS), typically UTM. The user must supply PRJ * files for each input sxp file identifying the correct PCS. * * 6. MBF_SWPLSSXI - Raw data, but parsed into a format that is easier for * third-party code to interpret. These files have none of the above * corrections applied. * * 7. All of the bathyswath files use the same block-oriented data format. * They can be read using the same software code, and the blocks that * they contain may be included in any of the files. The difference * between the file types is therefore simply the types of data block * that they tend to contain. Each file contains a file header block, * followed by a series of data blocks. Every block contains a header * that identifies the block, followed by the length of the block. * Therefore, the reading software can identify the blocks that it * wishes to read and ignore and skip over any block types that it * encounters. In this way, new blocks can be added to a file without * necessarily having to update the reading software. * */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /*--------------------------------------------------------------- Record ID definitions (if needed for use in data reading and writing) */ /* Processed (SXP) datagrams */ #define SWPLS_ID_NONE 0x0 /* 0 means no record at all */ #define SWPLS_ID_UNKNOWN 0x1 #define SWPLS_ID_SXP_HEADER_DATA 0x01df01df /* Processed file header */ #define SWPLS_ID_PROCESSED_PING 0x28 /* processed ping data (prior to January 2010) */ #define SWPLS_ID_PROCESSED_PING2 0x52 /* processed ping data (after January 2010) */ #define SWPLS_ID_SBP_PROJECTION 0x0 /* PLACEHOLDER */ /* Parsed (SXI) datagrams */ #define SWPLS_ID_SXI_HEADER_DATA 0x521d52d1 /* parsed data file header */ #define SWPLS_ID_PARSED_PING 0x29 /* sonar data in parsed data */ #define SWPLS_ID_PARSED_ATTITUDE 0x2b /* attitude data in parsed data */ #define SWPLS_ID_PARSED_POSITION_LL 0x2c /* lat-long position idata in parsed data */ #define SWPLS_ID_PARSED_POSITION_EN 0x2d /* easting-northing data in parsed data */ #define SWPLS_ID_PARSED_SSV 0x2e /* speed of sound data in parsed data */ #define SWPLS_ID_PARSED_ECHOSOUNDER 0x2f /* echosounder data in parsed data */ #define SWPLS_ID_PARSED_TIDE 0x30 /* tide data in parsed data */ #define SWPLS_ID_PARSED_AGDS 0x31 /* AGDS data in parsed data */ /* MB-System Custom datagrams (BathySwath user-reserved blocks) */ #define SWPLS_ID_COMMENT 0x100 /* MB System comment */ #define SWPLS_ID_POS_OFFSET 0x101 /* MB System position offset lever arms */ #define SWPLS_ID_IMU_OFFSET 0x102 /* MB System IMU offset lever arms*/ #define SWPLS_ID_TXER_OFFSET 0x103 /* MB System Transducer offset lever arms */ #define SWPLS_ID_WL_OFFSET 0x104 /* MB System Water Line offset lever arm */ #define SWPLS_ID_PROJECTION 0x105 /* MB System Projection ID */ /*--------------------------------------------------------------- Record size definitions (if needed for use in data reading and writing) */ #define SWPLS_SIZE_NONE 0 /* 0 means no record at all */ #define SWPLS_SIZE_BLOCKHEADER 8 /* Block Header (blockid, blocksize) */ #define SWPLS_SIZE_HEADER 8 /* File version block */ #define SWPLS_SIZE_PROCESSED_PING 256 /* Old-style pings (prior to Jan 2010) */ #define SWPLS_SIZE_PROCESSED_PING2 264 /* New-style pings (after Jan 2010) */ #define SWPLS_SIZE_POINT 40 /* Old-style points (prior to Jan 2010)*/ #define SWPLS_SIZE_POINT2 48 /* New-style points (after Jan 2010) */ #define SWPLS_SIZE_PARSED_PING 35 #define SWPLS_SIZE_PARSED_POINT 7 #define SWPLS_SIZE_ATTITUDE 25 #define SWPLS_SIZE_POSITION_LL 25 #define SWPLS_SIZE_POSITION_EN 25 #define SWPLS_SIZE_SSV 13 #define SWPLS_SIZE_ECHOSOUNDER 13 /* assumed value until known */ #define SWPLS_SIZE_TIDE 13 /* assumed value until known */ #define SWPLS_SIZE_AGDS 17 /* assumed value until known */ #define SWPLS_SIZE_PROJECTION 12 /* MB SYSTEM ONLY */ #define SWPLS_SIZE_COMMENT 12 /* MB SYSTEM ONLY */ #define SWPLS_SIZE_POS_OFFSET 25 /* MB SYSTEM ONLY */ #define SWPLS_SIZE_IMU_OFFSET 25 /* MB SYSTEM ONLY */ #define SWPLS_SIZE_TXER_OFFSET 41 /* MB SYSTEM ONLY */ #define SWPLS_SIZE_WL_OFFSET 13 /* MB SYSTEM ONLY */ /*--------------------------------------------------------------- Array size definitions (if needed for use in data reading and writing) */ #define SWPLS_MAX_BEAMS 2048 #define SWPLS_MAX_PIXELS 2048 #define SWPLS_MAX_TXERS 3 #define SWPLS_MAX_LINENAME 40 #define SWPLS_MAX_TX_INFO 3 #define SWPLS_BUFFER_STARTSIZE 32768 /*--------------------------------------------------------------- SWATHplus constant definitions */ /* Sonar ping mode settings (sxp_ping->txstat & SWPLS_SONAR_SEL_MASK) */ #define SWPLS_SONAR_SEL_MASK 3 #define SWPLS_SONAR_SEL_OFF 0 #define SWPLS_SONAR_SEL_SINGLE 1 #define SWPLS_SONAR_SEL_ALT 2 #define SWPLS_SONAR_SEL_SIM 3 /* Sample flag definitions */ #define SWPLS_POINT_REJECTED 0 #define SWPLS_POINT_ACCEPTED 1 /* Transducer azimuth beam widths (degrees) */ #define SWPLS_TYPE_L_BEAM_WIDTH 0.85 #define SWPLS_TYPE_M_BEAM_WIDTH 0.55 #define SWPLS_TYPE_H_BEAM_WIDTH 0.55 /* Variations of Pi precomputed */ #define kPi (M_PI) #define k2Pi (kPi * 2.0) #define kPiOver2 (kPi / 2.0) #define k1OverPi (1.0 / kPi) #define k1Over2Pi (1.0 / k2Pi) /* Structs needed for doing coordinate transformations left-handed coordinate system */ typedef struct swathplus_vector_struct { double x; /* positive to right */ double y; /* positive up */ double z; /* positive forward */ } swpls_vector; typedef struct swathplus_euler_angles_struct { double heading; /*clockwise rotation of y, +starboard */ double pitch; /*clockwise rotation of x, +nose down */ double bank; /*clockwise rotation of z, +starboard up */ } swpls_angles; typedef struct swathplus_quaternion_struct { double w; double x; double y; double z; } swpls_quaternion; typedef struct swathplus_matrix_struct { double m11, m12, m13; double m21, m22, m23; double m31, m32, m33; double tx, ty, tz; } swpls_matrix; /* SWATHplus file header structure (SXI, SXP) */ typedef struct swpls_file_header_struct { int swver; /* 3065601 means: Major version 3, Minor version 06, Release 56, Build 01 */ int fmtver; /* Obsolete */ } swpls_header; /* SWATHplus processed point data. (SXP) */ typedef struct swpls_point_struct { int sampnum; /* sample number, rejected may not be present */ double y; /* north coordinate (m) */ double x; /* east coordinate (m) */ float z; /* depth positive down (m) */ unsigned short int amp; /* raw amplitude (16-bit) */ unsigned short int procamp; /* processed amplitude (16-bit) */ unsigned char status; /* 0 (bad) or 1 (good) */ double tpu; /* total propagated uncertainty (m) [Version 2]*/ } swpls_point; /* SWATHplus processed ping data (SXP)*/ typedef struct swpls_sxpping_struct { char linename[SWPLS_MAX_LINENAME]; /* apparently not used by SEA software */ unsigned int pingnumber; /* ping number */ double time_d; /* UNIX time of start of ping */ int notxers; /* number of transducers in this record, always 1 */ double easting; /* easting coordinate of transducer (m) */ double northing; /* northing coordinate of transducer (m) */ double roll; /* roll at start of ping (deg) +starboard down*/ double pitch; /* pitch at start of ping (deg) +nose up */ double heading; /* heading at start of ping (deg), +clockwise */ double height; /* height of crp in survey datum (m) +down */ double tide; /* tide at start of ping (m) */ double sos; /* speed of sound (mean value) */ unsigned char txno; /* transducer identifier */ unsigned char txstat; /* transducer status */ unsigned char txpower; /* power setting */ short int analoggain; /* analog gain setting */ unsigned char nostaves; /* number of staves on transducer */ unsigned char txinfo[SWPLS_MAX_TX_INFO]; /* board type/revision/serial num. */ unsigned char freq; /* frequency code */ double frequency; /* frequency in hertz */ short int trnstime; /* transmit time/number of cycles */ short int recvtime; /* receive time/number of samples */ unsigned char samprate; /* receive rate micro-sec/sample */ int nosampsorig; /* num. samp. read in real time */ int nosampsfile; /* num. samp. in the processed file */ int nosampslots; /* number of sample slots */ double txer_e; /* easting coordinate of transducer (m) */ double txer_n; /* northing coordinate of transducer (m) */ double txer_height; /* positive down (m) */ double txer_forward; /* positive forward (m) */ double txer_starboard; /* positive starboard (m) */ double txer_azimuth; /* positive clockwise looking down (deg) */ double txer_elevation; /* angle of txer plate, positive angles above horizon (deg) */ double txer_skew; /* positive clockwise from rear (deg) */ double txer_time; /* time offset (sec) */ double txer_waterdepth; /* transducer draft (m) */ double txer_pitch; /* positive bow up (deg) [Version 2 pings only] */ size_t points_alloc; /* MBSYSTEM-ONLY number of allocated points (don't write out) */ swpls_point *points; /* array of swpls_points */ } swpls_sxpping; /* SWATHplus parsed ping data (SXI) */ typedef struct swpls_sxiping_struct { int time_d; /* start of ping, seconds since 1970 */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the transducer */ unsigned long pingnumber; /* simultaneous pings are numbered separately */ float frequency; /* frequency of the transducer in Hz */ float samp_period; /* time period between sonar data samples, in seconds */ unsigned short nosamps; /* number of samples following */ float sos; /* speed of sound used to calculate angles, m/s */ short int txpulse; /* transmit pulse length, in sonar cycles */ char data_options; /* allows options in data encoding */ unsigned char ping_state; /* records the status of pinging single/alternating/simultaneous */ unsigned short max_count; /* maximum data count before filtering */ unsigned short reserve1; /* reserved for other ping information */ size_t samps_alloc; /* MB SYSTEM ONLY number of allocated samples for following arrays */ unsigned short *sampnum; /* sample numbers */ short int *angle; /* Angle coded +15 bits = 180 deg up, -15 bits = 180 deg down, relative to the txer pointing angle */ unsigned short *amplitude; /* Amplitude scaled so that 16 bits is the full scale of the ADC */ unsigned char *quality; /* as set by "data options */ } swpls_sxiping; /* SWATHplus parsed attitude data (SXI) */ typedef struct swpls_attitude_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the data source */ float roll; /* positive for starboard down */ float pitch; /* positive for nose up */ float heading; /* positive clockwise looking down */ float height; /* positive for down */ } swpls_attitude; /* SWATHplus parsed position geographic coordinates (SXI) */ typedef struct swpls_position_ll_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the data source */ double latitude; /* degrees (of survey center?) */ double longitude; /* degrees (of survey center?) */ } swpls_posll; /* SWATHplus parsed position projected coordinates (SXI) */ typedef struct swpls_position_en_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ double easting; /* easting coordinate (m) */ double northing; /* northing coordinate (m) */ } swpls_posen; /* SWATHplus parsed speed of sound (SXI) */ typedef struct swpls_ssv_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the data source */ float ssv; /* speed of sound (m/s) */ } swpls_ssv; /* SWATHplus parsed tide data (SXI) */ typedef struct swpls_tide_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ float tide; /* speed of sound (m/s) */ } swpls_tide; /* SWATHplus parsed echosounder data (SXI) */ typedef struct swpls_echosounder_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ float altitude; /* height above seabed (m) */ } swpls_echosounder; /* SWATHplus parsed Acoustic Ground Discrimination System (SXI) */ typedef struct swpls_agds_struct { int time_d; /* start of ping time code. */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ float hardness; float roughness; } swpls_agds; /* MB System comment structure (BathySwath User Reserved Block) */ typedef struct swpls_comment_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d*/ int nchars; /* number of characters */ size_t message_alloc; /* number of characters allocated in storage */ char *message; /* characters in the message */ } swpls_comment; /* MB System projection definition structure (BathySwath User Reserved Block) */ typedef struct swpls_projection_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d*/ int nchars; /* number of characters */ size_t projection_alloc; /* number of characters allocated in storage */ char *projection_id; /* characters in the projection id */ } swpls_projection; /* MB System common reference point to position lever arm (BathySwath User Reserve Block) */ typedef struct swpls_pos_offset_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ float height; /* +up, meters */ float forward; /* +forward, meters */ float starboard; /* +starboard, meters */ float time; /* +time, seconds */ } swpls_pos_offset; /* MB System common reference point to imu position lever arm (BathySwath User Reserve Block) */ typedef struct swpls_imu_offset_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the data source */ float height; /* +up, meters */ float forward; /* +forward, meters */ float starboard; /* +starboard, meters */ float time; /* +time, secodns */ } swpls_imu_offset; /* MB System common reference point to transducer position lever arm (BathySwath User Reserve Block) */ typedef struct swpls_txer_offset_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d */ unsigned char channel; /* identifies the transducer */ float height; /* +up, meters */ float forward; /* +forward, meters */ float starboard; /* +starboard, meters */ float azimuth; /* +clockwise, degrees */ float elevation; /* +above horizon, degrees */ float pitch; /* +nose up, degrees */ float skew; /* +clockwise, degrees */ float time; /* +time, seconds */ } swpls_txer_offset; /* MB System common reference point to water line lever arm (BathySwath User Reserve Block) */ typedef struct swpls_wl_offset_struct { int time_d; /* start of ping time code */ int microsec; /* microseconds since time_d*/ unsigned char channel; /* identifies the data source */ float height; /* +up, meters */ } swpls_wl_offset; /* MB System data structure */ struct mbsys_swathplus_struct { /* Type of most recently read data record */ int kind; /* MB-System record ID */ int type; /* SWATHplus datagram ID */ /* MB-System time stamp of most recently read record */ double time_d; int time_i[7]; /* Projection information */ int projection_set; swpls_projection projection; /* Processed (SXP) Records */ int sxp_header_set; swpls_header sxp_header; swpls_sxpping sxp_ping; /* Parsed (SXI) Records */ int sxi_header_set; swpls_header sxi_header; swpls_sxiping sxi_ping; swpls_attitude attitude; swpls_posll posll; swpls_posen posen; swpls_ssv ssv; swpls_tide tide; swpls_echosounder echosounder; swpls_agds agds; /* MB-System Records */ swpls_comment comment; swpls_pos_offset pos_offset; swpls_imu_offset imu_offset; swpls_txer_offset txer_offset; swpls_wl_offset wl_offset; }; /*---------------------------------------------------------------*/ /* System specific function prototypes */ /* Note: this list of functions corresponds to the function pointers * that are included in the structure mb_io_struct that is defined * in the file mbsystem/src/mbio/mb_io.h * Not all of these functions are required - some only make sense to * define if the relevant data type is part of the format. For instance, * do not define mbsys_swathplus_extract_segy() if there are no subbottom * profiler data supported by this data system. * The function prototypes that are not required for all data systems * are commented out below. When using this example as the basis for * for coding a new MB-System I/O module, uncomment any non-required * functions that will be useful. */ int mbsys_swathplus_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_swathplus_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_swathplus_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_swathplus_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_swathplus_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error); int mbsys_swathplus_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error); /* int mbsys_swathplus_preprocess(int verbose, void *mbio_ptr, void *store_ptr, */ /* double time_d, double navlon, double navlat, */ /* double speed, double heading, double sonardepth, */ /* double roll, double pitch, double heave, */ /* int *error); */ int mbsys_swathplus_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_swathplus_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_swathplus_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_swathplus_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr, */ /* int nmax, int *kind, int *n, */ /* int *time_i, double *time_d, */ /* double *navlon, double *navlat, */ /* double *speed, double *heading, double *draft, */ /* double *roll, double *pitch, double *heave, */ /* int *error); */ int mbsys_swathplus_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_swathplus_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); /* int mbsys_swathplus_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, */ /* double transducer_depth, double altitude, */ /* int *error); */ int mbsys_swathplus_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_swathplus_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_swathplus_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_swathplus_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); /* int mbsys_swathplus_pulses(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *kind, int *nbeams, int *pulses, int *error); */ int mbsys_swathplus_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); /* int mbsys_swathplus_extract_rawss(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *kind, int *nrawss, */ /* double *rawss, */ /* double *rawssacrosstrack, */ /* double *rawssalongtrack, */ /* int *error); */ /* int mbsys_swathplus_insert_rawss(int verbose, void *mbio_ptr, void *store_ptr, */ /* int nrawss, */ /* double *rawss, */ /* double *rawssacrosstrack, */ /* double *rawssalongtrack, */ /* int *error); */ /* int mbsys_swathplus_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *kind, */ /* void *segytraceheader_ptr, */ /* int *error); */ /* int mbsys_swathplus_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *sampleformat, */ /* int *kind, */ /* void *segytraceheader_ptr, */ /* float *segydata, */ /* int *error); */ /* int mbsys_swathplus_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, */ /* int kind, */ /* void *segytraceheader_ptr, */ /* float *segydata, */ /* int *error); */ /* int mbsys_swathplus_ctd(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *kind, int *nctd, double *time_d, */ /* double *conductivity, double *temperature, */ /* double *depth, double *salinity, double *soundspeed, int *error); */ /* int mbsys_swathplus_ancilliarysensor(int verbose, void *mbio_ptr, void *store_ptr, */ /* int *kind, int *nsensor, double *time_d, */ /* double *sensor1, double *sensor2, double *sensor3, */ /* double *sensor4, double *sensor5, double *sensor6, */ /* double *sensor7, double *sensor8, int *error); */ int mbsys_swathplus_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); /* Custom swathplus functions */ int mbsys_swathplus_print_store(int verbose, struct mbsys_swathplus_struct *store, int *error); int mbsys_swathplus_blockheader_read(int verbose, void *mb_io_ptr, int *recordid, int *size, int *error); int swpls_init_transform(int verbose, swpls_matrix *m, int *error); int swpls_concat_translate(int verbose, swpls_matrix *m, double dx, double dy, double dz, int *error); int swpls_concat_rotate_x(int verbose, swpls_matrix *m, double pitch, int *error); int swpls_concat_rotate_y(int verbose, swpls_matrix *m, double heading, int *error); int swpls_concat_rotate_z(int verbose, swpls_matrix *m, double bank, int *error); int swpls_transform(int verbose, const swpls_matrix *m, swpls_vector *p, int *error); /*---------------------------------------------------------------*/ int swpls_chk_header(int verbose, void *mbio_ptr, char *buffer, int *recordid, int *size, int *error); int swpls_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int swpls_rd_sxpheader(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_sxpping(int verbose, char *buffer, void *store_ptr, int pingtype, int *error); int swpls_wr_sxpheader(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_sxpping(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_pr_sxpheader(int verbose, FILE *fout, swpls_header *header, int *error); int swpls_pr_sxpping(int verbose, FILE *fout, swpls_sxpping *ping, int *error); int swpls_rd_sxiheader(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_sxiping(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_attitude(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_posll(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_posen(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_ssv(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_echosounder(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_tide(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_agds(int verbose, char *buffer, void *store_ptr, int *error); int swpls_wr_sxiheader(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_sxiping(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_attitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_posll(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_posen(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_ssv(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_echosounder(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_tide(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_agds(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_pr_sxiheader(int verbose, FILE *fout, swpls_header *header, int *error); int swpls_pr_sxiping(int verbose, FILE *fout, swpls_sxiping *ping, int *error); int swpls_pr_attitude(int verbose, FILE *fout, swpls_attitude *attitude, int *error); int swpls_pr_posll(int verbose, FILE *fout, swpls_posll *posll, int *error); int swpls_pr_posen(int verbose, FILE *fout, swpls_posen *posen, int *error); int swpls_pr_ssv(int verbose, FILE *fout, swpls_ssv *ssv, int *error); int swpls_pr_echosounder(int verbose, FILE *fout, swpls_echosounder *sounder, int *error); int swpls_pr_tide(int verbose, FILE *fout, swpls_tide *tide, int *error); int swpls_pr_agds(int verbose, FILE *fout, swpls_agds *agds, int *error); int swpls_rd_projection(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_comment(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_pos_offset(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_imu_offset(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_txer_offset(int verbose, char *buffer, void *store_ptr, int *error); int swpls_rd_wl_offset(int verbose, char *buffer, void *store_ptr, int *error); int swpls_wr_projection(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_comment(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_pos_offset(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_imu_offset(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_txer_offset(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_wr_wl_offset(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int swpls_pr_projection(int verbose, FILE *fout, swpls_projection *projection, int *error); int swpls_pr_comment(int verbose, FILE *fout, swpls_comment *comment, int *error); int swpls_pr_pos_offset(int verbose, FILE *fout, swpls_pos_offset *pos_offset, int *error); int swpls_pr_imu_offset(int verbose, FILE *fout, swpls_imu_offset *imu_offset, int *error); int swpls_pr_txer_offset(int verbose, FILE *fout, swpls_txer_offset *txer_offset, int *error); int swpls_pr_wl_offset(int verbose, FILE *fout, swpls_wl_offset *wl_offset, int *error);