/*-------------------------------------------------------------------- * The MB-system: mbsys_jstar.h 2/21/2005 * $Id: mbsys_jstar.h 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2005-2015 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_jstar.h defines the data structure used by MBIO functions * to store sidescan data read from the MBF_EDGJSTAR format (MBIO id 132). * * Author: D. W. Caress * Date: February 21, 2005 * $Log: mbsys_jstar.h,v $ * Revision 5.2 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.1 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 5.0 2005/06/04 04:11:35 caress * Support for Edgetech Jstar format (id 132 and 133). * * */ /* * Notes on the MBSYS_JSTAR data structure: * 1. The J-star data format is used to store raw sidescan data from * Edgetech sidescan and subbottom profiler sonars. This format * is a variant of the SEGY format. * 2. The J-Star variant eliminates the SEGY EGCDIC and binary reel headers, * and adds a message header to the beginning of each trace header. * A J-Star stander format (JSF) file consists of a collection of trace * records with the following components: * 1. A 16-byte message header. * 2. A 240 byte trace header. * 3. Trace data (2 bytes per sample) */ /* specify the maximum number of sidescan pixels that can be returned by mbsys_jstar_extract() */ #define MBSYS_JSTAR_MESSAGE_SIZE 16 #define MBSYS_JSTAR_SBPHEADER_SIZE 240 #define MBSYS_JSTAR_SSHEADER_SIZE 240 #define MBSYS_JSTAR_SSOLDHEADER_SIZE 80 #define MBSYS_JSTAR_PIXELS_MAX 2000 #define MBSYS_JSTAR_SYSINFO_MAX 16384 #define MBSYS_JSTAR_DATA_SONAR 80 #define MBSYS_JSTAR_DATA_SONAR2 82 #define MBSYS_JSTAR_DATA_4400SAS 86 #define MBSYS_JSTAR_DATA_PITCHROLL 2020 #define MBSYS_JSTAR_DATA_NMEA 2002 #define MBSYS_JSTAR_DATA_MISCANALOG 2040 #define MBSYS_JSTAR_DATA_PRESSURE 2060 #define MBSYS_JSTAR_DATA_DVL 2080 #define MBSYS_JSTAR_DATA_MESSAGE 2090 #define MBSYS_JSTAR_DATA_SYSINFO 182 #define MBSYS_JSTAR_DATA_COMMENT 17229 #define MBSYS_JSTAR_SUBSYSTEM_SBP 0 #define MBSYS_JSTAR_SUBSYSTEM_SSLOW 20 #define MBSYS_JSTAR_SUBSYSTEM_SSHIGH 21 /* Edgetech trace data format definitions */ #define MBSYS_JSTAR_TRACEFORMAT_ENVELOPE 0 /* 2 bytes/sample (unsigned) */ #define MBSYS_JSTAR_TRACEFORMAT_ANALYTIC 1 /* 4 bytes/sample (I + Q) */ #define MBSYS_JSTAR_TRACEFORMAT_RAW 2 /* 2 bytes/sample (signed) */ #define MBSYS_JSTAR_TRACEFORMAT_REALANALYTIC 3 /* 2 bytes/sample (signed) */ #define MBSYS_JSTAR_TRACEFORMAT_PIXEL 4 /* 2 bytes/sample (signed) */ struct mbsys_jstar_message_struct { /* Message Header */ unsigned short start_marker; /* bytes 0-1, Marker for the start of header (0x1601) */ mb_u_char version; /* byte 2, Version of protocal used */ mb_u_char session; /* byte 3, Session identifier */ unsigned short type; /* bytes 4-5, Message type (80 - sonar trace data ) */ mb_u_char command; /* bytes 6, Command type */ mb_u_char subsystem; /* bytes 7, Subsystem: 0 - subbottom 20 - 75 or 120 kHz sidescan 21 - 410 kHz sidescan */ mb_u_char channel; /* bytes 8, Channel for multi-channel systems 0 = port 1 = starboard */ mb_u_char sequence; /* bytes 9, Sequence number */ unsigned short reserved; /* bytes 10-11, Reserved */ unsigned int size; /* bytes 12-15, Size of following message in bytes */ }; struct mbsys_jstar_comment_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Comment */ char comment[MB_COMMENT_MAXLINE]; }; struct mbsys_jstar_sysinfo_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* System Information */ int system_type; /* System Type Number and Description: 1 2xxx Series, Combined Sub-Bottom / Side Scan with SIB Electronics 2 2xxx Series, Combined Sub-Bottom / Side Scan with FSIC Electronics 4 4300-MPX (Multi-Ping) 5 3200-XS, Sub-Bottom Profiler with AIC Electronics 6 4400-SAS, 12-Channel Side Scan 7 3200-XS, Sub Bottom Profiler with SIB Electronics 11 4200 Limited Multipulse Dual Frequency Side Scan 14 3100-P, Sub Bottom Profiler 16 2xxx Series, Dual Side Scan with SIB Electronics 17 4200 Multipulse Dual Frequency Side Scan 18 4700 Dynamic Focus 19 4200 Dual Frequency Side Scan 20 4200 Dual Frequency non Simultaneous Side Scan 21 2200-MP Combined Sub-Bottom / Dual Frequency Multipulse Side Scan 23 4600 Bathymetric System 128 4100, 272 /560A Side Scan */ int reserved1; int version; /* Sonar software version */ int reserved2; int platformserialnumber; /* Serial number of platform */ /* Sysinfo message */ int sysinfosize; char sysinfo[MBSYS_JSTAR_SYSINFO_MAX]; }; struct mbsys_jstar_nmea_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char source; /* 1=sonar, 2=discover, 3=ETSI */ char reserve[3]; /* NMEA string */ char nmea[MB_COMMENT_MAXLINE]; }; struct mbsys_jstar_pressure_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; int pressure; /* 0.001 PSI */ int salinity; /* ppm */ int datavalidflags; /* data valid flags: 0 - pressure 1 - temp 2 - salt PPM 3 - conductivity 4 - sound velocity */ int conductivity; /* uSiemens/cm */ int soundspeed; /* 0.001 m/sec */ int reserve2[10]; }; struct mbsys_jstar_pitchroll_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; short accelerationx; /* x acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short accelerationy; /* y acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short accelerationz; /* z acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short gyroratex; /* x gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short gyroratey; /* y gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short gyroratez; /* z gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short pitch; /* pitch: multiply by (180.0 / 32768) to get degrees */ short roll; /* roll: multiply by (180.0 / 32768) to get degrees */ short temperature; /* temperature: 0.1 degree C */ unsigned short deviceinfo; /* device specific info */ short heave; /* heave: 0.001 m */ unsigned short heading;/* 0.01 degrees */ int datavalidflags; /* data valid flags: 0 - ax 1 - ay 2 - az 3 - rx 4 - ry 5 - rz 6 - pitch 7 - roll 8 - heave 9 - heading 10 - temperature 11 - device info */ int reserve2; }; struct mbsys_jstar_dvl_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; unsigned int datavalidflags; /* Bit values indicate which values are present: 0: X,Y velocity present 1: 1 = velocity in ship coordinates 0 = velocity in earth coordinates 2: Z (vertical) velocity present 3: X, Y water velocity present 4: Z (vertical) water velocity present 5: Distance to bottom present 6: Heading present 7: Pitch present 8: Roll present 9: Temperature present 10: Depth present 11: Salinity present 12: Sound velocity present --- 31: Error detected */ int beam1range; /* 0.01 m (0 = invalid) */ int beam2range; /* 0.01 m (0 = invalid) */ int beam3range; /* 0.01 m (0 = invalid) */ int beam4range; /* 0.01 m (0 = invalid) */ short velocitybottomx; /* x velocity wrt bottom (0.001 m/s, positive to starboard or east) */ short velocitybottomy; /* y velocity wrt bottom (0.001 m/s, positive to forward or north) */ short velocitybottomz; /* z velocity wrt bottom (0.001 m/s, positive upward) */ short velocitywaterx; /* x velocity wrt water (0.001 m/s, positive to starboard or east) */ short velocitywatery; /* y velocity wrt water (0.001 m/s, positive to forward or north) */ short velocitywaterz; /* z velocity wrt water (0.001 m/s, positive upward) */ unsigned short depth; /* depth (0.1 m) */ short pitch; /* pitch (0.01 degree, positive bow up) */ short roll; /* roll (0.01 degree, positive port up) */ short heading; /* heading (0.01 degree) */ short salinity; /* salinity (ppt (part per thousand)) */ short temperature; /* temperature (0.01 degree celcius) */ short soundspeed; /* sound speed (m/sec) */ short reserve2[7]; }; struct mbsys_jstar_channel_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Trace Header */ int sequenceNumber; /* 0-3 : Trace Sequence Number (always 0) ** */ unsigned int startDepth; /* 4-7 : Starting depth (window offset) in samples. */ unsigned int pingNum; /* 8-11: Ping number (increments with ping) ** */ unsigned int channelNum; /* 12-15 : Channel Number (0 .. n) ** */ short unused1[6]; /* 16-27 */ short traceIDCode; /* 28-29 : ID Code (always 1 => seismic data) ** */ short unused2[2]; /* 30-33 */ short dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ short NMEAantennaeR; /* 36-37 : Distance from towfish to antennae in cm */ short NMEAantennaeO; /* 38-39 : Distance to antennae starboard direction in cm */ char RS232[32]; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ int sourceCoordX; /* 72-75 : Meters or Seconds of Arc */ int sourceCoordY; /* 76-79 : Meters or Seconds of Arc */ int groupCoordX; /* 80-83 : mm or 10000 * (Minutes of Arc) */ int groupCoordY; /* 84-87 : mm or 10000 * (Minutes of Arc) */ short coordUnits; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ char annotation[24]; /* 90-113 : Annotation string */ unsigned short samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ unsigned int sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ unsigned short ADCGain; /* 120-121 : Gain factor of ADC */ short pulsePower; /* 122-123 : user pulse power setting (0 - 100) percent */ short correlated; /* 124-125 : correlated data 1 - No, 2 - Yes */ unsigned short startFreq; /* 126-127 : Starting frequency in 10 * Hz */ unsigned short endFreq; /* 128-129 : Ending frequency in 10 * Hz */ unsigned short sweepLength; /* 130-131 : Sweep length in ms */ short unused7[4]; /* 132-139 */ unsigned short aliasFreq; /* 140-141 : alias Frequency (sample frequency / 2) */ unsigned short pulseID; /* 142-143 : Unique pulse identifier */ short unused8[6]; /* 144-155 */ short year; /* 156-157 : Year data recorded (CPU time) */ short day; /* 158-159 : day */ short hour; /* 160-161 : hour */ short minute; /* 162-163 : minute */ short second; /* 164-165 : second */ short timeBasis; /* 166-167 : Always 3 (other not specified by standard) */ short weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ short unused9; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ short heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ short pitch; /* 174-175 : Pitch */ short roll; /* 176-177 : Roll */ short temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ short heaveCompensation; /* 180-181 : Heave compensation offset (samples) */ short trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ unsigned short markNumber; /* 184-185 : Mark Number (0 = no mark) */ short NMEAHour; /* 186-187 : Hour */ short NMEAMinutes; /* 188-189 : Minutes */ short NMEASeconds; /* 190-191 : Seconds */ short NMEACourse; /* 192-193 : Course */ short NMEASpeed; /* 194-195 : Speed */ short NMEADay; /* 196-197 : Day */ short NMEAYear; /* 198-199 : Year */ unsigned int millisecondsToday; /* 200-203 : Millieconds today */ unsigned short ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ short calConst; /* 206-207 : System constant in tenths of a dB */ short vehicleID; /* 208-209 : Vehicle ID */ char softwareVersion[6]; /* 210-215 : Software version number */ /* Following items are not in X-Star */ int sphericalCorrection; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ unsigned short packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ short ADCDecimation; /* 222-223 : A/D decimation before FFT */ short decimation; /* 224-225 : Decimation factor after FFT */ short unuseda; /* 226-227 */ /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ int depth; /* 227-231 : Seafloor depth in 0.001 m */ int sonardepth; /* 236-235 : Sonar depth in 0.001 m */ int sonaraltitude; /* 236-239 : Sonar altitude in 0.001 m */ /* trace data stored as shorts */ unsigned int trace_alloc; unsigned short *trace; }; struct mbsys_jstar_ssold_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Trace Header */ unsigned short subsystem; /* 0 - 1 : Subsystem (0 .. n) */ unsigned short channelNum; /* 2 - 3 : Channel Number (0 .. n) */ unsigned int pingNum; /* 4 - 7 : Ping number (increments with ping) */ unsigned short packetNum; /* 8 - 9 : Packet number (1..n) Each ping starts with packet 1 */ unsigned short trigSource; /* 10 - 11 : TriggerSource (0 = internal, 1 = external) */ unsigned int samples; /* 12 - 15 : Samples in this packet */ unsigned int sampleInterval; /* 16 - 19 : Sample interval in ns of stored data */ unsigned int startDepth; /* 20 - 23 : starting Depth (window offset) in samples */ short weightingFactor; /* 24 - 25 : -- defined as 2 -N volts for lsb */ unsigned short ADCGain; /* 26 - 27 : Gain factor of ADC */ unsigned short ADCMax; /* 28 - 29 : Maximum absolute value for ADC samples for this packet */ unsigned short rangeSetting; /* 30 - 31 : Range Setting (meters X 10) */ unsigned short pulseID; /* 32 - 33 : Unique pulse identifier */ unsigned short markNumber; /* 34 - 35 : Mark Number (0 = no mark) */ unsigned short dataFormat; /* 36 - 37 : Data format */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter (raw) */ /* 3 = 1 short per sample - real part analytic signal */ /* NOTE: For type = 1, the total number of bytes of data to follow is */ /* 4 * samples. For all other types the total bytes is 2 * samples */ unsigned short reserved; /* 38 - 39 : Reserved field to round up to a 32-bit word boundary */ /* -------------------------------------------------------------------- */ /* computer date / time data acquired */ /* -------------------------------------------------------------------- */ unsigned int millisecondsToday; /* 40 - 43 : Millieconds today */ short year; /* 44 - 45 : Year */ unsigned short day; /* 46 - 47 : Day of year (1 - 366) */ unsigned short hour; /* 48 - 49 : Hour of day (0 - 23) */ unsigned short minute; /* 50 - 51 : Minute (0 - 59) */ unsigned short second; /* 52 - 53 : Second (0 - 59) */ /* -------------------------------------------------------------------- */ /* Auxillary sensor information */ /* -------------------------------------------------------------------- */ short heading; /* 54 - 55 : Compass heading (minutes) */ short pitch; /* 56 - 57 : Pitch (minutes) */ short roll; /* 58 - 59 : Roll (minutes) */ short heave; /* 60 - 61 : Heave (centimeters) */ short yaw; /* 62 - 63 : Yaw (minutes) */ unsigned int depth; /* 64 - 67 : Vehicle depth (centimeters) */ short temperature; /* 68 - 69 : Temperature (degrees Celsius X 10) */ char reserved2[10]; /* 70 - 79 : Reserved for future use */ /* trace data stored as shorts */ unsigned int trace_alloc; unsigned short *trace; }; struct mbsys_jstar_struct { int kind; /* MBIO data kind */ /* Ping type */ mb_u_char subsystem; /* bytes 7, Subsystem: 0 - subbottom 20 - 75 or 120 kHz sidescan 21 - 410 kHz sidescan */ /* SBP data */ struct mbsys_jstar_channel_struct sbp; /* Sidescan data */ struct mbsys_jstar_channel_struct ssport; struct mbsys_jstar_channel_struct ssstbd; /* Pitch Roll data */ struct mbsys_jstar_pitchroll_struct pitchroll; /* NMEA */ struct mbsys_jstar_nmea_struct nmea; /* DVL data */ struct mbsys_jstar_dvl_struct dvl; /* Pressure data */ struct mbsys_jstar_pressure_struct pressure; /* System Information data */ struct mbsys_jstar_sysinfo_struct sysinfo; /* Comment */ struct mbsys_jstar_comment_struct comment; }; /* system specific function prototypes */ int mbsys_jstar_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_jstar_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_jstar_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_jstar_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_jstar_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_jstar_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_jstar_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_jstar_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_jstar_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_jstar_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_jstar_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, double transducer_depth, double altitude, int *error); int mbsys_jstar_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_jstar_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_jstar_extract_rawssdimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *sample_interval, int *num_samples_port, int *num_samples_stbd, int *error); int mbsys_jstar_extract_rawss(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *sidescan_type, double *sample_interval, double *beamwidth_xtrack, double *beamwidth_ltrack, int *num_samples_port, double *rawss_port, int *num_samples_stbd, double *rawss_stbd, int *error); int mbsys_jstar_insert_rawss(int verbose, void *mbio_ptr, void *store_ptr, int kind, int sidescan_type, double sample_interval, double beamwidth_xtrack, double beamwidth_ltrack, int num_samples_port, double *rawss_port, int num_samples_stbd, double *rawss_stbd, int *error); int mbsys_jstar_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, int *kind, void *segyheader_ptr, int *error); int mbsys_jstar_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, int *sampleformat, int *kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_jstar_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, int kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_jstar_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_jstar_copyrecord(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);