/* ---------------------------------------------------------------------- */ /* XTFDefs.h */ /* ---------------------------------------------------------------------- */ /* */ /* (c) Copyright 2001, 2006, 2008 EdgeTech, */ /* */ /* This file contains proprietary information, and trade secrets of */ /* EdgeTech, and may not be disclosed or reproduced without the prior */ /* written consent of EdgeTech. */ /* */ /* EdgeTech is not responsible for the consequences of the use or misuse */ /* of this software, even if they result from defects in it. */ /* */ /* ---------------------------------------------------------------------- */ /* */ /* Triton .XTF file format structures and descriptions. October 27, 1998 */ /* */ /* ---------------------------------------------------------------------- */ #ifndef __XTF_FILEDEFS_H__ #define __XTF_FILEDEFS_H__ /* ---------------------------------------------------------------------- */ /* */ /* 1. Methodology */ /* ---------------------------------------------------------------------- */ /* An XTF file can be thought of as a "pool" of data. In a realtime */ /* collection environment, data may be prepared and added to the file */ /* at any time without regard to synchronization between data packets. */ /* For example, bathymetry data may be logged five times per second */ /* while sonar data is being logged at 10 times per second. No storage */ /* space is wasted and no "holes" are created in the saved data stream. */ /* */ /* While processing an XTF file, the processing software can easily */ /* ignore data packets it doesn't recognize or isn't needed. For */ /* example, Triton's "Target" program will read an XTF file for sonar */ /* data and skip over any saved bathymetry data. When a non-sonar data */ /* packet is encountered it simply ignores it and reads in another */ /* packet. Any software that reads XTF files should also do this */ /* because it guarantees compatibility with files that may contain new */ /* kinds of data that may be included in the future. */ /* */ /* Since the "pool" of data in an XTF file is written asynchronously, it */ /* is impossible to calculate a byte offset for a specific record in the */ /* file. However, there is a straightforward method to quickly search a */ /* file for any specific data packet. This method is described later in */ /* this document. */ /* */ /* */ /* 2. Binary data representation */ /* ---------------------------------------------------------------------- */ /* All data is written with Intel 80x86 byte ordering (LSB, MSB). If */ /* an XTF file is to be processed on a Sun, Silicon Graphics or Apple */ /* computer, the order of the bytes in all values must be exactly */ /* reversed. For example, a float value (4 bytes) would need to be */ /* re-ordered from (1,2,3,4) to (4,3,2,1) in the target machine's memory */ /* before treating the number as a floating-point value. This */ /* effe6tively converts the value from little-endian (least-significant */ /* byte first) to big-endian (most-significant byte first). */ /* */ /* */ /* 3. Structure */ /* ---------------------------------------------------------------------- */ /* Each XTF file begins with a file header record. This record is given */ /* by the XTFFILEHEADER structure (below) and is at least 1024 */ /* bytes in length. It can be larger than 1024 bytes when the total */ /* number of channels to be stored in the file is greater than six (the */ /* number of CHANINFO structures contained in the XTFFILEHEADER structure */ /* causes the XTFFILEHEADER structure to grow larger than 1024 bytes). */ /* In this event, the total size of the file header record grows in */ /* increments of 1024 bytes until there is enough room to hold all of */ /* the CHANINFO structures. Two important elements of the file header */ /* are: */ /* - Number of sonar channels */ /* - Number of bathymetry channels */ /* */ /* These are used to determine how many CHANINFO structures will be */ /* in the header record. The CHANINFO structures for all of the sonar */ /* channels will always preceed the structures for the bathymetry */ /* channels. */ /* */ /* After the header, data packets may follow in any order. Each */ /* packet must contain a packet header, which identifies the type of */ /* packet and the number of bytes in the packet. If the software does */ /* not recognize the packet type, it can skip forward the given number */ /* of bytes to the next packet. Thus, the packets can be thought of as */ /* a linked list of data elements which vary in size. To make file */ /* searching easier, all data packets must be an even multiple of 64 */ /* bytes in length. A data packet typically has the following format: */ /* */ /* - Packet Header (usually 256 bytes). */ /* (Identifies number of channels in this packet */ /* and total size of the packet.) */ /* Each packet begins with a key pattern of bytes, */ /* called the "magic number", which can be used to */ /* align the data stream to the start of a packet. */ /* For each channel, */ /* - Channel header (optional, usually 64 bytes) */ /* - Channel data (optional, byte count varies) */ /* */ /* The various kinds of XTF data packets are described below. */ /* */ /* XTF_HEADER_SONAR */ /* - 256 byte ping header (XTFPINGHEADER) which holds total number */ /* of bytes for this packet, time, date, towfish telemetry, */ /* navigation, etc. This structure has exactly the same format */ /* as the XTF_HEADER_BATHY structure. */ /* - for each channel associated with this ping, */ /* - 64 byte channel header (XTFPINGCHANHEADER) which holds */ /* channel ID, number of bytes in the channel data, period, */ /* gain codes and processing flags */ /* - Actual channel data. Byte count is determined by the */ /* NumSamples values in the preceeding channel header multiplied */ /* by the number of bytes per sample, as determined in the */ /* 1024-byte file header. */ /* */ /* XTF_HEADER_NOTES */ /* - 256 byte structure (XTFNOTESHEADER) which holds date, time, */ /* and ASCII text. Text that appears in this strcture will be */ /* displayed in the Isis Parameter window during playback. */ /* */ /* XTF_HEADER_BATHY */ /* - 256 byte header (XTFBATHHEADER) which holds total number */ /* of bytes for this packet, time, date, towfish telemetry, */ /* navigation, etc. */ /* - 256 byte packet holds the Bathy data. Currently, bathy data */ /* is of the format given by the Reson SeaBat or Odom Echoscan II. */ /* Refer to the documentation from those companies for details */ /* on the format for their binary packets. Isis will store the */ /* exact binary R-Theta or RI-Theta packeta from these multibeam */ /* system as received over the serial port(s). */ /* */ /* The structure of XTF_HEADER_BATHY is the same as that for */ /* XTF_HEADER_SONAR. */ /* */ /* XTF_HEADER_ATTITUDE */ /* - 64 byte header (XTFATTITUDEDATA) which contains Pitch, */ /* Roll, Heave, Yaw and a time reference given in milliseconds. */ /* This time reference can be used to match the SeaBat */ /* bathymetry data which also contains the same time reference. */ /* */ /* XTF_HEADER_ELAC */ /* - 256 byte header (XTFBATHHEADER) which holds total number */ /* of bytes for this packet, time, date, towfish telemetry, */ /* navigation, etc. */ /* - 256 byte packet holds the Bathy data. Currently, bathy data */ /* is of the format given by the ELAC BottomChart system. */ /* Refer to the documentation from ELAC for details */ /* on the format for their binary data. */ /* */ /* XTF_HEADER_RAW_SERIAL */ /* - 64-byte header (XTFNOTESHEADER) holds time, date, and */ /* the exact ASCII data as received from any serial port which */ /* has ASCII RAW data logging enabled. This packet is used */ /* primarily for diagnostic and system checking. Use of this */ /* packet is not generally recommended. */ /* */ /* ---------------------------------------------------------------------- */ #define XTF_HEADER_SONAR 0 /* sidescan and subbottom */ #define XTF_HEADER_NOTES 1 /* notes - text annotation */ #define XTF_HEADER_BATHY 2 /* bathymetry (Seabat, Odom) */ #define XTF_HEADER_ATTITUDE 3 /* TSS or MRU attitude */ /* (pitch, roll, heave, yaw) */ #define XTF_HEADER_FORWARD 4 /* forward-look sonar */ /* (polar display) */ #define XTF_HEADER_ELAC 5 /* Elac multibeam */ #define XTF_HEADER_RAW_SERIAL 6 /* Raw data from serial port */ #define XTF_HEADER_EMBED_HEAD 7 /* Embedded header structure */ #define XTF_HEADER_HIDDEN_SONAR 8 /* hidden (non-displayable) ping */ #define XTF_HEADER_SEAVIEW_ANGLES 9 /* Bathymetry (angles) Seaview */ #define XTF_HEADER_SEAVIEW_DEPTHS 10 /* Bathymetry (depths) Seaview */ #define XTF_HEADER_HIGHSPEED_SENSOR 11 /* Klein 0=roll, 1=yaw */ #define XTF_HEADER_ECHOSTRENGTH 12 /* Elac EchoStrength (10 values) */ #define XTF_HEADER_GEOREC 13 /* Used to store mosaic params */ #define XTF_HEADER_K5000_BATHYMETRY 14 /* Bathymetry data Klein 5000 */ #define XTF_HEADER_HIGHSPEED_SENSOR2 15 /* High speed sensor Klein 5000 */ #define FMT_XTF 123 /* unique ID for all XTF files. */ /* ---------------------------------------------------------------------- */ #ifndef FALSE #define FALSE 0 #endif /* ~ FALSE */ #ifndef TRUE #define TRUE (!FALSE) #endif /* ~ TRUE */ #pragma pack(push, xtfDefsSize) /* ---------------------------------------------------------------------- */ /* Channel information structure (contained in the file header). */ /* One-time information describing each channel. 64 bytes long. */ /* This is data pertaining to each channel that will not change */ /* during the course of a run. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { unsigned char TypeOfChannel; /* PORT, STBD, SBOT or BATH */ unsigned char SubChannelNumber; unsigned short CorrectionFlags; /* 1=raw, 2=Corrected */ unsigned short UniPolar; /* 0=data is bipolar, 1=data unipolar */ unsigned short BytesPerSample; /* 1 or 2 */ /* Previously this was SamplesPerChannel. Isis now supports the */ /* recording of every sample per ping, which means that number of */ /* samples per channel can vary from ping to ping if the range scale */ /* changes. Because of this, the NumSamples value in the */ /* XTFPINGCHANHEADER strcture (below) holds the number of samples to */ /* read for a given channel. For standard analog systems, this */ /* Reserved value is still filled in with 1024, 2048 or whatever the */ /* initial value is for SamplesPerChannel. */ unsigned long Reserved; char ChannelName[16]; /* Text describing channel. i.e., "Port 500" */ /* How many volts is represented by max sample value. Typically 5.0. */ float VoltScale; float Frequency; /* Center transmit frequency */ float HorizBeamAngle; /* Typically 1 degree or so */ float TiltAngle; /* Typically 30 degrees */ float BeamWidth; /* 3dB beam width, Typically 50 degrees */ /* -------------------------------------------------------------------- */ /* Orientation of these offsets: */ /* */ /* Positive Y is forward */ /* Positive X is to starboard */ /* Positive Z is down. Just like depth. */ /* Positive roll is lean to starboard */ /* Positive pitch is nose up */ /* Positive yaw is turn to right */ /* -------------------------------------------------------------------- */ float OffsetX; /* These offsets are entered in the */ float OffsetY; /* Multibeam setup dialog box. */ float OffsetZ; float OffsetYaw; /* If the multibeam sensor is reverse mounted */ /* (facing backwards), then OffsetYaw will be */ /* around 180 degrees. */ float OffsetPitch; float OffsetRoll; unsigned short BeamsPerArray; /* For forward look only */ char ReservedArea2[54]; } CHANINFO; /* ---------------------------------------------------------------------- */ /* XTF File header. */ /* Total of 1024 bytes. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { /* 50 for Q-MIPS file format, 51 for Isis format */ unsigned char FileFormat; /* Type of system used to record this file. 202=Isis */ unsigned char SystemType; char RecordingProgramName[8]; /* Example: "Isis" */ char RecordingProgramVersion[8]; /* Example: "1.72" */ /* Name of server used to access sonar. Example: "C31_SERV.EXE" */ char SonarName[16]; unsigned short SonarType; /* K2000=5, DF1000=7, SEABAT=8 */ /* Notes as entered in the Sonar Setup dialog box */ char NoteString[64]; /* Name of this file. Example:"LINE12-B.XTF" */ char ThisFileName[64]; unsigned short NavUnits; /* 0=METERS or 3=DEGREES */ /* if > 60, header goes to 8K in size */ unsigned short NumberOfSonarChannels; unsigned short NumberOfBathymetryChannels; unsigned short NumberOfForwardLookArrays; unsigned short NumberOfEchoStrengthChannels; unsigned short Reserved1; unsigned short Reserved2; unsigned short Reserved3; unsigned short Reserved4; /* -------------------------------------------------------------------- */ /* nav system parameters */ /* -------------------------------------------------------------------- */ unsigned char ProjectionType[12]; /* Not currently used */ unsigned char SpheriodType[10]; /* Not currently used */ /* milliseconds, latency of nav system (usually GPS) */ /* This value is entered on the Serial port setup dialog box. When */ /* computing a position, Isis will take the time of the navigation and */ /* subtract this value. */ long NavigationLatency; float OriginY; /* Not currently used */ float OriginX; /* Not currently used */ /* -------------------------------------------------------------------- */ /* Orientation of these offsets: */ /* */ /* Positive Y is forward */ /* Positive X is to starboard */ /* Positive Z is down. Just like depth. */ /* Positive roll is lean to starboard */ /* Positive pitch is nose up */ /* Positive yaw is turn to right */ /* These offsets are entered in the multibeam setup dialog box. */ /* -------------------------------------------------------------------- */ float NavOffsetY; float NavOffsetX; float NavOffsetZ; float NavOffsetYaw; float MRUOffsetY; float MRUOffsetX; float MRUOffsetZ; float MRUOffsetYaw; float MRUOffsetPitch; float MRUOffsetRoll; /* Note: even 128-byte boundary to here */ /* Each CHANINFO struct is 128 bytes. */ /* If more than 6 channels needed, header record grows 1K in size for */ /* each additional 8 channels. */ CHANINFO ChanInfo[6]; } XTFFILEHEADER; /* ---------------------------------------------------------------------- */ /* The XTFATTITUDEDATA structure used to store information from a TSS or */ /* MRU motion sensor device. This is usually high-resolution data */ /* (updating 20 times per second or more) and is needed when processing */ /* multibeam bathymetric data. When TSS or MRU is selected as a serial */ /* device, the data is received and decoded. As the attitude information */ /* is decoded, the values are filled into the following structure and */ /* then saved to the XTF file. */ /* */ /* Attitude data packet, 64 bytes in length. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { /* -------------------------------------------------------------------- */ /* Type of header */ /* -------------------------------------------------------------------- */ unsigned short MagicNumber; /* Always set to 0xFACE */ unsigned char HeaderType; /* XTF_HEADER_ATTITUDE (3) */ /* When HeaderType is Bathy, indicates which head */ unsigned char SubChannelNumber; /* If Sonar Ping, Number of channels to follow */ unsigned short NumChansToFollow; unsigned short Reserved1[2]; /* Total byte count for this ping including this ping header */ /* Note: Isis records data packets in multiples of 64 bytes. If the */ /* size of the data packet is not an exact multiple of 64 bytes, zeros */ /* are padded at the end packet and this value will be promoted to the */ /* next 64-byte granularity. In all cases, this value will be the */ /* EXACT size of this packet */ unsigned long NumBytesThisRecord; unsigned long Reverved2[4]; /* will be followed by attitude data even to 64 bytes */ float Pitch; /* positive value is nose up */ float Roll; /* positive value is roll to starboard*/ /* positive value is sensor up */ /* Note: The TSS sends heave positive up. The MRU sends heave positive */ /* down. In order to make the data logging consistent, the sign of the */ /* MRU's heave is reversed before being stored in this field. */ float Heave; float Yaw; /* positive value is turn right */ unsigned long TimeTag; /* time ref. given in milliseconds */ /* In degrees, as reported by MRU. TSS doesn't report heading, so when */ /* using a TSS this value will be the most recent ship gyro value as */ /* received from GPS or from any serial port using 'G' in the template. */ float Heading; unsigned char Reserved3[10]; } XTFATTITUDEDATA; /* ---------------------------------------------------------------------- */ /* Sonar or Bathy Ping header */ /* The data here can change from ping to ping but will pertain to all */ /* channels that are at the same time as this ping. 256 bytes in length. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { /* -------------------------------------------------------------------- */ /* Type of header */ /* -------------------------------------------------------------------- */ unsigned short MagicNumber; /* Set to 0xFACE */ /* Typically XTF_HEADER_SONAR (0), XTF_HEADER_BATHY (2), */ /* XTF_HEADER_ATTITUDE */ unsigned char HeaderType; /* When HeaderType is Bathy, indicates which head */ /* When sonar, which ping of a batch (Klein 5000: 0..4) */ unsigned char SubChannelNumber; /* If Sonar Ping, Number of channels to follow */ unsigned short NumChansToFollow; unsigned short Reserved1[2]; /* Total byte count for this ping including this ping header */ unsigned long NumBytesThisRecord; /* -------------------------------------------------------------------- */ /* Date and time of the ping */ /* -------------------------------------------------------------------- */ /* Computer date when this record was saved */ unsigned short Year; unsigned char Month; unsigned char Day; /* Computer time when this record was saved */ unsigned char Hour; unsigned char Minute; unsigned char Second; unsigned char HSeconds; /* hundredths of seconds (0-99) */ unsigned short JulianDay; /* Number of days since January 1 */ /* -------------------------------------------------------------------- */ /* General information */ /* -------------------------------------------------------------------- */ // /* [i] Current line ID from serial port */ //unsigned short CurrentLineID; - removed rev 16? unsigned long EventNumber; /* [O] Last logged event number */ /* Counts consecutively from 0 and increments for each update. Note: */ /* that the counters are different between sonar and bathymetery */ /* updates. */ unsigned long PingNumber; /* m/s, Round trip, defaults to 750. Can be changed on Isis menu. */ /* This value is never computed and can only be changed manually by the */ /* user. Also see ComputedSoundVelocity below. */ float SoundVelocity; /* [{t}] Ocean tide in meters. Can be changed by the user on the */ /* Configure menu in Isis. */ float OceanTide; unsigned long Reserved2; /* Reserved for future use */ /* -------------------------------------------------------------------- */ /* Raw CTD information. The Freq values are those sent up by the */ /* SeaBird CTD. The Falmouth Scientific CTD sends up computed data. */ /* -------------------------------------------------------------------- */ float ConductivityFreq; /* [Q] Conductivity frequency in Hz */ float TemperatureFreq; /* [b] Temperature frequency in Hz */ float PressureFreq; /* [0] Pressure frequency in Hz */ float PressureTemp; /* [;] Pressure Temperature (Deg C) */ /* -------------------------------------------------------------------- */ /* Computed CTD information. When using a SeaBird CTD, these */ /* values are computed from the raw Freq values (above). */ /* -------------------------------------------------------------------- */ /* [{c}] Conductivity in S/m can be computed from [Q] */ float Conductivity; /* [{w}] Water temperature in C, can be computed from [b] */ float WaterTemperature; /* [{p}] Water pressure in psia, can be computed from [0] */ float Pressure; /* Meters per second, computed from Conductivity, WaterTemperature and */ /* Pressure using the Chen Millero formula (1977) formula */ /* (JASA,62,1129-1135). */ float ComputedSoundVelocity; /* -------------------------------------------------------------------- */ /* Sensors information */ /* -------------------------------------------------------------------- */ /* [e] X-axis magnetometer data, mgauss */ float MagX; /* [w] Y-axis magnetometer data, mgauss */ float MagY; /* [z] Z-axis magnetometer data, mgauss */ float MagZ; /* -------------------------------------------------------------------- */ /* Auxillary values can be used to store and display any value at the */ /* user's discretion. The are not used in any calculation in Isis, */ /* Target or Vista. */ /* -------------------------------------------------------------------- */ /* [1] Auxillary value. Displayed in the */ float AuxVal1; /* [2] Auxillary value "Sensors" window */ float AuxVal2; /* [3] Auxillary value available by selecting */ float AuxVal3; /* [4] Auxillary value Window->Text->Sensors. */ float AuxVal4; /* [5] Auxillary value */ float AuxVal5; /* [6] Auxillary value */ float AuxVal6; /* [s] Speed log sensor on towfish - knots. This isn't fish speed! */ float SpeedLog; /* [|] turbidity sensor (0 to +5 volts) stored times 10000 */ float Turbidity; /* -------------------------------------------------------------------- */ /* Ship Navigation information. These values are stored only */ /* and are not part of any equation or computation in Isis. */ /* -------------------------------------------------------------------- */ float ShipSpeed; /* [v] Speed of ship in knots. */ float ShipGyro; /* [G] Ship gyro in degrees */ double ShipYcoordinate; /* [y] Ship latitude or northing */ double ShipXcoordinate; /* [x] Ship longitude or easting */ unsigned short ShipAltitude; /* Decimeters (stored only) */ unsigned short ShipDepth; /* Decimeters (stored only) */ /* -------------------------------------------------------------------- */ /* Sensor Navigation information */ /* -------------------------------------------------------------------- */ /* [H] Hour of most recent nav update */ unsigned char FixTimeHour; /* [I] Minute of most recent nav update */ unsigned char FixTimeMinute; /* [S] Second of most recent nav update Note that the time of the nav */ /* is adjusted by the NavLatency stored in the XTF file header. */ unsigned char FixTimeSecond; unsigned char Reserved4; /* [V] Speed of the in knots. Used for speed correction and position */ /* calculation. */ float SensorSpeed; float KP; /* [{K}] Kilometers Pipe */ /* -------------------------------------------------------------------- */ /* Note: when NavUnits in the file header is 0, values are in meters */ /* (northings and eastings). When NavUnits is 3, values are in */ /* Lat/Long. Also see the Layback value, below. */ /* -------------------------------------------------------------------- */ double SensorYcoordinate; /* [E] Sensor latitude or northing */ double SensorXcoordinate; /* [N] Sensor longitude or easting */ /* -------------------------------------------------------------------- */ /* Tow Cable information */ /* -------------------------------------------------------------------- */ /* System status value, sonar dependant (displayed in Status window) */ unsigned short SonarStatus; /* [?] Slant range to fish * 10. Not currently used. */ unsigned short RangeToFish; /* [>] Bearing to towfish from ship * 100. Not currently used. */ unsigned short BearingToFish; /* [o] Amount of cable payed out in meters Not currently used in Isis. */ unsigned short CableOut; /* [l] Distance over ground from ship to fish. When this value is */ /* non-zero, Isis assumes that SensorYcoordinate and SensorXcoordinate */ /* need to be adjusted with the Layback. The sensor position is then */ /* computed using the current sensor heading and this layback value. */ /* The result is displayed when a position is computed in Isis. */ float Layback; /* [P] Cable tension from serial port. Stored only. */ float CableTension; /* -------------------------------------------------------------------- */ /* Sensor Attitude information */ /* -------------------------------------------------------------------- */ /* [0] Distance from sea surface to sensor. The deeper the sensor goes,*/ /* the bigger (positive) this value becomes. */ float SensorDepth; /* [7] Distance from towfish to the sea floor. This is the primary */ /* altitude as tracked by the Isis bottom tracker or entered manually */ /* by the user. Although not recommended, the user can override the */ /* Isis bottom tracker by sending the primary altitude over the serial */ /* port. The user should turn the Isis bottom tracker Off when this is */ /* done. */ float SensorPrimaryAltitude; /* [a] Auxillary altitude. This is an auxillary altitude as */ /* transmitted by an altimeter and received over a serial port. The */ /* user can switch betwen the Primary and Aux altitudes via the */ /* "options" button in the Isis bottom track window. */ float SensorAuxAltitude; /* [8] Pitch in degrees (positive=nose up) */ float SensorPitch; /* [9] Roll in degrees (positive=roll to stbd) */ float SensorRoll; /* [h] Fish heading in degrees */ float SensorHeading; /* -------------------------------------------------------------------- */ /* These Pitch, Roll, Heading, Heave and Yaw values are those received */ /* closest in time to this sonar or bathymetry update. If a TSS or MRU */ /* is being used with a multibeam/bathymetry sensor, the user should */ /* use the higher-resolution attitude data found in the XTFATTITUDEDATA */ /* structures. */ /* -------------------------------------------------------------------- */ /* -------------------------------------------------------------------- */ /* additional attitude data */ /* -------------------------------------------------------------------- */ /* Sensor heave at start of ping. Positive value means sensor moved up.*/ float Heave; /* Sensor yaw. Positive means turn to right. */ float Yaw; /* milliseconds - used to coordinate with millisecond time value in */ /* Attitude packet */ unsigned long AttitudeTimeTag; /* -------------------------------------------------------------------- */ /* Misc. */ /* -------------------------------------------------------------------- */ float DOT; /* Distance Off Track */ /* millisecond clock value when nav received */ unsigned long NavFixMilliseconds; /* -------------------------------------------------------------------- */ /* The Isis computer clock time when this ping was received. */ /* May be different from ping time at start of this record if */ /* the sonar time-stamped the data and the two systems aren't synced. */ /* This time should be ignored in most cases. */ /* -------------------------------------------------------------------- */ unsigned char ComputerClockHour; unsigned char ComputerClockMinute; unsigned char ComputerClockSecond; unsigned char ComputerClockHsec; /* -------------------------------------------------------------------- */ /* Additional Tow Cable and Fish information from Trackpoint */ /* -------------------------------------------------------------------- */ /* [{DX}] Stored as meters * 3.0, supporting +/- 10000.0m */ /* (usually from trackpoint) (positive starboard) */ short FishPositionDeltaX; /* [{DY}] X,Y offsets can be used instead of logged layback. */ /* (positive bow */ short FishPositionDeltaY; /* Error code for FishPosition delta x,y */ /* (typically reported by Trackpoint) */ unsigned char FishPositionErrorCode; /* -------------------------------------------------------------------- */ /* Pad to make an even 256 bytes */ /* -------------------------------------------------------------------- */ unsigned char ReservedSpace2[11]; /* Currently unused */ } XTFPINGHEADER, XTFBATHHEADER; /* ---------------------------------------------------------------------- */ /* Annotation record */ /* An annotation record is a line of text which can be saved to the */ /* file and is displayed in the "Notes" field on the Isis display. */ /* This text is displayed during playback. Additionally, this text */ /* may be printed in realtime or in playback. This can be activated */ /* in the Print Annotation dialog box. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { unsigned short MagicNumber; /* Set to 0xFACE */ unsigned char HeaderType; /* XTF_HEADER_NOTES (1) */ unsigned char SubChannelNumber; unsigned short NumChansToFollow; unsigned short Reserved[2]; unsigned long NumBytesThisRecord; /* Total byte count for this update */ /* -------------------------------------------------------------------- */ /* Date and time of the annotation */ /* -------------------------------------------------------------------- */ unsigned short Year; unsigned char Month; unsigned char Day; unsigned char Hour; unsigned char Minute; unsigned char Second; unsigned char ReservedBytes[35]; char NotesText[256 - 56]; } XTFNOTESHEADER; /* ---------------------------------------------------------------------- */ /* RAW ASCII data received over serial port */ /* These packets are stored in the XTF file on a per-serial-port */ /* basis. To store the raw ASCII data for a given serial port, add */ /* the token "{SAVEALL}" to the serial port template. Use of this */ /* option is not generally recommended, since Isis already parses the */ /* data for all usefull information. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { unsigned short MagicNumber; /* Set to 0xFACE */ unsigned char HeaderType; /* will be XTF_HEADER_RAW_SERIAL (7)*/ unsigned char SerialPort; unsigned short Reserved2[3]; unsigned long NumBytesThisRecord; /* Total byte count for this update */ /* -------------------------------------------------------------------- */ /* Date and time raw ASCII data was posted to disk */ /* -------------------------------------------------------------------- */ unsigned short Year; unsigned char Month; unsigned char Day; unsigned char Hour; unsigned char Minute; unsigned char Second; unsigned char HSeconds; /* hundredth of seconds (0-99) */ unsigned short JulianDay; /* days since Jan 1. */ unsigned long TimeTag; /* millisecond timer value */ /* Number of valid chars in RawAsciiData string */ unsigned short StringSize; /* will be padded in 64-byte increments to make structure an even */ /* multiple of 64 bytes */ char RawAsciiData[64 - 30]; } XTFRAWSERIALHEADER; /* ---------------------------------------------------------------------- */ /* Ping Channel header */ /* This is data that can be unique to each channel from ping to ping. */ /* Is is stored at the front of each channel of sonar data. */ /* ---------------------------------------------------------------------- */ #pragma pack(2) typedef struct { /* Typically, */ /* 0 = port (low frequency) */ /* 1 = stbd (low frequency) */ /* 2 = port (high frequency) */ /* 3 = stbd (high frequency) */ unsigned short ChannelNumber; unsigned short DownsampleMethod; /* 2=MAX, 4=RMS */ float SlantRange; /* Slant range of data in meters */ /* Ground range of data in meters (SlantRange^2 - Altitude^2) */ float GroundRange; /* Amount of time (in seconds) to the start of recorded data almost */ /* always 0.0 */ float TimeDelay; /* Amount of time (in seconds) recorded */ float TimeDuration; /* Amount of time (in seconds) from ping to ping */ float SecondsPerPing; /* 4=TVG, 8=BAC&GAC, 16=Filter, etc... almost always 0 */ unsigned short ProcessingFlags; /* Center transmit frequency for this channel. when non-zero, replaces */ /* value found in file header CHANINFO struct */ /* ChanInfo->SamplesPerChannel. This allows samples per channel to */ /* change on the fly. */ unsigned short Frequency; unsigned short InitialGainCode; /* Settings as transmitted by sonar */ unsigned short GainCode; unsigned short BandWidth; /* -------------------------------------------------------------------- */ /* Contact information - when contacts are saved through Target.exe */ /* -------------------------------------------------------------------- */ unsigned long ContactNumber; unsigned short ContactClassification; unsigned char ContactSubNumber; unsigned char ContactType; /* Number of samples that will follow this structure. The number of */ /* bytes will be this value multipied by the number of bytes per sample */ /* (given in the file header) */ unsigned long NumSamples; unsigned short Reserved; /* Obsolete. */ /* Time off track to this contact (stored in milliseconds) */ float ContactTimeOffTrack; unsigned char ContactCloseNumber; unsigned char Reserved2; /* Fixed along-track size of each ping, stored in cm. on multibeam */ /* system with zero beam spread, this value needs to be filled in to */ /* prevent Isis from calculating along-track ground coverage based on */ /* beam spread and speed over ground. */ float FixedVSOP; unsigned short weight; /* weighting factor */ unsigned char ReservedSpace[4]; /* reserved for future expansion */ } XTFPINGCHANHEADER; #pragma pack(pop, xtfDefsSize) /* ---------------------------------------------------------------------- */ #endif /* end Not __XTF_FILEDEFS_H__ */ /* ---------------------------------------------------------------------- */ /* end XTFDefs.h */ /* ---------------------------------------------------------------------- */