/******************************************************************** * * Module Name : GSF.H * * Author/Date : J. S. Byrne / Jan 25, 1994 * * Description : This is the header file for the GSF ToolKit * * Restrictions/Limitations : * 1) This library assumes the host computer uses the ASCII character set. * 2) This library assumes that the type short is 16 bits, and that the type * int is 32 bits. * * Change Descriptions : * who when what * --- ---- ---- * jsb 10/17/94 Added support for Reson Seabat data * jsb 01/29/95 Added support for em121a nominal depth array * jsb 08/14/95 Scale factors and pointers to dynamically allocated memory * now maintained by the library, not the caller. Consolidated * APIs for sequential and direct access, now both use gsfRead * and gsfWrite. This is version GSF-v01.01. * jsb 11/01/95 Completed modifications to indexing to support increase in * gsf file size after initial index file creation. The size * of the file is now stored in the index file header. Index * files without the expected header are recreated on the first * open. This is still version GSF-v01.01. Also added a unique * sensor specific subrecord for Simrad EM1000. * jsb 12/22/95 Added gsfGetMBParams, gsfPutMBParams, gsfIsStarboardPing, * and gsfGetSwathBathyBeamWidths. Also added GSF_APPEND as * a file access mode, and modifed GSF_CREATE access mode so * that files can be updated (read and written). This is gsf * library version GSF-v01.02. * hem 08/20/96 Added gsfSingleBeamPing Record structure; added Type III * Seabeam, Echotrac, Bathy200, MGD77, BDB, & NOS HDB subrecord * IDs & subrecords; added gsfStringError. This is gsf library * version GSF-v1.03. * jsb 09/27/96 Added support for SeaBeam with amplitude data. * jsb 03/24/97 Added gsfSeaBatIISpecific data structure to replace * the gsfSeaBatSpecific data structure, for the Reson 900x * series sonar systems. Also added gsfSeaBat8101Specific * data structure for the Reson 8101 series sonar system. * Increased the macro GSF_MAX_RECORD_SIZE from 4k to 32k. * This is GSF library version GSF-v1.04. * bac 10/27/97 Added a sensor specific subrecord for the SeaBeam 2112/36. * dwc 1/9/98 Added a sensor specific subrecord for the Elac Bottomchart MkII. * jsb 9/28/98 Added new navigation error record definition. gsfHVNavigationError. * This record is intended to replace the gsfNavigationError record. * This change addresses CRs: GSF-98-001, and GSF-98-002. Also added * new ping array subrecords: horizontal_error, and vertical_error. This * change address CR: GSF-98-003. These new subrecords are intended to * replace the depth_errror, along_track_error and across_track_error * subrecords. In a future release, new file support for these three * error subrecords will be dropped. This is library version GSF-v1.07. * jsb 12/19/98 Added support for em3000. Also increased number of entries available * for processing and sensor parameter records. This is library version * GSF-v1.08. * wkm 4/1/99 Added CMP_SASS subrecord for Compressed SASS (BOSDAT) data. This * subrecord should be used in place of the SASS subrecord (TypeIII). * The original has been left in tactc so as to not break existing code. * jsb 07/20/99 Completed work on GSF version 1.08. Added new functions gsfGetSwathBathyArrayMinMax, * and gsfLoadDepthScaleFactorAutoOffset in support of signed depth. * This release addresses the following CRs: GSF-99-002, GSF-99-006, GSF-99-007, * GSF-99-008, GSF-99-009, GSF-99-010, GSF-99-011, GSF-99-012, * wkm 7/30/99 Updated SASS specific data subrecord to include 'lntens' and renamed * surface_velocity to 'lfreq'. These are the original SASS data filed * names and were requested by NAVO to remane in tact. Added commet block * to document mapping of SASS data fields to GSF. * bac 12-22-99 Applications built with GCC that use GSF.DLL require any global data to be explicitly * defined as imported from a DLL. When this is the case, gsfError gets redefined * as *__imp_gsfError. gsfError is unchanged for other compilers or static linking with GCC. * Programs built with the GCC and using gsf.dll must define gsf_USE_DLL * (-Dgsf_USE_DLL) when building. This is version GSF_1.10 * bac 10-24-00 Updated gsfEM3RunTime structure to include data fields from updated * EM series runtime parameter datagram. Also added an additional check * for the LINUX define of timespec. * bac 07-18-01 Added a sensor specific subrecord for the Reson 8100 series of sonars. Also * made modifications for use with C++ code. The typedef for each sensor specific * structure has been modfied to have a different name than the element of the SensorSpecific * union. Also removed the useage of C++ reserved words "class" and "operator". These * modifications will potentially require some changes to application code. * bac 10-12-01 Added a new attitude record definition. The attitude record provides a method for * logging full time-series attitude measurements in the GSF file, instead of attitude * samples only at ping time. Each attitude record contains arrays of attitude * measurements for time, roll, pitch, heave and heading. The number of measurements * is user-definable, but because of the way in which measurement times are stored, a * single attitude record should never contain more than sixty seconds worth of * data. * bac 11-09-01 Added motion sensor offsets to the gsfMBOffsets structure. Added support for these * new offsets in the gsfPutMBParams and gsfGetMBParams functions, so these offsets are * encoded in the process_parameters record. * jsb 01-16-02 Added support for Simrad EM120. * bac 06-19-03 Added support for bathymetric receive beam time series intensity data (i.e., Simrad * "Seabed image" and Reson "snippets"). Inlcluded RWL updates of 12-19-02 for adding * sensor-specific singlebeam information to the MB sensor specific subrecords. * bac 12-28-04 Added support for Reson Navisound, EM3000D, EM3002, and EM3002D. Renumbered * singlebeam subrecord IDs to be less than 256, as previous version did not save * these sensors IDs correctly. Added beam spacing to Reson 8100 sensor-specific * subrecord. Added definitions for RTG position types in gsfHVNavigationError record. * bac 06-28-06 Added sensor ID for EM121A data received via Kongsberg SIS, mapped to existing * EM3 series sensor specific data structure. Added __APPLE__ macro definition to * support compile switch steering around definition of struct timespec on MAC OSX. * Changed structure elements of type long to int, for compilation on 64-bit architectures. * dhg 09-27-06 Added sensor ID for gsfGeoSwathPlusSpecific data received via GeoSwath interferometric * 250 Khz sonar. * dhg 10-04-06 Added more sensor specific fields for the GeoSwathPlus interferometric sonar. * jsb 07-24-07 GSFv2.07 includes some additional parameters in the imagery sensor specific structure * to support calculating back to the exact original intensity values received from the * sonar. * bsl 11-05-07 Added sensor ID and structure for gsfGeoSwathPlusSpecific data received via Klein 5410 * bathymetric sidescan sonar. Also added an imagery sensor specific structure. * jsb 11-06-07 Updates to utilize the subrecord size in termining the field size for the array subrecords * that support more than one field size. Also replaced use of strstr with strcmp in gsfGetMBParams * to resolve potential problem where one keyword name may be fully contained in another. * DHG 2008/12/18 Add "VESSEL_TYPE" to Processing Parameters for AUV vs Surface Ship discrimination. * mab 02-01-09 Updates to support Reson 7125. Added new subrecord IDs and subrecord definitions for Kongsberg * sonar systems where TWTT and angle are populated from raw range and beam angle datagram. Added * new subrecord definition for EM2000. Bug fixes in gsfOpen and gsfPercent. * mab 06-11-09 Moved GSF_MAX_RECORD_SIZE from 256KB to 512KB to accomodate Reson7125 imagery. * jsb 01-14-10 Added new function prototypes to return various status information about the opened GSF file. * * Classification : Unclassified * * References : DoDBL Generic Sensor Format Sept. 30, 1993 * * Copyright (C) Science Applications International Corp. ********************************************************************/ #ifndef __GSF_H__ #define __GSF_H__ /* Get the required standard C library includes */ #include #include /* Get the required system include files */ #include #ifdef __OS2__ #include #include /* specify OS/2 Optlink linkage in the function prototype */ #ifndef OPTLK #define OPTLK _Optlink #endif #else #include #define OPTLK #endif #ifdef __cplusplus extern "C" { #endif /* Define this version of the GSF library */ #define GSF_VERSION "GSF-v03.02" /* Define largest ever expected record size */ #define GSF_MAX_RECORD_SIZE 524288 /* Define the maximum number of files which may be open at once */ #define GSF_MAX_OPEN_FILES 4 /* Define the GSF data file access flags */ #define GSF_CREATE 1 #define GSF_READONLY 2 #define GSF_UPDATE 3 #define GSF_READONLY_INDEX 4 #define GSF_UPDATE_INDEX 5 #define GSF_APPEND 6 /* Define options for sequential access gsf file pointer manipulation */ #define GSF_REWIND 1 #define GSF_END_OF_FILE 2 #define GSF_PREVIOUS_RECORD 3 /* Typedefs for GSF short and long integers */ typedef unsigned short gsfuShort; /* an unsigned 16 bit integer */ typedef unsigned int gsfuLong; /* an unsigned 32 bit integer */ typedef short gsfsShort; /* a signed 16 bit integer */ typedef int gsfsLong; /* a signed 32 bit integer */ #define GSF_SHORT_SIZE 2 #define GSF_LONG_SIZE 4 /* redefine gsfError for MINGW applications using gsf.dll, harmless for other compilers */ #ifdef __MINGW32__ #if __GNUC__ < 3 #ifdef gsf_USE_DLL #define gsfError *__imp_gsfError #endif #endif #endif /* Define the gsf Data Identifier structure */ typedef struct t_gsfDataID { int checksumFlag; /* boolean */ int reserved; /* up to 9 bits */ int recordID; /* bits 00-11 => data type number */ /* bits 12-22 => registry number */ int record_number; /* specifies the nth occurance of */ /* record type specified by recordID */ /* relavent only for direct access */ /* the record_number counts from 1 */ } gsfDataID; /* Specify a key to allow reading the next record, no matter what it is */ #define GSF_NEXT_RECORD 0 /* Specify the GSF record data type numbers, for registry number zero */ #define GSF_RECORD_HEADER (unsigned)1 #define GSF_RECORD_SWATH_BATHYMETRY_PING (unsigned)2 #define GSF_RECORD_SOUND_VELOCITY_PROFILE (unsigned)3 #define GSF_RECORD_PROCESSING_PARAMETERS (unsigned)4 #define GSF_RECORD_SENSOR_PARAMETERS (unsigned)5 #define GSF_RECORD_COMMENT (unsigned)6 #define GSF_RECORD_HISTORY (unsigned)7 #define GSF_RECORD_NAVIGATION_ERROR (unsigned)8 /* 10/19/98 This record is obsolete */ #define GSF_RECORD_SWATH_BATHY_SUMMARY (unsigned)9 #define GSF_RECORD_SINGLE_BEAM_PING (unsigned)10 #define GSF_RECORD_HV_NAVIGATION_ERROR (unsigned)11 /* This record replaces GSF_RECORD_NAVIGATION_ERROR */ #define GSF_RECORD_ATTITUDE (unsigned)12 /* Number of currently defined record data types (including 0 which is used * in the indexing for ping records which contain scale factor subrecords). */ #define NUM_REC_TYPES 13 /* Put a ceiling on the maximum number of swath bathymetry ping array * subrecords allowed in a gsf file. This define dimensions the scale * factors structure. */ #define GSF_MAX_PING_ARRAY_SUBRECORDS 26 /* Specify the GSF swath bathymetry ping subrecord identifiers. The beam * data definitions specify the index into the scale factor table, and * define the subrecord id put down on the disk with the subrecord. */ #define GSF_SWATH_BATHY_SUBRECORD_DEPTH_ARRAY (unsigned)1 #define GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ARRAY (unsigned)2 #define GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ARRAY (unsigned)3 #define GSF_SWATH_BATHY_SUBRECORD_TRAVEL_TIME_ARRAY (unsigned)4 #define GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_ARRAY (unsigned)5 #define GSF_SWATH_BATHY_SUBRECORD_MEAN_CAL_AMPLITUDE_ARRAY (unsigned)6 #define GSF_SWATH_BATHY_SUBRECORD_MEAN_REL_AMPLITUDE_ARRAY (unsigned)7 #define GSF_SWATH_BATHY_SUBRECORD_ECHO_WIDTH_ARRAY (unsigned)8 #define GSF_SWATH_BATHY_SUBRECORD_QUALITY_FACTOR_ARRAY (unsigned)9 #define GSF_SWATH_BATHY_SUBRECORD_RECEIVE_HEAVE_ARRAY (unsigned)10 #define GSF_SWATH_BATHY_SUBRECORD_DEPTH_ERROR_ARRAY (unsigned)11 /* 10/19/98 jsb This ping array subrecord is obsolete */ #define GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ERROR_ARRAY (unsigned)12 /* 10/19/98 jsb This ping array subrecord is obsolete */ #define GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ERROR_ARRAY (unsigned)13 /* 10/19/98 jsb This ping array subrecord is obsolete */ #define GSF_SWATH_BATHY_SUBRECORD_NOMINAL_DEPTH_ARRAY (unsigned)14 #define GSF_SWATH_BATHY_SUBRECORD_QUALITY_FLAGS_ARRAY (unsigned)15 #define GSF_SWATH_BATHY_SUBRECORD_BEAM_FLAGS_ARRAY (unsigned)16 #define GSF_SWATH_BATHY_SUBRECORD_SIGNAL_TO_NOISE_ARRAY (unsigned)17 #define GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_FORWARD_ARRAY (unsigned)18 #define GSF_SWATH_BATHY_SUBRECORD_VERTICAL_ERROR_ARRAY (unsigned)19 /* This record replaces DEPTH_ERROR_ARRAY */ #define GSF_SWATH_BATHY_SUBRECORD_HORIZONTAL_ERROR_ARRAY (unsigned)20 /* This record replaces ACROSS_TRACK_ERROR_ARRAY and ALONG_TRACK_ERROR_ARRAY */ #define GSF_SWATH_BATHY_SUBRECORD_INTENSITY_SERIES_ARRAY (unsigned)21 #define GSF_SWATH_BATHY_SUBRECORD_SECTOR_NUMBER_ARRAY (unsigned)22 #define GSF_SWATH_BATHY_SUBRECORD_DETECTION_INFO_ARRAY (unsigned)23 #define GSF_SWATH_BATHY_SUBRECORD_INCIDENT_BEAM_ADJ_ARRAY (unsigned)24 #define GSF_SWATH_BATHY_SUBRECORD_SYSTEM_CLEANING_ARRAY (unsigned)25 #define GSF_SWATH_BATHY_SUBRECORD_DOPPLER_CORRECTION_ARRAY (unsigned)26 /* Define the additional swath bathymetry subrecords, to which the scale * factors do not apply. */ #define GSF_SWATH_BATHY_SUBRECORD_UNKNOWN (unsigned) 0 #define GSF_SWATH_BATHY_SUBRECORD_SCALE_FACTORS (unsigned)100 #define GSF_SWATH_BATHY_SUBRECORD_SEABEAM_SPECIFIC (unsigned)102 #define GSF_SWATH_BATHY_SUBRECORD_EM12_SPECIFIC (unsigned)103 #define GSF_SWATH_BATHY_SUBRECORD_EM100_SPECIFIC (unsigned)104 #define GSF_SWATH_BATHY_SUBRECORD_EM950_SPECIFIC (unsigned)105 #define GSF_SWATH_BATHY_SUBRECORD_EM121A_SPECIFIC (unsigned)106 #define GSF_SWATH_BATHY_SUBRECORD_EM121_SPECIFIC (unsigned)107 #define GSF_SWATH_BATHY_SUBRECORD_SASS_SPECIFIC (unsigned)108 /* 03-30-99 wkm/dbj Typeiii SASS ping array subrecord is obsolete */ #define GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC (unsigned)109 #define GSF_SWATH_BATHY_SUBRECORD_SEABAT_SPECIFIC (unsigned)110 #define GSF_SWATH_BATHY_SUBRECORD_EM1000_SPECIFIC (unsigned)111 #define GSF_SWATH_BATHY_SUBRECORD_TYPEIII_SEABEAM_SPECIFIC (unsigned)112 /* 03-30-99 wkm/dbj Typeiii Seabeam ping array subrecord is obsolete */ #define GSF_SWATH_BATHY_SUBRECORD_SB_AMP_SPECIFIC (unsigned)113 #define GSF_SWATH_BATHY_SUBRECORD_SEABAT_II_SPECIFIC (unsigned)114 #define GSF_SWATH_BATHY_SUBRECORD_SEABAT_8101_SPECIFIC (unsigned)115 #define GSF_SWATH_BATHY_SUBRECORD_SEABEAM_2112_SPECIFIC (unsigned)116 #define GSF_SWATH_BATHY_SUBRECORD_ELAC_MKII_SPECIFIC (unsigned)117 #define GSF_SWATH_BATHY_SUBRECORD_EM3000_SPECIFIC (unsigned)118 #define GSF_SWATH_BATHY_SUBRECORD_EM1002_SPECIFIC (unsigned)119 #define GSF_SWATH_BATHY_SUBRECORD_EM300_SPECIFIC (unsigned)120 #define GSF_SWATH_BATHY_SUBRECORD_CMP_SASS_SPECIFIC (unsigned)121 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8101_SPECIFIC (unsigned)122 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8111_SPECIFIC (unsigned)123 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8124_SPECIFIC (unsigned)124 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8125_SPECIFIC (unsigned)125 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8150_SPECIFIC (unsigned)126 #define GSF_SWATH_BATHY_SUBRECORD_RESON_8160_SPECIFIC (unsigned)127 #define GSF_SWATH_BATHY_SUBRECORD_EM120_SPECIFIC (unsigned)128 #define GSF_SWATH_BATHY_SUBRECORD_EM3002_SPECIFIC (unsigned)129 #define GSF_SWATH_BATHY_SUBRECORD_EM3000D_SPECIFIC (unsigned)130 #define GSF_SWATH_BATHY_SUBRECORD_EM3002D_SPECIFIC (unsigned)131 #define GSF_SWATH_BATHY_SUBRECORD_EM121A_SIS_SPECIFIC (unsigned)132 #define GSF_SWATH_BATHY_SUBRECORD_EM710_SPECIFIC (unsigned)133 #define GSF_SWATH_BATHY_SUBRECORD_EM302_SPECIFIC (unsigned)134 #define GSF_SWATH_BATHY_SUBRECORD_EM122_SPECIFIC (unsigned)135 #define GSF_SWATH_BATHY_SUBRECORD_GEOSWATH_PLUS_SPECIFIC (unsigned)136 /* 2006-09-27: dhg: GeoAcoustics GeoSwath+ */ #define GSF_SWATH_BATHY_SUBRECORD_KLEIN_5410_BSS_SPECIFIC (unsigned)137 #define GSF_SWATH_BATHY_SUBRECORD_RESON_7125_SPECIFIC (unsigned)138 /* 2008-07-17: mab: Reson7p series sonars */ #define GSF_SWATH_BATHY_SUBRECORD_EM2000_SPECIFIC (unsigned)139 #define GSF_SWATH_BATHY_SUBRECORD_EM300_RAW_SPECIFIC (unsigned)140 /* 2009-02-10: mab: EM3 sonars with raw range and beam angles */ #define GSF_SWATH_BATHY_SUBRECORD_EM1002_RAW_SPECIFIC (unsigned)141 #define GSF_SWATH_BATHY_SUBRECORD_EM2000_RAW_SPECIFIC (unsigned)142 #define GSF_SWATH_BATHY_SUBRECORD_EM3000_RAW_SPECIFIC (unsigned)143 #define GSF_SWATH_BATHY_SUBRECORD_EM120_RAW_SPECIFIC (unsigned)144 #define GSF_SWATH_BATHY_SUBRECORD_EM3002_RAW_SPECIFIC (unsigned)145 #define GSF_SWATH_BATHY_SUBRECORD_EM3000D_RAW_SPECIFIC (unsigned)146 #define GSF_SWATH_BATHY_SUBRECORD_EM3002D_RAW_SPECIFIC (unsigned)147 #define GSF_SWATH_BATHY_SUBRECORD_EM121A_SIS_RAW_SPECIFIC (unsigned)148 #define GSF_SWATH_BATHY_SUBRECORD_EM2040_SPECIFIC (unsigned)149 #define GSF_SWATH_BATHY_SUBRECORD_DELTA_T_SPECIFIC (unsigned)150 #define GSF_SINGLE_BEAM_SUBRECORD_UNKNOWN (unsigned) 0 #define GSF_SINGLE_BEAM_SUBRECORD_ECHOTRAC_SPECIFIC (unsigned)201 #define GSF_SINGLE_BEAM_SUBRECORD_BATHY2000_SPECIFIC (unsigned)202 #define GSF_SINGLE_BEAM_SUBRECORD_MGD77_SPECIFIC (unsigned)203 #define GSF_SINGLE_BEAM_SUBRECORD_BDB_SPECIFIC (unsigned)204 #define GSF_SINGLE_BEAM_SUBRECORD_NOSHDB_SPECIFIC (unsigned)205 #define GSF_SWATH_BATHY_SB_SUBRECORD_ECHOTRAC_SPECIFIC (unsigned)206 #define GSF_SWATH_BATHY_SB_SUBRECORD_BATHY2000_SPECIFIC (unsigned)207 #define GSF_SWATH_BATHY_SB_SUBRECORD_MGD77_SPECIFIC (unsigned)208 #define GSF_SWATH_BATHY_SB_SUBRECORD_BDB_SPECIFIC (unsigned)209 #define GSF_SWATH_BATHY_SB_SUBRECORD_NOSHDB_SPECIFIC (unsigned)210 #define GSF_SWATH_BATHY_SB_SUBRECORD_PDD_SPECIFIC (unsigned)211 #define GSF_SWATH_BATHY_SB_SUBRECORD_NAVISOUND_SPECIFIC (unsigned)212 /* Define null values to be used for missing data */ #define GSF_NULL_LATITUDE 91.0 #define GSF_NULL_LONGITUDE 181.0 #define GSF_NULL_HEADING 361.0 #define GSF_NULL_COURSE 361.0 #define GSF_NULL_SPEED 99.0 #define GSF_NULL_PITCH 99.0 #define GSF_NULL_ROLL 99.0 #define GSF_NULL_HEAVE 99.0 #define GSF_NULL_DRAFT 0.0 #define GSF_NULL_DEPTH_CORRECTOR 99.99 #define GSF_NULL_TIDE_CORRECTOR 99.99 #define GSF_NULL_SOUND_SPEED_CORRECTION 99.99 #define GSF_NULL_HORIZONTAL_ERROR -1.00 #define GSF_NULL_VERTICAL_ERROR -1.00 #define GSF_NULL_HEIGHT 9999.99 #define GSF_NULL_SEP 9999.99 #define GSF_NULL_SEP_UNCERTAINTY 0.0 /* Define null values for the swath bathymetry ping array types. Note that * these zero values do not necessarily indicate a non-valid value. The * beam flags array should be used to determine data validity. */ #define GSF_NULL_DEPTH 0.0 #define GSF_NULL_ACROSS_TRACK 0.0 #define GSF_NULL_ALONG_TRACK 0.0 #define GSF_NULL_TRAVEL_TIME 0.0 #define GSF_NULL_BEAM_ANGLE 0.0 #define GSF_NULL_MC_AMPLITUDE 0.0 #define GSF_NULL_MR_AMPLITUDE 0.0 #define GSF_NULL_ECHO_WIDTH 0.0 #define GSF_NULL_QUALITY_FACTOR 0.0 #define GSF_NULL_RECEIVE_HEAVE 0.0 #define GSF_NULL_DEPTH_ERROR 0.0 #define GSF_NULL_ACROSS_TRACK_ERROR 0.0 #define GSF_NULL_ALONG_TRACK_ERROR 0.0 #define GSF_NULL_NAV_POS_ERROR 0.0 /* Define macros used to indicate that a certain parameter is not known */ #define GSF_BEAM_WIDTH_UNKNOWN -1.0 /* define Posix.4 proposed structure for internal storage of time */ #if (!defined (_STRUCT_TIMESPEC_) && !defined (_TIMESPEC_T) && !defined (_STRUCT_TIMESPEC) && !defined (_SYS_TIMESPEC_H) && !defined (__timespec_defined)) #define _STRUCT_TIMESPEC_ #define _TIMESPEC_T #define _STRUCT_TIMESPEC #define _SYS_TIMESPEC_H #define __timespec_defined /* MAC OSX is a different bird, and while doesn't have the structures defined */ /* above, does have the timespec structure defined. __APPLE__ will be set when */ /* compiled with Apple's gcc on OSX and other third party compilers, so we use it to */ /* insure the definition below does not conflict. */ #ifndef __APPLE__ struct timespec { time_t tv_sec; long tv_nsec; }; #endif #endif /* Define a structure for the gsf header record */ #define GSF_VERSION_SIZE 12 typedef struct t_gsfHeader { char version[GSF_VERSION_SIZE]; } gsfHeader; /* Define the data structure for the swath bathymety summary record */ typedef struct t_gsfSwathBathySummary { struct timespec start_time; struct timespec end_time; double min_latitude; double min_longitude; double max_latitude; double max_longitude; double min_depth; double max_depth; } gsfSwathBathySummary; /* Define the typeIII specific data structure */ typedef struct t_gsfTypeIIISpecific /* 03-30-99 wkm/dbj: Obsolete replaced with t_gsfTypeCmpSassSpecific */ { unsigned short leftmost_beam; /* 0 - leftmost possible beam */ unsigned short rightmost_beam; unsigned short total_beams; unsigned short nav_mode; unsigned short ping_number; unsigned short mission_number; } t_gsfTypeIIISpecific; /* Define the CMP (Compressed) SASS specific data structure (from sass.h) */ typedef struct t_gsfCmpSassSpecific { /************************************************************************************ * * Mapping from Compressed SASS (BOSDAT) to GSF record * * from to comment * =============================================================================== * * lntens ping.heave mapped only when year is post 1991 or * user has elected to force mapping. * lfreq not-mapped * ldraft comment APPLIED_DRAFT comment record * svp.svel svp.sound_velocity at <= 1000 ... FATHOMS * at <= 2500 ... METERS * otherwise ... FEET * svp.deptl svp.depth (see sound_velocity) * lmishn comment MISSION_NUMBER comment record * luyr ping_time GSF time record from 1960 to 1970 base * pitchl ping.pitch * rolll ping.roll * lbear ping.heading SASS specific (not Seabeam) * pinhd ping.heading Seabeam specific (not SASS) * depth ping.nominal_depth FATHOMS_TO_METERS_NOMINAL * pslatl ping.across_track YARDS_TO_METERS_EXACT * bltime ping.travel_time * ampl ping.mr_amplitude * ping.beam_flags HMPS_FLAGS * alpos ping.along_track SASS specific YARDS_TO_METERS_EXACT * ************************************************************************************/ double lfreq; /* sea-surface sound velocity in feet/sec from bosdat(lfreq) */ double lntens; /* post 1992 heave, before 1992 unclear what field contained. */ } t_gsfCmpSassSpecific; /* Define the 16 Beam SeaBeam specific data structure */ typedef struct t_gsfSeabeamSpecific { unsigned short EclipseTime; /* In 10ths of seconds */ } t_gsfSeaBeamSpecific; typedef struct t_gsfSBAmpSpecific { unsigned char hour; unsigned char minute; unsigned char second; unsigned char hundredths; unsigned int block_number; short avg_gate_depth; } t_gsfSBAmpSpecific; /* Define the Seamap specific data structure */ typedef struct t_gsfSeamapSpecific { double portTransmitter[2]; double stbdTransmitter[2]; double portGain; double stbdGain; double portPulseLength; double stbdPulseLength; double pressureDepth; double altitude; double temperature; } t_gsfSeamapSpecific; /* Define the EM950/EM1000 specific data structure */ typedef struct t_gsfEM950Specific { int ping_number; int mode; int ping_quality; double ship_pitch; double transducer_pitch; double surface_velocity; } t_gsfEM950Specific; /* Define the EM100 specific data structure */ typedef struct t_gsfEM100Specific { double ship_pitch; double transducer_pitch; int mode; int power; int attenuation; int tvg; int pulse_length; int counter; } t_gsfEM100Specific; /* Define the EM121A specific data structure */ typedef struct t_gsfEM121ASpecific { int ping_number; int mode; int valid_beams; int pulse_length; int beam_width; int tx_power; int tx_status; int rx_status; double surface_velocity; } t_gsfEM121ASpecific; /* Define the Reson SeaBat specific data structure */ typedef struct t_gsfSeaBatSpecific { int ping_number; double surface_velocity; int mode; int sonar_range; int transmit_power; int receive_gain; } t_gsfSeaBatSpecific; /* The gsfSeaBatIISpecific data structure is intended to replace the * gsfSeaBatSpecific data structure as of GSF_1.04. */ typedef struct t_gsfSeaBatIISpecific { int ping_number; /* 1 - 32767 */ double surface_velocity; /* meters/second */ int mode; /* bit mapped, see macros below */ int sonar_range; /* meters */ int transmit_power; int receive_gain; double fore_aft_bw; /* fore/aft beam width in degrees */ double athwart_bw; /* athwartships beam width in degrees */ char spare[4]; /* Four bytes of spare space, for future use */ } t_gsfSeaBatIISpecific; /* Macro definitions for the SeaBatSpecific and SeaBatIISpecific mode field */ #define GSF_SEABAT_WIDE_MODE 0x01 /* if set 10 deg fore-aft */ #define GSF_SEABAT_9002 0x02 /* if set two sonar heads */ #define GSF_SEABAT_STBD_HEAD 0x04 /* if set starboard ping (seabat head 2) */ #define GSF_SEABAT_9003 0x08 /* if set 9003 series sonar (40 beams) */ /* Define the Reson SeaBat specific data structure */ typedef struct t_gsfSeaBat8101Specific { int ping_number; /* 1 - 65535 */ double surface_velocity; /* meters/second */ int mode; /* bit mapped, see macros below */ int range; /* meters */ int power; /* 0-8 + status bits */ int gain; /* 1-45 + status bits */ int pulse_width; /* in microseconds */ int tvg_spreading; /* tvg spreading coefficient * 4 */ int tvg_absorption; /* tvg absorption coefficient */ double fore_aft_bw; /* fore/aft beam width in degrees */ double athwart_bw; /* athwartships beam width in degrees */ double range_filt_min; /* range filter, minimum value, meters (future use) */ double range_filt_max; /* range filter, maximum value, meters (future use) */ double depth_filt_min; /* depth filter, minimum value, meters (future use) */ double depth_filt_max; /* depth filter, maximum value, meters (future use) */ int projector; /* projector type (future use) */ char spare[4]; /* Four bytes of spare space, for future use */ } t_gsfSeaBat8101Specific; /* Macro definitions for the SeaBat8101Specific and SeaBat8101Specific mode field */ #define GSF_8101_WIDE_MODE 0x01 /* set if transmit on receiver */ #define GSF_8101_TWO_HEADS 0x02 /* set if two sonar heads */ #define GSF_8101_STBD_HEAD 0x04 /* set if starboard ping (seabat head 2) */ #define GSF_8101_AMPLITUDE 0x08 /* set if beam amplitude is available (RITHETA packet) */ /* Define the Reson SeaBat specific data structure */ typedef struct t_gsfReson7100Specific { unsigned int protocol_version; /* Obtained from the Data Record Frame (DRF) */ unsigned int device_id; /* i.e. 7101, 7111, 7125, etc. Obtained from the DRF */ unsigned char reserved_1[16]; /* Placeholder for growth of fields from DRF */ unsigned int major_serial_number; /* high order 4 bytes of sonar serial number, from record 7000 */ unsigned int minor_serial_number; /* low order 4 bytes of sonar serial number, from record 7000 */ unsigned int ping_number; /* sequential number, unique for each ping, wraps at boundary */ unsigned int multi_ping_seq; /* 0 if not in multi-ping mode, otherwise number of pings in a multi-ping sequence */ double frequency; /* Sonar operating frequency in Hz. From record 7000 */ double sample_rate; /* Sonar system sampling rate in Hz. From record 7000 */ double receiver_bandwdth; /* Sonar system signal bandwidth in Hz. From record 7000 */ double tx_pulse_width; /* Transmit pulse length in seconds. From record 7000 */ unsigned int tx_pulse_type_id; /* 0=CW, 1=Linear chirp, from record 7000 */ unsigned int tx_pulse_envlp_id; /* 0=Tapered rectangular, 1=Tukey, from record 7000 */ unsigned int tx_pulse_envlp_param; /* four byte field containing envelope parameter, no definition or units available, from record 7000 */ unsigned int tx_pulse_reserved; /* four byte field reserved for future growth, from record 7000 */ double max_ping_rate; /* Maximum ping rate in pings per second, from record 7000 */ double ping_period; /* seconds since last ping, from record 7000 */ double range; /* Sonar range selection in meters, from record 7000 */ double power; /* Power selection in dB re 1 microPa, from record 7000 */ double gain; /* Gain selection in dB, from record 7000 */ unsigned int control_flags; /* 0-3: Auto range method 4-7: Auto bottom detect filter method 8: Bottom detect range filter 9: Bottom detect depth filter 10-14: Auto receiver gain method 15-31: Reserved */ unsigned int projector_id; /* projector selection, from record 7000 */ double projector_steer_angl_vert; /* degrees, from record 7000 */ double projector_steer_angl_horz; /* degrees, from record 7000 */ double projector_beam_wdth_vert; /* degrees, from record 7000 */ double projector_beam_wdth_horz; /* degrees, from record 7000 */ double projector_beam_focal_pt; /* meters, from record 7000 */ unsigned int projector_beam_weighting_window_type; /* 0-Rectangular, 1-Chebychhev, from record 7000 */ unsigned int projector_beam_weighting_window_param; /* four byte projector weighting parameter, no definition or units available, from record 7000 */ unsigned int transmit_flags; /* 0-3: Pitch stabilization method 4-6: Yaw stabilization method 8-31: Reserved */ unsigned int hydrophone_id; /* hydrophone selection, from record 7000 */ unsigned int receiving_beam_weighting_window_type; /* 0-Chebychev, 1-Kaiser, from record 7000 */ unsigned int receiving_beam_weighting_window_param; /* four byte receiver weighting parameter, no definition or units available, from record 7000 */ unsigned int receive_flags; /* 0-3: Roll stabilization method 4-7: Dynamic focusing method 8-11: Doppler compensation method 12-15: Match filtering method 16-19: TVG method 20-23: Multi-Ping Mode 24-31: Reserved */ double receive_beam_width; /* angle in degrees, from record 7000 */ double range_filt_min; /* range filter, minimum value, meters, from record 7000 */ double range_filt_max; /* range filter, maximum value, meters, from record 7000 */ double depth_filt_min; /* depth filter, minimum value, meters, from record 7000 */ double depth_filt_max; /* depth filter, maximum value, meters, from record 7000 */ double absorption; /* absorption in dB/km, from record 7000 */ double sound_velocity; /* sound speed in m/s at transducer, from record 7006 */ double spreading; /* spreading loss in dB from record 7000 */ char reserved_2[16]; /* spare space, for future use */ unsigned char sv_source; /* (0: measured, 1: manual), from record 7006 */ unsigned char layer_comp_flag; /* (0: off, 1: on), from record 7006 */ char reserved_3[8]; /* spare space, for future use */ } t_gsfReson7100Specific; #define GSF_7100_PITCH_STAB 0x0001 /* set if pitch stabilized */ #define GSF_7100_ROLL_STAB 0x0001 /* set if roll stabilized */ /* Define the SeaBeam 2112/36 specific data structure */ typedef struct t_gsfSeaBeam2112Specific { int mode; /* bit mapped, see macros below */ double surface_velocity; /* meters/second */ char ssv_source; /* (V)elocimiter, (M)anual, (T)emperature, (E)xternal, or (U)nknown */ int ping_gain; /* dB */ int pulse_width; /* in milliseconds */ int transmitter_attenuation; /* dB */ int number_algorithms; /* algorithms per beam (1-4) */ char algorithm_order[5]; /* null terminated string, each char will be either a space, W(MT), or B(DI). if number_algorithms equals one, this will be four spaces */ char spare[2]; /* Two bytes of spare space, for future use */ } t_gsfSeaBeam2112Specific; /* Macro definitions for the SeaBeam2112Specific mode field */ #define GSF_2112_SVP_CORRECTION 0x01 /* set if true depth, true position corrections are used */ #define GSF_2112_LOW_FREQUENCY 0x02 /* set if using 12kHz frequecy - 36kHz if not set */ #define GSF_2112_AUTO_DEPTH_GATE 0x04 /* set if depth gate mode is automatic - manual if not set */ /* SeaBeam 2112 specific macro definitions for the quality factor array */ #define GSF_2112_POOR_QUALITY 0x01 /* set if the beam was flagged by the SeaBeam as poor quality */ #define GSF_2112_DATA_SOURCE_WMT 0x10 /* set if the data source is WMT - source is BDI if not set */ /* Define the Elac MkII specific data structure */ typedef struct t_gsfElacMkIISpecific { int mode; /* bit mapped, see macros below */ int ping_num; int sound_vel; /* 0.1 m/s */ int pulse_length; /* 0.01 ms */ int receiver_gain_stbd; /* db */ int receiver_gain_port; /* db */ int reserved; } t_gsfElacMkIISpecific; /* Macro definitions for the ElacMkIISpecific mode field */ #define GSF_MKII_LOW_FREQUENCY 0x01 /* set if using 12kHz frequecy - 36kHz if not set */ #define GSF_MKII_SOURCE_MODE 0x02 /* set if RDT transmit used, otherwise omni */ #define GSF_MKII_SOURCE_POWER 0x04 /* set if transmit high power - low power if not set */ #define GSF_MKII_STBD_HEAD 0x08 /* set if starboard ping */ /* Define a data structure to hold the Simrad EM3000 series run time parameters. */ typedef struct t_gsfEM3RunTime { int model_number; /* from the run-time parameter datagram */ struct timespec dg_time; /* from the run-time parameter datagram */ int ping_number; /* sequential counter 0 - 65535 */ int serial_number; /* The sonar head serial number */ int system_status; /* normally = 0 */ int mode; /* 0=nearfield, 1=normal, 2=target, 3=deep, 4=very deep */ int filter_id; double min_depth; /* meters */ double max_depth; /* meters */ double absorption; /* dB/km */ double pulse_length; /* micro seconds */ double transmit_beam_width; /* degrees */ int power_reduction; /* dB */ double receive_beam_width; /* degrees */ int receive_bandwidth; /* Hz */ int receive_gain; /* dB */ int cross_over_angle; /* degrees */ int ssv_source; /* 0=sensor, 1=manual, 2=profile */ int swath_width; /* total swath width in meters */ int beam_spacing; /* 0=beamwidth, 1=equiangle, 2=equidistant, 3=intermediate */ int coverage_sector; /* total coverage in degrees */ int stabilization; int port_swath_width; /* maximum port swath width in meters */ int stbd_swath_width; /* maximum starboard swath width in meters */ int port_coverage_sector; /* maximum port coverage in degrees */ int stbd_coverage_sector; /* maximum starboard coverage in degrees */ int hilo_freq_absorp_ratio; int spare1; /* four spare bytes */ } gsfEM3RunTime; /* Define the Simrad EM3000 series specific data structure */ typedef struct t_gsfEM3Specific { /* The first nine values are updated with each depth datagram */ int model_number; /* ie: 3000, ... */ int ping_number; /* 0 - 65535 */ int serial_number; /* 100 - 65535 */ double surface_velocity; /* in m/s */ double transducer_depth; /* transmit transducer depth in meters */ int valid_beams; /* number of valid beams for this ping */ int sample_rate; /* in Hz */ double depth_difference; /* in meters between sonar heads in em3000d configuration */ int offset_multiplier; /* transducer depth offset multiplier */ /* The gsfEM3RunTime data structure is updated with each run-time parameter datagram */ gsfEM3RunTime run_time[2]; /* A two element array is needed to support em3000d */ } t_gsfEM3Specific; /* Define the Reson 8100 specific data structure */ typedef struct t_gsfReson8100Specific { int latency; /* time from ping to output (milliseconds) */ int ping_number; /* 4 byte ping number */ int sonar_id; /* least significant 4 bytes of ethernet address */ int sonar_model; /* */ int frequency; /* KHz */ double surface_velocity; /* meters/second */ int sample_rate; /* A/D samples per second */ int ping_rate; /* pings per second * 1000 */ int mode; /* bit mapped, see macros below */ int range; /* meters */ int power; /* 0-8 + status bits */ int gain; /* 1-45 + status bits */ int pulse_width; /* in microseconds */ int tvg_spreading; /* tvg spreading coefficient * 4 */ int tvg_absorption; /* tvg absorption coefficient */ double fore_aft_bw; /* fore/aft beam width in degrees */ double athwart_bw; /* athwartships beam width in degrees */ int projector_type; /* projector type */ int projector_angle; /* projector pitch steering angle (degrees * 100) */ double range_filt_min; /* range filter, minimum value, meters */ double range_filt_max; /* range filter, maximum value, meters */ double depth_filt_min; /* depth filter, minimum value, meters */ double depth_filt_max; /* depth filter, maximum value, meters */ int filters_active; /* bit 0 - range filter, bit 1 - depth filter */ int temperature; /* temperature at sonar head (deg C * 10) */ double beam_spacing; /* across track receive beam angular spacing */ char spare[2]; /* Two remaining bytes of spare space, for future use */ } t_gsfReson8100Specific; /* Macro definitions for the SeaBat8100Specific mode field */ #define GSF_8100_WIDE_MODE 0x01 /* set if transmit on receiver */ #define GSF_8100_TWO_HEADS 0x02 /* set if two sonar heads */ #define GSF_8100_STBD_HEAD 0x04 /* set if starboard ping (seabat head 2) */ #define GSF_8100_AMPLITUDE 0x08 /* set if beam amplitude is available (RITHETA packet) */ #define GSF_8100_PITCH_STAB 0x10 /* set if pitch stabilized */ #define GSF_8100_ROLL_STAB 0x20 /* set if roll stabilized */ /* Define the Echotrac Single-Beam sensor specific data structure. */ #define GSF_SB_MPP_SOURCE_UNKNOWN 0x00 /* Unknown MPP source */ #define GSF_SB_MPP_SOURCE_GPS_3S 0x01 /* GPS 3S */ #define GSF_SB_MPP_SOURCE_GPS_TASMAN 0x02 /* GPS Tasman */ #define GSF_SB_MPP_SOURCE_DGPS_TRIMBLE 0x03 /* DGPS Trimble */ #define GSF_SB_MPP_SOURCE_DGPS_TASMAN 0x04 /* DGPS Tasman */ #define GSF_SB_MPP_SOURCE_DGPS_MAG 0x05 /* DGPS MagMPPox */ #define GSF_SB_MPP_SOURCE_RANGE_MFIX 0x06 /* Range/Azimauth - Microfix */ #define GSF_SB_MPP_SOURCE_RANGE_TRIS 0x07 /* Range/Azimauth - Trisponder */ #define GSF_SB_MPP_SOURCE_RANGE_OTHER 0x08 /* Range/Azimauth - Other */ typedef struct t_gsfSBEchotracSpecific { int navigation_error; unsigned short mpp_source; /* Flag To determine mpp source - See above */ unsigned short tide_source; /* in GSF Version 2.02+ this is in ping flags */ double dynamic_draft; /* speed induced draft im meters */ char spare[4]; /* four bytes of reserved space */ } t_gsfSBEchotracSpecific; /* Define the MGD77 Single-Beam sensor specific data structure. */ typedef struct t_gsfSBMGD77Specific { unsigned short time_zone_corr; unsigned short position_type_code; unsigned short correction_code; unsigned short bathy_type_code; unsigned short quality_code; double travel_time; char spare[4]; /* four bytes of reserved space */ } t_gsfSBMGD77Specific; /* Define the BDB sensor specific data structure */ typedef struct t_gsfSBBDBSpecific { int doc_no; /* Document number (5 digits) */ char eval; /* Evaluation (1-best, 4-worst) */ char classification; /* Classification ((U)nclass, (C)onfidential, (S)ecret, (P)roprietary/Unclass, (Q)Proprietary/Class) */ char track_adj_flag; /* Track Adjustment Flag (Y,N) */ char source_flag; /* Source Flag ((S)urvey, (R)andom, (O)cean Survey) */ char pt_or_track_ln; /* Discrete Point (D) or Track Line (T) Flag */ char datum_flag; /* Datum Flag ((W)GS84, (D)atumless) */ char spare[4]; /* four bytes of reserved space */ } t_gsfSBBDBSpecific; /* Define the NOS HDB sensor specific data structure */ typedef struct t_gsfSBNOSHDBSpecific { unsigned short type_code; /* Depth type code */ unsigned short carto_code; /* Cartographic code */ char spare[4]; /* four bytes of reserved space */ } t_gsfSBNOSHDBSpecific; /* Define the Navisound sensor specific data structure */ typedef struct t_gsfSBNavisoundSpecific { double pulse_length; /* pulse length in cm */ char spare[8]; /* eight bytes of reserved space */ } t_gsfSBNavisoundSpecific; /* Macro definitions for EM4 series sector data details */ #define GSF_MAX_EM4_SECTORS 9 #define GSF_MAX_EM3_SECTORS 20 /* Define sub-structure for the transmit sectors */ #define GSF_EM_WAVEFORM_CW 0 #define GSF_EM_WAVEFORM_FM_UP 1 #define GSF_EM_WAVEFORM_FM_DOWN 2 typedef struct t_gsfEM4TxSector { double tilt_angle; /* transmitter tilt angle in degrees */ double focus_range; /* focusing range, 0.0 for no focusing */ double signal_length; /* transmit signal duration in seconds */ double transmit_delay; /* Sector transmit delay from first transmission in seconds */ double center_frequency; /* center frequency in Hz */ double mean_absorption; /* mean absorption coefficient in 0.01 dB/kilometer */ int waveform_id; /* signal waveform ID 0=CW; 1=FM upsweep; 2=FM downsweep */ int sector_number; /* transmit sector number */ double signal_bandwidth; /* signal bandwidth in Hz */ unsigned char spare[16]; /* spare space */ } t_gsfEM4TxSector; typedef struct t_gsfEM3RawTxSector { double tilt_angle; /* transmitter tilt angle in degrees */ double focus_range; /* focusing range, 0.0 for no focusing */ double signal_length; /* transmit signal duration in seconds */ double transmit_delay; /* Sector transmit delay from first transmission in seconds */ double center_frequency; /* center frequency in Hz */ int waveform_id; /* signal waveform ID 0=CW; 1=FM upsweep; 2=FM downsweep */ int sector_number; /* transmit sector number */ double signal_bandwidth; /* signal bandwidth in Hz */ unsigned char spare[16]; /* spare space */ } t_gsfEM3RawTxSector; /* The following macro definitions are to aid in interpretation of the sonar mode field */ #define GSF_EM_MODE_VERY_SHALLOW 0x00 /* Bits 2,1,0 cleared means very shallow mode */ #define GSF_EM_MODE_SHALLOW 0x01 /* Bit zero set means shallow mode */ #define GSF_EM_MODE_MEDIUM 0x02 /* Bit one set means medium mode */ #define GSF_EM_MODE_DEEP 0x03 /* Bits one and zero set means deep mode */ #define GSF_EM_MODE_VERY_DEEP 0x04 /* Bit two set means very deep mode */ #define GSF_EM_MODE_EXTRA_DEEP 0x05 /* Bits two and one set means extra deep mode */ #define GSF_EM_MODE_MASK 0x07 /* Mask off bits 2,1,0 to determine just the mode */ /* Exact definition of bits 5,4,3 not clear from document rev J. */ #define GSF_EM_MODE_DS_OFF 0xC0 /* bits 7 and 6 cleared means dual swath off */ #define GSF_EM_MODE_DS_FIXED 0x40 /* bit 6 set means dual swath in fixed mode */ #define GSF_EM_MODE_DS_DYNAMIC 0x80 /* bit 7 set means dual swath in dynamic mode */ /* Define a data structure to hold the Simrad EM series run time parameters per datagram document rev I. */ typedef struct t_gsfEMRunTime { int model_number; /* from the run-time parameter datagram */ struct timespec dg_time; /* from the run-time parameter datagram */ int ping_counter; /* sequential counter 0 - 65535 */ int serial_number; /* The primary sonar head serial number */ unsigned char operator_station_status; /* Bit mask of status information for operator station */ unsigned char processing_unit_status; /* Bit mask of status information for sonar processor unit */ unsigned char bsp_status; /* Bit mask of status information for BSP status */ unsigned char head_transceiver_status; /* Bit mask of status information for sonar head or sonar transceiver */ unsigned char mode; /* Bit mask of sonar operating information, see mode bit mask definitions */ unsigned char filter_id; /* one byte tit mask for various sonar processing filter settings */ double min_depth; /* meters */ double max_depth; /* meters */ double absorption; /* dB/km */ double tx_pulse_length; /* in micro seconds */ double tx_beam_width; /* degrees */ double tx_power_re_max; /* The transmit power referenced to maximum power in dB */ double rx_beam_width; /* degrees */ double rx_bandwidth; /* Hz */ double rx_fixed_gain; /* dB */ double tvg_cross_over_angle; /* degrees */ unsigned char ssv_source; /* one byte bit mask defining SSSV source -> 0=sensor, 1=manual, 2=profile */ int max_port_swath_width; /* total swath width to port side in meters */ unsigned char beam_spacing; /* one byte bit mask -> 0=beamwidth, 1=equiangle, 2=equidistant, 3=intermediate */ int max_port_coverage; /* coverage to port side in degrees */ unsigned char stabilization; /* one byte bit mask defining yaw and pitch stabilization mode */ int max_stbd_coverage; /* coverage to starboard side in degrees */ int max_stbd_swath_width; /* total swath width to starboard side in meters */ double durotong_speed; /* Sound speed in Durotong (SSD). Field only valid for the EM 1002 */ double hi_low_absorption_ratio; /* HiLo frequency absorption coefficient ratio, field valid only for EM3 sonars */ double tx_along_tilt; /* Transmit fan along track tilt angle in degrees, field valid only for EM4 sonars */ unsigned char filter_id_2; /* two lowest order bits define the penetration filter setting: off, weak, medium, or strong */ unsigned char spare[16]; /* 16 spare bytes */ } t_gsfEMRunTime; /* Macro definitions for bits of pu_status field */ #define GSF_EM_VALID_1_PPS 0x0001 /* If set, then 1 PPS timing is valid */ #define GSF_EM_VALID_POSITION 0x0002 /* If set, then position input is valid */ #define GSF_EM_VALID_ATTITUDE 0x0004 /* If set, then attitude input is valid */ #define GSF_EM_VALID_CLOCK 0x0008 /* If set, then clock status is valid */ #define GSF_EM_VALID_HEADING 0x0010 /* If set, then heading status is valid */ #define GSF_EM_PU_ACTIVE 0x0020 /* If set, then PU is active (i.e. pinging) */ /* Define a data structure to hold the Simrad EM series PU status values per datagram document rev I. */ typedef struct t_gsfEMPUStatus { double pu_cpu_load; /* Percent CPU load in the processor unit */ unsigned short sensor_status; /* Bit mask containing status of sensor inputs */ int achieved_port_coverage; /* Achieved coverage to port in degrees */ int achieved_stbd_coverage; /* Achieved coverage to starboard in degrees */ double yaw_stabilization; /* in degrees */ unsigned char spare[16]; } t_gsfEMPUStatus; /* Define sensor specific data structures for the Kongsberg 710/302/122 */ typedef struct t_gsfEM4Specific { /* values from the XYZ datagram and raw range datagram */ int model_number; /* 122, or 302, or 710, or ... */ int ping_counter; /* Sequential ping counter, 1 through 65535 */ int serial_number; /* System unique serial number, 100 - ? */ double surface_velocity; /* Measured sound speed near the surface in m/s */ double transducer_depth; /* The transmit transducer depth in meters re water level at ping time */ int valid_detections; /* number of beams with a valid bottom detection for this ping */ double sampling_frequency; /* The system digitizing rate in Hz */ unsigned int doppler_corr_scale; /* Scale factor value to be applied to Doppler correction field prior to applying corrections */ double vehicle_depth; /* From 0x66 datagram, non-zero when sonar head is mounted on a sub-sea platform */ unsigned char spare_1[16]; int transmit_sectors; /* The number of transmit sectors for this ping */ t_gsfEM4TxSector sector[GSF_MAX_EM4_SECTORS]; /* Array of structures with transmit sector information */ unsigned char spare_2[16]; /* Values from the run-time parameters datagram */ t_gsfEMRunTime run_time; /* Values from the PU status datagram */ t_gsfEMPUStatus pu_status; } t_gsfEM4Specific; /* Define sensor specific data structures for the Kongsberg 3000, etc which use raw range and beam angle */ typedef struct t_gsfEM3RawSpecific { /* values from the XYZ datagram and raw range datagram */ int model_number; /* ie 3000 ... */ int ping_counter; /* Sequential ping counter, 0 through 65535 */ int serial_number; /* System unique serial number, 100 - ? */ double surface_velocity; /* Measured sound speed near the surface in m/s */ double transducer_depth; /* The transmit transducer depth in meters re water level at ping time */ int valid_detections; /* number of beams with a valid bottom detection for this ping */ double sampling_frequency; /* The system digitizing rate in Hz */ double vehicle_depth; /* vechicle depth in 0.01 m */ double depth_difference; /* in meters between sonar heads in em3000d configuration */ int offset_multiplier; /* transducer depth offset multiplier */ unsigned char spare_1[16]; int transmit_sectors; /* The number of transmit sectors for this ping */ t_gsfEM3RawTxSector sector[GSF_MAX_EM3_SECTORS]; /* Array of structures with transmit sector information */ unsigned char spare_2[16]; /* Values from the run-time parameters datagram */ t_gsfEMRunTime run_time; /* Values from the PU status datagram */ t_gsfEMPUStatus pu_status; } t_gsfEM3RawSpecific; /*DHG 2006/09/27 Added support for GeoSwath interferometric 250 Khz sonar */ /* Define the GeoSwath sensor specific data structure */ typedef struct t_gsfGeoSwathPlusSpecific { int data_source; /* 0 = CBF, 1 = RDF */ int side; /* 0 = port, 1 = stbd */ int model_number; /* ie: 100, 250, 500, ... */ double frequency; /* Hz */ int echosounder_type; /* ? */ long ping_number; /* 0 - 4,294,967,295 */ int num_nav_samples; /* number of navigation samples in this ping */ int num_attitude_samples; /* number of attitude samples in this ping */ int num_heading_samples; /* number of heading samples in this ping */ int num_miniSVS_samples; /* number of miniSVS samples in this ping */ int num_echosounder_samples; /* number of echosounder samples in ping */ int num_raa_samples; /* number of RAA (Range/Angle/Amplitude) samples in ping */ double mean_sv; /* meters per second */ double surface_velocity; /* in m/s */ int valid_beams; /* number of valid beams for this ping */ double sample_rate; /* Hz */ double pulse_length; /* micro seconds */ int ping_length; /* meters */ int transmit_power; /* ? */ int sidescan_gain_channel; /* RDF documentation = 0 - 3 */ int stabilization; /* 0 or 1 */ int gps_quality; /* ? */ double range_uncertainty; /* meters */ double angle_uncertainty; /* degrees */ char spare[32]; /* 32 bytes of reserved space */ } t_gsfGeoSwathPlusSpecific; #define PORT_PING 0 #define STBD_PING 1 #define GSF_GEOSWATH_PLUS_PORT_PING PORT_PING #define GSF_GEOSWATH_PLUS_STBD_PING STBD_PING /* Define the Klein 5410 Bathy Sidescan sensor specific data structure */ typedef struct t_gsfKlein5410BssSpecific { int data_source; /* 0 = SDF */ int side; /* 0 = port, 1 = stbd */ int model_number; /* ie: 5410 */ double acoustic_frequency; /* system frequency in Hz */ double sampling_frequency; /* sampling frequency in Hz */ unsigned int ping_number; /* 0 - 4,294,967,295 */ unsigned int num_samples; /* total number of samples in this ping */ unsigned int num_raa_samples; /* number of valid range, angle, amplitude samples in ping */ unsigned int error_flags; /* error flags for this ping */ unsigned int range; /* sonar range setting */ double fish_depth; /* reading from the towfish pressure sensor in Volts */ double fish_altitude; /* towfish altitude in m */ double sound_speed; /* speed of sound at the transducer face in m/sec */ int tx_waveform; /* transmit pulse: 0 = 132 microsec CW; 1 = 132 microsec FM; */ /* 2 = 176 microsec CW; 3 = 176 microsec FM */ int altimeter; /* altimeter status: 0 = passive, 1 = active */ unsigned int raw_data_config; /* raw data configuration */ char spare[32]; /* 32 bytes of reserved space */ } t_gsfKlein5410BssSpecific; /* Define the Imagenex Delta T sensor specific dada structure */ typedef struct t_gsfDeltaTSpecific { char decode_file_type[4]; /* contains the decoded files extension. */ char version; /* contains the minor version number of the delta t */ int ping_byte_size; /* size in bytes of this ping (256 + ((((byte 117[1 or 0])*2) + 2) * number of beams)) */ struct timespec interrogation_time; /* The sonar interrogation time */ int samples_per_beam; /* number of samples per beam */ double sector_size; /* size of the sector in degrees */ double start_angle; /* the angle that beam 0 starts at in degrees. */ double angle_increment; /* the number of degrees the angle increments per beam */ int acoustic_range; /* acoustic range in meters */ int acoustic_frequency; /* acoustic frequency in kHz */ double sound_velocity; /* the velocity of sound at the transducer face in m/s */ double range_resolution; /* range resolution in centimeters (documentation says mm but all example data is in cm) */ double profile_tilt_angle; /* the mounting offset */ double repetition_rate; /* time between pings in milliseconds */ unsigned long ping_number; /* the current ping number of this ping. */ unsigned char intensity_flag; /* this tells whether the GSF will have intensity data (1=true) */ double ping_latency; /* time from sonar ping interrogation to actual ping in seconds */ double data_latency; /* time from sonar ping interrogation to 83P UDP datagram in seconds */ unsigned char sample_rate_flag; /* sampling rate 0 = (1 in 500); 1 = (1 in 5000) */ unsigned char option_flags; /* this flag states whether the data is roll corrected or raybend corrected (1 = roll, 2 = raybend, 3 = both) */ int num_pings_avg; /* number of pings averaged 1 - 25 */ double center_ping_time_offset; /* the time difference in seconds between the center ping interrogation and the current ping interrogation */ unsigned char user_defined_byte; /* contains a user defined byte */ double altitude; /* the height of the fish above the ocean floor. */ char external_sensor_flags; /* this flag is a bit mask where (1 = external heading, 2 = external roll, 4 = external pitch, 8 = external heave) */ double pulse_length; /* acoustic pulse length in seconds */ double fore_aft_beamwidth; /* Effective f/a beam width in degrees */ double athwartships_beamwidth; /* Effective athwartships beam width in degrees */ unsigned char spare[32]; /* room to grow */ } t_gsfDeltaTSpecific; /* Define a union of the known sensor specific ping subrecords */ typedef union t_gsfSensorSpecific { t_gsfSeaBeamSpecific gsfSeaBeamSpecific; t_gsfEM100Specific gsfEM100Specific; t_gsfEM121ASpecific gsfEM121ASpecific; t_gsfEM121ASpecific gsfEM121Specific; t_gsfSeaBatSpecific gsfSeaBatSpecific; t_gsfEM950Specific gsfEM950Specific; t_gsfEM950Specific gsfEM1000Specific; t_gsfSeamapSpecific gsfSeamapSpecific; #if 1 /* 03-30-99 wkm/dbj: Obsolete replaced with gsfCmpSassSpecific */ t_gsfTypeIIISpecific gsfTypeIIISeaBeamSpecific; t_gsfTypeIIISpecific gsfSASSSpecific; #endif t_gsfCmpSassSpecific gsfCmpSassSpecific; t_gsfSBAmpSpecific gsfSBAmpSpecific; t_gsfSeaBatIISpecific gsfSeaBatIISpecific; t_gsfSeaBat8101Specific gsfSeaBat8101Specific; t_gsfSeaBeam2112Specific gsfSeaBeam2112Specific; t_gsfElacMkIISpecific gsfElacMkIISpecific; t_gsfEM3Specific gsfEM3Specific; /* used for EM120, EM300, EM1002, EM3000, EM3002, and EM121A_SIS */ t_gsfEM3RawSpecific gsfEM3RawSpecific; /* used for EM120, EM300, EM1002, EM3000, EM3002, and EM121A_SIS with raw range and beam angle */ t_gsfReson8100Specific gsfReson8100Specific; t_gsfReson7100Specific gsfReson7100Specific; t_gsfEM4Specific gsfEM4Specific; /* used for EM710, EM302, EM122, and EM2040 */ t_gsfGeoSwathPlusSpecific gsfGeoSwathPlusSpecific; /* DHG 2006/09/27 Use for GeoSwath+ interferometer */ t_gsfKlein5410BssSpecific gsfKlein5410BssSpecific; /* Use for Klein 5410 Bathy Sidescan. */ t_gsfDeltaTSpecific gsfDeltaTSpecific; /* Single beam sensors added */ t_gsfSBEchotracSpecific gsfSBEchotracSpecific; t_gsfSBEchotracSpecific gsfSBBathy2000Specific; t_gsfSBMGD77Specific gsfSBMGD77Specific; t_gsfSBBDBSpecific gsfSBBDBSpecific; t_gsfSBNOSHDBSpecific gsfSBNOSHDBSpecific; t_gsfSBEchotracSpecific gsfSBPDDSpecific; t_gsfSBNavisoundSpecific gsfSBNavisoundSpecific; } gsfSensorSpecific; /* Define the Echotrac Single-Beam sensor specific data structure. */ typedef struct t_gsfEchotracSpecific { int navigation_error; unsigned short mpp_source; /* Flag To determine if nav was mpp */ unsigned short tide_source; } t_gsfEchotracSpecific; /* Define the MGD77 Single-Beam sensor specific data structure. */ typedef struct t_gsfMGD77Specific { unsigned short time_zone_corr; unsigned short position_type_code; unsigned short correction_code; unsigned short bathy_type_code; unsigned short quality_code; double travel_time; } t_gsfMGD77Specific; /* Define the BDB sensor specific data structure */ typedef struct t_gsfBDBSpecific { int doc_no; /* Document number (5 digits) */ char eval; /* Evaluation (1-best, 4-worst) */ char classification; /* Classification ((U)nclass, (C)onfidential, (S)ecret, (P)roprietary/Unclass, (Q)Proprietary/Class) */ char track_adj_flag; /* Track Adjustment Flag (Y,N) */ char source_flag; /* Source Flag ((S)urvey, (R)andom, (O)cean Survey) */ char pt_or_track_ln; /* Discrete Point (D) or Track Line (T) Flag */ char datum_flag; /* Datum Flag ((W)GS84, (D)atumless) */ } t_gsfBDBSpecific; /* Define the NOS HDB sensor specific data structure */ typedef struct t_gsfNOSHDBSpecific { unsigned short type_code; /* Depth type code */ unsigned short carto_code; /* Cartographic code */ } t_gsfNOSHDBSpecific; /* Define a union of the known sensor specific * single beam ping subrecords */ typedef union t_gsfSBSensorSpecific { t_gsfEchotracSpecific gsfEchotracSpecific; t_gsfEchotracSpecific gsfBathy2000Specific; t_gsfMGD77Specific gsfMGD77Specific; t_gsfBDBSpecific gsfBDBSpecific; t_gsfNOSHDBSpecific gsfNOSHDBSpecific; } gsfSBSensorSpecific; /* Define the bit flags for the "ping_flags" field of the swath bathymetry * ping record. * GSF_IGNORE_PING may be set to indicate to an application to ignore this ping * GSF_PING_USER_FLAGS 01-15 may be set/read by application specific software */ #define GSF_IGNORE_PING (unsigned)0x0001 #define GSF_PING_USER_FLAG_01 (unsigned)0x0002 #define GSF_PING_USER_FLAG_02 (unsigned)0x0004 #define GSF_PING_USER_FLAG_03 (unsigned)0x0008 #define GSF_PING_USER_FLAG_04 (unsigned)0x0010 #define GSF_PING_USER_FLAG_05 (unsigned)0x0020 #define GSF_PING_USER_FLAG_06 (unsigned)0x0040 #define GSF_PING_USER_FLAG_07 (unsigned)0x0080 #define GSF_PING_USER_FLAG_08 (unsigned)0x0100 #define GSF_PING_USER_FLAG_09 (unsigned)0x0200 #define GSF_PING_USER_FLAG_10 (unsigned)0x0400 #define GSF_PING_USER_FLAG_11 (unsigned)0x0800 #define GSF_PING_USER_FLAG_12 (unsigned)0x1000 #define GSF_PING_USER_FLAG_13 (unsigned)0x2000 #define GSF_PING_USER_FLAG_14 (unsigned)0x4000 #define GSF_PING_USER_FLAG_15 (unsigned)0x8000 /* Define a set of macros to set, clear, and test the state of the * ping status flags. * Where: * ping_flags: The ping flags field of the gsfSwathBathyPing structure. * usflag: The definition of the flag to test, set, or clear. */ #define gsfTestPingStatus(ping_flags, usflag) (((ping_flags) & (usflag)) ? 1 : 0) #define gsfSetPingStatus(ping_flags, usflag) ((ping_flags) |= (usflag)) #define gsfClearPingStatus(ping_flags, usflag) ((ping_flags) &= (~(usflag))) /* Define the GSF bit flags flags for the beam status array. * The GSF_IGNORE_BEAM flag may be set to indicate that this beam should * not be used by any processing/display software. The flags * GSF_BEAM_USER_FLAG_01-07 may be set/read by application specific software */ #define GSF_IGNORE_BEAM (unsigned)0x01 #define GSF_BEAM_USER_FLAG_01 (unsigned)0x02 #define GSF_BEAM_USER_FLAG_02 (unsigned)0x04 #define GSF_BEAM_USER_FLAG_03 (unsigned)0x08 #define GSF_BEAM_USER_FLAG_04 (unsigned)0x10 #define GSF_BEAM_USER_FLAG_05 (unsigned)0x20 #define GSF_BEAM_USER_FLAG_06 (unsigned)0x40 #define GSF_BEAM_USER_FLAG_07 (unsigned)0x80 /* Define the internal form of the array subrecord scale factor information, * which is used to scale the swath bathymetry ping record to/from * internal/external form. The subrecord id is specified by the index into * the scaleTable array. */ typedef struct t_gsfScaleInfo { unsigned char compressionFlag; /* Specifies bytes of storage in high order nibble and type of compression in low order nibble */ double multiplier; /* the scale factor (millionths)for the array */ double offset; /* dc offset to scale data by */ } gsfScaleInfo; typedef struct t_gsfScaleFactors { int numArraySubrecords; /* the number of scaling factors we actually have */ gsfScaleInfo scaleTable[GSF_MAX_PING_ARRAY_SUBRECORDS]; } gsfScaleFactors; /* Macro definitions for populating the compression flag (c_flag) argument passed through the * gsfLoadScaleFactors(), gsfGetScaleFactor, and gsfLoadDepthScaleFactorAutoOffset() APIs */ /* The high order 4 bits are used to define the field size for this array */ #define GSF_FIELD_SIZE_DEFAULT 0x00 /* Default values for field size are used used for all beam arrays */ #define GSF_FIELD_SIZE_ONE 0x10 /* value saved as a one byte value after applying scale and offset */ #define GSF_FIELD_SIZE_TWO 0x20 /* value saved as a two byte value after applying scale and offset */ #define GSF_FIELD_SIZE_FOUR 0x40 /* value saved as a four byte value after applying scale and offset */ /* The low order 4 bits are used to define the compression approach */ #define GSF_DISABLE_COMPRESSION 0x00 /* no compression to be applied to the beam array data. */ /* no compression supported in this version, but may be added in a future release */ typedef struct t_gsfEM3ImagerySpecific { unsigned short range_norm; /* range to normal incidence used to correct sample amplitudes (in samples) */ unsigned short start_tvg_ramp; /* start range sample of TVG ramp if not enough dynamic range (0 else) */ unsigned short stop_tvg_ramp; /* stop range sample of TVG ramp if not enough dynamic range (0 else) */ char bsn; /* normal incidence BS in dB */ char bso; /* oblique BS in dB */ double mean_absorption; /* mean absorption coeffiecient in dB/km, resolution of 0.01 dB/km) */ short offset; /* Value that has been added to all imagery samples to convert to a positive value */ short scale; /* Manufacturer's specified scale value for each sample. This value is 2 for data from EM3000/EM3002/EM1002/EM300/EM120 */ unsigned char spare[4]; /* spare sensor specific subrecord space, reserved for future expansion */ } t_gsfEM3ImagerySpecific; typedef struct t_gsfReson7100ImagerySpecific { unsigned short size; unsigned char spare[64]; /* spare sensor specific subrecord space, reserved for future expansion */ } t_gsfReson7100ImagerySpecific; typedef struct t_gsfReson8100ImagerySpecific { unsigned char spare[8]; /* spare sensor specific subrecord space, reserved for future expansion */ } t_gsfReson8100ImagerySpecific; typedef struct t_gsfEM4ImagerySpecific { double sampling_frequency; /* The system digitizing rate in Hz, value retrieved from the imagery datagram */ double mean_absorption; /* mean absorption coefficient in dB/km, from 0x53 datagram, 0 if data is from 0x59 */ double tx_pulse_length; /* transmit pulse length in microseconds from imagery datagram 0x53, or 0x59 */ int range_norm; /* range to normal incidence used to correct sample amplitudes (in samples) */ int start_tvg_ramp; /* start range (in samples) of TVG ramp if not enough dynamic range 0 means not used */ int stop_tvg_ramp; /* stop range (in samples) of TVG ramp if not enough dynamic range 0 means not used */ double bsn; /* normal incidence BS in dB */ double bso; /* oblique incidence BS in dB */ double tx_beam_width; /* transmit beam width in degrees from imagery datagram */ double tvg_cross_over; /* The TVG law crossover angle in degrees */ short offset; /* Value that has been added to all imagery samples to convert to a positive value */ short scale; /* Manufacturer's specified scale value for each sample. This value is 10 for data from EM710/EM302/EM122 */ unsigned char spare[20]; /* spare sensor specific subrecord space, reserved for future expansion */ } t_gsfEM4ImagerySpecific; typedef struct t_gsfKlein5410BssImagerySpecific { unsigned int res_mode; /* Descriptor for resolution mode: 0 = normal; 1 = high */ unsigned int tvg_page; /* TVG page number */ unsigned int beam_id[5]; /* array of identifiers for five sidescan beam magnitude time series, starting with beam id 1 as the forward-most */ unsigned char spare[4]; /* spare sensor specific subrecord space, reserved for future expansion */ } t_gsfKlein5410BssImagerySpecific; typedef union t_gsfSensorImagery { t_gsfEM3ImagerySpecific gsfEM3ImagerySpecific; /* used for EM120, EM300, EM1002, EM3000 */ t_gsfReson7100ImagerySpecific gsfReson7100ImagerySpecific; /* For Reson 71P "snippet" imagery */ t_gsfReson8100ImagerySpecific gsfReson8100ImagerySpecific; /* For Reson 81P "snippet" imagery */ t_gsfEM4ImagerySpecific gsfEM4ImagerySpecific; /* used for EM122, EM302, EM710 */ t_gsfKlein5410BssImagerySpecific gsfKlein5410BssImagerySpecific; /* used for Klein 5410 Bathy Sidescan */ } gsfSensorImagery; typedef struct gsfTimeSeriesIntensity { unsigned short sample_count; /* number of amplitude samples per beam */ unsigned short detect_sample; /* index of bottom detection sample for the beam */ unsigned char spare[8]; /* for future use */ unsigned int *samples; /* Array of per-beam time series intensity samples */ } gsfTimeSeriesIntensity; #define GSF_INTENSITY_LINEAR (unsigned)0x01 #define GSF_INTENSITY_CALIBRATED (unsigned)0x02 #define GSF_INTENSITY_POWER (unsigned)0x04 #define GSF_INTENSITY_GAIN (unsigned)0x08 typedef struct t_gsfBRBIntensity { unsigned char bits_per_sample; /* bits per intensity sample */ unsigned int applied_corrections; /* flags to describe corrections applied to intensity values */ unsigned char spare[16]; /* spare header space */ gsfSensorImagery sensor_imagery; /* sensor specific per-ping imagery information */ gsfTimeSeriesIntensity *time_series; /* array of per-beam time series intensity values */ } gsfBRBIntensity; /* Define the data structure for a ping from a swath bathymetric system */ typedef struct t_gsfSwathBathyPing { struct timespec ping_time; /* seconds and nanoseconds */ double latitude; /* in degrees, positive going north */ double longitude; /* in degrees, positive going east */ double height; /* height above ellipsoid, positive value defines a point above ellipsoid */ double sep; /* distance from ellipsoid to vertical datum, positive value indicates datum above ellipsoid */ short number_beams; /* in this ping */ short center_beam; /* offset into array (0 = portmost outer) */ unsigned short ping_flags; /* flags to mark status of this ping */ short reserved; /* for future use */ double tide_corrector; /* in meters */ double gps_tide_corrector; /* in meters */ double depth_corrector; /* in meters */ double heading; /* in degrees */ double pitch; /* in degrees */ double roll; /* in degrees */ double heave; /* in meters */ double course; /* in degrees */ double speed; /* in knots */ gsfScaleFactors scaleFactors; /* The array scale factors for this data */ double *depth; /* depth array (meters) */ double *nominal_depth; /* Array of depth relative to 1500 m/s */ double *across_track; /* across track array (meters) */ double *along_track; /* along track array (meters) */ double *travel_time; /* roundtrip travel time array (seconds) */ double *beam_angle; /* beam angle array (degrees from vertical) */ double *mc_amplitude; /* mean, calibrated beam amplitude array (dB re 1V/micro pascal at 1 meter) */ double *mr_amplitude; /* mean, relative beam amplitude array (dB re 1V/micro pascal at 1 meter) */ double *echo_width; /* echo width array (seconds) */ double *quality_factor; /* quality factor array (dimensionless) */ double *receive_heave; /* Array of heave data (meters) */ double *depth_error; /* Array of estimated vertical error (meters) */ double *across_track_error; /* Array of estimated across track error (meters) */ double *along_track_error; /* Array of estimated along track error (meters) */ unsigned char *quality_flags; /* Two bit beam detection flags provided by Reson sonar */ unsigned char *beam_flags; /* Array of beam status flags */ double *signal_to_noise; /* signal to noise ratio (dB) */ double *beam_angle_forward; /* beam angle forward array (degrees counterclockwise from stbd.) */ double *vertical_error; /* Array of estimated vertical error (meters, at 95% confidence) */ double *horizontal_error; /* Array of estimated horizontal error (meters, at 95% confidence) */ unsigned short *sector_number; /* Array of values that specify the transit sector for this beam */ unsigned short *detection_info; /* Array of values that specify the method of bottom detection */ double *incident_beam_adj; /* Array of values that specify incident beam angle adjustment from beam_angle */ unsigned short *system_cleaning; /* Array of values that specify data cleaning information from the sensor system */ double *doppler_corr; /* Array of values used to correct the travel times for Doppler when transmission is FM */ int sensor_id; /* a definition which specifies the sensor */ gsfSensorSpecific sensor_data; /* union of known sensor specific data */ gsfBRBIntensity *brb_inten; /* Structure containing bathymetric receive beam time series intensities */ } gsfSwathBathyPing; /* Define a single beam record structure. */ typedef struct t_gsfSingleBeamPing { struct timespec ping_time; /* Time the sounding was made */ double latitude; /* latitude (degrees) of sounding */ double longitude; /* longitude (degrees) of sounding */ double tide_corrector; /* in meters */ double depth_corrector; /* in meters draft corrector for sensor */ double heading; /* in degrees */ double pitch; /* in meters */ double roll; /* in meters */ double heave; /* in meters */ double depth; /* in meters */ double sound_speed_correction; /* in meters */ unsigned short positioning_system_type; int sensor_id; gsfSBSensorSpecific sensor_data; } gsfSingleBeamPing; /* Define the sound velocity profile structure */ typedef struct t_gsfSVP { struct timespec observation_time; /* time the SVP measurement was made */ struct timespec application_time; /* time the SVP was used by the sonar */ double latitude; /* latitude (degrees) of SVP measurement */ double longitude; /* longitude (degrees) of SVP measurement */ int number_points; /* number of data points in the profile */ double *depth; /* array of profile depth values in meters */ double *sound_speed; /* array of profile sound velocity values in m/s*/ } gsfSVP; /* Define the internal record structure for processing parameters */ #define GSF_MAX_PROCESSING_PARAMETERS 128 typedef struct t_gsfProcessingParameters { struct timespec param_time; int number_parameters; short param_size[GSF_MAX_PROCESSING_PARAMETERS]; /* array of sizes of param text */ char *param[GSF_MAX_PROCESSING_PARAMETERS]; /* array of parameters: "param_name=param_value" */ } gsfProcessingParameters; /* Define the sensor parameters record structure */ #define GSF_MAX_SENSOR_PARAMETERS 128 typedef struct t_gsfSensorParameters { struct timespec param_time; int number_parameters; short param_size[GSF_MAX_SENSOR_PARAMETERS]; /* array of sizes of param text */ char *param[GSF_MAX_SENSOR_PARAMETERS]; /* array of parameters: "param_name=param_value" */ } gsfSensorParameters; /* Define the comment record structure */ typedef struct t_gsfComment { struct timespec comment_time; int comment_length; char *comment; } gsfComment; /* Define the history record */ #define GSF_OPERATOR_LENGTH 64 #define GSF_HOST_NAME_LENGTH 64 typedef struct t_gsfHistory { struct timespec history_time; char host_name[GSF_HOST_NAME_LENGTH + 1]; char operator_name[GSF_OPERATOR_LENGTH + 1]; char *command_line; char *comment; } gsfHistory; /* Define the navigation error record * jsb As of GSF v1.07, this record is replaced by gsfHVNavigationError. * All newly created files should be written using gsfHVNavigationError, * instead of gsfNavigationError. */ typedef struct t_gsfNavigationError { struct timespec nav_error_time; int record_id; /* Containing nav with these errors */ double latitude_error; /* 90% CE in meters */ double longitude_error; /* 90% CE in meters */ } gsfNavigationError; /* jsb As of GSF v1.07, This new navigation error record replaces gsfNavigationError. * The definition of gsfNavigationError will remain in the specification for several * release of GSF for backwards compatability. (The HV stands for Horizontal and Vertical) */ typedef struct t_gsfHVNavigationError { struct timespec nav_error_time; int record_id; /* Containing nav with these errors */ double horizontal_error; /* RMS error in meters */ double vertical_error; /* RMS error in meters */ double SEP_uncertainty; /* RMS uncertainty of SEP in meters. Set to 0.0 if not applicable */ char spare[2]; /* Two bytes of reserved space */ char *position_type; /* A character string code which specifies the type of positioning system */ } gsfHVNavigationError; /* Define a set of macros which may to used to set the position_type field */ #define GSF_POS_TYPE_UNKN "UNKN" /* Unknown positioning system type */ #define GSF_POS_TYPE_GPSU "GPSU" /* GPS Position, unknown positioning service */ #define GSF_POS_TYPE_PPSD "PPSD" /* Precise positioning service - differential */ #define GSF_POS_TYPE_PPSK "PPSK" /* Precise positioning service - kinematic */ #define GSF_POS_TYPE_PPSS "PPSS" /* Precise positioning service - standalone */ #define GSF_POS_TYPE_PPSG "PPSG" /* Precise positioning service - gypsy */ #define GSF_POS_TYPE_SPSD "SPSD" /* Standard positioning service - differential */ #define GSF_POS_TYPE_SPSK "SPSK" /* Standard positioning service - kinematic */ #define GSF_POS_TYPE_SPSS "SPSS" /* Standard positioning service - standalone */ #define GSF_POS_TYPE_SPSG "SPSG" /* Standard positioning service - gypsy */ #define GSF_POS_TYPE_GPPP "GPPP" /* Post Processing - Precise Point Positioning */ #define GPS_POS_TYPE_GPPK "GPPK" /* Post Processing - Post Processed Kinematic */ /* Define the data structure for a ping from a swath bathymetric system */ typedef struct t_gsfAttitude { short num_measurements; /* number of attitude measurements in this record */ struct timespec *attitude_time; /* seconds and nanoseconds */ double *pitch; /* in degrees */ double *roll; /* in degrees */ double *heave; /* in meters */ double *heading; /* in degrees */ } gsfAttitude; /* Define a structure to encapsulate the known gsf records, this * simplifies the number of arguments to gsfRead, and gsfWrite. */ typedef struct t_gsfRecords { gsfHeader header; gsfSwathBathySummary summary; gsfSwathBathyPing mb_ping; gsfSingleBeamPing sb_ping; gsfSVP svp; gsfProcessingParameters process_parameters; gsfSensorParameters sensor_parameters; gsfComment comment; gsfHistory history; gsfNavigationError nav_error; gsfHVNavigationError hv_nav_error; gsfAttitude attitude; } gsfRecords; /* Define a data structure to hold offsets needed to correct multibeam * bathymetric data. Currently gsf supports tracking of up to two pairs * of each of the relavent offsets. This is required for systems such as * HydroChart II and Reson 9002 which have two pairs of transmit/receive * arrays per installation. */ #define GSF_MAX_OFFSETS 2 #define GSF_COMPENSATED 1 #define GSF_UNCOMPENSATED 0 #define GSF_TRUE_DEPTHS 1 #define GSF_DEPTHS_RE_1500_MS 2 #define GSF_DEPTH_CALC_UNKNOWN 3 #define GSF_UNKNOWN_PARAM_VALUE DBL_MIN /* defined in */ #define GSF_TRUE 1 #define GSF_FALSE 0 #define GSF_NUMBER_PROCESSING_PARAMS 49 /* Macro definitions for type of platform */ #define GSF_PLATFORM_TYPE_SURFACE_SHIP 0 /*DHG 2008/12/22 Add for AUV vs Surface Ship discrimination */ #define GSF_PLATFORM_TYPE_AUV 1 /*DHG 2008/12/22 Add for AUV vs Surface Ship discrimination */ #define GSF_PLATFORM_TYPE_ROTV 2 typedef struct t_gsfMBOffsets { double draft[GSF_MAX_OFFSETS]; /* meters */ double pitch_bias[GSF_MAX_OFFSETS]; /* pitch bias in degrees, results from patch test */ double roll_bias[GSF_MAX_OFFSETS]; /* roll bias in degrees, results from patch test */ double gyro_bias[GSF_MAX_OFFSETS]; /* gyro bias in degrees, results from patch test */ double position_x_offset; /* meters */ double position_y_offset; /* meters */ double position_z_offset; /* meters */ double antenna_x_offset; /* meters */ double antenna_y_offset; /* meters */ double antenna_z_offset; /* meters */ double transducer_x_offset[GSF_MAX_OFFSETS]; /* sonar X installation offset in meters, from ship alignment survey */ double transducer_y_offset[GSF_MAX_OFFSETS]; /* sonar Y installation offset in meters, from ship alignment survey */ double transducer_z_offset[GSF_MAX_OFFSETS]; /* sonar Z installation offset in meters, from ship alignment survey */ double transducer_pitch_offset[GSF_MAX_OFFSETS]; /* sonar pitch installation angle in degrees, from ship alignment survey */ double transducer_roll_offset[GSF_MAX_OFFSETS]; /* sonar roll installation angle in degrees, from ship alignment survey */ double transducer_heading_offset[GSF_MAX_OFFSETS]; /* sonar heading installation angle in degrees, from ship alignment survey */ double mru_pitch_bias; /* MRU installation pitch angle in degrees, from ship alignment survey */ double mru_roll_bias; /* MRU installation roll angle in degrees, from ship alignment survey */ double mru_heading_bias; /* MRU installation heading angle in degrees, from ship alignment survey */ double mru_x_offset; /* MRU X installation offset in meters, from ship alignment survey */ double mru_y_offset; /* MRU Y installation offset in meters, from ship alignment survey meters */ double mru_z_offset; /* MUR Z installation offset in meters, from ship alignment survey meters */ double center_of_rotation_x_offset; /* meters */ double center_of_rotation_y_offset; /* meters */ double center_of_rotation_z_offset; /* meters */ double position_latency; /* seconds */ double attitude_latency; /* seconds */ double depth_sensor_latency; /* seconds */ } gsfMBOffsets; /* Define a data structure to hold multibeam sonar processing parameters */ typedef struct t_gsfMBParams { /* These parameters define reference points */ char start_of_epoch[64]; int horizontal_datum; int vertical_datum; /* These parameters specify what corrections have been applied to the data */ int roll_compensated; /* = GSF_COMPENSATED if the depth data has been corrected for roll */ int pitch_compensated; /* = GSF_COMPENSATED if the depth data has been corrected for pitch */ int heave_compensated; /* = GSF_COMPENSATED if the depth data has been corrected for heave */ int tide_compensated; /* = GSF_COMPENSATED if the depth data has been corrected for tide */ int ray_tracing; /* = GSF_COMPENSATED if the travel time/angle pairs are compensated for ray tracing */ int depth_calculation; /* = GSF_TRUE_DEPTHS, or GSF_DEPTHS_RE_1500_MS, applicable to the depth field */ int vessel_type; /* DHG 2008/12/18 Add "VESSEL_TYPE" to Processing Parameters */ int full_raw_data; /* = GSF_TRUE if this GSF file has sufficient information to support full recalculation of X,Y,Z from raw measurements, otherwise = GSF_FALSE */ int msb_applied_to_attitude; /* = GSF_TRUE if the motion sensor bias values (from patch test) have been added to the attitude values in the ping record and attitude record */ int heave_removed_from_gps_tc; /* = GSF_TRUE if the heave has been removed from the gps_tide_corrector */ /* These parameters specify known offsets which have NOT been corrected. * If each of these values are zero, then all known offsets have been * corrected for. */ gsfMBOffsets to_apply; /* These parameters specify offsets which have already been corrected. */ gsfMBOffsets applied; } gsfMBParams; /* Macro definitions for approved horizontal datums. Note that as of * 12/20/95 only WGS-84 is supported by GSF. */ #define GSF_H_DATUM_ADI 1 /* Adinan */ #define GSF_H_DATUM_ARF 2 /* Arc 1950 */ #define GSF_H_DATUM_ARS 3 /* Arc 1960 */ #define GSF_H_DATUM_AUA 4 /* Australian Geodetic */ #define GSF_H_DATUM_BAT 5 /* Djakarta (Batavia) */ #define GSF_H_DATUM_BID 6 /* Bissau Base Northwest End Pillar, Portugese Guinea */ #define GSF_H_DATUM_BUR 7 /* Bukit Rimpah */ #define GSF_H_DATUM_CAI 8 /* Campo Inchauspe */ #define GSF_H_DATUM_CAM 9 /* Camacupa Base SW End */ #define GSF_H_DATUM_CAP 10 /* Cape, South Africa */ #define GSF_H_DATUM_CAA 11 /* Campo Area Astro */ #define GSF_H_DATUM_CHO 12 /* Chatham Island Astro */ #define GSF_H_DATUM_CHU 13 /* Chua Astro */ #define GSF_H_DATUM_COA 14 /* Corrego Alegre */ #define GSF_H_DATUM_ENB 15 /* European 79 */ #define GSF_H_DATUM_EUR 16 /* European */ #define GSF_H_DATUM_GDA 17 /* German */ #define GSF_H_DATUM_GEO 18 /* Geodetic Datum 1949 */ #define GSF_H_DATUM_GHA 19 /* Ghana */ #define GSF_H_DATUM_GSB 20 /* G. Segara */ #define GSF_H_DATUM_GSF 21 /* G. Serindung */ #define GSF_H_DATUM_GUA 22 /* Guam 1963 */ #define GSF_H_DATUM_HEN 23 /* Herat North */ #define GSF_H_DATUM_HER 24 /* Hermannskogel */ #define GSF_H_DATUM_HJO 25 /* Hjorsey 1955 */ #define GSF_H_DATUM_HTN 26 /* Hu-Tu-Shan */ #define GSF_H_DATUM_IDA 27 /* Italian */ #define GSF_H_DATUM_IND 28 /* Indian */ #define GSF_H_DATUM_IRE 29 /* Ireland 1965 */ #define GSF_H_DATUM_KEA 30 /* Kertau */ #define GSF_H_DATUM_LIB 31 /* Liberia 1964 (Robertsfield Astro) */ #define GSF_H_DATUM_LOC 32 /* Local Astro */ #define GSF_H_DATUM_LUZ 33 /* Luzon */ #define GSF_H_DATUM_MER 34 /* Merchich */ #define GSF_H_DATUM_MET 35 /* Mercury */ #define GSF_H_DATUM_MOL 36 /* Montjong Lowe */ #define GSF_H_DATUM_NAN 37 /* Nanking 1960 */ #define GSF_H_DATUM_NAR 38 /* North American 1983 */ #define GSF_H_DATUM_NAS 39 /* North American 1927 */ #define GSF_H_DATUM_NIG 40 /* Nigeria */ #define GSF_H_DATUM_OGB 41 /* Ordnance Survey of Great Britain 1936 */ #define GSF_H_DATUM_OHA 42 /* Old Hawaiian */ #define GSF_H_DATUM_OSI 43 /* Ordnance Survey of Ireland */ #define GSF_H_DATUM_PLN 44 /* Pico de las Nieves, Gran Canaria, Canary Islands */ #define GSF_H_DATUM_PRP 45 /* Provisional South American 1956 */ #define GSF_H_DATUM_QUO 46 /* Qornoq */ #define GSF_H_DATUM_SIB 47 /* Sierra leone 1960 */ #define GSF_H_DATUM_TAN 48 /* Tananarive Obsv 1925 */ #define GSF_H_DATUM_TIL 49 /* Timbalai */ #define GSF_H_DATUM_TOK 50 /* Tokyo */ #define GSF_H_DATUM_UND 51 /* Undetermined */ #define GSF_H_DATUM_VOI 52 /* Voirol */ #define GSF_H_DATUM_WGA 53 /* World Geodetic System 1960 */ #define GSF_H_DATUM_WGB 54 /* World Geodetic System 1966 */ #define GSF_H_DATUM_WGC 55 /* World Geodetic System 1972 */ #define GSF_H_DATUM_WGD 56 /* World Geodetic System 1980 */ #define GSF_H_DATUM_WGE 57 /* World Geodetic System 1984 */ #define GSF_H_DATUM_WGS 58 /* World Geodetic System (year unknown) */ #define GSF_H_DATUM_XXX 59 /* Multiple datums */ #define GSF_H_DATUM_YAC 60 /* Yacare */ /* Macro definitions for supported vertical datums */ #define GSF_V_DATUM_UNKNOWN 1 /* Unknown vertical datum */ #define GSF_V_DATUM_MLLW 2 /* Mean lower low water */ #define GSF_V_DATUM_MLW 3 /* Mean low water */ #define GSF_V_DATUM_ALAT 4 /* Aprox Lowest Astronomical Tide */ #define GSF_V_DATUM_ESLW 5 /* Equatorial Springs Low Water */ #define GSF_V_DATUM_ISLW 6 /* Indian Springs Low Water */ #define GSF_V_DATUM_LAT 7 /* Lowest Astronomical Tide */ #define GSF_V_DATUM_LLW 8 /* Lowest Low Water */ #define GSF_V_DATUM_LNLW 9 /* Lowest Normal Low Water */ #define GSF_V_DATUM_LWD 10 /* Low Water Datum */ #define GSF_V_DATUM_MLHW 11 /* Mean Lower High Water */ #define GSF_V_DATUM_MLLWS 12 /* Mean Lower Low Water Springs */ #define GSF_V_DATUM_MLWN 13 /* Mean Low Water Neap */ #define GSF_V_DATUM_MSL 14 /* Mean Sea Level */ /* Define the error codes which gsfError may be set to */ #define GSF_NORMAL 0 #define GSF_FOPEN_ERROR -1 #define GSF_UNRECOGNIZED_FILE -2 #define GSF_BAD_ACCESS_MODE -3 #define GSF_READ_ERROR -4 #define GSF_WRITE_ERROR -5 #define GSF_INSUFFICIENT_SIZE -6 #define GSF_RECORD_SIZE_ERROR -7 #define GSF_CHECKSUM_FAILURE -8 #define GSF_FILE_CLOSE_ERROR -9 #define GSF_TOO_MANY_ARRAY_SUBRECORDS -10 #define GSF_TOO_MANY_OPEN_FILES -11 #define GSF_MEMORY_ALLOCATION_FAILED -12 #define GSF_UNRECOGNIZED_RECORD_ID -13 #define GSF_STREAM_DECODE_FAILURE -14 #define GSF_BAD_SEEK_OPTION -15 #define GSF_FILE_SEEK_ERROR -16 #define GSF_UNRECOGNIZED_SENSOR_ID -17 #define GSF_UNRECOGNIZED_DATA_RECORD -18 #define GSF_UNRECOGNIZED_ARRAY_SUBRECORD_ID -19 #define GSF_UNRECOGNIZED_SUBRECORD_ID -20 #define GSF_ILLEGAL_SCALE_FACTOR_MULTIPLIER -21 #define GSF_CANNOT_REPRESENT_PRECISION -22 #define GSF_READ_TO_END_OF_FILE -23 #define GSF_BAD_FILE_HANDLE -24 #define GSF_HEADER_RECORD_DECODE_FAILED -25 #define GSF_MB_PING_RECORD_DECODE_FAILED -26 #define GSF_SVP_RECORD_DECODE_FAILED -27 #define GSF_PROCESS_PARAM_RECORD_DECODE_FAILED -28 #define GSF_SENSOR_PARAM_RECORD_DECODE_FAILED -29 #define GSF_COMMENT_RECORD_DECODE_FAILED -30 #define GSF_HISTORY_RECORD_DECODE_FAILED -31 #define GSF_NAV_ERROR_RECORD_DECODE_FAILED -32 #define GSF_HEADER_RECORD_ENCODE_FAILED -25 #define GSF_MB_PING_RECORD_ENCODE_FAILED -26 #define GSF_SVP_RECORD_ENCODE_FAILED -27 #define GSF_PROCESS_PARAM_RECORD_ENCODE_FAILED -28 #define GSF_SENSOR_PARAM_RECORD_ENCODE_FAILED -29 #define GSF_COMMENT_RECORD_ENCODE_FAILED -30 #define GSF_HISTORY_RECORD_ENCODE_FAILED -31 #define GSF_NAV_ERROR_RECORD_ENCODE_FAILED -32 #define GSF_SETVBUF_ERROR -33 #define GSF_FLUSH_ERROR -34 #define GSF_FILE_TELL_ERROR -35 #define GSF_INDEX_FILE_OPEN_ERROR -36 #define GSF_CORRUPT_INDEX_FILE_ERROR -37 #define GSF_SCALE_INDEX_CALLOC_ERROR -38 #define GSF_RECORD_TYPE_NOT_AVAILABLE -39 #define GSF_SUMMARY_RECORD_DECODE_FAILED -40 #define GSF_SUMMARY_RECORD_ENCODE_FAILED -41 #define GSF_INVALID_NUM_BEAMS -42 #define GSF_INVALID_RECORD_NUMBER -43 #define GSF_INDEX_FILE_READ_ERROR -44 #define GSF_PARAM_SIZE_FIXED -45 #define GSF_SINGLE_BEAM_ENCODE_FAILED -46 #define GSF_HV_NAV_ERROR_RECORD_ENCODE_FAILED -47 #define GSF_HV_NAV_ERROR_RECORD_DECODE_FAILED -48 #define GSF_ATTITUDE_RECORD_ENCODE_FAILED -49 #define GSF_ATTITUDE_RECORD_DECODE_FAILED -50 #define GSF_OPEN_TEMP_FILE_FAILED -51 /* The following are the function protoytpes for all functions intended * to be exported by the library. */ int OPTLK gsfOpen(const char *filename, const int mode, int *handle); /* * Description : This function attempts to open a gsf data file. If the * file exits and is opened readonly or update the gsf header is read * to confirm that this is a gsf data file. If the file is opened create, * the GSF header containing the version number of the software library is * written into the header. This function passes an integer handle back to * the calling application. The handle is used for all further access to the * file. gsfOpen explicitly sets stream bufferring to the value specified * by GSF_STREAM_BUF_SIZE. The internal file table is searched for an * available entry whose name matches that specified in the argument list, if * no match is found, then the first available entry is used. Up to * GSF_MAX_OPEN_FILES files may be open by an application at a time. * * Inputs : * filename = a fully qualified path to the gsf file to open * mode may have the following values: * GSF_READONLY = open an existing file for read only access * GSF_UPDATE = open an existing file for reading an writing * GSF_CREATE = create a new gsf file * GSF_READONLY_INDEX = open an existing file for read only access with index * GSF_UPDATE_INDEX = open an existing file for reading an writing with index * handle = a pointer to an integer to be assigned a handle which will be * reference for all future file access. * * Returns : * This funciton returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_BAD_ACCESS_MODE * GSF_TOO_MANY_OPEN_FILES * GSF_FOPEN_ERROR * GSF_SETVBUF_ERROR * GSF_UNRECOGNIZED_FILE */ int OPTLK gsfOpenBuffered(const char *filename, const int mode, int *handle, int buf_size); /* * Description : This function attempts to open a gsf data file. If the * file exits and is opened readonly or update the gsf header is read * to confirm that this is a gsf data file. If the file is opened create, * the GSF header containing the version number of the software library is * written into the header. This function passes an integer handle back to * the calling application. The handle is used for all further access to the * file. gsfOpenBufferd explicitly sets stream bufferring to the value * specified by the buf_size argument. The internal file table is searched * for an available entry whose name matches that specified in the argument * list, if no match is found, then the first available entry is used. Up * to GSF_MAX_OPEN_FILES files may be open by an application at a time. * gsfOpenBuffered performs identical processing to gsfOpen, except here, * the caller is allowed to explicitly set the standard system library level * I/O buffer size. * * Inputs : * filename = a fully qualified path to the gsf file to open * mode may have the following values: * GSF_READONLY = open an existing file for read only access * GSF_UPDATE = open an existing file for reading an writing * GSF_CREATE = create a new gsf file * GSF_READONLY_INDEX = open an existing file for read only access with index * GSF_UPDATE_INDEX = open an existing file for reading an writing with index * handle = a pointer to an integer to be assigned a handle which will be * reference for all future file access. * buf_size = an integer buffer size in bytes. * * Returns : * This funciton returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_BAD_ACCESS_MODE * GSF_TOO_MANY_OPEN_FILES * GSF_FOPEN_ERROR * GSF_SETVBUF_ERROR * GSF_UNRECOGNIZED_FILE */ int OPTLK gsfClose(const int handle); /* * Description : This function closes a gsf file previously openned * using gsfOpen. * * Inputs : * handle = the handle of the gsf file to be closed. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_CLOSE_ERROR */ int OPTLK gsfSeek(int handle, int option); /* * Description : This function may be used to move the file pointer * for a previously openned gsf file. * * Inputs : * handle = the integer handle returned from gsf Open * option = the desired action for moving the file pointer, where: * GSF_REWIND, move pointer to first record in the file. * GSF_END_OF_FILE, move pointer to the end of the file. * GSF_PREVIOUS_RECORD, backup to the beginning of the record just * written or just read. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_BAD_SEEK_OPTION */ int OPTLK gsfRead(int handle, int desiredRecord, gsfDataID * dataID, gsfRecords * rec, unsigned char *stream, int max_size); /* Description : gsfRead supports both direct and sequential access. If the * file is opened for sequential access, this function reads the desired * record from the gsf data file specified by handle. The "desiredRecord" * argument may be set to GSF_NEXT_RECORD to read the next record in the * data file, or "desiredRecord" record may be set to the id of the record * of interest, in which case the file will be read, skipping past * intermediary records until the desired record is found. When the desired * record is found, it is read and then decoded from external to internal * form. If the optional checksum is found with the data it will be verified. * All of the fields of the gsfDataID structure, with the exception of the * record_number field will be loaded with the values contained in the GSF * record byte stream. The record_number field will be undefined. The * stream and max_size arguments are normally set to NULL, unless the * calling application is interested in a copy of the GSF byte stream. * * If the file is opened for direct access, then the combination of the * recordID and the record_number fields of the dataID structure are used * to uniquely identify the record of interest. The address for this record * is retrieved from the index file, which was created on a previous call * to gsfOpen or gsfOpenBuffered. If the record of interest is a ping record * for which we need to retrieve new scale factors, then the ping record * containing the scale factors needed is read first, and then the ping * record of interest is read. Direct access applications should set the * desiredRecord argument equal to the recordID field in the gsfDataID * structure. * * Inputs : * handle = the handle to the file as provided by gsfOpen * desiredRecord = the desired record or GSF_NEXT_RECORD * dataID = a pointer to a gsfDataID structure to be populated for the * input record. * rptr = a pointer to a gsfRecords structure to be populated with the * data from the input record in internal form. * stream = an optional pointer to caller memory to be populated with a copy * of the gsf byte stream for this record. * max_size = an optional maximum size to copy into buf * * Returns : * This function returns the number of bytes read if successful, * or -1 if an error occured. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int OPTLK gsfWrite(int handle, gsfDataID * id, gsfRecords * record); /* Description : gsfWrite encodes the data from internal to external form, * and then writes the requested record into the file specified by handle, * where handle is the value retured by gsfOpen. The record is written to * the current file pointer for handle. An optional checksum may be computed * and encoded with the data. * * If the file is opened for sequential access (GSF_CREATE, or GSF_UPDATE) * then the recordID field of the gsfDataID structure is used to specify * the record to be written. The record is written at the current location * in the file. * * If the file is opened for direct access (GSF_UPDATE_INDEX), then the * combination of the recordID and the record_number fields of the gsfDataID * structure are used to uniquely identify the record to be written. The * address of the record of interest is read from the index file and the file * pointer is moved to this offset before the record is encoded and written * to disk. * * Inputs : * handle = the handle for this file as returned by gsfOpen * id = a pointer to a gsfDataID containing the record id information for * the record to write. * rptr = a pointer to a gsfRecords structure from which to get the internal * form of the record to be written to the file. * * Returns : * This function returns the number of bytes written if successful, or * -1 if an error occured. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_UNRECOGNIZED_RECORD_ID * GSF_FILE_SEEK_ERROR * GSF_WRITE_ERROR * GSF_HEADER_RECORD_ENCODE_FAILED * GSF_SVP_RECORD_ENCODE_FAILED * GSF_PROCESS_PARAM_RECORD_ENCODE_FAILED * GSF_SENSOR_PARAM_RECORD_ENCODE_FAILED * GSF_COMMENT_RECORD_ENCODE_FAILED * GSF_HISTORY_RECORD_ENCODE_FAILED * GSF_NAV_ERROR_RECORD_ENCODE_FAILED * GSF_FLUSH_ERROR * GSF_SINGLE_BEAM_ENCODE_FAILED */ int OPTLK gsfLoadScaleFactor(gsfScaleFactors *sf, int subrecordID, char c_flag, double precision, int offset); /* * Description : gsfLoadScaleFactors should be used to load the swath * bathymetry ping record scale factor structure. This function assures * that the multiplier and offset fields of the scale factor structure * have a precision equal to that which will be stored in the gsf data file. * This function should be called once for each beam array data type * contained in your data. * * Inputs : * sf = a pointer to the gsfScaleFactors structure to be loaded * subrecordID = the subrecord id for the beam array data * c_flag = the compression flag for the beam array * precision = the presision to which the beam array data are to be stored * (a value of 0.1 would indicate decimeter precision for depth) * offset = the "DC" offset to scale the data by. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_TOO_MANY_ARRAY_SUBRECORDS */ int OPTLK gsfGetScaleFactor(int handle, int subrecordID, unsigned char *c_flag, double *multiplier, double *offset); /* * Description : gsfGetScaleFactor may be used to obtain the multiplier * and DC offset values by which each swath bathymetry ping array subrecord * is be scaled. gsfGetScalesFactor must be called once for each array * subrecord of interest. At leat one swath bathymetry ping record * must have been read from, or written to the file specified by handle. * * Inputs : * handle = the integer value set by a call to gsfOpen. * subrecordID = an integer value containing the subrecord id of the requested scale factors * c_flag = the address of an unsigned character to contain the the compression flag * multiplier = the address of a double to contain the scaling multiplier * offset = the address of a double to contain the scaling DC offset. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_TOO_MANY_ARRAY_SUBRECORDS * GSF_ILLEGAL_SCALE_FACTOR_MULTIPLIER */ void OPTLK gsfFree(gsfRecords *rec); /* * Description : This function frees all dynamically allocated memory * from a gsfRecords data structure, and it then clears all the * data elements in the structure. * * Inputs : * gsfRecords *rec = a pointer to ta gsfRecords data structure * * Returns : none * * Error Conditions : none */ void OPTLK gsfPrintError(FILE * fp); /* Description : This function is used to print a short message describing * the most recent error encountered. This function need only be called if * a -1 is returned from one of the gsf functions. * * Inputs : * fp = a pointer to a FILE to which to write the message. * * Returns : none * * Error Conditions : none */ char *gsfStringError(void); /* Description : This function is used to return a short message describing * the most recent error encountered. This function need only be called if * a -1 is returned from one of the gsf functions. * * Inputs : none * * Returns : none * * Error Conditions : none */ int OPTLK gsfIndexTime(int, int, int, time_t *, long *); /* Description : This function returns the time (Posix.4) associated with * a specified record number and type. It also returns the record number * that was read. * * Inputs : * handle = gsf file handle assigned by gsfOpen or gsfOpenBuffered * record_type = record type to be retrieved * record_number = record number to be retrieved (-1 will get the time * and record number of the last record of this type) * sec = Posix.4 seconds * nsec = Posix.4 nanoseconds * * Returns : * This function returns the record number if successful, or -1 if an * error occured. * * Error Conditions : * GSF_RECORD_TYPE_NOT_AVAILABLE */ int OPTLK gsfPercent (int handle); /* Description : This function returns an integer value representing * the location of the file pointer as a percentage of the total file * size. It may be used to obtain an indication of how far along a * program is in reading a gsf data file. The file size is obtained * when the file is opened. * * Inputs : * handle = gsf file handle assigned by gsfOpen or gsfOpenBuffered * * Returns : * This function returns the current file position as a percentage of * the file size, or -1 if an error occurred. gsfError will be set to * indicate the error. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_TELL_ERROR */ int OPTLK gsfGetNumberRecords (int handle, int desiredRecord); /* Description : This function will return the number of records of a * given type to the caller. The number of records is retreived from * the index file, so the file must have been opened for direct * access (GSF_READONLY_INDEX, or GSF_UPDATE_INDEX). * * Inputs : * handle = the handle to the file as provided by gsfOpen * desiredRecord = the desired record or GSF_NEXT_RECORD * * Returns : * This function returns the number of records of type desiredRecord * contained in the GSF file designated by handle, or -1 if an error * occured. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_BAD_ACCESS_MODE */ int OPTLK gsfCopyRecords (gsfRecords *target, gsfRecords *source); /* Description : This function will copy all of the data contained in the * source gsfRecords data structure to the target gsfRecords data * structure. The target MUST be memset to zero before the first call to * gsfCopyRecords. This function allocates dynmanic memory which is NOT * maintained by the library. It is up to the calling application to * release the memory allocated. This may be done by maintaining the * target data structure as static data, or by using gsfFree to release * the memory. * * Inputs : * target = a pointer to a gsfRecords data structure allocated by the * calling application, into which the source data is to be copied. * source = a pointer to a gsfRecords data structure allocated by the * calling application, from which data is to be copied. * * Returns : This function returns zero if successful, or -1 if an error * occurs. * * Error Conditions : * GSF_MEMORY_ALLOCATION_FAILED */ int OPTLK gsfPutMBParams(gsfMBParams *p, gsfRecords *rec, int handle, int numArrays); /* Description : This function moves swath bathymetry sonar processing * parameters from internal form to "KEYWORD=VALUE" form. The internal * form parameters are read from an MB_PARAMETERS data structure maintained * by the caller. The "KEYWORD=VALUE" form parameters are written into the * processing_parameters structure of the gsfRecords data structure * maitained by the caller. Parameters for up to two pairs of * transmit/receive arrays are supported, for systems such as Reson SeaBat * 9002. * * Inputs : * p = a pointer to the gsfMBParams data structure which contains * the parameters in internal form. * rec = a pointer to the gsfRecords data structure into which the * parameters are to be written in the "KEYWORK=VALUE" form. * handle = the integer handle to the file set by gsfOpen. * numArrays = the integer value specifying the number of pairs of * arrays which need to have seperate parameters tracked. * * Returns : This function returns zero if successful, or -1 if an error * occurs. * * Error Conditions : * GSF_MEMORY_ALLOCATION_FAILED * GSF_PARAM_SIZE_FIXED */ int OPTLK gsfGetMBParams(gsfRecords *rec, gsfMBParams *p, int *numArrays); /* Description : This function moves swath bathymetry sonar processing * parameters from external, form to internal form. The external * "KEYWORD=VALUE" format parameters are read from a processing_params * structure of a gsfRecords data structure maintained by the caller. * The internal form parameters are written into a gsfMBParams data * structure maintained by the caller. Parameters for up to two pairs of * transmit/receive arrays are supported, for systems such as Reson SeaBat * 9002. * * Inputs : * rec = a pointer to the gsfRecords data structure from which the * parameters in "KEYWORK=VALUE" form are to be read. * p = a pointer to the gsfMBParams data structure which will be populated. * numArrays = the integer value specifying the number of pairs of * arrays which need to have seperate parameters tracked. * * Returns : This function returns zero if successful, or -1 if an error * occurs. * * Error Conditions : * none. */ int OPTLK gsfGetSwathBathyBeamWidths(gsfRecords *data, double *fore_aft, double *athwartship); /* Description : This function returns to the caller the fore-aft and * the port-starboard beam widths in degrees for a swath bathymetry * multibeam sonar, given a gsfRecords data structure which contains * a populated gsfSwathBathyPing structure. * * Inputs : * data = The address of a gsfRecords data structure maintained by the * caller which contains a populated gsfSwathBathyPing substructure. * fore_aft = The address of a double allocated by the caller which will * be loaded with the sonar's fore/aft beam width in degrees. A value of * GSF_BEAM_WIDTH_UNKNOWN is used when the beam width is not known. * athwartship = The address of a double allocated by the caller which will * be loaded with the sonar's athwartship beam width in degrees. A * value of GSF_BEAM_WIDTH_UNKNOWN is used when the beam width is not known. * * Returns : This function returns zero if successful, or -1 if an error * occured. * * Error Conditions : unrecognized sonar id or mode. */ int OPTLK gsfIsStarboardPing(gsfRecords *data); /* Description : This function uses the sonar specific data union * of a gsfSwathBathymetry ping structure to determine if the ping * is from the starboard arrays of a multibeam installation with * dual transmit receive sonar arrays. * * Inputs : * data = The address of a gsfRecords data structure maintained by the * caller which contains a populated gsfSwathBathyPing substructure. * * Returns : This function returns non-zero if the ping contained in the * passed data represents a starboard looking ping from a dual headed * sonar installation. Otherwise, zero is returned. * * Error Conditions : unrecognized sonar id or mode. */ int OPTLK gsfLoadDepthScaleFactorAutoOffset(gsfSwathBathyPing *ping, int subrecordID, int reset, double min_depth, double max_depth, double *last_corrector, char c_flag, double precision); /* Description : gsfLoadDepthScaleFactorAutoOffset should be used to load * the scale factors for the depth subrecords of the swath bathymetry ping * record scale factor structure. The approach uses the tide and depth * correction fields to help establish the offset component of the scale * factor such that negative depth values may be supported. Negative * depth values may be encountered when surveying above the tidal datum. * In addition, systems mounted on subsea platforms may support their * native precision even in deep water. * * Inputs : * ping = A pointer to the gsfSwathBathyPing which contains the depht * and tide correction values, and the scale factors data structure. * subrecordID = the subrecord id for the beam array data. This must be * either GSF_SWATH_BATHY_SUBRECORD_DEPTH_ARRAY, or * GSF_SWATH_BATHY_SUBRECORD_NOMINAL_DEPTH_ARRAY * c_flag = The compression flag for the beam array * precision = The presision to which the beam array data are to be stored * (a value of 0.1 would indicate decimeter precision for depth) * reset = An integer value which will cause the internal logic to be * refreshed when the value is non-zero. The first call to this function * should use a non-zero reset, from then on, this value may be passed * as zero. * last_corrector = The address of a double value stored as permanent memory. * Successive calls to this function must pass the same address for this * argument. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_TOO_MANY_ARRAY_SUBRECORDS * */ int OPTLK gsfGetSwathBathyArrayMinMax(gsfSwathBathyPing *ping, int subrecordID, double *min_value, double *max_value); /* Description : This function may be used to obtain the minimum and maximum * supportable values for each of the swath bathymetry arrays. The minimum * and maximum values are determined based on the scale factors and the array * type. * * Inputs : * ping = A pointer to the gsfSwathBathyPing which contains the depht * and tide correction values, and the scale factors data structure. * subrecordID = The subrecord id for the beam array data. This must be * either GSF_SWATH_BATHY_SUBRECORD_DEPTH_ARRAY, or * GSF_SWATH_BATHY_SUBRECORD_NOMINAL_DEPTH_ARRAY * min_value = The address of a double value allocated by the caller into * which will be placed the minimum value which may be represented for * this array type. * max_value = The address of a double value allocated by the caller into * which will be placed the maximum value which may be represented for * this array type. * * Returns : * This function returns zero if successful, or -1 if an error occured. * * Error Conditions : * GSF_UNRECOGNIZED_ARRAY_SUBRECORD_ID * GSF_ILLEGAL_SCALE_FACTOR_MULTIPLIER */ char *gsfGetSonarTextName(gsfSwathBathyPing *ping); /* Description : This function is used to return the text of the sonar name. * * Inputs : The GSF ping * * Returns : A text string of the sensors name, or "Unknown" if the sensor id is not found * * Error Conditions : none */ int gsfFileSupportsRecalculateXYZ(int handle, int *status); /* Description : * This function reads the GSF file referenced by handle and determines * if the file contains sufficient information to support a full recalculation * of the platform relative XYZ values from raw measurements. This function * rewinds the file to the first record and reads through the file looking for * the information required to support a recalculation. On success, the file * pointer is reset to the beginning of the file before the function returns. * * Inputs : * handle = the integer handle returned from gsfOpen() * status = A pointer to an integer allocated by caller into which the * function result is placed. *status is assigned a value of 1 * if this file provides sufficient information to support full * recalculation of the platform relative XYZ values, otherwise * *status is assigned a value of 0. * * Returns : * This function returns zero if successful, or -1 if an error occurred. * * Error Conditions : none * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int gsfFileSupportsRecalculateTPU(int handle, int *status); /* Description : * This function reads the GSF file referenced by handle and determines * if the file contains sufficient information to support a recalculation * of the total propagated uncertainty (TPU) estimates. This function * rewinds the file to the first record and reads through the file looking for * the information required to support TPU estimation. On success, the file * pointer is reset to the beginning of the file before the function returns. * * Inputs : * handle = the integer handle returned from gsfOpen() * status = A pointer to an integer allocated by caller into which the * function result is placed. *status is assigned a value of 1 * if this file provides sufficient information to support TPU * estimation, otherwise *status is assigned a value of 0. * * Returns : * This function returns zero if successful, or -1 if an error occurred. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int gsfFileSupportsRecalculateNominalDepth(int handle, int *status); /* Description : * This function reads the GSF file referenced by handle and determines * if the file contains sufficient information to support a recalculation * of the nominal depth array. This function rewinds the file to the first * record and reads through the file looking for the information required * to support calculation of the nominal depth values. On success, the file * pointer is reset to the beginning of the file before the function returns. * * Inputs : * handle = the integer handle returned from gsfOpen() * status = A pointer to an integer allocated by caller into which the * function result is placed. *status is assigned a value of 1 * if this file provides sufficient information to support * nominal depth calculation, otherwise *status is assigned * a value of 0. * * Returns : * This function returns zero if successful, or -1 if an error occurred. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int gsfFileContainsMBAmplitude(int handle, int *status); /* Function Name : gsfFileContainsMBAmplitude * * Description : * This function reads the GSF file referenced by handle and determines * if the file contains the average per receive beam amplitude data. * This function rewinds the file to the first record and reads through * the file up to and including the first ping record. If amplitude data * are contained in the first ping record it is assumed that amplitude * data are contained with all ping records in this file. On success, * the file pointer is reset to the beginning of the file before the * function returns. * * Inputs : * handle = the integer handle returned from gsfOpen() * status = A pointer to an integer allocated by caller into which the * function result is placed. *status is assigned a value of 1 * if this file contains the per receive beam amplitude data, * otherwise *status is assigned a value of 0. * * Returns : * This function returns zero if successful, or -1 if an error occurred. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int gsfFileContainsMBImagery(int handle, int *status); /* Function Name : gsfFileContainsMBImagery * * Description : * This function reads the GSF file referenced by handle and determines * if the file contains the per receive beam imagery time series data. * This function rewinds the file to the first record and reads through * the file up to and including the first ping record. If MB imagery data * are contained in the first ping record it is assumed that MB imagery * data are contained with all ping records in this file. On success, * the file pointer is reset to the beginning of the file before the * function returns. * * Inputs : * handle = the integer handle returned from gsfOpen() * status = A pointer to an integer allocated by caller into which the * function result is placed. *status is assigned a value of 1 * if this file contains the per receive beam imagery time * series data, otherwise *status is assigned a value of 0. * * Returns : * This function returns zero if successful, or -1 if an error occurred. * * Error Conditions : * GSF_BAD_FILE_HANDLE * GSF_FILE_SEEK_ERROR * GSF_FLUSH_ERROR * GSF_READ_TO_END_OF_FILE * GSF_READ_ERROR * GSF_RECORD_SIZE_ERROR * GSF_INSUFFICIENT_SIZE * GSF_CHECKSUM_FAILURE * GSF_UNRECOGNIZED_RECORD_ID * GSF_HEADER_RECORD_DECODE_FAILED * GSF_SVP_RECORD_DECODE_FAILED * GSF_PROCESS_PARAM_RECORD_DECODE_FAILED * GSF_SENSOR_PARAM_RECORD_DECODE_FAILED * GSF_COMMENT_RECORD_DECODE_FAILED * GSF_HISTORY_RECORD_DECODE_FAILED * GSF_NAV_ERROR_RECORD_DECODE_FAILED */ int gsfIsNewSurveyLine(int handle, gsfRecords *rec, double azimuth_change, double *last_heading); /* Function Name : gsfIsNewSurveyLine * * Description : This function provides an approach for calling applications * to determine if the last ping read from a GSF file is from the same survey * transect line, or if the last ping is from a newly started survey line. The * implementation looks for a change in platform heading to determine that the * last ping read is from a new survey line. External to this function, calling * applications can decide on their own if the first ping read from a newly opened * GSF file should be considered to be from a new survey transect line or not. * This function assumes that the GSF file is read in chronological order from * the beginning of the file, file access can be either direct or sequential * * Inputs : * handle = The handle to the file as provided by gsfOpen * rec = A pointer to a gsfRecords structure containing the data from the most * recent call to gsfRead * azimuth_change = The trigger value specifying the change in platform heading that * must be exceeded for a new survey transect line to be determined * last_heading = A pointer to a double allocated by the caller and into which this * function will place the heading value for each detected line. The * value must be allocated as permanent memory that persists through * all calls to this function. Startup or reset events can be handled * by the caller by placing a negative value in this memory location. * * Returns : * This function returns 1 if this ping is considered to be the first ping of a new * survey transect line, otherwise, 0 is returned. * * Error Conditions : * none */ #ifdef __cplusplus } #endif #endif /* __GSF_H__ */