/*-------------------------------------------------------------------- * The MB-system: mb_process.h 9/11/00 * $Id: mb_process.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2000-2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * MBprocess is a tool for processing swath sonar bathymetry data. * This program performs a number of functions, including: * - merging navigation * - recalculating bathymetry from travel time and angle data * by raytracing through a layered water sound velocity model. * - applying changes to ship draft, roll bias and pitch bias * - applying bathymetry edits from edit save files. * This file defines processing parameters and structures * saved in mbprocess parameter files. The reading, writing, and * updating of the mbprocess control parameter values are done * using functions in mb_process.c * * The parameters controlling mbprocess are included in an ascii * parameter file. The parameter files consist of single line * commands and comment lines beginning with '#'. The commands * are given by a keyword and a corresponding value (separated by * spaces or tabs). A list of the keywords and values follows, * with default values in square brackets: * * GENERAL PARAMETERS: * EXPLICIT # causes mbprocess to set modes implicitely * # - e.g. the SVPFILE command will also set * # raytracing on even if the RAYTRACE command * # is not given [explicit mode commands required] * FORMAT constant # sets format id [no default] * INFILE filename # sets input file path [no default] * OUTFILE filename # sets output file path [no default] * * NAVIGATION MERGING: * NAVMODE boolean # sets navigation merging [0] * # 0: navigation merge off * # 1: navigation merge on * NAVFILE filename # sets navigation file path [no default] * NAVFORMAT constant # sets navigation file format [9] * NAVHEADING boolean # sets heading to be merged from navigation file * # - note: heading merged from navigation before * # heading correction applied * # 0: heading not changed * # 1: heading merged from navigation file * NAVSPEED boolean # sets speed to be merged from navigation file * # 0: speed not changed * # 1: speed merged from navigation file * NAVDRAFT boolean # sets draft to be merged from navigation file * # - note: draft merged from navigation before * # draft correction applied * # 0: draft not changed * # 1: draft merged from navigation file * NAVATTITUDE boolean # sets roll, pitch and heave to be merged from navigation file * # - note: roll, pitch, and heave merged from navigation before * # roll bias and pitch bias corrections applied * # 0: roll, pitch, and heave not changed * # 1: roll, pitch, and heave merged from navigation file * NAVINTERP boolean # sets navigation interpolation algorithm [0] * # 0: linear interpolation (recommended) * # 1: spline interpolation * NAVTIMESHIFT constant # sets navigation time shift (seconds) [0.0] * # - note: time shift added to timestamps of * # navigation fixes read in from NAVFILE * # prior to merging * * NAVIGATION OFFSETS AND SHIFTS: * NAVSHIFT boolean # sets navigation offset [0] * # - note: offsets and shifts are applied to navigation * # values from both survey and navigation records, and * # are applied to navigation read in from * # NAVFILE prior to merging * # - note: offsets and shifts are NOT applied to adjusted * # navigation values from NAVADJFILE * NAVOFFSETX constant # sets navigation athwartship offset (meters) [0.0] * # - note: the effective navigation shift is * # (NAVOFFSETX - SONAROFFSETX), and the * # navigation is corrected by subtracting * # this effective shift. * # - note: athwartship shift is positive to * # starboard. * NAVOFFSETY constant # sets navigation fore-aft offset (meters) [0.0] * # - note: the effective navigation shift is * # (NAVOFFSETY - SONAROFFSETY), and the * # navigation is corrected by subtracting * # this effective shift. * # - note: fore-aft shift is positive forward. * NAVOFFSETZ constant # sets navigation vertical offset (meters) [0.0] * # - note: this value is not yet used for * # anything. * # - note: vertical shift is positive down. * NAVSHIFTLON constant # sets navigation longitude shift (degrees) [0.0] * NAVSHIFTLAT constant # sets navigation latitude shift (degrees) [0.0] * * ADJUSTED NAVIGATION MERGING: * NAVADJMODE boolean # sets navigation merging from mbnavadjust [0] * # - longitude and latitude only * # 0: adjusted navigation merge off * # 1: adjusted navigation merge on * NAVADJFILE filename # sets adjusted navigation file path * # - this file supercedes navigation file for * # lon and lat only * # - uses mbnavadjust output * NAVADJINTERP boolean # sets adjusted navigation interpolation algorithm [0] * # 0: linear interpolation (recommended) * # 1: spline interpolation * * ATTITUDE MERGING: * ATTITUDEMODE mode # sets atttitude (roll, pitch, and heave) merging [0] * # - note: roll, pitch, and heave merged before * # roll bias and pitch bias corrections applied * # - note: attitude merging from a separate file * # supersedes attitude merging from a navigation file * # 0: attitude merging off * # 1: attitude merging on * ATTITUDEFILE filename # sets attitude file path * ATTITUDEFORMAT constant # sets attitude file format [1] * # - attitude files can be in one of four ASCII * # table formats * # 1: format is * # 2: format is * # 3: format is * # 4: format is * # - time_d = decimal seconds since 1/1/1970 * # - daymin = decimal minutes start of day * # - roll = positive starboard up, degrees * # - pitch = positive forward up, degrees * # - heave = positive up, meters * * SONARDEPTH MERGING: * SONARDEPTHMODE mode # sets sonardepth merging [0] * # - note: sonardepth merged before * # draft corrections applied * # - note: sonardepth merging from a separate file * # supersedes draft merging from a navigation file * # 0: sonardepth merging off * # 1: sonardepth merging on * SONARDEPTHFILE filename # sets sonardepth file path * SONARDEPTHFORMAT constant # sets sonardepth file format [1] * # - sonardepth files can be in one of four ASCII * # table formats * # 1: format is * # 2: format is * # 3: format is * # 4: format is * # - time_d = decimal seconds since 1/1/1970 * # - daymin = decimal minutes start of day * # - sonardepth = depth of sonar, positive down, meters * * DATA CUTTING: * DATACUTCLEAR # clears all data cutting commands * DATACUT kind mode min max # adds data cutting command that flags * # specified bathymetery and amplitude * # beams and zeroes specified sidescan * # pixels. Note that cutting bathymetry * # means flagging beams, which affects * # both bathymetry and amplitude data. * # In contrast, cutting amplitude data * # means zeroing the values without * # affecting the bathymetry, and * # cutting sidescan also means zeroing * # the values. * # - kind: * # 0: bathymetry * # 1: amplitude * # 2: sidescan * # - mode: * # 0: no cut * # 1: cut by beam/pixel number * # 2: cut by distance * # 3: cut by speed * # - min: minimum beam/pixel number * # or acrosstrack distance for data * # data cutting zone. * # - max: maximum beam/pixel number * # or acrosstrack distance for data * # data cutting zone. * BATHCUTNUMBER min max # adds data cutting command to cut * # bathymetry by beam number from * # beam min to beam max. * BATHCUTDISTANCE min max # adds data cutting command to cut * # bathymetry by beam number from * # acrosstrack distance min to * # distance max. * BATHCUTSPEED min max # adds data cutting command to cut * # all bathymetry in pings with * # speed less than min or more * # than max * AMPCUTNUMBER min max # adds data cutting command to cut * # amplitude by beam number from * # beam min to beam max. * AMPCUTDISTANCE min max # adds data cutting command to cut * # amplitude by beam number from * # acrosstrack distance min to * # distance max. * AMPCUTSPEED min max # adds data cutting command to cut * # all amplitude in pings with * # speed less than min or more * # than max * SSCUTNUMBER min max # adds data cutting command to cut * # sidescan by beam number from * # beam min to beam max. * SSCUTDISTANCE min max # adds data cutting command to cut * # sidescan by beam number from * # acrosstrack distance min to * # distance max. * SSCUTSPEED min max # adds data cutting command to cut * # all sidescan in pings with * # speed less than min or more * # than max * * BATHYMETRY EDITING: * EDITSAVEMODE boolean # turns on reading edit save file (from mbedit) [0] * EDITSAVEFILE filename # sets edit save file path (from mbedit) [none] * * BATHYMETRY RECALCULATION: * SVPMODE mode # sets bathymetry recalculation by raytracing [0] * # 0: raytracing off * # 1: raytracing on * # 2: translate to/from corrected bathymetry according to CORRECTED * RAYTRACE boolean # sets bathymetry recalculation by raytracing (obsolete) [0] * # 0: raytracing off * # 1: raytracing on * SVPFILE filename # sets svp file path [no default] * SSVMODE mode # sets ssv mode [0] * # 0: use ssv from file * # 1: offset ssv from file (set by SSV) * # 2: use constant ssv (set by SSV) * SSV constant/offset # sets ssv value or offset (m/s) [1500.0] * TTMODE mode # sets handling of travel times [0] * # 0: do not change travel times. * # 1: travel time correction by multiply * TTMULTIPLY multiplier # sets value multiplied by travel times [1.0] * ANGLEMODE mode # sets handling of beam angles [0] * # 0: do not change beam angles * # 1: adjust beams angles by Snell's law * # ignoring sonar array geometry * # 2: adjust beams angles by Snell's law * # using array geometry * SOUNDSPEEDREF boolean # sets raytraced bathymetry to "corrected" values [1] * * STATIC BEAM BATHYMETRY OFFSETS: * STATICMODE mode # sets offsetting of bathymetry by per-beam statics [0] * # 0: static correction off * # 1: static correction on * STATICFILE filename # sets static per-beam file path [no default] * # - static files are two-column ascii tables * # with the beam # in the first column and * # the depth offset in m in the second column * * DRAFT CORRECTION: * DRAFTMODE mode # sets draft correction [0] * # - note: draft merged from navigation before * # draft correction applied * # 0: no draft correction * # 1: draft correction by offset * # 2: draft correction by multiply * # 3: draft correction by offset and multiply * # 4: draft set to constant * DRAFT constant # sets draft value (m) [0.0] * DRAFTOFFSET offset # sets value added to draft (m) [0.0] * DRAFTMULTIPLY multiplier # sets value multiplied by draft [1.0] * * HEAVE CORRECTION: * HEAVEMODE mode # sets heave correction [0] * # 0: no heave correction * # 1: heave correction by offset * # 2: heave correction by multiply * # 3: heave correction by offset and multiply * HEAVEOFFSET offset # sets value added to heave (m) * HEAVEMULTIPLY multiplier # sets value multiplied by heave * * LEVER CORRECTION: * LEVERMODE mode # sets heave correction by lever correction [0] * # 0: no heave correction by lever calculation * # 1: heave correction by lever calculation * # - note: lever calculation finds heave at the * # sonar head location by adding motion * # inferred from roll and pitch projected * # from the vru location. * VRUOFFSETX constant # sets vru athwartship offset (meters) [0.0] * # - note: the effective athwartship distance * # between the vru and the sonar head is * # (VRUOFFSETX - SONAROFFSETX), and the * # lever calculation is made using this * # effective distance. * # - note: athwartship distance is positive to * # starboard. * VRUOFFSETY constant # sets vru fore-aft offset (meters) [0.0] * # - note: the effective fore-aft distance * # between the vru and the sonar head is * # (VRUOFFSETY - SONAROFFSETY), and the * # lever calculation is made using this * # effective distance. * # - note: fore-aft distance is positive forward. * VRUOFFSETZ constant # sets vru vertical offset (meters) [0.0] * # - note: the effective vertical distance * # between the vru and the sonar head is * # (VRUOFFSETZ - SONAROFFSETZ), and the * # lever calculation is made using this * # effective distance. * # - note: vertical distance is positive down. * SONAROFFSETX constant # sets sonar athwartship offset (meters) [0.0] * # - note: this value is used for both * # navigation shifts and lever calculations. * # - note: athwartship distance is positive to * # starboard. * SONAROFFSETY constant # sets vru fore-aft offset (meters) [0.0] * # - note: this value is used for both * # navigation shifts and lever calculations. * # - note: fore-aft distance is positive forward. * SONAROFFSETZ constant # sets vru vertical offset (meters) [0.0] * # - note: this value is used for lever * # calculations. * # - note: vertical distance is positive down. * * ROLL CORRECTION: * ROLLBIASMODE mode # sets roll correction [0] * # 0: no roll correction * # 1: roll correction by single roll bias * # 2: roll correction by separate port and starboard roll bias * ROLLBIAS offset # sets roll bias (degrees) * ROLLBIASPORT offset # sets port roll bias (degrees) * ROLLBIASSTBD offset # sets starboard roll bias (degrees) * * PITCH CORRECTION: * PITCHBIASMODE mode # sets pitch correction [0] * # 0: no pitch correction * # 1: pitch correction by pitch bias * PITCHBIAS offset # sets pitch bias (degrees) * * HEADING CORRECTION: * HEADINGMODE mode # sets heading correction [no heading correction] * # - note: heading merged from navigation before * # heading correction applied * # 0: no heading correction * # 1: heading correction using course made good * # 2: heading correction by offset * # 3: heading correction using course made good and offset * HEADINGOFFSET offset # sets value added to heading (degrees) * * TIDE CORRECTION: * TIDEMODE mode # sets tide correction [0] * # - note: tide added to bathymetry after * # all other calculations and corrections * # 0: tide correction off * # 1: tide correction on * TIDEFILE filename # sets tide file path * TIDEFORMAT constant # sets tide file format [1] * # - tide files can be in one of four ASCII * # table formats * # 1: format is * # 2: format is * # 3: format is * # 4: format is * # - time_d = decimal seconds since 1/1/1970 * # - daymin = decimal minutes start of day * * AMPLITUDE CORRECTION: * AMPCORRMODE boolean # sets correction of amplitude by amplitude vs grazing * # angle function * # 0: amplitude correction off * # 1: amplitude correction on * AMPCORRFILE filename # sets amplitude correction file path [no default] * AMPCORRTYPE mode # sets amplitude correction mode [0] * # 0: correction is by subtraction * # 1: correction is by division * AMPCORRSYMMETRY boolean # sets amplitude vs grazing angle table symmetry mode [0] * # 0: amplitude vs grazing table left asymmetric * # 1: amplitude vs grazing table forced to be symmetric * AMPCORRANGLE constant # sets characteristic angle for amplitude correction (degrees) [30.0] * AMPCORRSLOPE boolean # sets amplitude correction slope mode [0] * # 0: local slope ignored in calculating correction * # 1: local slope used in calculating correction * # 2: topography grid used in calculating correction * # but slope ignored * # 3: local slope from topography grid used in * # calculating correction * * SIDESCAN CORRECTION: * SSCORRMODE boolean # sets correction of sidescan by amplitude vs grazing * # angle function * # 0: sidescan correction off * # 1: sidescan correction on * SSCORRFILE filename # sets sidescan correction file path [no default] * SSCORRTYPE mode # sets sidescan correction mode [0] * # 0: correction is by subtraction * # 1: correction is by division * SSCORRSYMMETRY boolean # sets amplitude vs grazing angle table symmetry mode [0] * # 0: amplitude vs grazing table left asymmetric * # 1: amplitude vs grazing table forced to be symmetric * SSCORRANGLE constant # sets characteristic angle for sidescan correction (degrees) [30.0] * SSCORRSLOPE boolean # sets sidescan correction slope mode [0] * # 0: local slope ignored in calculating correction * # 1: local slope used in calculating correction * # 2: topography grid used in calculating correction * # but slope ignored * # 3: local slope from topography grid used in * # calculating correction * * AMPLITUDE/SIDESCAN TOPOGRAPHY CORRECTION: * AMPSSCORRTOPOFILE filename # sets amplitude/sidescan correction topography grid file path * * SIDESCAN RECALCULATION: * SSRECALCMODE boolean # sets recalculation of sidescan for Simrad multibeam data * # 0: sidescan recalculation off * # 1: sidescan recalculation on * SSPIXELSIZE constant # sets recalculated sidescan pixel size (m) [0.0] * # - a zero value causes the pixel size to be recalculated * # for every data record * SSSWATHWIDTH constant # sets sidescan swath width (degrees) [0.0] * # - a zero value causes the swath width to be recalculated * # for every data record * SSINTERPOLATE constant # sets sidescan interpolation distance (number of pixels) * * METADATA INSERTION: * METAVESSEL string # sets mbinfo metadata string for vessel * METAINSTITUTION string # sets mbinfo metadata string for vessel operator institution or company * METAPLATFORM string # sets mbinfo metadata string for sonar platform (ship or vehicle) * METASONAR string # sets mbinfo metadata string for sonar model name * METASONARVERSION string # sets mbinfo metadata string for sonar version (usually software version) * METACRUISEID string # sets mbinfo metadata string for institutional cruise id * METACRUISENAME string # sets mbinfo metadata string for descriptive cruise name * METAPI string # sets mbinfo metadata string for principal investigator * METAPIINSTITUTION string # sets mbinfo metadata string for principal investigator * METACLIENT string # sets mbinfo metadata string for data owner (usually PI institution) * METASVCORRECTED boolean # sets mbinfo metadata boolean for sound velocity corrected depths * METATIDECORRECTED boolean # sets mbinfo metadata boolean for tide corrected bathymetry * METABATHEDITMANUAL boolean # sets mbinfo metadata boolean for manually edited bathymetry * METABATHEDITAUTO boolean # sets mbinfo metadata boolean for automatically edited bathymetry * METAROLLBIAS constant # sets mbinfo metadata constant for roll bias (degrees + to starboard) * METAPITCHBIAS constant # sets mbinfo metadata constant for pitch bias (degrees + forward) * METAHEADINGBIAS constant # sets mbinfo metadata constant for heading bias (degrees) * METADRAFT constant # sets mbinfo metadata constant for vessel draft (m) * * PROCESSING KLUGES: * KLUGE001 # processing kluge 001 * # - Apply corrections to travel time data in Hydrosweep DS2 * # data collected on the R/V Maurice Ewing in 2001/2002 * KLUGE002 # processing kluge 002 * # - Apply corrections to travel time data in Hydrosweep DS2 * # data collected on the R/V Maurice Ewing in 2001/2002 * # enables correction of draft values in Simrad data * # - some Simrad multibeam data has had an * # error in which the heave has bee added * # to the sonar depth (draft for hull * # mounted sonars) * # - this correction subtracts the heave * # value from the sonar depth * KLUGE003 # processing kluge 003 * # enables correction of beam angles in SeaBeam 2112 data * # - a data sample from the SeaBeam 2112 on * # the USCG Icebreaker Healy (collected on * # 23 July 2003) was found to have an error * # in which the beam angles had 0.25 times * # the roll added * # - this correction subtracts 0.25 * roll * # from the beam angles before the bathymetry * # is recalculated by raytracing through a * # water sound velocity profile * # - the mbprocess parameter files must be * # set to enable bathymetry recalculation * # by raytracing in order to apply this * # correction * KLUGE004 # processing kluge 004 * # deletes survey data associated with duplicate * # or reversed time tags * # - if survey data records are encountered * # with time tags less than or equal to the * # last good time tag, an error is set and * # the data record is not output to the * # processed data file. * KLUGE005 # processing kluge 005 * # replaces survey record timestamps with * # timestamps of corresponding merged navigation * # records * # - this feature allows users to fix * # timestamp errors using MBnavedit and * # then insert the corrected timestamps * # into processed data * KLUGE006 # processing kluge 006 * # changes sonar depth / draft values without * # changing bathymetry values * KLUGE007 # processing kluge 007 * # zeros alongtrack values greater than half * # the altitude * # - this targets some SeaBeam 2112 data originally * # processed using MB-System 4.6.10 that had * # a few pings with bad sidescan alongtrack values * # - its not clear if this problem originated with * # the data or a bug in MB-System 4.6.10 * KLUGE008 # processing kluge 008 (not yet defined) * # - occasionaly odd processing problems will * # occur that are specific to a particular * # survey or sonar version * # - mbprocess will allow one-time fixes to * # be defined as "kluges" that can be turned * # on through the parameter files. * KLUGE009 # processing kluge 009 (not yet defined) * # - occasionaly odd processing problems will * # occur that are specific to a particular * # survey or sonar version * # - mbprocess will allow one-time fixes to * # be defined as "kluges" that can be turned * # on through the parameter files. * KLUGE010 # processing kluge 010 (not yet defined) * # - occasionaly odd processing problems will * # occur that are specific to a particular * # survey or sonar version * # - mbprocess will allow one-time fixes to * # be defined as "kluges" that can be turned * # on through the parameter files. * * MBprocess and its associated functions and programs use * the following file naming convention. The unprocessed swath * data file should have a name like "fileroot.mbxxx", where * fileroot can be anything and xxx corresponds to the MB-System * format id number. Given this kind of filename, we then have: * fileroot.mbxxx.par : parameter file * fileroot.mbxxx.nve : edited navigation from * mbnavedit * fileroot.mbxxx.nvX : adjusted navigation from * mbnavadjust, with * X={0,1,2,3,4,5,6,7,8,9} * fileroot.mbxxx.esf : bathymetry edit save file * from mbedit * * MBprocess and its associated programs utilize a simple file locking * mechanism to prevent multiple users or processes from working on * the same swath file simultaneously. This mechanism is instituted * using two functions: mbp_lockswathfile() and mbp_unlockswathfile(). * The mbp_lockfile() function creates a *.lck file parallel to a * raw swathfile listing the program, purpose, and user locking the * file. While this file exists, other MB-System processing programs * (e.g. mbprocess, mbedit, mbeditviz, mbnavedit) will not open the * file (except in browse mode). The mbp_unlockfile() removes the * *.lck file, provided the program, purpose, and user match that * contained in the file. MBdatalist includes a capability to remove * locks from single files or entire datalist structures, allowing * the resetting of files left locked by crashed programs. * * * Author: D. W. Caress * Date: September 11, 2000 * Updated: August 4, 2009 (R/V Zephyr, Cleft Segment, Juan de Fuca Ridge) * * $Log: mb_process.h,v $ * Revision 5.29 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.28 2008/09/11 20:11:52 caress * Checking in updates made during cruise AT15-36. * * Revision 5.27 2008/05/26 04:43:15 caress * Getting ready for release 5.1.1beta19. * * Revision 5.26 2007/10/08 15:59:34 caress * MBIO changes as of 8 October 2007. * * Revision 5.25 2007/05/14 06:25:47 caress * Added support for vertical as well as lateral adjustments from mbnavadjust. * * Revision 5.24 2006/06/16 19:30:58 caress * Check in after the Santa Monica Basin Mapping AUV Expedition. * * Revision 5.23 2006/01/06 18:27:19 caress * Working towards 5.0.8 * * Revision 5.22 2005/03/25 04:16:41 caress * Added sonar depth merging to mbprocess. * * Revision 5.21 2004/12/02 06:33:31 caress * Fixes while supporting Reson 7k data. * * Revision 5.20 2004/10/06 19:04:24 caress * Release 5.0.5 update. * * Revision 5.19 2004/05/21 23:46:22 caress * Progress supporting Reson 7k data, including support for extracing subbottom profiler data. * * Revision 5.18 2003/07/26 17:59:32 caress * Changed beamflag handling code. * * Revision 5.17 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.16 2003/04/16 16:47:41 caress * Release 5.0.beta30 * * Revision 5.15 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.14 2002/09/07 04:48:34 caress * Added slope mode option to mb_process. * * Revision 5.13 2002/07/25 19:09:04 caress * Release 5.0.beta21 * * Revision 5.12 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.11 2002/04/06 02:43:39 caress * Release 5.0.beta16 * * Revision 5.10 2001/12/18 04:27:45 caress * Release 5.0.beta11. * * Revision 5.9 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.8 2001-08-03 18:00:02-07 caress * Added cut by speed. * * Revision 5.7 2001/08/02 01:49:25 caress * Added mb_pr_ function prototypes. * * Revision 5.6 2001/07/31 00:40:52 caress * Added data cutting capability. * * Revision 5.5 2001/07/27 19:07:16 caress * Added data cutting. * * Revision 5.4 2001/06/03 06:54:56 caress * Improved handling of lever calculation. * * Revision 5.3 2001/06/01 00:14:06 caress * Added support for metadata insertion. * * Revision 5.2 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.0 2000/09/30 06:28:42 caress * Snapshot for Dale. * * */ /* start this include */ #ifndef MB_PROCESS_DEF /* header file flag */ #define MB_PROCESS_DEF 1 /* include mb_io.h if needed */ #ifndef MB_IO_DEF #include "mb_io.h" #endif /* mbprocess value defines */ #define MBP_FILENAMESIZE MB_PATH_MAXLINE #define MBP_METANOVALUE 9999999. #define MBP_NAV_OFF 0 #define MBP_NAV_ON 1 #define MBP_NAVADJ_OFF 0 #define MBP_NAVADJ_LL 1 #define MBP_NAVADJ_LLZ 2 #define MBP_NAV_LINEAR 0 #define MBP_NAV_SPLINE 1 #define MBP_ATTITUDE_OFF 0 #define MBP_ATTITUDE_ON 1 #define MBP_SONARDEPTH_OFF 0 #define MBP_SONARDEPTH_ON 1 #define MBP_CUT_DATA_BATH 0 #define MBP_CUT_DATA_AMP 1 #define MBP_CUT_DATA_SS 2 #define MBP_CUT_MODE_NONE 0 #define MBP_CUT_MODE_NUMBER 1 #define MBP_CUT_MODE_DISTANCE 2 #define MBP_CUT_MODE_SPEED 3 #define MBP_CUT_NUM_MAX 20 #define MBP_EDIT_OFF 0 #define MBP_EDIT_ON 1 #define MBP_EDIT_FLAG 1 #define MBP_EDIT_UNFLAG 2 #define MBP_EDIT_ZERO 3 #define MBP_EDIT_FILTER 4 #define MBP_ESF_NOWRITE 0 #define MBP_ESF_WRITE 1 #define MBP_ESF_APPEND 2 #define MBP_BATHRECALC_OFF 0 #define MBP_BATHRECALC_RAYTRACE 1 #define MBP_BATHRECALC_ROTATE 2 #define MBP_BATHRECALC_OFFSET 3 #define MBP_SVP_OFF 0 #define MBP_SVP_ON 1 #define MBP_SVP_SOUNDSPEEDREF 2 #define MBP_SSV_OFF 0 #define MBP_SSV_OFFSET 1 #define MBP_SSV_SET 2 #define MBP_TT_OFF 0 #define MBP_TT_MULTIPLY 1 #define MBP_ANGLES_OK 0 #define MBP_ANGLES_SNELL 1 #define MBP_ANGLES_SNELLNULL 2 #define MBP_STATIC_OFF 0 #define MBP_STATIC_ON 1 #define MBP_DRAFT_OFF 0 #define MBP_DRAFT_OFFSET 1 #define MBP_DRAFT_MULTIPLY 2 #define MBP_DRAFT_MULTIPLYOFFSET 3 #define MBP_DRAFT_SET 4 #define MBP_HEAVE_OFF 0 #define MBP_HEAVE_OFFSET 1 #define MBP_HEAVE_MULTIPLY 2 #define MBP_HEAVE_MULTIPLYOFFSET 3 #define MBP_LEVER_OFF 0 #define MBP_LEVER_ON 1 #define MBP_ROLLBIAS_OFF 0 #define MBP_ROLLBIAS_SINGLE 1 #define MBP_ROLLBIAS_DOUBLE 2 #define MBP_PITCHBIAS_OFF 0 #define MBP_PITCHBIAS_ON 1 #define MBP_HEADING_OFF 0 #define MBP_HEADING_CALC 1 #define MBP_HEADING_OFFSET 2 #define MBP_HEADING_CALCOFFSET 3 #define MBP_TIDE_OFF 0 #define MBP_TIDE_ON 1 #define MBP_AMPCORR_OFF 0 #define MBP_AMPCORR_ON 1 #define MBP_AMPCORR_UNKNOWN -1 #define MBP_AMPCORR_SUBTRACTION 0 #define MBP_AMPCORR_DIVISION 1 #define MBP_AMPCORR_ASYMMETRIC 0 #define MBP_AMPCORR_SYMMETRIC 1 #define MBP_AMPCORR_IGNORESLOPE 0 #define MBP_AMPCORR_USESLOPE 1 #define MBP_AMPCORR_USETOPO 2 #define MBP_AMPCORR_USETOPOSLOPE 3 #define MBP_SSCORR_OFF 0 #define MBP_SSCORR_ON 1 #define MBP_SSCORR_UNKNOWN -1 #define MBP_SSCORR_SUBTRACTION 0 #define MBP_SSCORR_DIVISION 1 #define MBP_SSCORR_ASYMMETRIC 0 #define MBP_SSCORR_SYMMETRIC 1 #define MBP_SSCORR_IGNORESLOPE 0 #define MBP_SSCORR_USESLOPE 1 #define MBP_SSCORR_USETOPO 2 #define MBP_SSCORR_USETOPOSLOPE 3 #define MBP_SSRECALC_OFF 0 #define MBP_SSRECALC_ON 1 #define MBP_CORRECTION_UNKNOWN -1 #define MBP_CORRECTION_NO 0 #define MBP_CORRECTION_YES 1 /* mbprocess file locking defines */ #define MBP_LOCK_NONE 0 #define MBP_LOCK_PROCESS 1 #define MBP_LOCK_EDITBATHY 2 #define MBP_LOCK_EDITNAV 3 #define MBP_UNLOCK_OVERRIDE 0 #define MBP_UNLOCK_PROCESS 1 #define MBP_UNLOCK_EDITBATHY 2 #define MBP_UNLOCK_EDITNAV 3 /* mbprocess file checking */ #define MB_PR_FILE_UP_TO_DATE 0 #define MB_PR_FILE_NEEDS_PROCESSING 1 #define MB_PR_FILE_NOT_EXIST 2 #define MB_PR_NO_PARAMETER_FILE 3 struct mb_process_struct { /* general parameters */ int mbp_ifile_specified; char mbp_ifile[MBP_FILENAMESIZE]; int mbp_ofile_specified; char mbp_ofile[MBP_FILENAMESIZE]; int mbp_format_specified; int mbp_format; /* navigation merging */ int mbp_nav_mode; char mbp_navfile[MBP_FILENAMESIZE]; int mbp_nav_format; int mbp_nav_heading; int mbp_nav_speed; int mbp_nav_draft; int mbp_nav_attitude; int mbp_nav_algorithm; double mbp_nav_timeshift; int mbp_nav_shift; double mbp_nav_offsetx; double mbp_nav_offsety; double mbp_nav_offsetz; double mbp_nav_shiftlon; double mbp_nav_shiftlat; /* adjusted navigation merging */ int mbp_navadj_mode; char mbp_navadjfile[MBP_FILENAMESIZE]; int mbp_navadj_algorithm; /* attitude merging */ int mbp_attitude_mode; char mbp_attitudefile[MBP_FILENAMESIZE]; int mbp_attitude_format; /* sonardepth merging */ int mbp_sonardepth_mode; char mbp_sonardepthfile[MBP_FILENAMESIZE]; int mbp_sonardepth_format; /* data cutting */ int mbp_cut_num; int mbp_cut_kind[MBP_CUT_NUM_MAX]; int mbp_cut_mode[MBP_CUT_NUM_MAX]; double mbp_cut_min[MBP_CUT_NUM_MAX]; double mbp_cut_max[MBP_CUT_NUM_MAX]; /* bathymetry editing */ int mbp_edit_mode; char mbp_editfile[MBP_FILENAMESIZE]; /* bathymetry recalculation */ int mbp_bathrecalc_mode; int mbp_svp_mode; char mbp_svpfile[MBP_FILENAMESIZE]; int mbp_ssv_mode; double mbp_ssv; int mbp_tt_mode; double mbp_tt_mult; int mbp_angle_mode; int mbp_corrected; int mbp_static_mode; char mbp_staticfile[MBP_FILENAMESIZE]; /* draft correction */ int mbp_draft_mode; double mbp_draft; double mbp_draft_offset; double mbp_draft_mult; /* heave correction */ int mbp_heave_mode; double mbp_heave; double mbp_heave_mult; /* lever correction */ int mbp_lever_mode; double mbp_vru_offsetx; double mbp_vru_offsety; double mbp_vru_offsetz; double mbp_sonar_offsetx; double mbp_sonar_offsety; double mbp_sonar_offsetz; /* roll correction */ int mbp_rollbias_mode; double mbp_rollbias; double mbp_rollbias_port; double mbp_rollbias_stbd; /* pitch correction */ int mbp_pitchbias_mode; double mbp_pitchbias; /* heading correction */ int mbp_heading_mode; double mbp_headingbias; /* tide correction */ int mbp_tide_mode; char mbp_tidefile[MBP_FILENAMESIZE]; int mbp_tide_format; /* amplitude correction */ int mbp_ampcorr_mode; char mbp_ampcorrfile[MBP_FILENAMESIZE]; int mbp_ampcorr_type; int mbp_ampcorr_symmetry; double mbp_ampcorr_angle; int mbp_ampcorr_slope; /* sidescan correction */ int mbp_sscorr_mode; char mbp_sscorrfile[MBP_FILENAMESIZE]; int mbp_sscorr_type; int mbp_sscorr_symmetry; double mbp_sscorr_angle; int mbp_sscorr_slope; /* amplitude and sidescan correction */ char mbp_ampsscorr_topofile[MBP_FILENAMESIZE]; /* sidescan recalculation */ int mbp_ssrecalc_mode; double mbp_ssrecalc_pixelsize; double mbp_ssrecalc_swathwidth; int mbp_ssrecalc_interpolate; /* metadata strings */ char mbp_meta_vessel[MBP_FILENAMESIZE]; char mbp_meta_institution[MBP_FILENAMESIZE]; char mbp_meta_platform[MBP_FILENAMESIZE]; char mbp_meta_sonar[MBP_FILENAMESIZE]; char mbp_meta_sonarversion[MBP_FILENAMESIZE]; char mbp_meta_cruiseid[MBP_FILENAMESIZE]; char mbp_meta_cruisename[MBP_FILENAMESIZE]; char mbp_meta_pi[MBP_FILENAMESIZE]; char mbp_meta_piinstitution[MBP_FILENAMESIZE]; char mbp_meta_client[MBP_FILENAMESIZE]; int mbp_meta_svcorrected; int mbp_meta_tidecorrected; int mbp_meta_batheditmanual; int mbp_meta_batheditauto; double mbp_meta_rollbias; double mbp_meta_pitchbias; double mbp_meta_headingbias; double mbp_meta_draft; /* processing kluges */ int mbp_kluge001; int mbp_kluge002; int mbp_kluge003; int mbp_kluge004; int mbp_kluge005; int mbp_kluge006; int mbp_kluge007; int mbp_kluge008; int mbp_kluge009; int mbp_kluge010; }; /* edit save file definitions */ #define MB_ESF_MAXTIMEDIFF 0.0011 #define MB_ESF_MULTIPLICITY_FACTOR 1000000 struct mb_edit_struct { double time_d; int beam; int action; int use; }; struct mb_esf_struct { char esffile[MB_PATH_MAXLINE]; char esstream[MB_PATH_MAXLINE]; int byteswapped; int nedit; struct mb_edit_struct *edit; FILE *esffp; FILE *essfp; }; int mb_pr_checkstatus(int verbose, char *file, int *prstatus, int *error); int mb_pr_readpar(int verbose, char *file, int lookforfiles, struct mb_process_struct *process, int *error); int mb_pr_writepar(int verbose, char *file, struct mb_process_struct *process, int *error); int mb_pr_bathmode(int verbose, struct mb_process_struct *process, int *error); int mb_pr_default_output(int verbose, struct mb_process_struct *process, int *error); int mb_pr_get_output(int verbose, int *format, char *ifile, char *ofile, int *error); int mb_pr_check(int verbose, char *ifile, int *nparproblem, int *ndataproblem, int *error); int mb_pr_update_ofile(int verbose, char *file, int mbp_ofile_specified, char *mbp_ofile, int *error); int mb_pr_update_format(int verbose, char *file, int mbp_format_specified, int mbp_format, int *error); int mb_pr_update_rollbias(int verbose, char *file, int mbp_rollbias_mode, double mbp_rollbias, double mbp_rollbias_port, double mbp_rollbias_stbd, int *error); int mb_pr_update_pitchbias(int verbose, char *file, int mbp_pitchbias_mode, double mbp_pitchbias, int *error); int mb_pr_update_draft(int verbose, char *file, int mbp_draft_mode, double mbp_draft, double mbp_draft_offset, double mbp_draft_mult, int *error); int mb_pr_update_heave(int verbose, char *file, int mbp_heave_mode, double mbp_heave, double mbp_heave_mult, int *error); int mb_pr_update_lever(int verbose, char *file, int mbp_lever_mode, double mbp_vru_offsetx, double mbp_vru_offsety, double mbp_vru_offsetz, double mbp_sonar_offsetx, double mbp_sonar_offsety, double mbp_sonar_offsetz, int *error); int mb_pr_update_tide(int verbose, char *file, int mbp_tide_mode, char *mbp_tidefile, int mbp_tide_format, int *error); int mb_pr_update_tt(int verbose, char *file, int mbp_tt_mode, double mbp_tt_mult, int *error); int mb_pr_update_ssv(int verbose, char *file, int mbp_ssv_mode, double mbp_ssv, int *error); int mb_pr_update_svp(int verbose, char *file, int mbp_svp_mode, char *mbp_svpfile, int mbp_angle_mode, int mbp_corrected, int *error); int mb_pr_update_static(int verbose, char *file, int mbp_static_mode, char *mbp_staticfile, int *error); int mb_pr_update_navadj(int verbose, char *file, int mbp_navadj_mode, char *mbp_navadjfile, int mbp_navadj_algorithm, int *error); int mb_pr_update_nav(int verbose, char *file, int mbp_nav_mode, char *mbp_navfile, int mbp_nav_format, int mbp_nav_heading, int mbp_nav_speed, int mbp_nav_draft, int mbp_nav_attitude, int mbp_nav_algorithm, double mbp_nav_timeshift, int *error); int mb_pr_update_attitude(int verbose, char *file, int mbp_attitude_mode, char *mbp_attitudefile, int mbp_attitude_format, int *error); int mb_pr_update_sonardepth(int verbose, char *file, int mbp_sonardepth_mode, char *mbp_sonardepthfile, int mbp_sonardepth_format, int *error); int mb_pr_update_navshift(int verbose, char *file, int mbp_nav_shift, double mbp_nav_offsetx, double mbp_nav_offsety, double mbp_nav_offsetz, double mbp_nav_shiftlon, double mbp_nav_shiftlat, int *error); int mb_pr_update_heading(int verbose, char *file, int mbp_heading_mode, double mbp_headingbias, int *error); int mb_pr_update_datacut(int verbose, char *file, int mbp_cut_num, int *mbp_cut_kind, int *mbp_cut_mode, double *mbp_cut_min, double *mbp_cut_max, int *error); int mb_pr_update_edit(int verbose, char *file, int mbp_edit_mode, char *mbp_editfile, int *error); int mb_pr_update_ampcorr(int verbose, char *file, int mbp_ampcorr_mode, char *mbp_ampcorrfile, int mbp_ampcorr_type, int mbp_ampcorr_symmetry, double mbp_ampcorr_angle, int mbp_ampcorr_slope, char *mbp_ampcorr_topofile, int *error); int mb_pr_update_sscorr(int verbose, char *file, int mbp_sscorr_mode, char *mbp_sscorrfile, int mbp_sscorr_type, int mbp_sscorr_symmetry, double mbp_sscorr_angle, int mbp_sscorr_slope, char *mbp_sscorr_topofile, int *error); int mb_pr_update_ssrecalc(int verbose, char *file, int mbp_ssrecalc_mode, double mbp_ssrecalc_pixelsize, double mbp_ssrecalc_swathwidth, int mbp_ssrecalc_interpolate, int *error); int mb_pr_update_metadata(int verbose, char *file, char *mbp_meta_vessel, char *mbp_meta_institution, char *mbp_meta_platform, char *mbp_meta_sonar, char *mbp_meta_sonarversion, char *mbp_meta_cruiseid, char *mbp_meta_cruisename, char *mbp_meta_pi, char *mbp_meta_piinstitution, char *mbp_meta_client, int mbp_meta_svcorrected, int mbp_meta_tidecorrected, int mbp_meta_batheditmanual, int mbp_meta_batheditauto, double mbp_meta_rollbias, double mbp_meta_pitchbias, double mbp_meta_headingbias, double mbp_meta_draft, int *error); int mb_pr_update_kluges(int verbose, char *file, int mbp_kluge001, int mbp_kluge002, int mbp_kluge003, int mbp_kluge004, int mbp_kluge005, int mbp_kluge006, int mbp_kluge007, int mbp_kluge008, int mbp_kluge009, int mbp_kluge010, int *error); int mb_pr_get_ofile(int verbose, char *file, int *mbp_ofile_specified, char *mbp_ofile, int *error); int mb_pr_get_format(int verbose, char *file, int *mbp_format_specified, int *mbp_format, int *error); int mb_pr_get_rollbias(int verbose, char *file, int *mbp_rollbias_mode, double *mbp_rollbias, double *mbp_rollbias_port, double *mbp_rollbias_stbd, int *error); int mb_pr_get_pitchbias(int verbose, char *file, int *mbp_pitchbias_mode, double *mbp_pitchbias, int *error); int mb_pr_get_draft(int verbose, char *file, int *mbp_draft_mode, double *mbp_draft, double *mbp_draft_offset, double *mbp_draft_mult, int *error); int mb_pr_get_heave(int verbose, char *file, int *mbp_heave_mode, double *mbp_heave, double *mbp_heave_mult, int *error); int mb_pr_get_lever(int verbose, char *file, int *mbp_lever_mode, double *mbp_vru_offsetx, double *mbp_vru_offsety, double *mbp_vru_offsetz, double *mbp_sonar_offsetx, double *mbp_sonar_offsety, double *mbp_sonar_offsetz, int *error); int mb_pr_get_tide(int verbose, char *file, int *mbp_tide_mode, char *mbp_tidefile, int *mbp_tide_format, int *error); int mb_pr_get_tt(int verbose, char *file, int *mbp_tt_mode, double *mbp_tt_mult, int *error); int mb_pr_get_ssv(int verbose, char *file, int *mbp_ssv_mode, double *mbp_ssv, int *error); int mb_pr_get_svp(int verbose, char *file, int *mbp_svp_mode, char *mbp_svpfile, int *mbp_angle_mode, int *mbp_corrected, int *error); int mb_pr_get_static(int verbose, char *file, int *mbp_static_mode, char *mbp_staticfile, int *error); int mb_pr_get_navadj(int verbose, char *file, int *mbp_navadj_mode, char *mbp_navadjfile, int *mbp_navadj_algorithm, int *error); int mb_pr_get_nav(int verbose, char *file, int *mbp_nav_mode, char *mbp_navfile, int *mbp_nav_format, int *mbp_nav_heading, int *mbp_nav_speed, int *mbp_nav_draft, int *mbp_nav_attitude, int *mbp_nav_algorithm, double *mbp_nav_timeshift, int *error); int mb_pr_get_attitude(int verbose, char *file, int *mbp_attitude_mode, char *mbp_attitudefile, int *mbp_attitude_format, int *error); int mb_pr_get_sonardepth(int verbose, char *file, int *mbp_sonardepth_mode, char *mbp_sonardepthfile, int *mbp_sonardepth_format, int *error); int mb_pr_get_navshift(int verbose, char *file, int *mbp_nav_shift, double *mbp_nav_offsetx, double *mbp_nav_offsety, double *mbp_nav_offsetz, double *mbp_nav_shiftlon, double *mbp_nav_shiftlat, int *error); int mb_pr_get_heading(int verbose, char *file, int *mbp_heading_mode, double *mbp_headingbias, int *error); int mb_pr_get_datacut(int verbose, char *file, int *mbp_cut_num, int *mbp_cut_kind, int *mbp_cut_mode, double *mbp_cut_min, double *mbp_cut_max, int *error); int mb_pr_get_edit(int verbose, char *file, int *mbp_edit_mode, char *mbp_editfile, int *error); int mb_pr_get_ampcorr(int verbose, char *file, int *mbp_ampcorr_mode, char *mbp_ampcorrfile, int *mbp_ampcorr_type, int *mbp_ampcorr_symmetry, double *mbp_ampcorr_angle, int *mbp_ampcorr_slope, char *mbp_ampcorr_topofile, int *error); int mb_pr_get_sscorr(int verbose, char *file, int *mbp_sscorr_mode, char *mbp_sscorrfile, int *mbp_sscorr_type, int *mbp_sscorr_symmetry, double *mbp_sscorr_angle, int *mbp_sscorr_slope, char *mbp_sscorr_topofile, int *error); int mb_pr_get_ssrecalc(int verbose, char *file, int *mbp_ssrecalc_mode, double *mbp_ssrecalc_pixelsize, double *mbp_ssrecalc_swathwidth, int *mbp_ssrecalc_interpolate, int *error); int mb_pr_get_metadata(int verbose, char *file, char *mbp_meta_vessel, char *mbp_meta_institution, char *mbp_meta_platform, char *mbp_meta_sonar, char *mbp_meta_sonarversion, char *mbp_meta_cruiseid, char *mbp_meta_cruisename, char *mbp_meta_pi, char *mbp_meta_piinstitution, char *mbp_meta_client, int *mbp_meta_svcorrected, int *mbp_meta_tidecorrected, int *mbp_meta_batheditmanual, int *mbp_meta_batheditauto, double *mbp_meta_rollbias, double *mbp_meta_pitchbias, double *mbp_meta_headingbias, double *mbp_meta_draft, int *error); int mb_pr_get_kluges(int verbose, char *file, int *mbp_kluge001, int *mbp_kluge002, int *mbp_kluge003, int *mbp_kluge004, int *mbp_kluge005, int *mbp_kluge006, int *mbp_kluge007, int *mbp_kluge008, int *mbp_kluge009, int *mbp_kluge010, int *error); int mb_pr_set_bathyslope(int verbose, int nsmooth, int nbath, char *beamflag, double *bath, double *bathacrosstrack, int *ndepths, double *depths, double *depthacrosstrack, int *nslopes, double *slopes, double *slopeacrosstrack, double *depthsmooth, int *error); int mb_pr_get_bathyslope(int verbose, int ndepths, double *depths, double *depthacrosstrack, int nslopes, double *slopes, double *slopeacrosstrack, double acrosstrack, double *depth, double *slope, int *error); int mb_pr_point_in_quad(int verbose, double px, double py, double *x, double *y, int *error); int mb_esf_check(int verbose, char *swathfile, char *esffile, int *found, int *error); int mb_esf_load(int verbose, char *swathfile, int load, int output, char *esffile, struct mb_esf_struct *esf, int *error); int mb_esf_open(int verbose, char *esffile, int load, int output, struct mb_esf_struct *esf, int *error); int mb_esf_apply(int verbose, struct mb_esf_struct *esf, double time_d, int pingmultiplicity, int nbath, char *beamflag, int *error); int mb_esf_save(int verbose, struct mb_esf_struct *esf, double time_d, int beam, int action, int *error); int mb_ess_save(int verbose, struct mb_esf_struct *esf, double time_d, int beam, int action, int *error); int mb_esf_close(int verbose, struct mb_esf_struct *esf, int *error); int mb_pr_lockswathfile(int verbose, char *file, int purpose, char *program, int *error); int mb_pr_unlockswathfile(int verbose, char *file, int purpose, char *program, int *error); int mb_pr_lockinfo(int verbose, char *file, int *locked, int *purpose, char *program, char *user, char *cpu, char *date, int *error); /* end this include */ #endif