/*-------------------------------------------------------------------- * The MB-system: mbf_cbat9001.h 8/21/94 * $Id: mbf_cbat9001.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 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. *--------------------------------------------------------------------*/ /* * mbf_cbat9001.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_CBAT9001 format (MBIO id 81). * * Author: D. W. Caress * Date: August 21, 1994 * $Log: mbf_cbat9001.h,v $ * Revision 5.2 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.1 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.4 2000/09/30 06:29:44 caress * Snapshot for Dale. * * Revision 4.3 1999/01/01 23:41:06 caress * MB-System version 4.6beta6 * * Revision 4.2 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.0 1994/10/21 12:35:04 caress * Release V4.0 * * Revision 4.0 1994/10/21 12:35:04 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * Revision 1.1 1994/10/21 12:13:33 caress * Initial revision * * * */ /* * Notes on the MBF_CBAT9001 data format: * 1. Reson SeaBat products are high frequency, * shallow water multibeam sonars. * Reson SeaBat 9001 systems output both bathymetry * and amplitude information for 60 beams. * Reson SeaBat 8101 systems output both bathymetry * and amplitude information for up to 128 beams. * These sonars use fixed, analog beamforming followed * by a combination of amplitude and phase bottom * detection. * 2. Reson multibeam systems output raw range and amplitude * data in a binary format. The data acquisition systems * associated with the sonars calculate bathymetry using * a water sound velocity, roll, pitch, and heave data. * 3. Generally, Reson data acquisition systems record * navigation asynchronously in the data stream, without * providing speed information. This means that the * navigation must be interpolated on the fly as the * data is read. * 4. The navigation is frequently provided in projected * coordinates (eastings and northings) rather than in * longitude and latitude. Since MB-System operates solely * in longitude and latitude, the original navigation must * be unprojected. * 5. The Reson data formats supported by MB-System include: * MBF_CBAT9001 - a binary format designed by John Hughes Clarke * of the University of New Brunswick. Parameter and * sound velocity profile records are included. * MBF_CBAT8101 - a clone of the above format supporting * Reson 8101 data. * MBF_HYPC8101 - the ASCII format used by the HYPACK system * of Coastal Oceanographics in conjunction with * Reson 8101 data. This format is supported as read-only * by MB-System. * MBF_GSFGENMB - the generic sensor format of SAIC which * supports data from a large number of sonars, including * Reson sonars. MB-System handles GSF separately from * other formats. * 6. For the UNB-style formats MBF_CBAT9001 and MBF_CBAT8101, * each data telegram is preceded by a two byte start code and * followed by a three byte end code consisting of 0x03 * followed by two bytes representing the checksum for * the data bytes. MB-System does not calculate checksums * and puts 0's in the checksum bytes. * The relevent telegram start codes, types, and sizes are: * 0x0240: Comment*** 200 data bytes * 0x0241: Position 36 data bytes * 0x0242: Parameter 44 data bytes * 0x0243: Sound velocity profile 2016 data bytes * 0x0244: SeaBat 9001 bathymetry 752 data bytes * 0x0245: Short sound velocity profile 816 data bytes * 0x0246: SeaBat 8101 bathymetry*** 1244 data bytes * 0x0247: Heading*** 752 data bytes * 0x0248: Attitude*** 752 data bytes * *** Defined only for MB-System * */ /* maximum number of beams and pixels */ #define MBF_CBAT9001_MAXBEAMS 60 #define MBF_CBAT9001_COMMENT_LENGTH 200 struct mbf_cbat9001_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Reson sonar */ /* parameter info (parameter telegrams) */ int par_year; int par_month; int par_day; int par_hour; int par_minute; int par_second; int par_hundredth_sec; int par_thousandth_sec; short roll_offset; /* roll offset (degrees) */ short pitch_offset; /* pitch offset (degrees) */ short heading_offset; /* heading offset (degrees) */ short time_delay; /* positioning system delay (sec) */ short transducer_depth; /* tranducer depth (meters) */ short transducer_height; /* reference height (meters) */ short transducer_x; /* reference fore-aft offset (meters) */ short transducer_y; /* reference athwartships offset (meters) */ short antenna_x; /* antenna athwartships offset (meters) */ short antenna_y; /* antenna athwartships offset (meters) */ short antenna_z; /* antenna height (meters) */ short motion_sensor_x;/* motion sensor athwartships offset (meters) */ short motion_sensor_y;/* motion sensor athwartships offset (meters) */ short motion_sensor_z;/* motion sensor height offset (meters) */ short spare; short line_number; short start_or_stop; short transducer_serial_number; /* comment */ char comment[MBSYS_RESON_COMMENT_LENGTH]; /* position (position telegrams) */ int pos_year; int pos_month; int pos_day; int pos_hour; int pos_minute; int pos_second; int pos_hundredth_sec; int pos_thousandth_sec; int pos_latitude; /* 180 deg = 2e9 */ int pos_longitude; /* 180 deg = 2e9 */ unsigned int utm_northing; unsigned int utm_easting; int utm_zone_lon; /* 180 deg = 2e9 */ char utm_zone; char hemisphere; char ellipsoid; char pos_spare; int semi_major_axis; int other_quality; /* sound velocity profile */ int svp_year; int svp_month; int svp_day; int svp_hour; int svp_minute; int svp_second; int svp_hundredth_sec; int svp_thousandth_sec; int svp_latitude; /* 180 deg = 2e9 */ int svp_longitude; /* 180 deg = 2e9 */ int svp_num; int svp_depth[500]; /* 0.1 meters */ int svp_vel[500]; /* 0.1 meters/sec */ /* bathymetry */ int year; int month; int day; int hour; int minute; int second; int hundredth_sec; int thousandth_sec; int latitude; /* 180 deg = 2e9 */ int longitude; /* 180 deg = 2e9 */ int roll; /* 0.005 degrees */ int pitch; /* 0.005 degrees */ int heading; /* 0.01 degrees */ int heave; /* 0.001 meters */ int ping_number; int sound_vel; /* 0.1 meters/sec */ int mode; /* unused */ int gain1; /* unused */ int gain2; /* unused */ int gain3; /* unused */ int beams_bath; short bath[MBSYS_RESON_MAXBEAMS]; /* depths: 0.01 meters */ short int bath_acrosstrack[MBSYS_RESON_MAXBEAMS]; /* acrosstrack distances: 0.01 meters */ short int bath_alongtrack[MBSYS_RESON_MAXBEAMS]; /* alongtrack distances: 0.01 meters */ short int tt[MBSYS_RESON_MAXBEAMS]; /* travel times: 0.05 msec */ short int angle[MBSYS_RESON_MAXBEAMS]; /* 0.005 degrees */ short int quality[MBSYS_RESON_MAXBEAMS]; /* 0 (bad) to 3 (good) */ short int amp[MBSYS_RESON_MAXBEAMS]; /* ??? */ };