/*-------------------------------------------------------------------- * The MB-system: mbf_em12ifrm.h 12/5/00 * $Id: mbf_em12ifrm.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. *--------------------------------------------------------------------*/ /* * mbf_em12ifrm.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_EM12IFRM format (MBIO id 58). * * Author: D. W. Caress * Date: December 5, 2000 * $Log: mbf_em12ifrm.h,v $ * Revision 5.4 2004/10/18 04:15:46 caress * Minor change. * * Revision 5.3 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.2 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.1 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.0 2000/12/10 20:24:25 caress * Initial revision. * * * */ /* * Notes on the MBF_EM12IFRM data format: * 1. IFREMER uses their own software to process swath data. * Currently (2004) the software is called CARAIBES, but * during the 1990's they used an earlier package called * TRISMUS to process multibeam data. This format was used * and generated as part of TRISMUS processing of EM12S and * EM12D multibeam data. TRISMUS recast the data as parallel * files for bathymetry (.SO suffix), imagery (.IM suffix), * and asynchronous navigation (.NA suffix). We recommend * that users translate the TRISMUS data to the current * mbsystem format for processing Simrad multibeam data * (EM300MBA - format 57) before processing. * 2. This format is supported read-only in MB-System. * 3. The systems of interest: * EM-12S: Deep water 12kHz multibeam sonar with up to * 81 beams of bathymetry and up to 523 sidescan * samples per bathymetry beam. * EM-12D: Deep water 12kHz multibeam sonar with up to * 81 beams of bathymetry and up to 523 sidescan * samples per bathymetry beam. This is a dual * system which produces alternating port and * starboard pings to provide a 150 degree swath. * 4. The navigation data contain NMEA type ascii strings * beginning with "$CASTM". The sources of these strings * include "NACOU", "NAGP1", and "NAGP2". * MB-System uses only the "NACOU" strings. * 5. Each bathymetry record is 1032 bytes long and begins * with a 35 character string containing the identifier * and time stamp. The first six characters are one of * the following: * "$12SOC": EM12S ping * "$12SOB": EM12D port ping * "$12SOT": EM12S starboard ping * "$COMM:": Comment (MB-System only) * 6. The imagery records are of variable length and begin * with a 35 character string containing the identifier * and time stamp. The first six characters are one of * the following: * "$12IMC": EM12S ping * "$12IMB": EM12D port ping * "$12IMT": EM12S starboard ping * As with the Simrad vendor formats, multiple sidescan * datagrams are recorded for each ping. * */ /* maximum number of beams and pixels */ #define MBF_EM12IFRM_MAXBEAMS 81 #define MBF_EM12IFRM_MAXRAWPIXELS 50*MBF_EM12IFRM_MAXBEAMS #define MBF_EM12IFRM_MAXPIXELS 1024 struct mbf_em12ifrm_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Simrad sonar */ /* parameter info (start, stop and parameter datagrams) */ int par_year; int par_month; int par_day; int par_hour; int par_minute; int par_second; int par_centisecond; int pos_type; /* positioning system type */ double pos_delay; /* positioning system delay (sec) */ double roll_offset; /* roll offset (degrees) */ double pitch_offset; /* pitch offset (degrees) */ double heading_offset; /* heading offset (degrees) */ double em100_td; /* EM-100 tranducer depth (meters) */ double em100_tx; /* EM-100 tranducer fore-aft offset (meters) */ double em100_ty; /* EM-100 tranducer athwartships offset (meters) */ double em12_td; /* EM-12 tranducer depth (meters) */ double em12_tx; /* EM-12 tranducer fore-aft offset (meters) */ double em12_ty; /* EM-12 tranducer athwartships offset (meters) */ double em1000_td; /* EM-1000 tranducer depth (meters) */ double em1000_tx; /* EM-1000 tranducer fore-aft offset (meters) */ double em1000_ty; /* EM-1000 tranducer athwartships offset (meters) */ char spare_parameter[128]; int survey_line; char comment[80]; /* position (position datagrams) */ int pos_year; int pos_month; int pos_day; int pos_hour; int pos_minute; int pos_second; int pos_centisecond; double latitude; double longitude; double utm_northing; double utm_easting; int utm_zone; double utm_zone_lon; int utm_system; int pos_quality; double speed; /* meters/second */ double line_heading; /* degrees */ /* sound velocity profile */ int svp_year; int svp_month; int svp_day; int svp_hour; int svp_minute; int svp_second; int svp_centisecond; int svp_num; int svp_depth[100]; /* meters */ int svp_vel[100]; /* 0.1 meters/sec */ /* time stamp */ int year; int month; int day; int hour; int minute; int second; int centisecond; /* swath id */ int swath_id; /* EM_SWATH_CENTER: 0 EM_SWATH_PORT: -1 (EM12D only) EM_SWATH_STARBOARD: 1 (EM12D only) */ /* bathymetry */ int ping_number; int beams_bath; /* EM-1000: 60 EM12S: 81 EM12D: 81 */ int bath_mode; /* EM-1000: 1=deep; 2=medium; 3=shallow EM-12S: 1=shallow equiangle spacing 2=deep equiangle spacing 3=shallow equidistant spacing 4=deep 120 degree equidistant 5=deep 105 degree equidistant 6=deep 90 degree equidistant EM-12D: 1=shallow equiangle spacing 2=deep equiangle spacing 3=shallow equidistant spacing 4=deep 150 degree equidistant 5=deep 140 degree equidistant 6=deep 128 degree equidistant 7=deep 114 degree equidistant 8=deep 98 degree equidistant */ int bath_res; /* EM-12 only: 1=high res; 2=low res */ int bath_quality; /* number of good beams, negative if ping rejected */ int keel_depth; /* depth of most vertical beam: EM-1000: 0.02 meters EM-12 high res: 0.10 meters EM-12 low res: 0.20 meters */ int heading; /* 0.1 degrees */ int roll; /* 0.01 degrees */ int pitch; /* 0.01 degrees */ int xducer_pitch; /* 0.01 degrees */ int ping_heave; /* 0.01 meters */ int sound_vel; /* 0.1 meters/sec */ short int bath[MBF_EM12IFRM_MAXBEAMS]; /* depths: EM-1000: 0.02 meters EM-12 high res: 0.10 meters EM-12 low res: 0.20 meters */ short int bath_acrosstrack[MBF_EM12IFRM_MAXBEAMS]; /* acrosstrack distances: EM-1000: 0.1 meters EM-12 high res: 0.2 meters EM-12 low res: 0.5 meters */ short int bath_alongtrack[MBF_EM12IFRM_MAXBEAMS]; /* alongtrack distances: EM-1000: 0.1 meters EM-12 high res: 0.2 meters EM-12 low res: 0.5 meters */ short int tt[MBF_EM12IFRM_MAXBEAMS]; /* meters */ /* travel times: EM-1000: 0.05 msec EM-12 high res: 0.20 msec EM-12 low res: 0.80 msec */ mb_s_char amp[MBF_EM12IFRM_MAXBEAMS]; /* 0.5 dB */ mb_u_char quality[MBF_EM12IFRM_MAXBEAMS]; /* meters */ mb_s_char heave[MBF_EM12IFRM_MAXBEAMS]; /* 0.1 meters */ /* sidescan */ int pixels_ssraw; /* total number of samples for this ping */ int ss_mode; /* 1 = EM-12 shallow: 0.6 m/sample 2 = EM-12 deep: 2.4 m/sample 3 = EM-1000 deep: 0.3 m/sample 4 = EM-1000 medium: 0.3 m/sample 5 = EM-1000 shallow: 0.15 m/sample */ short int beam_frequency[MBF_EM12IFRM_MAXBEAMS]; /* 0 = 12.67 kHz 1 = 13.00 kHz 2 = 13.33 kHz 3 = 95.00 kHz */ short int beam_samples[MBF_EM12IFRM_MAXBEAMS]; /* number of sidescan samples derived from each beam */ short int beam_center_sample[MBF_EM12IFRM_MAXBEAMS]; /* center beam sample number among samples from one beam */ short int beam_start_sample[MBF_EM12IFRM_MAXBEAMS]; /* start beam sample number among samples from entire ping */ mb_s_char ssraw[MBF_EM12IFRM_MAXRAWPIXELS]; short int ssp[MBF_EM12IFRM_MAXRAWPIXELS]; int pixel_size; /* processed sidescan pixel size in cm */ int pixels_ss; /* number of processed sidescan pixels stored */ short ss[MBF_EM12IFRM_MAXPIXELS]; /* the processed sidescan ordered port to starboard */ short ssalongtrack[MBF_EM12IFRM_MAXPIXELS]; /* the processed sidescan alongtrack distances in distance resolution units */ };