/*-------------------------------------------------------------------- * The MB-system: mbf_hs10jams.h 12/4/00 * $Id: mbf_hs10jams.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_hs10jams.h defines the data structures used by MBIO functions * to store Furuno HS-10 multibeam sonar data read from the * MBF_HS10JAMS format. * * Author: D. W. Caress * Date: December 4, 2000 * * $Log: mbf_hs10jams.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 2000/12/10 20:24:25 caress * Initial revision. * * */ /* * Notes on the MBF_HS10JAMS data format: * 1. The Furuno HS-10 multibeam sonar generated 45 beams * of bathymetry and amplitude. * 2. To my knowledge, only one Furuno HS-10 multibeam sonar * has been operated. It was installed on S/V Yokosuka, * a JAMSTEC research vessel. The Furuno HS-10 has since been * replaced by a SeaBeam 2112 multibeam sonar. * 3. A specification for the raw HS-10 data format was * provided by JAMSTEC, and is included below. The raw format * consists of 800 byte binary records in which only the * lower 4 bits of each byte are used. * 4. The actual data files provided to WHOI seem to be simple * 716 byte ASCII records with time, lat, lon, heading, * center beam depth, 45 depths, 45 acrosstrack distances, * 45 beam amplitudes. Format 171 supports the actual data * received. * 5. The data received use 5 characters each for depth, * acrosstrack, and amplitude values. Null beams have * depth values of 29999 and acrosstrack values of 99999. * MB-System supports beam flagging by setting flagged * beams negative. * 6. The internal data structure supports the data included * in the format 171 files, and does not yet include values * listed in the raw format spec but not seen in the data * provided. * 7. Comment records are supported as an MB-System extension * where the first two bytes of the 716 byte ASCII records * are "##" * 8. The raw data format specification is as follows: * * ---------------------------------------------------------- * HS-10 MNBES Data Format - JAMSTEC * * 800 bytes/record, 10 records/block * * Note: 4 bits from LSB is effective in each byte. * zB. 30 30 35 39 ---> 0 0 5 9 (HEX) = 89 (DEC) * 30 30 32 3D ---> 0 0 2 D (HEX) = 45 (DEC) * The HS-10 processor calculates the water depth by use of * average sound velocity and by correcting the difference * between the true angle of the sound path (obtained by the * true sound velocity profile) and the nominal angle of each * beam (every 2 degrees). The horizontal distance of the n-th * beam is * Distance(n) = Depth(n) * tan[T(n)], * where T(n) is the nominal angle of the n-th beam: * ( T(n) = 2 * (n-23) degrees, n=1,45 ). * * No. Bytes Data * 1. 4 Year * 2. 4 Month * 3. 4 Day * 4. 4 Hour * 5. 4 Minute * 6. 4 Second * 7. 8 Latitude in 1/10000 minute * 8. 8 Longitude in 1/10000 minute * 9. 8 X in 1/10 metre * 10. 8 Y in 1/10 metre * 11. 4 Ship's speed in 1/10 knot * 12. 4 Ship's heading in 1/10 degree * 13. 4x45 45 Water depths in metre * 14. 4x45 45 Intensity of reflection in dB * 15. 4 Selection of navigation * 0:HYB, 1:ANS, 2:MANU(L/L) 3:MANU(X/Y) * 16. 4 Surface sound velocity in 1/10 m/sec * 17. 8 Initial latitude in 1/10000 minute * 18. 8 Initial longitude in 1/10000 minute * 19. 8 Initial X in 1/10 metre * 20. 8 Initial Y in 1/10 metre * 21. 4 Manual bearing in 1/10 degree * 22. 4 Manual ship's speed in 1/10 knot * 23. 4 Ship's draft in 1/10 metre * 24. 4 Offset X in 1/10 metre * 25. 4 Offset Y in 1/10 metre * 26. 4 Selection of sound velocity * 0:no correction, 1:manual input, 2:calculation correction * 27. 4 Average sound velocity in 1/10 m/sec * 28. 4 Input selection of water temperature * 0:AUTO, 1:MANUAL * 29. 4 Water temperature in 1/10 degree * 30. 4 Tide level in 1/10 metre * 31. 4x10 10 Depth of layer in metre * 32. 4x10 10 Temperature of layer in 1/10 degree * 33. 4x10 10 Salinity in 1/10 per mille * 34. 4x10 10 Sound velocity in 1/10 m/sec * 35. 4 Transmitted pulse width * 0:1m, 1:2m, 2:4m, 3:8m * 36. 4 Level of transmission [1-16] * 1:Off, 16:Max, -2dB in each step * 37. 4 Selection of period of tranmission * 0:Auto, 1:Manual * 38: 4 Period of tranmission in second * 39: 4 Pre-amp ATT * 0:OFF, 1:ON * 40: 4 Receiving gain [1-16] * 1:Off, 16:Max, -2dB in each step * 41. 4 TVG [1-4] * 42. 4 AVG [1-4] * 43. 4 Threshold [1-16] * 44. 4 Gate width (R/L) [1-4] * 45. 4 Gate width (F/B) [1-4] * 46. 4 Selection of beam pattern [1-3] * 47. 4 Interferance removal * 0:OFF, 1:ON * 48. 4 KP shift [1-32] * 49. 4 Sonar mode [0] * 50. not used * ---------------------------------------------------------- * */ * */ #define MBF_HS10JAMS_MAXLINE 716