/*-------------------------------------------------------------------- * The MB-system: mbf_hsatlraw.h 1/20/93 * $Id: mbf_hsatlraw.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1993-2012 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_hsatlraw.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_HSATLRAW format (MBIO id 21). * * Author: D. W. Caress * Date: January 20, 1993 * $Log: mbf_hsatlraw.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 06:34:20 caress * Snapshot for Dale. * * Revision 4.3 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.2 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.1 1994/02/17 21:19:08 caress * Updated associated MBIO format id in comments. * * Revision 4.0 1994/02/17 20:59:54 caress * First cut at new version. No changes. * * Revision 3.0 1993/05/14 22:50:34 sohara * initial version * */ /* * Notes on the MBF_HSATLRAW data format: * 1. Hydrosweep DS multibeam systems output raw data in this * ascii format. The data consists of a number of different * multi-line ascii records. * 2. The DS systems output 59 beams of bathymetry and 59 beams * of backscatter measurements, along with a plethora of other * information. * 3. The records all include navigation and time stamp information. * The record types are: * ERGNHYDI: mean and keel water velocity values * ERGNPARA: navigation when system in standby * ERGNPOSI: navigation source * ERGNMESS: across-track "survey" bathymetry * ERGNEICH: along-track "calibration" bathymetry * ERGNLSZT: travel times associated with * ERGNMESS or ERGNEICH records * ERGNCTDS: water sound velocity profile * ERGNAMPL: amplitudes associated with * ERGNMESS or ERGNEICH records * LDEOCOMM: comment records (an L-DEO extension) * 4. A single ping usually results in the following series of * of records: * 1. ERGNMESS or ERGNEICH * 2. ERGNSLZT * 3. ERGNAMPL * The ERGNHYDI, ERGNPARA, ERGNPOSI and ERGNCTDS records occur * at system startup and when the associated operational * parameters of the Hydrosweep are changed. * 5. The kind value in the mbf_hsatlraw_struct indicates whether the * mbf_hsatlraw_data_struct structure holds data from a ping or * data from some other record: * kind = 1 : data from a survey ping * (ERGNMESS + ERGNSLZT + ERGNAMPL) * kind = 2 : comment (LDEOCOMM) * kind = 3 : data from a calibrate ping * (ERGNEICH + ERGNSLZT + ERGNAMPL) * kind = 4 : mean and keel velocity (ERGNHYDI) * kind = 5 : water velocity profile (ERGNCTDS) * kind = 6 : standby navigation (ERGNPARA) * kind = 7 : navigation source (ERGNPOSI) * 6. The data structure defined below includes all of the values * which are passed in Hydrosweep records. */ /* maximum number of depth-velocity pairs */ #define MBF_HSATLRAW_MAXVEL 30 /* maximum line length in characters */ #define MBF_HSATLRAW_MAXLINE 200 /* number of beams for hydrosweep */ #define MBF_HSATLRAW_BEAMS 59 /* define id's for the different types of raw Hydrosweep records */ #define MBF_HSATLRAW_RECORDS 11 #define MBF_HSATLRAW_NONE 0 #define MBF_HSATLRAW_RAW_LINE 1 #define MBF_HSATLRAW_ERGNHYDI 2 #define MBF_HSATLRAW_ERGNPARA 3 #define MBF_HSATLRAW_ERGNPOSI 4 #define MBF_HSATLRAW_ERGNEICH 5 #define MBF_HSATLRAW_ERGNMESS 6 #define MBF_HSATLRAW_ERGNSLZT 7 #define MBF_HSATLRAW_ERGNCTDS 8 #define MBF_HSATLRAW_ERGNAMPL 9 #define MBF_HSATLRAW_LDEOCMNT 10 char *mbf_hsatlraw_labels[] = { "NONE ", "RAW_LINE", "ERGNHYDI", "ERGNPARA", "ERGNPOSI", "ERGNEICH", "ERGNMESS", "ERGNSLZT", "ERGNCTDS", "ERGNAMPL", "LDEOCMNT"}; struct mbf_hsatlraw_struct { /* type of data record */ int kind; /* position (all records ) */ double lon; double lat; /* time stamp (all records ) */ int year; int month; int day; int hour; int minute; int second; int alt_minute; int alt_second; /* additional navigation and depths (ERGNMESS and ERGNEICH) */ double course_true; double speed_transverse; double speed; char speed_reference[2]; double pitch; int track; double depth_center; double depth_scale; int spare; int distance[MBF_HSATLRAW_BEAMS]; int depth[MBF_HSATLRAW_BEAMS]; /* travel time data (ERGNSLZT) */ double course_ground; double speed_ground; double heave; double roll; double time_center; double time_scale; int time[MBF_HSATLRAW_BEAMS]; double gyro[11]; /* amplitude data (ERGNAMPL) */ char mode[2]; int trans_strbd; int trans_vert; int trans_port; int pulse_len_strbd; int pulse_len_vert; int pulse_len_port; int gain_start; int r_compensation_factor; int compensation_start; int increase_start; int tvc_near; int tvc_far; int increase_int_near; int increase_int_far; int gain_center; double filter_gain; int amplitude_center; int echo_duration_center; int echo_scale_center; int gain[16]; int amplitude[MBF_HSATLRAW_BEAMS]; int echo_scale[16]; int echo_duration[MBF_HSATLRAW_BEAMS]; /* mean velocity (ERGNHYDI) */ double draught; double vel_mean; double vel_keel; double tide; /* water velocity profile (HS_ERGNCTDS) */ int num_vel; double vdepth[MBF_HSATLRAW_MAXVEL]; double velocity[MBF_HSATLRAW_MAXVEL]; /* navigation source (ERGNPOSI) */ double pos_corr_x; double pos_corr_y; char sensors[10]; /* comment (LDEOCMNT) */ char comment[MBF_HSATLRAW_MAXLINE]; };