/*-------------------------------------------------------------------- * The MB-system: mbf_omghdcsj.h 3/10/99 * $Id: mbf_omghdcsj.h 1981 2012-08-03 00:19:41Z caress $ * * Copyright (c) 1999-2012 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_omghdcsj.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_OMGHDCSJ format (MBIO id 141). * * Author: D. W. Caress * Date: March 10, 1999 * * $Log: mbf_omghdcsj.h,v $ * Revision 5.3 2008/03/14 18:33:21 caress * Updated support for JHC format 151. * * 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 4.1 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.0 1999/03/31 18:29:20 caress * MB-System 4.6beta7 * * Revision 1.1 1999/03/31 18:11:35 caress * Initial revision * * */ /* * Notes on the MBF_OMGHDCSJ data format: * 1. The OMG-HDCS format is a collection of similar data * formats used by the seafloor mapping software * developed by Dr. John Hughes Clarke (Ocean Mapping * Group of the University of New Brunswick). A variety * of sonars are supported in OMG-HDCS. * 2. OMG-HDCS files all begin with a summary header that * specifies the format version, the data source * (type of sonar), the number of records, and the * minimum and maximum values of position and data * values. * 3. The summary header is followed by a set of uniformly * sized data records. The data record size is determined * by the format version and data source. Ecch record is * is divided into a profile (header) and an array of * beam structures. * 4. Sidescan imagery can be stored in parallel files in * the same directory as the primary bathymetry and * amplitude files. The sidescan files have the suffix * ".ss_data" added to the end of the primary file's name. * 5. Comment records are encoded in MBIO by setting the first * eight bytes of the data record header (profile) to '#' * values. The profile part of the comment record will have * the same size as expected for data from the tool type * listed in the summary. However, the data section for * comment records will always be 256 bytes long regardless * of the tool type. This mechanism is supported only by * MB-System. * */ /* defines sizes and maximums */ #define MBF_OMGHDCSJ_SUMMARY_SIZE 96 #define MBF_OMGHDCSJ_SUMMARY_V4EXTRA_SIZE 168 #define MBF_OMGHDCSJ_MAX_COMMENT 252 #define MBF_OMGHDCSJ_MAX_BEAMS 1440 #define MBF_OMGHDCSJ_MAX_PIXELS 1024 /* define tables of data record sizes */ #define MBF_OMGHDCSJ_PROFILE_LENGTH 0 #define MBF_OMGHDCSJ_MAX_NO_BEAMS 1 #define MBF_OMGHDCSJ_BEAM_LENGTH 2 #define MBF_OMGHDCSJ_IMAGE_LENGTH 3 static int mbf_omghdcsj_tooldefs1[MBSYS_HDCS_NUM_TOOLS][4] = {/* PRS no. DRS IRS */ /* 0:SingleBeam, */ { 44, 1, 8, 0}, /* 1:ELAC BottomChartMk1*/ { 64, 56, 44, 0}, /* 2:EM12(dual) */ { 64, 162, 64, 0}, /* 3:EM100 (just depths)*/ { 44, 32, 36, 0}, /* 4:FanSweep10 (old) */ { 44, 52, 36, 0}, /* 5:Seabeam "Classic" */ { 24, 19, 24, 0}, /* 6:EM3000S */ { 64, 128, 64, 0}, /* 7:ROSS sweep */ { 44, 16, 12, 0}, /* 8:EM12(single) */ { 64, 81, 64, 0}, /* 9:EM100+Amplitudes */ { 64, 32, 44, 0}, /* 10:EM1000 */ { 64, 60, 64, 0}, /* 11:LADS secondary */ { 44, 24, 36, 0}, /* 12:EM3000D */ { 64, 256, 64, 0}, /* 13:Seabeam 2100 */ { 44, 151, 44, 0}, /* 14:ISIS Submetrix */ { 44, 128, 44, 0}, /* 15:EM-1000 (justampl) */ { 44, 60, 44, 0}, /* 16:SB2K */ { 64, 121, 64, 0}, /* 17:Seabat9001 */ { 44, 60, 44, 0}, /* 18:FanSweep 10 A */ { 64, 52, 64, 0}, /* 19:FanSweep 20 */ { 64, 600, 64, 0}, /* 20:ISIS SWA format */ { 64, 1280, 64, 0}, /* 21:SeaBeam 1180 Mk II */ { 64, 42, 64, 0}, /* 22:SeaBat 8101 */ { 64, 101, 64, 0}, /* 23:EM300 */ { 88, 137, 76, 0}, /* 24:EM121A */ { 64, 121, 64, 0}, /* 25:SM2000 */ { 64, 128, 64, 0}, /* 26:HydroSweep MD2 */ {280, 320, 76, 0}, /* 23:EM1002 */ { 88, 111, 76, 0}, /* 28:HUMMIN'BIRD */ { 64, 6, 44, 0}, /* 29:Knudsen 320 */ { 88, 2, 76, 0}, /* 30: EM 120 */ { 88, 191, 76, 0}, /* 31:SeaBat 8125 */ { 64, 240, 64, 0}, /* 32:SeaBat 8111 */ { 64, 101, 64, 0}, /* 33:SeaBat 8150 */ { 64, 234, 64, 0}, /* 34:EM3002 */ { 64, 256, 64, 0}, /* 35:Optech Laser */ { 64, 100, 64, 0}, /* 36:EM710 400 beam */ { 64, 400, 64, 0}, /* 37:EM3002D */ { 64, 512, 64, 0}, /* 38:SeaBat 8160 */ { 64, 126, 64, 0}, /* 39:SEA SwathPlus */ { 64, 600, 64, 0}, /* 40:EM122 */ { 64, 432, 64, 0}, /* 41:EM302 432?? */ { 64, 432, 64, 0}, /* 42:SeaBat 7125 */ { 64, 512, 64, 0}, /* 43:R2Sonic 2024 */ { 64, 256, 64, 0}, /* 44:SeaBat 7150 */ { 64, 880, 64, 0}, /* 45:OMG GLORIA */ { 1, 1024, 1, 0} }; static int mbf_omghdcsj_tooldefs2[MBSYS_HDCS_NUM_TOOLS][4] = {/* PRS no. DRS IRS */ /* 0:SingleBeam, */ { 32, 1, 20, 0}, /* 1:ELAC Bottom_Chart */ { 32, 56, 12, 0}, /* 2:EM12(dual) */ { 32, 162, 00, 0}, /* 3:EM100 (just depths)*/ { 32, 32, 00, 0}, /* 4:FanSweep */ { 32, 52, 00, 0}, /* 5:Seabeam */ { 32, 19, 10, 0}, /* 6:EM3000S */ { 32, 128, 20, 0}, /* 7:ROSS sweep */ { 32, 16, 10, 0}, /* 8:EM12(single) */ { 32, 81, 20, 0}, /* 9:EM100+Amplitudes */ { 32, 32, 12, 0}, /* 10:EM1000 */ { 32, 60, 20, 0}, /* 11:LADS secondary */ { 32, 24, 12, 0}, /* 12:EM3000D */ { 32, 256, 20, 0}, /* 13:Seabeam 2100 */ { 32, 151, 12, 0}, /* 14:ISIS Submetrix */ { 32, 128, 20, 0}, /* 15:EM-1000 (justampl) */ { 32, 60, 00, 0}, /* 16:SB2K */ { 32, 121, 00, 0}, /* 17:Seabat9001 */ { 32, 60, 12, 0}, /* 18:FanSweep 10 A */ { 32, 52, 20, 0}, /* 19:FanSweep 20 */ { 32, 600, 12, 0}, /* 20:ISIS SWA format */ { 32, 1280, 8, 0}, /* 21:SeaBeam 1180 Mk II */ { 32, 42, 12, 0}, /* 22:SeaBat 8101 */ { 32, 101, 12, 0}, /* 23:EM300 */ { 32, 137, 20, 0}, /* 24:EM121A */ { 32, 121, 20, 0}, /* 25:SM2000 */ { 32, 128, 20, 0}, /* 26:HydroSweep MD2 */ { 32, 320, 20, 0}, /* 27:EM1002 */ { 32, 111, 20, 0}, /* 28:HUMMIN'BIRD */ { 32, 6, 12, 0}, /* 29:Knudsen 320 */ { 32, 2, 20, 0}, /* 30: EM 120 */ { 32, 191, 20, 0}, /* 31:SeaBat 8125 */ { 32, 240, 12, 0}, /* 32:SeaBat 8111 */ { 32, 101, 12, 0}, /* 33:SeaBat 8150 */ { 32, 234, 12, 0}, /* 34:EM3002 */ { 32, 256, 20, 0}, /* 35:Optech Laser */ { 32, 100, 20, 0}, /* 36:EM710 400 beam */ { 32, 400, 20, 0}, /* 37:EM3002D */ { 32, 512, 20, 0}, /* 38:SeaBat 8160 */ { 32, 126, 12, 0}, /* 39:SEA SwathPlus */ { 32, 600, 12, 0}, /* 40:EM122 432 beam */ { 32, 432, 20, 0}, /* 41:EM302 432?????? */ { 32, 432, 20, 0}, /* 42:SeaBat 7125 */ { 64, 512, 64, 0}, /* 43:R2Sonic 2024 */ { 32, 256, 12, 0}, /* 44:SeaBat 7150 */ { 32, 880, 12, 0}, /* 45:OMG GLORIA */ { 1, 1024, 1, 0} }; static int mbf_omghdcsj_tooldefs3[MBSYS_HDCS_NUM_TOOLS][4] = {/* PRS no. DRS IRS */ /* 0:SingleBeam, */ { 32, 1, 20, 0}, /* 1:ELAC Bottom_Chart */ { 32, 56, 12, 0}, /* 2:EM12(dual) */ { 32, 162, 00, 0}, /* 3:EM100 (just depths)*/ { 32, 32, 00, 0}, /* 4:FanSweep */ { 32, 52, 00, 0}, /* 5:Seabeam */ { 32, 19, 10, 0}, /* 6:EM3000S */ { 32, 128, 28, 0}, /* 7:ROSS sweep */ { 32, 16, 10, 0}, /* 8:EM12(single) */ { 32, 81, 28, 0}, /* 9:EM100+Amplitudes */ { 32, 32, 12, 0}, /* 10:EM1000 */ { 56, 60, 28, 0}, /* 11:LADS secondary */ { 32, 24, 12, 0}, /* 12:EM3000D */ { 32, 256, 28, 0}, /* 13:Seabeam 2100 */ { 56, 151, 28, 0}, /* 14:ISIS Submetrix */ { 36, 128, 28, 0}, /* 15:EM-1000 (justampl) */ { 32, 60, 00, 0}, /* 16:SB2K */ { 32, 121, 00, 0}, /* 17:Seabat9001 */ { 32, 60, 20, 0}, /* 18:FanSweep 10 A */ { 32, 52, 20, 0}, /* 19:FanSweep 20 */ {272, 600, 28, 0}, /* 20:ISIS SWA format */ { 32, 1280, 8, 0}, /* 21:SeaBeam 1180 Mk II */ {272, 42, 28, 0}, /* 22:SeaBat 8101 */ {272, 101, 28, 0}, /* 23:EM300 */ { 56, 135, 28, 0}, /* 24:EM121A */ { 32, 121, 28, 0}, /* 25:SM2000 */ { 56, 128, 28, 0}, /* 26:HydroSweep MD2 */ {272, 320, 28, 0}, /* 27:EM1002 */ { 56, 111, 28, 0}, /* 28:HUMMIN'BIRD */ { 32, 6, 28, 0}, /* 29:Knudsen 320 */ { 36, 2, 28, 0}, /* 30: EM 120 */ { 56, 191, 28, 0}, /* 31:SeaBat 8125 */ {272, 240, 28, 0}, /* 32:SeaBat 8111 */ {272, 101, 28, 0}, /* 33:SeaBat 8150 */ {272, 234, 28, 0}, /* 34:EM3002 */ { 32, 256, 28, 0}, /* 35:Optech Laser */ { 32, 100, 28, 0}, /* 36:EM710 400 beam */ { 32, 400, 28, 0}, /* 37:EM3002D */ { 32, 512, 28, 0}, /* 38:SeaBat 8160 */ {272, 126, 28, 0}, /* 39:SEA SwathPlus */ { 32, 600, 28, 0}, /* 40:EM122 432 beam */ { 32, 432, 28, 0}, /* 41:EM302 432?????? */ { 32, 432, 28, 0}, /* 42:SeaBat 7125 */ { 272, 512, 28, 0}, /* Using 272 for now until v4 setup for it */ /* 43:R2Sonic 2024 */ { 272, 256, 28, 0}, /* 44:SeaBat 7150 */ { 272, 880, 28, 0}, /* 45:OMG GLORIA */ { 1, 1024, 1, 0} }; /* define OMG-HDCS summary header structure */ struct mbf_omghdcsj_summary_struct { int sensorNumber; /* 1 = depth file */ int subFileID; /* 1 = data (as opposed to index) */ int fileVersion; /* 1 = original format */ /* 2 = packed format for EM1000 and others */ /* 3 = packed format for EM300 */ int toolType; /* Tool Type implies Profile Record Size and Depth Record Size and Image Record Size */ int numProfiles; /* # of profiles in the file */ int numDepths; /* # of depths in the file */ int timeScale; /* time scale (# of uSec. units) */ int refTime; /* Reference time (100 sec. units) */ int minTime; /* Minimum time (offset wrt. ref.) */ int maxTime; /* Maximum time (offset wrt. ref.) */ int positionType; /* Geographic(1)/ UTM(2) */ int positionScale; /* Position scale (# of nRad. units) */ int refLat; /* Reference latitude (100 nRadians) */ int minLat; /* Minimum latitude (offset wrt. ref.) */ int maxLat; /* Maximum latitude (offset wrt. ref.) */ int refLong; /* Reference longitude (100 nRadians) */ int minLong; /* Minimum longitude (offset wrt. ref.) */ int maxLong; /* Maximum longitude (offset wrt. ref.) */ int minObsDepth; /* Minimum depth (mm) */ int maxObsDepth; /* Maximum depth (mm) */ int minProcDepth; /* Minimum depth (mm) */ int maxProcDepth; /* Maximum depth (mm) */ int status; /* status not actually used at all .... */ /*** V4 ***/ int totalProfileBytes; int Profile_BitsDefining[20]; int totalBeamBytes; int Beam_BitsDefining[20]; }; /* specific FOR ATLAS SAPI data */ struct mbf_omghdcs_profile_subparams_struct { unsigned short txBeamIndex; unsigned short txLevel; short txBeamAngle; unsigned short txPulseLength; unsigned int ss_offset; unsigned short no_skipped_ss; unsigned short no_acquired_ss; unsigned short ss_sample_interval; unsigned short bscatClass; unsigned short nrActualGainSets; short rxGup; short rxGain; short ar; unsigned short rxtime[20]; short rxgain[20]; }; /* define profile record structure */ struct mbf_omghdcsj_profile_struct{ int status; /* status is either OK (0) or no nav (1) or unwanted for gridding (2) or comment record (999) (MB-System only) */ int numDepths; /* Number of depths in profile */ int numSamples; /* Number of sidescan samples in parallel file */ int timeOffset; /* Time offset wrt. header */ int vesselLatOffset; /* Latitude offset wrt. header */ int vesselLongOffset;/* Longitude offset wrt. header */ int vesselHeading; /* Heading (100 nRadians) */ int vesselHeave; /* Heave (mm) */ int vesselPitch; /* Vessel pitch (100 nRadians) */ int vesselRoll; /* Vessel roll (100 nRadians) */ int tide; /* Tide (mm) */ int vesselVelocity; /* Vessel Velocity (mm/s) note - transducer pitch is generally tucked into the vel field */ /* the above fields are sufficient for original EM100 data without imagery but later data often requires more fields below */ char power; char TVG; char attenuation; char edflag; int soundVelocity; /* mm/s */ int lengthImageDataField; int pingNo; char mode; char Q_factor; char pulseLength; /* centisecs*/ mb_u_char unassigned; /* the fields below were added to cope with EM300 */ unsigned short td_sound_speed; unsigned short samp_rate; mb_u_char z_res_cm; mb_u_char xy_res_cm; mb_u_char ssp_source; mb_u_char filter_ID; unsigned short absorp_coeff; unsigned short tx_pulse_len; unsigned short tx_beam_width; unsigned short max_swath_width; mb_u_char tx_power_reduction; mb_u_char rx_beam_width; mb_u_char rx_bandwidth; mb_u_char rx_gain_reduction; mb_u_char tvg_crossover; mb_u_char beam_spacing; mb_u_char coverage_sector; mb_u_char yaw_stab_mode; /* V4 */ /* extra from HydroSweep MD2 Surf data */ struct mbf_omghdcs_profile_subparams_struct params[2]; int transducerDepth; /* transducer or towfish depth */ int transducerPitch; /* Transducer pitch (100 nRadians) */ int transducerRoll; /* Transducer roll (100 nRadians) */ /* enough for dyn. stab transducer */ int transducerHeading; /* Transducer pitch (100 nRadians) */ int transducerLatOffset; /* Latitude offset wrt. vessel */ int transducerLongOffset; /* Longitude offset wrt. vessel */ int transducerSlantRange; /*slantRange(mm) wrt. vessel (cable out) */ int transducerAcross; /* horizontal Range (mm) wrt. vessel */ int transducerAlong; /* horizontal Range (mm) wrt. vessel */ int transducerBearing; /* Bearing (100nRads) wrt. vessel */ /* NEW EXTRA Fields that can be added in V4 based on bits in the extended summary header */ short longperiod_heaveCorrection; short dynamic_draftCorrection; short deepdraftoffset_in_metres; short draft_at_Tx; short alternateRoll; short alternatePitch; short alternateHeave; short alternateHeading; short standaloneHeading; short RTK_at_RP; /* in cm units so that can support +/- 320m. */ short Lowpass_RTK_at_RP; /* in cm units so that can support +/- 320m. */ short WLZ; unsigned short samp_rate_SecondHead; signed int clock_drift_millis; /* added June 2005 to support EM3002, EM710 water column telegrams */ unsigned int watercol_offset; unsigned int watercol_size; /* added June 2008 to support second head of EM3002D water column telegrams */ unsigned int watercol_offset_2nd; unsigned int watercol_size_2nd; /* New fields to accomodate un-TVG-ing kongsberg data */ unsigned short range_to_normal_incidence; /* units of 1,000,000,000 of the Optech laser microsecond(?) time stamp */ unsigned int laser_timestampRef; /* Added to accomodate EM710 (and EM302/EM122) transmit sector info */ unsigned int tx_sector_offset; unsigned short num_tx_sectors; /* New fields for Reson 7K systems */ unsigned int sonar_settings_offset; unsigned int ping_number; /* These aren't done yet */ unsigned short multi_ping_sequence; unsigned int num_beams; /* Which is different than numDepths... */ /* (which is usually the number of possible depths and not ACTUAL depths */ /* e.g. high-density vs. low-density mode in KM systems) */ unsigned char layer_compensation_flag; float bs_beam_position; unsigned int bs_control_flags; unsigned short bs_num_beams_per_side; unsigned short bs_current_beam_number; unsigned char bs_sample_descriptor; unsigned int snippet_sample_descriptor; }; /* define beam record structure */ struct mbf_omghdcsj_beam_struct { int status; /* status is either OK (0) or bad (other) */ /* V4 Only */ mb_u_char scaling_factor; /* unsigned char nothing[3]; */ /* Done V4 */ int observedDepth; /* Depth (mm) */ int acrossTrack; /* Across track position of depth (mm) */ int alongTrack; /* Along track position of depth (mm) */ int latOffset; /* Latitude offset wrt. profile */ int longOffset; /* Longitude offset wrt. profile */ int processedDepth; /* Depth (mm) */ int timeOffset; int depthAccuracy; /* Depth accuracy (mm) */ mb_u_char reflectivity; char Q_factor; /* phase or amplitude detection */ char beam_no; char freq; /* 12.7, 13.0, 13.3, 95.0, Smii, GLORIA */ char calibratedBackscatter; /* effects of power/TVG and atten. removed*/ char mindB; char maxdB; mb_u_char pseudoAngleIndependentBackscatter; /* corrected for mean angular dependence for geological visualisation */ int range; /* other option on EM 12 */ int no_samples; int offset; int centre_no; char sample_unit; /* whether in time or distance */ char sample_interval; /* seconds or metres */ char dummy[2]; mb_u_char samp_win_length; short beam_depress_angle; unsigned short beam_heading_angle; /* NEW EXTRA Fields that can be added depending on bits in the V4 summary header */ unsigned short other_range; signed short Tx_steer; signed short Rc_steer; mb_u_char TxSector; unsigned int timestampOffset; /* really is a 64 bit integer, trying to compress */ /* would'nt even need if didn't have to relate wavefile by this number */ unsigned short no_RAMAN; unsigned short no_IR; unsigned short no_GAPD; unsigned short no_PMT; mb_u_char prim_depth_conf; mb_u_char seco_depth_conf; signed short scan_azimuth; /* 100ths of degree */ unsigned short nadir_angle; /* 100ths of degree */ /* always dynamically compressed for v4 using scaling factor */ signed int secondaryDepth; /* Depth (mm) remember can be +ve or -ve */ signed short wave_height; /* even NEWER stuff to support custom Pim extra bottom detect solution for Optech laser trace data. */ signed int opaqueDepth_PMT; /* Depth (mm) */ signed int extinctionDepth_PMT; /* Depth (mm) */ signed int pimDepth_PMT; /* Depth (mm) */ signed int opaqueDepth_GAPD; /* Depth (mm) */ signed int extinctionDepth_GAPD; /* Depth (mm) */ signed int pimDepth_GAPD; /* Depth (mm) */ /*A few extras for Reson 7k systems */ float twtt; unsigned int snippet_first_sample; unsigned int snippet_last_sample; float intensity; }; /* define data holding structure */ struct mbf_omghdcsj_data_struct { struct mbf_omghdcsj_beam_struct *beams; mb_s_char *ss_raw; int pixel_size; /* processed sidescan pixel size in mm */ int pixels_ss; /* number of processed sidescan pixels stored */ short ss_proc[MBF_OMGHDCSJ_MAX_PIXELS]; /* the processed sidescan ordered port to starboard */ int ssalongtrack[MBF_OMGHDCSJ_MAX_PIXELS]; /* the processed sidescan alongtrack distances in mm */ }; /* structure to hold everything */ struct mbf_omghdcsj_struct { int kind; struct mbf_omghdcsj_summary_struct summary; struct mbf_omghdcsj_profile_struct profile; char comment[MBF_OMGHDCSJ_MAX_COMMENT]; struct mbf_omghdcsj_data_struct data; char *buffer; }; /* BIT Masks */ /* ZEROTH LONG WORD */ /* ---------------------------------------------------------------------- */ #define BEAM_ui_status 0x00000001 #define BEAM_uc_scaling_factor 0x00000002 #define BEAM_si_observedDepth 0x00000004 #define BEAM_si_acrossTrack 0x00000008 #define BEAM_si_alongTrack 0x00000010 #define BEAM_si_latOffset 0x00000020 #define BEAM_si_longOffset 0x00000040 #define BEAM_si_processedDepth 0x00000080 #define BEAM_si_timeOffset 0x00000100 #define BEAM_si_depthAccuracy 0x00000200 /* ---------------------------------------------------------------------- */ /* ONE'TH LONG WORD */ /* this is stuff you'd only have if you have a single value per beam */ #define BEAM_uc_reflectivity 0x00000001 #define BEAM_sc_Q_factor 0x00000002 #define BEAM_uc_beam_no 0x00000004 #define BEAM_uc_freq 0x00000008 #define BEAM_uc_calibratedBackscatter 0x00000010 #define BEAM_uc_mindB 0x00000020 #define BEAM_uc_maxdB 0x00000040 #define BEAM_uc_pseudoAngleIndependentBackscatter 0x00000080 /* ---------------------------------------------------------------------- */ /* TWO'TH LONG WORD */ /* this is stuff you'd only have if you have snippets */ #define BEAM_ui_range 0x00000001 #define BEAM_ui_no_samples 0x00000002 #define BEAM_ui_offset 0x00000004 #define BEAM_si_centre_no 0x00000008 #define BEAM_uc_sample_unit 0x00000010 #define BEAM_uc_sample_interval 0x00000020 #define BEAM_uc_dummy0 0x00000040 #define BEAM_uc_dummy1 0x00000080 #define BEAM_uc_samp_win_length 0x00000100 /*---------------------------------------------------------------------- */ /* THREE'TH LONG WORD */ /* this is stuff you'd only have if you are serious about recalcuating the beam vector */ #define BEAM_ss_beam_depress_angle 0x00000001 #define BEAM_us_beam_heading_angle 0x00000002 #define BEAM_us_other_range 0x00000004 #define BEAM_ss_Tx_steer 0x00000008 #define BEAM_ss_Rc_steer 0x00000010 #define BEAM_uc_TxSector 0x00000020 /* ---------------------------------------------------------------------- */ /* FOUR'TH LONG WORD */ /* this is stuff for SHOAL/CHARTS laser bathymetry */ #define BEAM_ui_timestampOffset 0x00000001 #define BEAM_us_no_RAMAN 0x00000002 #define BEAM_us_no_IR 0x00000004 #define BEAM_us_no_GAPD 0x00000008 #define BEAM_us_no_PMT 0x00000010 #define BEAM_uc_prim_depth_conf 0x00000020 #define BEAM_uc_seco_depth_conf 0x00000040 #define BEAM_ss_scan_azimuth 0x00000080 #define BEAM_us_nadir_angle 0x00000100 #define BEAM_si_secondaryDepth 0x00000200 #define BEAM_ss_wave_height 0x00000400 #define BEAM_si_opaqueDepth_PMT 0x00000800 #define BEAM_si_extinctionDepth_PMT 0x00001000 #define BEAM_si_pimDepth_PMT 0x00002000 #define BEAM_si_opaqueDepth_GAPD 0x00004000 #define BEAM_si_extinctionDepth_GAPD 0x00008000 #define BEAM_si_pimDepth_GAPD 0x00010000 /* ---------------------------------------------------------------------- */ /* FIFTH LONG WORD */ /* Stuff for Reson 7K systems */ #define BEAM_f_twtt 0x00000001 #define BEAM_ui_snippet_first_sample 0x00000002 #define BEAM_ui_snippet_last_sample 0x00000004 #define BEAM_f_intensity 0x00000008 /*************************************************************************** * Profile BitFlags ****************************************************************************/ /* ZEROTH 32 BITS ------------------------------------------------------- */ #define PROF_ui_status 0x00000001 #define PROF_ui_numDepths 0x00000002 /* Number of depths in profile */ #define PROF_ui_timeOffset 0x00000004 /* Time offset wrt. header */ #define PROF_ui_vesselLatOffset 0x00000008 /* Latitude offset wrt. header */ #define PROF_ui_vesselLongOffset 0x00000010 /* Longitude offset wrt. header */ #define PROF_ui_vesselHeading 0x00000020 /* Heading (100 nRadians) */ #define PROF_si_vesselHeave 0x00000040 /* Heave (mm) */ #define PROF_si_vesselPitch 0x00000080 /* Vessel pitch (100 nRadians) */ #define PROF_si_vesselRoll 0x00000100 /* Vessel roll (100 nRadians) */ #define PROF_si_tide 0x00000200 /* Tide (mm) */ #define PROF_ui_vesselVelocity 0x00000400 /* Vessel Velocity (mm/s) */ /* FIRST 32 BITS ------------------------------------------------------- */ #define PROF_uc_power 0x00000001 #define PROF_uc_TVG 0x00000002 #define PROF_uc_attenuation 0x00000004 #define PROF_uc_edflag 0x00000008 #define PROF_ui_soundVelocity 0x00000010 /* mm/s */ #define PROF_ui_lengthImageDataField 0x00000020 #define PROF_ui_pingNo 0x00000040 #define PROF_uc_mode 0x00000080 #define PROF_uc_Q_factor 0x00000100 #define PROF_uc_pulseLength 0x00000200 #define PROF_uc_unassigned 0x00000400 #define PROF_us_td_sound_speed 0x00000800 #define PROF_us_samp_rate 0x00001000 #define PROF_uc_z_res_cm 0x00002000 #define PROF_uc_xy_res_cm 0x00004000 /* SECOND 32 BITS ------------------------------------------------------- */ /* extra from runtime telegram */ #define PROF_uc_ssp_source 0x00000001 #define PROF_uc_filter_ID 0x00000002 #define PROF_us_absorp_coeff 0x00000004 #define PROF_us_tx_pulse_len 0x00000008 #define PROF_us_tx_beam_width 0x00000010 #define PROF_us_max_swath_width 0x00000020 #define PROF_uc_tx_power_reduction 0x00000040 #define PROF_uc_rx_beam_width 0x00000080 #define PROF_uc_rx_bandwidth 0x00000100 #define PROF_uc_rx_gain_reduction 0x00000200 #define PROF_uc_tvg_crossover 0x00000400 #define PROF_uc_beam_spacing 0x00000800 #define PROF_uc_coverage_sector 0x00001000 #define PROF_uc_yaw_stab_mode 0x00002000 /* THIRD 32 BITS ------------------------------------------------------- */ #define PROF_ss_longperiod_heaveCorrection 0x00000100 /* was 32 not anymore */ #define PROF_ss_dynamic_draftCorrection 0x00000200 #define PROF_ss_deepdraftoffset_in_metres 0x00000400 #define PROF_ss_draft_at_Tx 0x00000800 #define PROF_ss_alternateRoll 0x00001000 #define PROF_ss_alternatePitch 0x00002000 #define PROF_ss_alternateHeave 0x00004000 #define PROF_us_alternateHeading 0x00008000 #define PROF_us_standaloneHeading 0x00010000 #define PROF_ss_RTK_at_RP 0x00020000 #define PROF_ss_Lowpass_RTK_at_RP 0x00040000 #define PROF_ss_WLZ 0x00080000 #define PROF_us_samp_rate_SecondHead 0x00100000 #define PROF_si_clock_drift_millis 0x00200000 #define PROF_ui_watercol_offset 0x00400000 #define PROF_ui_watercol_size 0x00800000 #define PROF_us_range_to_normal_incidence 0x01000000 #define PROF_ui_laser_timestampRef 0x02000000 #define PROF_ui_tx_sector_offset 0x04000000 #define PROF_us_num_tx_sectors 0x08000000 #define PROF_ui_watercol_offset_2nd 0x10000000 #define PROF_ui_watercol_size_2nd 0x20000000 /* FOURTH 32 BITS ------------------------------------------------------- */ /* extra from HydroSweep MD2 Surf data */ #define PROF_st_params_PORT 0x00000001 /* presence of port time series */ #define PROF_st_params_STBD 0x00000002 /* presence of stbd time series */ #define PROF_us_txBeamIndex 0x00000004 #define PROF_us_txLevel 0x00000008 #define PROF_ss_txBeamAngle 0x00000010 #define PROF_us_txPulseLength 0x00000020 #define PROF_ui_ss_offset 0x00000040 #define PROF_us_no_skipped_ss 0x00000080 #define PROF_us_no_acquired_ss 0x00000100 #define PROF_us_ss_sample_interval 0x00000200 #define PROF_us_bscatClass 0x00000400 #define PROF_us_nrActualGainSets 0x00000800 #define PROF_ss_rxGup 0x00001000 #define PROF_ss_rxGain 0x00002000 #define PROF_ss_ar 0x00004000 #define PROF_us_rxtimeARRAY 0x00008000 #define PROF_ss_rxgainARRAY 0x00010000 /* FIFTH 32 BITS ------------------------------------------------------- */ #define PROF_si_transducerDepth 0x00000001 #define PROF_si_transducerPitch 0x00000002 #define PROF_si_transducerRoll 0x00000004 #define PROF_ui_transducerHeading 0x00000008 #define PROF_si_transducerLatOffset 0x00000010 #define PROF_si_transducerLongOffset 0x00000020 #define PROF_ui_transducerSlantRange 0x00000040 #define PROF_si_transducerAcross 0x00000080 #define PROF_si_transducerAlong 0x00000100 #define PROF_ui_transducerBearing 0x00000200 /* SIXTH 32 BITS ------------------------------------------------------- */ /* Added for Reson 7K systems */ #define PROF_ui_sonar_settings_offset 0x00000001 #define PROF_ui_ping_number 0x00000002 #define PROF_us_multi_ping_sequence 0x00000004 #define PROF_ui_num_beams 0x00000008 #define PROF_uc_layer_compensation_flag 0x00000010 #define PROF_f_bs_beam_position 0x00000020 #define PROF_ui_bs_control_flags 0x00000040 #define PROF_us_bs_num_beams_per_side 0x00000080 #define PROF_us_bs_current_beam_number 0x00000100 #define PROF_uc_bs_sample_descriptor 0x00000200 #define PROF_ui_snippet_sample_descriptor 0x00000400