/*-------------------------------------------------------------------- * The MB-system: mbsys_benthos.h 3/29/2011 * $Id: mbsys_benthos.h 1960 2012-06-07 00:15:58Z caress $ * * Copyright (c) 2012-2012 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. *--------------------------------------------------------------------*/ /* * mbsys_benthos.h defines the data structures used by MBIO functions * to store data from Benthos SIS1624 Sidescan sonar systems. * The formats associated with this i/o module are: * MBF_XTFB1624 : MBIO ID 211 * * Author: Jens Renken (MARUM/University of Bremen) * Date: March 29, 2011 * * Author: D. W. Caress * Date: 2 May 2012 (when the code was brought into the MB-System archive as a read-only i/o module) * * $Log: $ * */ /* * Notes on the MBSYS_BENTHOS data: * */ /* sonar types */ #define MBSYS_BENTHOS_UNKNOWN 0 #define MBSYS_BENTHOS_SIS1624 1624 /* maximum number of beams and pixels */ #define MBSYS_BENTHOS_MAXBEAMS 1 #define MBSYS_BENTHOS_MAXRAWPIXELS 15360 #define MBSYS_BENTHOS_MAXPIXELS (15360 * 2) #define MBSYS_BENTHOS_MAXSVP 0 #define MBSYS_BENTHOS_COMMENT_LENGTH 200 /* internal data structure */ struct mbsys_benthos_struct { /* type of data record */ int kind; /* Data kind */ /* type of sonar */ int sonar; /* Type of Benthos sonar */ /* parameter info */ float MBOffsetX; float MBOffsetY; float MBOffsetZ; float NavLatency; /* GPS_time_received - GPS_time_sent (sec) */ float NavOffsetY; /* Nav offset (m) */ float NavOffsetX; /* Nav offset (m) */ float NavOffsetZ; /* Nav z offset (m) */ float NavOffsetYaw; /* Heading offset (m) */ float MRUOffsetY; /* Multibeam MRU y offset (m) */ float MRUOffsetX; /* Multibeam MRU x offset (m) */ float MRUOffsetZ; /* Multibeam MRU z offset (m) */ float MRUOffsetPitch; /* Multibeam MRU pitch offset (degrees) */ float MRUOffsetRoll; /* Multibeam MRU roll offset (degrees) */ /* nav data */ double nav_time_d; double nav_longitude; double nav_latitude; float nav_heading; /* attitude data */ double att_timetag; float att_heading; float att_heave; float att_roll; float att_pitch; /* comment */ char comment[MBSYS_BENTHOS_COMMENT_LENGTH]; /* sound velocity profile -> discarded */ /* survey data */ double png_time_d; double png_latency; double png_latitude; double png_longitude; double png_speed; /* km/hr */ double png_roll; double png_pitch; double png_heading; double png_heave; float png_rtsv; /* round trip soundvelocity */ float png_computedsv; /* computed sound velocity */ float png_pressure; /* pressure in psi */ float png_depth; /* depth in meter */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned int ping_number; /* sequential ping number from sonar startup/reset */ float ssrawtimedelay; /* raw sidescan delay (sec) */ float ssrawtimeduration; /* raw sidescan duration (sec) */ float ssrawbottompick; /* bottom pick time (sec) */ float ssrawslantrange; /* slant range (m) */ float ssrawgroundrange; /* ground range (m) */ unsigned short ssfrequency; unsigned short ssportinitgain; unsigned short ssstbdinitgain; unsigned short ssportgain; unsigned short ssstbdgain; unsigned short ssrawportsamples; /* number of port raw sidescan samples */ unsigned short ssrawstbdsamples; /* number of stbd raw sidescan samples */ unsigned short ssrawport[MBSYS_BENTHOS_MAXRAWPIXELS]; /* raw port sidescan */ unsigned short ssrawstbd[MBSYS_BENTHOS_MAXRAWPIXELS]; /* raw starboard sidescan */ int beams_bath; int pixels_ss; double pixel_size; char beamflag[MBSYS_BENTHOS_MAXBEAMS]; /* beamflags */ double bath[MBSYS_BENTHOS_MAXBEAMS]; /* bathymetry (m) */ double ss[MBSYS_BENTHOS_MAXPIXELS]; /* sidescan */ double ss_acrosstrack[MBSYS_BENTHOS_MAXPIXELS]; /* acrosstrack distance (m) */ double ss_alongtrack[MBSYS_BENTHOS_MAXPIXELS]; /* alongtrack distance (m) */ }; /* system specific function prototypes */ int mbsys_benthos_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_benthos_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_benthos_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_benthos_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_benthos_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_benthos_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error); int mbsys_benthos_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_benthos_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_benthos_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error); int mbsys_benthos_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_benthos_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int *error);