/*-------------------------------------------------------------------- * The MB-system: mbsys_elac.h 8/20/94 * $Id: mbsys_elac.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 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_elac.h defines the data structures used by MBIO functions * to store data from Elac SeaBat 9001 multibeam sonar systems. * The data formats which are commonly used to store Elac * data in files include * MBF_BCHRTUNB : MBIO ID 91 * * * Author: D. W. Caress (L-DEO) * Date: August 20, 1994 * * $Log: mbsys_elac.h,v $ * Revision 5.6 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.5 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.4 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.3 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.2 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.6 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.5 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 1.1 1998/10/05 17:46:15 caress * Initial revision * * Revision 4.4 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.3 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1995/07/13 19:15:09 caress * Intermediate check-in during major bug-fixing flail. * * Revision 4.1 1995/07/13 19:15:09 caress * Intermediate check-in during major bug-fixing flail. * * Revision 4.0 1994/10/21 12:35:07 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * * */ /* * Notes on the MBSYS_ELAC data structure: * 1. Elac multibeam systems output binary data telegrams. * 2. Elac BottomChart sonar systems output both bathymetry * and amplitude information for up to 56 beams per telegram. * 3. Each ping produces 8 beams. A wide swath is constructed * by successively pinging in different directions. * 4. Each telegram is preceded by a two byte start code and * followed by a three byte end code consisting of 0x03 * followed by two bytes representing the checksum for * the data bytes. MB-System does not calculate checksums * and puts 0's in the checksum bytes. * 5. The relevent telegram start codes, types, and sizes are: * 0x0250: Comment (Defined only for MB-System) 200 data bytes * 0x0251: Position 36 data bytes * 0x0252: Parameter 56/54 data bytes * 0x0253: Sound velocity profile 2016 data bytes * 0x0254: BottomChart 56 beam bathymetry 848 data bytes * 0x0255: BottomChart 40 beam bathymetry 608 data bytes * 0x0256: BottomChart 32 beam bathymetry 488 data bytes * 6. Elac systems record navigation fixes using the position * telegram; navigation is not always included in the per ping data. * Since speed is not recorded, it is impossible to extrapolate * position from the last navigation fix when processing the * data serially, as MBIO does. It may thus be necessary to extract * the navigation from the position telegrams and remerge it with * the ping telegrams using the program mbmerge. * */ /* sonar types */ #define MBSYS_ELAC_UNKNOWN 0 #define MBSYS_ELAC_BOTTOMCHART 1 /* maximum number of beams and pixels */ #define MBSYS_ELAC_MAXBEAMS 56 #define MBSYS_ELAC_MAXSVP 500 #define MBSYS_ELAC_COMMENT_LENGTH 200 /* telegram types */ #define ELAC_NONE 0 #define ELAC_COMMENT 0x0250 #define ELAC_POS 0x0251 #define ELAC_PARAMETER 0x0252 #define ELAC_SVP 0x0253 #define ELAC_BATH56 0x0254 #define ELAC_BATH40 0x0255 #define ELAC_BATH32 0x0256 #define ELAC_XBATH56 0x0260 #define ELAC_XBATH40 0x0261 #define ELAC_XBATH32 0x0262 /* telegram sizes */ #define ELAC_COMMENT_SIZE 200 #define ELAC_POS_SIZE 36 #define ELAC_PARAMETER_SIZE 56 #define ELAC_SVP_SIZE 2016 #define ELAC_BATH56_SIZE 848 #define ELAC_BATH40_SIZE 608 #define ELAC_BATH32_SIZE 488 #define ELAC_XPARAMETER_SIZE 54 #define ELAC_XBATH56_SIZE 1072 #define ELAC_XBATH40_SIZE 768 #define ELAC_XBATH32_SIZE 616 /* internal data structure */ struct mbsys_elac_profile_struct { int year; int month; int day; int hour; int minute; int second; int hundredth_sec; int thousandth_sec; int latitude; /* 180 deg = 2*pi*e9 */ int longitude; /* 180 deg = 2*pi*e9 */ int roll; /* 0.005 degrees */ int pitch; /* 0.005 degrees */ int heading; /* PI/180 degrees */ int heave; /* 0.001 meters */ int bath[8]; /* depths: 0.01 meters */ int bath_acrosstrack[8]; /* acrosstrack distances: 0.01 meters */ short int bath_alongtrack[8]; /* alongtrack distances: 0.01 meters */ short int tt[8]; /* travel times: 0.05 msec */ short int angle[8]; /* 0.005 degrees */ short int quality[8]; /* 0 (bad) to 3 (good) */ short int amp[8]; /* ??? */ }; struct mbsys_elac_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Elac sonar */ /* parameter info (parameter telegrams) */ int par_year; int par_month; int par_day; int par_hour; int par_minute; int par_second; int par_hundredth_sec; int par_thousandth_sec; short roll_offset; /* roll offset (degrees) */ short pitch_offset; /* pitch offset (degrees) */ short heading_offset; /* heading offset (degrees) */ short time_delay; /* positioning system delay (sec) */ short transducer_port_height; short transducer_starboard_height; short transducer_port_depth; short transducer_starboard_depth; short transducer_port_x; short transducer_starboard_x; short transducer_port_y; short transducer_starboard_y; short transducer_port_error; short transducer_starboard_error; short antenna_height; short antenna_x; short antenna_y; short vru_height; short vru_x; short vru_y; short heave_offset; short line_number; short start_or_stop; short transducer_serial_number; /* comment */ char comment[MBSYS_ELAC_COMMENT_LENGTH]; /* position (position telegrams) */ int pos_year; int pos_month; int pos_day; int pos_hour; int pos_minute; int pos_second; int pos_hundredth_sec; int pos_thousandth_sec; int pos_latitude; /* 180 deg = 2e9 */ int pos_longitude; /* 180 deg = 2e9 */ unsigned int utm_northing; unsigned int utm_easting; int utm_zone_lon; /* 180 deg = 2e9 */ char utm_zone; char hemisphere; char ellipsoid; char pos_spare; int semi_major_axis; int other_quality; /* sound velocity profile */ int svp_year; int svp_month; int svp_day; int svp_hour; int svp_minute; int svp_second; int svp_hundredth_sec; int svp_thousandth_sec; int svp_latitude; /* 180 deg = 2e9 */ int svp_longitude; /* 180 deg = 2e9 */ int svp_num; int svp_depth[MBSYS_ELAC_MAXSVP]; /* 0.1 meters */ int svp_vel[MBSYS_ELAC_MAXSVP]; /* 0.1 meters/sec */ /* bathymetry */ int ping_num; int sound_vel; int mode; int pulse_length; int source_power; int receiver_gain; int profile_num; /* number of profiles stored */ int beams_bath; /* number of beams stored */ struct mbsys_elac_profile_struct profile[7]; }; /* system specific function prototypes */ int mbsys_elac_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_elac_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_elac_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_elac_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_elac_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_elac_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_elac_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_elac_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_elac_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_elac_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_elac_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_elac_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_elac_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);