/*-------------------------------------------------------------------- * The MB-system: mbsys_elacmk2.h 6/10/97 * $Id: mbsys_elacmk2.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1997-2012 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_elacmk2.h defines the data structures used by MBIO functions * to store data from Elac BottomChart Mark II multibeam sonar systems. * The data formats which are commonly used to store Elac * data in files include * MBF_ELMK2UNB : MBIO ID 92 * * * Author: D. W. Caress (L-DEO) * Date: August 20, 1994 * * $Log: mbsys_elacmk2.h,v $ * Revision 5.7 2005/11/05 00:48:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.6 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.5 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.4 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.3 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.2 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * 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 4.2 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.1 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.0 1997/07/25 14:25:40 caress * Version 4.5beta2. * * Revision 1.1 1997/07/25 14:19:53 caress * Initial revision * */ /* * Notes on the MBF_ELMK2UNB data format: * 1. Elac multibeam systems output binary data telegrams. * 2. Elac BottomChart Mark II sonar systems output both bathymetry * and amplitude information for 126 beams per telegram. * 3. Each ping produces 42 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 54 data bytes * 0x0253: Sound velocity profile 2016 data bytes * 0x0258: Mark II general bathymetry wrapper 24 data bytes * Mark II general bathymetry beam 28 data bytes * 6. Elac systems record navigation fixes using the position * telegram; navigation is not 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_ELACMK2_UNKNOWN 0 #define MBSYS_ELACMK2_BOTTOMCHART_MARKII 3 /* maximum number of beams and pixels */ #define MBSYS_ELACMK2_MAXBEAMS 126 #define MBSYS_ELACMK2_MAXSVP 500 #define MBSYS_ELACMK2_COMMENT_LENGTH 200 /* telegram types */ #define ELACMK2_NONE 0 #define ELACMK2_COMMENT 0x0250 #define ELACMK2_POS 0x0251 #define ELACMK2_PARAMETER 0x0252 #define ELACMK2_SVP 0x0253 #define ELACMK2_BATHGEN 0x0258 /* telegram sizes */ #define ELACMK2_COMMENT_SIZE 200 #define ELACMK2_POS_SIZE 36 #define ELACMK2_PARAMETER_SIZE 54 #define ELACMK2_SVP_SIZE 2016 #define ELACMK2_BATH56_SIZE 848 #define ELACMK2_BATH40_SIZE 608 #define ELACMK2_BATH32_SIZE 488 #define ELACMK2_BATHGEN_HDR_SIZE 24 #define ELACMK2_BATHGEN_BEAM_SIZE 28 /* internal data structure */ struct mbsys_elacmk2_beam_struct { unsigned int bath; /* 0.01 m */ int bath_acrosstrack; /* 0.01 m */ int bath_alongtrack; /* 0.01 m */ unsigned int tt; /* 0.05 ms */ int quality; /* 1 (best) to 8 (worst) */ int amplitude; /* dB + 128 */ unsigned short time_offset; /* 0.5 ms */ short heave; /* 0.001 meters */ short roll; /* 0.005 degrees */ short pitch; /* 0.005 degrees */ short angle; /* 0.005 degrees */ }; struct mbsys_elacmk2_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 line_number; short start_or_stop; short transducer_serial_number; /* comment */ char comment[MBSYS_ELACMK2_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_ELACMK2_MAXSVP]; /* 0.1 meters */ int svp_vel[MBSYS_ELACMK2_MAXSVP]; /* 0.1 meters/sec */ /* general bathymetry */ int year; int month; int day; int hour; int minute; int second; int hundredth_sec; int thousandth_sec; double longitude; double latitude; double speed; int ping_num; int sound_vel; /* 0.1 m/s */ int heading; /* 0.01 deg */ int pulse_length; /* 0.01 ms */ int mode; /* 0: omni, 1: RDT (def) */ int source_power; /* 0: low, 1: high */ int receiver_gain_stbd; /* db */ int receiver_gain_port; /* db */ int reserved; int beams_bath; /* number of beams stored */ struct mbsys_elacmk2_beam_struct beams[MBSYS_ELACMK2_MAXBEAMS]; }; /* system specific function prototypes */ int mbsys_elacmk2_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_elacmk2_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_elacmk2_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_elacmk2_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_elacmk2_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_elacmk2_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_elacmk2_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_elacmk2_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_elacmk2_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_elacmk2_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_elacmk2_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_elacmk2_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_elacmk2_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);