/* -------------------------------------------------------------------- * The MB-system: mbsys_hsmd.h 8/12/95 * $Header: /system/link/server/cvs/root/mbsystem/src/mbio/mbsys_hsmd.h,v 5.5 2005/11/05 00:48:04 caress Exp $ * * Copyright (c) 1995-2012 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_hsmd.h defines the data structures used by MBIO functions * to store data from Hydrosweep MD (Medium Depth) multibeam sonar systems. * The data formats which are commonly used to store Hydrosweep MD (Medium * Depth data in files include * MBF_HSMBARAW : MBIO ID 101 * MBF_HSMBLDIH : MBIO ID 102 * * Based on mbsys_hsds.h * * Author: Dale Chayes * David W. Caress * Date: August 10, 1995 * * $Log: mbsys_hsmd.h,v $ * Revision 5.5 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.4 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.3 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * 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 4.4 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.3 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.2 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.2 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.0 1995/09/28 18:14:11 caress * First cut. * * Revision 4.0 1995/09/28 18:14:11 caress * First cut. * * Revision 1.1 1995/09/28 18:10:48 caress * Initial revision * * Revision 4.2 95/08/16 07:08:50 07:08:50 dale (Dale Chayes) * Works but not quite right. * * Revision 4.1 95/08/14 20:56:19 20:56:19 dale (Dale Chayes) * HSMD is sort of working.... needs work and testing. * * Revision 4.0 95/08/10 15:58:27 15:58:27 dale (Dale Chayes) * first crack, with formatting and "hs" ds" -> "md" conversions but * not with substantial functional changes. * * * Notes on the MBSYS_HSMD data structure: * 1. The Atlas Hydrosweep MD generates several types of data files * including: * "*.P" Profile data files that contain bathy data * "*.W" Wreck data files with info about obstructions * "*.R" Raw data files. At present, this is the only * data file format that is supported by MB. These * files are written in XDR format. Code to assist * in parsing these files was provided by STN Atlas. * * 2. The MD systems output 40 beams of bathymetry on one side and * 160 beams of amplitude measurements, along with a moras of other * information. MD systems ping to one side (making 40 beams & 160 * amplitude measurements), wait for all the returns and then ping * to the other side. The "Raw.beamside" variable indicates which side * the current ping is pointed. I've elected to call it "Pirt" for now. * * 3. The records all include navigation and time stamp information. * There is a Header block in front of every data record. The * record types are: * - Raw Event (RAW in the case statement) which contains the * travel time and amplitude data along with other interesting * parameters. * - Navigation (NAV -------"------------) which contains one * input record from the NAV system. * - MD Event * - Beam angle data (ANG) which contains the pointing angles * of the beams. The MD system is supposed to be able to operate * in a beam hopping mode where the beam angles shift from ping * to ping, but this is not yet enabled. The Raw.noho variable * indicated the "hopping" state. * - Sound Velocity (SVP) can contain a sound speed profile. * - Raw Event (REV) which seems to happen at the beginging of * each data file. * * 4. A single ping usually insonifies one side of the track and results * in RAW data record. Sequential RAW records occur for alternating * sides. NAV records appear to happen at the rate at which they are * supplied by either of the possible Navigation inputs. In early legs * (1994) on the Alliance, two different nav systems were inserting * records, one flagged with an "I" for Integrated Nav and the other * using a "G" to signify GPS. Some time early in 1995, the onboard * nav system was changed and now there appears to be only one type * "I" of input nav data. It appears to happen once per second. * * 5. The data structure defined below includes all of the values * which are passed in Hydrosweep MD records. * * 6. Comment records have been implemented for use with MB-System * programs. Comment records are NOT part of the vendor format * definition and are NOT supported by Atlas software. Using * mbcopy with the -N option will remove all comments and make * the data compatible with Atlas software. */ /* maximum number of depth-velocity pairs */ #define MBSYS_HSMD_MAXVEL 20 /* As dimensioned in the Atlas code */ /* array sizes */ #define MBSYS_HSMD_BEAMS 79 #define MBSYS_HSMD_PIXELS 319 #define MBSYS_HSMD_BEAMS_PING 40 #define MBSYS_HSMD_PIXELS_PING 160 #define MBSYS_HSMD_COMMENT 128 /* length of a comment string */ struct mbsys_hsmd_struct { int kind; /* ------------------------------- Header data */ char scsid[4]; /* Typically "DXT" */ char scsart[4]; /* Typically "REI" or "RMM" */ int scslng; /* length of subsequent data */ int scsext; /* seems to be 0 */ int scsblcnt; /* seems to be ping number */ double scsres1; /* seems to be 0 */ int transid; /* ID of the type of data to follow */ double reftime; /* Internal time of day reference */ /* data from a "Raw Event" */ double datuhr; /* Unix epoch time + decimal seconds */ char mksysint[8]; /* Text message eg. "START" */ char mktext[84]; /* Text message eg. "KAE HMS Start-Marke" */ /* -------------------------------- Navigation data */ int navid; /* Which nav input */ int year; /* "Date" type */ int month; /* month */ int day; /* day of the month */ int hour; /* hour of the day */ int minute; /* minute of the hour */ int second; /* seconds of the minute */ double secf; /* seconds of the minute */ int millisecond; double PingTime; /* floating point time */ double lat; /* Position, decimal degrees */ double lon; /* North and East are positive */ char pos_sens[2]; /* "G"== GPS, "I"== Integrated */ /* ------------------------------- From "Raw" data record */ double ckeel; /* sound speed at the keel */ double cmean; /* mean sound speed for water column */ int Port; /* Port or Starboard ping (beamside)*/ int noho; /* Indicates beam "hopping" mode */ int skals; /* scale factor flag (0 -> .1, else .01 */ int spfb[MBSYS_HSMD_BEAMS_PING]; /* unscaled travel times */ double depth[MBSYS_HSMD_BEAMS_PING]; /* cross track depths */ double distance[MBSYS_HSMD_BEAMS_PING]; /* cross track distances */ double ss_range; /* distance to outermost sidescan sample (meters) */ mb_u_char ss[MBSYS_HSMD_PIXELS_PING]; /* sidescan pixels */ double heading_tx; /* Heading at transmit */ double heading_rx[5]; /* Heading during the receive window */ double roll_tx; /* Roll at transmit */ double roll_rx[5]; /* Roll during receive window */ double pitch_tx; /* Pitch at transmit */ double pitch_rx[5]; /* Pitch during receive window */ /* ------------------------------- From the Angle data record */ double angle[MBSYS_HSMD_BEAMS_PING]; /* Table of beam angles */ int evid; /* from MD Events */ char evtext[84]; /* ------------------------------- Theoretical data from Sound Speed record */ int num_vel; /* number of Depth/Sound Speed pairs */ double vdepth[20]; /* array of depths */ double velocity[20]; /* array of sound speeds */ /* ----------------- derived data -------------------------------- */ char comment[MBSYS_HSMD_COMMENT]; /* I guess we will have comments for MB records some day? */ double heave; double speed; /* not provided in HSMD */ }; /* system specific function prototypes */ int mbsys_hsmd_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hsmd_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hsmd_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_hsmd_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_hsmd_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_hsmd_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_hsmd_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_hsmd_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_hsmd_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_hsmd_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_hsmd_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);