/*-------------------------------------------------------------------- * The MB-system: mbsys_jstar.h 2/21/2005 * $Id: mbsys_jstar.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2005-2012 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_jstar.h defines the data structure used by MBIO functions * to store sidescan data read from the MBF_EDGJSTAR format (MBIO id 132). * * Author: D. W. Caress * Date: February 21, 2005 * $Log: mbsys_jstar.h,v $ * Revision 5.2 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.1 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 5.0 2005/06/04 04:11:35 caress * Support for Edgetech Jstar format (id 132 and 133). * * */ /* * Notes on the MBSYS_JSTAR data structure: * 1. The J-star data format is used to store raw sidescan data from * Edgetech sidescan and subbottom profiler sonars. This format * is a variant of the SEGY format. * 2. The J-Star variant eliminates the SEGY EGCDIC and binary reel headers, * and adds a message header to the beginning of each trace header. * A J-Star stander format (JSF) file consists of a collection of trace * records with the following components: * 1. A 16-byte message header. * 2. A 240 byte trace header. * 3. Trace data (2 bytes per sample) */ /* specify the maximum number of sidescan pixels that can be returned by mbsys_jstar_extract() */ #define MBSYS_JSTAR_MESSAGE_SIZE 16 #define MBSYS_JSTAR_SBPHEADER_SIZE 240 #define MBSYS_JSTAR_SSHEADER_SIZE 240 #define MBSYS_JSTAR_PIXELS_MAX 2000 #define MBSYS_JSTAR_DATA_SONAR 80 #define MBSYS_JSTAR_DATA_SONAR2 82 #define MBSYS_JSTAR_DATA_4400SAS 86 #define MBSYS_JSTAR_DATA_PITCHROLL 2020 #define MBSYS_JSTAR_DATA_NMEA 2002 #define MBSYS_JSTAR_DATA_MISCANALOG 2040 #define MBSYS_JSTAR_DATA_PRESSURE 2060 #define MBSYS_JSTAR_DATA_DVL 2080 #define MBSYS_JSTAR_DATA_MESSAGE 2090 #define MBSYS_JSTAR_DATA_SYSINFO 182 #define MBSYS_JSTAR_DATA_COMMENT 17229 #define MBSYS_JSTAR_SUBSYSTEM_SBP 0 #define MBSYS_JSTAR_SUBSYSTEM_SSLOW 20 #define MBSYS_JSTAR_SUBSYSTEM_SSHIGH 21 /* Edgetech trace data format definitions */ #define MBSYS_JSTAR_TRACEFORMAT_ENVELOPE 0 /* 2 bytes/sample (unsigned) */ #define MBSYS_JSTAR_TRACEFORMAT_ANALYTIC 1 /* 4 bytes/sample (I + Q) */ #define MBSYS_JSTAR_TRACEFORMAT_RAW 2 /* 2 bytes/sample (signed) */ #define MBSYS_JSTAR_TRACEFORMAT_REALANALYTIC 3 /* 2 bytes/sample (signed) */ #define MBSYS_JSTAR_TRACEFORMAT_PIXEL 4 /* 2 bytes/sample (signed) */ struct mbsys_jstar_message_struct { /* Message Header */ unsigned short start_marker; /* bytes 0-1, Marker for the start of header (0x1601) */ mb_u_char version; /* byte 2, Version of protocal used */ mb_u_char session; /* byte 3, Session identifier */ unsigned short type; /* bytes 4-5, Message type (80 - sonar trace data ) */ mb_u_char command; /* bytes 6, Command type */ mb_u_char subsystem; /* bytes 7, Subsystem: 0 - subbottom 20 - 75 or 120 kHz sidescan 21 - 410 kHz sidescan */ mb_u_char channel; /* bytes 8, Channel for multi-channel systems 0 = port 1 = starboard */ mb_u_char sequence; /* bytes 9, Sequence number */ unsigned short reserved; /* bytes 10-11, Reserved */ unsigned int size; /* bytes 12-15, Size of following message in bytes */ }; struct mbsys_jstar_comment_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Comment */ char comment[MB_COMMENT_MAXLINE]; }; struct mbsys_jstar_nmea_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char source; /* 1=sonar, 2=discover, 3=ETSI */ char reserve[3]; /* NMEA string */ char nmea[MB_COMMENT_MAXLINE]; }; struct mbsys_jstar_pressure_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; int pressure; /* 0.001 PSI */ int salinity; /* ppm */ int datavalidflags; /* data valid flags: 0 - pressure 1 - temp 2 - salt PPM 3 - conductivity 4 - sound velocity */ int conductivity; /* uSiemens/cm */ int soundspeed; /* 0.001 m/sec */ int reserve2[10]; }; struct mbsys_jstar_pitchroll_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; short accelerationx; /* x acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short accelerationy; /* y acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short accelerationz; /* z acceleration: multiply by (20 * 1.5) / (32768) to get G's */ short gyroratex; /* x gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short gyroratey; /* y gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short gyroratez; /* z gyro rate: multiply by (500 * 1.5) / (32768) to get deg/sec */ short pitch; /* pitch: multiply by (180.0 / 32768) to get degrees */ short roll; /* roll: multiply by (180.0 / 32768) to get degrees */ short temperature; /* temperature: 0.1 degree C */ unsigned short deviceinfo; /* device specific info */ short heave; /* heave: 0.001 m */ unsigned short heading;/* 0.01 degrees */ int datavalidflags; /* data valid flags: 0 - ax 1 - ay 2 - az 3 - rx 4 - ry 5 - rz 6 - pitch 7 - roll 8 - heave 9 - heading 10 - temperature 11 - device info */ int reserve2; }; struct mbsys_jstar_dvl_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Time and source */ int seconds; /* seconds since start of time */ int msec; /* milliseconds since start of time */ char reserve1[4]; unsigned int datavalidflags; /* Bit values indicate which values are present: 0: X,Y velocity present 1: 1 = velocity in ship coordinates 0 = velocity in earth coordinates 2: Z (vertical) velocity present 3: X, Y water velocity present 4: Z (vertical) water velocity present 5: Distance to bottom present 6: Heading present 7: Pitch present 8: Roll present 9: Temperature present 10: Depth present 11: Salinity present 12: Sound velocity present --- 31: Error detected */ int beam1range; /* 0.01 m (0 = invalid) */ int beam2range; /* 0.01 m (0 = invalid) */ int beam3range; /* 0.01 m (0 = invalid) */ int beam4range; /* 0.01 m (0 = invalid) */ short velocitybottomx; /* x velocity wrt bottom (0.001 m/s, positive to starboard or east) */ short velocitybottomy; /* y velocity wrt bottom (0.001 m/s, positive to forward or north) */ short velocitybottomz; /* z velocity wrt bottom (0.001 m/s, positive upward) */ short velocitywaterx; /* x velocity wrt water (0.001 m/s, positive to starboard or east) */ short velocitywatery; /* y velocity wrt water (0.001 m/s, positive to forward or north) */ short velocitywaterz; /* z velocity wrt water (0.001 m/s, positive upward) */ unsigned short depth; /* depth (0.1 m) */ short pitch; /* pitch (0.01 degree, positive bow up) */ short roll; /* roll (0.01 degree, positive port up) */ short heading; /* heading (0.01 degree) */ short salinity; /* salinity (ppt (part per thousand)) */ short temperature; /* temperature (0.01 degree celcius) */ short soundspeed; /* sound speed (m/sec) */ short reserve2[7]; }; struct mbsys_jstar_channel_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Trace Header */ int sequenceNumber; /* 0-3 : Trace Sequence Number (always 0) ** */ unsigned int startDepth; /* 4-7 : Starting depth (window offset) in samples. */ unsigned int pingNum; /* 8-11: Ping number (increments with ping) ** */ unsigned int channelNum; /* 12-15 : Channel Number (0 .. n) ** */ short unused1[6]; /* 16-27 */ short traceIDCode; /* 28-29 : ID Code (always 1 => seismic data) ** */ short unused2[2]; /* 30-33 */ short dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ short NMEAantennaeR; /* 36-37 : Distance from towfish to antennae in cm */ short NMEAantennaeO; /* 38-39 : Distance to antennae starboard direction in cm */ char RS232[32]; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ int sourceCoordX; /* 72-75 : Meters or Seconds of Arc */ int sourceCoordY; /* 76-79 : Meters or Seconds of Arc */ int groupCoordX; /* 80-83 : mm or 10000 * (Minutes of Arc) */ int groupCoordY; /* 84-87 : mm or 10000 * (Minutes of Arc) */ short coordUnits; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ char annotation[24]; /* 90-113 : Annotation string */ unsigned short samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ unsigned int sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ unsigned short ADCGain; /* 120-121 : Gain factor of ADC */ short pulsePower; /* 122-123 : user pulse power setting (0 - 100) percent */ short correlated; /* 124-125 : correlated data 1 - No, 2 - Yes */ unsigned short startFreq; /* 126-127 : Starting frequency in 10 * Hz */ unsigned short endFreq; /* 128-129 : Ending frequency in 10 * Hz */ unsigned short sweepLength; /* 130-131 : Sweep length in ms */ short unused7[4]; /* 132-139 */ unsigned short aliasFreq; /* 140-141 : alias Frequency (sample frequency / 2) */ unsigned short pulseID; /* 142-143 : Unique pulse identifier */ short unused8[6]; /* 144-155 */ short year; /* 156-157 : Year data recorded (CPU time) */ short day; /* 158-159 : day */ short hour; /* 160-161 : hour */ short minute; /* 162-163 : minute */ short second; /* 164-165 : second */ short timeBasis; /* 166-167 : Always 3 (other not specified by standard) */ short weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ short unused9; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ short heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ short pitch; /* 174-175 : Pitch */ short roll; /* 176-177 : Roll */ short temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ short heaveCompensation; /* 180-181 : Heave compensation offset (samples) */ short trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ unsigned short markNumber; /* 184-185 : Mark Number (0 = no mark) */ short NMEAHour; /* 186-187 : Hour */ short NMEAMinutes; /* 188-189 : Minutes */ short NMEASeconds; /* 190-191 : Seconds */ short NMEACourse; /* 192-193 : Course */ short NMEASpeed; /* 194-195 : Speed */ short NMEADay; /* 196-197 : Day */ short NMEAYear; /* 198-199 : Year */ unsigned int millisecondsToday; /* 200-203 : Millieconds today */ unsigned short ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ short calConst; /* 206-207 : System constant in tenths of a dB */ short vehicleID; /* 208-209 : Vehicle ID */ char softwareVersion[6]; /* 210-215 : Software version number */ /* Following items are not in X-Star */ int sphericalCorrection; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ unsigned short packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ short ADCDecimation; /* 222-223 : A/D decimation before FFT */ short decimation; /* 224-225 : Decimation factor after FFT */ short unuseda; /* 226-227 */ /* -------------------------------------------------------------------- */ /* MB-System-only parameters from 236-239 */ /* -------------------------------------------------------------------- */ int depth; /* 227-231 : Seafloor depth in 0.001 m */ int sonardepth; /* 236-235 : Sonar depth in 0.001 m */ int sonaraltitude; /* 236-239 : Sonar altitude in 0.001 m */ /* trace data stored as shorts */ unsigned int trace_alloc; unsigned short *trace; }; struct mbsys_jstar_ss_struct { /* Message Header */ struct mbsys_jstar_message_struct message; /* Trace Header */ unsigned short subsystem; /* 0 - 1 : Subsystem (0 .. n) */ unsigned short channelNum; /* 2 - 3 : Channel Number (0 .. n) */ unsigned int pingNum; /* 4 - 7 : Ping number (increments with ping) */ unsigned short packetNum; /* 8 - 9 : Packet number (1..n) Each ping starts with packet 1 */ unsigned short trigSource; /* 10 - 11 : TriggerSource (0 = internal, 1 = external) */ unsigned int samples; /* 12 - 15 : Samples in this packet */ unsigned int sampleInterval; /* 16 - 19 : Sample interval in ns of stored data */ unsigned int startDepth; /* 20 - 23 : starting Depth (window offset) in samples */ short weightingFactor; /* 24 - 25 : -- defined as 2 -N volts for lsb */ unsigned short ADCGain; /* 26 - 27 : Gain factor of ADC */ unsigned short ADCMax; /* 28 - 29 : Maximum absolute value for ADC samples for this packet */ unsigned short rangeSetting; /* 30 - 31 : Range Setting (meters X 10) */ unsigned short pulseID; /* 32 - 33 : Unique pulse identifier */ unsigned short markNumber; /* 34 - 35 : Mark Number (0 = no mark) */ unsigned short dataFormat; /* 36 - 37 : Data format */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter (raw) */ /* 3 = 1 short per sample - real part analytic signal */ /* NOTE: For type = 1, the total number of bytes of data to follow is */ /* 4 * samples. For all other types the total bytes is 2 * samples */ unsigned short reserved; /* 38 - 39 : Reserved field to round up to a 32-bit word boundary */ /* -------------------------------------------------------------------- */ /* computer date / time data acquired */ /* -------------------------------------------------------------------- */ unsigned int millisecondsToday; /* 40 - 43 : Millieconds today */ short year; /* 44 - 45 : Year */ unsigned short day; /* 46 - 47 : Day of year (1 - 366) */ unsigned short hour; /* 48 - 49 : Hour of day (0 - 23) */ unsigned short minute; /* 50 - 51 : Minute (0 - 59) */ unsigned short second; /* 52 - 53 : Second (0 - 59) */ /* -------------------------------------------------------------------- */ /* Auxillary sensor information */ /* -------------------------------------------------------------------- */ short heading; /* 54 - 55 : Compass heading (minutes) */ short pitch; /* 56 - 57 : Pitch (minutes) */ short roll; /* 58 - 59 : Roll (minutes) */ short heave; /* 60 - 61 : Heave (centimeters) */ short yaw; /* 62 - 63 : Yaw (minutes) */ unsigned int depth; /* 64 - 67 : Vehicle depth (centimeters) */ short temperature; /* 68 - 69 : Temperature (degrees Celsius X 10) */ char reserved2[10]; /* 70 - 79 : Reserved for future use */ /* trace data stored as shorts */ unsigned int trace_alloc; unsigned short *trace; }; struct mbsys_jstar_struct { int kind; /* MBIO data kind */ /* Ping type */ mb_u_char subsystem; /* bytes 7, Subsystem: 0 - subbottom 20 - 75 or 120 kHz sidescan 21 - 410 kHz sidescan */ /* SBP data */ struct mbsys_jstar_channel_struct sbp; /* Sidescan data */ struct mbsys_jstar_channel_struct ssport; struct mbsys_jstar_channel_struct ssstbd; /* Pitch Roll data */ struct mbsys_jstar_pitchroll_struct pitchroll; /* NMEA */ struct mbsys_jstar_nmea_struct nmea; /* DVL data */ struct mbsys_jstar_dvl_struct dvl; /* Pressure data */ struct mbsys_jstar_pressure_struct pressure; /* Comment */ struct mbsys_jstar_comment_struct comment; }; /* system specific function prototypes */ int mbsys_jstar_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_jstar_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_jstar_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_jstar_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_jstar_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_jstar_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_jstar_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_jstar_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_jstar_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_jstar_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_jstar_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_jstar_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, int *kind, void *segyheader_ptr, int *error); int mbsys_jstar_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, int *sampleformat, int *kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_jstar_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, int kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_jstar_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);