/*-------------------------------------------------------------------- * The MB-system: mbsys_sb.h 2/17/93 * $Id: mbsys_sb.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1993-2012 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_sb.h defines the data structures used by MBIO functions * to store data from the 16-beam SeaBeam multibeam sonar systems. * The data formats which are commonly used to store SeaBeam * data in files include * MBF_SBSIOMRG : MBIO ID 11 * MBF_SBSIOCEN : MBIO ID 12 * MBF_SBSIOLSI : MBIO ID 13 * MBF_SBURICEN : MBIO ID 14 * * Author: D. W. Caress * Date: February 17, 1993 * $Log: mbsys_sb.h,v $ * Revision 5.6 2009/03/08 09:21:00 caress * Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems. * * Revision 5.5 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 5.4 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 1.1 1998/10/05 17:46:15 caress * Initial revision * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.1 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.0 1994/02/17 20:46:50 caress * First cut at new version. Comment changes only. * * Revision 3.0 1993/05/14 23:05:32 sohara * initial version * */ /* * Notes on the MBSYS_SB data structure: * 1. SeaBeam multibeam systems output raw data in 16 uncentered * beams. MBIO and most data formats store the data as 19 * centered beams. * 5. The kind value in the mbsys_sb_struct indicates whether the * mbsys_sb_data_struct structure holds data from a ping or * data from a comment: * kind = 1 : data from a ping * kind = 2 : comment * 6. The data structure defined below includes all of the values * which are passed in SeaBeam records. */ /* maximum line length in characters */ #define MBSYS_SB_MAXLINE 200 /* number of beams for hydrosweep */ #define MBSYS_SB_BEAMS 19 struct mbsys_sb_struct { /* type of data record */ int kind; /* position */ short lon2u; /* minutes east of prime meridian */ short lon2b; /* fraction of minute times 10000 */ short lat2u; /* number of minutes north of 90S */ short lat2b; /* fraction of minute times 10000 */ /* time stamp */ int year; /* year (4 digits) */ int day; /* julian day (1-366) */ int min; /* minutes from beginning of day (0-1439) */ int sec; /* seconds from beginning of minute (0-59) */ /* depths and distances */ int dist[MBSYS_SB_BEAMS]; /* 19 depths from SeaBeam in meters assuming 1500 m/s water velocity */ int deph[MBSYS_SB_BEAMS]; /* 19 cross track distances in meters from port (negative) to starboard (positive) */ /* additional values */ unsigned short sbtim; /* SeaBeam computer clock time in 10ths of seconds from start of hour (0-3600) */ unsigned short sbhdg; /* SeaBeam gyro heading 0 = 0 degrees 1 = 0.0055 degrees 16384 = 90 degrees 65535 = 359.9945 degrees 0 = 360 degrees */ short axis; /* navigation error ellipse major axis angle */ short major; /* navigation error ellipse major axis */ short minor; /* navigation error ellipse minor axis */ /* comment */ char comment[MBSYS_SB_MAXLINE]; }; /* system specific function prototypes */ int mbsys_sb_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_sb_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_sb_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_sb_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_sb_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_sb_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_sb_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_sb_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_sb_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);