/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad.h 8/5/94 * $Id: mbsys_simrad.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_simrad.h defines the MBIO data structures for handling data from * old (pre-1997) Simrad multibeam sonars (e.g. EM950, EM1000, EM12S, * EM12D). The data formats associated with Simrad multibeams * (both old and new) include: * MBSYS_SIMRAD formats (code in mbsys_simrad.c and mbsys_simrad.h): * MBF_EMOLDRAW : MBIO ID 51 - Vendor EM1000, EM12S, EM12D, EM121 * : MBIO ID 52 - aliased to 51 * MBF_EM12IFRM : MBIO ID 53 - IFREMER EM12S and EM12D * MBF_EM12DARW : MBIO ID 54 - NERC EM12S * : MBIO ID 55 - aliased to 51 * MBSYS_SIMRAD2 formats (code in mbsys_simrad2.c and mbsys_simrad2.h): * MBF_EM300RAW : MBIO ID 56 - Vendor EM3000, EM300, EM120 * MBF_EM300MBA : MBIO ID 57 - MBARI EM3000, EM300, EM120 * * * Author: D. W. Caress (L-DEO) * Date: August 5, 1994 * * $Log: mbsys_simrad.h,v $ * Revision 5.12 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.11 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.10 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.9 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 5.8 2003/12/04 23:10:24 caress * Fixed problems with format 54 EM12DARW due to old code assuming how internal structure was packed. Also changed handling of beamflags for formats that don't support beamflags. Now flagged beams will always be nulled in such cases. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.5 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.4 2002/05/29 23:41:49 caress * Release 5.0.beta18 * * Revision 5.3 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.2 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * 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 4.11 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.10 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.9 1998/12/17 23:01:15 caress * MB-System version 4.6beta4 * * Revision 4.8 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.7 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.7 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.6 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.5 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.5 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.4 1996/08/26 19:03:38 caress * REALLY changed "signed char" to "char". * * Revision 4.3 1996/08/26 18:33:50 caress * Changed "signed char" to "char" for SunOs 4.1 compiler compatibility. * * Revision 4.2 1996/08/05 15:25:43 caress * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support. * * Revision 4.1 1996/07/26 21:06:00 caress * Version after first cut of handling em12s and em121 data. * * Revision 4.0 1994/10/21 12:35:09 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * * */ /* * Notes on the MBSYS_SIMRAD data structure: * 1. Simrad multibeam systems output datagrams which are * a combination of ascii and binary. * 2. Simrad multibeam sonars output both bathymetry * and amplitude information for beams and sidescan information * with a higher resolution than the bathymetry and amplitude. * 3. There are five systems of interest: * EM-1000: Shallow water system with up to 60 beams of * bathymetry and up to 523 sidescan samples per * bathymetry beam. * EM-12S: Single array deep water system with up to 81 * beams of bathymetry and up to 523 sidescan * samples per bathymetry beam. * EM-12D: Double array deep water system with up to * 81 beams of bathymetry (port and starboard * calculated and recorded separately) and up * to 523 sidescan samples per bathymetry beam. * EM-121: Single array deep water system with up to 121 * beams of bathymetry and up to 523 sidescan * samples per bathymetry beam. * 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: * 0x0285: Start 421 data bytes * 0x0286: Stop 421 data bytes * 0x0287: Parameter 421 data bytes * 0x0293: Position 90 data bytes * 0x029A: Sound velocity profile 416 data bytes * 0x0294: EM-12D starboard bathymetry 923 data bytes * 0x0295: EM-12D port bathymetry 923 data bytes * 0x0296: EM-12S bathymetry 923 data bytes * 0x0288: EM-121 bathymetry 1375 data bytes * 0x0297: EM-1000 bathymetry 692 data bytes * 0x02C8: EM-12D port sidescan 551 data bytes * 0x02C9: EM-12D starboard sidescan 551 data bytes * 0x02CA: EM-12S or EM-1000 sidescan 551 data bytes * 0x02CB: EM-12D port sidescan + phase 1465 data bytes * 0x02CC: EM-12D starboard sidescan + phase 1465 data bytes * 0x02CD: EM-12S or EM-1000 sidescan + phase 1465 data bytes * 6. The EM-12D system records separate starboard and port datagrams * for each ping. * 7. Multiple sidescan datagrams are recorded for each ping because * there is too much information to fit in a single datagram. * 8. Simrad systems record navigation fixes using the position * datagram; no navigation is included in the per ping data. Thus, * it is necessary to extrapolate the navigation for each ping * at read time from the last navigation fix. The frequency of * GPS fixes generally assures that this is not a problem, but * we offer no guarentees that this will always be the case. * */ /* sonar types */ #define MBSYS_SIMRAD_UNKNOWN 0 #define MBSYS_SIMRAD_EM12S 1 #define MBSYS_SIMRAD_EM12D 2 #define MBSYS_SIMRAD_EM100 3 #define MBSYS_SIMRAD_EM1000 4 #define MBSYS_SIMRAD_EM121 5 /* maximum number of beams and pixels */ #define MBSYS_SIMRAD_MAXBEAMS 121 #define MBSYS_EM1000_MAXBEAMS 60 #define MBSYS_EM12_MAXBEAMS 81 #define MBSYS_EM121_MAXBEAMS 121 #define MBSYS_SIMRAD_MAXPIXELS 1024 #define MBSYS_SIMRAD_MAXRAWPIXELS 32000 #define MBSYS_SIMRAD_MAXSVP 100 #define MBSYS_SIMRAD_COMMENT_LENGTH 80 /* datagram types */ #define EM_NONE 0 #define EM_START 0x0285 #define EM_STOP 0x0286 #define EM_PARAMETER 0x0287 #define EM_POS 0x0293 #define EM_SVP 0x029A #define EM_12DS_BATH 0x0294 #define EM_12DP_BATH 0x0295 #define EM_12S_BATH 0x0296 #define EM_121_BATH 0x0288 #define EM_1000_BATH 0x0297 #define EM_12DP_SS 0x02C8 #define EM_12DS_SS 0x02C9 #define EM_12S_SS 0x02CA #define EM_12DP_SSP 0x02CB #define EM_12DS_SSP 0x02CC #define EM_12S_SSP 0x02CD /* datagram sizes */ #define EM_START_SIZE 424 #define EM_STOP_SIZE 424 #define EM_PARAMETER_SIZE 424 #define EM_POS_SIZE 93 #define EM_SVP_SIZE 419 #define EM_12DS_BATH_SIZE 926 #define EM_12DP_BATH_SIZE 926 #define EM_12S_BATH_SIZE 926 #define EM_121_BATH_SIZE 1378 #define EM_1000_BATH_SIZE 695 #define EM_SS_SIZE 554 #define EM_SSP_SIZE 1468 #define EM_12DP_SS_SIZE 554 #define EM_12DS_SS_SIZE 554 #define EM_12S_SS_SIZE 554 #define EM_12DP_SSP_SIZE 1468 #define EM_12DS_SSP_SIZE 1468 #define EM_12S_SSP_SIZE 1468 /* swath id */ #define EM_SWATH_CENTER 0 #define EM_SWATH_PORT -1 #define EM_SWATH_STARBOARD 1 /* sidescan status */ #define EM_SS_NONE 0 #define EM_SS_AMPONLY 1 #define EM_SS_AMPPHASE 2 /* The following angle tables were provided by Dr. John Hughes Clarke of the University of New Brunswick. Dr. Clarke obtained these tables from IFREMER, which had obtained them from Simrad */ #ifndef MBSYS_SIMRAD_C extern double angles_EM1000_104_07_MS_48_FAIS[96]; extern double angles_EM1000_120_07_MS_48_FAIS[96]; extern double angles_EM1000_128_02_MS_60_FAIS[120]; extern double angles_EM1000_140_02_MS_60_FAIS[120]; extern double angles_EM1000_150_02_MS_60_FAIS[120]; extern double angles_EM1000_70_2_MS_48_FAIS[48]; extern double angles_EM1000_88_07_MS_48_FAIS[96]; extern double angles_EM1000_PORT_02_MS_60_FAIS[120]; extern double angles_EM1000_BERGE_02_MS_60_FAIS[120]; extern double angles_EM1000_CHANNEL_02_MS_60_FAIS[120]; extern double angles_EM1000_ISO_ANG_120_07_MS_48_FAIS[96]; extern double angles_EM1000_ISO_ANG_150_02_MS_60_FAIS[120]; extern double angles_EM1000_ISO_ANG_60_2_MS_48_FAIS[48]; extern double angles_EM1000_SHALLOW[60]; extern double angles_EM12DP_114[81]; extern double angles_EM12DS_114[81]; extern double angles_EM12DP_128[81]; extern double angles_EM12DS_128[81]; extern double angles_EM12DP_140[81]; extern double angles_EM12DS_140[81]; extern double angles_EM12DP_150[81]; extern double angles_EM12DS_150[81]; extern double angles_EM12DP_98[81]; extern double angles_EM12DS_98[81]; extern double angles_EM12DP_ISO_ANG_DEEP[81]; extern double angles_EM12DS_ISO_ANG_DEEP[81]; extern double angles_EM12DP_ISO_ANG_SHALLOW[81]; extern double angles_EM12DS_ISO_ANG_SHALLOW[81]; extern double angles_EM12DP_SHALLOW[81]; extern double angles_EM12DS_SHALLOW[81]; extern double angles_EM12S_105[81]; extern double angles_EM12S_120[81]; extern double angles_EM12S_90[81]; extern double angles_EM12S_ISO_ANG_DEEP[81]; extern double angles_EM12S_ISO_ANG_SHALLOW[81]; extern double angles_EM12S_SHALLOW[81]; #else double angles_EM1000_104_07_MS_48_FAIS[96] = { 52.0000, 51.4375, 50.8125, 50.1875, 49.5625, 48.8750, 48.1875, 47.5000, 46.8125, 46.0625, 45.3125, 44.5000, 43.7500, 42.9375, 42.0625, 41.1875, 40.3125, 39.4375, 38.5000, 37.5000, 36.5625, 35.5000, 34.5000, 33.4375, 32.3125, 31.2500, 30.0625, 28.9375, 27.7500, 26.5000, 25.2500, 24.0000, 22.6875, 21.3125, 20.0000, 18.6250, 17.1875, 15.8125, 14.3750, 12.8750, 11.4375, 09.9375, 08.4375, 06.9375, 05.3750, 03.8750, 02.3125, 00.7500, -0.7500, -2.3125, -3.8750, -5.3750, -6.9375, -8.4375, -9.9375, -11.4375, -12.8750, -14.3750, -15.8125, -17.1875, -18.6250, -20.0000, -21.3125, -22.6875, -24.0000, -25.2500, -26.5000, -27.7500, -28.9375, -30.0625, -31.2500, -32.3125, -33.4375, -34.5000, -35.5000, -36.5625, -37.5000, -38.5000, -39.4375, -40.3125, -41.1875, -42.0625, -42.9375, -43.7500, -44.5000, -45.3125, -46.0625, -46.8125, -47.5000, -48.1875, -48.8750, -49.5625, -50.1875, -50.8125, -51.4375, -52.0000 }; double angles_EM1000_120_07_MS_48_FAIS[96] = { 60.0000, 59.5000, 58.9375, 58.3750, 57.7500, 57.1875, 56.5625, 55.8750, 55.2500, 54.5625, 53.8125, 53.0625, 52.3125, 51.5000, 50.6875, 49.8125, 48.9375, 48.0625, 47.0625, 46.1250, 45.0625, 44.0000, 42.9375, 41.7500, 40.5625, 39.3750, 38.1250, 36.7500, 35.4375, 34.0000, 32.5625, 31.0625, 29.5000, 27.8750, 26.1875, 24.5000, 22.7500, 20.9375, 19.1250, 17.2500, 15.3125, 13.3125, 11.3125, 09.3125, 07.2500, 05.1875, 03.1250, 01.0625, -01.0625, -03.1250, -05.1875, -07.2500, -09.3125, -11.3125, -13.3125, -15.3125, -17.2500, -19.1250, -20.9375, -22.7500, -24.5000, -26.1875, -27.8750, -29.5000, -31.0625, -32.5625, -34.0000, -35.4375, -36.7500, -38.1250, -39.3750, -40.5625, -41.7500, -42.9375, -44.0000, -45.0625, -46.1250, -47.0625, -48.0625, -48.9375, -49.8125, -50.6875, -51.5000, -52.3125, -53.0625, -53.8125, -54.5625, -55.2500, -55.8750, -56.5625, -57.1875, -57.7500, -58.3750, -58.9375, -59.5000, -60.0000 }; double angles_EM1000_128_02_MS_60_FAIS[120] = { 64.0000, 63.6250, 63.2500, 62.8125, 62.3750, 61.9375, 61.5000, 61.0625, 60.6250, 60.1250, 59.6250, 59.1250, 58.5625, 58.0625, 57.5000, 56.8750, 56.3125, 55.6875, 55.0625, 54.3750, 53.6875, 53.000, 52.2500, 51.5000, 50.7500, 49.9375, 49.1250, 48.2500, 47.3750, 46.4375, 45.5000, 44.5000, 43.4375, 42.3750, 41.3125, 40.1875, 39.0000, 37.8125, 36.5625, 35.2500, 33.8750, 32.5000, 31.0625, 29.6250, 28.1250, 26.5625, 24.9375, 23.3125, 21.6250, 19.8750, 18.1250, 16.3125, 14.5000, 12.6250, 10.7500, 08.8125, 06.8750, 04.9375, 02.9375, 01.0000, -1.0000, -2.9375, -4.9375, -6.8750, -8.8125, -10.7500, -12.6250, -14.5000, -16.3125, -18.1250, -19.8750, -21.6250, -23.3125, -24.9375, -26.5625, -28.1250, -29.6250, -31.0625, -32.5000, -33.8750, -35.2500, -36.5625, -37.8125, -39.0000, -40.1875, -41.3125, -42.3750, -43.4375, -44.5000, -45.5000, -46.4375, -47.3750, -48.2500, -49.1250, -49.9375, -50.7500, -51.5000, -52.2500, -53.0000, -53.6875, -54.3750, -55.0625, -55.6875, -56.3125, -56.8750, -57.5000, -58.0625, -58.5625, -59.1250, -59.6250, -60.1250, -60.6250, -61.0625, -61.5000, -61.9375, -62.3750, -62.8125, -63.2500, -63.6250, -64.0000 }; double angles_EM1000_140_02_MS_60_FAIS[120] = { 70.0000, 69.6875, 69.3750, 69.0000, 68.6875, 68.3125, 67.9375, 67.5625, 67.1875, 66.8125, 66.3750, 65.9375, 65.5000, 65.0000, 64.5625, 64.0625, 63.5625, 63.0000, 62.4375, 61.8750, 61.2500, 60.6250, 60.0000, 59.3125, 58.6250, 57.8750, 57.1250, 56.3125, 55.5000, 54.6250, 53.6875, 52.7500, 51.7500, 50.7500, 49.6875, 48.5000, 47.3125, 46.1250, 44.8125, 43.4375, 42.0000, 40.5000, 38.9375, 37.3125, 35.5625, 33.8125, 31.9345, 30.0000, 28.0000, 25.8750, 23.6875, 21.4375, 19.1250, 16.6875, 14.2500, 11.7500, 09.1875, 06.5625, 03.9375, 01.3125, -1.3125, -3.9375, -6.5625, -9.1875, -11.7500, -14.2500, -16.6875, -19.1250, -21.4375, -23.6875, -25.8750, -28.0000, -30.0000, -31.9345, -33.8125, -35.5625, -37.3125, -38.9375, -40.5000, -42.0000, -43.4375, -44.8125, -46.1250, -47.3125, -48.5000, -49.6875, -50.7500, -51.7500, -52.7500, -53.6875, -54.6250, -55.5000, -56.3125, -57.1250, -57.8750, -58.6250, -59.3125, -60.0000, -60.6250, -61.2500, -61.8750, -62.4375, -63.0000, -63.5625, -64.0625, -64.5625, -65.0000, -65.5000, -65.9375, -66.3750, -66.8125, -67.1875, -67.5625, -67.9375, -68.3125, -68.6875, -69.0000, -69.3750, -69.6875, -70.0000 }; double angles_EM1000_150_02_MS_60_FAIS[120] = { 75.0000, 74.7500, 74.5000, 74.2500, 74.0000, 73.6875, 73.3750, 73.1250, 72.8125, 72.5000, 72.1250, 71.8125, 71.4375, 71.0625, 70.6875, 70.3125, 69.8750, 69.4375, 69.0000, 68.5000, 68.0000, 67.5000, 66.9375, 66.3750, 65.8125, 65.1875, 64.5625, 63.8750, 63.1250, 62.3750, 61.6250, 60.7500, 59.8750, 58.9375, 58.0000, 56.9375, 55.8750, 54.6875, 53.4375, 52.1250, 50.7500, 49.2500, 47.6875, 46.0000, 44.1875, 42.3125, 40.2500, 38.1250, 35.8125, 33.3750, 30.8125, 28.0625, 25.1875, 22.1875, 19.0625, 15.7500, 12.3750, 08.9375, 05.3750, 01.8125, -1.8125, -5.3750, -8.9375, -12.3750, -15.7500, -19.0625, -22.1875, -25.1875, -28.0625, -30.8125, -33.3750, -35.8125, -38.1250, -40.2500, -42.3125, -44.1875, -46.0000, -47.6875, -49.2500, -50.7500, -52.1250, -53.4375, -54.6875, -55.8750, -56.9375, -58.0000, -58.9375, -59.8750, -60.7500, -61.6250, -62.3750, -63.1250, -63.8750, -64.5625, -65.1875, -65.8125, -66.3750, -66.9375, -67.5000, -68.0000, -68.5000, -69.0000, -69.4375, -69.8750, -70.3125, -70.6875, -71.0625, -71.4375, -71.8125, -72.1250, -72.5000, -72.8125, -73.1250, -73.3750, -73.6875, -74.0000, -74.2500, -74.5000, -74.7500, -75.000 }; double angles_EM1000_70_2_MS_48_FAIS[48] = { 35.000, 33.8125, 32.6250, 31.4375, 30.1875, 28.8750, 27.5625, 26.1875, 24.8125, 23.3750, 21.9375, 20.4375, 18.9375, 17.3750, 15.8125, 14.1875, 12.6250, 10.9375, 09.3125, 07.6250, 05.9375, 04.2500, 02.5625, 00.8750, -0.8750, -2.5625, -3.4375, -5.1250, -6.8125, -8.5000, -10.1250, -11.8125, -13.4375, -15.0000, -16.5625, -18.1250, -19.6875, -21.1875, -22.6250, -24.0625, -25.5000, -26.8750, -28.1875, -29.5000, -30.8125, -32.0625, -33.2500, -34.4375 }; double angles_EM1000_88_07_MS_48_FAIS[96] = { 44.0000, 43.3750, 42.7500, 42.1250, 41.5000, 40.8125, 40.1250, 39.4375, 38.7500, 38.0625, 37.3125, 36.5625, 35.8125, 35.0625, 34.2500, 33.4375, 32.6250, 31.8125, 30.9375, 30.0625, 29.1875, 28.3125, 27.3750, 26.5000, 25.5625, 24.5625, 23.6250, 22.6250, 21.6250, 20.6250, 19.5625, 18.5625, 17.5000, 16.4375, 15.3750, 14.2500, 13.1875, 12.0625, 10.9375, 09.8125, 08.6875, 07.5000, 06.3750, 05.2500, 04.0625, 02.9375, 01.7500, 00.5625, -0.5625, -1.7500, -2.9375, -4.0625, -5.2500, -6.3750, -7.5000, -8.6875, -9.8125, -10.9375, -12.0625, -13.1875, -14.2500, -15.3750, -16.4375, -17.5000, -18.5625, -19.5625, -20.6250, -21.6250, -22.6250, -23.6250, -24.5625, -25.5625, -26.5000, -27.3750, -28.3125, -29.1875, -30.0625, -30.9375, -31.8125, -32.6250, -33.4375, -34.2500, -35.0625, -35.8125, -36.5625, -37.3125, -38.0625, -38.7500, -39.4375, -40.1250, -40.8125, -41.5000, -42.1250, -42.7500, -43.3750, -44.0000 }; double angles_EM1000_PORT_02_MS_60_FAIS[120] = { 95.0000, 93.5000, 92.0000, 90.5000, 89.0000, 87.5000, 86.0000, 84.5000, 83.0000, 81.5000, 80.0000, 78.5000, 77.0000, 75.5000, 74.0000, 72.5000, 71.0000, 69.5000, 68.0000, 66.5000, 65.0000, 63.5000, 62.0000, 61.2500, 60.4375, 59.6250, 58.7500, 57.8750, 56.8750, 55.8750, 54.8125, 53.6875, 52.5000, 51.1875, 49.8750, 48.4375, 46.9375, 45.3750, 43.6875, 41.8750, 40.0000, 38.0000, 35.8750, 33.6250, 31.3125, 28.8125, 26.1875, 23.4375, 20.6250, 17.6875, 14.6250, 11.4375, 08.2500, 05.0000, 01.6875, -01.6250, -04.9375, -08.2500, -11.4375, -14.5625, -17.6250, -20.6250, -23.4375, -26.1875, -28.8125, -31.2500, -33.6250, -35.8750, -38.0000, -40.0000, -41.8750, -43.6875, -45.3750, -46.9375, -48.4375, -49.8750, -51.1875, -52.5000, -53.6875, -54.8125, -55.8750, -56.8750, -57.8750, -58.7500, -59.6250, -60.4325, -61.2500, -62.0000, -62.6875, -63.3750, -64.0625, -64.6875, -65.2500, -65.8125, -66.3750, -66.8750, -67.3750, -67.8750, -68.3125, -68.7500, -69.1875, -69.6250, -70.0000, -70.3750, -70.7500, -71.1250, -71.4375, -71.7500, -72.1250, -72.3750, -72.6875, -73.0000, -73.2500, -73.5625, -73.8125, -74.0625, -74.3125, -74.5625, -74.7500, -75.0000 }; double angles_EM1000_BERGE_02_MS_60_FAIS[120] = { 95.0000, 93.5000, 92.0000, 90.5000, 89.0000, 87.5000, 86.0000, 84.5000, 83.0000, 81.5000, 80.0000, 78.5000, 77.0000, 75.5000, 74.0000, 72.5000, 71.0000, 69.5000, 68.0000, 66.5000, 65.0000, 63.5000, 62.0000, 61.2500, 60.4375, 59.6250, 58.7500, 57.8750, 56.8750, 55.8750, 54.8125, 53.6875, 52.5000, 51.1875, 49.8750, 48.4375, 46.9375, 45.3750, 43.6875, 41.8750, 40.0000, 38.0000, 35.8750, 33.6250, 31.3125, 28.8125, 26.1875, 23.4375, 20.6250, 17.6875, 14.6250, 11.4375, 08.2500, 05.0000, 01.6875, -01.6250, -04.9375, -08.2500, -11.4375, -14.5625, -17.6250, -20.6250, -23.4375, -26.1875, -28.8125, -31.2500, -33.6250, -35.8750, -38.0000, -40.0000, -41.8750, -43.6875, -45.3750, -46.9375, -48.4375, -49.8750, -51.1875, -52.5000, -53.6875, -54.8125, -55.8750, -56.8750, -57.8750, -58.7500, -59.6250, -60.4325, -61.2500, -62.0000, -62.6875, -63.3750, -64.0625, -64.6875, -65.2500, -65.8125, -66.3750, -66.8750, -67.3750, -67.8750, -68.3125, -68.7500, -69.1875, -69.6250, -70.0000, -70.3750, -70.7500, -71.1250, -71.4375, -71.7500, -72.1250, -72.3750, -72.6875, -73.0000, -73.2500, -73.5625, -73.8125, -74.0625, -74.3125, -74.5625, -74.7500, -75.0000 }; double angles_EM1000_CHANNEL_02_MS_60_FAIS[120] = { 95.0000, 93.5000, 92.0000, 90.5000, 89.0000, 87.5000, 86.0000, 84.5000, 83.0000, 81.5000, 80.0000, 78.5000, 77.0000, 75.5000, 74.0000, 72.5000, 71.0000, 69.5000, 68.0000, 66.5000, 65.0000, 63.5000, 62.0000, 61.3750, 60.6875, 60.0000, 59.2500, 58.5000, 57.6875, 56.8125, 55.9375, 55.0000, 54.0625, 53.0625, 52.0000, 50.8750, 49.6875, 48.4375, 47.1875, 45.8125, 44.3750, 42.8750, 41.2500, 39.6250, 37.8750, 36.0000, 34.1250, 32.0625, 30.0000, 27.7500, 25.5000, 23.0625, 20.6250, 18.0625, 15.4375, 12.6875, 09.9375, 07.1250, 04.3125, 01.4375, -1.4375, -4.3125, -7.1250, -9.9375, -12.6875, -15.4375, -18.0625, -20.6250, -23.0625, -25.5000, -27.7500, -30.0000, -32.0625, -34.1250, -36.0000, -37.8750, -39.6250, -41.2500, -42.8750, -44.3750, -45.8125, -47.1875, -48.4375, -49.6875, -50.8750, -52.0000, -53.0625, -54.0625, -55.0000, -55.9375, -56.8125, -57.6875, -58.5000, -59.2500, -60.0000, -60.6875, -61.3750, -62.0000, -63.5000, -65.0000, -66.5000, -68.0000, -69.5000, -71.0000, -72.5000, -74.0000, -75.5000, -77.0000, -78.5000, -80.0000, -81.5000, -83.0000, -84.5000, -86.0000, -87.5000, -89.0000, -90.5000, -92.0000, -93.5000, -95.0000 }; double angles_EM1000_ISO_ANG_120_07_MS_48_FAIS[96] = { 59.3750, 58.1250, 56.8750, 55.6250, 54.3750, 53.1250, 51.8750, 50.6250, 49.3750, 48.1250, 46.8750, 45.6250, 44.3750, 43.1250, 41.8750, 40.6250, 39.3750, 38.1250, 36.8750, 35.6250, 34.3750, 33.1250, 31.8750, 30.6250, 29.3750, 28.1250, 26.8750, 25.6250, 24.3750, 23.1250, 21.8750, 20.6250, 19.3750, 18.1250, 16.8750, 15.6250, 14.3750, 13.1250, 11.8750, 10.6250, 09.3750, 08.1250, 06.8750, 05.6250, 04.3750, 03.1250, 01.8750, 00.6250, -0.6250, -1.8750, -3.1250, -4.3750, -5.6250, -6.8750, -8.1250, -9.3750, -10.6250, -11.8750, -13.1250, -14.3750, -15.6250, -16.8750, -18.1250, -19.3750, -20.6250, -21.8750, -23.1250, -24.3750, -25.6250, -26.8750, -28.1250, -29.3750, -30.6250, -31.8750, -33.1250, -34.3750, -35.6250, -36.8750, -38.1250, -39.3750, -40.6250, -41.8750, -43.1250, -44.3750, -45.6250, -46.8750, -48.1250, -49.3750, -50.6250, -51.8750, -53.1250, -54.3750, -55.6250, -56.8750, -58.1250, -59.3750 }; double angles_EM1000_ISO_ANG_150_02_MS_60_FAIS[120] = { 74.3750, 73.1250, 71.8750, 70.6250, 69.3750, 68.1250, 66.8750, 65.6250, 64.3750, 63.1250, 61.8750, 60.6250, 59.3750, 58.1250, 56.8750, 55.6250, 54.3750, 53.1250, 51.8750, 50.6250, 49.3750, 48.1250, 46.8750, 45.6250, 44.3750, 43.1250, 41.8750, 40.6250, 39.3750, 38.1250, 36.8750, 35.6250, 34.3750, 33.1250, 31.8750, 30.6250, 29.3750, 28.1250, 26.8750, 25.6250, 24.3750, 23.1250, 21.8750, 20.6250, 19.3750, 18.1250, 16.8750, 15.6250, 14.3750, 13.1250, 11.8750, 10.6250, 09.3750, 08.1250, 06.8750, 05.6250, 04.3750, 03.1250, 01.8750, 00.6250, -0.6250, -1.8750, -3.1250, -4.3750, -5.6250, -6.8750, -8.1250, -9.3750, -10.6250, -11.8750, -13.1250, -14.3750, -15.6250, -16.8750, -18.1250, -19.3750, -20.6250, -21.8750, -23.1250, -24.3750, -25.6250, -26.8750, -28.1250, -29.3750, -30.6250, -31.8750, -33.1250, -34.3750, -35.6250, -36.8750, -38.1250, -39.3750, -40.6250, -41.8750, -43.1250, -44.3750, -45.6250, -46.8750, -48.1250, -49.3750, -50.6250, -51.8750, -53.1250, -54.3750, -55.6250, -56.8750, -58.1250, -59.3750, -60.6250, -61.8750, -63.1250, -64.3750, -65.6250, -66.8750, -68.1250, -69.3750, -70.6250, -71.8750, -73.1250, -74.3750 }; double angles_EM1000_ISO_ANG_60_2_MS_48_FAIS[48] = { 29.3750, 28.1250, 26.8750, 25.6250, 24.3750, 23.1250, 21.8750, 20.6250, 19.3750, 18.1250, 16.8750, 15.6250, 14.3750, 13.1250, 11.8750, 10.6250, 09.3750, 08.1250, 06.8750, 05.6250, 04.3750, 03.1250, 01.8750, 00.6250, -0.6250, -1.8750, -3.1250, -4.3750, -5.6250, -6.8750, -8.1250, -9.3750, -10.6250, -11.8750, -13.1250, -14.3750, -15.6250, -16.8750, -18.1250, -19.3750, -20.6250, -21.8750, -23.1250, -24.3750, -25.6250, -26.8750, -28.1250, -29.3750 }; double angles_EM1000_SHALLOW[60] = { 72.5000, 70.0000, 67.5000, 65.0000, 62.5000, 60.0000, 57.5000, 55.0000, 52.5000, 50.0000, 47.5000, 45.0000, 42.5000, 40.0000, 37.5000, 35.0000, 32.5000, 30.0000, 27.5000, 25.0000, 22.5000, 20.0000, 17.5000, 15.0000, 12.5000, 10.0000, 7.50000, 5.00000, 2.50000, 0.00000, 0.0000, -2.5000, -5.0000, -7.5000, -10.0000, -12.5000, -15.0000, -17.5000, -20.0000, -22.5000, -25.0000, -27.5000, -30.0000, -32.5000, -35.0000, -37.5000, -40.0000, -42.5000, -45.0000, -47.5000, -50.0000, -52.5000, -55.0000, -57.5000, -60.0000, -62.5000, -65.0000, -67.5000, -70.0000, -72.5000 }; double angles_EM12DP_114[81] = { 57.0000, 56.6875, 56.3125, 56.0000, 55.6250, 55.2500, 54.8750, 54.5000, 54.1250, 53.7500, 53.3750, 52.9375, 52.5625, 52.1250, 51.6875, 51.3125, 50.8125, 50.3750, 49.9375, 49.4375, 49.0000, 48.5000, 48.0000, 47.7000, 47.0000, 46.4375, 45.9375, 45.3750, 44.8125, 44.2500, 43.6875, 43.1250, 42.5000, 41.8750, 41.2500, 40.6250, 39.9375, 39.3125, 38.6250, 37.9375, 37.2500, 36.5000, 35.8125, 35.0625, 34.3125, 33.5625, 32.7500, 31.9375, 31.1250, 30.3125, 29.5000, 28.6250, 27.7500, 26.8750, 26.0000, 25.0625, 24.1250, 23.1875, 22.2500, 21.3125, 20.3125, 19.3125, 18.3125, 17.3125, 16.3125, 15.2500, 14.2500, 13.1875, 12.1250, 11.0000, 09.9375, 08.8750, 07.7500, 06.6875, 05.5625, 04.4375, 03.3750, 02.2500, 01.1250, 00.0000, -1.1250 }; double angles_EM12DS_114[81] = { 1.1250, -0.0000, -1.1250, -2.2500, -3.3750, -4.4375, -5.5625, -6.6875, -7.7500, -8.8750, -9.9375, -11.0000, -12.1250, -13.1875, -14.2500, -15.2500, -16.3125, -17.3125, -18.3125, -19.3125, -20.3125, -21.3125, -22.2500, -23.1875, -24.1250, -25.0625, -26.0000, -26.8750, -27.7500, -28.6250, -29.5000, -30.3125, -31.1250, -31.9375, -32.7500, -33.5625, -34.3125, -35.0625, -35.8125, -36.5000, -37.2500, -37.9375, -38.6250, -39.3125, -39.9375, -40.6250, -41.2500, -41.8750, -42.5000, -43.1250, -43.6875, -44.2500, -44.8125, -45.3750, -45.9375, -46.4375, -47.0000, -47.7000, -48.0000, -48.5000, -49.0000, -49.4375, -49.9375, -50.3750, -50.8125, -51.3125, -51.6875, -52.1250, -52.5625, -52.9375, -53.3750, -53.7500, -54.1250, -54.5000, -54.8750, -55.2500, -55.6250, -56.0000, -56.3125, -56.6875, -57.0000 }; double angles_EM12DP_128[81] = { 64.0000, 63.6875, 63.4375, 63.1250, 62.8125, 62.5000, 62.1875, 61.8750, 61.5000, 61.1875, 60.8125, 60.4375, 60.1250, 59.7500, 59.3125, 58.9375, 58.5625, 58.1250, 57.7500, 57.3125, 56.8750, 56.3750, 55.9375, 55.5000, 55.0000, 54.5000, 54.0000, 53.4375, 52.9375, 52.3750, 51.8125, 51.2500, 50.6250, 50.0625, 49.4375, 48.8125, 48.1250, 47.4375, 46.7500, 46.0625, 45.3750, 44.6250, 43.8125, 43.0625, 42.2500, 41.4375, 40.5625, 39.6875, 38.8125, 37.8750, 36.9375, 36.0000, 35.0000, 34.0000, 33.0000, 31.9375, 30.8125, 29.7500, 28.5625, 27.4375, 26.2500, 25.0625, 23.8125, 22.5625, 21.2500, 19.9375, 18.6250, 17.3125, 15.9375, 14.5625, 13.1250, 11.7500, 10.3125, 08.8750, 07.3750, 05.9375, 04.4375, 03.0000, 01.5000, 00.0000, -1.5000 }; double angles_EM12DS_128[81] = { 1.5000, -0.0000, -1.5000, -3.0000, -4.4375, -5.9375, -7.3750, -8.8750, -10.3125, -11.7500, -13.1250, -14.5625, -15.9375, -17.3125, -18.6250, -19.9375, -21.2500, -22.5625, -23.8125, -25.0625, -26.2500, -27.4375, -28.5625, -29.7500, -30.8125, -31.9375, -33.0000, -34.0000, -35.0000, -36.0000, -36.9375, -37.8750, -38.8125, -39.6875, -40.5625, -41.4375, -42.2500, -43.0625, -43.8125, -44.6250, -45.3750, -46.0625, -46.7500, -47.4375, -48.1250, -48.8125, -49.4375, -50.0625, -50.6250, -51.2500, -51.8125, -52.3750, -52.9375, -53.4375, -54.0000, -54.5000, -55.0000, -55.5000, -55.9375, -56.3750, -56.8750, -57.3125, -57.7500, -58.1250, -58.5625, -58.9375, -59.3125, -59.7500, -60.1250, -60.4375, -60.8125, -61.1875, -61.5000, -61.8750, -62.1875, -62.5000, -62.8125, -63.1250, -63.4375, -63.6875, -64.0000 }; double angles_EM12DP_140[81] = { 70.000000, 69.750000, 69.500000, 69.250000, 69.000000, 68.750000, 68.500000, 68.250000, 67.937500, 67.687500, 67.375000, 67.062500, 66.750000, 66.437500, 66.125000, 65.812500, 65.437500, 65.125000, 64.750000, 64.375000, 64.000000, 63.625000, 63.250000, 62.812500, 62.375000, 61.937500, 61.500000, 61.062500, 60.562500, 60.125000, 59.625000, 59.062500, 58.562500, 58.000000, 57.437500, 56.812500, 56.250000, 55.625000, 54.937500, 54.312500, 53.625000, 52.875000, 52.125000, 51.375000, 50.625000, 49.750000, 48.937500, 48.062500, 47.125000, 46.187500, 45.250000, 44.250000, 43.187500, 42.125000, 41.000000, 39.875000, 38.687500, 37.437500, 36.125000, 34.812500, 33.437500, 32.062500, 30.562500, 29.125000, 27.562500, 25.937500, 24.312500, 22.625000, 20.937500, 19.187500, 17.375000, 15.562500, 13.687500, 11.812500, 09.875000, 07.937500, 05.937500, 04.000000, 02.000000, 00.000000, -2.0000000 }; double angles_EM12DS_140[81] = { 2.0000, -0.0000, -2.0000, -4.0000, -5.9375, -7.9375, -9.8750, -11.8125, -13.6875, -15.5625, -17.3750, -19.1875, -20.9375, -22.6250, -24.3125, -25.9375, -27.5625, -29.1250, -30.5625, -32.0625, -33.4375, -34.8125, -36.1250, -37.4375, -38.6875, -39.8750, -41.0000, -42.1250, -43.1875, -44.2500, -45.2500, -46.1875, -47.1250, -48.0625, -48.9375, -49.7500, -50.6250, -51.3750, -52.1250, -52.8750, -53.6250, -54.3125, -54.9375, -55.6250, -56.2500, -56.8125, -57.4375, -58.0000, -58.5625, -59.0625, -59.6250, -60.1250, -60.5625, -61.0625, -61.5000, -61.9375, -62.3750, -62.8125, -63.2500, -63.6250, -64.0000, -64.3750, -64.7500, -65.1250, -65.4375, -65.8125, -66.1250, -66.4375, -66.7500, -67.0625, -67.3750, -67.6875, -67.9375, -68.2500, -68.5000, -68.7500, -69.0000, -69.2500, -69.5000, -69.7500, -70.0000 }; double angles_EM12DP_150[81] = { 75.000000, 74.812500, 74.625000, 74.437500, 74.250000, 74.062500, 73.812500, 73.625000, 73.375000, 73.187500, 72.937500, 72.687500, 72.437500, 72.187500, 71.937500, 71.687500, 71.437500, 71.125000, 70.875000, 70.562500, 70.250000, 69.937500, 69.625000, 69.312500, 68.937500, 68.625000, 68.250000, 67.875000, 67.437500, 67.062500, 66.625000, 66.187500, 65.750000, 65.312500, 64.812500, 64.312500, 63.812500, 63.250000, 62.687500, 62.125000, 61.500000, 60.875000, 60.250000, 59.562500, 58.812500, 58.125000, 57.312500, 56.500000, 55.687500, 54.812500, 53.875000, 52.937500, 51.875000, 50.875000, 49.750000, 48.562500, 47.375000, 46.125000, 44.750000, 43.375000, 41.937500, 40.375000, 38.750000, 37.062500, 35.312500, 33.500000, 31.562500, 29.562500, 27.437500, 25.312500, 23.063499, 20.687500, 18.312500, 15.812500, 13.312500, 10.687500, 08.0625000, 05.3750000, 02.6875000, 00.000000, -2.6875000 }; double angles_EM12DS_150[81] = { 2.6875, -0.0000, -2.6875, -5.3750, -8.0625, -10.6875, -13.3125, -15.8125, -18.3125, -20.6875, -23.0635, -25.3125, -27.4375, -29.5625, -31.5625, -33.5000, -35.3125, -37.0625, -38.7500, -40.3750, -41.9375, -43.3750, -44.7500, -46.1250, -47.3750, -48.5625, -49.7500, -50.8750, -51.8750, -52.9375, -53.8750, -54.8125, -55.6875, -56.5000, -57.3125, -58.1250, -58.8125, -59.5625, -60.2500, -60.8750, -61.5000, -62.1250, -62.6875, -63.2500, -63.8125, -64.3125, -64.8125, -65.3125, -65.7500, -66.1875, -66.6250, -67.0625, -67.4375, -67.8750, -68.2500, -68.6250, -68.9375, -69.3125, -69.6250, -69.9375, -70.2500, -70.5625, -70.8750, -71.1250, -71.4375, -71.6875, -71.9375, -72.1875, -72.4375, -72.6875, -72.9375, -73.1875, -73.3750, -73.6250, -73.8125, -74.0625, -74.2500, -74.4375, -74.6250, -74.8125, -75.0000 }; double angles_EM12DP_98[81] = { 49.0000, 48.6250, 48.2500, 47.8750, 47.5000, 47.1250, 46.7500, 46.3750, 45.9375, 45.5625, 45.1250, 44.6875, 44.3125, 43.8750, 43.4375, 43.0000, 42.5625, 42.0625, 41.6250, 41.1250, 40.6875, 40.1875, 39.6875, 39.1875, 38.6875, 38.1875, 37.6875, 37.1250, 36.6250, 36.0625, 35.5000, 34.9375, 34.3750, 33.8125, 33.2500, 32.6250, 32.0625, 31.4375, 30.8125, 30.2500, 29.5625, 28.9375, 28.3125, 27.6875, 27.0000, 26.3125, 25.6875, 25.0000, 24.3125, 23.6250, 22.8750, 22.1875, 21.4375, 20.7500, 20.0000, 19.2500, 18.5000, 17.7500, 17.0000, 16.2500, 15.4375, 14.6875, 13.8750, 13.1250, 12.3125, 11.5000, 10.7500, 09.9375, 09.1250, 08.3125, 07.4375, 06.6250, 05.8125, 05.0000, 04.1875, 03.3125, 02.5000, 01.6875, 00.8125, 00.0000, -0.8125 }; double angles_EM12DS_98[81] = { 0.8125, -0.0000, -0.8125, -1.6875, -2.5000, -3.3125, -4.1875, -5.0000, -5.8125, -6.6250, -7.4375, -8.3125, -9.1250, -9.9375, -10.7500, -11.5000, -12.3125, -13.1250, -13.8750, -14.6875, -15.4375, -16.2500, -17.0000, -17.7500, -18.5000, -19.2500, -20.0000, -20.7500, -21.4375, -22.1875, -22.8750, -23.6250, -24.3125, -25.0000, -25.6875, -26.3125, -27.0000, -27.6875, -28.3125, -28.9375, -29.5625, -30.2500, -30.8125, -31.4375, -32.0625, -32.6250, -33.2500, -33.8125, -34.3750, -34.9375, -35.5000, -36.0625, -36.6250, -37.1250, -37.6875, -38.1875, -38.6875, -39.1875, -39.6875, -40.1875, -40.6875, -41.1250, -41.6250, -42.0625, -42.5625, -43.0000, -43.4375, -43.8750, -44.3125, -44.6875, -45.1250, -45.5625, -45.9375, -46.3750, -46.7500, -47.1250, -47.5000, -47.8750, -48.2500, -48.6250, -49.0000 }; double angles_EM12DP_ISO_ANG_DEEP[81] = { 75.0000, 74.0000, 73.0000, 72.0000, 71.0000, 70.0000, 69.0000, 68.0000, 67.0000, 66.0000, 65.0000, 64.0000, 63.0000, 62.0000, 61.0000, 60.0000, 59.0000, 58.0000, 57.0000, 56.0000, 55.0000, 54.0000, 53.0000, 52.0000, 51.0000, 50.0000, 49.0000, 48.0000, 47.0000, 46.0000, 45.0000, 44.0000, 43.0000, 42.0000, 41.0000, 40.0000, 39.0000, 38.0000, 37.0000, 36.0000, 35.0000, 34.0000, 33.0000, 32.0000, 31.0000, 30.0000, 29.0000, 28.0000, 27.0000, 26.0000, 25.0000, 24.0000, 23.0000, 22.0000, 21.0000, 20.0000, 19.0000, 18.0000, 17.0000, 16.0000, 15.0000, 14.0000, 13.0000, 12.0000, 11.0000, 10.0000, 09.0000, 08.0000, 07.0000, 06.0000, 05.0000, 04.0000, 03.0000, 02.0000, 01.0000, 00.0000, -1.0000, -2.0000, -3.0000, -4.0000, -5.0000 }; double angles_EM12DS_ISO_ANG_DEEP[81] = { 05.0000, 04.0000, 03.0000, 02.0000, 01.0000, 00.0000, -01.0000, -02.0000, -03.0000, -04.0000, -05.0000, -06.0000, -07.0000, -08.0000, -09.0000, -10.0000, -11.0000, -12.0000, -13.0000, -14.0000, -15.0000, -16.0000, -17.0000, -18.0000, -19.0000, -20.0000, -21.0000, -22.0000, -23.0000, -24.0000, -25.0000, -26.0000, -27.0000, -28.0000, -29.0000, -30.0000, -31.0000, -32.0000, -33.0000, -34.0000, -35.0000, -36.0000, -37.0000, -38.0000, -39.0000, -40.0000, -41.0000, -42.0000, -43.0000, -44.0000, -45.0000, -46.0000, -47.0000, -48.0000, -49.0000, -50.0000, -51.0000, -52.0000, -53.0000, -54.0000, -55.0000, -56.0000, -57.0000, -58.0000, -59.0000, -60.0000, -61.0000, -62.0000, -63.0000, -64.0000, -65.0000, -66.0000, -67.0000, -68.0000, -69.0000, -70.0000, -71.0000, -72.0000, -73.0000, -74.0000, -75.0000 }; double angles_EM12DP_ISO_ANG_SHALLOW[81] = { 75.0000, 74.0000, 73.0000, 72.0000, 71.0000, 70.0000, 69.0000, 68.0000, 67.0000, 66.0000, 65.0000, 64.0000, 63.0000, 62.0000, 61.0000, 60.0000, 59.0000, 58.0000, 57.0000, 56.0000, 55.0000, 54.0000, 53.0000, 52.0000, 51.0000, 50.0000, 49.0000, 48.0000, 47.0000, 46.0000, 45.0000, 44.0000, 43.0000, 42.0000, 41.0000, 40.0000, 39.0000, 38.0000, 37.0000, 36.0000, 35.0000, 34.0000, 33.0000, 32.0000, 31.0000, 30.0000, 29.0000, 28.0000, 27.0000, 26.0000, 25.0000, 24.0000, 23.0000, 22.0000, 21.0000, 20.0000, 19.0000, 18.0000, 17.0000, 16.0000, 15.0000, 14.0000, 13.0000, 12.0000, 11.0000, 10.0000, 09.0000, 08.0000, 07.0000, 06.0000, 05.0000, 04.0000, 03.0000, 02.0000, 01.0000, 00.0000, -1.0000, -2.0000, -3.0000, -4.0000, -5.000 }; double angles_EM12DS_ISO_ANG_SHALLOW[81] = { 5.0000, 4.0000, 3.0000, 2.0000, 1.0000, -0.0000, -1.0000, -2.0000, -3.0000, -4.0000, -5.0000, -6.0000, -7.0000, -8.0000, -9.0000, -10.0000, -11.0000, -12.0000, -13.0000, -14.0000, -15.0000, -16.0000, -17.0000, -18.0000, -19.0000, -20.0000, -21.0000, -22.0000, -23.0000, -24.0000, -25.0000, -26.0000, -27.0000, -28.0000, -29.0000, -30.0000, -31.0000, -32.0000, -33.0000, -34.0000, -35.0000, -36.0000, -37.0000, -38.0000, -39.0000, -40.0000, -41.0000, -42.0000, -43.0000, -44.0000, -45.0000, -46.0000, -47.0000, -48.0000, -49.0000, -50.0000, -51.0000, -52.0000, -53.0000, -54.0000, -55.0000, -56.0000, -57.0000, -58.0000, -59.0000, -60.0000, -61.0000, -62.0000, -63.0000, -64.0000, -65.0000, -66.0000, -67.0000, -68.0000, -69.0000, -70.0000, -71.0000, -72.0000, -73.0000, -74.0000, -75.0000 }; double angles_EM12DP_SHALLOW[81] = { 75.00000, 74.81250, 74.62500, 74.43750, 74.25000, 74.06250, 73.81250, 73.62500, 73.37500, 73.18750, 72.93750, 72.68750, 72.43750, 72.18750, 71.93750, 71.68750, 71.43750, 71.12500, 70.87500, 70.56250, 70.25000, 69.93750, 69.62500, 69.31250, 68.93750, 68.62500, 68.25000, 67.87500, 67.43750, 67.06250, 66.62500, 66.18750, 65.75000, 65.31250, 64.81250, 64.31250, 63.81250, 63.25000, 62.68750, 62.12500, 61.50000, 60.87500, 60.25000, 59.56250, 58.81250, 58.12500, 57.31250, 56.50000, 55.68750, 54.81250, 53.87500, 52.93750, 51.87500, 50.87500, 49.75000, 48.56250, 47.37500, 46.12500, 44.75000, 43.37500, 41.93750, 40.37500, 38.75000, 37.06250, 35.31250, 33.50000, 31.56250, 29.56250, 27.43750, 25.31250, 23.06250, 20.68750, 18.31250, 15.81250, 13.31250, 10.68750, 08.06250, 05.37500, 02.68750, 00.00000, -02.6875 }; double angles_EM12DS_SHALLOW[81] = { 02.68750, -00.0000, -02.6875, -05.3750, -08.0625, -10.6875, -13.3125, -15.8125, -18.3125, -20.6875, -23.0625, -25.3125, -27.4375, -29.5625, -31.5625, -33.5000, -35.3125, -37.0625, -38.7500, -40.3750, -41.9375, -43.3750, -44.7500, -46.1250, -47.3750, -48.5625, -49.7500, -50.8750, -51.8750, -52.9375, -53.8750, -54.8125, -55.6875, -56.5000, -57.3125, -58.1250, -58.8125, -59.5625, -60.2500, -60.8750, -61.5000, -62.1250, -62.6875, -63.2500, -63.8125, -64.3125, -64.8125, -65.3125, -65.7500, -66.1875, -66.6250, -67.0625, -67.4375, -67.8750, -68.2500, -68.6250, -68.9375, -69.3125, -69.6250, -69.9375, -70.2500, -70.5625, -70.8750, -71.1250, -71.4375, -71.6875, -71.9375, -72.1875, -72.4375, -72.6875, -72.9375, -73.1875, -73.3750, -73.6250, -73.8125, -74.0625, -74.2500, -74.4375, -74.6250, -74.8125, -75.0000 }; double angles_EM12S_105[81] = { 52.5000, 51.8125, 51.0625, 50.3125, 49.5625, 48.7500, 47.9375, 47.0625, 46.1875, 45.3125, 44.3750, 43.3750, 42.3750, 41.3125, 40.2500, 39.1875, 38.0000, 36.8750, 35.6250, 34.3750, 33.0625, 31.7500, 30.3750, 29.0000, 27.5625, 26.0625, 24.5000, 22.9375, 21.3750, 19.6875, 18.0625, 16.3125, 14.6250, 12.8750, 11.0625, 09.2500, 07.4375, 05.5625, 03.7500, 01.8750, 00.0000, -1.8750, -3.7500, -5.5625, -7.4375, -9.2500, -11.0625, -12.8750, -14.6250, -16.3125, -18.0625, -19.6875, -21.3750, -22.9375, -24.5000, -26.0625, -27.5625, -29.0000, -30.3750, -31.7500, -33.0625, -34.3750, -35.6250, -36.8750, -38.0000, -39.1875, -40.2500, -41.3125, -42.3750, -43.3750, -44.3750, -45.3125, -46.1875, -47.0625, -47.9375, -48.7500, -49.5625, -50.3125, -51.0625, -51.8125, -52.5000 }; double angles_EM12S_120[81] = { 60.0000, 59.3750, 58.6875, 58.0000, 57.3125, 56.5625, 55.8125, 55.0000, 54.1875, 53.3125, 52.4375, 51.4375, 50.5000, 49.4375, 48.3750, 47.2500, 46.1250, 44.8750, 43.6250, 42.2500, 40.8750, 39.4375, 37.9375, 36.3750, 34.6875, 33.0000, 31.2500, 29.3750, 27.4375, 25.5000, 23.4375, 21.3125, 19.1250, 16.8750, 14.5625, 12.1875, 09.8125, 07.3750, 04.9375, 02.5000, 00.0000, -2.5000, -4.9375, -7.3750, -9.8125, -12.1875, -14.5625, -16.8750, -19.1250, -21.3125, -23.4375, -25.5000, -27.4375, -29.3750, -31.2500, -33.0000, -34.6875, -36.3750, -37.9375, -39.4375, -40.8750, -42.2500, -43.6250, -44.8750, -46.1250, -47.2500, -48.3750, -49.4375, -50.5000, -51.4375, -52.4375, -53.3125, -54.1875, -55.0000, -55.8125, -56.5625, -57.3125, -58.0000, -58.6875, -59.3750, -60.0000 }; double angles_EM12S_90[81] = { 45.0000, 44.2500, 43.5000, 42.7500, 42.0000, 41.1875, 40.3750, 39.5000, 38.6875, 37.7500, 36.8750, 35.9375, 35.0000, 34.0000, 33.0000, 32.0000, 30.9375, 29.8750, 28.8125, 27.6875, 26.5625, 25.4375, 24.2500, 23.0000, 21.8125, 20.5625, 19.3125, 18.0000, 16.6875, 15.3750, 14.0625, 12.6875, 11.3125, 09.9375, 08.5000, 07.1250, 05.6875, 04.3125, 02.8750, 01.4375, 00.0000, -1.4375, -2.8750, -4.3125, -5.6875, -7.1250, -8.5000, -9.9375, -11.3125, -12.6875, -14.0625, -15.3750, -16.6875, -18.0000, -19.3125, -20.5625, -21.8125, -23.0000, -24.2500, -25.4375, -26.5625, -27.6875, -28.8125, -29.8750, -30.9375, -32.0000, -33.0000, -34.0000, -35.0000, -35.9375, -36.8750, -37.7500, -38.6875, -39.5000, -40.3750, -41.1875, -42.0000, -42.7500, -43.5000, -44.2500, -45.0000 }; double angles_EM12S_ISO_ANG_DEEP[81] = { 45.0000, 43.8750, 42.7500, 41.6250, 40.5000, 39.3750, 38.2500, 37.1250, 36.0000, 34.8750, 33.7500, 32.6250, 31.5000, 30.3750, 29.2500, 28.1250, 27.0000, 25.8750, 24.7500, 23.6250, 22.5000, 21.3750, 20.2500, 19.1250, 18.0000, 16.8750, 15.7500, 14.6250, 13.5000, 12.3750, 11.2500, 10.1250, 09.0000, 07.8750, 06.7500, 05.6250, 04.5000, 03.3700, 02.2500, 01.1250, -0.0000, -01.1250,-02.2500,-03.3700,-04.5000, -05.6250,-06.7500,-07.8750,-09.0000, -10.1250,-11.2500,-12.3750,-13.5000, -14.6250,-15.7500,-16.8750,-18.0000, -19.1250,-20.2500,-21.3750,-22.5000, -23.6250,-24.7500,-25.8750,-27.0000, -28.1250,-29.2500,-30.3750,-31.5000, -32.6250,-33.7500,-34.8750,-36.0000, -37.1250,-38.2500,-39.3750,-40.5000, -41.6250,-42.7500,-43.8750,-45.0000 }; double angles_EM12S_ISO_ANG_SHALLOW[81] = { 45.0000, 43.8750, 42.7500, 41.6250, 40.5000, 39.3750, 38.2500, 37.1250, 36.0000, 34.8750, 33.7500, 32.6250, 31.5000, 30.3750, 29.2500, 28.1250, 27.0000, 25.8750, 24.7500, 23.6250, 22.5000, 21.3750, 20.2500, 19.1250, 18.0000, 16.8750, 15.7500, 14.6250, 13.5000, 12.3750, 11.2500, 10.1250, 09.0000, 07.8750, 06.7500, 05.6250, 04.5000, 03.3700, 02.2500, 01.1250, -0.0000, -1.1250, -2.2500, -3.3700, -4.5000, -5.6250, -6.7500, -7.8750, -9.0000, -10.1250, -11.2500, -12.3750, -13.5000, -14.6250, -15.7500, -16.8750, -18.0000, -19.1250, -20.2500, -21.3750, -22.5000, -23.6250, -24.7500, -25.8750, -27.0000, -28.1250, -29.2500, -30.3750, -31.5000, -32.6250, -33.7500, -34.8750, -36.0000, -37.1250, -38.2500, -39.3750, -40.5000, -41.6250, -42.7500, -43.8750, -45.0000 }; double angles_EM12S_SHALLOW[81] = { 60.0000, 59.3750, 58.6875, 58.0000, 57.3125, 56.5625, 55.8125, 55.0000, 54.1875, 53.3125, 52.4375, 51.4375, 50.5000, 49.4375, 48.3750, 47.2500, 46.1250, 44.8750, 43.6250, 42.2500, 40.8750, 39.4375, 37.9375, 36.3750, 34.6875, 33.0000, 31.2500, 29.3750, 27.4375, 25.5000, 23.4375, 21.3125, 19.1250, 16.8750, 14.5625, 12.1875, 09.8125, 07.3750, 04.9375, 02.5000, 00.0000, -02.5000,-04.9375,-07.3750,-09.8125, -12.1875,-14.5625,-16.8750,-19.1250, -21.3125,-23.4375,-25.5000,-27.4375, -29.3750,-31.2500,-33.0000,-34.6875, -36.3750,-37.9375,-39.4375,-40.8750, -42.2500,-43.6250,-44.8750,-46.1250, -47.2500,-48.3750,-49.4375,-50.5000, -51.4375,-52.4375,-53.3125,-54.1875, -55.0000,-55.8125,-56.5625,-57.3125, -58.0000,-58.6875,-59.3750,-60.0000 }; double angles_EM121_GUESS[121] = { 60.0, 59.0, 58.0, 57.0, 56.0, 55.0, 54.0, 53.0, 52.0, 51.0, 50.0, 49.0, 48.0, 47.0, 46.0, 45.0, 44.0, 43.0, 42.0, 41.0, 40.0, 39.0, 38.0, 37.0, 36.0, 35.0, 34.0, 33.0, 32.0, 31.0, 30.0, 29.0, 28.0, 27.0, 26.0, 25.0, 24.0, 23.0, 22.0, 21.0, 20.0, 19.0, 18.0, 17.0, 16.0, 15.0, 14.0, 13.0, 12.0, 11.0, 10.0, 9.0, 8.0, 7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0, 0.0, -1.0, -2.0, -3.0, -4.0, -5.0, -6.0, -7.0, -8.0, -9.0,-10.0, -11.0,-12.0,-13.0,-14.0,-15.0,-16.0,-17.0,-18.0,-19.0,-20.0, -21.0,-22.0,-23.0,-24.0,-25.0,-26.0,-27.0,-28.0,-29.0,-30.0, -31.0,-32.0,-33.0,-34.0,-35.0,-36.0,-37.0,-38.0,-39.0,-40.0, -41.0,-42.0,-43.0,-44.0,-45.0,-46.0,-47.0,-48.0,-49.0,-50.0, -51.0,-52.0,-53.0,-54.0,-55.0,-56.0,-57.0,-58.0,-59.0,-60.0 }; #endif /* internal data structure for survey data */ struct mbsys_simrad_survey_struct { /* swath id */ int swath_id; /* EM_SWATH_CENTER: 0 EM_SWATH_PORT: -1 (EM12D only) EM_SWATH_STARBOARD: 1 (EM12D only) */ /* interpolated nav */ double longitude; double latitude; /* bathymetry */ int ping_number; int beams_bath; /* EM-1000: 60 EM12S: 81 EM121: 121 EM12D: 81 */ int bath_mode; /* EM-1000: 1=deep; 2=medium; 3=shallow EM-12S: 1=shallow equiangle spacing 2=deep equiangle spacing 3=shallow equidistant spacing 4=deep 120 degree equidistant 5=deep 105 degree equidistant 6=deep 90 degree equidistant EM-12D: 1=shallow equiangle spacing 2=deep equiangle spacing 3=shallow equidistant spacing 4=deep 150 degree equidistant 5=deep 140 degree equidistant 6=deep 128 degree equidistant 7=deep 114 degree equidistant 8=deep 98 degree equidistant */ int bath_res; /* EM-12 only: 1=high res; 2=low res */ int bath_quality; /* number of good beams, negative if ping rejected */ int bath_num; /* number of beams, EM-121 only, 61 or 121 */ int pulse_length; /* pulse length in ms, EM-121 only */ int beam_width; /* beam width in degree, 1, 2 or 4, EM-121 only */ int power_level; /* power level, 0-5, EM-121 only */ int tx_status; /* 0-58, EM-121 only */ int rx_status; /* 0-144, EM-121 only */ int along_res; /* alongtrack resolution, 0.01 m, EM-121 only */ int across_res; /* acrosstrack resolution, 0.01 m, EM-121 only */ int depth_res; /* depth resolution, 0.01 m, EM-121 only */ int range_res; /* range resolution, 0.1 ms, EM-121 only */ int keel_depth; /* depth of most vertical beam: EM-1000: 0.02 meters EM-12 high res: 0.10 meters EM-12 low res: 0.20 meters EM-121 depth_res meters */ int heading; /* heading: EM-1000: 0.1 degrees EM-12: 0.1 degrees EM-121: 0.01 degrees */ int roll; /* 0.01 degrees */ int pitch; /* 0.01 degrees */ int xducer_pitch; /* 0.01 degrees */ int ping_heave; /* 0.01 meters */ int sound_vel; /* 0.1 meters/sec */ unsigned short int bath[MBSYS_SIMRAD_MAXBEAMS]; /* depths: EM-1000: 0.02 meters EM-12 high res: 0.10 meters EM-12 low res: 0.20 meters EM-121: depth_res meters */ short int bath_acrosstrack[MBSYS_SIMRAD_MAXBEAMS]; /* acrosstrack distances: EM-1000: 0.1 meters EM-12 high res: 0.2 meters EM-12 low res: 0.5 meters EM-121: across_res meters */ short int bath_alongtrack[MBSYS_SIMRAD_MAXBEAMS]; /* alongtrack distances: EM-1000: 0.1 meters EM-12 high res: 0.2 meters EM-12 low res: 0.5 meters EM-121: along_res meters */ short int tt[MBSYS_SIMRAD_MAXBEAMS]; /* meters */ /* travel times: EM-1000: 0.05 msec EM-12 high res: 0.20 msec EM-12 low res: 0.80 msec EM-121: 0.1 * range_res msec */ mb_s_char amp[MBSYS_SIMRAD_MAXBEAMS]; /* 0.5 dB */ mb_u_char quality[MBSYS_SIMRAD_MAXBEAMS]; /* meters */ mb_s_char heave[MBSYS_SIMRAD_MAXBEAMS]; /* 0.1 meters */ mb_s_char beamflag[MBSYS_SIMRAD_MAXBEAMS]; /* MB-System beamflags */ /* sidescan */ int ss_status; int pixels_ssraw; /* total number of samples for this ping */ int ss_mode; /* 1 = EM-12 shallow: 0.6 m/sample 2 = EM-12 deep: 2.4 m/sample 3 = EM-1000 deep: 0.3 m/sample 4 = EM-1000 medium: 0.3 m/sample 5 = EM-1000 shallow: 0.15 m/sample */ short int beam_frequency[MBSYS_SIMRAD_MAXBEAMS]; /* 0 = 12.67 kHz 1 = 13.00 kHz 2 = 13.33 kHz 3 = 95.00 kHz */ short int beam_samples[MBSYS_SIMRAD_MAXBEAMS]; /* number of sidescan samples derived from each beam */ short int beam_center_sample[MBSYS_SIMRAD_MAXBEAMS]; /* center beam sample number among samples from one beam */ short int beam_start_sample[MBSYS_SIMRAD_MAXBEAMS]; /* start beam sample number among samples from entire ping */ mb_s_char ssraw[MBSYS_SIMRAD_MAXRAWPIXELS]; short int ssp[MBSYS_SIMRAD_MAXRAWPIXELS]; int pixel_size; /* processed sidescan pixel size in cm */ int pixels_ss; /* number of processed sidescan pixels stored */ short ss[MBSYS_SIMRAD_MAXPIXELS]; /* the processed sidescan ordered port to starboard */ short ssalongtrack[MBSYS_SIMRAD_MAXPIXELS]; /* the processed sidescan alongtrack distances in distance resolution units */ }; /* internal data structure */ struct mbsys_simrad_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Simrad sonar */ /* parameter info (start, stop and parameter datagrams) */ int par_year; int par_month; int par_day; int par_hour; int par_minute; int par_second; int par_centisecond; int pos_type; /* positioning system type */ double pos_delay; /* positioning system delay (sec) */ double roll_offset; /* roll offset (degrees) */ double pitch_offset; /* pitch offset (degrees) */ double heading_offset; /* heading offset (degrees) */ double em100_td; /* EM-100 tranducer depth (meters) */ double em100_tx; /* EM-100 tranducer fore-aft offset (meters) */ double em100_ty; /* EM-100 tranducer athwartships offset (meters) */ double em12_td; /* EM-12 tranducer depth (meters) */ double em12_tx; /* EM-12 tranducer fore-aft offset (meters) */ double em12_ty; /* EM-12 tranducer athwartships offset (meters) */ double em1000_td; /* EM-1000 tranducer depth (meters) */ double em1000_tx; /* EM-1000 tranducer fore-aft offset (meters) */ double em1000_ty; /* EM-1000 tranducer athwartships offset (meters) */ char spare_parameter[128]; int survey_line; char comment[MBSYS_SIMRAD_COMMENT_LENGTH]; /* position (position datagrams) */ int pos_year; int pos_month; int pos_day; int pos_hour; int pos_minute; int pos_second; int pos_centisecond; double pos_latitude; double pos_longitude; double utm_northing; double utm_easting; int utm_zone; double utm_zone_lon; int utm_system; int pos_quality; double speed; /* meters/second */ double line_heading; /* degrees */ /* sound velocity profile */ int svp_year; int svp_month; int svp_day; int svp_hour; int svp_minute; int svp_second; int svp_centisecond; int svp_num; int svp_depth[MBSYS_SIMRAD_MAXSVP]; /* meters */ int svp_vel[MBSYS_SIMRAD_MAXSVP]; /* 0.1 meters/sec */ /* time stamp */ int year; int month; int day; int hour; int minute; int second; int centisecond; /* pointer to survey data structure */ struct mbsys_simrad_survey_struct *ping; }; /* system specific function prototypes */ int mbsys_simrad_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_simrad_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_simrad_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_simrad_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_simrad_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_simrad_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error); int mbsys_simrad_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_simrad_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_simrad_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_simrad_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_simrad_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_simrad_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_simrad_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_simrad_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *error);