/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_singlebeam.h	4/13/93
 *	$Id: mbsys_singlebeam.h 1770 2009-10-19 17:16:39Z caress $
 *
 *    Copyright (c) 1999-2009 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_singlebeam.h defines the data structures used by MBIO functions
 * to store single beam echosounder or navigation data.
 * The data formats which are commonly used to store single beam
 * data in files include
 *      MBF_MGD77DAT : MBIO ID 161
 *      MBF_SIOUWMRG : MBIO ID 162
 *      MBF_LDEOUWDT : MBIO ID 163
 *      MBF_MBARINAV : MBIO ID 164
 *      MBF_MBARIROV : MBIO ID 165
 *      MBF_MBPRONAV : MBIO ID 166
 *      MBF_MBARROV2 : MBIO ID 170
 *
 * Author:	D. W. Caress
 * Date:	April 13,  1999
 *
 * $Log: mbsys_singlebeam.h,v $
 * Revision 5.8  2006/11/10 22:36:05  caress
 * Working towards release 5.1.0
 *
 * Revision 5.7  2006/10/05 18:58:29  caress
 * Changes for 5.1.0beta4
 *
 * Revision 5.6  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 5.5  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.4  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * 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 4.3  2000/09/30  06:31:19  caress
 * Snapshot for Dale.
 *
 * Revision 4.2  1999/10/21  22:40:10  caress
 * Added MBPRONAV format.
 *
 * Revision 4.1  1999/07/16  19:24:15  caress
 * Yet another version.
 *
 *
 *
 */
/*
 * Notes on the MBSYS_SINGLEBEAM data structure:
 *   1. The single beam formats are intended to support
 *      true single beam formats, marine geophysical underway
 *      data formats, and navigation formats. These formats
 *      in some cases support magnetics and gravity data.
 *   2. With MB-System 5.1, the mbf_mbpronav format has been
 *      extended to include min and max acrosstrack distances
 *      of non-null data for both bathymetry beams and 
 *      sidescan pixels. This allows these values to be included
 *      in the *.fnv files and supports mbgrdviz and mbproject.
 *      These values are accessed by a special function
 *      mbsys_singlebeam_swathbounds().
 */

/* maximum line length in characters */
#define MBSYS_SINGLEBEAM_MAXLINE 120

struct mbsys_singlebeam_struct
	{
	/* type of data record */
	int	kind;
	
	/* survey id */
	char	survey_id[8];
			    /* Identifier supplied by the contributing       
				 organization, else given by NGDC in
				 a manner which represents the data. */

	/* time stamp */
	double	time_d;
	int	time_i[7];
	int	timezone;   /* Corrects time (in characters 13-27)
				 to GMT when added: equals zero when 
				 time is GMT.  Timezone normally falls
				 between -13 and +12 inclusively. */	
	/* navigation */
	double	longitude;
	double	latitude;
	double	easting;
	double	northing;
	double	heading;    /* degrees */
	double	speed;	    /* km/hr */
	int	nav_type;   /* Indicates how lat/lon was obtained:
				1 = Observed fix
				3 = Interpolated
				9 = Unspecified	*/
	int	nav_quality;
			    /* QUALITY CODE FOR NAVIGATION -
                             5 - Suspected, by the
                                 originating institution
                             6 - Suspected, by the data
                                 center
                             9 - No identifiable problem
                                 found */
				
	/* motion sensor data */
	double	roll;
	double	pitch;
	double	heave;		/* heave or rov depth in m */
	
	/* submersible/ROV data */
	double	sonar_depth;	/* platform depth in m */
	double	rov_pressure;	/* platform pressure in decibar */
	double	rov_altitude;	/* altitude above seafloor in m */

	/* bathymetry */
	int	flag;	    /* MB-System style beamflag */
	double	tt;	    /* two way travel time in sec */
	double	bath;	    /* corrected depth in m */
	double	tide;	    /* tidal correction in m */
	int	bath_corr;  /* BATHYMETRIC CORRECTION CODE
			       This code details the procedure
			       used for determining the sound
			       velocity correction to depth:
				01-55  Matthews' Zones with zone
				59     Matthews' Zones, no zone
				60     S. Kuwahara Formula
				61     Wilson Formula
				62     Del Grosso Formula
				63     Carter's Tables
				88     Other (see Add. Doc.)
				99     Unspecified */
	int	bath_type;  /* BATHYMETRIC TYPE CODE
				 Indicates how the data record's
				 bathymetric value was obtained:
				 1 =    Observed
				 3 =    Interpolated 
				 9 =    Unspecified */

	/* magnetics */
	double	mag_tot_1;  /* MAGNETICS TOTAL FIELD, 1ST SENSOR
				In tenths of nanoteslas (gammas). 
				For leading sensor.  Use this field
				for single sensor. */
	double	mag_tot_2;  /* MAGNETICS TOTAL FIELD, 2ND SENSOR
				In tenths of nanoteslas (gammas). 
				For trailing sensor. */
	double	mag_res;    /* MAGNETICS RESIDUAL FIELD
				In tenths of nanoteslas (gammas). */
	int	mag_res_sensor;
			    /* SENSOR FOR RESIDUAL FIELD
				1 = 1st or leading sensor
				2 = 2nd or trailing sensor
				9 = Unspecified */
	double	mag_diurnal;
			    /* MAGNETICS DIURNAL CORRECTION -
				In tenths of nanoteslas (gammas). 
				(In nanoteslas) if 9-filled
				(i.e., set to "+9999"), total
				and residual fields are assumed
				to be uncorrected; if used,
				total and residuals are assumed
				to have been already corrected. */
	double	mag_altitude;
			    /* DEPTH OR ALTITUDE OF MAGNETICS SENSOR
				In meters.
				+ = Below sealevel
				- = Above sealevel */
				
	/* gravity */
	double	gravity;    /* OBSERVED GRAVITY
                             In milligals.
                             Corrected for Eotvos, drift, and
                             tares */
	double	eotvos;	    /* EOTVOS CORRECTION
                             In milligals.
                             E = 7.5 V cos phi sin alpha + 
                             0.0042 V*V */
	double	free_air;   /* FREE-AIR ANOMALY
                             In milligals.
                             Free-air Anomaly = G(observed) -
                             G(theoretical) */
	
	/* seismic */
	int	seismic_line;
			    /* SEISMIC LINE NUMBER
                             Used for cross referencing with
                             seismic data. */
	int	seismic_shot;
			    /* SEISMIC SHOT-POINT NUMBER */
	int	seismic_cdp;
			    /* SEISMIC CDP-POINT NUMBER */

	/* ship navigation */
	double	ship_longitude;	/* degrees */
	double	ship_latitude;	/* degrees */
	double	ship_heading;	/* degrees */
	
	/* flags */
	int	position_flag;
	int	pressure_flag;
	int	heading_flag;
	int	altitude_flag;
	int	attitude_flag;
	int	qc_flag;
	
	/* swathbounds */
	double	portlon;
	double	portlat;
	double	stbdlon;
	double	stbdlat;
 
	/* comment */
	char	comment[MBSYS_SINGLEBEAM_MAXLINE];
	};	

	
/* system specific function prototypes */
int mbsys_singlebeam_alloc(int verbose, void *mbio_ptr, void **store_ptr, 
			int *error);
int mbsys_singlebeam_deall(int verbose, void *mbio_ptr, void **store_ptr, 
			int *error);
int mbsys_singlebeam_dimensions(int verbose, void *mbio_ptr, void *store_ptr, 
			int *kind, int *nbath, int *namp, int *nss, int *error);
int mbsys_singlebeam_pingnumber(int verbose, void *mbio_ptr, 
			int *pingnumber, int *error);
int mbsys_singlebeam_segynumber(int verbose, void *mbio_ptr, 
			int *line, int *shot, int *cdp, int *error);
int mbsys_singlebeam_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_singlebeam_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_singlebeam_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_singlebeam_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, double *transducer_depth, double *altitude, 
			int *error);
int mbsys_singlebeam_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_singlebeam_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_singlebeam_swathbounds(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, double *portlon, double *portlat,
			double *stbdlon, double *stbdlat,
			int *error);
int mbsys_singlebeam_copy(int verbose, void *mbio_ptr, 
			void *store_ptr, void *copy_ptr,
			int *error);
int mbsys_singlebeam_pressuredepth(int verbose, 
			double pressure, double latitude,
			double *depth,
			int *error);

