/*-------------------------------------------------------------------- * The MB-system: mbf_hsldeoih.h 3/11/93 * $Id: mbf_hsldeoih.h 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 1993-2009 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. *--------------------------------------------------------------------*/ /* * mbf_hsldeoih.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_HSLDEOIH format (MBIO id 24). * * Author: D. W. Caress * Date: March 11, 1993 * $Log: mbf_hsldeoih.h,v $ * Revision 5.2 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.1 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.4 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.3 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * 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 4.2 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.1 1994/02/17 21:19:08 caress * Updated associated MBIO format id in comments. * * Revision 4.0 1994/02/17 20:59:54 caress * First cut at new version. No changes. * * Revision 3.0 1993/05/14 22:51:50 sohara * initial version * */ /* * Notes on the MBF_HSLDEOIH data format: * 1. Hydrosweep DS multibeam systems output raw data in an * ascii format. The data consists of a number of different * multi-line ascii records. * 2. The DS systems output 59 beams of bathymetry and 59 beams * of backscatter measurements, along with a plethora of other * information. * 3. The records all include navigation and time stamp information. * The record types are: * ERGNHYDI: mean and keel water velocity values * ERGNPARA: navigation when system in standby * ERGNPOSI: navigation source * ERGNMESS: across-track "survey" bathymetry * ERGNEICH: along-track "calibration" bathymetry * ERGNLSZT: travel times associated with * ERGNMESS or ERGNEICH records * ERGNCTDS: water sound velocity profile * ERGNAMPL: amplitudes associated with * ERGNMESS or ERGNEICH records * LDEOCOMM: comment records (an L-DEO extension) * 4. A single ping usually results in the following series of * of records: * 1. ERGNMESS or ERGNEICH * 2. ERGNSLZT * 3. ERGNAMPL * The ERGNHYDI, ERGNPARA, ERGNPOSI and ERGNCTDS records occur * at system startup and when the associated operational * parameters of the Hydrosweep are changed. * 5. The kind value in the mbf_hsldeoih_struct indicates whether the * mbf_hsldeoih_data_struct structure holds data from a ping or * data from some other record: * kind = 1 : data from a survey ping * (ERGNMESS + ERGNSLZT + ERGNAMPL) * kind = 2 : comment (LDEOCOMM) * kind = 4 : data from a calibrate ping * (ERGNEICH + ERGNSLZT + ERGNAMPL) * kind = 5 : mean and keel velocity (ERGNHYDI) * kind = 6 : water velocity profile (ERGNCTDS) * kind = 7 : standby navigation (ERGNPARA) * kind = 8 : navigation source (ERGNPOSI) * 6. The data structure defined below includes all of the values * which are passed in Hydrosweep records. * 7. The data structure defined below also includes backscatter values * obtained by processing the amplitude information. * 8. The first four bytes of every data record consist of the characters * "data" which has a four byte integer equivalent value of 1684108385. * 9. Following the "data" flag is a two byte integer value containing * the kind of data contained in the record. The length of the * record will depend on the kind. The data structures associated * with the different data records are defined below. * 10. This format is envisioned as the L-DEO in-house archive format * for processed Hydrosweep DS data. * 11. The kind values have changed. In older versions the definitions * where: * kind = 1 : data from a survey ping * (ERGNMESS + ERGNSLZT + ERGNAMPL) * kind = 2 : comment (LDEOCOMM) * kind = 3 : data from a calibrate ping * (ERGNEICH + ERGNSLZT + ERGNAMPL) * kind = 4 : mean and keel velocity (ERGNHYDI) * kind = 5 : water velocity profile (ERGNCTDS) * kind = 6 : standby navigation (ERGNPARA) * kind = 7 : navigation source (ERGNPOSI) * The code checks for and fixes older data files on read, * using the record size values to check for bad kind values. */ /* maximum number of depth-velocity pairs */ #define MBF_HSLDEOIH_MAXVEL 30 /* maximum line length in characters */ #define MBF_HSLDEOIH_MAXLINE 200 /* number of beams for hydrosweep */ #define MBF_HSLDEOIH_BEAMS 59 /* record label value (integer equivalent to "data" */ #define MBF_HSLDEOIH_LABEL 1684108385 /* data record kind values */ #define MBF_HSLDEOIH_KIND_DATA 1 #define MBF_HSLDEOIH_KIND_COMMENT 2 #define MBF_HSLDEOIH_KIND_CALIBRATE 4 #define MBF_HSLDEOIH_KIND_MEAN_VELOCITY 5 #define MBF_HSLDEOIH_KIND_VELOCITY_PROFILE 6 #define MBF_HSLDEOIH_KIND_STANDBY 7 #define MBF_HSLDEOIH_KIND_NAV_SOURCE 8 #define MBF_HSLDEOIH_OLDKIND_CALIBRATE 3 #define MBF_HSLDEOIH_OLDKIND_MEAN_VELOCITY 4 #define MBF_HSLDEOIH_OLDKIND_VELOCITY_PROFILE 5 #define MBF_HSLDEOIH_OLDKIND_STANDBY 6 #define MBF_HSLDEOIH_OLDKIND_NAV_SOURCE 7 /* array matching gain values to appropriate beam */ static int which_gain[MBSYS_HSDS_BEAMS] = { 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 8, 9, 9, 9, 9, 10,10,10,10,11,11,11,11,12,12,12,12, 13,13,13,13,14,14,14,14,15 }; /* complete data structure containing everything */ struct mbf_hsldeoih_struct { /* type of data record */ int kind; /* position (all records ) */ double lon; double lat; /* time stamp (all records ) */ int year; int month; int day; int hour; int minute; int second; int alt_minute; int alt_second; /* additional navigation and depths (ERGNMESS and ERGNEICH) */ double course_true; double speed_transverse; double speed; char speed_reference[2]; double pitch; int track; double depth_center; double depth_scale; int spare; int distance[MBF_HSLDEOIH_BEAMS]; int depth[MBF_HSLDEOIH_BEAMS]; /* travel time data (ERGNSLZT) */ double course_ground; double speed_ground; double heave; double roll; double time_center; double time_scale; int time[MBF_HSLDEOIH_BEAMS]; double gyro[11]; /* amplitude data (ERGNAMPL) */ char mode[2]; int trans_strbd; int trans_vert; int trans_port; int pulse_len_strbd; int pulse_len_vert; int pulse_len_port; int gain_start; int r_compensation_factor; int compensation_start; int increase_start; int tvc_near; int tvc_far; int increase_int_near; int increase_int_far; int gain_center; double filter_gain; int amplitude_center; int echo_duration_center; int echo_scale_center; int gain[16]; int amplitude[MBF_HSLDEOIH_BEAMS]; int echo_scale[16]; int echo_duration[MBF_HSLDEOIH_BEAMS]; /* mean velocity (ERGNHYDI) */ double draught; double vel_mean; double vel_keel; double tide; /* water velocity profile (HS_ERGNCTDS) */ int num_vel; double vdepth[MBF_HSLDEOIH_MAXVEL]; double velocity[MBF_HSLDEOIH_MAXVEL]; /* navigation source (ERGNPOSI) */ double pos_corr_x; double pos_corr_y; char sensors[10]; /* comment (LDEOCMNT) */ char comment[MBF_HSLDEOIH_MAXLINE]; /* processed backscatter data */ double back_scale; int back[MBF_HSLDEOIH_BEAMS]; }; /* data structure for navigation source records */ struct mbf_hsldeoih_nav_source_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; short int alt_minute; short int alt_second; /* navigation source */ float pos_corr_x; float pos_corr_y; char sensors[10]; }; /* data structure for mean velocity records */ struct mbf_hsldeoih_mean_velocity_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; short int alt_minute; short int alt_second; /* mean velocity */ float draught; float vel_mean; float vel_keel; float tide; }; /* data structure for velocity profile records */ struct mbf_hsldeoih_velocity_profile_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; /* water velocity profile */ int num_vel; float vdepth[MBF_HSLDEOIH_MAXVEL]; float velocity[MBF_HSLDEOIH_MAXVEL]; }; /* data structure for standby records */ struct mbf_hsldeoih_standby_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; short int alt_minute; short int alt_second; /* additional navigation */ float course_true; float speed_transverse; float speed; char speed_reference[2]; float pitch; short int track; float depth_center; }; /* data structure for survey data records */ struct mbf_hsldeoih_survey_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; short int alt_minute; short int alt_second; /* additional navigation and depths */ float course_true; float speed_transverse; float speed; char speed_reference[2]; float pitch; short int track; float depth_center; float depth_scale; short int spare; short int distance[MBF_HSLDEOIH_BEAMS]; short int depth[MBF_HSLDEOIH_BEAMS]; /* travel time data */ float course_ground; float speed_ground; float heave; float roll; float time_center; float time_scale; short int time[MBF_HSLDEOIH_BEAMS]; float gyro[11]; /* amplitude data */ char mode[2]; short int trans_strbd; short int trans_vert; short int trans_port; short int pulse_len_strbd; short int pulse_len_vert; short int pulse_len_port; short int gain_start; short int r_compensation_factor; short int compensation_start; short int increase_start; short int tvc_near; short int tvc_far; short int increase_int_near; short int increase_int_far; short int gain_center; float filter_gain; short int amplitude_center; short int echo_duration_center; short int echo_scale_center; short int gain[16]; short int amplitude[MBF_HSLDEOIH_BEAMS]; short int echo_scale[16]; short int echo_duration[MBF_HSLDEOIH_BEAMS]; /* processed backscatter data */ float back_scale; short int back[MBF_HSLDEOIH_BEAMS]; }; /* data structure for calibrate data records */ struct mbf_hsldeoih_calibrate_struct { /* position */ float lon; float lat; /* time stamp */ short int year; short int month; short int day; short int hour; short int minute; short int second; short int alt_minute; short int alt_second; /* additional navigation and depths */ float course_true; float speed_transverse; float speed; char speed_reference[2]; float pitch; short int track; float depth_center; float depth_scale; short int spare; short int distance[MBF_HSLDEOIH_BEAMS]; short int depth[MBF_HSLDEOIH_BEAMS]; /* travel time data */ float course_ground; float speed_ground; float heave; float roll; float time_center; float time_scale; short int time[MBF_HSLDEOIH_BEAMS]; float gyro[11]; /* amplitude data */ char mode[2]; short int trans_strbd; short int trans_vert; short int trans_port; short int pulse_len_strbd; short int pulse_len_vert; short int pulse_len_port; short int gain_start; short int r_compensation_factor; short int compensation_start; short int increase_start; short int tvc_near; short int tvc_far; short int increase_int_near; short int increase_int_far; short int gain_center; float filter_gain; short int amplitude_center; short int echo_duration_center; short int echo_scale_center; short int gain[16]; short int amplitude[MBF_HSLDEOIH_BEAMS]; short int echo_scale[16]; short int echo_duration[MBF_HSLDEOIH_BEAMS]; /* processed backscatter data */ float back_scale; short int back[MBF_HSLDEOIH_BEAMS]; }; /* data structure for comment records */ struct mbf_hsldeoih_comment_struct { /* comment */ char comment[MBF_HSLDEOIH_MAXLINE]; };