/*-------------------------------------------------------------------- * The MB-system: mbsys_atlas.h 6/22/01 * $Id: mbsys_atlas.h 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 2001-2009 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_atlas.h defines the MBIO data structures for handling data from * STN Atlas Marine Electronics multibeam sonars. * The relevant sonars include Hydrosweep DS2 and Fansweep sonars. * The older Hydrosweep DS and MD sonars produce data in different * formats (e.g. 21-24 and 101-102). * The data formats associated with (newer) STN Atlas sonars * include: * MBSYS_ATLAS formats (code in mbsys_atlas.c and mbsys_atlas.h): * MBF_HSDS2RAW : MBIO ID 182 - Vendor raw HSDS2 and Fansweep format * MBF_HSDS2LAM : MBIO ID 183 - L-DEO HSDS2 and Fansweep processing format * * * Author: D. W. Caress * Author: D. N. Chayes * Date: June 22, 2001 * * $Log: mbsys_atlas.h,v $ * Revision 5.7 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 5.6 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.5 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.4 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.3 2001/12/18 04:27:45 caress * Release 5.0.beta11. * * Revision 5.2 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.1 2001-07-19 17:32:54-07 caress * Release 5.0.beta03 * * Revision 5.0 2001/06/29 22:49:07 caress * Added support for HSDS2RAW * * */ /* * Notes on the MBSYS_ATLAS data structure: * * 1) STN Atlas Marine Electronics (aka SAM) sonars write raw data in real-time * as binary XDR encoded data. Files are stored on disk by the HYDROMAP * Online workstation. The workstation on the Ewing is an HP Vectra * running SuSe Linux (2.2 kernel.) * * 2) Files are 10 minutes long. * * 3) Multiple (parallel files are created). For example: * * 64k 00010529004010.adt * 28k 00010529004010.ang Angle data * 28k 00010529004010.cdt Sound speed profile(s) * 8.0k 00010529004010.evt Event data, comments, etc. * 344k 00010529004010.fsw Sounding (travel time, sidescan, backscatter... * 148k 00010529004010.lev Level (tide gage) data * 664k 00010529004010.lot center beam (telegram 26) and lots of zeros * 60k 00010529004010.mot Motion sensor (attitude) * 388k 00010529004010.nav Navigation sensors * * lot file: 26 (center beam) and lots of zeros * * For starters (June, 2001) we are assuming fixed beam spacing w/ a 90 or * 120 degree swath so all of the swath mapping data we need is in the ".fsw" * data file. * * 4) Data record type ids: * MB-System critical records are: * * Sounding data 10 T0, nav, attitude, * Depths 11 travel time+amp/beam * Sidescan 12 Multiple packets of sidescan data * Tracking windows 19 * Amplitude 28 TX and RX data necessary for calculating true amp * * Other potentially interesting things: * "Center beam" 26 * * 5) Time values are in Unix seconds (seconds since 1/1/1970 00:00:00 */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /* sonar models */ #define MBSYS_ATLAS_UNKNOWN 0 #define MBSYS_ATLAS_HSDS2 1 #define MBSYS_ATLAS_FANSWEEP15 2 #define MBSYS_ATLAS_FANSWEEP20 3 /* maximum number of beams and pixels */ #define MBSYS_ATLAS_MAXBEAMS 1440 #define MBSYS_ATLAS_MAXPIXELS 4096 #define MBSYS_ATLAS_MAXBEAMTELEGRAM 200 #define MBSYS_ATLAS_MAXPIXELTELEGRAM 1024 #define MBSYS_ATLAS_MAXWINDOWS 100 #define MBSYS_ATLAS_HSDS2_PFB_NUM 59 #define MBSYS_ATLAS_HSDS2_RX_PAR 20 #define MBSYS_ATLAS_HSDS2_TX_PAR 10 #define MBSYS_ATLAS_COMMENT_LENGTH 256 #define MBSYS_ATLAS_HSDS2_MAXBEAMS 140 /* datagram type id's */ #define MBSYS_ATLAS_TELEGRAM_NONE 0 #define MBSYS_ATLAS_TELEGRAM_START 10 #define MBSYS_ATLAS_TELEGRAM_TRAVELTIMES 11 #define MBSYS_ATLAS_TELEGRAM_SIDESCAN 12 #define MBSYS_ATLAS_TELEGRAM_TRACKINGWINDOWS 19 #define MBSYS_ATLAS_TELEGRAM_CENTERBEAM 26 #define MBSYS_ATLAS_TELEGRAM_BACKSCATTER 28 #define MBSYS_ATLAS_TELEGRAM_SYSTEM 40 #define MBSYS_ATLAS_TELEGRAM_HSDS2LAM 1179799367 #define MBSYS_ATLAS_TELEGRAM_COMMENTLAM 1129270605 /* internal data structure for survey data */ struct mbsys_atlas_struct { int kind; /* navigation telegram */ double sys_pos_lat; /* latitude (radians) */ double sys_pos_lon; /* longitude (radians) */ char sys_pos_sensor[8]; /* position sensor name */ double sys_pos_time_d; /* position fix time (s) */ /* start telegram */ unsigned int start_ping_no; /* ping number */ double start_transmit_time_d; /* ping timestamp */ mb_u_char start_opmode[32]; /* 32 single byte mode indicators: */ /* start_opmode[ 0] = OPMODE_SOUNDING = 0 */ /* OM_SOUNDING_OFF = 0 */ /* OM_SOUNDING_ON = 1 */ /* start_opmode[ 1] = OPMODE_SEARCH = 1 */ /* OM_SEARCH_OFF = 0 */ /* OM_SEARCH_ON = 1 */ /* start_opmode[ 2] = OPMODE_SIMULATION = 2 */ /* OM_SIMULATION_OFF = 0 */ /* OM_SIMULATION_ON = 1 */ /* start_opmode[ 3] = OPMODE_COVERAGE = 3 */ /* OM_COVERAGE_90_DEG = 0 */ /* OM_COVERAGE_120_DEG = 1 */ /* start_opmode[ 4] = OPMODE_SUBRANGE = 4 */ /* OM_SUBRANGE_0 = 0 */ /* OM_SUBRANGE_1 = 1 */ /* OM_SUBRANGE_2 = 2 */ /* OM_SUBRANGE_3 = 3 */ /* start_opmode[ 5] = OPMODE_DUMMY1 = 5 */ /* start_opmode[ 6] = OPMODE_RANGE = 6 */ /* OM_RANGE_SHALLOW_WATER = 0 */ /* OM_RANGE_MEDIUM_DEPTH = 1 */ /* OM_RANGE_DEEP_SEA = 2 */ /* start_opmode[ 7] = OPMODE_DUMMY2 = 7 */ /* start_opmode[ 8] = OPMODE_SWATH = 8 */ /* OM_SWATH_FULL = 0 */ /* OM_SWATH_HALF = 1 */ /* start_opmode[ 9] = OPMODE_SIDE = 9 */ /* OM_SIDE_PORT = 0 */ /* OM_SIDE_STAR = 1 */ /* start_opmode[10] = OPMODE_HOPPING = 10 */ /* OM_HOPPING_OFF = 0 */ /* OM_HOPPING_ON = 1 */ /* start_opmode[11] = OPMODE_SEQUENCE = 11 */ /* OM_SEQUENCE_NORMAL = 0 */ /* OM_SEQUENCE_REVERSE = 1 */ /* start_opmode[12] = OPMODE_CALIBR = 12 */ /* OM_CALIBRATION_OFF = 0 */ /* OM_CALIBRATION_ON = 1 */ /* start_opmode[13] = OPMODE_TEST = 13 */ /* OM_TEST_OFF = 0 */ /* OM_TEST_TRANSMITTER_FULL = 1 */ /* OM_TEST_TRANSMITTER_1_GROUP = 2 */ /* OM_TEST_RECEIVER = 3 */ /* start_opmode[14] = OPMODE_SONARTYPE = 14 */ /* OM_SONAR_FS20 = 0 */ /* OM_SONAR_FS10 = 1 */ /* OM_SONAR_Boma = 2 */ /* OM_SONAR_MD = 3 */ /* OM_SONAR_MD2 = 4 */ /* OM_SONAR_DS = 5 */ /* OM_SONAR_DS2 = 6 */ /* OM_SONAR_VLOT = 7 */ /* OM_SONAR_VLOT2 = 8 */ /* start_opmode[15] = OPMODE_EXTENSION = 15 */ /* OM_EXTENSION_NOT_USED = 0 */ /* start_opmode[16] = OPMODE_FREQUENCY = 16 */ /* OM_FREQUENCY_HIGH = 0 */ /* OM_FREQUENCY_LOW = 1 */ /* start_opmode[17] = OPMODE_TRANS_MODE = 17 */ /* OM_TRANSMISSION_MODE_0 = 0 */ /* OM_TRANSMISSION_MODE_1 = 1 */ /* OM_TRANSMISSION_MODE_2 = 2 */ /* OM_TRANSMISSION_MODE_3 = 3 */ /* OM_TRANSMISSION_MODE_4 = 4 */ /* OM_TRANSMISSION_MODE_5 = 5 */ /* OM_TRANSMISSION_MODE_6 = 6 */ /* OM_TRANSMISSION_MODE_7 = 7 */ /* start_opmode[18] = OPMODE_RESERVED_18 = 18 */ /* start_opmode[19] = OPMODE_RESERVED_19 = 19 */ /* start_opmode[20] = OPMODE_RESERVED_20 = 20 */ /* start_opmode[21] = OPMODE_RESERVED_21 = 21 */ /* start_opmode[22] = OPMODE_RESERVED_22 = 22 */ /* start_opmode[23] = OPMODE_RESERVED_23 = 23 */ /* start_opmode[24] = OPMODE_RESERVED_24 = 24 */ /* start_opmode[25] = OPMODE_RESERVED_25 = 25 */ /* start_opmode[26] = OPMODE_RESERVED_26 = 26 */ /* start_opmode[27] = OPMODE_RESERVED_27 = 27 */ /* start_opmode[28] = OPMODE_RESERVED_28 = 28 */ /* start_opmode[29] = OPMODE_RESERVED_29 = 29 */ /* start_opmode[30] = OPMODE_RESERVED_30 = 30 */ /* start_opmode[31] = OPMODE_RESERVED_31 = 31 */ double start_heave; /* heave at transmit (m) */ double start_roll; /* roll at transmit (radians) */ double start_pitch; /* pitch at transmit (radians) */ double start_heading; /* heading at transmit (radians) */ double start_ckeel; /* water sound speed at transducer (m/s) */ double start_cmean; /* mean water sound speed (m/s) */ double start_depth_min; /* minimum depth from GUI (m) */ double start_depth_max; /* maximum depth from GUI (m) */ /* travel times telegrams */ unsigned int tt_ping_no; /* ping number */ double tt_transmit_time_d; /* ping timestamp */ int tt_beam_table_index; /* index to beam angle table */ /* tt_beam_table_index = 1 : ds2_ang_120[] */ /* tt_beam_table_index = 2 : ds2_ang_90[] */ int tt_beam_cnt; /* number of beam values in this ping (max 1440) */ int tt_long1; /* reserve */ int tt_long2; /* reserve */ int tt_long3; /* reserve */ int tt_xdraught; /* draft flag: */ /* tt_xdraught = 0 : inst-draft */ /* tt_xdraught = 1 : system-draft */ double tt_double1; /* DS2: backscatter TVG (dB?) */ /* FS10: period of time */ double tt_double2; /* FS10: data age */ double tt_sensdraught; /* sens/inst draft */ double tt_draught; /* system draft (m) */ float tt_lruntime[MBSYS_ATLAS_MAXBEAMS]; /* array of beam traveltimes with */ /* each entry related to the beam */ /* angle in the actual angle table */ mb_u_char tt_lamplitude[MBSYS_ATLAS_MAXBEAMS]; /* array of beam amplitudes: */ mb_u_char tt_lstatus[MBSYS_ATLAS_MAXBEAMS]; /* array of beam states: */ /* DS2: NIS data */ /* FS: */ /* bit 0 => beamside */ /* 0 = port */ /* 1 = starboard */ /* bit 1 => lobe */ /* 0 = cond. lobe */ /* 1 = wide lobe */ /* bit 2 => valid */ /* 0 = unvalid */ /* 1 = valid */ /* bits 3-7 unused */ /* processed bathymetry */ double pr_navlon; /* longitude (degrees) */ double pr_navlat; /* latitude (degrees) */ double pr_speed; /* speed made good (m/s) */ double pr_bath[MBSYS_ATLAS_MAXBEAMS]; /* bathymetry (m) */ double pr_bathacrosstrack[MBSYS_ATLAS_MAXBEAMS]; /* acrosstrack distance (m) */ double pr_bathalongtrack[MBSYS_ATLAS_MAXBEAMS]; /* alongtrack distance (m) */ char pr_beamflag[MBSYS_ATLAS_MAXBEAMS]; /* beam edit/status flags */ /* sidescan telegrams */ unsigned int ss_ping_no; /* ping number */ double ss_transmit_time_d; /* ping timestamp */ double ss_timedelay; /* time from transmit to first sidescan value (s) */ double ss_timespacing; /* time spacing between sidescan values (s) */ int ss_max_side_bb_cnt; /* total number of values to port */ int ss_max_side_sb_cnt; /* total number of values to starboard */ mb_u_char ss_sidescan[MBSYS_ATLAS_MAXPIXELS]; /* tracking windows telegram */ double tr_transmit_time_d; /* ping timestamp */ unsigned int tr_ping_no; /* ping number */ int tr_window_mode; /* window mode */ int tr_no_of_win_groups; /* number of window groups */ /* DS2 & MD => 8 */ /* Fansweep => 20 */ int tr_repeat_count[MBSYS_ATLAS_MAXWINDOWS]; /* this window repeats n times */ /* DS2 => 6,8,8,8,8,8,8,5 */ /* MD => 5,5,5,5,5,5,5,5 */ float tr_start[MBSYS_ATLAS_MAXWINDOWS]; /* start time (s) - two way */ float tr_stop[MBSYS_ATLAS_MAXWINDOWS]; /* stop time (s) - two way */ /* backscatter telegram */ double bs_transmit_time_d; /* ping timestamp */ int bs_ping_no; /* ping number */ unsigned short bs_nrActualGainSets; /* 10 to 20 gain sets */ float bs_rxGup; /* DS2: -175.0 dB relative to 1 V/uPa */ /* MD: -185.0 dB relative to 1 V/uPa */ float bs_rxGain; /* scale : dB */ float bs_ar; /* scale : dB/m */ float bs_TvgRx_time[MBSYS_ATLAS_HSDS2_RX_PAR]; /* two way time (s) */ float bs_TvgRx_gain[MBSYS_ATLAS_HSDS2_RX_PAR]; /* receiver gain (dB) */ unsigned short bs_nrTxSets; /* number of transmit sets (1, 3, 5) */ unsigned int bs_txBeamIndex[MBSYS_ATLAS_HSDS2_TX_PAR]; /* code of external beamshape table */ float bs_txLevel[MBSYS_ATLAS_HSDS2_TX_PAR]; /* transmit level: dB relative to 1 uPa */ float bs_txBeamAngle[MBSYS_ATLAS_HSDS2_TX_PAR]; /* transmit beam angle (radians) */ float bs_pulseLength[MBSYS_ATLAS_HSDS2_TX_PAR]; /* transmit pulse length (s) */ unsigned short bs_nrBsSets; /* number of backscatter sets */ float bs_m_tau[MBSYS_ATLAS_HSDS2_PFB_NUM]; /* echo duration (s) */ char bs_eff_ampli[MBSYS_ATLAS_HSDS2_PFB_NUM]; /* effective amplitude */ char bs_nis[MBSYS_ATLAS_HSDS2_PFB_NUM]; /* noise isotropic */ /* comment */ char comment[MBSYS_ATLAS_COMMENT_LENGTH]; }; /* * These two arrays represent the angle from the vertical for each of the * two modes of operation of the HS-DS2 on the Ewing in June, 2001. * * The values were extracted from a sample "raw" angle data file. * */ #ifndef MBSYS_ATLAS_C extern double ds2_ang_120d_59b[]; extern double ds2_ang_90d_59b[]; extern double ds2_ang_120d_140b[]; extern double ds2_ang_90d_140b[]; #else double ds2_ang_120d_59b[] = { -1.040042, -1.004178, -0.968315, -0.932451, -0.896588, -0.860724, -0.824861, -0.788997, -0.753134, -0.717270, -0.681407, -0.645543, -0.609680, -0.573816, -0.537953, -0.502089, -0.466226, -0.430362, -0.394499, -0.358635, -0.322772, -0.286908, -0.251045, -0.215181, -0.179318, -0.143454, -0.107591, -0.071727, -0.035864, 0.000000, 0.035864, 0.071727, 0.107591, 0.143454, 0.179318, 0.215181, 0.251045, 0.286908, 0.322772, 0.358635, 0.394499, 0.430362, 0.466226, 0.502089, 0.537953, 0.573816, 0.609680, 0.645543, 0.681407, 0.717270, 0.753134, 0.788997, 0.824861, 0.860724, 0.896588, 0.932451, 0.968315, 1.004178, 1.040042 }; double ds2_ang_90d_59b[] = { -0.779988, -0.753092, -0.726195, -0.699299, -0.672403, -0.645507, -0.618611, -0.591715, -0.564819, -0.537923, -0.511026, -0.484130, -0.457234, -0.430338, -0.403442, -0.376546, -0.349650, -0.322754, -0.295857, -0.268961, -0.242065, -0.215169, -0.188273, -0.161377, -0.134481, -0.107584, -0.080688, -0.053792, -0.026896, 0.000000, 0.026896, 0.053792, 0.080688, 0.107584, 0.134481, 0.161377, 0.188273, 0.215169, 0.242065, 0.268961, 0.295857, 0.322754, 0.349650, 0.376546, 0.403442, 0.430338, 0.457234, 0.484130, 0.511026, 0.537923, 0.564819, 0.591715, 0.618611, 0.645507, 0.672403, 0.699299, 0.726195, 0.753092, 0.779988 }; double ds2_ang_120d_140b[] = { -1.040042, -1.025077, -1.010112, -0.995148, -0.980183, -0.965219, -0.950254, -0.935289, -0.920325, -0.905360, -0.890395, -0.875431, -0.860466, -0.845502, -0.830537, -0.815572, -0.800608, -0.785643, -0.770678, -0.755714, -0.740749, -0.725784, -0.710820, -0.695855, -0.680891, -0.665926, -0.650961, -0.635997, -0.621032, -0.606067, -0.591103, -0.576138, -0.561174, -0.546209, -0.531244, -0.516280, -0.501315, -0.486350, -0.471386, -0.456421, -0.441457, -0.426492, -0.411527, -0.396563, -0.381598, -0.366633, -0.351669, -0.336704, -0.321740, -0.306775, -0.291810, -0.276846, -0.261881, -0.246916, -0.231952, -0.216987, -0.202022, -0.187058, -0.172093, -0.157129, -0.142164, -0.127199, -0.112235, -0.097270, -0.082305, -0.067341, -0.052376, -0.037412, -0.022447, -0.007482, 0.007482, 0.022447, 0.037412, 0.052376, 0.067341, 0.082305, 0.097270, 0.112235, 0.127199, 0.142164, 0.157129, 0.172093, 0.187058, 0.202022, 0.216987, 0.231952, 0.246916, 0.261881, 0.276846, 0.291810, 0.306775, 0.321740, 0.336704, 0.351669, 0.366633, 0.381598, 0.396563, 0.411527, 0.426492, 0.441457, 0.456421, 0.471386, 0.486350, 0.501315, 0.516280, 0.531244, 0.546209, 0.561174, 0.576138, 0.591103, 0.606067, 0.621032, 0.635997, 0.650961, 0.665926, 0.680891, 0.695855, 0.710820, 0.725784, 0.740749, 0.755714, 0.770678, 0.785643, 0.800608, 0.815572, 0.830537, 0.845502, 0.860466, 0.875431, 0.890395, 0.905360, 0.920325, 0.935289, 0.950254, 0.965219, 0.980183, 0.995148, 1.010112, 1.025077, 1.040042 }; double ds2_ang_90d_140b[] = { -0.77998, -0.76876, -0.75754, -0.74631, -0.73509, -0.72387, -0.71265, -0.70142, -0.69020, -0.67898, -0.66775, -0.65653, -0.64531, -0.63409, -0.62286, -0.61164, -0.60042, -0.58919, -0.57797, -0.56675, -0.55553, -0.54430, -0.53308, -0.52186, -0.51063, -0.49941, -0.48819, -0.47697, -0.46574, -0.45452, -0.44330, -0.43207, -0.42085, -0.40963, -0.39841, -0.38718, -0.37596, -0.36474, -0.35352, -0.34229, -0.33107, -0.31985, -0.30862, -0.29740, -0.28618, -0.27496, -0.26373, -0.25251, -0.24129, -0.23006, -0.21884, -0.20762, -0.19640, -0.18517, -0.17395, -0.16273, -0.15150, -0.14028, -0.12906, -0.11784, -0.10661, -0.09539, -0.08417, -0.07294, -0.06172, -0.05050, -0.03928, -0.02805, -0.01683, -0.00561, 0.005611, 0.016834, 0.028057, 0.039280, 0.050503, 0.061726, 0.072948, 0.084171, 0.095394, 0.106617, 0.117840, 0.129063, 0.140286, 0.151508, 0.162731, 0.173954, 0.185177, 0.196400, 0.207623, 0.218845, 0.230068, 0.241291, 0.252514, 0.263737, 0.274960, 0.286183, 0.297405, 0.308628, 0.319851, 0.331074, 0.342297, 0.353520, 0.364742, 0.375965, 0.387188, 0.398411, 0.409634, 0.420857, 0.432079, 0.443302, 0.454525, 0.465748, 0.476971, 0.488194, 0.499417, 0.510639, 0.521862, 0.533085, 0.544308, 0.555531, 0.566754, 0.577976, 0.589199, 0.600422, 0.611645, 0.622868, 0.634091, 0.645314, 0.656536, 0.667759, 0.678982, 0.690205, 0.701428, 0.712651, 0.723873, 0.735096, 0.746319, 0.757542, 0.768765, 0.779988 }; /*-----------------------------------------------------------------------------*/ /* Hydrosweep DS2 Transmit Instant Correction Tables * * Mode: Medium Depth 1 ( 100 - 450 m), additive corr. values for runtimes [msec] * Opmode[6] = 1 */ double DS2_TimeCorrMedium1[] = { -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -24.000, -23.973, -23.907, -23.760, -23.520, -23.200, -22.840, -22.453, -22.067, -21.680, -21.320, -21.000, -20.760, -20.600, -20.533, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.507, -20.493, -20.453, -20.373, -20.253, -20.080, -19.880, -19.680, -19.467, -19.253, -19.053, -18.840, -18.627, -18.440, -18.267, -18.133, -18.053, -18.013, -18.000, -18.000, -18.000, -18.000, -18.000, -18.000, -18.000, -18.000, -18.000, -17.920, -17.693, -17.240, -16.493, -15.507, -14.387, -13.173, -11.973, -10.760, -9.547, -8.347, -7.133, -6.013, -5.027, -4.267, -3.813, -3.587, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.507, -3.480, -3.413, -3.267, -3.027, -2.707, -2.347, -1.960, -1.560, -1.173, -0.813, -0.493, -0.253, -0.093, -0.027, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000}; /* * * Mode: Medium Depth 2 ( 400 - 1000 m), additive corr. values for runtimes [msec] * Opmode[6] = 1 */ double DS2_TimeCorrMedium2[] = { -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -34.000, -33.960, -33.867, -33.653, -33.307, -32.853, -32.333, -31.787, -31.227, -30.667, -30.147, -29.693, -29.347, -29.147, -29.040, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -29.000, -28.987, -28.933, -28.827, -28.640, -28.400, -28.133, -27.840, -27.547, -27.253, -26.973, -26.680, -26.387, -26.107, -25.880, -25.693, -25.587, -25.520, -25.507, -25.507, -25.507, -25.507, -25.507, -25.507, -25.507, -25.507, -25.507, -25.400, -25.093, -24.453, -23.373, -21.987, -20.400, -18.680, -16.973, -15.267, -13.560, -11.840, -10.133, -8.533, -7.147, -6.080, -5.440, -5.107, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -5.000, -4.960, -4.867, -4.653, -4.307, -3.853, -3.333, -2.787, -2.227, -1.667, -1.147, -0.693, -0.347, -0.147, -0.040, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000}; /* * * Mode: Deep Sea 3 ( 800 - 3700 m), additive corr. values for runtimes [msec] * Opmode[6] = 2 */ double DS2_TimeCorrDeep3[] = { -64.000, -64.000, -64.000, -64.000, -64.000, -64.000, -64.000, -63.960, -63.840, -63.587, -63.173, -62.627, -62.000, -61.333, -60.667, -60.000, -59.333, -58.667, -58.000, -57.333, -56.667, -56.000, -55.373, -54.840, -54.413, -54.173, -54.040, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -54.000, -53.973, -53.920, -53.787, -53.587, -53.307, -53.000, -52.667, -52.333, -52.000, -51.667, -51.333, -51.000, -50.667, -50.333, -50.000, -49.667, -49.333, -49.000, -48.693, -48.413, -48.213, -48.080, -48.027, -48.000, -48.000, -48.000, -48.000, -48.000, -48.000, -48.000, -48.000, -48.000, -47.853, -47.387, -46.467, -44.947, -42.960, -40.653, -38.213, -35.760, -33.307, -30.867, -28.413, -25.960, -23.520, -21.067, -18.613, -16.307, -14.253, -12.600, -11.493, -10.787, -10.400, -10.200, -10.080, -10.027, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -10.000, -9.960, -9.840, -9.613, -9.227, -8.720, -8.133, -7.507, -6.880, -6.253, -5.627, -5.000, -4.387, -3.760, -3.133, -2.507, -1.880, -1.293, -0.787, -0.387, -0.160, -0.040, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000}; /* * * Mode: Deep Sea 4 (3300 - max. m), additive corr. values for runtimes [msec] * Opmode[6] = 2 */ double DS2_TimeCorrDeep4[] = { -88.000, -88.000, -88.000, -88.000, -88.000, -88.000, -88.000, -87.947, -87.787, -87.453, -86.920, -86.213, -85.400, -84.533, -83.667, -82.800, -81.933, -81.067, -80.200, -79.333, -78.467, -77.600, -76.787, -76.080, -75.547, -75.213, -75.053, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -75.000, -74.973, -74.880, -74.693, -74.373, -73.973, -73.507, -73.000, -72.507, -72.000, -71.507, -71.000, -70.507, -70.000, -69.507, -69.000, -68.507, -68.000, -67.507, -67.040, -66.627, -66.320, -66.120, -66.027, -66.000, -66.000, -66.000, -66.000, -66.000, -66.000, -66.000, -66.000, -66.000, -65.827, -65.307, -64.267, -62.520, -60.253, -57.640, -54.853, -52.067, -49.267, -46.493, -43.693, -40.907, -38.120, -35.333, -32.533, -29.760, -26.960, -24.173, -21.387, -18.773, -16.493, -14.747, -13.707, -13.173, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -13.000, -12.947, -12.800, -12.493, -11.987, -11.333, -10.573, -9.760, -8.947, -8.133, -7.320, -6.507, -5.693, -4.880, -4.067, -3.253, -2.440, -1.680, -1.013, -0.507, -0.200, -0.053, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000}; #endif /* system specific function prototypes */ int mbsys_atlas_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_atlas_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_atlas_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_atlas_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_atlas_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_atlas_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_atlas_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_atlas_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_atlas_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_atlas_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_atlas_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_atlas_ttcorr(int verbose, void *mbio_ptr, void *store_ptr, int *error);