/*-------------------------------------------------------------------- * The MB-system: mbsys_hsds.h 2/16/93 * $Id: mbsys_hsds.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. *--------------------------------------------------------------------*/ /* * mbsys_hsds.h defines the data structures used by MBIO functions * to store data from Hydrosweep DS multibeam sonar systems. * The data formats which are commonly used to store Hydrosweep DS * data in files include * MBF_HSATLRAW : MBIO ID 21 * MBF_HSLDEDMB : MBIO ID 22 * MBF_HSURICEN : MBIO ID 23 * MBF_HSLDEOIH : MBIO ID 24 * * Author: D. W. Caress * Date: February 16, 1993 * $Log: mbsys_hsds.h,v $ * Revision 5.5 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 5.4 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.3 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.2 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.5 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.4 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 1.1 1998/10/05 17:46:15 caress * Initial revision * * Revision 4.3 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.3 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.2 1995/02/22 21:56:08 caress * Put array of per beam gain values in this include file. * * Revision 4.2 1995/02/22 21:56:08 caress * Put array of per beam gain values in this include file. * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.1 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.0 1994/02/17 20:36:40 caress * First cut at new version. Comment changes only. * * Revision 3.1 1993/06/09 08:21:11 caress * Added definition of beam angle spacing. The actual spacing * seems to be 1.510 degrees instead of the 1.525 degrees listed * in the Atlas manuals (based on Hydrosweep DS data collected * on the R/V Ewing on June 9, 1993. * * Revision 3.0 1993/05/14 22:59:28 sohara * initial version * */ /* * Notes on the MBSYS_HSDS data structure: * 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 amplitude 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 mbsys_hsds_struct indicates whether the * mbsys_hsds_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 = 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) * 6. The data structure defined below includes all of the values * which are passed in Hydrosweep records. */ /* maximum number of depth-velocity pairs */ #define MBSYS_HSDS_MAXVEL 30 /* maximum line length in characters */ #define MBSYS_HSDS_MAXLINE 200 /* number of beams for hydrosweep */ #define MBSYS_HSDS_BEAMS 59 /* angular beam spacing for Hydrosweep DS - this is supposed to be 1.525 degrees but seems to really be 1.510 degrees */ #define MBSYS_HSDS_BEAM_SPACING 1.510 struct mbsys_hsds_struct { /* type of data record */ int kind; /* position (all records but comment ) */ double lon; double lat; /* time stamp (all records but comment ) */ 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[MBSYS_HSDS_BEAMS]; int depth[MBSYS_HSDS_BEAMS]; /* travel time data (ERGNSLZT) */ double course_ground; double speed_ground; double heave; double roll; double time_center; double time_scale; int time[MBSYS_HSDS_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[MBSYS_HSDS_BEAMS]; int echo_scale[16]; int echo_duration[MBSYS_HSDS_BEAMS]; /* mean velocity (ERGNHYDI) */ double draught; double vel_mean; double vel_keel; double tide; /* water velocity profile (HS_ERGNCTDS) */ int num_vel; double vdepth[MBSYS_HSDS_MAXVEL]; double velocity[MBSYS_HSDS_MAXVEL]; /* navigation source (ERGNPOSI) */ double pos_corr_x; double pos_corr_y; char sensors[10]; /* comment (LDEOCMNT) */ char comment[MBSYS_HSDS_MAXLINE]; /* processed amplitude data */ double back_scale; int back[MBSYS_HSDS_BEAMS]; }; /* system specific function prototypes */ int mbsys_hsds_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hsds_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hsds_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_hsds_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_hsds_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_hsds_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_hsds_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_hsds_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_hsds_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_hsds_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_hsds_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_hsds_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);