/*-------------------------------------------------------------------- * The MB-system: mbsys_sb2000.h 10/4/94 * $Id: mbsys_sb2000.h 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 1994-2009 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_sb2000.h defines the data structures used by MBIO functions * to store data from the SeaBeam 2000 multibeam sonar systems. * The data formats which are commonly used to store SeaBeam * data in files include * MBF_SB2000RW : MBIO ID 31 * MBF_SB2000SB : MBIO ID 32 * * Author: D. W. Caress * Date: October 4, 1994 * $Log: mbsys_sb2000.h,v $ * Revision 5.9 2009/03/08 09:21:00 caress * Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems. * * Revision 5.8 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 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.5 2002/02/26 07:50:41 caress * Release 5.0.beta14 * * Revision 5.4 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.3 2001/04/06 22:05:59 caress * Consolidated xse formats into one format. * * 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 4.5 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 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 1995/02/14 22:01:39 caress * Version 4.2 * * Revision 4.2 1995/02/14 22:01:39 caress * Version 4.2 * * Revision 4.1 1994/12/21 20:21:09 caress * Changes to support high resolution SeaBeam 2000 sidescan files * from R/V Melville 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_SB2000 data structure: * 1. SeaBeam 2000 multibeam systems output raw data in 121 beams. * 5. The kind value in the mbsys_sb2000_struct indicates whether the * mbsys_sb2000_data_struct structure holds data from a ping or * data from a comment: * kind = 1 : data from a ping * kind = 2 : comment * 6. The data structure defined below includes all of the values * which are passed in SeaBeam 2000 records. */ /* number of bathymetry beams for SeaBeam 2000 */ #define MBSYS_SB2000_BEAMS 121 /* number of sidescan pixels for SeaBeam 2000 */ #define MBSYS_SB2000_PIXELS 2000 /* maximum length of comments in data */ #define MBSYS_SB2000_COMMENT_LENGTH 250 /* size in bytes of header records */ #define MBSYS_SB2000_HEADER_SIZE 36 struct mbsys_sb2000_struct { /* type of data record */ int kind; /* time stamp */ short year; /* year (4 digits) */ short day; /* julian day (1-366) */ short min; /* minutes from beginning of day (0-1439) */ short sec; /* seconds from beginning of minute (0-59) */ /* position */ int lat; /* 1e-7 degrees from equator */ int lon; /* 1e-7 degrees from prime meridian */ /* other values */ short heading; /* heading in 0.1 degrees */ short course; /* course in 0.1 degrees */ short speed; /* fore-aft speed in 0.1 knots */ short speed_ps; /* port-starboard speed in 0.1 knots */ short quality; /* quality value, 0 good, bigger bad */ unsigned short sensor_size; /* size of sensor specific record in bytes */ unsigned short data_size; /* size of data record in bytes */ char speed_ref[2]; /* speed reference */ char sensor_type[2]; /* sensor type */ char data_type[2]; /* type of data recorded */ short pitch; /* 0.01 degrees */ short roll; /* 0.01 degrees */ short gain; /* ping gain, receiver gain */ short correction; /* sonar correction */ short surface_vel; /* sea surface sound velocity */ short pulse_width; /* transmitter pulse width */ short attenuation; /* transmitter attenuation */ short spare1; short spare2; char mode[2]; /* operation mode */ char data_correction[2]; /* data correction */ char ssv_source[2]; /* surface sound velocity source */ /* sound velocity record */ int svp_mean; short svp_number; short svp_spare; short svp_depth[30]; short svp_vel[30]; short vru1; short vru1_port; short vru1_forward; short vru1_vert; short vru2; short vru2_port; short vru2_forward; short vru2_vert; short pitch_bias; short roll_bias; char vru[8]; /* bathymetry data */ short beams_bath; /* number of bathymetry beams */ short scale_factor; /* scale factor */ short bath[MBSYS_SB2000_BEAMS]; short bath_acrosstrack[MBSYS_SB2000_BEAMS]; /* comment */ char comment[MBSYS_SB2000_COMMENT_LENGTH]; /* sidescan data */ int ping_number; short ping_length; short pixel_size; /* meters per pixel */ short ss_min; /* dB gray level minimum */ short ss_max; /* dB gray level maximum */ short sample_rate; /* hydrophone sampling rate 0.1 usec */ short start_time; /* first time slice */ short tot_slice; /* total time slices */ short pixels_ss; /* number of pixels */ char spare_ss[12]; /* spare */ char ss_type; /* sidescan type: G=grayscale, R=raw sidescan */ char ss_dummy; mb_u_char ss[2*MBSYS_SB2000_PIXELS]; }; /* system specific function prototypes */ int mbsys_sb2000_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb2000_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb2000_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_sb2000_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_sb2000_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_sb2000_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_sb2000_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_sb2000_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_sb2000_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_sb2000_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);