/*-------------------------------------------------------------------- * The MB-system: mbsys_xse.h 3/27/2000 * $Id: mbsys_xse.h 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 2000-2009 by * D. W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and D. N. Chayes (dale@lamont.ldgo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_xse.h defines the data structures used by MBIO functions * to store swath sonar data in the XSE Data Exchange Format * developed by L-3 Communications ELAC Nautik. * This format is used for data from ELAC Bottomchart multibeam sonars * and SeaBeam 2100 multibeam sonars (made by L-3 Communications * SeaBeam Instruments). * The data format associated with XSE is: * MBF_L3XSERAW : MBIO ID 94 * * * Author: D. W. Caress * Date: August 1, 1999 * Additional Authors: P. A. Cohen and S. Dzurenko * * $Log: mbsys_xse.h,v $ * Revision 5.12 2007/07/03 17:28:08 caress * Fixes to XSE format. * * Revision 5.11 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.10 2006/09/11 18:55:53 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.9 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 5.8 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.7 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.6 2001/12/30 20:36:13 caress * Fixed array overflows in handling XSE data. * * Revision 5.5 2001/12/20 20:48:51 caress * Release 5.0.beta11 * * Revision 5.4 2001/07/22 21:19:23 caress * Removed redundant define. * * Revision 5.3 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.2 2001/04/06 22:05:59 caress * Consolidated xse formats into one format. * * 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 4.1 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.0 1999/08/08 04:14:35 caress * Initial revision. * * */ /* * Notes on the MBSYS_XSE (XSE) data format: * 1. L3 Communications introduced a new format called XSE in 1999. * SeaBeam Instruments (maker of SeaBeam multibeam sonars) * and Elac Nautik (make of Bottomchart multibeam sonars) * are both divisions of L3 Communications. * This "Data Exchange Format" is associated with the new * version of "Hydrostar ONLINE" and represents the intended * data format for both ELAC Bottomchart Compact MK II sonars * (50 kHz and/or 180 kHz) and SeaBeam 2100 series sonars * (12 kHz, 20 kHz, 36 kHz). This follows the purchase of * SeaBeam Instruments by L3 Communications, the parent * company of ELAC Nautik. * 2. The XSE format implements a well defined binary format * structure in which each data record is represented as * a "frame" with the following structure: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSF Frame start * Byte Count 4 ulong bytes Between byte count * and frame end * Id 4 ulong Frame id - see below * Source 4 ulong Sensor id * Seconds 4 ulong seconds Seconds since * 1/1/1901 00:00:00 * Microsec 4 ulong usec Microseconds * ... ... ... ... ... Frame specific groups * End 4 ulong #HSF Frame end * ------------------------------------------------------- * Within each frame are "groups", each with the following structure: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSG Group start * Byte Count 4 ulong bytes Between byte count * and group end * Id 4 ulong Group id - see below * ... ... ... ... ... Group specific data * End 4 ulong #HSG Group end * ------------------------------------------------------- * 2. The valid frames include: * Frame Name Id Groups w/ group id's in () * --------------------------------------------------------- * Navigation 1 General(1), Position(2), Accuracy(3), * MotionGroundTruth(4), MotionThroughWater(5), * CurrentTrack(6), HeaveRollPitch(7), Heave(8), * Roll(9), Pitch(10), Heading(11), Log(12), * GPS(13) * Sound Velocity 2 General(1), * Depth(2), Velocity(3), * Conductivity(4), Salinity (5), Temperature(6), * Pressure(7), SSV(8), Position(9) * Tide 3 General(1), Position(2), * Time(3), Tide(4) * Ship 4 General(1), Attitude(2), * Position(3), Dynamics(4), Motion(5), * Geometry(6), Description(7), * Parameter(8), NavigationAndMotion(9), * Transducer(10), TransducerExtended(11) * Sidescan 5 General(1), AmplitudeVsTravelTime(2), * PhaseVsTravelTime(3), * Amplitude(4), Phase(5), Signal(6), PingType(7) * ComplexSignal(8), Weighting(9) * Multibeam 6 General(1), Beam(2), * Traveltime(3), Quality(4), * Amplitude(5), Delay(6), Lateral(7), * Along(8), Depth(9), Angle(10), * Heave(11), Roll(12), Pitch(13), * Gates(14), Noise(15), EchoLength(16), * Hits(17), HeaveReceive(18), Azimuth(19), * MBsystemNavigation(99) * Single Beam 7 General(1) * Control 8 Request(1), Insert(2), Change(3), * Add(4), Delete(5), Action(6), Reply(7) * Bathymetry 9 General(1), Position(2), Depth(3) * Project 10 General(1), Server(2), Status(3), Sources(4) * Native 11 General(1), RWCollectable(2), UNB(3), * Raw(4), ELAC(5) * Geodetic 12 General(1), Ellipsoid(2), Datum(3), * Projection(4), System(5), Alias(6) * SeaBeam 13 Properties(1), HeaveRollPitch(2), Setup(3), * MotionReferenceUnit(4), Settings(5), * Beams(6), Gates(7), Raw(8), Center(9), * Sidescan, Shutdown(), Ping(), Calibrate(), * Collect(), Surface(), Hydrophone(), * Projector(17), Calibration(18), Acknowledge(19), * Warning(20), Message(21), Error(22) * Comment 99 General(1) **MB-System ONLY!!!!** * 3. Not all of these frames are directly supported by this MB-System * i/o module. Unsupported frames are read and passed * through MB-System as MB_DATA_OTHER type data records. * 4. SeaBeam Instruments 2120 12 kHz and 20 KHz multibeam sonar * systems output both bathymetry and amplitude * information for up to 151 beams per multibeam frame. * Each ping produces a variable number of beams. * 5. Elac Bottomchart MkII 50 KHz and 180 kHz sonar systems * output both bathymetry and amplitude information * for up to 126 beams per multibeam frame. * Each ping produces a variable number of beams. * 6. The raw XSE format provides asynchronous navigation only; navigation * is not included in the multibeam or sidescan pings. * MB-System adds MBsystemNavigation(99) groups to the multibeam * frames so that processed navigation can be directly associated * with each survey ping.. * 7. The comment records are supported by MB-System only and are * not part of the L3 Communications XSE format specification. * The comment frame encloses a single general comment group (id=1). * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSF Frame start * Byte Count 4 ulong bytes Between byte count * and frame end * Id 4 ulong 99 Frame id - see below * Source 4 ulong 0 Sensor id * Seconds 4 ulong seconds Seconds since * 1/1/1901 00:00:00 * Microsec 4 ulong usec Microseconds * ... ... ... ... ... Frame specific groups * End 4 ulong #HSF Frame end * ------------------------------------------------------- * The only comment group is 1: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSG Group start * Byte Count 4 ulong bytes Between byte count * and group end * Id 4 ulong 1 Group id - see below * N 4 long bytes Length of null terminated * comment string, padded * to a multiple of 4 * Comment N char chars Comment string * End 4 ulong #HSG Group end * ------------------------------------------------------- * */ /* maximum number of beams and pixels */ #define MBSYS_XSE_MAXBEAMS 151 #define MBSYS_XSE_MAXPIXELS 4096 #define MBSYS_XSE_MAXSAMPLES 8192 #define MBSYS_XSE_MAXSVP 200 #define MBSYS_XSE_MAXDRAFT 200 #define MBSYS_XSE_COMMENT_LENGTH 200 #define MBSYS_XSE_DESCRIPTION_LENGTH 64 #define MBSYS_XSE_TIME_OFFSET 2177452800.0 #define MBSYS_XSE_BUFFER_SIZE 32000 #define MBSYS_XSE_MAX_SIZE 200 #define MBSYS_XSE_MAX_SENSORS 16 #define MBSYS_XSE_MAX_TRANSDUCERS 512 /* frame and group id's */ #define MBSYS_XSE_NONE_FRAME 0 #define MBSYS_XSE_NAV_FRAME 1 #define MBSYS_XSE_NAV_GROUP_GEN 1 #define MBSYS_XSE_NAV_GROUP_POS 2 #define MBSYS_XSE_NAV_GROUP_ACCURACY 3 #define MBSYS_XSE_NAV_GROUP_MOTIONGT 4 #define MBSYS_XSE_NAV_GROUP_MOTIONTW 5 #define MBSYS_XSE_NAV_GROUP_TRACK 6 #define MBSYS_XSE_NAV_GROUP_HRP 7 #define MBSYS_XSE_NAV_GROUP_HEAVE 8 #define MBSYS_XSE_NAV_GROUP_ROLL 9 #define MBSYS_XSE_NAV_GROUP_PITCH 10 #define MBSYS_XSE_NAV_GROUP_HEADING 11 #define MBSYS_XSE_NAV_GROUP_LOG 12 #define MBSYS_XSE_NAV_GROUP_GPS 13 #define MBSYS_XSE_SVP_FRAME 2 #define MBSYS_XSE_SVP_GROUP_GEN 1 #define MBSYS_XSE_SVP_GROUP_DEPTH 2 #define MBSYS_XSE_SVP_GROUP_VELOCITY 3 #define MBSYS_XSE_SVP_GROUP_CONDUCTIVITY 4 #define MBSYS_XSE_SVP_GROUP_SALINITY 5 #define MBSYS_XSE_SVP_GROUP_TEMP 6 #define MBSYS_XSE_SVP_GROUP_PRESSURE 7 #define MBSYS_XSE_SVP_GROUP_SSV 8 #define MBSYS_XSE_SVP_GROUP_POS 9 #define MBSYS_XSE_TID_FRAME 3 #define MBSYS_XSE_TID_GROUP_GEN 1 #define MBSYS_XSE_TID_GROUP_POS 2 #define MBSYS_XSE_TID_GROUP_TIME 3 #define MBSYS_XSE_TID_GROUP_TIDE 4 #define MBSYS_XSE_SHP_FRAME 4 #define MBSYS_XSE_SHP_GROUP_GEN 1 #define MBSYS_XSE_SHP_GROUP_TIME 2 #define MBSYS_XSE_SHP_GROUP_DRAFT 3 #define MBSYS_XSE_SHP_GROUP_SENSORS 4 #define MBSYS_XSE_SHP_GROUP_MOTION 5 #define MBSYS_XSE_SHP_GROUP_GEOMETRY 6 #define MBSYS_XSE_SHP_GROUP_DESCRIPTION 7 #define MBSYS_XSE_SHP_GROUP_PARAMETER 8 #define MBSYS_XSE_SHP_GROUP_NAVIGATIONANDMOTION 9 #define MBSYS_XSE_SHP_GROUP_TRANSDUCER 10 #define MBSYS_XSE_SHP_GROUP_TRANSDUCEREXTENDED 11 #define MBSYS_XSE_SSN_FRAME 5 #define MBSYS_XSE_SSN_GROUP_GEN 1 #define MBSYS_XSE_SSN_GROUP_AMPVSTT 2 #define MBSYS_XSE_SSN_GROUP_PHASEVSTT 3 #define MBSYS_XSE_SSN_GROUP_AMPVSLAT 4 #define MBSYS_XSE_SSN_GROUP_PHASEVSLAT 5 #define MBSYS_XSE_SSN_GROUP_SIGNAL 6 #define MBSYS_XSE_SSN_GROUP_PINGTYPE 7 #define MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL 8 #define MBSYS_XSE_SSN_GROUP_WEIGHTING 9 #define MBSYS_XSE_MBM_FRAME 6 #define MBSYS_XSE_MBM_GROUP_GEN 1 #define MBSYS_XSE_MBM_GROUP_BEAM 2 #define MBSYS_XSE_MBM_GROUP_TT 3 #define MBSYS_XSE_MBM_GROUP_QUALITY 4 #define MBSYS_XSE_MBM_GROUP_AMP 5 #define MBSYS_XSE_MBM_GROUP_DELAY 6 #define MBSYS_XSE_MBM_GROUP_LATERAL 7 #define MBSYS_XSE_MBM_GROUP_ALONG 8 #define MBSYS_XSE_MBM_GROUP_DEPTH 9 #define MBSYS_XSE_MBM_GROUP_ANGLE 10 #define MBSYS_XSE_MBM_GROUP_HEAVE 11 #define MBSYS_XSE_MBM_GROUP_ROLL 12 #define MBSYS_XSE_MBM_GROUP_PITCH 13 #define MBSYS_XSE_MBM_GROUP_GATES 14 #define MBSYS_XSE_MBM_GROUP_NOISE 15 #define MBSYS_XSE_MBM_GROUP_LENGTH 16 #define MBSYS_XSE_MBM_GROUP_HITS 17 #define MBSYS_XSE_MBM_GROUP_HEAVERECEIVE 18 #define MBSYS_XSE_MBM_GROUP_AZIMUTH 19 #define MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV 99 #define MBSYS_XSE_SNG_FRAME 7 #define MBSYS_XSE_CNT_FRAME 8 #define MBSYS_XSE_BTH_FRAME 9 #define MBSYS_XSE_PRD_FRAME 10 #define MBSYS_XSE_NTV_FRAME 11 #define MBSYS_XSE_GEO_FRAME 12 #define MBSYS_XSE_SBM_FRAME 13 #define MBSYS_XSE_SBM_GROUP_PROPERTIES 1 #define MBSYS_XSE_SBM_GROUP_HRP 2 #define MBSYS_XSE_SBM_GROUP_SETUP 3 #define MBSYS_XSE_SBM_GROUP_MRU 4 #define MBSYS_XSE_SBM_GROUP_SETTINGS 5 #define MBSYS_XSE_SBM_GROUP_BEAMS 6 #define MBSYS_XSE_SBM_GROUP_GATES 7 #define MBSYS_XSE_SBM_GROUP_RAW 8 #define MBSYS_XSE_SBM_GROUP_CENTER 9 #define MBSYS_XSE_SBM_GROUP_MESSAGE 21 #define MBSYS_XSE_MSG_FRAME 14 #define MBSYS_XSE_ATT_FRAME 15 #define MBSYS_XSE_COM_FRAME 99 #define MBSYS_XSE_COM_GROUP_GEN 1 struct mbsys_xse_beam_struct { double tt; double delay; double lateral; double along; double depth; double angle; double heave; double roll; double pitch; short beam; char quality; short amplitude; double gate_angle; double gate_start; double gate_stop; float noise; float length; unsigned int hits; double heavereceive; double azimuth; }; struct mbsys_xse_struct { /* type of data record */ int kind; /* Survey, nav, Comment */ /* parameter (ship frames) */ int par_source; /* sensor id */ unsigned int par_sec; /* sec since 1/1/1901 00:00 */ unsigned int par_usec; /* microseconds */ unsigned int par_ship_name_length; /* length of ship name, chars */ char par_ship_name[MBSYS_XSE_DESCRIPTION_LENGTH]; /* Name of Vessel */ double par_ship_length; /* vessel total length, meters */ double par_ship_beam; /* vessel total width, meters */ double par_ship_draft; /* vessel maximum draft, meters */ double par_ship_height; /* vessel maximum height, meters */ double par_ship_displacement; /* vessel maximum displacement, cubic meters */ double par_ship_weight; /* vessel maximum weight, kg */ int par_ship_nsensor; /* number of sensors */ int par_ship_sensor_id[MBSYS_XSE_MAX_SENSORS]; /* sensor id array */ int par_ship_sensor_type[MBSYS_XSE_MAX_SENSORS]; /* sensor type array 1000 : SeaBeam 1000 2000 : SeaBeam 2100 2001 : SeaBeam 2100 V-shaped 3000 : SeaBeam 3000 4000 : single beam 8000 : Edgetech sidescan 9000 : 9001 : SSV */ int par_ship_sensor_frequency[MBSYS_XSE_MAX_SENSORS]; /* sensor frequency array (kHz) */ int par_parameter; /* boolean flag for parameter group */ float par_roll_bias; /* radians */ float par_pitch_bias; /* radians */ float par_heading_bias; /* radians */ float par_time_delay; /* nav time lag, seconds */ float par_trans_x_port; /* port transducer x position, meters */ float par_trans_y_port; /* port transducer y position, meters */ float par_trans_z_port; /* port transducer z position, meters */ float par_trans_x_stbd; /* starboard transducer x position, meters */ float par_trans_y_stbd; /* starboard transducer y position, meters */ float par_trans_z_stbd; /* starboard transducer z position, meters */ float par_trans_err_port; /* port transducer rotation in roll direction, radians */ float par_trans_err_stbd; /* starboard transducer rotation in roll direction, radians */ float par_nav_x; /* navigation antenna x position, meters */ float par_nav_y; /* navigation antenna y position, meters */ float par_nav_z; /* navigation antenna z position, meters */ float par_hrp_x; /* motion sensor x position, meters */ float par_hrp_y; /* motion sensor y position, meters */ float par_hrp_z; /* motion sensor z position, meters */ int par_navigationandmotion;/* boolean flag for navigationandmotion group */ double par_nam_roll_bias; /* roll bias, radians */ double par_nam_pitch_bias; /* pitch bias, radians */ double par_nam_heave_bias; /* heave bias, meters */ double par_nam_heading_bias; /* heading/gyro bias, radians */ double par_nam_time_delay; /* nav time lag, seconds */ double par_nam_nav_x; /* navigation antenna x position, meters */ double par_nam_nav_y; /* navigation antenna y position, meters */ double par_nam_nav_z; /* navigation antenna z position, meters */ double par_nam_hrp_x; /* motion sensor x position, meters */ double par_nam_hrp_y; /* motion sensor y position, meters */ double par_nam_hrp_z; /* motion sensor z position, meters */ int par_xdr_num_transducer; /* number of transducers */ int par_xdr_sensorid[MBSYS_XSE_MAX_TRANSDUCERS]; /* sensor ids */ char par_xdr_transducer[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer type: 0: hydrophone 1: projector 2: transducer */ unsigned int par_xdr_frequency[MBSYS_XSE_MAX_TRANSDUCERS]; /* frequency (Hz) */ char par_xdr_side[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer side: 0: undefined 1: port 2: starboard 3: midship 4: system defined */ double par_xdr_mountingroll[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingpitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingazimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingdistance[MBSYS_XSE_MAX_TRANSDUCERS]; /* horizontal distance between innermost elements of the transducer arrays to the ship center line in a V-shaped configuration (m) */ double par_xdr_x[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center across track offset (m) */ double par_xdr_y[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center along track offset (m) */ double par_xdr_z[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center vertical offset (m) */ double par_xdr_roll[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming roll bias (radians - port up positive) */ double par_xdr_pitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming pitch bias (radians - bow up positive) */ double par_xdr_azimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming azimuth bias (radians - projector axis clockwise with respect to compass positive) */ int par_xdx_num_transducer; /* number of transducers */ char par_xdx_roll[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode roll (0: auto, 1: manual) */ char par_xdx_pitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode pitch (0: auto, 1: manual) */ char par_xdx_azimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode azimuth (0: auto, 1: manual) */ /* svp (sound velocity frames) */ int svp_source; /* sensor id */ unsigned int svp_sec; /* sec since 1/1/1901 00:00 */ unsigned int svp_usec; /* microseconds */ int svp_nsvp; /* number of depth values */ int svp_nctd; /* number of ctd values */ double svp_depth[MBSYS_XSE_MAXSVP]; /* m */ double svp_velocity[MBSYS_XSE_MAXSVP]; /* m/s */ double svp_conductivity[MBSYS_XSE_MAXSVP]; /* mmho/cm */ double svp_salinity[MBSYS_XSE_MAXSVP]; /* o/oo */ double svp_temperature[MBSYS_XSE_MAXSVP]; /* degree celcius */ double svp_pressure[MBSYS_XSE_MAXSVP]; /* bar */ double svp_ssv; /* m/s */ /* position (navigation frames) */ int nav_group_general; /* boolean flag */ int nav_group_position; /* boolean flag */ int nav_group_accuracy; /* boolean flag */ int nav_group_motiongt; /* boolean flag */ int nav_group_motiontw; /* boolean flag */ int nav_group_track; /* boolean flag */ int nav_group_hrp; /* boolean flag */ int nav_group_heave; /* boolean flag */ int nav_group_roll; /* boolean flag */ int nav_group_pitch; /* boolean flag */ int nav_group_heading; /* boolean flag */ int nav_group_log; /* boolean flag */ int nav_group_gps; /* boolean flag */ int nav_source; /* sensor id */ unsigned int nav_sec; /* sec since 1/1/1901 00:00 */ unsigned int nav_usec; /* microseconds */ int nav_quality; int nav_status; int nav_description_len; char nav_description[MBSYS_XSE_DESCRIPTION_LENGTH]; double nav_x; /* eastings (m) or longitude (radians) */ double nav_y; /* northings (m) or latitude (radians) */ double nav_z; /* height (m) or ellipsoidal height (m) */ short nav_acc_quality; /* GPS quality: 0: invalid 1: SPS 2: SPS differential 3: PPS 4. RTK 5: Float RTK 6: Estimated 7: Manual 8: Simulator */ char nav_acc_numsatellites; /* number of satellites */ float nav_acc_horizdilution; /* horizontal dilution of precision */ float nav_acc_diffage; /* age of differential data (sec since last update) */ unsigned int nav_acc_diffref; /* differential reference station */ double nav_speed_ground; /* m/s */ double nav_course_ground; /* radians */ double nav_speed_water; /* m/s */ double nav_course_water; /* radians */ double nav_trk_offset_track; /* offset track (m) */ double nav_trk_offset_sol; /* offset SOL (m) */ double nav_trk_offset_eol; /* offset EOL (m) */ double nav_trk_distance_sol; /* distance SOL (m) */ double nav_trk_azimuth_sol; /* azimuth SOL (radians) */ double nav_trk_distance_eol; /* distance EOL (m) */ double nav_trk_azimuth_eol; /* azimuth EOL (radians) */ double nav_hrp_heave; /* heave (m) */ double nav_hrp_roll; /* roll (radians) */ double nav_hrp_pitch; /* pitch (radians) */ double nav_hea_heave; /* heave (m) */ double nav_rol_roll; /* roll (radians) */ double nav_pit_pitch; /* pitch (radians) */ double nav_hdg_heading; /* heading (radians) */ double nav_log_speed; /* speed (m/s) */ float nav_gps_altitude; /* altitude with respect to geoid */ float nav_gps_geoidalseparation; /* difference between WGS84 ellipsoid and geoid (m) (positive means sea level geoid is above ellipsoid) */ /* survey depth (multibeam frames) */ int mul_frame; /* boolean flag - multibeam frame read */ int mul_group_beam; /* boolean flag - beam group read */ int mul_group_tt; /* boolean flag - tt group read */ int mul_group_quality; /* boolean flag - quality group read */ int mul_group_amp; /* boolean flag - amp group read */ int mul_group_delay; /* boolean flag - delay group read */ int mul_group_lateral; /* boolean flag - lateral group read */ int mul_group_along; /* boolean flag - along group read */ int mul_group_depth; /* boolean flag - depth group read */ int mul_group_angle; /* boolean flag - angle group read */ int mul_group_heave; /* boolean flag - heave group read */ int mul_group_roll; /* boolean flag - roll group read */ int mul_group_pitch; /* boolean flag - pitch group read */ int mul_group_gates; /* boolean flag - gates group read */ int mul_group_noise; /* boolean flag - noise group read */ int mul_group_length; /* boolean flag - length group read */ int mul_group_hits; /* boolean flag - hits group read */ int mul_group_heavereceive; /* boolean flag - heavereceive group read */ int mul_group_azimuth; /* boolean flag - azimuth group read */ int mul_group_mbsystemnav; /* boolean flag - mbsystemnav group read */ int mul_source; /* sensor id */ unsigned int mul_sec; /* sec since 1/1/1901 00:00 */ unsigned int mul_usec; /* microseconds */ int mul_ping; /* ping number */ float mul_frequency; /* transducer frequency (Hz) */ float mul_pulse; /* transmit pulse length (sec) */ float mul_power; /* transmit power (dB) */ float mul_bandwidth; /* receive bandwidth (Hz) */ float mul_sample; /* receive sample interval (sec) */ float mul_swath; /* swath width (radians) */ int mul_num_beams; /* number of beams */ double mul_lon; /* longitude (radians) */ double mul_lat; /* latitude (radians) */ double mul_heading; /* heading (radians) */ double mul_speed; /* speed (m/s) */ struct mbsys_xse_beam_struct beams[MBSYS_XSE_MAXBEAMS]; /* survey sidescan (sidescan frames) */ int sid_frame; /* boolean flag - sidescan frame read */ int sid_group_avt; /* boolean flag - amp vs time group read */ int sid_group_pvt; /* boolean flag - phase vs time group read */ int sid_group_avl; /* boolean flag - amp vs lateral group read */ int sid_group_pvl; /* boolean flag - phase vs lateral group read */ int sid_group_signal; /* boolean flag - signal group read */ int sid_group_ping; /* boolean flag - ping group read */ int sid_group_complex; /* boolean flag - complex group read */ int sid_group_weighting; /* boolean flag - weighting group read */ int sid_source; /* sensor id */ unsigned int sid_sec; /* sec since 1/1/1901 00:00 */ unsigned int sid_usec; /* microseconds */ int sid_ping; /* ping number */ float sid_frequency; /* transducer frequency (Hz) */ float sid_pulse; /* transmit pulse length (sec) */ float sid_power; /* transmit power (dB) */ float sid_bandwidth; /* receive bandwidth (Hz) */ float sid_sample; /* receive sample interval (sec) */ int sid_avt_sampleus; /* sample interval (usec) */ int sid_avt_offset; /* time offset (usec) */ int sid_avt_num_samples; /* number of samples */ short sid_avt_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */ int sid_pvt_sampleus; /* sample interval (usec) */ int sid_pvt_offset; /* time offset (usec) */ int sid_pvt_num_samples; /* number of samples */ short sid_pvt_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */ int sid_avl_binsize; /* bin size (mm) */ int sid_avl_offset; /* lateral offset (mm) */ int sid_avl_num_samples; /* number of samples */ short sid_avl_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */ int sid_pvl_binsize; /* bin size (mm) */ int sid_pvl_offset; /* lateral offset (mm) */ int sid_pvl_num_samples; /* number of samples */ short sid_pvl_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */ int sid_sig_ping; /* ping number */ int sid_sig_channel; /* channel number */ double sid_sig_offset; /* start offset */ double sid_sig_sample; /* bin size / sample interval */ int sid_sig_num_samples; /* number of samples */ short sid_sig_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase in radians */ unsigned int sid_png_pulse; /* pulse type (0=constant, 1=linear sweep) */ double sid_png_startfrequency; /* start frequency (Hz) */ double sid_png_endfrequency; /* end frequency (Hz) */ double sid_png_duration; /* pulse duration (msec) */ int sid_png_mancode; /* manufacturer code (1=Edgetech, 2=Elac) */ unsigned int sid_png_pulseid;/* pulse identifier */ char sid_png_pulsename[MBSYS_XSE_DESCRIPTION_LENGTH]; /* pulse name */ int sid_cmp_ping; /* ping number */ int sid_cmp_channel; /* channel number */ double sid_cmp_offset; /* start offset (usec) */ double sid_cmp_sample; /* bin size / sample interval (usec) */ int sid_cmp_num_samples; /* number of samples */ short sid_cmp_real[MBSYS_XSE_MAXPIXELS]; /* real sidescan signal */ short sid_cmp_imaginary[MBSYS_XSE_MAXPIXELS]; /* imaginary sidescan signal */ short sid_wgt_factorleft; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ unsigned int sid_wgt_samplesleft; /* number of left samples */ short sid_wgt_factorright; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ unsigned int sid_wgt_samplesright; /* number of right samples */ /* seabeam (seabeam frames) */ int sbm_properties; /* boolean flag - sbm properties group read */ int sbm_hrp; /* boolean flag - sbm hrp group read */ int sbm_center; /* boolean flag - sbm center group read */ int sbm_source; /* sensor id */ int sbm_message; /* sensor id */ unsigned int sbm_sec; /* sec since 1/1/1901 00:00 */ unsigned int sbm_usec; /* microseconds */ int sbm_ping; /* ping number */ float sbm_ping_gain; /* ping gain (dB) */ float sbm_pulse_width; /* pulse width (s) */ float sbm_transmit_power; /* transmit power (dB) */ float sbm_pixel_width; /* pixel width (m) */ float sbm_swath_width; /* swath width (radians) */ float sbm_time_slice; /* time slice (s) */ int sbm_depth_mode; /* depth mode (1=shallow, 2=deep) */ int sbm_beam_mode; /* focused beam mode (0=off, 1=on) */ float sbm_ssv; /* surface sound velocity (m/s) */ float sbm_frequency; /* sonar frequency (kHz) */ float sbm_bandwidth; /* receiver bandwidth (kHz) */ double sbm_heave; /* heave (m) */ double sbm_roll; /* roll (radians) */ double sbm_pitch; /* pitch (radians) */ int sbm_center_beam; /* beam number for center beam profile */ int sbm_center_count; /* number of samples in center beam profile */ float sbm_center_amp[MBSYS_XSE_MAXSAMPLES]; /* center beam profile values */ int sbm_message_id; /* seabeam message id */ int sbm_message_len; /* seabeam message length */ char sbm_message_txt[MBSYS_XSE_COMMENT_LENGTH]; /* seabeam message */ /* comment */ int com_source; /* sensor id */ unsigned int com_sec; /* sec since 1/1/1901 00:00 */ unsigned int com_usec; /* microseconds */ char comment[MBSYS_XSE_COMMENT_LENGTH]; /* unsupported frames */ int rawsize; /* size of unknown frame in bytes */ char raw[MBSYS_XSE_BUFFER_SIZE]; }; /* system specific function prototypes */ int mbsys_xse_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_xse_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_xse_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_xse_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_xse_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_xse_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_xse_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_xse_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_xse_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_xse_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_xse_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_xse_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);