/*-------------------------------------------------------------------- * The MB-system: mbf_hsmdldih.h 9/26/95 * $Header: /system/link/server/cvs/root/mbsystem/src/mbio/mbf_hsmdldih.h,v 5.3 2003/04/17 21:05:23 caress Exp $ * * Copyright (c) 1995-2012 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_hsmdldih.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_HSMDLDIH format (MBIO id 102). * * Author: David W. Caress * Date: September 26, 1995 * * $Log: mbf_hsmdldih.h,v $ * Revision 5.3 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.2 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.1 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * 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 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.2 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.0 1995/09/28 18:14:11 caress * First cut. * * Revision 4.0 1995/09/28 18:14:11 caress * First cut. * * Revision 1.1 1995/09/28 18:10:48 caress * Initial revision * * * * * Notes on the MBSYS_HSMD data structure: * 1. The Atlas Hydrosweep MD generates several types of data files * including: * "*.P" Profile data files that contain bathy data * "*.W" Wreck data files with info about obstructions * "*.R" Raw data files. At present, this is the only * data file format that is supported by MB. These * files are written in XDR format. Code to assist * in parsing these files was provided by STN Atlas. * * 2. The MD systems output 40 beams of bathymetry on one side and * 160 beams of amplitude measurements, along with a moras of other * information. MD systems ping to one side (making 40 beams & 160 * sidescan measurements), wait for all the returns and then ping * to the other side. The "Raw.beamside" variable indicates which side * the current ping is pointed. * * 3. The records all include navigation and time stamp information. * There is a Header block in front of every data record. The * record types are: * - Raw Event (RAW in the case statement) which contains the * travel time and amplitude data along with other interesting * parameters. * - Navigation (NAV -------"------------) which contains one * input record from the NAV system. * - MD Event * - Beam angle data (ANG) which contains the pointing angles * of the beams. The MD system is supposed to be able to operate * in a beam hopping mode where the beam angles shift from ping * to ping, but this is not yet enabled. The Raw.noho variable * indicated the "hopping" state. * - Sound Velocity (SVP) can contain a sound speed profile. * - Raw Event (REV) which seems to happen at the beginging of * each data file. * * 4. A single ping usually insonifies one side of the track and results * in RAW data record. Sequential RAW records occur for alternating * sides. NAV records appear to happen at the rate at which they are * supplied by either of the possible Navigation inputs. In early legs * (1994) on the Alliance, two different nav systems were inserting * records, one flagged with an "I" for Integrated Nav and the other * using a "G" to signify GPS. Some time early in 1995, the onboard * nav system was changed and now there appears to be only one type * "I" of input nav data. It appears to happen once per second. * * 5. The data structure defined below includes all of the values * which are passed in raw Hydrosweep MD records. It also * includes depth and acrosstrack distances calculated from * the travel times, which are stored in the MBF_HSMDLDIH format. * * 6. Comment records have been implemented for use with MB-System * programs. Comment records are NOT part of the vendor format * definition and are NOT supported by Atlas software. Using * mbcopy with the -N option will remove all comments and make * the data compatible with Atlas software. */ /* HSMD defines */ /* maximum number of depth/sound speed data pairs allowed */ #define MBF_HSMDLDIH_MAXVEL 20 /* maximum number of nonzero beams per ping */ #define MBF_HSMDLDIH_BEAMS_PING 40 /* Stores both sides of swath, either starboard or port is nonzero in a ping. */ #define MBF_HSMDLDIH_BEAMS 79 /* maximum number of sidescan pixels in a single ping */ #define MBF_HSMDLDIH_PIXELS_PING 160 /* Stores both sides of swath, either starboard or port is nonzero in a ping. */ #define MBF_HSMDLDIH_PIXELS 319 /* length of a comment string */ #define MBF_HSMDLDIH_COMMENT (128) /* define id's for the different types of raw Hydrosweep records */ #define MBF_HSMDLDIH_RECORDS 8 /* Zero, plus 6 from Atlas, plus comment */ /* For HSMD, these (the 1-6 at least) are the "transid" fields */ #define MBF_HSMDLDIH_NONE 0 #define MBF_HSMDLDIH_RAW 1 /* Raw data */ #define MBF_HSMDLDIH_NAV 2 /* Navigation data */ #define MBF_HSMDLDIH_MDE 3 /* MD Event */ #define MBF_HSMDLDIH_ANG 4 /* Beam angle data */ #define MBF_HSMDLDIH_SVP 5 /* Sound speed profile */ #define MBF_HSMDLDIH_REV 6 /* Raw event eg. start of file */ #define MBF_HSMDLDIH_COM 7 /* LDEO comment */ #define MBF_HSMDLDIH_BAT 8 /* LDEO bathymetry + raw data */ char *mbf_hsmdldih_labels[] = { "NONE", "RAW", /* a Raw data record */ "NAV", /* Navigation data */ "MDE", /* Poke of the "Event button?" */ "ANG", /* Beam angle data */ "SVP", /* Sound Speed Profile */ "REV", /* Raw Event (like start and stop) */ "COM" /* an LDEO comment */ }; #define HEADER_ADJUST 12 /* magic offset to subract from scslng to * account for the header record */ /*********** HSMD Raw data file record types **************************/ #define RAW 1 /* Raw data */ #define NAV 2 /* Nav data */ #define MDE 3 /* MD Event */ #define ANG 4 /* Beam Angle */ #define SVP 5 /* Sound Velocity Profile */ #define REV 6 /* Raw EVent */ #define COM 7 /* LDEO comment */ /* This structure is an amalgamation of the individual strucutres used in * the Atlas example code and propageted into scan_md. MB requires (works * better with) a single structure. */ struct mbf_hsmdldih_struct { int kind; /* ------------------------------- Header data */ char scsid[4]; /* Typically "DXT" */ char scsart[4]; /* Typically "REI" or "RMM" */ int scslng; /* length of subsequent data */ int scsext; /* seems to be 0 */ int scsblcnt; /* seems to be ping number */ double scsres1; /* seems to be 0 */ int transid; /* ID of the type of data to follow */ double reftime; /* Internal time of day reference */ /* data from a "Raw Event" */ double datuhr; /* Unix epoch time + decimal seconds */ char mksysint[8]; /* Text message eg. "START" */ char mktext[84]; /* Text message eg. "KAE HMS Start-Marke" */ /* -------------------------------- Navigation data */ int navid; /* Which nav input */ int year; /* "Date" type */ int month; /* month */ int day; /* day of the month */ int hour; /* hour of the day */ int minute; /* minute of the hour */ int second; /* seconds of the minute */ double secf; /* seconds of the minute */ int millisecond; double PingTime; /* floating point time */ double lat; /* Position, decimal degrees */ double lon; /* North and East are positive */ char pos_sens[2]; /* "G"== GPS, "I"== Integrated */ /* ------------------------------- From "Raw" data record */ double ckeel; /* sound speed at the keel */ double cmean; /* mean sound speed for water column */ int Port; /* Port or Starboard ping (beamside)*/ int noho; /* Indicates beam "hopping" mode */ int skals; /* scale factor flag (0 -> .1, else .01 */ int spfb[MBF_HSMDLDIH_BEAMS_PING]; /* unscaled travel times */ double depth[MBF_HSMDLDIH_BEAMS_PING]; /* cross track depths */ double distance[MBF_HSMDLDIH_BEAMS_PING]; /* cross track distances */ double ss_range; /* distance to outermost sidescan sample (meters) */ mb_u_char ss[MBF_HSMDLDIH_PIXELS_PING]; /* sidescan pixels */ double heading_tx; /* Heading at transmit */ double heading_rx[5]; /* Heading during the receive window */ double roll_tx; /* Roll at transmit */ double roll_rx[5]; /* Roll during receive window */ double pitch_tx; /* Pitch at transmit */ double pitch_rx[5]; /* Pitch during receive window */ /* ------------------------------- From the Angle data record */ double angle[MBF_HSMDLDIH_BEAMS_PING]; /* Table of beam angles */ int evid; /* from MD Events */ char evtext[84]; /* ------------------------------- Theoretical data from Sound Speed record */ int num_vel; /* number of Depth/Sound Speed pairs */ double vdepth[MBF_HSMDLDIH_MAXVEL]; /* array of depths */ double velocity[MBF_HSMDLDIH_MAXVEL]; /* array of sound speeds */ /* ----------------- derived data -------------------------------- */ char comment[MBSYS_HSMD_COMMENT]; /* I guess we will have comments for MB records some day? */ double heave; double speed; /* not provided in HSMD */ }; /* Atlas has expressed an intention to support "beam hopping" in the future but all existing systems and data do not exhibit "hopping", so we use a simple table of angles */ double mbf_hsmdldih_beamangle[] = { 0.000, 4.395, 8.740, 12.991, 17.095, 21.028, 24.769, 28.295, 31.597, 34.684, 37.562, 40.226, 42.698, 44.989, 47.115, 49.076, 50.900, 52.586, 54.152, 55.613, 56.970, 58.233, 59.414, 60.518, 61.551, 62.518, 63.430, 65.028, 66.462, 67.742, 68.901, 69.950, 70.900, 71.768, 72.565, 73.295, 73.965, 74.592, 75.168, 75.701 };