/*-------------------------------------------------------------------- * The MB-system: mbf_hypc8101.h 8/21/94 * $Id: mbf_hypc8101.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 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_hypc8101.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_HYPC8101 format (MBIO id 83). * * Author: D. W. Caress * Date: August 21, 1994 * $Log: mbf_hypc8101.h,v $ * Revision 5.3 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.2 2003/01/15 20:51:48 caress * Release 5.0.beta28 * * Revision 5.1 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.1 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.0 1999/01/01 23:38:01 caress * MB-System version 4.6beta6 * * Revision 4.2 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.0 1994/10/21 12:35:04 caress * Release V4.0 * * Revision 4.0 1994/10/21 12:35:04 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * Revision 1.1 1994/10/21 12:13:33 caress * Initial revision * * * */ /* * Notes on the MBF_HYPC8101 data format: * 1. Reson SeaBat products are high frequency, * shallow water multibeam sonars. * Reson SeaBat 9001 systems output both bathymetry * and amplitude information for 60 beams. * Reson SeaBat 8101 systems output both bathymetry * and amplitude information for up to 101 beams. * These sonars use fixed, analog beamforming followed * by a combination of amplitude and phase bottom * detection. * 2. Reson multibeam systems output raw range and amplitude * data in a binary format. The data acquisition systems * associated with the sonars calculate bathymetry using * a water sound velocity, roll, pitch, and heave data. * 3. Generally, Reson data acquisition systems record * navigation asynchronously in the data stream, without * providing speed information. This means that the * navigation must be interpolated on the fly as the * data is read. * 4. The navigation is frequently provided in projected * coordinates (eastings and northings) rather than in * longitude and latitude. Since MB-System operates solely * in longitude and latitude, the original navigation must * be unprojected. * 5. The Reson data formats supported by MB-System include: * MBF_HYPC8101 - a binary format designed by John Hughes Clarke * of the University of New Brunswick. Parameter and * sound velocity profile records are included. * MBF_CBAT8101 - a clone of the above format supporting * Reson 8101 data. * MBF_HYPC8101 - the ASCII format used by the HYPACK system * of Coastal Oceanographics in conjunction with * Reson 8101 data. This format is supported as read-only * by MB-System. * MBF_GSFGENMB - the generic sensor format of SAIC which * supports data from a large number of sonars, including * Reson sonars. MB-System handles GSF separately from * other formats. * 6. For the UNB-style formats MBF_HYPC8101 and MBF_CBAT8101, * each data telegram is preceded by a two byte start code and * followed by a three byte end code consisting of 0x03 * followed by two bytes representing the checksum for * the data bytes. MB-System does not calculate checksums * and puts 0's in the checksum bytes. * The relevent telegram start codes, types, and sizes are: * 0x0240: Comment*** 200 data bytes * 0x0241: Position 36 data bytes * 0x0242: Parameter 44 data bytes * 0x0243: Sound velocity profile 2016 data bytes * 0x0244: SeaBat 9001 bathymetry 752 data bytes * 0x0245: Short sound velocity profile 816 data bytes * 0x0246: SeaBat 8101 bathymetry*** 1244 data bytes * 0x0247: Heading*** 752 data bytes * 0x0248: Attitude*** 752 data bytes * *** Defined only for MB-System * 7. For the ASCII HYPACK format, the following information * is take verbatim from Coastal Oceanographics documentation: * * Coastal Oceanographics, Inc. * Technical Note: Hypack Raw Data Format * * Data collected by the Hypack Survey program is recorded * in Raw format, one file per survey line. Raw files are * recorded as text, allowing them to be loaded into any * text editor that reads large files (Windows Notepad, Write * and Wordpad for example). * * When inspecting raw files, one of the first things noticed * is that the format is not tabular. That is, there is not a record for * each sounding containing depth, position, tide corrections, * etc. Instead, there are separate records for each device * measurement and the correlation between measurements is * through time tags. * * Every raw file contains two section; a header, which is * written when data logging starts, and a data section, which is * written as data is collected. Each record starts with a * three character tag. The tags are: * * Header * ------ * DEV - Device Information * EOH - End of Header * EOL - End of Planned Line * FTP - File Type * INF - General Information * LBP - Planned Line Begin Point * LIN - Planned Line Data follows * LNN - Planned Line Name * OFF - Device Offsets * PRD - Private Device Data * PRI - Primary Navigation Device * PTS - Planned Line Waypoint * TND - Survey Time and Date * * Data * ---- * FIX - Fix (Event) Mark * HCP - Heave Compensation * EC1 - Echo Sounding (single frequency) * EC2 - Echo Sounding (dual frequency) * ECM - Echo Soundings (multiple transducer system) * GYR - Gyro Data (Heading) * POS - Position * ROX - Roxann data * SB2 - Multibeam data * * -------------- * Header Section * -------------- * * DEV - Device Information * ------------------------ * DEV dn dc "Device Name" * dn: Device Number * dc: Device Capabilities is a bit coded field. The bit definitions are: * Bit Mask Meaning * 0 1 Device provides Range/Range positions * 1 2 Device provides Range/Azimuth positions * 2 4 Device provides Lat/Long (e.g. GPS) * 3 8 Device provides grid positions XY * 4 16 Device provides echo soundings * 5 32 Device provides heading * 6 64 Device provides ship speed * 7 128 Hypack clock is synched to device clock * 8 256 Device provides tides * 9 512 Device provides heave, pitch and roll * 10 1024 Device is an ROV * 11 2048 Device is a Left/Right Indicator * 12 4096 Device accepts annotation strings * 13 8192 Device accepts output from Hypack * 14 16384 xxx * 15 32768 Device has extended capabilities * * Example: * DEV 0 100 "GPS" * * INF - General Information * ------------------------- * INF "surveyor" "boat" "project" "area" tc dc sv * tc: initial tide correction * dc: initial draft correction * sv: sound velocity * * Example: * INF "steve" "LCH 19" "mcmillen" "617.6 to 618.2" -0.7 0 1500.0 * * EOH - End of Header * ------------------- * This tag simply indicates end of header and has no data. * * EOL - End of Planned Line * ------------------------- * This tag simply indicates end of planned line information no data. * * LBP - Planned Line Begin Point. * ------------------------------- * LBP x y * x: x grid position * y: y grid position * * Example: * LBP 5567222.42 3771640.72 * * LIN - Planned Line Data follows * ------------------------------- * LIN nw * nw: Number of waypoints * * Example: * LIN 5 * * LNN - Planned Line Name * ----------------------- * LNN text * text: line name or number * * Example: * LNN 14 * * OFF - Device Offsets * -------------------- * OFF dn n1 n2 n3 n4 n5 n6 n7 * dn: device number * n1: starboard, port offset. Positive starboard. * n2: forward, aft offset. Positive forward * n3: height (antenna) or depth (transducer draft) offset. Always positive. * n4: yaw rotation angle. Positive for clockwise rotation. * n5: roll rotation angle. Port side up is positive. * n6: pitch rotation angle. Bow up is positive. * n7: device latency in seconds. * * Example: * OFF 0 0 0 13.35 0 0 0 0.86 * * PRD - Private Device Data * ------------------------- * PRD - Multiple transducer offset * PRD dn OFF n1 n2 n3 * dn: device number * n1: transducer starboard offset * n2: transducer forward offset * n3: transducer depth offset (draft) * * Example: * PRD 1 OFF -25.60 0.00 0.40 * * PRD - Odom Echoscan II Multibeam Identifier * ------------------------------------------- * PRD dn ECHOSCN2 n1 n2 * dn: device number * n1: Not used * n2: Beam width * * Example: * PRD 1 ECHOSCN2 -43.5 3.0 * * PRD - Reson Seabat 9001 Multibeam Identifier * -------------------------------------------- * PRD dn SEABAT n1 n2 * dn: device number * n1: Not used * n2: Beam width * * Example: * PRD 1 SEABAT -44.2 1.5 * * PRD - Reson Seabat 9003 Multibeam Identifier * -------------------------------------------- * PRD dn SEA9003 n1 n2 * dn: device number * n1: Not used * n2: Beam width * * Example: * PRD 1 SEA9003 -60.0 3.0 * * PRD - Reson Seabat 8101 Multibeam Identifier * -------------------------------------------- * PRD dn SEA8101 n1 n2 n3 * dn: device number * n1: Beam 1 angle * n2: Angle increment * n3: Number of beams * * Example: * PRD 1 SEA8101 -75.00 1.50 101 * * PRI - Primary Navigation Device * ------------------------------- * PRI dn * dn: device number * * Example: * PRI 0 * * PTS - Planned Line Waypoint * --------------------------- * PTS x y * x: waypoint easting * y: waypoint northing * * Example: * PTS 5569134.63 3774182.61 * * TND - Survey Time and Date * -------------------------- * TND t d * t: time string * d: date string * * Example: * TND 15:54:33 08/28/95 * * -------------------------- * Data Section * -------------------------- * * FIX - Fix (Event) Mark * ---------------------- * FIX n * n: event number * * Example: * FIX 152 * * HCP - Heave Compensation * ------------------------ * HCP dn t h r p * dn: device number * t: time tag (seconds past midnight) * h: heave in meters * r: roll in degrees (+ port side up) * p: pitch in degrees (+ bow up) * * Example: * HCP 2 57273.81 0 3.61 0 * * EC1 - Echo Sounding (single frequency) * -------------------------------------- * EC1 dn t rd * dn: device number * t: time tag (seconds past midnight) * rd: raw depth * * Example: * EC1 0 48077.365 3.20 * * EC2 - Echo Sounding (dual frequency) * ------------------------------------ * EC2 dn t rd1 rd2 * dn: device number * t: time tag (seconds past midnight) * rd1: raw depth 1 * rd2: raw depth 2 * * Example: * EC2 0 48077.365 3.20 3.15 * * ECM - Echo Soundings (multiple transducer system) * ------------------------------------------------- * ECM dn t n rd1 rd2 ... rdn * dn: device number * t: time tag (seconds past midnight) * n: number of transducers * rd1: raw depth 1 * rd2: raw depth 2 * ... * rdn: raw depth, transducer n * * Example: * ECM 1 57274.82 9 11 10.8 10.7 11.4 11.8 13 15.1 15.5 15.6 * * GYR - Gyro Data (Heading) * ------------------------- * GYR dn t h * dn: device number * t: time tag (seconds past midnight) * h: ship heading angle * * Example: * GYR 0 57274.04 193 * * POS - Position * -------------- * POS dn t x y * dn: device number * t: time tag (seconds past midnight) * x: easting * y: northing * * Example: * POS 0 57274.04 5569070.02 3774080.46 * * ROX - Roxann data * ----------------- * ROX dn t n e1 e2 * dn: device number * t: time tag (seconds past midnight) * n: number of values to follow (always 2) * e1: roxann e1 measurement * e2: roxann e2 measurement * * Example: * ROX 2 48077.474 2 0.03 0.13 * * SB2 - Multibeam data * -------------------- * SB2 dn t n sv r1 r2 r3 ... rn q1 q2 ... qn * dn: device number * t: time tag (seconds past midnight) * n: number of values to follow. Depends on device type. * sv: sound velocity from device. * r1-n: ranges in device units. * q1-n: quality codes (0 to 3 range, 0=bad). Packed 4 per number. * * Example (Echoscan II): * SB2 1 48077.474 39 1500.00 19.50 19.31 ... * * Example (Seabat 9001): * SB2 1 48077.474 76 1500.00 19.50 19.31 ... * * Example (Seabat 9003): * SB2 1 48077.474 51 1500.00 19.50 19.31 ... * * Example (Seabat 8101 using 101 beams): * SB2 1 48077.474 51 1500.00 19.50 19.31 ... * */ /* maximum number of beams and pixels */ #define MBF_HYPC8101_MAXBEAMS 101 #define MBF_HYPC8101_COMMENT_LENGTH 200 #define MBF_HYPC8101_NHCP_MAX 20 #define MBF_HYPC8101_NGYR_MAX 20 #define MBF_HYPC8101_NPOS_MAX 20 #define MBF_HYPC8101_NRAW_MAX 20 #define MBF_HYPC8101_MAXLINE 1024 struct mbf_hypc8101_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Reson sonar */ /* parameter info (parameter telegrams) */ int par_year; int par_month; int par_day; int par_hour; int par_minute; int par_second; int par_hundredth_sec; int par_thousandth_sec; short roll_offset; /* roll offset (0.01 degrees) */ short pitch_offset; /* pitch offset (0.01 degrees) */ short heading_offset; /* heading offset (0.01 degrees) */ short time_delay; /* positioning system delay (0.001 sec) */ short transducer_depth; /* tranducer depth (0.01 meters) */ short transducer_height; /* reference height (0.01 meters) */ short transducer_x; /* reference athwartships offset (0.01 meters) */ short transducer_y; /* reference fore-aft offset (0.01 meters) */ short antenna_x; /* antenna athwartships offset (0.01 meters) */ short antenna_y; /* antenna fore-aft offset (0.01 meters) */ short antenna_z; /* antenna height (0.01 meters) */ short motion_sensor_x;/* motion sensor athwartships offset (0.01 meters) */ short motion_sensor_y;/* motion sensor fore-aft offset (0.01 meters) */ short motion_sensor_z;/* motion sensor height offset (0.01 meters) */ short spare; short line_number; short start_or_stop; short transducer_serial_number; /* comment */ char comment[MBSYS_RESON_COMMENT_LENGTH]; /* position (position telegrams) */ int pos_year; int pos_month; int pos_day; int pos_hour; int pos_minute; int pos_second; int pos_hundredth_sec; int pos_thousandth_sec; int pos_latitude; /* 180 deg = 2e9 */ int pos_longitude; /* 180 deg = 2e9 */ int utm_northing; /* 0.01 m */ int utm_easting; /* 0.01 m */ int utm_zone_lon; /* 180 deg = 2e9 */ char utm_zone; char hemisphere; char ellipsoid; char pos_spare; int semi_major_axis; int other_quality; /* sound velocity profile */ int svp_year; int svp_month; int svp_day; int svp_hour; int svp_minute; int svp_second; int svp_hundredth_sec; int svp_thousandth_sec; int svp_latitude; /* 180 deg = 2e9 */ int svp_longitude; /* 180 deg = 2e9 */ int svp_num; int svp_depth[500]; /* 0.1 meters */ int svp_vel[500]; /* 0.1 meters/sec */ /* bathymetry */ int year; int month; int day; int hour; int minute; int second; int hundredth_sec; int thousandth_sec; int latitude; /* 180 deg = 2e9 */ int longitude; /* 180 deg = 2e9 */ int roll; /* 0.005 degrees */ int pitch; /* 0.005 degrees */ int heading; /* 0.01 degrees */ int heave; /* 0.001 meters */ int ping_number; int sound_vel; /* 0.1 meters/sec */ int mode; /* unused */ int gain1; /* unused */ int gain2; /* unused */ int gain3; /* unused */ int beams_bath; short bath[MBF_HYPC8101_MAXBEAMS]; /* depths: 0.01 meters */ short int bath_acrosstrack[MBF_HYPC8101_MAXBEAMS]; /* acrosstrack distances: 0.01 meters */ short int bath_alongtrack[MBF_HYPC8101_MAXBEAMS]; /* alongtrack distances: 0.01 meters */ short int tt[MBF_HYPC8101_MAXBEAMS]; /* travel times: 0.01 msec */ short int angle[MBF_HYPC8101_MAXBEAMS]; /* 0.005 degrees */ short int quality[MBF_HYPC8101_MAXBEAMS]; /* 0 (bad) to 3 (good) */ short int amp[MBF_HYPC8101_MAXBEAMS]; /* ??? */ /* record keeping variables */ double start_time_d; double angle0; double angle_inc; };