/*-------------------------------------------------------------------- * The MB-system: mbf_oicmbari.h 1/8/99 * $Id: mbf_oicmbari.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1999-2012 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_oicmbari.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_OICMBARI format (MBIO id 141). * * Author: D. W. Caress * Date: January 8, 1999 * * $Log: mbf_oicmbari.h,v $ * Revision 5.2 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * 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 1999/03/31 18:29:20 caress * MB-System 4.6beta7 * * Revision 1.1 1999/03/31 18:11:35 caress * Initial revision * * */ /* * Notes on the MBF_OICMBARI data format: * 1. This data format is an extended version of the vendor * format used to store swath sonar data * collected and recorded using the GeoDAS-SV1 system * developed and sold by Ocean Imaging Consultants. * In particular, the Deep Submergence Lab (DSL) of * the Woods Hole Oceanographic Institution (WHOI) now * uses an OIC GeoDAS-SV1 package as the front end for * their deep towed 120 kHz interferometry sonar (AMS-120). * This format stores processed bathymetry and sidescan * data in addition to the "raw" data found in the * original data files. * 2. The data consist of variable length binary records. * 3. Each data record has three parts. First there is a 248-byte * header section containing the time stamp, navigation, a * variety of other values, the numbers and sizes of sonar * data included in the record. The second, optional, part of * the record is "client specific information" of arbitrary * length. The third part contains up to eight arrays of * sonar data. * 4. The header begins with a four byte magic number. The first * three bytes are 'G', 'E', and '2'. The fourth byte is * the id number for the data source. * 5. The maximum numbers of beams and pixels defined below are * limitations specific to this I/O module - the format itself * contains no limits on the amount of data per record. * 6. Comment records are encoded in MBIO using the "client * specific information" section of the record and an unused * sonar type value. * */ /* defines sizes of things */ #define MBF_OICMBARI_HEADER_SIZE 276 #define MBF_OICMBARI_MAX_CLIENT 252 #define MBF_OICMBARI_MAX_COMMENT MBF_OICMBARI_MAX_CLIENT #define MBF_OICMBARI_MAX_CHANNELS 8 /* define maximum number of beams */ #define MBF_OICMBARI_MAX_BEAMS 1024 #define MBF_OICMBARI_MAX_PIXELS 2048 struct mbf_oicmbari_channel_struct { int offset; /* offset in bytes to channel data */ mb_u_char type; /* sonar type: 0 = sidescan 1 = angle 2 = multibeam */ mb_u_char side; /* sonar side: 0 = port 1 = starboard */ mb_u_char size; /* data sample type and size: 0 = 1 byte integer 1 = 2 byte integer 2 = 4 byte integer 3 = 4 byte float 4 = 12 byte set of three floats - range, theta, amp */ mb_u_char empty; /* spare */ int frequency; /* Hz */ int num_samples; /* number of samples stored for sidescan and angle sonar types, number of beams for multibeam */ }; struct mbf_oicmbari_data_struct { int rawsize[MBF_OICMBARI_MAX_CHANNELS]; char *raw[MBF_OICMBARI_MAX_CHANNELS]; int beams_bath_alloc; int beams_amp_alloc; int pixels_ss_alloc; char *beamflag; float *bath; float *amp; float *bathacrosstrack; float *bathalongtrack; float *tt; float *angle; float *ss; float *ssacrosstrack; float *ssalongtrack; }; struct mbf_oicmbari_seaview_struct { double longitude; /* longitude in degrees */ double latitude; /* latitude in degrees */ int x; /* local x coordinates in yards */ int y; /* local y coordinates in yards */ int uncertainty; /* navigation uncertainty in yards */ float speed; /* speed over ground in knots */ float altitude; /* platform altitude in feet */ float depth; /* platform depth in feet */ float sound_velocity; /* sound velocity in feet/sec */ char id[20]; /* client id string */ }; struct mbf_oicmbari_header_struct { mb_u_char type; /* Magic number: 0 - EG&G sonar 1 - SEAVIEW sonar 2 - DEEPSCAN sonar 3 - STEST SEAVIEW test 4 - QTEST QMIPs test 5 - SM2 SeaMARC2 test 22 - WHOI DSL AMS120 */ int proc_status; /* OIC processing status in bit mask form */ int data_size; mb_u_char client_size; mb_u_char fish_status; /* status bit field: 0: FocusAutoManual 1: FocusManualDisableEnable 2: PingRate AutoManual 3: TvgAutoManual 4: CalibOffOn 5: OutputModeProcRaw 6: ShadowMask 7: QualityBit */ mb_s_char nav_used; mb_s_char nav_type; /* 0 = UTM coordinates in m 1 = Local coordinates in m 2 = Latitude and longitude */ int utm_zone; float ship_x; /* meters or degrees */ float ship_y; /* meters or degrees */ float ship_course; /* degrees */ float ship_speed; /* m/sec */ int sec; int usec; float spare_gain; float fish_heading; /* degrees */ float fish_depth; /* meters */ float fish_range; /* meters */ float fish_pulse_width; /* msec */ float gain_c0; float gain_c1; float gain_c2; float fish_pitch; /* degrees */ float fish_roll; /* degrees */ float fish_yaw; /* degrees */ float fish_x; /* meters or degrees */ float fish_y; /* meters or degrees */ float fish_layback; /* meters */ float fish_altitude; /* meters */ int fish_altitude_samples; float fish_ping_period; /* seconds per ping */ float sound_velocity; /* m/sec */ int num_chan; int beams_bath; int beams_amp; int bath_chan_port; int bath_chan_stbd; int pixels_ss; int ss_chan_port; int ss_chan_stbd; struct mbf_oicmbari_channel_struct channel[MBF_OICMBARI_MAX_CHANNELS]; }; struct mbf_oicmbari_struct { int kind; struct mbf_oicmbari_header_struct header; char client[MBF_OICMBARI_MAX_CLIENT]; struct mbf_oicmbari_data_struct data; };