/*-------------------------------------------------------------------- * The MB-system: MBF_SB2100RW.h 3/3/94 * $Id: mbf_sb2100rw.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_sb2100rw.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_SB2100RW format (MBIO id 41). * * Author: D. W. Caress * Date: March 3, 1994 * $Log: mbf_sb2100rw.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 4.10 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.9 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.8 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.7 1995/06/07 20:41:47 caress * Fixed some typos. * * Revision 4.7 1995/06/07 20:41:47 caress * Fixed some typos. * * Revision 4.6 1995/05/08 21:26:28 caress * Made changes consistent with new i/o spec for SB2100 data. * * Revision 4.5 1995/02/14 22:01:39 caress * Version 4.2 * * Revision 4.4 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.3 1994/06/21 22:54:21 caress * Added #ifdef statements to handle byte swapping. * * Revision 4.2 1994/04/09 15:49:21 caress * Altered to fit latest iteration of SeaBeam 2100 vendor format. * * Revision 4.1 1994/03/25 14:02:38 caress * Made changes in accordance with latest iteration of * SeaBeam 2100 vendor format. * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.0 1994/03/05 02:12:07 caress * First cut for SeaBeam 2100 i/o. * * */ /* * Notes on the MBF_SB2100RW data format: * 1. SeaBeam 1000/2100 multibeam systems output raw data in an * ascii format. The data consists of a number of different * multi-line ascii records. * 2. The 2100/2100 systems output up to 151 beams of bathymetry * and 2000 pixels of sidescan measurements, along with a plethora * of other information. * 3. The records all include navigation and time stamp information. * The record types are: * PR: sonar parameter record (roll bias, pitch bias, sound velocity profile) * TR: sonar text record (comments) * SB: sub-bottom data record (undefined as yet) * DR: bathymetry data record (bathymetry and per-beam amplitudes) * SS: side scan data record * 4. A single ping usually results in both DR and SS records. The PR record * occurs every 30 minutes or when the sound velocity profile is changed. * 5. The kind value in the mbsys_sb2k_struct indicates whether the * mbsys_sb2k_data_struct structure holds data from a ping or * data from some other record: * kind = 1 : data from a ping * (DR + SS) * kind = 2 : comment (TR) * kind = 8 : sonar parameter (PR) * 6. The data structure defined below includes all of the values * which are passed in SeaBeam 1000/2100 records. */ /* maximum number of depth-velocity pairs */ #define MBF_SB2100RW_MAXVEL 30 /* maximum line length in characters */ #define MBF_SB2100RW_MAXLINE 1944 /* maximum number of formed beams for SeaBeam 1000/2100 */ #define MBF_SB2100RW_BEAMS 151 /* maximum number of sidescan pixels for SeaBeam 1000/2100 */ #define MBF_SB2100RW_PIXELS 2000 /* maximum value of beam amplitudes for SeaBeam 1000/2100 */ #define MBF_SB2100RW_AMP_MAX 999 /* maximum value of sidescan pixels for SeaBeam 1000/2100 */ #define MBF_SB2100RW_SS_MAX 65535 /* center beam for SeaBeam 1000/2100 */ #define MBF_SB2100RW_CENTER_BEAM 75 /* center pixel for SeaBeam 1000/2100 */ #define MBF_SB2100RW_CENTER_PIXEL 1000 /* define id's for the different types of raw Hydrosweep records */ #define MBF_SB2100RW_RECORDS 6 #define MBF_SB2100RW_NONE 0 #define MBF_SB2100RW_RAW_LINE 1 #define MBF_SB2100RW_PR 2 #define MBF_SB2100RW_TR 3 #define MBF_SB2100RW_DR 4 #define MBF_SB2100RW_SS 5 char *mbf_sb2100rw_labels[] = { "NONE ", "RAW_LINE", "SB2100PR", "SB2100TR", "SB2100DR", "SB2100SS"}; struct mbf_sb2100rw_struct { /* type of data record */ int kind; /* time stamp (all records ) */ int year; int jday; int hour; int minute; int msec; /* msec */ /* sonar parameters (PR) */ int roll_bias_port; /* 0.01 deg */ int roll_bias_starboard; /* 0.01 deg */ int pitch_bias; /* 0.01 deg */ int ship_draft; /* 0.01 m */ int num_svp; int vdepth[MBF_SB2100RW_MAXVEL]; /* 0.01 m */ int velocity[MBF_SB2100RW_MAXVEL]; /* 0.01 m/sec */ /* DR and SS header info */ double longitude; double latitude; int speed; /* 0.001 m/sec */ int heave; /* 0.001 m; + up */ char range_scale; /* D = m; I = 0.1 m; S = 0.01 m */ int surface_sound_velocity; /* 0.01 m/sec */ char ssv_source; /* V=Velocimeter, M=Manual, T=Temperature */ char depth_gate_mode; /* A=Auto, M=Manual */ /* DR header info */ int num_beams; /* number of formed beams recorded */ char svp_corr_beams; /* 0=None; A=True Xtrack and Apparent Depth; T=True Xtrack and True Depth */ char spare_dr[2]; int num_algorithms; /* If 1 then only "best" algorithm recorded, else multiple algorithm results recorded */ char algorithm_order[4]; /* blank if num_algorithms=1; W=WMT and B=BDI */ /* SS header info */ int num_pixels; /* number of sidescan pixels recorded */ char svp_corr_ss; /* 0=off; 1=on */ int ss_data_length; /* number of bytes of sidescan data */ char pixel_algorithm; /* pixel intensity algorithm D = logarithm, L = linear */ int num_pixels_12khz; double pixel_size_12khz; /* meters */ int num_pixels_36khz; double pixel_size_36khz; /* meters */ char spare_ss; char pixel_size_scale; /* transmit parameters and navigation (DR and SS) */ char frequency[2]; /* LL=12kHz; HH=36kHz; number=36kHz until this angle in degrees then 12kHz */ int ping_gain_12khz; /* dB */ int ping_pulse_width_12khz; /* msec */ int transmitter_attenuation_12khz; /* dB */ int pitch_12khz; /* 0.001 deg */ int roll_12khz; /* 0.001 deg */ int heading_12khz; /* 0.001 deg */ int ping_gain_36khz; /* dB */ int ping_pulse_width_36khz; /* msec */ int transmitter_attenuation_36khz; /* dB */ int pitch_36khz; /* 0.001 deg */ int roll_36khz; /* 0.001 deg */ int heading_36khz; /* 0.001 deg */ /* formed beam data (DR) */ char source[MBF_SB2100RW_BEAMS]; /* B=BDI, W=WMT */ int travel_time[MBF_SB2100RW_BEAMS]; /* msec */ int angle_across[MBF_SB2100RW_BEAMS]; /* 0.001 deg */ int angle_forward[MBF_SB2100RW_BEAMS]; /* 0.01 deg */ int depth[MBF_SB2100RW_BEAMS]; /* m or cm */ int acrosstrack_beam[MBF_SB2100RW_BEAMS]; /* m or cm */ int alongtrack_beam[MBF_SB2100RW_BEAMS]; /* m or cm */ int amplitude_beam[MBF_SB2100RW_BEAMS]; /* 0.25 dB */ int signal_to_noise[MBF_SB2100RW_BEAMS]; /* dB */ int echo_length[MBF_SB2100RW_BEAMS]; /* samples */ char quality[MBF_SB2100RW_BEAMS]; /* 0=no data, Q=poor quality, blank otherwise */ /* sidescan data (SS) */ int amplitude_ss[MBF_SB2100RW_PIXELS]; /* range 0-65535 */ int alongtrack_ss[MBF_SB2100RW_PIXELS]; /* m or cm */ /* comment (TR) */ char comment[MBF_SB2100RW_MAXLINE ]; };