/*-------------------------------------------------------------------- * The MB-system: mbf_sb2120xs.h 3/20/2000 * $Id: mbf_sb2120xs.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2000-2012 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. *--------------------------------------------------------------------*/ /* * mbf_sb2120xs.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_SB2120XSE format (MBIO id 44). * * Author: P. A. Cohen * Date: March 20, 2000 * Author: D. W. Caress * Date: December 8, 2000 * * $Log: mbf_sb2120xs.h,v $ * Revision 5.0 2000/12/10 20:24:25 caress * Initial revision. * * * */ /* * Notes on the MBF_SB2120XS (XSE) data format: * 1. SeaBeam Instruments introduced a new format called XSE in 1999. * 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), * MotionGroundTruth(4), MotionThroughWater(5), * CurrentTrack(6), HeaveRollPitch (7), Heave(8), * Roll(9), Pitch(10), Heading(11), Log(12) * Sidescan 5 General(1), Amplitude(4), Phase(5) * Multibeam 6 General(1), Traveltime(3), Quality(4), * Amplitude(5), Delay(6), Lateral(7), * Along(8), Depth(9), Angle(10), Beam(1) * Comment 99 General(1) **MB-System ONLY!!!!** * 3. An additional set of SeaBeam 2100 specific frames are defined, * but are not supported in this i/o module. Many other frames * are defined, but not supported here. These are read and passed * through MB-System as MB_DATA_OTHER type data records. * 4. SeaBeam Instruments 2120 20KHz 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. The XSE format uses asynchronous navigation only; navigation * is not included in the multibeam or sidescan pings. * MB-System interpolates or extrapolates the available * navigation as necessary. * */ /* maximum number of beams and pixels */ #define MBF_SB2120XS_MAXBEAMS 151 #define MBF_SB2120XS_MAXPIXELS 2000 #define MBF_SB2120XS_MAXSVP 200 #define MBF_SB2120XS_MAXDRAFT 200 #define MBF_SB2120XS_COMMENT_LENGTH 200 #define MBF_SB2120XS_BUFFER_SIZE 32000 #define MBF_SB2120XS_DESCRIPTION_LENGTH 64 /* frame and group id's */ #define MBF_SB2120XS_NONE_FRAME 0 #define MBF_SB2120XS_NAV_FRAME 1 #define MBF_SB2120XS_NAV_GROUP_GEN 1 #define MBF_SB2120XS_NAV_GROUP_POS 2 #define MBF_SB2120XS_NAV_GROUP_ACCURACY 3 #define MBF_SB2120XS_NAV_GROUP_MOTIONGT 4 #define MBF_SB2120XS_NAV_GROUP_MOTIONTW 5 #define MBF_SB2120XS_NAV_GROUP_TRACK 6 #define MBF_SB2120XS_NAV_GROUP_HRP 7 #define MBF_SB2120XS_NAV_GROUP_HEAVE 8 #define MBF_SB2120XS_NAV_GROUP_ROLL 9 #define MBF_SB2120XS_NAV_GROUP_PITCH 10 #define MBF_SB2120XS_NAV_GROUP_HEADING 11 #define MBF_SB2120XS_NAV_GROUP_LOG 12 #define MBF_SB2120XS_NAV_GROUP_GPS 13 #define MBF_SB2120XS_SVP_FRAME 2 #define MBF_SB2120XS_SVP_GROUP_GEN 1 #define MBF_SB2120XS_SVP_GROUP_DEPTH 2 #define MBF_SB2120XS_SVP_GROUP_VELOCITY 3 #define MBF_SB2120XS_SVP_GROUP_CONDUCTIVITY 4 #define MBF_SB2120XS_SVP_GROUP_SALINITY 5 #define MBF_SB2120XS_SVP_GROUP_TEMP 6 #define MBF_SB2120XS_SVP_GROUP_PRESSURE 7 #define MBF_SB2120XS_SVP_GROUP_SSV 8 #define MBF_SB2120XS_SVP_GROUP_POS 9 #define MBF_SB2120XS_TID_FRAME 3 #define MBF_SB2120XS_TID_GROUP_GEN 1 #define MBF_SB2120XS_TID_GROUP_POS 2 #define MBF_SB2120XS_TID_GROUP_TIME 3 #define MBF_SB2120XS_TID_GROUP_TIDE 4 #define MBF_SB2120XS_SHP_FRAME 4 #define MBF_SB2120XS_SHP_GROUP_GEN 1 #define MBF_SB2120XS_SHP_GROUP_ATTITUDE 2 #define MBF_SB2120XS_SHP_GROUP_POS 3 #define MBF_SB2120XS_SHP_GROUP_DYNAMICS 4 #define MBF_SB2120XS_SHP_GROUP_MOTION 5 #define MBF_SB2120XS_SHP_GROUP_GEOMETRY 6 #define MBF_SB2120XS_SHP_GROUP_DESCRIPTION 7 #define MBF_SB2120XS_SHP_GROUP_PARAMETER 8 #define MBF_SB2120XS_SSN_FRAME 5 #define MBF_SB2120XS_SSN_GROUP_GEN 1 #define MBF_SB2120XS_SSN_GROUP_AMPVSTT 2 #define MBF_SB2120XS_SSN_GROUP_PHASEVSTT 3 #define MBF_SB2120XS_SSN_GROUP_AMPVSLAT 4 #define MBF_SB2120XS_SSN_GROUP_PHASEVSLAT 5 #define MBF_SB2120XS_MBM_FRAME 6 #define MBF_SB2120XS_MBM_GROUP_GEN 1 #define MBF_SB2120XS_MBM_GROUP_BEAM 2 #define MBF_SB2120XS_MBM_GROUP_TT 3 #define MBF_SB2120XS_MBM_GROUP_QUALITY 4 #define MBF_SB2120XS_MBM_GROUP_AMP 5 #define MBF_SB2120XS_MBM_GROUP_DELAY 6 #define MBF_SB2120XS_MBM_GROUP_LATERAL 7 #define MBF_SB2120XS_MBM_GROUP_ALONG 8 #define MBF_SB2120XS_MBM_GROUP_DEPTH 9 #define MBF_SB2120XS_MBM_GROUP_ANGLE 10 #define MBF_SB2120XS_MBM_GROUP_HEAVE 11 #define MBF_SB2120XS_MBM_GROUP_ROLL 12 #define MBF_SB2120XS_MBM_GROUP_PITCH 13 #define MBF_SB2120XS_MBM_GROUP_GATES 14 #define MBF_SB2120XS_MBM_GROUP_NOISE 15 #define MBF_SB2120XS_MBM_GROUP_LENGTH 16 #define MBF_SB2120XS_MBM_GROUP_HITS 17 #define MBF_SB2120XS_COM_FRAME 99 #define MBF_SB2120XS_COM_GROUP_GEN 1 struct mbf_sb2120xs_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; }; struct mbf_sb2120xs_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 */ 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 */ /* 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[MBF_SB2120XS_MAXSVP]; /* m */ double svp_velocity[MBF_SB2120XS_MAXSVP]; /* m/s */ double svp_conductivity[MBF_SB2120XS_MAXSVP]; /* mmho/cm */ double svp_salinity[MBF_SB2120XS_MAXSVP]; /* o/oo */ double svp_temperature[MBF_SB2120XS_MAXSVP]; /* degree celcius */ double svp_pressure[MBF_SB2120XS_MAXSVP]; /* bar */ double svp_ssv; /* m/s */ /* position (navigation frames) */ 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[MBF_SB2120XS_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) */ double nav_speed_ground; /* m/s */ double nav_course_ground; /* radians */ double nav_speed_water; /* m/s */ double nav_course_water; /* radians */ /* 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_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_x; /* longitude in degrees */ double mul_y; /* latitude in degrees */ struct mbf_sb2120xs_beam_struct beams[MBF_SB2120XS_MAXBEAMS]; /* survey sidescan (sidescan frames) */ int sid_frame; /* boolean flag - sidescan frame 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_bin_size; /* bin size in mm */ int sid_offset; /* lateral offset in mm */ int sid_num_pixels; /* number of pixels */ short ss[MBF_SB2120XS_MAXPIXELS]; /* sidescan amplitude in dB */ /* comment */ int com_source; /* sensor id */ unsigned int com_sec; /* sec since 1/1/1901 00:00 */ unsigned int com_usec; /* microseconds */ char comment[MBF_SB2120XS_COMMENT_LENGTH]; /* unsupported frames */ int rawsize; /* size of unknown frame in bytes */ char raw[MBF_SB2120XS_BUFFER_SIZE]; };