/*-------------------------------------------------------------------- * The MB-system: mbf_xtfr8101.h 8/24/01 * $Id: mbf_xtfr8101.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2001-2012 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_xtfr8101.h defines the data structures used by MBIO functions * to store multibeam data read from the MBF_XTFR8101 format (MBIO id 83). * * Author: D. W. Caress * Date: August 24, 2001 * * $Log: mbf_xtfr8101.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 2001/09/17 23:24:10 caress * Added XTF format. * * * * */ /* * Notes on the MBF_XTFR8101 data format: * 1. Reson SeaBat products are high frequency, * */ /* maximum number of beams and pixels */ #define MBF_XTFR8101_MAXBEAMS 240 #define MBF_XTFR8101_MAXRAWPIXELS 8192 #define MBF_XTFR8101_COMMENT_LENGTH 200 #define MBF_XTFR8101_MAXLINE 16384 #define MBF_XTFR8101_FILEHEADERLEN 1024 #define XTF_MAGIC_NUMBER 0xFACE #define XTF_DATA_SIDESCAN 0 #define XTF_DATA_ANNOTATION 1 #define XTF_DATA_BATHYMETRY 2 #define XTF_DATA_ATTITUDE 3 #define XTF_DATA_POSITION 100 #define RESON_PACKETID_RT_VERY_OLD 0x11 #define RESON_PACKETID_RIT_VERY_OLD 0x12 #define RESON_PACKETID_RT_OLD 0x13 #define RESON_PACKETID_RIT_OLD 0x14 #define RESON_PACKETID_RT 0x17 #define RESON_PACKETID_RIT 0x18 struct mbf_xtfr8101_xtfchaninfo { char TypeOfChannel; char SubChannelNumber; unsigned short CorrectionFlags; unsigned short UniPolar; unsigned short BytesPerSample; unsigned int SamplesPerChannel; char ChannelName[16]; float VoltScale; /* maximum value (V) */ float Frequency; /* Hz */ float HorizBeamAngle; /* degrees */ float TiltAngle; float BeamWidth; float OffsetX; float OffsetY; float OffsetZ; float OffsetYaw; float OffsetPitch; float OffsetRoll; char ReservedArea[56]; }; struct mbf_xtfr8101_xtffileheader { char FileFormat; /* Set to 123 (0x7B */ char SystemType; /* Set to 1 */ char RecordingProgramName[8]; char RecordingProgramVersion[8]; char SonarName[16]; unsigned short SonarType; /* 0 = Reserved 1 = JAMSTEC 2 = Analog_c31 3 = SIS1000 4 = Analog_32chan 5 = Klein2000 6 = RWS 7 = DF1000 8 = SeaBat 9001 9 = Klein595 10 = EGG260 11 = Sonatech_DDS 12 = Echoscan 13 = Elac Bottomchart 1180 14 = Klein 5000 15 = Reson SeaBat 8101 16 = Imagenex model 858 17 = USN SILOS with 3-channel analog 18 = Sonatech super high res sidescan sonar 19 = Delph AU32 Analog input (2 channel) 20 = Generic sonar using the memory-mapped file interface 21 = Simrad SM2000 22 = Standard multibedia audio 23 = Edgetech ACI card for 260 sonar throug PC31 card 24 = Edgetech black box 25 = Fugro deeptow 26 = C&C Edgetech chirp conversion program 27 = DTI SAS synthetic aperture processor (mmap file) */ char NoteString[64]; char ThisFileName[64]; unsigned short NavUnits; /* 0 = meters, 3 = degrees */ unsigned short NumberOfSonarChannels; /* if <= 6 use 1024 byte header, if > 6 use 2048 byte header */ unsigned short NumberOfBathymetryChannels; unsigned short Reserved1; unsigned short Reserved2; unsigned short Reserved3; unsigned short Reserved4; unsigned short Reserved5; unsigned short Reserved6; char ProjectionType[12]; /* not currently used */ char SpheroidType[10]; /* not currently used */ int NavigationLatency; /* GPS_time_received - GPS_time_sent (msec) */ float OriginY; /* not currently used */ float OriginX; /* not currently used */ float NavOffsetY; /* Multibeam nav offset (m) */ float NavOffsetX; /* Multibeam nav offset (m) */ float NavOffsetZ; /* Multibeam nav z offset (m) */ float NavOffsetYaw; /* Multibeam heading offset (m) */ float MRUOffsetY; /* Multibeam MRU y offset (m) */ float MRUOffsetX; /* Multibeam MRU x offset (m) */ float MRUOffsetZ; /* Multibeam MRU z offset (m) */ float MRUOffsetYaw; /* Multibeam MRU heading offset (m) */ float MRUOffsetPitch; /* Multibeam MRU pitch offset (degrees) */ float MRUOffsetRoll; /* Multibeam MRU roll offset (degrees) */ struct mbf_xtfr8101_xtfchaninfo chaninfo[6]; }; struct mbf_xtfpacketheader { mb_u_char MagicNumber[2]; /* 0xFACE */ mb_u_char HeaderType; /* 0 = sonar ping, 1 = annotation, 2 = bathymetry, 3 = attitude */ mb_u_char SubChannelNumber; /* which multibeam head */ unsigned short NumChansToFollow; /* Number of beams to follow */ unsigned short Reserved1[2]; unsigned int NumBytesThisRecord; /* total byte count including this header */ }; struct mbf_xtfattitudeheader { struct mbf_xtfpacketheader packetheader; unsigned int Reserved2[4]; float Pitch; float Roll; float Heave; float Yaw; unsigned int TimeTag; /* time tag (msec) */ float Heading; char Reserved3[10]; }; struct mbf_xtfbathheader { struct mbf_xtfpacketheader packetheader; unsigned short Year; mb_u_char Month; mb_u_char Day; mb_u_char Hour; mb_u_char Minute; mb_u_char Second; mb_u_char HSeconds; unsigned short JulianDay; unsigned short CurrentLineID; unsigned short EventNumber; unsigned int PingNumber; float SoundVelocity; /* Half sound speed (e.g. 750 m/sec instead of 1500 m/sec) */ float OceanTide; /* (m) */ unsigned int Reserved2; float ConductivityFreq; /* Raw CTD conductivity frequency (Hz) */ float TemperatureFreq; /* Raw CTD temperature frequency (Hz) */ float PressureFreq; /* Raw CTD pressure frequency (Hz) */ float PressureTemp; /* Raw CTD pressure temperature (deg C) */ float Conductivity; /* computed CTD conductivity (siemens/m) */ float WaterTemperature; /* computed CTD temperature (deg C) */ float Pressure; /* computed CTD water pressure (psia) */ float ComputedSoundVelocity; /* water sound velocity (m/sec) */ float MagX; /* X-axis magnetometer (mGauss) */ float MagY; /* Y-axis magnetometer (mGauss) */ float MagZ; /* Z-axis magnetometer (mGauss) */ float AuxVal1; float AuxVal2; float AuxVal3; float AuxVal4; float AuxVal5; float AuxVal6; float SpeedLog; /* towfish speed (kts) */ float Turbidity; /* turbity (0-5V * 10000) */ float ShipSpeed; /* ship speed (kts) */ float ShipGyro; /* ship heading (deg) */ double ShipYcoordinate;/* ship latitude or northing */ double ShipXcoordinate;/* ship longitude or easting */ short ShipAltitude; /* ship altitude (decimeters) */ short ShipDepth; /* ship depth (decimeters) */ mb_u_char FixTimeHour; /* last nav fix time (hour) */ mb_u_char FixTimeMinute; /* last nav fix time (min) */ mb_u_char FixTimeSecond; /* last nav fix time (sec) */ char Reserved4; float SensorSpeed; /* towfish speed (kts) */ float KP; /* kilometers pipe (km) */ double SensorYcoordinate; /* towfish latitude or northing */ double SensorXcoordinate; /* towfish longitude or easting */ short Reserved6; short RangeToSensor; /* slant range to towfish * 10 */ short BearingToSensor;/* bearing to towfish * 100 */ short CableOut; /* cable out (m) */ float Layback; /* distance from ship to sensor (m) */ float CableTension; /* cable tension */ float SensorDepth; /* towfish depth (m) */ float SensorPrimaryAltitude; /* towfish altitude (m) */ float SensorAuxAltitude; /* towfish altitude (m) */ float SensorPitch; /* sensor pitch (deg) */ float SensorRoll; /* sensor roll (deg) */ float SensorHeading; /* sensor heading (deg) */ float Heave; /* sensor heave (m) */ float Yaw; /* sensor yaw (deg) */ int AttitudeTimeTag;/* time tag from MRU */ float DOT; /* distance off track */ char ReservedSpace[20]; }; struct mbf_xtfpingchanheader { unsigned short ChannelNumber; /* Typically, */ /* 0=port (low frequency) */ /* 1=stbd (low frequency) */ /* 2=port (high frequency) */ /* 3=stbd (high frequency) */ unsigned short DownsampleMethod; /* 2=MAX, 4=RMS */ float SlantRange; /* Slant range of the data in meters */ float GroundRange; /* Ground range of the data in meters */ /* (SlantRange^2 - Altitude^2) */ float TimeDelay; /* Amount of time (in seconds) to the start of recorded data */ /* almost always 0.0 */ float TimeDuration; /* Amount of time (in seconds) recorded */ float SecondsPerPing; /* Amount of time (in seconds) from ping to ping */ unsigned short ProcessingFlags;/* 4=TVG, 8=BAC&GAC, 16=Filter, etc... */ /* almost always 0 */ unsigned short Frequency; /* Center transmit frequency for this channel. */ /* when non-zero, replaces value found in file */ /* header CHANINFO struct ChanInfo->SamplesPerChannel. */ /* This allows samples per channel to change on the fly. */ unsigned short InitialGainCode;/* Settings as transmitted by sonar */ unsigned short GainCode; unsigned short BandWidth; /* Contact information - updated when contacts are saved through Target.exe */ unsigned int ContactNumber; unsigned short ContactClassification; mb_u_char ContactSubNumber; mb_u_char ContactType; unsigned int NumSamples; /* Number of samples that will follow this structure. The */ /* number of bytes will be this value multipied by the */ /* number of bytes per sample (given in the file header) */ unsigned short Reserved; /* Obsolete. */ float ContactTimeOffTrack; /* Time off track to this contact (stored in milliseconds) */ mb_u_char ContactCloseNumber; mb_u_char Reserved2; float FixedVSOP; /* Fixed along-track size of each ping, stored in cm. */ /* on multibeam system with zero beam spread, this value */ /* needs to be filled in to prevent Isis from calculating */ /* along-track ground coverage based on beam spread and */ /* speed over ground. In order for */ /* Target to use this number, "223" */ /* or later must be set in */ /* XTFFILEHEADER.RecordingProgramVersion */ mb_u_char ReservedSpace[6]; /* reserved for future expansion */ }; struct RESON8100_RT_VERY_OLD { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x11) */ char packet_subtype; /* identifier for packet subtype */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ mb_u_char pulse_width; /* transmit pulse width (microseconds) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ short projector; /* projector setting */ mb_u_char beam_width; /* cross track receive beam width (degrees * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS/2]; /* packed quality array (two 4 bit values/char) */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short checksum; /* checksum for data packet */ }; struct RESON8100_RIT_VERY_OLD { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x12) */ char packet_subtype; /* identifier for packet subtype */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ mb_u_char pulse_width; /* transmit pulse width (microseconds) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ short projector; /* projector setting */ mb_u_char beam_width; /* cross track receive beam width (degrees * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS/2]; /* packed quality array (two 4 bit values/char) */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ mb_u_char intensity[MBF_XTFR8101_MAXBEAMS]; /* intensities at bottom detect */ unsigned short checksum; /* checksum for data packet */ }; struct RESON8100_RT_OLD { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x13) */ char packet_subtype; /* identifier for packet subtype */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ mb_u_char pulse_width; /* transmit pulse width (microseconds) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ short projector; /* projector setting */ mb_u_char tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ mb_u_char tvg_absorp; /* absorption coefficient for tvg */ mb_u_char beam_width; /* cross track receive beam width (degrees * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS/2]; /* packed quality array (two 4 bit values/char) */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short checksum; /* checksum for data packet */ }; struct RESON8100_RIT_OLD { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x14) */ char packet_subtype; /* identifier for packet subtype */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ mb_u_char pulse_width; /* transmit pulse width (microseconds) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ short projector; /* projector setting */ mb_u_char tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ mb_u_char tvg_absorp; /* absorption coefficient for tvg */ mb_u_char beam_width; /* cross track receive beam width (degrees * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS]; /* unpacked quality array (one 8 bit value/char) */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short intensity[MBF_XTFR8101_MAXBEAMS]; /* intensities at bottom detect * 8 */ unsigned short checksum; /* checksum for data packet */ }; struct RESON8100_RT { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x17) */ char packet_subtype; /* identifier for packet subtype */ /* for dual head system, most significant bit (bit 7) */ /* indicates which sonar head to associate with packet */ /* head 1 - bit 7 set to 0 */ /* head 2 - bit 7 set to 1 */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned int ping_number; /* sequential ping number from sonar startup/reset */ unsigned int sonar_id; /* least significant four bytes of Ethernet address */ unsigned short sonar_model; /* coded model number of sonar */ unsigned short frequency; /* sonar frequency in KHz */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short pulse_width; /* transmit pulse width (microseconds) */ mb_u_char tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ mb_u_char tvg_absorp; /* absorption coefficient for tvg */ mb_u_char projector_type; /* bits 0-4 = projector type */ /* 0 = stick projector */ /* 1 = array face */ /* 2 = ER projector */ /* bit 7 - pitch steering (1=enabled, 0=disabled) */ mb_u_char projector_beam_width; /* along track transmit beam width (degrees * 10) */ unsigned short beam_width_num; /* cross track receive beam width numerator */ unsigned short beam_width_denom; /* cross track receive beam width denominator */ /* beam width degrees = numerator / denominator */ short projector_angle; /* projector pitch steering angle (degrees * 100) */ unsigned short min_range; /* sonar filter settings */ unsigned short max_range; unsigned short min_depth; unsigned short max_depth; mb_u_char filters_active; /* range/depth filters active */ /* bit 0 - range filter (0 = off, 1 = active) */ /* bit 1 - depth filter (0 = off, 1 = active) */ mb_u_char spare[3]; /* spare field for future growth */ short temperature; /* temperature at sonar head (deg C * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS/2+1]; /* packed quality array (two 4 bit values/char) */ /* cnt = n/2 if beam count even, n/2+1 if odd */ /* cnt then rounded up to next even number */ /* e.g. if beam count=101, cnt=52 */ /* unused trailing quality values set to zero */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short checksum; /* checksum for data packet */ }; struct RESON8100_RIT { char synch_header[4]; /* synch header {0xff, 0xff, 0x00, 0x00 */ char packet_type; /* identifier for packet type (0x18) */ char packet_subtype; /* identifier for packet subtype */ /* for dual head system, most significant bit (bit 7) */ /* indicates which sonar head to associate with packet */ /* head 1 - bit 7 set to 0 */ /* head 2 - bit 7 set to 1 */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned int ping_number; /* sequential ping number from sonar startup/reset */ unsigned int sonar_id; /* least significant four bytes of Ethernet address */ unsigned short sonar_model; /* coded model number of sonar */ unsigned short frequency; /* sonar frequency in KHz */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short pulse_width; /* transmit pulse width (microseconds) */ mb_u_char tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ mb_u_char tvg_absorp; /* absorption coefficient for tvg */ mb_u_char projector_type; /* bits 0-4 = projector type */ /* 0 = stick projector */ /* 1 = array face */ /* 2 = ER projector */ /* bit 7 - pitch steering (1=enabled, 0=disabled) */ mb_u_char projector_beam_width; /* along track transmit beam width (degrees * 10) */ unsigned short beam_width_num; /* cross track receive beam width numerator */ unsigned short beam_width_denom; /* cross track receive beam width denominator */ /* beam width degrees = numerator / denominator */ short projector_angle; /* projector pitch steering angle (degrees * 100) */ unsigned short min_range; /* sonar filter settings */ unsigned short max_range; unsigned short min_depth; unsigned short max_depth; mb_u_char filters_active; /* range/depth filters active */ /* bit 0 - range filter (0 = off, 1 = active) */ /* bit 1 - depth filter (0 = off, 1 = active) */ mb_u_char spare[3]; /* spare field for future growth */ short temperature; /* temperature at sonar head (deg C * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBF_XTFR8101_MAXBEAMS]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ mb_u_char quality[MBF_XTFR8101_MAXBEAMS/2+1]; /* packed quality array (two 4 bit values/char) */ /* cnt = n/2 if beam count even, n/2+1 if odd */ /* cnt then rounded up to next even number */ /* e.g. if beam count=101, cnt=52 */ /* unused trailing quality values set to zero */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short intensity[MBF_XTFR8101_MAXBEAMS]; /* intensities at bottom detect * 8 */ unsigned short checksum; /* checksum for data packet */ }; struct RESON_STATUS { char Synch[4]; /* synch header {0xff, 0xff, 0x00, 0x00 } */ char PacketType; /* identifier for packet type (0x70) */ unsigned short ErrorCode; /* bit mapped error codes */ /* bit 0 = leak sensor */ /* bit 1 = power supply fault */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned short Temperature; /* temperature reported by SeaBat (deg C) */ char Message[40]; /* ASCII message describing fault */ char Spare[40]; /* spare fields */ unsigned short Checksum; /* checksum for data packet */ }; struct mbf_xtfr8101_struct { /* type of data record */ int kind; /* Data vs Comment */ /* type of sonar */ int sonar; /* Type of Reson sonar */ /* xtf file header */ struct mbf_xtfr8101_xtffileheader fileheader; /* xtf attitude record */ struct mbf_xtfattitudeheader attitudeheader; /* xtf Reson multibeam bathymetry record */ struct mbf_xtfbathheader bathheader; struct RESON8100_RIT reson8100rit; struct mbf_xtfbathheader sidescanheader; struct mbf_xtfpingchanheader pingchanportheader; unsigned short ssrawport[MBF_XTFR8101_MAXRAWPIXELS]; struct mbf_xtfpingchanheader pingchanstbdheader; unsigned short ssrawstbd[MBF_XTFR8101_MAXRAWPIXELS]; /* comment */ char comment[MBF_XTFR8101_COMMENT_LENGTH]; };