/*-------------------------------------------------------------------- * The MB-system: mbsys_geoswath.h 8/20/2012 * $Id: mbsys_geoswath.h 1982 2012-08-15 16:52:53Z caress $ * * Copyright (c) 2012-2012 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. *--------------------------------------------------------------------*/ /* * mbsys_geoswath.h defines the MBIO data structures for handling data from * Kongsberg GeoAcoustics GeoSwath Plus interferometric sonars: * MBF_GEOSWATH : MBIO ID 221 - Kongsberg GeoAcoustics GeoSwath Plus data in the rdf file format * * Author: D. W. Caress * Date: August 20, 2012 * * $Log: mbsys_geoswath.h,v $ * * */ /* * Notes on the mbsys_geoswath data structure: * 1. This format is defined by the GeoSwath Plus * Raw Data File Format & Broadcast Raw Data File Format + Command Specification * Document ID: 9-GS+ -6063/BB * Document Date: 22-04-2009 * 2. The source code here and in mbr_geoswath.c has been modified from that included * in the specification. */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /*---------------------------------------------------------------*/ /* Record ID definitions */ typedef struct { unsigned short time; //Time in wavelengths short sine; //Sine of return angle unsigned short amplitude; //16bit amplitude value } RAA; typedef struct { double x; double y; float z; double time; double time_stamp; char quality; //Easting //Northing //Antenna height //GPS time //Time stamp //GPS quality indicator unsigned } NAV; typedef struct { float roll; float pitch; float heave; double time_stamp; //Roll in degrees //Pitch in degrees //Heave in degrees //Time stamp } MRU; typedef struct 9-GS+ -6063/BB Page 21 of 24 ??Raw Data File Format & Broadcast Raw Data File Format + Command Specification GeoSwath Plus { float heading; double time_stamp; //Heading in degrees //Time stamp } GYRO; typedef struct { float depth1; float depth2; double time_stamp; //Depth1 //Depth2 //Time stamp } ECHO; typedef struct { float velocity; double time_stamp; //MiniSVS velocity //Time stamp } MINISVS; typedef struct { } AUXDATA; type; char spare[3]; //Aux type //Value; unsigned char float value; typedef struct { unsigned int short raw_header_size; short raw_ping_header_size; char filename[512]; int frequency; short echo_type; creation; unsigned char char version[8]; file_mode; } RAWFILEHEADER; char pps_mode; char spare[8]; typedef struct { Page 22 of 24 9-GS+ -6063/BB ??GeoSwath Plus Raw Data File Format & Broadcast Raw Data File Format + Command Specification int ping_number; double ping_time; unsigned unsigned unsigned unsigned unsigned unsigned unsigned int previous_ping_position; int ping_size; char navigation_number; char attitude_number; unsigned unsigned unsigned char heading_number; char echosounder_number; char miniSVS_number; char aux1_number; char aux2_number; short ping_length; char pulse_length; char power; char sidescan_gain; int sample_number; char side; short navigation_strings_size; short attitude_strings_size; short heading_strings_size; short echosounder_strings_size; short miniSVS_strings_size; short aux1_strings_size; short aux2_strings_size; short ping_delay; double pps_time; char source; short sample_interval; unsigned unsigned unsigned }RAWPINGHEADER; //////////////////////////////////////////////////////////////////////////// // // function prototypes // /////////////////////////////////////////////////////////////////////////// BOOL read_raw_file_header(RAWFILEHEADER *, FILE *); BOOL read_raw_ping_header(RAWPINGHEADER *, FILE *); BOOL read_raw_ping_data(char *, int, FILE *); void get_ping_data(RAA **, NAV **, MRU **, GYRO **, ECHO **, MINISVS **, double **, double **, RAWPINGHEADER, char *); 9-GS+ -6063/BB Page 23 of 24 ??Raw Data File Format & Broadcast Raw Data File Format + Command Specification GeoSwath Plus void get_raw_strings(char **, char **, char **, char **, char **, char **, char **, AUXDATA **, AUXDATA **, RAWPINGHEADER, char *); BOOL write_raw_file_header(RAWFILEHEADER *, FILE *); BOOL write_raw_ping_header(RAWPINGHEADER *, FILE *); BOOL write_raw_ping_data(char *, int, FILE *); Appendix C: Sample Source Code (rdf.h) /**************************************************************************** / / (c) Copyright 2009 GeoAcoustics Limited / /****************************************************************************/ //////////////////////////////////////////////////////////////////////////// // // Structures // /////////////////////////////////////////////////////////////////////////// typedef struct { } RAA; //Time in wavelengths //Sine of return angle //16bit amplitude value unsigned unsigned short time; short sine; short amplitude; typedef struct { double x; double y; float z; double time; double time_stamp; char quality; //Easting //Northing //Antenna height //GPS time //Time stamp //GPS quality indicator unsigned } NAV; typedef struct { float roll; float pitch; float heave; double time_stamp; //Roll in degrees //Pitch in degrees //Heave in degrees //Time stamp } MRU; typedef struct 9-GS+ -6063/BB Page 21 of 24 ??Raw Data File Format & Broadcast Raw Data File Format + Command Specification GeoSwath Plus { float heading; double time_stamp; //Heading in degrees //Time stamp } GYRO; typedef struct { float depth1; float depth2; double time_stamp; //Depth1 //Depth2 //Time stamp } ECHO; typedef struct { float velocity; double time_stamp; //MiniSVS velocity //Time stamp } MINISVS; typedef struct { } AUXDATA; type; char spare[3]; //Aux type //Value; unsigned char float value; typedef struct { unsigned int short raw_header_size; short raw_ping_header_size; char filename[512]; int frequency; short echo_type; creation; unsigned char char version[8]; file_mode; } RAWFILEHEADER; char pps_mode; char spare[8]; typedef struct { Page 22 of 24 9-GS+ -6063/BB ??GeoSwath Plus Raw Data File Format & Broadcast Raw Data File Format + Command Specification int ping_number; double ping_time; unsigned unsigned unsigned unsigned unsigned unsigned unsigned int previous_ping_position; int ping_size; char navigation_number; char attitude_number; unsigned unsigned unsigned char heading_number; char echosounder_number; char miniSVS_number; char aux1_number; char aux2_number; short ping_length; char pulse_length; char power; char sidescan_gain; int sample_number; char side; short navigation_strings_size; short attitude_strings_size; short heading_strings_size; short echosounder_strings_size; short miniSVS_strings_size; short aux1_strings_size; short aux2_strings_size; short ping_delay; double pps_time; char source; short sample_interval; unsigned unsigned unsigned }RAWPINGHEADER; //////////////////////////////////////////////////////////////////////////// // // function prototypes // /////////////////////////////////////////////////////////////////////////// BOOL read_raw_file_header(RAWFILEHEADER *, FILE *); BOOL read_raw_ping_header(RAWPINGHEADER *, FILE *); BOOL read_raw_ping_data(char *, int, FILE *); void get_ping_data(RAA **, NAV **, MRU **, GYRO **, ECHO **, MINISVS **, double **, double **, RAWPINGHEADER, char *); 9-GS+ -6063/BB Page 23 of 24 ??Raw Data File Format & Broadcast Raw Data File Format + Command Specification GeoSwath Plus void get_raw_strings(char **, char **, char **, char **, char **, char **, char **, AUXDATA **, AUXDATA **, RAWPINGHEADER, char *); BOOL write_raw_file_header(RAWFILEHEADER *, FILE *); BOOL write_raw_ping_header(RAWPINGHEADER *, FILE *); BOOL write_raw_ping_data(char *, int, FILE *); /* Reson 7k Spreading Loss (record 7612) */ typedef struct s7kr_spreadingloss_struct { s7k_header header; float spreadingloss; /* dB (0 - 60) */ } s7kr_spreadingloss; /* internal data structure */ struct mbsys_geoswath_struct { /* Type of data record */ int kind; /* MB-System record ID */ int type; /* Reson record ID */ int sstype; /* If type == R7KRECID_FSDWsidescan sstype: 0 = low frequency sidescan 1 = high frequency sidescan */ /* ping record id's */ int current_ping_number; int read_volatilesettings; int read_matchfilter; int read_beamgeometry; int read_remotecontrolsettings; int read_bathymetry; int read_backscatter; int read_beam; int read_verticaldepth; int read_image; int read_v2pingmotion; int read_v2detectionsetup; int read_v2beamformed; int read_v2detection; int read_v2rawdetection; int read_v2snippet; /* MB-System time stamp */ double time_d; int time_i[7]; /* Reference point information (record 1000) */ /* Note: these offsets should be zero for submersible vehicles */ s7kr_reference reference; /* Sensor uncalibrated offset position information (record 1001) */ s7kr_sensoruncal sensoruncal; /* Sensor calibrated offset position information (record 1002) */ s7kr_sensorcal sensorcal; /* Position (record 1003) */ s7kr_position position; /* Custom attitude (record 1004) */ s7kr_customattitude customattitude; /* Tide (record 1005) */ s7kr_tide tide; /* Altitude (record 1006) */ s7kr_altitude altitude; /* Motion over ground (record 1007) */ s7kr_motion motion; /* Depth (record 1008) */ s7kr_depth depth; /* Sound velocity profile (record 1009) */ s7kr_svp svp; /* CTD (record 1010) */ s7kr_ctd ctd; /* Geodesy (record 1011) */ s7kr_geodesy geodesy; /* Roll pitch heave (record 1012) */ s7kr_rollpitchheave rollpitchheave; /* Heading (record 1013) */ s7kr_heading heading; /* Survey line (record 1014) */ s7kr_surveyline surveyline; /* Navigation (record 1015) */ s7kr_navigation navigation; /* Attitude (record 1016) */ s7kr_attitude attitude; /* Unknown record 1022 (record 1022) */ s7kr_rec1022 rec1022; /* Edgetech FS-DW low frequency sidescan (record 3000) */ s7kr_fsdwss fsdwsslo; /* Edgetech FS-DW high frequency sidescan (record 3000) */ s7kr_fsdwss fsdwsshi; /* Edgetech FS-DW subbottom (record 3001) */ s7kr_fsdwsb fsdwsb; /* Bluefin data frames (record 3100) */ s7kr_bluefin bluefin; /* Reson 7k volatile sonar settings (record 7000) */ s7kr_volatilesettings volatilesettings; /* Reson 7k configuration (record 7001) */ s7kr_configuration configuration; /* Reson 7k match filter (record 7002) */ s7kr_matchfilter matchfilter; /* Reson 7k firmware and hardware configuration (record 7003) */ s7kr_v2firmwarehardwareconfiguration v2firmwarehardwareconfiguration; /* Reson 7k beam geometry (record 7004) */ s7kr_beamgeometry beamgeometry; /* Reson 7k calibration (record 7005) */ s7kr_calibration calibration; /* Reson 7k bathymetry (record 7006) */ s7kr_bathymetry bathymetry; /* Reson 7k backscatter imagery data (record 7007) */ s7kr_backscatter backscatter; /* Reson 7k beam data (record 7008) */ s7kr_beam beam; /* Reson 7k vertical depth (record 7009) */ s7kr_verticaldepth verticaldepth; /* Reson 7k image data (record 7011) */ s7kr_image image; /* Ping motion (record 7012) */ s7kr_v2pingmotion v2pingmotion; /* Detection setup (record 7017) */ s7kr_v2detectionsetup v2detectionsetup; /* Reson 7k beamformed magnitude and phase data (record 7018) */ s7kr_v2beamformed v2beamformed; /* Reson 7k BITE (record 7021) */ s7kr_v2bite v2bite; /* Reson 7k center version (record 7022) */ s7kr_v27kcenterversion v27kcenterversion; /* Reson 7k 8k wet end version (record 7023) */ s7kr_v28kwetendversion v28kwetendversion; /* Reson 7k version 2 detection (record 7026) */ s7kr_v2detection v2detection; /* Reson 7k version 2 raw detection (record 7027) */ s7kr_v2rawdetection v2rawdetection; /* Reson 7k version 2 snippet (record 7028) */ s7kr_v2snippet v2snippet; /* Reson 7k sonar installation parameters (record 7030) */ s7kr_installation installation; /* Reson 7k system event (record 7051) */ s7kr_systemeventmessage systemeventmessage; /* Reson 7k file header (record 7200) */ s7kr_fileheader fileheader; /* Reson 7k remote control sonar settings (record 7503) */ s7kr_remotecontrolsettings remotecontrolsettings; /* Reson 7k Reserved (well, unknown really...) (record 7504) */ s7kr_reserved reserved; /* Reson 7k Roll (record 7600) */ s7kr_roll roll; /* Reson 7k Pitch (record 7601) */ s7kr_pitch pitch; /* Reson 7k Sound Velocity (record 7610) */ s7kr_soundvelocity soundvelocity; /* Reson 7k Absorption Loss (record 7611) */ s7kr_absorptionloss absorptionloss; /* Reson 7k Spreading Loss (record 7612) */ s7kr_spreadingloss spreadingloss; }; /* 7K Macros */ int mbsys_geoswath_checkheader(s7k_header header); /* system specific function prototypes */ int mbsys_geoswath_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_geoswath_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_geoswath_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_geoswath_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_geoswath_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_geoswath_tlt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_geoswath_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_geoswath_zero_ss(int verbose, void *store_ptr, int *error); int mbsys_geoswath_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_geoswath_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_geoswath_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_geoswath_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_geoswath_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error); int mbsys_geoswath_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_geoswath_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_geoswath_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_geoswath_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_geoswath_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr, int nmax, int *kind, int *n, int *time_i, double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_geoswath_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error); int mbsys_geoswath_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_geoswath_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_geoswath_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, int *kind, void *segyheader_ptr, int *error); int mbsys_geoswath_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, int *sampleformat, int *kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_geoswath_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, int kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_geoswath_ctd(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nctd, double *time_d, double *conductivity, double *temperature, double *depth, double *salinity, double *soundspeed, int *error); int mbsys_geoswath_ancilliarysensor(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsamples, double *time_d, double *sensor1, double *sensor2, double *sensor3, double *sensor4, double *sensor5, double *sensor6, double *sensor7, double *sensor8, int *error); int mbsys_geoswath_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_geoswath_checkheader(s7k_header header); int mbsys_geoswath_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *nss, double *ss, double *ssacrosstrack, double *ssalongtrack, int *error); int mbsys_geoswath_print_header(int verbose, s7k_header *header, int *error); int mbsys_geoswath_print_reference(int verbose, s7kr_reference *reference, int *error); int mbsys_geoswath_print_sensoruncal(int verbose, s7kr_sensoruncal *sensoruncal, int *error); int mbsys_geoswath_print_sensorcal(int verbose, s7kr_sensorcal *sensorcal, int *error); int mbsys_geoswath_print_position(int verbose, s7kr_position *position, int *error); int mbsys_geoswath_print_customattitude(int verbose, s7kr_customattitude *customattitude, int *error); int mbsys_geoswath_print_tide(int verbose, s7kr_tide *tide, int *error); int mbsys_geoswath_print_altitude(int verbose, s7kr_altitude *altitude, int *error); int mbsys_geoswath_print_motion(int verbose, s7kr_motion *motion, int *error); int mbsys_geoswath_print_depth(int verbose, s7kr_depth *depth, int *error); int mbsys_geoswath_print_svp(int verbose, s7kr_svp *svp, int *error); int mbsys_geoswath_print_ctd(int verbose, s7kr_ctd *ctd, int *error); int mbsys_geoswath_print_geodesy(int verbose, s7kr_geodesy *geodesy, int *error); int mbsys_geoswath_print_rollpitchheave(int verbose, s7kr_rollpitchheave *rollpitchheave, int *error); int mbsys_geoswath_print_heading(int verbose, s7kr_heading *heading, int *error); int mbsys_geoswath_print_surveyline(int verbose, s7kr_surveyline *surveyline, int *error); int mbsys_geoswath_print_navigation(int verbose, s7kr_navigation *navigation, int *error); int mbsys_geoswath_print_attitude(int verbose, s7kr_attitude *attitude, int *error); int mbsys_geoswath_print_rec1022(int verbose, s7kr_rec1022 *rec1022, int *error); int mbsys_geoswath_print_fsdwchannel(int verbose, int data_format, s7k_fsdwchannel *fsdwchannel, int *error); int mbsys_geoswath_print_fsdwssheader(int verbose, s7k_fsdwssheader *fsdwssheader, int *error); int mbsys_geoswath_print_fsdwsegyheader(int verbose, s7k_fsdwsegyheader *fsdwsegyheader, int *error); int mbsys_geoswath_print_fsdwss(int verbose, s7kr_fsdwss *fsdwss, int *error); int mbsys_geoswath_print_fsdwsb(int verbose, s7kr_fsdwsb *fsdwsb, int *error); int mbsys_geoswath_print_bluefin(int verbose, s7kr_bluefin *bluefin, int *error); int mbsys_geoswath_print_volatilesettings(int verbose, s7kr_volatilesettings *volatilesettings, int *error); int mbsys_geoswath_print_device(int verbose, s7k_device *device, int *error); int mbsys_geoswath_print_configuration(int verbose, s7kr_configuration *configuration, int *error); int mbsys_geoswath_print_matchfilter(int verbose, s7kr_matchfilter *matchfilter, int *error); int mbsys_geoswath_print_v2firmwarehardwareconfiguration(int verbose, s7kr_v2firmwarehardwareconfiguration *v2firmwarehardwareconfiguration, int *error); int mbsys_geoswath_print_beamgeometry(int verbose, s7kr_beamgeometry *beamgeometry, int *error); int mbsys_geoswath_print_calibration(int verbose, s7kr_calibration *calibration, int *error); int mbsys_geoswath_print_bathymetry(int verbose, s7kr_bathymetry *bathymetry, int *error); int mbsys_geoswath_print_backscatter(int verbose, s7kr_backscatter *backscatter, int *error); int mbsys_geoswath_print_beam(int verbose, s7kr_beam *beam, int *error); int mbsys_geoswath_print_verticaldepth(int verbose, s7kr_verticaldepth *verticaldepth, int *error); int mbsys_geoswath_print_image(int verbose, s7kr_image *image, int *error); int mbsys_geoswath_print_v2pingmotion(int verbose, s7kr_v2pingmotion *v2pingmotion, int *error); int mbsys_geoswath_print_v2detectionsetup(int verbose, s7kr_v2detectionsetup *v2detectionsetup, int *error); int mbsys_geoswath_print_v2beamformed(int verbose, s7kr_v2beamformed *v2beamformed, int *error); int mbsys_geoswath_print_v2bite(int verbose, s7kr_v2bite *v2bite, int *error); int mbsys_geoswath_print_v27kcenterversion(int verbose, s7kr_v27kcenterversion *v27kcenterversion, int *error); int mbsys_geoswath_print_v28kwetendversion(int verbose, s7kr_v28kwetendversion *v28kwetendversion, int *error); int mbsys_geoswath_print_v2detection(int verbose, s7kr_v2detection *v2detection, int *error); int mbsys_geoswath_print_v2rawdetection(int verbose, s7kr_v2rawdetection *v2rawdetection, int *error); int mbsys_geoswath_print_v2snippet(int verbose, s7kr_v2snippet *v2snippet, int *error); int mbsys_geoswath_print_installation(int verbose, s7kr_installation *installation, int *error); int mbsys_geoswath_print_systemeventmessage(int verbose, s7kr_systemeventmessage *systemeventmessage, int *error); int mbsys_geoswath_print_subsystem(int verbose, s7kr_subsystem *subsystem, int *error); int mbsys_geoswath_print_fileheader(int verbose, s7kr_fileheader *fileheader, int *error); int mbsys_geoswath_print_remotecontrolsettings(int verbose, s7kr_remotecontrolsettings *remotecontrolsettings, int *error); int mbsys_geoswath_print_reserved(int verbose, s7kr_reserved *reserved, int *error); int mbsys_geoswath_print_roll(int verbose, s7kr_roll *roll, int *error); int mbsys_geoswath_print_pitch(int verbose, s7kr_pitch *pitch, int *error); int mbsys_geoswath_print_soundvelocity(int verbose, s7kr_soundvelocity *soundvelocity, int *error); int mbsys_geoswath_print_absorptionloss(int verbose, s7kr_absorptionloss *absorptionloss, int *error); int mbsys_geoswath_print_spreadingloss(int verbose, s7kr_spreadingloss *spreadingloss, int *error);