/*-------------------------------------------------------------------- * The MB-system: mbsys_hs10.h 12/4/00 * $Id: mbsys_hs10.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2000-2012 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_hs10.h defines the data structures used by MBIO functions * to store data from the Furuno HS-10 multibeam sonar system. * The data formats which are commonly used to store Furuno HS-10 * data in files include * MBF_HS10JAMS : MBIO ID 171 * * Author: D. W. Caress * Date: December 4, 2000 * $Log: mbsys_hs10.h,v $ * Revision 5.5 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.4 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.3 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.2 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/10 20:24:25 caress * Initial revision. * * */ /* * Notes on the MBSYS_HSDS data structure: * 1. The Furuno HS-10 multibeam sonar generated 45 beams * of bathymetry and amplitude. * 2. To my knowledge, only one Furuno HS-10 multibeam sonar * has been operated. It was installed on S/V Yokosuka, * a JAMSTEC research vessel. The Furuno HS-10 has since been * replaced by a SeaBeam 2112 multibeam sonar. * 3. A specification for the raw HS-10 data format was * provided by JAMSTEC, and is included below. The raw format * consists of 800 byte binary records in which only the * lower 4 bits of each byte are used. * 4. The actual data files provided to WHOI seem to be simple * 717 byte ASCII records with time, lat, lon, heading, * center beam depth, 45 depths, 45 acrosstrack distances, * 45 beam amplitudes, and a terminator. Format * 171 supports the actual data we received. * 5. The data received use 5 characters each for depth, * acrosstrack, and amplitude values. Null beams have * depth values of 29999 and acrosstrack values of 99999. * MB-System supports beam flagging by setting flagged * beams negative. * 6. The internal data structure supports the data included * in the format 171 files, and does not yet include values * listed in the raw format spec but not seen in the data * provided. * 7. Comment records are supported as an MB-System extension * where the first two bytes of the record are "##". * Comment records are variable length. * 8. The raw data format specification is as follows: * * ---------------------------------------------------------- * HS-10 MNBES Data Format - JAMSTEC * * 800 bytes/record, 10 records/block * * Note: 4 bits from LSB is effective in each byte. * zB. 30 30 35 39 ---> 0 0 5 9 (HEX) = 89 (DEC) * 30 30 32 3D ---> 0 0 2 D (HEX) = 45 (DEC) * The HS-10 processor calculates the water depth by use of * average sound velocity and by correcting the difference * between the true angle of the sound path (obtained by the * true sound velocity profile) and the nominal angle of each * beam (every 2 degrees). The horizontal distance of the n-th * beam is * Distance(n) = Depth(n) * tan[T(n)], * where T(n) is the nominal angle of the n-th beam: * ( T(n) = 2 * (n-23) degrees, n=1,45 ). * * No. Bytes Data * 1. 4 Year * 2. 4 Month * 3. 4 Day * 4. 4 Hour * 5. 4 Minute * 6. 4 Second * 7. 8 Latitude in 1/10000 minute * 8. 8 Longitude in 1/10000 minute * 9. 8 X in 1/10 metre * 10. 8 Y in 1/10 metre * 11. 4 Ship's speed in 1/10 knot * 12. 4 Ship's heading in 1/10 degree * 13. 4x45 45 Water depths in metre * 14. 4x45 45 Intensity of reflection in dB * 15. 4 Selection of navigation * 0:HYB, 1:ANS, 2:MANU(L/L) 3:MANU(X/Y) * 16. 4 Surface sound velocity in 1/10 m/sec * 17. 8 Initial latitude in 1/10000 minute * 18. 8 Initial longitude in 1/10000 minute * 19. 8 Initial X in 1/10 metre * 20. 8 Initial Y in 1/10 metre * 21. 4 Manual bearing in 1/10 degree * 22. 4 Manual ship's speed in 1/10 knot * 23. 4 Ship's draft in 1/10 metre * 24. 4 Offset X in 1/10 metre * 25. 4 Offset Y in 1/10 metre * 26. 4 Selection of sound velocity * 0:no correction, 1:manual input, 2:calculation correction * 27. 4 Average sound velocity in 1/10 m/sec * 28. 4 Input selection of water temperature * 0:AUTO, 1:MANUAL * 29. 4 Water temperature in 1/10 degree * 30. 4 Tide level in 1/10 metre * 31. 4x10 10 Depth of layer in metre * 32. 4x10 10 Temperature of layer in 1/10 degree * 33. 4x10 10 Salinity in 1/10 per mille * 34. 4x10 10 Sound velocity in 1/10 m/sec * 35. 4 Transmitted pulse width * 0:1m, 1:2m, 2:4m, 3:8m * 36. 4 Level of transmission [1-16] * 1:Off, 16:Max, -2dB in each step * 37. 4 Selection of period of tranmission * 0:Auto, 1:Manual * 38: 4 Period of tranmission in second * 39: 4 Pre-amp ATT * 0:OFF, 1:ON * 40: 4 Receiving gain [1-16] * 1:Off, 16:Max, -2dB in each step * 41. 4 TVG [1-4] * 42. 4 AVG [1-4] * 43. 4 Threshold [1-16] * 44. 4 Gate width (R/L) [1-4] * 45. 4 Gate width (F/B) [1-4] * 46. 4 Selection of beam pattern [1-3] * 47. 4 Interferance removal * 0:OFF, 1:ON * 48. 4 KP shift [1-32] * 49. 4 Sonar mode [0] * 50. not used * ---------------------------------------------------------- * */ /* number of beams for Furuno HS-10 */ #define MBSYS_HS10_BEAMS 45 /* beam spacing is 2.0 degrees for Furuno HS-10 */ #define MBSYS_HS10_BEAMSPACING 2.0 /* length of comment record */ #define MBSYS_HS10_COMMENT 256 struct mbsys_hs10_struct { /* type of data record */ int kind; /* time stamp */ int year; int month; int day; int hour; int minute; int tenth_second; /* navigation */ char NorS; int latdeg; int latmin; int EorW; int londeg; int lonmin; int heading; int center_depth; int depth[MBSYS_HS10_BEAMS]; int acrosstrack[MBSYS_HS10_BEAMS]; int amplitude[MBSYS_HS10_BEAMS]; /* comment */ char comment[MBSYS_HS10_COMMENT]; }; /* system specific function prototypes */ int mbsys_hs10_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hs10_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hs10_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_hs10_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_hs10_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_hs10_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_hs10_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_hs10_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_hs10_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_hs10_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_hs10_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);