/*-------------------------------------------------------------------- * The MB-system: mbsys_hysweep.h 12/23/2011 * $Id: mbsys_hysweep.h 1938 2012-02-22 20:58:08Z caress $ * * Copyright (c) 2011-2012 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. *--------------------------------------------------------------------*/ /* * This header file mbsys_hysweep.h defines the data structures used by * MBIO functions to store data multibeam sonar systems logged using * HYSWEEP software by HYPACK Inc. * * The data format associated with this representation is: * MBF_HYSWEEP1 : MBIO ID 201 * * Author: D. W. Caress (MBARI) * Date: December 23, 2011 * * $Log: mbsys_hysweep.h,v $ * */ /* * Notes on the MBSYS_HYSWEEP HYPACK and HYSWEEP data: * 1. The raw HYPACK and HYSWEEP data formats are associated with HYPACK software * from Hypack Inc. of Middletown, CT, USA, formally known as Coastal * Oceanographics. The raw format produced by the Hypack dataloggers * is constructed of pure ASCII text. * * The following information is take more or less verbatim from the * 2010 HSX format specification. * * Coastal Oceanographics, Inc. * Technical Note: * HSX Format - Hysweep Text (ASCII) Logging * Hysweep survey has a Text logging option (HSX format), allowing raw data * to be stored in a format that can be inspected and modified by most * editing program (Windows Wordpad for example). Easy inspection of files * is the advantage of text logging - the disadvantage is larger files and * slower load time. If file size and load time are important to you, it is * best to choose the Hysweep binary format (HS2). * * HSX files are generally compatible with Hypack Survey raw format, allowing * Hypack programs (Hypack Max, Hyplot, etc.) to work with HSX files. The * differences involve logging and processing of multibeam data, which is * by the Hysweep extensions to Hypack. * * Each file contains two sections; a header, which is written when data * logging starts, and a data section, which is written as data is collected. * Most records starts with a three character tag. * * Header Tags: * DEV Hypack Device Information * DV2 Hysweep Device Information * EOH End of Header * EOL End of Planned Line * FTP File Type (Hypack File Identifier) * HSP Hysweep Survey Parameters * HSX HSX File Identifier * HVF Hysweep View Filters * INF General Information * LBP Planned Line Begin Point * LIN Planned Line Data follows * LNN Planned Line Name * MBI Multibeam / Multiple Transducer Device information * 0F2 Hysweep Device Offsets * PRI Primary Navigation Device * PTS Planned Line Waypoint * SSI Sidescan Device Information * SVC Sound Velocity Correction * TND Survey Time and Date * PRJ Projected coordinate system - MB-System extension * * Data Tags: * DFT Dynamic Draft (Squat) Correction * FIX Fix (Event) Mark * HCP Heave Compensation * EC1 Echo Sounding (single frequency) * GPS GPS Measurements * GYR Gyro Data (Heading) * POS Position * PSA Pitch Stabilization Angle. * RMB Raw Multibeam data * RSS Raw Sidescan data * SNR Sonar Runtime Settings * TID Tide Correction * COM Comment - MB-System extension * */ /* HYSWEEP record type */ #define MBSYS_HYSWEEP_RECORDTYPE_NONE 0 /* No record */ #define MBSYS_HYSWEEP_RECORDTYPE_DEV 1 #define MBSYS_HYSWEEP_RECORDTYPE_DV2 2 #define MBSYS_HYSWEEP_RECORDTYPE_EOH 3 #define MBSYS_HYSWEEP_RECORDTYPE_EOL 4 #define MBSYS_HYSWEEP_RECORDTYPE_FTP 5 #define MBSYS_HYSWEEP_RECORDTYPE_HSP 6 #define MBSYS_HYSWEEP_RECORDTYPE_HSX 7 #define MBSYS_HYSWEEP_RECORDTYPE_HVF 8 #define MBSYS_HYSWEEP_RECORDTYPE_INF 9 #define MBSYS_HYSWEEP_RECORDTYPE_LBP 11 #define MBSYS_HYSWEEP_RECORDTYPE_LIN 12 #define MBSYS_HYSWEEP_RECORDTYPE_LNN 13 #define MBSYS_HYSWEEP_RECORDTYPE_MBI 14 #define MBSYS_HYSWEEP_RECORDTYPE_OF2 15 #define MBSYS_HYSWEEP_RECORDTYPE_PRI 16 #define MBSYS_HYSWEEP_RECORDTYPE_PTS 17 #define MBSYS_HYSWEEP_RECORDTYPE_SSI 18 #define MBSYS_HYSWEEP_RECORDTYPE_SVC 19 #define MBSYS_HYSWEEP_RECORDTYPE_TND 20 #define MBSYS_HYSWEEP_RECORDTYPE_DFT 21 #define MBSYS_HYSWEEP_RECORDTYPE_FIX 22 #define MBSYS_HYSWEEP_RECORDTYPE_HCP 23 #define MBSYS_HYSWEEP_RECORDTYPE_EC1 24 #define MBSYS_HYSWEEP_RECORDTYPE_GPS 25 #define MBSYS_HYSWEEP_RECORDTYPE_GYR 26 #define MBSYS_HYSWEEP_RECORDTYPE_POS 27 #define MBSYS_HYSWEEP_RECORDTYPE_PSA 28 #define MBSYS_HYSWEEP_RECORDTYPE_RMB 29 #define MBSYS_HYSWEEP_RECORDTYPE_RSS 30 #define MBSYS_HYSWEEP_RECORDTYPE_SNR 31 #define MBSYS_HYSWEEP_RECORDTYPE_TID 32 #define MBSYS_HYSWEEP_RECORDTYPE_VER 33 #define MBSYS_HYSWEEP_RECORDTYPE_COM 101 #define MBSYS_HYSWEEP_RECORDTYPE_PRJ 102 /* sonar types */ #define MBSYS_HYSWEEP_SONAR_UNKNOWN 0 /* *Not Specified - 0 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT8101_150 1 /* Reson Seabat 8101 - 150 Deg - 1 */ #define MBSYS_HYSWEEP_SONAR_ATLAS_FANSWEEP20 2 /* Atlas Fansweep 20 - 2 */ #define MBSYS_HYSWEEP_SONAR_BENTHOS_C3D 3 /* Benthos C3D - 3 */ #define MBSYS_HYSWEEP_SONAR_CMAX_CM2 4 /* CMAX CM-2 - 4 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_272 5 /* EdgeTech 272 - 5 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4100 6 /* EdgeTech 4100 - 6 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4125 7 /* EdgeTech 4125 - 7 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4150 8 /* EdgeTech 4150 - 8 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4200 9 /* EdgeTech 4200 - 9 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4300 10 /* EdgeTech 4300 - 10 */ #define MBSYS_HYSWEEP_SONAR_GEOACOUSTICS_GEOSWATH 11 /* GeoAcoustics GeoSwath - 11 */ #define MBSYS_HYSWEEP_SONAR_IMAGENEX_SPORTSCAN 12 /* Imagenex Sportscan - 12 */ #define MBSYS_HYSWEEP_SONAR_IMAGENEX_YELLOWFIN 13 /* Imagenex Yellowfin - 13 */ #define MBSYS_HYSWEEP_SONAR_KLEIN_595 14 /* Klein 595 - 14 */ #define MBSYS_HYSWEEP_SONAR_KLEIN_2000 15 /* Klein 2000 - 15 */ #define MBSYS_HYSWEEP_SONAR_KLEIN_3000 16 /* Klein 3000 - 16 */ #define MBSYS_HYSWEEP_SONAR_KLEIN_3900 17 /* Klein 3900 - 17 */ #define MBSYS_HYSWEEP_SONAR_KLEIN_5000 18 /* Klein 5000 - 18 */ #define MBSYS_HYSWEEP_SONAR_ODOM_CV3 19 /* Odom CV3 - 19 */ #define MBSYS_HYSWEEP_SONAR_ODOM_ECHOSCAN2 20 /* Odom Echoscan 2 - 20 */ #define MBSYS_HYSWEEP_SONAR_ODOM_ES3 21 /* Odom ES3 - 21 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT7125 22 /* Reson Seabat 7125 - 22 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT8111 23 /* Reson Seabat 8111 - 23 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT8124 24 /* Reson Seabat 8124 - 24 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT8125 25 /* Reson Seabat 8125 - 25 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT9001 26 /* Reson Seabat 9001 - 26 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT9003 27 /* Reson Seabat 9003 - 27 */ #define MBSYS_HYSWEEP_SONAR_SEA_SWATHPLUS 28 /* SEA Swathplus - 28 */ #define MBSYS_HYSWEEP_SONAR_SEABEAM_2100 29 /* Seabeam 2100 - 29 */ #define MBSYS_HYSWEEP_SONAR_SEABEAM_1185 30 /* Seabeam SB1185 - 30 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EA400 31 /* Simrad EA400 - 31 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM102 32 /* Simrad EM102 - 32 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM1002 33 /* Simrad EM1002 - 33 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM2000 34 /* Simrad EM2000 - 34 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM3000 35 /* Simrad EM3000 - 35 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM3000D 36 /* Simrad EM3000D - 36 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM3002 37 /* Simrad EM3002 - 37 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM3002D 38 /* Simrad EM3002D - 38 */ #define MBSYS_HYSWEEP_SONAR_RESON_SEABAT8101_210 39 /* Reson Seabat 8101 - 210 Deg - 39 */ #define MBSYS_HYSWEEP_SONAR_IMAGENEX_DELTAT 40 /* Imagenex Delta T - 40 */ #define MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD2 41 /* Atlas Hydrosweep MD2 - 41 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_SM2000 42 /* Simrad SM2000 - 42 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM710 43 /* Simrad EM710 - 43 */ #define MBSYS_HYSWEEP_SONAR_SIMRAD_EM302 44 /* Simrad EM302 - 44 */ #define MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB1350_45 45 /* Blueview MB1350-45 - 45 */ #define MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB2250_45 46 /* Blueview MB2250-45 - 46 */ #define MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB1350_90 47 /* Blueview MB1350-90 - 47 */ #define MBSYS_HYSWEEP_SONAR_BLUEVIEW_MB2250_90 48 /* Blueview MB2250-90 - 48 */ #define MBSYS_HYSWEEP_SONAR_GEOACOUSTICS_DSS 49 /* Geoacoustics digital sidescan - 49 */ #define MBSYS_HYSWEEP_SONAR_BENTHOS_1624 50 /* Benthos 1624 - 50 */ #define MBSYS_HYSWEEP_SONAR_BENTHOS_1625 51 /* Benthos 1625 - 51 */ #define MBSYS_HYSWEEP_SONAR_MARINESONIC_SEASCAN 52 /* Marine Sonic Sea Scan - 52 */ #define MBSYS_HYSWEEP_SONAR_RESON_7101 53 /* Reson Seabat 7101 - 53 */ #define MBSYS_HYSWEEP_SONAR_FURUNO_HS300F 54 /* Furuno HS-300F - 54 */ #define MBSYS_HYSWEEP_SONAR_FURUNO_HS600 55 /* Furuno HS-600 - 55 */ #define MBSYS_HYSWEEP_SONAR_FURUNO_HS600F 56 /* Furuno HS-600F - 56 */ #define MBSYS_HYSWEEP_SONAR_TRITECH_STARFISH 57 /* Tritech Starfish - 57 */ #define MBSYS_HYSWEEP_SONAR_RESON_8150 58 /* Reson 8150 - 58 */ #define MBSYS_HYSWEEP_SONAR_RESON_8160 59 /* Reson 8160 - 59 */ #define MBSYS_HYSWEEP_SONAR_RESON_7150 60 /* Reson 7150 - 60 */ #define MBSYS_HYSWEEP_SONAR_EDGETECH_4600 61 /* Edgetech 4600 - 61 */ #define MBSYS_HYSWEEP_SONAR_RESON_7111 62 /* Reson Seabat 7111 - 62 */ #define MBSYS_HYSWEEP_SONAR_R2SONIC_SONIC2024 63 /* R2Sonic SONIC 2024 - 63 */ #define MBSYS_HYSWEEP_SONAR_MDL_DYNASCAN 64 /* MDL Dynascan - 64 */ #define MBSYS_HYSWEEP_SONAR_WASSP_MULTIBEAM 65 /* WASSP Multibeam - 65 */ #define MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD50 66 /* Atlas Hydrosweep MD/50 - 66 */ #define MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPMD30 67 /* Atlas Hydrosweep MD/30 - 67 */ #define MBSYS_HYSWEEP_SONAR_ATLAS_HYDROSWEEPDS 68 /* Atlas Hydrosweep DS - 68 */ #define MBSYS_HYSWEEP_SONAR_INNOMAR_SES 69 /* Innomar SES - 69 */ #define MBSYS_HYSWEEP_SONAR_SEABEAM_3012 70 /* SeaBeam 3012 - 70 */ #define MBSYS_HYSWEEP_SONAR_SEABEAM_3020 71 /* SeaBeam 3020 - 71 */ #define MBSYS_HYSWEEP_SONAR_SEABEAM_3050 72 /* SeaBeam 3050 - 72 */ #define MBSYS_HYSWEEP_DEVICE_NUM_MAX 12 #define MBSYS_HYSWEEP_OFFSET_NUM_MAX 12 /* HYSWEEP device offset structure */ struct mbsys_hysweep_device_offset_struct { /* OF2: Hysweep device offsets OF2 dn on n1 n2 n3 n4 n5 n6 n7 */ int OF2_device_number; /* device number */ int OF2_offset_type; /* offset type 0 - position antenna offsets 1 - gyro heading offset 2 - MRU device offsets 3 - sonar head 1 / transducer 1 offsets 4 - sonar head 2 / transducer 2 offsets ........ 131 - transducer 128 offsets */ double OF2_offset_starboard; /* starboard/port mounting offset, positive to starboard */ double OF2_offset_forward; /* forward/aft mounting offset, positive to forward */ double OF2_offset_vertical; /* vertical mounting offset, positive downward from waterline */ double OF2_offset_yaw; /* yaw rotation angle, positive for clockwise rotation */ double OF2_offset_roll; /* roll rotation angle, port side up is positive */ double OF2_offset_pitch; /* pitch rotation angle, bow up is positive */ double OF2_offset_time; /* time latency in seconds */ }; /* HYSWEEP device structure */ struct mbsys_hysweep_device_struct { /* DEV: first line of device declaration DEV dn dc "name" DEV 0 544 "IXSEA OCTANS Serial" */ int DEV_device_number; int DEV_device_capability; /* Hypack device capabilities (bit code) 1 - device provides range/range position 2 - device provides range/azimuth position 4 - device provides lat/long (e.g. GPS) 8 - device provides grid positions XY 16 - device provides echo soundings 32 - device provides heading 64 - device provides ship speed 128 - Hypack clock is synched to device clock 256 - device provides tide 512 - device provides heave, pitch, and roll 1024 - device is a ROV 2048 - device is a left/right indicator 4096 - device accepts annotations strings 8192 - device accepts output from Hypack 16384 - xxx 32768 - device has extended capability NOTE: an MB-System extension to allow */ mb_path DEV_device_name; /* e.g. "GPS" */ /* DV2: second line of device declaration DV2 dn dc tf en DV2 0 220 0 1 */ int DV2_device_capability; /* Hysweep device capabilities (bit coded hexadecimal) 0001 - multibeam sonar 0002 - multiple transducer sonar 0004 - GPS (boat position) 0008 - sidescan sonar 0010 - single beam echosounder 0020 - gyro (boat heading) 0040 - tide 0200 - MRU (heave, pitch, and roll compensation) */ int DV2_towfish; /* 1 if device is mountedc on a tow fish */ int DV2_enabled; /* 1 if device is enabled */ /* OF2: Hysweep device offsets */ int num_offsets; /* number of offsets identified for this device */ struct mbsys_hysweep_device_offset_struct offsets[MBSYS_HYSWEEP_OFFSET_NUM_MAX]; /* PRI: device set as primary navigational device */ int PRI_primary_nav_device; /* 1 if device is primary navigational device */ /* MBI: multibeam / multiple transducer device information MBI dn st sf db n1 n2 fa ai */ int MBI_sonar_id; /* sonar id from table above, not part of MBI record but instead inferred from device name in the corresponding DEV record */ int MBI_sonar_receive_shape;/* sonar receive head shape, not part of MBI record but instead inferred from device name in the corresponding DEV record 0 - flat 1 - circular */ int MBI_sonar_type; /* sonar type code: 0 - invalid 1 - fixed beam roll angles (e.g. Reson Seabat ) 2 - variable beam roll angles (e.g. Seabeam SB1185) 3 - beam info in spherical coordinates (e.g. Simrad EM3000) 4 - multiple transducer (e.g. Odom Miniscan) */ int MBI_sonar_flags; /* sonar flags (bit coded hexadecimal) 0x0001 - roll corrected by sonar 0x0002 - pitch corrected by sonar 0x0004 - dual head 0x0008 - heading corrected by sonar (ver 1) 0x0010 - medium depth: slant ranges recorded to 1 dm resolution (version 2) 0x0020 - deep water: slant ranges divided by 1 m resolution (ver 2) 0x0040 - SVP corrected by sonar (ver 5) 0x0080 - topographic device, upgoing beams accepted (ver 6) */ int MBI_beam_data_available;/* beam data (bit coded hexadecimal) 0x0001 - beam ranges are available (survey units) 0x0002 - sounding point casting available (survey units) 0x0004 - point northing available (survey units) 0x0008 - point corrected depth available (survey units) 0x0010 - along track distance available (survey units) 0x0020 - across track distance available (survey units) 0x0040 - beam pitch angles available (degrees, TSS convention) 0x0080 - beam roll angles available (degrees, TSS convention) 0x0100 - beam takeoff angles available (degrees from vertical) 0x0200 - beam direction angles available (degrees from forward) 0x0400 - ping delay times included (milliseconds) 0x0800 - beam intensity data available 0x1000 - beam quality codes (from sonar unit) available 0x2000 - sounding flags included 0x4000 - spare 0x8000 - spare */ int MBI_num_beams_1; /* number of beams, head 1 (multibeam) or number of transducers (multitransducer) */ int MBI_num_beams_2; /* number of beams, head 2 (multibeam) */ double MBI_first_beam_angle; /* first beam angle is for sonar type = fixed angle (degrees, TSS convention) */ double MBI_angle_increment; /* angle increment is for sonare type = fixed angle (degrees, TSS convention) */ /* SSI: sidescan device information */ int SSI_sonar_flags; /* sonar flags (bit coded hexadecimal) 0x0100 - amplitude is bit-shifted into byte storage */ int SSI_port_num_samples; /* number of samples per ping, port transducer */ int SSI_starboard_num_samples; /* number of samples per ping, starboard transducer */ }; /* internal data structure */ struct mbsys_hysweep_struct { /* MBIO kind of current data record */ int kind; /* MBIO time stamp of current data record */ int time_i[7]; double time_d; /* HYSWEEP type of current data record */ int type; /* HYSWEEP current data record type */ /* HYSWEEP file header records */ /* FTP - first record of header - file type identifier Always: FTP NEW 2 */ mb_name FTP_record; /* FTP NEW 2: HYSWEEP file type */ /* HSX - HSX format version HSX vr vr: version id Example: HSX 7 */ int HSX_record; /* HSX: HYSWEEP format version number 0: HYPACK Max 0.4 29-Mar-2000 1: HYPACK Max 0.5 11-Sep-2000 2: HYPACK Max 0.5b 18-Jun-2001 3: HYPACK Max 2.12A 05-Jun-2003 */ /* VER - HYSWEEP version VER vr vr: version string Example: VER 10.0.7.0 */ mb_name VER_version; /* VER: HYSWEEP distribution version */ /* TND - Survey time and date TND t d t: time string d: date string Example: TND 22:21:31 11/27/2010 */ int TND_survey_time_i[7]; /* TND: Survey time and date (system startup) hh:mm:ss mm/dd/yy */ double TND_survey_time_d; /* TND: Survey time */ /* INF - General information INF "surveyor" "boat" "project" "area" tc dc sv tc: initial tide correction dc: initial draft correction sv: sound velocity Example: INF "" "" "" "" 0.00 0.00 1500.00 */ mb_name INF_surveyor; /* INF: surveyor name */ mb_name INF_boat; /* INF: boat name */ mb_name INF_project; /* INF: project name */ mb_name INF_area; /* INF: area name */ double INF_tide_correction; /* INF: initial tide correction */ double INF_draft_correction; /* INF: initial draft correction */ double INF_sound_velocity; /* INF: initial sound velocity */ /* PRJ - Projected coordinate system definition - MB-System extension PRJ pr pr: projection system definition string - either a PROJ4 command string or an MB-System projection ID enclosed in <>. For instance, the UTM projection for zone 10 north can be defined using any of the following examples: Example: PRJ PRJ PRJ +proj=utm +zone=10 +ellps=WGS84 +datum=WGS84 +units=m +no_defs */ mb_path PRJ_proj4_command; /* PRJ: projection in use defined as either a PROJ4 command string or as an EPSG identifier */ /* EOH - end file header records */ /* HSP - Hysweep survey parameters HSP p1 p2 p3 p4 p5 p6 p7 p8 p9 p10 p11 p12 p1: minimum depth in work units p2: maximum depth in work units p3: port side offset limit p4: starboard side offset limit p5: port side angle limit in degrees p6: starboard side angle limit in degrees p7: high beam quality; codes >= this are good p8: low beam quality; codes < this are bad p9: sonar range setting in work units p10: towfish layback in work units p11: work units: 0: = meters 1 = US foot 2 = international footin work units p12: sonar id for advanced processing (see defines above) Example: HSP 0.00 95.00 35.62 35.62 75 75 1 1 0.50 0.00 0 0 */ double HSP_minimum_depth; /* HSP: minimum depth in work units */ double HSP_maximum_depth; /* HSP: maximum depth in work units */ double HSP_port_offset_limit; /* HSP: port side offset limit in work units */ double HSP_stbd_offset_limit; /* HSP: starboard side offset limit in work units */ double HSP_port_angle_limit; /* HSP: port side angle limit in degrees */ double HSP_stbd_angle_limit; /* HSP: starboard side angle limit in degrees */ int HSP_high_beam_quality; /* HSP: high beam quality; codes >= this are good */ int HSP_low_beam_quality; /* HSP: low beam quality; codes < this are bad */ double HSP_sonar_range; /* HSP: sonar range setting in work units */ double HSP_towfish_layback; /* HSP: towfish layback in work units */ int HSP_units; /* HSP: work units: 0: = meters 1 = US foot 2 = international foot */ int HSP_sonar_id; /* HSP: sonar id for advanced processing (see defines above) */ /* HYSWEEP devices */ int num_devices; /* number of devices defined */ struct mbsys_hysweep_device_struct devices[MBSYS_HYSWEEP_DEVICE_NUM_MAX]; int primary_nav_device; /* device number of primary navigational device */ /* HYSWEEP HVF - Hysweep view filters - always first record after end of file header HVF dn tt p1 p2 p3 p4 p5 p6 dn: dummy device number, always = 99 tt: time tag this filter set became active (in seconds past midnight) p1: minimum depth in work units p2: maximum depth in work units p3: port side offset limit in work units p4: starboard side offset limit in work units p5: minimum beam angle limit, 0 to -90 degrees p6: maximum beam angle limit, 0 to 90 degrees Example: HVF 99 80491.965 0.0 95.0 35.6 35.6 -75.0 75.0 */ double HVF_time_after_midnight; /* time this filter set became active seconds after midnight */ double HVF_minimum_depth; /* minimum depth in work units */ double HVF_maximum_depth; /* maximum depth in work units */ double HVF_port_offset_limit; /* port side offset limit in work units */ double HVF_starboard_offset_limit; /* starboard side offset limit in work units */ double HVF_minimum_angle_limit; /* minimum beam angle limit, 0 to -90 degrees */ double HVF_maximum_angle_limit; /* maximum beam angle limit, 0 to 90 degrees */ /* HYSWEEP FIX - fix (event) mark - always second record after end of file header HVF dn t n */ int FIX_device_number; /* device number */ double FIX_time_after_midnight; /* time in seconds after midnight */ int FIX_event_number; /* FIX event number */ /* Interpolated position and attitude data for multibeam ping In the case of data previously handled by MB-System this will derive from HCP, GYR, POS, DFT records with the same time stamp as the multibeam RMB record that will be placed immediately before the RMB record in the file. In the case of data not previously handled by MB-System these values will be extracted by interpolation at the time the RMB record is read. Subsequent data writing will have the interpolated records placed before the RMB records, and will have the interpolated HCP, GYR, POS, and DFT records set as "enabled". Any original asynchronous HCP, GYR, POS, and DFT records will have the "enabled" flag unset. Four new devices will be declared as well. */ double RMBint_heave; /* heave (meters) */ double RMBint_roll; /* roll (+ port side up) */ double RMBint_pitch; /* pitch (+ bow up) */ double RMBint_heading; /* heading (degrees) */ double RMBint_x; /* easting */ double RMBint_y; /* northing */ double RMBint_lon; /* longitude (degrees) */ double RMBint_lat; /* latitude (degrees) */ double RMBint_draft; /* draft correction */ double RMBint_tide; /* tide correction */ /* HYSWEEP RMB - raw multibeam data RMB dn t st sf bd n sv pn psa dn: device number  t: time tag (seconds past midnight)  st: sonar type code (see MBI above)  sf: sonar flags (see MBI above)  bd: available beam data (see MBI above)  n: number of beams to follow  sv: sound velocity in m/sec  pn: ping number (or 0 if not tracked) Immediately following the RMB record is a record containing slant ranges (multibeam)  or raw depths (multiple transducer). Following the ranges are 0 to n additional records  depending on the bd (beam data) field. Example (Seabat 9001 storing slant ranges and quality codes):  RMB 1 27244.135 1 0 1001 1500.00 0 60  19.50 19.31 18.60 1.66 18.47 ... (60 slant ranges in work units)  3 3 3 0 3 ... (60 quality codes) Example (multiple transducer storing 8 raw depths):  RMB 1 27244.135 4 0 1 1500.00 0 60  31.44 33.01 32.83 32.80 ... (8 raw depths in work units) Example (Dual-head Seabeam SB1185 storing range, beam pitch and roll angles,  ping delay times, beam quality code and sounding flags):  RMB 1 27244.135 2 5 1481 1500.00 0  108 93.18 88.30 84.74 80.46 ... (108 slant ranges in working units) -69.72 -68.53 -67.36 -66.15 ... (108 beam roll angles in degrees)  0 0 0 67 ... (108 ping delay times in msecs)  7 7 7 7 ... (108 beam quality codes) */ int RMB_device_number; /* device number */ double RMB_time; /* time tag (seconds past midnight) */ int RMB_sonar_type; /* sonar type code: 0 - invalid 1 - fixed beam roll angles (e.g. Reson Seabat ) 2 - variable beam roll angles (e.g. Seabeam SB1185) 3 - beam info in spherical coordinates (e.g. Simrad EM3000) 4 - multiple transducer (e.g. Odom Miniscan) */ int RMB_sonar_flags; /* sonar flags (bit coded hexadecimal) 0x0001 - roll corrected by sonar 0x0002 - pitch corrected by sonar 0x0004 - dual head 0x0008 - heading corrected by sonar (ver 1) 0x0010 - medium depth: slant ranges recorded to 1 dm resolution (version 2) 0x0020 - deep water: slant ranges divided by 1 m resolution (ver 2) 0x0040 - SVP corrected by sonar (ver 5) 0x0080 - topographic device, upgoing beams accepted (ver 6) */ int RMB_beam_data_available;/* beam data (bit coded hexadecimal) 0x0001 - beam ranges are available (survey units) 0x0002 - sounding point casting available (survey units) 0x0004 - point northing available (survey units) 0x0008 - point corrected depth available (survey units) 0x0010 - along track distance available (survey units) 0x0020 - across track distance available (survey units) 0x0040 - beam pitch angles available (degrees, TSS convention) 0x0080 - beam roll angles available (degrees, TSS convention) 0x0100 - beam takeoff angles available (degrees from vertical) 0x0200 - beam direction angles available (degrees from forward) 0x0400 - ping delay times included (milliseconds) 0x0800 - beam intensity data available 0x1000 - beam quality codes (from sonar unit) available 0x2000 - sounding flags included 0x4000 - spare 0x8000 - spare */ int RMB_num_beams; /* number of beams to follow */ int RMB_num_beams_alloc; /* number of beams allocated to non-null arrays */ double RMB_sound_velocity; /* sound velocity in m/sec */ int RMB_ping_number; /* ping number (or 0 if not tracked) */ double *RMB_beam_ranges; /* beam ranges (survey units) */ double *RMB_multi_ranges; /* sounding point casting (survey units) (multi-transducer rangers) */ double *RMB_sounding_eastings; /* easting positions of soundings */ double *RMB_sounding_northings;/* northing positions of soundings */ double *RMB_sounding_depths; /* corrected depths of soundings */ double *RMB_sounding_across; /* acrosstrack positions of soundings */ double *RMB_sounding_along; /* alongtrack positions of soundings */ double *RMB_sounding_pitchangles; /* beam pitch angles of soundings (degrees, TSS convention) */ double *RMB_sounding_rollangles; /* beam roll angles of soundings (degrees, TSS convention) */ double *RMB_sounding_takeoffangles; /* beam takeoff angles of soundings (degrees from vertical) */ double *RMB_sounding_azimuthalangles; /* beam azimuthal angles of soundings (degrees from forward) */ int *RMB_sounding_timedelays; /* beam delay times (milliseconds) */ int *RMB_sounding_intensities; /* beam intensities */ int *RMB_sounding_quality; /* beam quality codes (from sonar unit) */ int *RMB_sounding_flags; /* beam edit flags */ /* RSS - Raw Sidescan RSS dn t sf np ns sv pn alt sr amin amax bs freq dn: device number t: time tag (seconds past midnight) sf: sonar flags (bit coded hexadecimal) 0100 - amplitude is bit-shifted into byte storage np: number of samples, port transducer (down-sampled to 4096 max) ns: number of samples, starboard transducer (down-sampled to 4096 max) sv: sound velocity in m/sec pn: ping number (or 0 if not tracked) alt: altitude in work units sr: sample rate (samples per second after down-sample) amin: amplitude minimum amax: amplitude maximum bs: bit shift for byte recording freq: frequency 0 or 1 for simultaneous dual frequency operation Immediately following the RSS record are two records containing port and starboard amplitude samples. Example: RSS 3 61323.082 100 341 341 1460.00 0 10.75 4983.47 0 4096 4 0 109 97 84 95 120 111 ... (341 port samples) 106 93 163 106 114 127 ... (341 starboard samples) */ int RSS_device_number; /* device number */ double RSS_time; /* time tag (seconds past midnight) */ int RSS_sonar_flags; /* sonar flags: 0100 - amplitude is bit-shifted into byte storage */ int RSS_port_num_samples; /* number of samples, port transducer (down-sampled to 4096 max) */ int RSS_port_num_samples_alloc; /* number of samples, port transducer (down-sampled to 4096 max) */ int RSS_starboard_num_samples; /* number of samples, starboard transducer (down-sampled to 4096 max) */ int RSS_starboard_num_samples_alloc; /* number of samples, starboard transducer (down-sampled to 4096 max) */ double RSS_sound_velocity; /* sound velocity in m/sec */ int RSS_ping_number; /* ping number (or 0 if not tracked) */ double RSS_altitude; /* altitude in work units */ double RSS_sample_rate; /* sample rate (samples per second after down-sample) */ int RSS_minimum_amplitude; /* amplitude minimum */ int RSS_maximum_amplitude; /* amplitude maximum */ int RSS_bit_shift; /* bit shift for byte recording */ int RSS_frequency; /* frequency 0 or 1 for simultaneous dual frequency operation */ int *RSS_port; /* port sidescan amplitude samples */ int *RSS_starboard; /* starboard sidescan amplitude samples */ /* SNR - dynamic sonar settings up to 12 fields depending on sonar type SNR dn t pn sonar ns s0 --- s11 dn: device number  t: time tag (seconds past midnight)  pn: ping number (or 0 if not tracked) sonar: sonar ID code (see defines above)  ns: number of settings to follow s: up to 12 settings Up to 12 fields are included in SNR records, providing sonar runtime settings. Not available for all systems. Defined differently depending on sonar model and manufacturer. For Seabat 81XX Serial and 81XX Network Drivers: Sonar id: 1, 23, 24, 25, 39 P0: Sonar range setting in meters. P1: power setting, 0 - 8 P2: gain setting, 1 Ð 45 P3: gain modes: bit 0 = TVG on/off, bit 1 = auto gain on/off. For Seabat 7K drivers (7125, 7101, 7150, 7111) Sonar id: 22, 53, 60, 62 P0: Sonar range selection in meters. P1: Transmit power selection in dBs relative to 1 uPa. P2: Receiver gain selection in 0.1 dBs. P3: Transmitter frequency in KHz. P4: Transmit pulse width in microseconds. For EdgeTech 4200 Driver Sonar id: 7-10 P0: Pulse power setting, 0 to 100 percent. P1: ADC Gain factor. P2: Start Frequency in 10 * Hz. P3: End Frequency in 10 * Hz. P4: Sweep length in milliseconds. */ int SNR_device_number; /* device number */ double SNR_time; /* time tag (seconds past midnight) */ int SNR_ping_number; /* ping number (or 0 if not tracked) */ int SNR_sonar_id; /* sonar ID (see defines above) */ int SNR_num_settings; /* number of settings to follow */ double SNR_settings[12]; /* sonar settings */ /* PSA - pitch stabilization angle PSA dn t pn a0 a1 dn: device number  t: time tag (seconds past midnight)  pn: ping number (or 0 if not tracked) a0: projector (head 0) pitch angle a1: projector (head 1) pitch angle Note: PSA records are recorded only when pitch stabilization is active. They immediately proceed corresponding RMB records. */ int PSA_device_number; /* device number */ double PSA_time; /* time tag (seconds past midnight) */ int PSA_ping_number; /* ping number (or 0 if not tracked) */ double PSA_a0; /* projector (head 0) pitch angle */ double PSA_a1; /* projector (head 1) pitch angle */ /* HCP - heave compensation HCP dn t h r p dn: device number t: time tag (seconds past midnight) h: heave in meters r: roll in degrees (+ port side up) p: pitch in degrees (+ bow up) Example: HCP 0 80492.021 -0.65 -0.51 -1.73 */ int HCP_device_number; /* device number */ double HCP_time; /* time tag (seconds past midnight) */ double HCP_heave; /* heave (meters) */ double HCP_roll; /* roll (+ port side up) */ double HCP_pitch; /* pitch (+ bow up) */ /* EC1 - echo sounding (single frequency) EC1 dn t rd dn: device number t: time tag (seconds past midnight) rd: raw depth Example: EC1 1 80491.897 99.02 */ int EC1_device_number; /* device number */ double EC1_time; /* time tag (seconds past midnight) */ double EC1_rawdepth; /* raw depth */ /* GPS - GPS measurements GPS dn t cog sog hdop mode nsats dn: device number t: time tag (seconds past midnight) cog: course over ground (degrees) sog: speed over ground (knots) hdop: GPS hdop mode: GPS mode 0 - unknown 1 - stand alone 2 - differential 3 - rtk nsats: number of satellites Example: GPS 1 80491.897 178.16 0.23 1.2 2 8 */ int GPS_device_number; /* device number */ double GPS_time; /* time tag (seconds past midnight) */ double GPS_cog; /* course over ground (degrees) */ double GPS_sog; /* speed over ground (knots) */ double GPS_hdop; /* GPS hdop */ int GPS_mode; /* GPS mode 0 - unknown 1 - stand alone 2 - differential 3 - rtk */ int GPS_nsats; /* number of satellites */ /* GYR - gyro data (heading) GYR dn t h dn: device number t: time tag (seconds past midnight) h: heading (degrees) Example: GYR 1 80491.897 178.16 */ int GYR_device_number; /* device number */ double GYR_time; /* time tag (seconds past midnight) */ double GYR_heading; /* heading (degrees) */ /* POS - position POS dn t x y dn: device number t: time tag (seconds past midnight) x: easting y: northing Example: POS 1 80491.897 308214.82 1414714.97 */ int POS_device_number; /* device number */ double POS_time; /* time tag (seconds past midnight) */ double POS_x; /* easting */ double POS_y; /* northing */ /* DFT - dynamic draft (squat) correction DFT dn t dc dn: device number t: time tag (seconds past midnight) dc: draft correction Example: DFT 1 80491.897 1453.44 */ int DFT_device_number; /* device number */ double DFT_time; /* time tag (seconds past midnight) */ double DFT_draft; /* draft correction */ /* TID - tide correction TID dn t tc dn: device number t: time tag (seconds past midnight) tc: tide correction Example: TID 1 80491.897 0.00 */ int TID_device_number; /* device number */ double TID_time; /* time tag (seconds past midnight) */ double TID_tide; /* tide correction */ /* COM - comment record - MB-System extension COM c c: comment string Example: COM everything after the first four characters is part of the comment */ char COM_comment[MB_COMMENT_MAXLINE]; /* comment string */ }; /* system specific function prototypes */ int mbsys_hysweep_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hysweep_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_hysweep_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_hysweep_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_hysweep_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_hysweep_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_hysweep_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_hysweep_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_hysweep_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_hysweep_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_hysweep_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_hysweep_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_hysweep_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);