/*-------------------------------------------------------------------- * The MB-system: mbsys_ldeoih.h 3/2/93 * $Id: mbsys_ldeoih.h 1989 2012-10-04 21:36:53Z caress $ * * Copyright (c) 1993-2012 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_ldeoih.h defines the data structure used by MBIO functions * to store multibeam data in a general purpose archive format: * MBF_HSLDEOIH : MBIO ID 71 * * Author: D. W. Caress * Date: March 2, 1993 * * $Log: mbsys_ldeoih.h,v $ * Revision 5.6 2007/10/08 15:59:34 caress * MBIO changes as of 8 October 2007. * * 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 2002/04/06 02:43:39 caress * Release 5.0.beta16 * * 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 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.5 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.4 1999/03/31 18:11:35 caress * MB-System 4.6beta7 * * Revision 4.3 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.2 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.1 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.1 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.0 1994/02/17 20:42:20 caress * First cut at new version. Recast format to include both * beam amplitude and sidescan data. I hope noone has used * the old version of this format, as the files will be * orphaned!!! * * Revision 3.0 1993/05/14 23:04:50 sohara * initial version * */ /* * Notes on the MBSYS_LDEOIH data structure: * 1. This data structure is used to store multibeam bathymetry * and/or backscatter data with arbitrary numbers of beams. * This format was created by the Lamont-Doherty Earth * Observatory to serve as a general purpose archive format for * processed multibeam data. * 2. The data consist of variable length binary records encoded * entirely in 2-byte integers. * 3. Both the depth and backscatter arrays are centered. * 4. The kind value in the mbf_sbsiocen_struct indicates whether the * mbf_sbsiocen_data_struct structure holds data (kind = 1) or an * ascii comment record (kind = 0). */ /* maximum line length in characters */ #define MBSYS_LDEOIH_MAXLINE 200 struct mbsys_ldeoih_struct { /* type of data record */ int kind; /* time stamp */ double time_d; /* decimal seconds since start of 1970 */ /* position */ double longitude; /* longitude (degrees 0-360) */ double latitude; /* latitude (degrees 0-360) */ /* sonar depth and altitude */ double sonardepth; /* meters (sonar depth for bathymetry calculation, already corrected for heave if needed, sonardepth = transducer_depth bath = altitude + sonardepth sonardepth = draft - heave draft = sonardepth + heave */ double altitude; /* meters */ /* heading and speed */ float heading; /* heading (degrees 0-360) */ float speed; /* km/hour */ /* attitude */ float roll; /* degrees */ float pitch; /* degrees */ float heave; /* meters */ /* beam widths */ float beam_xwidth; /* degrees */ float beam_lwidth; /* degrees */ /* numbers of beams */ short beams_bath; /* number of depth values */ short beams_amp; /* number of amplitude values */ short pixels_ss; /* number of sidescan pixels */ short spare1; short beams_bath_alloc; /* number of depth values allocated */ short beams_amp_alloc; /* number of amplitude values allocated */ short pixels_ss_alloc; /* number of sidescan pixels allocated */ /* scaling */ float depth_scale; /* depth[i] = (bath[i] * depth_scale) + transducer_depth */ float distance_scale; /* acrosstrackdistance[i] = acrosstrack[i] * distance_scale alongtrackdistance[i] = alongtrack[i] * distance_scale */ /* sidescan type */ mb_s_char ss_scalepower; /* gives scaling factor for sidescan values in powers of 10: * ss_scalepower = 0: ss = ss_stored * 1 * ss_scalepower = 1: ss = ss_stored * 10 * ss_scalepower = 2: ss = ss_stored * 100 * ss_scalepower = 3: ss = ss_stored * 1000 */ mb_u_char ss_type; /* indicates if sidescan values are logarithmic or linear ss_type = 0: logarithmic (dB) ss_type = 1: linear (voltage) */ mb_u_char spare3; mb_u_char sonartype; /* indicates type of sonar from which data originated: 0 MB_SONARTYPE_NONE 1 MB_SONARTYPE_ECHOSOUNDER 2 MB_SONARTYPE_MULTIBEAM 3 MB_SONARTYPE_SIDESCAN 4 MB_SONARTYPE_INTERFEROMETRIC */ /* pointers to arrays */ unsigned char *beamflag; short *bath; short *amp; short *bath_acrosstrack; short *bath_alongtrack; short *ss; short *ss_acrosstrack; short *ss_alongtrack; /* comment */ char comment[MBSYS_LDEOIH_MAXLINE]; }; struct mbsys_ldeoih_old_struct { /* type of data record */ int kind; /* time stamp */ short year; /* year (4 digits) */ short day; /* julian day (1-366) */ short min; /* minutes from beginning of day (0-1439) */ short sec; /* seconds from beginning of minute (0-59) */ short msec; /* milliseconds from beginning of minute (0-59) */ /* position */ unsigned short lon2u; /* minutes east of prime meridian */ unsigned short lon2b; /* fraction of minute times 10000 */ unsigned short lat2u; /* number of minutes north of 90S */ unsigned short lat2b; /* fraction of minute times 10000 */ /* heading and speed */ unsigned short heading;/* heading: 0 = 0 degrees 1 = 0.0055 degrees 16384 = 90 degrees 65535 = 359.9945 degrees 0 = 360 degrees */ unsigned short speed; /* km/s X100 */ /* numbers of beams */ short beams_bath; /* number of depth values */ short beams_amp; /* number of amplitude values */ short pixels_ss; /* number of sidescan pixels */ short beams_bath_alloc; /* number of depth values allocated */ short beams_amp_alloc; /* number of amplitude values allocated */ short pixels_ss_alloc; /* number of sidescan pixels allocated */ /* obsolete scaling */ /* short depth_scale;*/ /* 1000 X scale where depth = bath X scale */ /* short distance_scale;*//* 1000 X scale where distance = dist X scale */ /* short transducer_depth;*/ /* scaled by depth_scale */ /* short altitude;*/ /* scaled by depth_scale */ /* short beam_xwidth;*/ /* 0.01 degrees */ /* short beam_lwidth;*/ /* 0.01 degrees */ /* short ss_type;*/ /* indicates if sidescan values are logarithmic or linear ss_type = 0: logarithmic (dB) ss_type = 1: linear (voltage) */ /* scaling */ short depth_scale; /* 1000*scale where depth = bath*scale + transducer_depth / 1000 */ short distance_scale; /* 1000*scale where distance = dist*scale */ int transducer_depth; /* 0.001 m */ int altitude; /* 0.001 m */ short beam_xwidth; /* 0.01 degrees */ short beam_lwidth; /* 0.01 degrees */ short ss_type; /* indicates if sidescan values are logarithmic or linear ss_type = 0: logarithmic (dB) ss_type = 1: linear (voltage) */ /* pointers to arrays */ unsigned char *beamflag; short *bath; short *amp; short *bath_acrosstrack; short *bath_alongtrack; short *ss; short *ss_acrosstrack; short *ss_alongtrack; /* comment */ char comment[MBSYS_LDEOIH_MAXLINE]; }; /* system specific function prototypes */ int mbsys_ldeoih_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_ldeoih_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_ldeoih_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_ldeoih_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error); int mbsys_ldeoih_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error); int mbsys_ldeoih_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_ldeoih_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_ldeoih_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_ldeoih_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_ldeoih_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_ldeoih_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, double transducer_depth, double altitude, int *error); int mbsys_ldeoih_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_ldeoih_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_ldeoih_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);