/*-------------------------------------------------------------------- * The MB-system: mbsys_mr1b.h 7/19/94 * $Id: mbsys_mr1b.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 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_mr1b.h defines the data structures used by MBIO functions * to store data from the MR1 towed sonar. * The data formats which are commonly used to store MR1 * data in files include * MBF_MR1PRHIG : MBIO ID 61 * * Author: D. W. Caress * Date: July 19, 1994 * * $Log: mbsys_mr1b.h,v $ * Revision 5.5 2005/11/05 00:48:05 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 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.2 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.1 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.0 1996/03/12 17:23:54 caress * Initial version. * * Revision 4.0 1996/03/12 17:23:54 caress * Initial version. * * * * */ /* * Notes on the MBSYS_MR1B data structure: * 1. The MR1 post processing format uses the xdr external * data representation for portability. * 2. The data stream consists of a file header followed * by individual pings. * 3. The file header contains a comment string and the * number of pings. The comment string is broken up * into multiple comments by MBIO on reading; the comments * are concatenated into a single string on writing. * 4. The pings each contain a header plus the bathymetry and/or * sidescan data. * 6. The data structure defined below includes all of the values * which are passed in the MR1 post processing format. * 7. The data structure defined below also includes travel * time values for each bathymetry beam - this is an * addition to the HIG MR1 post processing format. */ /* maximum number of bathymetry beams per side for MR1 */ #define MBSYS_MR1B_BEAMS_SIDE 75 /* maximum number of sidescan pixels per side for MR1 */ #define MBSYS_MR1B_PIXELS_SIDE 2000 /* maximum number of bathymetry beams for MR1 */ #define MBSYS_MR1B_BEAMS (2*MBSYS_MR1B_BEAMS_SIDE + 3) /* maximum number of sidescan pixels output for MR1 */ #define MBSYS_MR1B_PIXELS (2*MBSYS_MR1B_PIXELS_SIDE + 3) /* maximum length of comment */ #define MBSYS_MR1B_MAXLINE 200 /* angle from vertical of MR1 transducers */ #define MBSYS_MR1B_XDUCER_ANGLE 50.0 struct mbsys_mr1b_struct { /* type of data record */ int kind; /* file header info */ int mf_magic; /* magic cookie */ int mf_count; /* number of objects */ char *mf_log; /* processing log */ /* ping header */ int sec; /* timestamp */ int usec; /* timestamp */ double png_lon; /* longitude (deg) */ double png_lat; /* latitude (deg) */ float png_course; /* course determined from nav (deg) */ float png_compass; /* compass heading of vehicle 0=N,90=E, etc. (deg) */ float png_prdepth; /* pressure depth (m) */ float png_alt; /* altitude of vehicle (m) */ float png_pitch; /* vehicle pitch (deg) */ float png_roll; /* vehicle roll (deg) */ float png_temp; /* water temperature (deg) */ float png_atssincr; /* across-track sidescan increment (m) */ float png_tt; /* nadir travel time (s) */ /* port settings */ float port_trans[2]; /* transmitter settings (units?) */ float port_gain; /* gain setting (units?) */ float port_pulse; /* pulse length (units?) */ int port_btycount; /* number of valid bathymetry samples */ int port_btypad; /* number of invalid trailing pad samples */ float port_ssoffset; /* across-track distance to first sidescan sample */ int port_sscount; /* number of valid sidescan samples */ int port_sspad; /* number of invalid trailing pad samples */ /* starboard settings */ float stbd_trans[2]; /* transmitter settings (units?) */ float stbd_gain; /* gain setting (units?) */ float stbd_pulse; /* pulse length (units?) */ int stbd_btycount; /* number of valid bathymetry samples */ int stbd_btypad; /* number of invalid trailing pad samples */ float stbd_ssoffset; /* across-track distance to first sidescan sample */ int stbd_sscount; /* number of valid sidescan samples */ int stbd_sspad; /* number of invalid trailing pad samples */ /* bathymetry */ float bath_acrosstrack_port[MBSYS_MR1B_BEAMS_SIDE]; float bath_port[MBSYS_MR1B_BEAMS_SIDE]; float tt_port[MBSYS_MR1B_BEAMS_SIDE]; float angle_port[MBSYS_MR1B_BEAMS_SIDE]; float bath_acrosstrack_stbd[MBSYS_MR1B_BEAMS_SIDE]; float bath_stbd[MBSYS_MR1B_BEAMS_SIDE]; float tt_stbd[MBSYS_MR1B_BEAMS_SIDE]; float angle_stbd[MBSYS_MR1B_BEAMS_SIDE]; /* sidescan */ float ss_port[MBSYS_MR1B_PIXELS_SIDE]; float ss_stbd[MBSYS_MR1B_PIXELS_SIDE]; /* comment */ char comment[MBSYS_MR1B_MAXLINE]; }; /* system specific function prototypes */ int mbsys_mr1b_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_mr1b_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_mr1b_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_mr1b_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_mr1b_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_mr1b_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_mr1b_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_mr1b_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_mr1b_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_mr1b_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_mr1b_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);