/*-------------------------------------------------------------------- * The MB-system: mbsys_reson7k.h 3/3/2004 * $Id: mbsys_reson7k.h 1994 2012-10-27 07:49:28Z caress $ * * Copyright (c) 2004-2012 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_reson7k.h defines the MBIO data structures for handling data from * Reson 7k series sonars: * MBF_RESON7K1 : MBIO ID 191 - Reson 7K Series sonar * * Author: D. W. Caress * Date: March 3, 2004 * * $Log: mbsys_reson7k.h,v $ * Revision 5.16 2008/09/27 03:27:10 caress * Working towards release 5.1.1beta24 * * Revision 5.15 2008/09/20 00:57:41 caress * Release 5.1.1beta23 * * Revision 5.14 2008/05/16 22:56:24 caress * Release 5.1.1beta18. * * Revision 5.13 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.12 2007/07/03 17:25:50 caress * Changes to handle new time lag value in bluefin nav records. * * Revision 5.11 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.10 2006/09/11 18:55:53 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.9 2006/04/11 19:14:46 caress * Various fixes. * * Revision 5.8 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 5.7 2004/12/02 06:33:29 caress * Fixes while supporting Reson 7k data. * * Revision 5.6 2004/11/08 05:47:20 caress * Now gets sidescan from snippet data, maybe even properly... * * Revision 5.5 2004/11/06 03:55:15 caress * Working to support the Reson 7k format. * * Revision 5.4 2004/09/16 19:02:34 caress * Changes to better support segy data. * * Revision 5.3 2004/07/15 19:25:05 caress * Progress in supporting Reson 7k data. * * Revision 5.2 2004/06/18 05:22:33 caress * Working on adding support for segy i/o and for Reson 7k format 88. * * Revision 5.1 2004/05/21 23:44:50 caress * Progress supporting Reson 7k data, including support for extracing subbottom profiler data. * * Revision 5.0 2004/04/27 01:50:16 caress * Adding support for Reson 7k sonar data, including segy extensions. * * */ /* * Notes on the mbsys_reson7k data structure: * 1. This format is defined by the Interface Control Document * for RESON SeaBat 7k format v0.42. * 2. Reson 7k series multibeam sonars output bathymetry, per beam * amplitude, and sidescan data. * 3. The Reson 6046 datalogger can also log sidescan and subbottom * data from other sonars. * 4. The 7k record consists of a data record frame (header and checksum), * a record type header, an optional record data field and an optional * data field for extra information. The optional data field typically * holds non-generic sensor specific data. * * 5. Navigation data may be found in three different record types. * The bathymetry records (kind = MB_DATA_DATA) hold navigation * and attitude data, but these values are not initially set by * the Reson 6046 datalogger. In MB-System these values get set * by running the program mb7kpreprocess by interpolating the * the values found in either the R7KRECID_Position records * (kind = MB_DATA_NAV1) or the R7KRECID_Bluefin records * (kind = MB_DATA_NAV2). MB-System uses the bathymetry records as * the primary navigation source, so the interpolated values are * accessed by mbnavedit and, by default, mbnavlist. The raw values * of the ancillary navigation records (R7KRECID_Position and * R7KRECID_Bluefin) may be accessed by mbnavlist using the -N1 * and -N2 options, respectably. * 6. Attitude data may be found in three different record types. * The bathymetry records (kind = MB_DATA_DATA) hold navigation * and attitude data, but these values are not initially set by * the Reson 6046 datalogger. In MB-System these values get set * by running the program mb7kpreprocess by interpolating the * the values found in either the R7KRECID_RollPitchHeave records * (kind = MB_DATA_ATTITUDE) or the R7KRECID_Bluefin records * (kind = MB_DATA_NAV2). MB-System uses the bathymetry records as * the primary attitude source, so the interpolated values are * accessed by mbnavedit and, by default, mbnavlist. The raw values * of the secondary ancillary navigation records (R7KRECID_Bluefin), * including attitude, may be accessed by mbnavlist using the -N2 * option. * 7. The MB-System code assumes that a Reson 7k data file will include * either R7KRECID_RollPitchHeave and R7KRECID_Position records * or R7KRECID_Bluefin records. Bad things will happen if the * data file contains both the generic records and the bluefin * records. */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /*---------------------------------------------------------------*/ /* Record ID definitions */ /* 0 means no record at all */ #define R7KRECID_None 0 /* 1000-1999 reserved for generic sensor records */ #define R7KRECID_ReferencePoint 1000 #define R7KRECID_UncalibratedSensorOffset 1001 #define R7KRECID_CalibratedSensorOffset 1002 #define R7KRECID_Position 1003 #define R7KRECID_CustomAttitude 1004 #define R7KRECID_Tide 1005 #define R7KRECID_Altitude 1006 #define R7KRECID_MotionOverGround 1007 #define R7KRECID_Depth 1008 #define R7KRECID_SoundVelocityProfile 1009 #define R7KRECID_CTD 1010 #define R7KRECID_Geodesy 1011 #define R7KRECID_RollPitchHeave 1012 #define R7KRECID_Heading 1013 #define R7KRECID_SurveyLine 1014 #define R7KRECID_Navigation 1015 #define R7KRECID_Attitude 1016 #define R7KRECID_Rec1022 1022 #define R7KRECID_GenericSensorCalibration 1050 #define R7KRECID_GenericSidescan 1200 /* 2000-2999 reserved for user defined records */ #define R7KRECID_XYZ 2000 /* 3000-6999 reserved for other vendor records */ #define R7KRECID_FSDWsidescan 3000 #define R7KRECID_FSDWsidescanLo 0 #define R7KRECID_FSDWsidescanHi 1 #define R7KRECID_FSDWsubbottom 3001 #define R7KRECID_Bluefin 3100 #define R7KRECID_BluefinNav 0 #define R7KRECID_BluefinEnvironmental 1 #define R7KRECID_ProcessedSidescan 3199 /* 7000-7999 reserved for SeaBat 7k records */ #define R7KRECID_7kVolatileSonarSettings 7000 #define R7KRECID_7kConfiguration 7001 #define R7KRECID_7kMatchFilter 7002 #define R7KRECID_7kV2FirmwareHardwareConfiguration 7003 #define R7KRECID_7kBeamGeometry 7004 #define R7KRECID_7kCalibrationData 7005 #define R7KRECID_7kBathymetricData 7006 #define R7KRECID_7kBackscatterImageData 7007 #define R7KRECID_7kBeamData 7008 #define R7KRECID_7kVerticalDepth 7009 #define R7KRECID_7kImageData 7011 #define R7KRECID_7kV2PingMotion 7012 #define R7KRECID_7kV2DetectionSetup 7017 #define R7KRECID_7kV2BeamformedData 7018 #define R7KRECID_7kV2BITEData 7021 #define R7KRECID_7kV27kCenterVersion 7022 #define R7KRECID_7kV28kWetEndVersion 7023 #define R7KRECID_7kV2Detection 7026 #define R7KRECID_7kV2RawDetection 7027 #define R7KRECID_7kV2SnippetData 7028 #define R7KRECID_7kInstallationParameters 7030 #define R7KRECID_7kSystemEvents 7050 #define R7KRECID_7kSystemEventMessage 7051 #define R7KRECID_7kTargetData 7060 #define R7KRECID_7kDataStorageStatus 7052 #define R7KRECID_7kFileHeader 7200 #define R7KRECID_7kTrigger 7300 #define R7KRECID_7kTriggerSequenceSetup 7301 #define R7KRECID_7kTriggerSequenceDone 7302 #define R7KRECID_7kTimeMessage 7400 #define R7KRECID_7kRemoteControl 7500 #define R7KRECID_7kRemoteControlAcknowledge 7501 #define R7KRECID_7kRemoteControlNotAcknowledge 7502 #define R7KRECID_7kRemoteControlSonarSettings 7503 #define R7KRECID_7kReserved 7504 #define R7KRECID_7kRoll 7600 #define R7KRECID_7kPitch 7601 #define R7KRECID_7kSoundVelocity 7610 #define R7KRECID_7kAbsorptionLoss 7611 #define R7KRECID_7kSpreadingLoss 7612 #define R7KRECID_8100SonarData 8100 /* 11000-11199 reserved for Payload Controller command records */ #define R7KRECID_7kPayloadControllerCommand 11000 #define R7KRECID_7kPayloadControllerCommandAcknowledge 11001 #define R7KRECID_7kPayloadControllerStatus 11002 /* 11200-11999 reserved for Payload Controller sensor QC records */ /*---------------------------------------------------------------*/ /* Record size definitions */ #define MBSYS_RESON7K_VERSIONSYNCSIZE 64 #define MBSYS_RESON7K_RECORDHEADER_SIZE 64 #define MBSYS_RESON7K_RECORDTAIL_SIZE 4 /* 0 means no record at all */ #define R7KHDRSIZE_None 0 /* 1000-1999 reserved for generic sensor records */ #define R7KHDRSIZE_ReferencePoint 16 #define R7KHDRSIZE_UncalibratedSensorOffset 24 #define R7KHDRSIZE_CalibratedSensorOffset 24 #define R7KHDRSIZE_Position 36 #define R7KHDRSIZE_CustomAttitude 8 #define R7KHDRSIZE_Tide 43 #define R7KHDRSIZE_Altitude 4 #define R7KHDRSIZE_MotionOverGround 8 #define R7KHDRSIZE_Depth 8 #define R7KHDRSIZE_SoundVelocityProfile 24 #define R7KRDTSIZE_SoundVelocityProfile 8 #define R7KHDRSIZE_CTD 36 #define R7KRDTSIZE_CTD 20 #define R7KHDRSIZE_Geodesy 320 #define R7KHDRSIZE_RollPitchHeave 12 #define R7KHDRSIZE_Heading 4 #define R7KHDRSIZE_SurveyLine 16 #define R7KRDTSIZE_SurveyLine 16 #define R7KHDRSIZE_Navigation 41 #define R7KHDRSIZE_Attitude 1 #define R7KRDTSIZE_Attitude 18 #define R7KHDRSIZE_Rec1022 40 /* 2000-2999 reserved for user defined records */ /* 3000-6999 reserved for other vendor records */ #define R7KHDRSIZE_FSDWsidescan 32 /* includes added 12 bytes not in Reson 7k data spec */ #define R7KHDRSIZE_FSDWsubbottom 32 /* includes added 12 bytes not in Reson 7k data spec */ #define R7KHDRSIZE_BluefinDataFrame 32 #define R7KHDRSIZE_FSDWchannelinfo 64 #define R7KHDRSIZE_FSDWssheader 80 #define R7KHDRSIZE_FSDWsbheader 240 #define R7KHDRSIZE_ProcessedSidescan 48 /* 7000-7999 reserved for SeaBat 7k records */ #define R7KHDRSIZE_7kVolatileSonarSettings 156 #define R7KHDRSIZE_7kConfiguration 12 #define R7KHDRSIZE_7kMatchFilter 24 #define R7KHDRSIZE_7kV2FirmwareHardwareConfiguration 8 #define R7KHDRSIZE_7kBeamGeometry 12 #define R7KHDRSIZE_7kCalibrationData 10 #define R7KHDRSIZE_7kBathymetricData_v4 18 #define R7KHDRSIZE_7kBathymetricData 24 #define R7KHDRSIZE_7kBackscatterImageData 64 #define R7KHDRSIZE_7kBeamData 30 #define R7KHDRSIZE_7kVerticalDepth 42 #define R7KHDRSIZE_7kImageData 20 #define R7KHDRSIZE_7kV2PingMotion 28 #define R7KHDRSIZE_7kV2DetectionSetup 116 #define R7KRDTSIZE_7kV2DetectionSetup 30 #define R7KHDRSIZE_7kV2BeamformedData 52 #define R7KHDRSIZE_7kV2BITEData 2 #define R7KRDTSIZE_7kV2BITERecordData 136 #define R7KRDTSIZE_7kV2BITEFieldData 79 #define R7KHDRSIZE_7kV27kCenterVersion 32 #define R7KHDRSIZE_7kV28kWetEndVersion 32 #define R7KHDRSIZE_7kV2Detection 99 #define R7KHDRSIZE_7kV2RawDetection 99 #define R7KHDRSIZE_7kV2SnippetData 46 #define R7KRDTSIZE_7kV2SnippetTimeseries 14 #define R7KHDRSIZE_7kInstallationParameters 616 #define R7KHDRSIZE_7kSystemEvents 22 #define R7KHDRSIZE_7kSystemEventMessage 14 #define R7KHDRSIZE_7kTargetData 121 #define R7KHDRSIZE_7kDataStorageStatus 0 #define R7KHDRSIZE_7kFileHeader 44 #define R7KRDTSIZE_7kFileHeader 272 #define R7KHDRSIZE_7kTrigger 2 #define R7KHDRSIZE_7kTriggerSequenceSetup 2 #define R7KHDRSIZE_7kTriggerSequenceDone 2 #define R7KHDRSIZE_7kTimeMessage 16 #define R7KHDRSIZE_7kRemoteControl 20 #define R7KHDRSIZE_7kRemoteControlAcknowledge 20 #define R7KHDRSIZE_7kRemoteControlNotAcknowledge 24 #define R7KHDRSIZE_7kRemoteControlSonarSettings 260 #define R7KHDRSIZE_7kReserved 543 #define R7KHDRSIZE_7kRoll 4 #define R7KHDRSIZE_7kPitch 4 #define R7KHDRSIZE_7kSoundVelocity 4 #define R7KHDRSIZE_7kAbsorptionLoss 4 #define R7KHDRSIZE_7kSpreadingLoss 4 #define R7KHDRSIZE_8100SonarData 16 /* 11000-11199 reserved for Payload Controller command records */ #define R7KHDRSIZE_7kPayloadControllerCommand 16 #define R7KHDRSIZE_7kPayloadControllerCommandAcknowledge 12 #define R7KHDRSIZE_7kPayloadControllerStatus 16 /* 11200-11999 reserved for Payload Controller sensor QC records */ /*---------------------------------------------------------------*/ /* Device identifiers */ #define R7KDEVID_GenericPosition 100 #define R7KDEVID_GenericHeading 101 #define R7KDEVID_GenericAttitude 102 #define R7KDEVID_GenericMBES 103 #define R7KDEVID_GenericSidescan 104 #define R7KDEVID_GenericSBP 105 #define R7KDEVID_TrueTime 1001 #define R7KDEVID_CDCSMCG 2000 #define R7KDEVID_CDCSPG 2001 #define R7KDEVID_EmpireMagnetics 2002 #define R7KDEVID_ResonTC4013 4013 #define R7KDEVID_ResonDiverDat 6000 #define R7KDEVID_Reson7kCenter 7000 #define R7KDEVID_Reson7kUserInterface 7001 #define R7KDEVID_ResonPDS2000 7003 #define R7KDEVID_SeaBat7012 7012 #define R7KDEVID_SeaBat7100 7100 #define R7KDEVID_SeaBat7101 7101 #define R7KDEVID_SeaBat7102 7102 #define R7KDEVID_SeaBat7111 7111 #define R7KDEVID_SeaBat7112 7112 #define R7KDEVID_SeaBat7123 7123 #define R7KDEVID_SeaBat7125 7125 #define R7KDEVID_SeaBat7128 7128 #define R7KDEVID_SeaBat7150 7150 #define R7KDEVID_SeaBat7160 7160 #define R7KDEVID_SeaBat8100 8100 #define R7KDEVID_SeaBat8101 8101 #define R7KDEVID_SeaBat8102 8102 #define R7KDEVID_SeaBat8112 8111 #define R7KDEVID_SeaBat8123 8123 #define R7KDEVID_SeaBat8124 8124 #define R7KDEVID_SeaBat8125 8125 #define R7KDEVID_SeaBat8128 8128 #define R7KDEVID_SeaBat8150 8150 #define R7KDEVID_SeaBat8160 8160 #define R7KDEVID_TSSDMS05 10000 #define R7KDEVID_TSS335B 10001 #define R7KDEVID_TSS332B 10002 #define R7KDEVID_SeaBirdSBE37 10010 #define R7KDEVID_Littom200 10020 #define R7KDEVID_EdgetechFSDW 11000 #define R7KDEVID_EdgetechFSDWSBP 11000 #define R7KDEVID_EdgetechFSDWSSLF 11001 #define R7KDEVID_EdgetechFSDWSSHF 11002 #define R7KDEVID_Bluefin 11100 #define R7KDEVID_IfremerTechsas 11200 #define R7KDEVID_SimradRPT319 12000 /*---------------------------------------------------------------*/ /* Edgetech trace data format definitions */ #define EDGETECH_TRACEFORMAT_ENVELOPE 0 /* 2 bytes/sample (unsigned) */ #define EDGETECH_TRACEFORMAT_ANALYTIC 1 /* 4 bytes/sample (I + Q) */ #define EDGETECH_TRACEFORMAT_RAW 2 /* 2 bytes/sample (signed) */ #define EDGETECH_TRACEFORMAT_REALANALYTIC 3 /* 2 bytes/sample (signed) */ #define EDGETECH_TRACEFORMAT_PIXEL 4 /* 2 bytes/sample (signed) */ /*---------------------------------------------------------------*/ /* Bluefin data frame definitions */ #define BLUEFIN_MAX_FRAMES 25 /* Maximum number of Bluefin data frames contained in a Bluefin data record */ /*---------------------------------------------------------------*/ /* Structure size definitions */ #define MBSYS_RESON7K_BUFFER_STARTSIZE 32768 #define MBSYS_RESON7K_MAX_DEVICE 10 #define MBSYS_RESON7K_MAX_RECEIVERS 1024 #define MBSYS_RESON7K_MAX_BEAMS 512 #define MBSYS_RESON7K_MAX_PIXELS 4096 typedef struct s7k_time_struct { unsigned short Year; /* Year u16 0 - 65535 */ unsigned short Day; /* Day u16 1 - 366 */ float Seconds; /* Seconds f32 0.000000 - 59.000000 */ mb_u_char Hours; /* Hours u8 0 - 23 */ mb_u_char Minutes; /* Minutes u8 0 - 59 */ } s7k_time; typedef struct s7k_header_struct { unsigned short Version; /* Version u16 Version of this frame (e.g.: 1, 2 etc.) */ unsigned short Offset; /* Offset u16 Offset in bytes from the start of the sync pattern to the start of the DATA SECTION. This allows for expansion of the header whilst maintaining backward compatibility. */ unsigned int SyncPattern; /* Sync pattern u32 0x0000FFFF */ unsigned int Size; /* Size u32 Size in bytes of this record from the start of the version field to the end of the Checksum. It includes the embedded data size. */ unsigned int OffsetToOptionalData; /* Data offset u32 Offset in bytes to optional data field from start of record. Zero implies no optional data. */ unsigned int OptionalDataIdentifier; /* Data idenfitifer u32 Identifier for optional data field. Zero for ` no optional field. This identifier is described with each record type. */ s7k_time s7kTime; /* 7KTIME u8*10 UTC.*/ unsigned short Reserved; /* Reserved */ unsigned int RecordType; /* Record type u32 Unique identifier of indicating the type of data embedded in this record. */ unsigned int DeviceId; /* Device identifier u32 Identifier of the device to which this datum pertains. */ unsigned short Reserved2; /* Reserved */ unsigned short SystemEnumerator; /* System enumerator The enumerator is used to differentiate between devices with the same device identifiers in one installation/system. It is up to each application to decide what number to populate this field with. */ unsigned int DataSetNumber; /* Data set u32 Data set number - OBSOLETE in version 4 header */ unsigned int RecordNumber; /* Record count u32 Sequential record counter. */ char PreviousRecord[8]; /* Previous record i64 Pointer to the previous record of the same type (in bytes from start of file). This is an optional field for files and shall be -1 if not used. - OBSOLETE in version 4 header */ char NextRecord[8]; /* Next record i64 Pointer to the next record of the same type in bytes from start of file. This is an optional field for files and shall be -1 if not used. - OBSOLETE in version 4 header */ unsigned short Flags; /* Flags u16 BIT FIELD: Bit 0 - Checksum 0 - invalid checksum 1 - valid checksum Bit 1 - Reserved Bit 2 - Fragmentation 0 - data unfragmented 1 - fragmented sequence */ unsigned short Reserved3; /* Reserved */ unsigned int Reserved4; /* Reserved - NEW in version 4 header */ unsigned int FragmentedTotal; /* Total Fragmented Total records in fragmented data record set (if flag is set) - NEW in version 4 header */ unsigned int FragmentNumber; /* Fragment number Fragment number (if flag is set) - NEW in version 4 header */ /* Following this header is: DATA SECTION xx Dynamic Record type specific data. Checksum u32 Sum of bytes in data section (optional, depends on bit 1 of Flags field). Note: the checksum field should be computed as a 64 bit unsigned integer with the least significant 32 bits used to populate this field thus ensuring a valid checksum and avoiding an explicit overflow. */ } s7k_header; /* Reference point information (record 1000) */ /* Note: these offsets should be zero for submersible vehicles */ typedef struct s7kr_reference_struct { s7k_header header; float offset_x; /* Vehicle's X reference point ot center of gravity (meters) */ float offset_y; /* Vehicle's Y reference point ot center of gravity (meters) */ float offset_z; /* Vehicle's Z reference point ot center of gravity (meters) */ float water_z; /* Vehicle's water level to center of gravity (meters) */ } s7kr_reference; /* Sensor uncalibrated offset position information (record 1001) */ typedef struct s7kr_sensoruncal_struct { s7k_header header; float offset_x; /* Sensor X offset from vehicle reference point (meters) */ float offset_y; /* Sensor Y offset from vehicle reference point (meters) */ float offset_z; /* Sensor Z offset from vehicle reference point (meters) */ float offset_roll; /* Sensor roll offset (radians - port up is positive) */ float offset_pitch; /* Sensor pitch offset (radians - bow up is positive) */ float offset_yaw; /* Sensor yaw offset (radians - bow right is positive) */ } s7kr_sensoruncal; /* Sensor calibrated offset position information (record 1002) */ typedef struct s7kr_sensorcal_struct { s7k_header header; float offset_x; /* Sensor X offset from vehicle reference point (meters) */ float offset_y; /* Sensor Y offset from vehicle reference point (meters) */ float offset_z; /* Sensor Z offset from vehicle reference point (meters) */ float offset_roll; /* Sensor roll offset (radians - port up is positive) */ float offset_pitch; /* Sensor pitch offset (radians - bow up is positive) */ float offset_yaw; /* Sensor yaw offset (radians - bow right is positive) */ } s7kr_sensorcal; /* Position (record 1003) */ typedef struct s7kr_position_struct { s7k_header header; unsigned int datum; /* 0=WGS84; others not yet defined */ float latency; /* Position sensor time latency (seconds) */ double latitude; /* Latitude (radians) */ double longitude; /* Longitude (radians) */ double height; /* Height relative to datum (meters) */ mb_u_char type; /* Position type flag: 0: Geographical coordinates 1: Grid coordinates */ mb_u_char utm_zone; /* UTM zone */ mb_u_char quality; /* Quality flag 0: Navigation data 1: Dead reckoning */ mb_u_char method; /* Positioning method 0: GPS 1: DGPS 2: Start of inertial positioning system from GPS 3: Start of inertial positioning system from DGPS 4: Start of inertial positioning system from bottom correlation 5: Start of inertial positioning system from bottom object 6: Start of inertial positioning system from inertial positioning 7: Start of inertial positioning system from optional data 8: Stop of inertial positioning system from GPS 9: Stop of inertial positioning system from DGPS 10: Stop of inertial positioning system from bottom correlation 11: Stop of inertial positioning system from bottom object 12: Stop of inertial positioning system from inertial positioning 13: Stop of inertial positioning system from optional data 14: Optional data >14: Reserved */ } s7kr_position; /* Custom attitude (record 1004) */ typedef struct s7kr_customattitude_struct { s7k_header header; mb_u_char bitfield; /* Boolean bitmask indicating which attitude fields are in data 0: pitch (radians - float) 1: roll (radians - float) 2: heading (radians - float) 3: heave (meters - float) 4-7: reserved */ mb_u_char reserved; /* reserved field */ unsigned short n; /* number of fields */ float frequency; /* sample rate (samples/second) */ int nalloc; /* number of samples allocated */ float *pitch; float *roll; float *heading; float *heave; float *pitchrate; float *rollrate; float *headingrate; float *heaverate; } s7kr_customattitude; /* Tide (record 1005) */ typedef struct s7kr_tide_struct { s7k_header header; float tide; /* height correction above mean sea level (meters) */ unsigned short source; /* tide data source: 0 - table; 1- gauge */ mb_u_char flags; /* Gauge and position validity flags Bit 0: 0/1 for gauge id valid/invalid Bit 1: 0/1 for position valid/invalid */ unsigned short gauge; /* Optional field to permit discrimination between different devices */ unsigned int datum; /* 0=WGS84; others not yet defined */ float latency; /* Position sensor time latency (seconds) */ double latitude; /* Latitude (radians) */ double longitude; /* Longitude (radians) */ double height; /* Height relative to datum (meters) */ mb_u_char type; /* Position type flag: 0: Geographical coordinates 1: Grid coordinates */ mb_u_char utm_zone; /* UTM zone */ } s7kr_tide; /* Altitude (record 1006) */ typedef struct s7kr_altitude_struct { s7k_header header; float altitude; /* altitude above seafloor (meters) */ } s7kr_altitude; /* Motion over ground (record 1007) */ typedef struct s7kr_motion_struct { s7k_header header; mb_u_char bitfield; /* Boolean bitmask indicating which motion over ground fields are in data 0: X,Y,Z speed (m/s - 3 X float) 1: X,Y,Z acceleration (m/s**2 - 3 X float) 2-7: reserved */ mb_u_char reserved; /* reserved field */ unsigned short n; /* number of fields */ float frequency; /* sample rate (samples/second) */ int nalloc; /* number of samples allocated */ float *x; float *y; float *z; float *xa; float *ya; float *za; } s7kr_motion; /* Depth (record 1008) */ typedef struct s7kr_depth_struct { s7k_header header; mb_u_char descriptor; /* Depth descriptor: 0 = depth to sensor 1 = water depth */ mb_u_char correction; /* Correction flag: 0 = raw depth as measured 1 = corrected depth (relative to mean sea level) */ unsigned short reserved; /* reserved field */ float depth; /* depth (meters) */ } s7kr_depth; /* Sound velocity profile (record 1009) */ typedef struct s7kr_svp_struct { s7k_header header; mb_u_char position_flag; /* Position validity flag: 0: invalid position fields 1: valid position field */ mb_u_char reserved1; /* reserved field */ unsigned short reserved2; /* reserved field */ double latitude; /* Latitude (radians) */ double longitude; /* Longitude (radians) */ unsigned int n; /* number of fields */ int nalloc; /* number of samples allocated */ float *depth; /* depth (meters) */ float *sound_velocity; /* sound velocity (meters/second) */ } s7kr_svp; /* CTD (record 1010) */ typedef struct s7kr_ctd_struct { s7k_header header; float frequency; /* Sample rate */ mb_u_char velocity_source_flag; /* Velocity source flag: 0: not computed 1: CTD 2: user computed */ mb_u_char velocity_algorithm; /* Velocity algorithm flag: 0: not computed 1: Checn Millero 2: Delgrosso */ mb_u_char conductivity_flag; /* Conductivity flag: 0: conductivity 1: salinity */ mb_u_char pressure_flag; /* Pressure flag: 0: pressure 1: depth */ mb_u_char position_flag; /* Position validity flag: 0: invalid position fields 1: valid position field */ mb_u_char validity; /* Sample content validity: Bit 0: conductivity/salinity Bit 1: water temperature Bit 2: pressure/depth Bit 3: sound velocity Bit 4: absorption */ unsigned short reserved; /* Reserved field */ double latitude; /* Latitude (radians) */ double longitude; /* Longitude (radians) */ float sample_rate; /* Sample rate */ unsigned int n; /* Number of fields */ int nalloc; /* Number of samples allocated */ float *conductivity_salinity; /* Conductivity (s/m) or salinity (ppt) */ float *temperature; /* Temperature (degrees celcius) */ float *pressure_depth; /* Pressure (pascals) or depth (meters) */ float *sound_velocity; /* Sound velocity (meters/second) */ float *absorption; /* Sound velocity absorption (dB/second) */ } s7kr_ctd; /* Geodesy (record 1011) */ typedef struct s7kr_geodesy_struct { s7k_header header; char spheroid[32]; /* Text description of the spheroid name (e.g. "WGS84") */ double semimajoraxis; /* Semi-major axis in meters (e.g. 6378137.0 for WGS84) */ double flattening; /* Inverse flattening in meters (e.g. 298.257223563 for WGS84) */ char reserved1[16]; /* Reserved space */ char datum[32]; /* Datum name (e.g. "WGS84") */ unsigned int calculation_method; /* Data calculation method: 0 - Molodensky 1 - Bursa / Wolfe 2 - DMA MRE 3 - NADCON 4 - HPGN 5 - Canadian National Transformation V2 */ unsigned int number_parameters; /* Seven parameter transformation supported */ double dx; /* X shift (meters) */ double dy; /* Y shift (meters) */ double dz; /* Z shift (meters) */ double rx; /* X rotation (degrees) */ double ry; /* Y rotation (degrees) */ double rz; /* Z rotation (degrees) */ double scale; /* Scale */ char reserved2[35]; /* Reserved for implementation of 9 parameter transformation */ char grid_name[32]; /* Name of grid system in use: (e.g. "UTM") */ mb_u_char distance_units; /* Grid distance units: 0 - meters 1 - feet 2 - yards 3 - US survey feet 4 - km 5 - miles 6 - US survey miles 7 - nautical miles 8 - chains 9 - links */ mb_u_char angular_units; /* Grid angulat units: 0 - radians 1 - degrees 2 - degrees, minutes, seconds 3 - gradians 4 - arc-seconds */ double latitude_origin; /* Latitude of origin */ double central_meriidan; /* Central meridian */ double false_easting; /* False easting (meters) */ double false_northing; /* False northing */ double central_scale_factor; /* Central scale factor */ int custum_identifier; /* Identifier for optional field definition in 7k record. Used to define projection specific parameters. -2 - custom -1 - not used */ char reserved3[50]; /* Reserved field */ } s7kr_geodesy; /* Roll pitch heave (record 1012) */ typedef struct s7kr_rollpitchheave_struct { s7k_header header; float roll; /* Roll (radians) */ float pitch; /* Pitch (radians) */ float heave; /* Heave (m) */ } s7kr_rollpitchheave; /* Heading (record 1013) */ typedef struct s7kr_heading_struct { s7k_header header; float heading; /* Heading (radians) */ } s7kr_heading; /* Survey Line (record 1014) */ typedef struct s7kr_surveyline_struct { s7k_header header; unsigned short n; /* Number of points */ unsigned short type; /* Position type flag: 0: Geographical coordinates 1: Grid coordinates */ float turnradius; /* Turn radius between line segments (meters, 0 = no curvature in turns) */ char name[64]; /* Line name */ int nalloc; /* Number of points allocated */ double *latitude; /* Latitude (radians, -pi/2 to pi/2) */ double *longitude; /* Longitude (radians -pi to pi) */ } s7kr_surveyline; /* Navigation (record 1015) */ typedef struct s7kr_navigation_struct { s7k_header header; mb_u_char vertical_reference; /* Vertical reference: 1 = Ellipsoid 2 = Geoid 3 = Chart datum */ double latitude; /* Latitude (radians, -pi/2 to pi/2) */ double longitude; /* Longitude (radians -pi to pi) */ float position_accuracy; /* Horizontal position accuracy (meters) */ float height; /* Height of vessel reference point above vertical reference (meters) */ float height_accuracy; /* Height accuracy (meters) */ float speed; /* Speed over ground (meters/sec) */ float course; /* Course over ground (radians) */ float heading; /* Heading (radians) */ } s7kr_navigation; /* Attitude (record 1016) */ typedef struct s7kr_attitude_struct { s7k_header header; mb_u_char n; /* number of datasets */ int nalloc; /* number of samples allocated */ unsigned short *delta_time; /* Time difference with record timestamp (msec) */ float *roll; /* Roll (radians) */ float *pitch; /* Pitch (radians) */ float *heave; /* Heave (m) */ float *heading; /* Heading (radians) */ } s7kr_attitude; /* Unknown record 1022 (record 1022) */ typedef struct s7kr_rec1022_struct { s7k_header header; mb_u_char data[R7KHDRSIZE_Rec1022];/* raw bytes in unknown record */ } s7kr_rec1022; /* Edgetech sidescan or subbottom channel header data */ typedef struct s7k_fsdwchannel_struct { mb_u_char number; /* Channel number (0 to number channels - 1) */ mb_u_char type; /* Channel type: 0 - port 1 - starboard */ mb_u_char data_type; /* Channel data type: 0 - slant range 1 - ground range */ mb_u_char polarity; /* Channel polarity 0 - bipolar 1 - unipolar */ mb_u_char bytespersample; /* Bytes per sample of the imagery */ char reserved1[3]; /* Reserved */ unsigned int number_samples; /* Number of samples in this channel */ unsigned int start_time; /* Start of first sample in microseconds relative to the ping time stamp */ unsigned int sample_interval; /* Data sample interval in microseconds */ float range; /* Slant range or ground range in meters and depends on the data type field above */ float voltage; /* Analogue maximum amplitude. Should be -1 if not used */ char name[16]; /* Channel name */ char reserved2[20]; /* Reserved */ int data_alloc; /* number of bytes allocated for data array */ char *data; } s7k_fsdwchannel; /* Edgetech sidescan header data */ typedef struct s7k_fsdwssheader_struct { unsigned short subsystem; /* 0 - 1 : Subsystem (0 .. n) */ unsigned short channelNum; /* 2 - 3 : Channel Number (0 .. n) */ unsigned int pingNum; /* 4 - 7 : Ping number (increments with ping) */ unsigned short packetNum; /* 8 - 9 : Packet number (1..n) Each ping starts with packet 1 */ unsigned short trigSource; /* 10 - 11 : TriggerSource (0 = internal, 1 = external) */ unsigned int samples; /* 12 - 15 : Samples in this packet */ unsigned int sampleInterval; /* 16 - 19 : Sample interval in ns of stored data */ unsigned int startDepth; /* 20 - 23 : starting Depth (window offset) in samples */ short weightingFactor; /* 24 - 25 : -- defined as 2 -N volts for lsb */ unsigned short ADCGain; /* 26 - 27 : Gain factor of ADC */ unsigned short ADCMax; /* 28 - 29 : Maximum absolute value for ADC samples for this packet */ unsigned short rangeSetting; /* 30 - 31 : Range Setting (meters X 10) */ unsigned short pulseID; /* 32 - 33 : Unique pulse identifier */ unsigned short markNumber; /* 34 - 35 : Mark Number (0 = no mark) */ unsigned short dataFormat; /* 36 - 37 : Data format */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter (raw) */ /* 3 = 1 short per sample - real part analytic signal */ /* NOTE: For type = 1, the total number of bytes of data to follow is */ /* 4 * samples. For all other types the total bytes is 2 * samples */ unsigned short reserved; /* 38 - 39 : Reserved field to round up to a 32-bit word boundary */ /* -------------------------------------------------------------------- */ /* computer date / time data acquired */ /* -------------------------------------------------------------------- */ unsigned int millisecondsToday; /* 40 - 43 : Millieconds today */ short year; /* 44 - 45 : Year */ unsigned short day; /* 46 - 47 : Day of year (1 - 366) */ unsigned short hour; /* 48 - 49 : Hour of day (0 - 23) */ unsigned short minute; /* 50 - 51 : Minute (0 - 59) */ unsigned short second; /* 52 - 53 : Second (0 - 59) */ /* -------------------------------------------------------------------- */ /* Auxillary sensor information */ /* -------------------------------------------------------------------- */ short heading; /* 54 - 55 : Compass heading (minutes) */ short pitch; /* 56 - 57 : Pitch (minutes) */ short roll; /* 58 - 59 : Roll (minutes) */ short heave; /* 60 - 61 : Heave (centimeters) */ short yaw; /* 62 - 63 : Yaw (minutes) */ unsigned int depth; /* 64 - 67 : Vehicle depth (centimeters) */ short temperature; /* 68 - 69 : Temperature (degrees Celsius X 10) */ char reserved2[2]; /* 70 - 71 : Reserved for future use */ int longitude; /* 72 - 75 : 0.01 Longitude (arc sec) - Reserved for future use by Edgetech */ int latitude; /* 76 - 79 : 0.01 Latitude (arc sec) - Reserved for future use by Edgetech */ } s7k_fsdwssheader; /* Edgetech segy header data */ typedef struct s7k_fsdwsegyheader_struct { int sequenceNumber; /* 0-3 : Trace Sequence Number (always 0) ** */ unsigned int startDepth; /* 4-7 : Starting depth (window offset) in samples. */ unsigned int pingNum; /* 8-11: Ping number (increments with ping) ** */ unsigned int channelNum; /* 12-15 : Channel Number (0 .. n) ** */ short unused1[6]; /* 16-27 */ short traceIDCode; /* 28-29 : ID Code (always 1 => seismic data) ** */ short unused2[2]; /* 30-33 */ short dataFormat; /* 34-35 : DataFormatType */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample, - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter */ /* 3 = 1 short per sample - real part analytic signal */ /* 4 = 1 short per sample - pixel data / ceros data */ short NMEAantennaeR; /* 36-37 : Distance from towfish to antennae in cm */ short NMEAantennaeO; /* 38-39 : Distance to antennae starboard direction in cm */ char RS232[32]; /* 40-71 : Reserved for RS232 data - TBD */ /* -------------------------------------------------------------------- */ /* Navigation data : */ /* If the coorUnits are seconds(2), the x values represent longitude */ /* and the y values represent latitude. A positive value designates */ /* the number of seconds east of Greenwich Meridian or north of the */ /* equator. */ /* -------------------------------------------------------------------- */ int sourceCoordX; /* 72-75 : 0.01 arc seconds - original Meters or Seconds of Arc */ int sourceCoordY; /* 76-79 : 0.01 arc seconds - original Meters or Seconds of Arc */ int groupCoordX; /* 80-83 : mm or 10000 * (Minutes of Arc) */ int groupCoordY; /* 84-87 : mm or 10000 * (Minutes of Arc) */ short coordUnits; /* 88-89 : Units of coordinates - 1->length (x /y), 2->seconds of arc */ char annotation[24]; /* 90-113 : Annotation string */ unsigned short samples; /* 114-115 : Samples in this packet ** */ /* Note: Large sample sizes require multiple packets. */ unsigned int sampleInterval; /* 116-119 : Sample interval in ns of stored data ** */ unsigned short ADCGain; /* 120-121 : Gain factor of ADC */ short pulsePower; /* 122-123 : user pulse power setting (0 - 100) percent */ short correlated; /* 124-125 : correlated data 1 - No, 2 - Yes */ unsigned short startFreq; /* 126-127 : Starting frequency in 10 * Hz */ unsigned short endFreq; /* 128-129 : Ending frequency in 10 * Hz */ unsigned short sweepLength; /* 130-131 : Sweep length in ms */ short unused7[4]; /* 132-139 */ unsigned short aliasFreq; /* 140-141 : alias Frequency (sample frequency / 2) */ unsigned short pulseID; /* 142-143 : Unique pulse identifier */ short unused8[6]; /* 144-155 */ short year; /* 156-157 : Year data recorded (CPU time) */ short day; /* 158-159 : day */ short hour; /* 160-161 : hour */ short minute; /* 162-163 : minute */ short second; /* 164-165 : second */ short timeBasis; /* 166-167 : Always 3 (other not specified by standard) */ short weightingFactor; /* 168-169 : weighting factor for block floating point expansion */ /* -- defined as 2 -N volts for lsb */ short unused9; /* 170-171 : */ /* -------------------------------------------------------------------- */ /* From pitch/roll/temp/heading sensor */ /* -------------------------------------------------------------------- */ short heading; /* 172-173 : Compass heading (100 * degrees) -180.00 to 180.00 degrees */ short pitch; /* 174-175 : Pitch */ short roll; /* 176-177 : Roll */ short temperature; /* 178-179 : Temperature (10 * degrees C) */ /* -------------------------------------------------------------------- */ /* User defined area from 180-239 */ /* -------------------------------------------------------------------- */ short heaveCompensation; /* 180-181 : Heave compensation offset (samples) */ short trigSource; /* 182-183 : TriggerSource (0 = internal, 1 = external) */ unsigned short markNumber; /* 184-185 : Mark Number (0 = no mark) */ short NMEAHour; /* 186-187 : Hour */ short NMEAMinutes; /* 188-189 : Minutes */ short NMEASeconds; /* 190-191 : Seconds */ short NMEACourse; /* 192-193 : Course */ short NMEASpeed; /* 194-195 : Speed */ short NMEADay; /* 196-197 : Day */ short NMEAYear; /* 198-199 : Year */ unsigned int millisecondsToday; /* 200-203 : Millieconds today */ unsigned short ADCMax; /* 204-205 : Maximum absolute value for ADC samples for this packet */ short calConst; /* 206-207 : System constant in tenths of a dB */ short vehicleID; /* 208-209 : Vehicle ID */ char softwareVersion[6]; /* 210-215 : Software version number */ /* Following items are not in X-Star */ int sphericalCorrection; /* 216-219 : Initial spherical correction factor (useful for multiping /*/ /* deep application) * 100 */ unsigned short packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */ short ADCDecimation; /* 222-223 : A/D decimation before FFT */ short decimation; /* 224-225 : Decimation factor after FFT */ short unuseda[7]; /* 226-239 */ } s7k_fsdwsegyheader; /* Edgetech FS-DW sidescan (record 3000) */ typedef struct s7kr_fsdwss_struct { s7k_header header; int msec_timestamp; /* Relative millisecond timer value */ int ping_number; /* Ping number as received from the Edgetech subsystem */ int number_channels; /* Number of imagery channels to follow (typically 2) */ int total_bytes; /* Total bytes of channel data (and headers) to follow RTH (record type header) (including optional data) */ int data_format; /* Data format: 0 - envelope ; 1 - I and Q (complex) */ s7k_fsdwchannel channel[2]; /* Channel header and data */ s7k_fsdwssheader ssheader[2]; /* Edgetech sidescan header */ } s7kr_fsdwss; /* Edgetech FS-DW subbottom (record 3001) */ typedef struct s7kr_fsdwsb_struct { s7k_header header; int msec_timestamp; /* Relative millisecond timer value */ int ping_number; /* Ping number as received from the Edgetech subsystem */ int number_channels; /* Number of imagery channels to follow (typically 2) */ int total_bytes; /* Total bytes of channel data (and headers) to follow RTH (record type header) (including optional data) */ int data_format; /* Data format: 0 - envelope 1 - I and Q (complex) */ s7k_fsdwchannel channel; /* Channel header and data */ s7k_fsdwsegyheader segyheader; /* Segy header for subbottom trace */ } s7kr_fsdwsb; /* Bluefin Navigation Data Frame (can be included in record 3100) */ typedef struct s7k_bluefin_nav_struct { int packet_size; /* size in bytes of this packet including the header and appended data */ unsigned short version; /* Version of this frame */ unsigned short offset; /* Offset in bytes to the start of data from the start of this packet */ int data_type; /* Data type identifier 0 - Navigation data 1 - Environment data */ int data_size; /* Size of data in bytes */ s7k_time s7kTime; /* 7KTIME u8*10 UTC.*/ unsigned int checksum; /* Checksum for all bytes in record */ short timedelay; /* Delay of position and altitude time values compared to Reson 7k time values (msec) - add this value to the position and altitude time values to get the times synced to the 7k multibeam data */ unsigned int quality; /* Kearfott INS quality and mode info */ double latitude; /* Latitude (radians) */ double longitude; /* Longitude (radians) */ float speed; /* Speed (m/sec) */ double depth; /* Vehicle depth (m) */ double altitude; /* Vehicle altitude (m) */ float roll; /* Vehicle roll (radians) */ float pitch; /* Vehicle pitch (radians) */ float yaw; /* Vehicle yaw (radians) */ float northing_rate; /* Vehicle northing rate (m/sec) */ float easting_rate; /* Vehicle easting rate (m/sec) */ float depth_rate; /* Vehicle depth rate (m/sec) */ float altitude_rate; /* Vehicle altitude rate (m/sec) */ float roll_rate; /* Vehicle roll rate (radians/sec) */ float pitch_rate; /* Vehicle pitch rate (radians/sec) */ float yaw_rate; /* Vehicle yaw rate (radians/sec) */ double position_time; /* Vehicle position time (unix sec) */ double depth_time; /* Vehicle depth time (unix sec) */ } s7k_bluefin_nav; /* Bluefin Environmental Data Frame (can be included in record 3100) */ typedef struct s7k_bluefin_environmental_struct { int packet_size; /* size in bytes of this packet including the header and appended data */ unsigned short version; /* Version of this frame */ unsigned short offset; /* Offset in bytes to the start of data from the start of this packet */ int data_type; /* Data type identifier 0 - Navigation data 1 - Environment data */ int data_size; /* Size of data in bytes */ s7k_time s7kTime; /* 7KTIME u8*10 UTC.*/ unsigned int checksum; /* Checksum for all bytes in record */ short reserved1; unsigned int quality; float sound_speed; /* Sound speed (m/sec) */ float conductivity; /* Conductivity (S/m) */ float temperature; /* Temperature (deg C) */ float pressure; /* Pressure (dBar) */ float salinity; /* Salinity (psu) */ double ctd_time; /* CTD sample time (unix sec) */ double temperature_time; /* Temperature sample time (unix sec) */ double surface_pressure; /* dBar */ int temperature_counts; /* thermister A/D counts */ float conductivity_frequency; /* Hz */ int pressure_counts; /* strain gauge pressure sensor A/D counts */ float pressure_comp_voltage; /* Volts */ /* 5/10/2009 R/V Thompson TN134 Lau Basin - added support for five channels of data from analog sensors integrated with the MBARI Mapping AUV - Each channel is stored as unsigned 16 bit integers representing -5V to +5V - initial use is for PMEL eH and optical backscatter sensors */ int sensor_time_sec; /* Ancilliary sensor time (unix seconds) */ int sensor_time_nsec; /* Ancilliary sensor time (nanno seconds) */ unsigned short sensor1; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor2; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor3; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor4; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor5; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor6; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor7; /* voltage: 0 = -5.00V, 65535 = +5.00V */ unsigned short sensor8; /* voltage: 0 = -5.00V, 65535 = +5.00V */ char reserved2[8]; } s7k_bluefin_environmental; /* Bluefin Data Frame (record 3100) */ typedef struct s7kr_bluefin_struct { s7k_header header; int msec_timestamp; /* Relative millisecond timer value */ int number_frames; /* Number of frames embedded in this record */ int frame_size; /* Embedded frame size in bytes */ int data_format; /* Data type identifier 0 - Navigation data 1 - Environment data */ char reserved[16]; /* Reserved */ s7k_bluefin_nav nav[BLUEFIN_MAX_FRAMES]; /* Bluefin navigation frames */ s7k_bluefin_environmental environmental[BLUEFIN_MAX_FRAMES]; /* Bluefin environmental frames */ } s7kr_bluefin; /* Processed sidescan - MB-System extension to 7k format (record 3199) */ typedef struct s7kr_processedsidescan_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned short recordversion; /* allows for progression of versions of this data record version = 1: initial version as of 8 October 2012 */ unsigned int ss_source; /* Source of raw backscatter for this sidescan that has been laid out on the seafloor: ss_source = 0: None ss_source = 1: Non-Reson sidescan ss_source = 7007: 7kBackscatterImageData ss_source = 7008: 7kBeamData ss_source = 7028: 7kV2SnippetData */ unsigned int number_pixels; /* Number of sidescan pixels across the entire swath */ unsigned int ss_type; /* indicates if sidescan values are logarithmic or linear ss_type = 0: logarithmic (dB) ss_type = 1: linear (voltage) */ float pixelwidth; /* Pixel acrosstrack width in m Acrosstrack distance of each pixel given by acrosstrack = (ipixel - number_pixels / 2) * pixelwidth where i = pixel number and N is the total number of pixels, counting from port to starboard starting at 0 */ double sonardepth; /* Sonar depth in m */ double altitude; /* Sonar nadir altitude in m */ float sidescan[MBSYS_RESON7K_MAX_PIXELS]; /* Depth releative to chart datum in meters */ float alongtrack[MBSYS_RESON7K_MAX_PIXELS]; /* Alongtrack distance in meters */ } s7kr_processedsidescan; /* Reson 7k volatile sonar settings (record 7000) */ typedef struct s7kr_volatilesettings_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Ping number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode. 0 = no multi-ping >0 = sequence number of the ping in the multi-ping sequence. */ float frequency; /* Transmit frequency (Hertz) */ float sample_rate; /* Sample rate (Hertz) */ float receiver_bandwidth; /* Receiver bandwidth (Hertz) */ float pulse_width; /* Transmit pulse length (seconds) */ unsigned int pulse_type; /* Pulse type identifier: 0 - CW 1 - linear chirp */ unsigned int pulse_envelope; /* Pulse envelope identifier: 0 - tapered rectangular 1 - Tukey */ float pulse_envelope_par; /* Pulse envelope parameter */ unsigned int pulse_reserved; /* Reserved pulse information */ float max_ping_rate; /* Maximum ping rate (pings/second) */ float ping_period; /* Time since last ping (seconds) */ float range_selection; /* Range selection (meters) */ float power_selection; /* Power selection (dB/uPa) */ float gain_selection; /* Gain selection (dB) */ unsigned int control_flags; /* Control flags bitfield: 0-3: auto range method 4-7: auto bottom detect filter method 8: bottom detect range filter 9: bottom detect depth filter 10-14: auto receiver gain method 15-31: reserved */ unsigned int projector_magic_no; /* Projector selection */ float steering_vertical; /* Projector steering angle vertical (radians) */ float steering_horizontal; /* Projector steering angle horizontal (radians) */ float beamwidth_vertical; /* Projector -3 dB beamwidth vertical (radians) */ float beamwidth_horizontal; /* Projector -3 dB beamwidth horizontal (radians) */ float focal_point; /* Projector focal point (meters) */ unsigned int projector_weighting; /* Projector beam weighting window type: 0 - rectangular 1 - Chebyshev */ float projector_weighting_par;/* Projector beam weighting window parameter */ unsigned int transmit_flags; /* Transmit flags bitfield: 0-3: pitch stabilization method 4-7: yaw stabilization method 8-31: reserved */ unsigned int hydrophone_magic_no; /* Hydrophone selection (magic number) */ unsigned int receive_weighting; /* Receiver beam weighting window type: 0 - Chebyshev 1 - Kaiser */ float receive_weighting_par;/* Receiver beam weighting window parameter */ unsigned int receive_flags; /* Receive flags bitfield: 0-3: roll stabilization method 4-7: dynamic focusing method 8-11: doppler compensation method 12-15: match filtering method 16-19: TVG method 20-23: Multi-ping mode 0 = no multi-ping >0 = sequence number of the ping in the multi-ping sequence. 24-31: Reserved */ float receive_width; /* Receive beam width (radians) */ float range_minimum; /* Bottom detection minimum range (meters) */ float range_maximum; /* Bottom detection maximum range (meters) */ float depth_minimum; /* Bottom detection minimum depth (meters) */ float depth_maximum; /* Bottom detection maximum depth (meters) */ float absorption; /* Absorption (dB/km) */ float sound_velocity; /* Sound velocity (meters/second) */ float spreading; /* Spreading loss (dB) */ unsigned short reserved; /* reserved for future pulse shape description */ } s7kr_volatilesettings; /* Reson 7k device configuration structure */ typedef struct s7k_device_struct { unsigned int magic_number; /* Unique identifier number */ char description[64]; /* Device description string */ mb_u_long serial_number; /* Device serial number */ unsigned int info_length; /* Length of device specific data (bytes) */ unsigned int info_alloc; /* Memory allocated for data (bytes) */ char *info; /* Device specific data */ } s7k_device; /* Reson 7k configuration (record 7001) */ typedef struct s7kr_configuration_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int number_devices; /* Number of devices */ s7k_device device[MBSYS_RESON7K_MAX_DEVICE]; /* Device configuration information */ } s7kr_configuration; /* Reson 7k match filter (record 7002) */ typedef struct s7kr_matchfilter_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned int operation; /* Operation 0 = off 1 = on */ float start_frequency; /* Start frequency (Hz) */ float end_frequency; /* End frequency (Hz) */ } s7kr_matchfilter; /* Reson 7k firmware and hardware configuration (record 7003) */ typedef struct s7kr_v2firmwarehardwareconfiguration_struct { s7k_header header; unsigned int device_count; /* Hardware device count */ unsigned int info_length; /* Info length (bytes) */ unsigned int info_alloc; /* Memory allocated for data (bytes) */ char *info; /* Device specific data */ } s7kr_v2firmwarehardwareconfiguration; /* Reson 7k beam geometry (record 7004) */ typedef struct s7kr_beamgeometry_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int number_beams; /* Number of receiver beams */ float angle_alongtrack[MBSYS_RESON7K_MAX_BEAMS]; /* Receiver beam X direction angle (radians) */ float angle_acrosstrack[MBSYS_RESON7K_MAX_BEAMS]; /* Receiver beam Y direction angle (radians) */ float beamwidth_alongtrack[MBSYS_RESON7K_MAX_BEAMS]; /* Receiver beamwidth X (radians) */ float beamwidth_acrosstrack[MBSYS_RESON7K_MAX_BEAMS]; /* Receiver beamwidth Y (radians) */ } s7kr_beamgeometry; /* Reson 7k calibration data (record 7005) */ typedef struct s7kr_calibration_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned short number_channels; /* Number of hydrophone receiver channels */ float gain[MBSYS_RESON7K_MAX_RECEIVERS]; /* Receiver gain relative to a nominal gain of 1.0 */ float phase[MBSYS_RESON7K_MAX_RECEIVERS];/* Receiver phase relative to a nominal phase of 0.0 radians */ } s7kr_calibration; /* Reson 7k bathymetry (record 7006) */ typedef struct s7kr_bathymetry_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int number_beams; /* Number of receiver beams */ mb_u_char layer_comp_flag; /* Flag indicating if layer compensation is on 0 = off 1 = on ****Not present prior to Version 5!!! */ mb_u_char sound_vel_flag; /* Flag indicating if sound velocity is measured or manually entered 0 = measured 1 = manually entered ****Not present prior to Version 5!!! */ float sound_velocity; /* Sound veocity at the sonar (m/sec) ****Not present prior to Version 5!!! */ float range[MBSYS_RESON7K_MAX_BEAMS]; /* Two way travel time (seconds) */ mb_u_char quality[MBSYS_RESON7K_MAX_BEAMS]; /* Beam quality bitfield: 0-3: Reson quality flags use bits 0-3 bit 0: brightness test bit 1: colinearity test bit 2: amplitude pick bit 3: phase pick 4-7: MB beam flagging - use bits 4-7 - bits 0-3 left in original values - beam valid if bit 4 or 5 are set - beam flagged if bit 6 or 7 set bit 4: on = amplitude bit 5: on = phase bit 6: on = auto flag bit 7: on = manual flag */ float intensity[MBSYS_RESON7K_MAX_BEAMS]; /* Signal strength (dB/uPa) */ float min_depth_gate[MBSYS_RESON7K_MAX_BEAMS]; /* Minimum two-way travel time to filter point for each beam (minimum depth gate) */ float max_depth_gate[MBSYS_RESON7K_MAX_BEAMS]; /* Maximum two-way travel time to filter point for each beam (maximum depth gate) */ unsigned int optionaldata; /* Flag indicating if bathymetry calculated and values below filled in 0 = No 1 = Yes This is an internal MB-System flag, not a value in the data format */ float frequency; /* Ping frequency in Hz */ double latitude; /* Latitude of vessel reference point in radians, -pi/2 to +pi/2 */ double longitude; /* Longitude of vessel reference point in radians, -pi to +pi */ float heading; /* Heading of vessel at transmit time in radians */ unsigned char height_source; /* Method used to correct to chart datum. 0 = None 1 = RTK (implies tide = 0.0) 2 = Tide */ float tide; /* Tide in meters */ float roll; /* Roll at transmit time */ float pitch; /* Pitch at transmit time */ float heave; /* Heave at transmit time in m*/ float vehicle_height; /* Vehicle height at transmit time in m */ float depth[MBSYS_RESON7K_MAX_BEAMS]; /* Depth releative to chart datum in meters */ float alongtrack[MBSYS_RESON7K_MAX_BEAMS]; /* Alongtrack distance in meters */ float acrosstrack[MBSYS_RESON7K_MAX_BEAMS]; /* Acrosstrack distance in meters */ float pointing_angle[MBSYS_RESON7K_MAX_BEAMS];/* Pointing angle from vertical in radians */ float azimuth_angle[MBSYS_RESON7K_MAX_BEAMS]; /* Azimuth angle in radians */ } s7kr_bathymetry; /* Reson 7k backscatter imagery data (record 7007) */ typedef struct s7kr_backscatter_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ float beam_position; /* Beam position forward from position of beam 0 (meters) */ unsigned int control_flags; /* Control flags bitfield 3-0: yaw stabilization method 7-4: beamforming method 31-8: reserved */ unsigned int number_samples; /* number of samples */ float port_beamwidth_x; /* Port -3 dB X beamwidth (radians - typically a large angle) */ float port_beamwidth_y; /* Port -3 dB Y beamwidth (radians - typically a small angle) */ float stbd_beamwidth_x; /* Starboard -3 dB X beamwidth (radians - typically a large angle) */ float stbd_beamwidth_y; /* Starboard -3 dB Y beamwidth (radians - typically a small angle) */ float port_steering_x; /* Port -3 dB X steering angle (radians - typically slightly positive) */ float port_steering_y; /* Port -3 dB Y steering angle (radians - typically pi */ float stbd_steering_x; /* Starboard -3 dB X steering angle (radians - typically slightly positive) */ float stbd_steering_y; /* Starboard -3 dB Y steering angle (radians - typically zero) */ unsigned short number_beams; /* Number of sidescan beams per side (usually only one) */ unsigned short current_beam; /* Beam number of this record (0 to number_beams - 1) */ mb_u_char sample_size; /* Number of bytes per sample */ mb_u_char data_type; /* Data type bitfield: 0: Amplitude 1: Phase */ unsigned int nalloc; /* Memory allocated in each array (bytes) */ char *port_data; char *stbd_data; unsigned int optionaldata; /* Flag indicating if values below filled in 0 = No 1 = Yes This is an internal MB-System flag, not a value in the data format */ float frequency; /* Ping frequency in Hz */ double latitude; /* Latitude of vessel reference point in radians, -pi/2 to +pi/2 */ double longitude; /* Longitude of vessel reference point in radians, -pi to +pi */ float heading; /* Heading of vessel at transmit time in radians */ float altitude; /* Altitude in meters for slant range correction */ } s7kr_backscatter; /* Reson 7k snippet data (part of record 7008) */ typedef struct s7kr_snippet_struct { unsigned short beam_number; /* Beam or element number */ unsigned int begin_sample; /* First sample number in beam from transmitter and outward. */ unsigned int end_sample; /* Last sample number in beam from transmitter and outward. */ unsigned int nalloc_amp; /* Bytes allocated to hold amplitude time series */ unsigned int nalloc_phase; /* Bytes allocated to hold phase time series */ void *amplitude; /* Amplitude or I time series as defined by sample_type */ void *phase; /* Phase or Q time series as defined by sample_type */ } s7kr_snippet; /* Reson 7k beam data (record 7008) */ typedef struct s7kr_beam_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned short number_beams; /* Total number of beams or elements in record */ unsigned short reserved; /* Reserved */ unsigned int number_samples; /* Number of samples in ping. Only valid if all beams and samples are in record. */ mb_u_char record_subset_flag; /* Record subset flag: 0 = All beams and samples in ping 1 = Beam and/or sample ping subset */ mb_u_char row_column_flag; /* Row column flag: 0 = Beam followed by samples 1 = Sample follows by beams */ unsigned short sample_header_id; /* Sample header identifier 0 = no sample header */ unsigned int sample_type; /* Data sample type 0-3: Amplitude: 0 = No amplitude 1 = Amplitude (8 bits) 2 = Amplitude (16 bits) 3 = Amplitude (32 bits) 4-7: Phase: 0 = No phase 1 = Phase (8 bits) 2 = Phase (16 bits) 3 = Phase (32 bits) 8-11: I and Q 0 = No I and Q 1 = Signed 16 bit I and signed 16 bit Q 2 = Signed 32 bit I and signed 32 bit Q 12-14: Beam forming flag: 0 = Beam formed data 1 = Element data */ s7kr_snippet snippets[MBSYS_RESON7K_MAX_RECEIVERS]; } s7kr_beam; /* Reson 7k vertical depth (record 7009) */ typedef struct s7kr_verticaldepth_struct { s7k_header header; float frequency; /* Sonar frequency in Hz */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ double latitude; /* Latitude of vessel reference point in radians, -pi/2 to +pi/2 */ double longitude; /* Longitude of vessel reference point in radians, -pi to +pi */ float heading; /* Heading of vessel at transmit time in radians */ float alongtrack; /* Sonar alongtrack distance from vessel reference point in meters */ float acrosstrack; /* Sonar alongtrack distance from vessel reference point in meters */ float vertical_depth; /* Sonar vertical depth with respect to chart datum or vessel if tide data are unavailable in meters */ } s7kr_verticaldepth; /* Reson 7k image data (record 7011) */ typedef struct s7kr_image_struct { s7k_header header; unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int width; /* Image width in pixels */ unsigned int height; /* Image height in pixels */ unsigned short color_depth; /* Color depth per pixel in bytes */ unsigned short width_height_flag; /* Image data width-height flag: 0 = Width followed by height 1 = Height followed by width */ unsigned short compression; /* Compression algorithm 0 = no compression */ unsigned int nalloc; /* Number of bytes allocated to image array */ void *image; /* Array of image data */ } s7kr_image; /* Reson 7k ping motion (record 7012) */ typedef struct s7kr_v2pingmotion_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int n; /* number of samples */ unsigned short flags; /* Bit field: Bit 0: 1 = Pitch stabilization applied / pitch field present Bit 1: 1 = Roll stabilization applied / roll field present Bit 2: Yaw stabilization applied / yaw field present Bit 3: Heave stabilization applied / heave field present Bit 4-15: Reserved */ unsigned int error_flags; /* Bit field: Bit 0: PHINS referecne 0 = invalid, 1 = valid Bit 1-3: Reserved for PHINS Bit 4: Roll angle > 15 degrees Bit 5: Pitch angle > 35 degrees Bit 6: Roll rate > 10 degrees Bit 7-15: Reserved */ float frequency; /* sampling frequency (Hz) */ float pitch; /* Pitch value at the ping time (radians) */ int nalloc; /* number of samples allocated */ float *roll; /* Roll (radians) */ float *heading; /* Heading (radians) */ float *heave; /* Heave (m) */ } s7kr_v2pingmotion; /* Reson 7k detection setup (record 7017) */ typedef struct s7kr_v2detectionsetup_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int number_beams; /* Number of detection points */ unsigned int data_field_size; /* Size of detection information block in bytes */ mb_u_char detection_algorithm; /* Detection algorithm: 0 = G1_Simple 1 = G1_BlendFilt 2 = G2 3-255: Reserved for future use */ unsigned int detection_flags; /* Bit field: Bit 0: 1 = User-defined depth filter enabled Bit 1: 1 = User-defined range filter enabled Bit 2: 1 = Automatic filter enabled Bit 3: 1 = Nadir search limits enabled Bit 4: 1 = Automatic window limits enabled Bits 5-31: Reserved for future use */ float minimum_depth; /* Minimum depth for user-defined filter (meters) */ float maximum_depth; /* Maximum depth for user-defined filter (meters) */ float minimum_range; /* Minimum range for user-defined filter (meters) */ float maximum_range; /* Maximum range for user-defined filter (meters) */ float minimum_nadir_search; /* Minimum depth for automatic filter nadir search (meters) */ float maximum_nadir_search; /* Maximum depth for automatic filter nadir search (meters) */ mb_u_char automatic_filter_window;/* Automatic filter window size (percent altitude) */ float applied_roll; /* Roll value (in radians) applied to gates; zero if roll stabilization is on */ float depth_gate_tilt; /* Angle in radians (positive to starboard) */ float reserved[14]; /* Reserved for future use */ unsigned short beam_descriptor[MBSYS_RESON7K_MAX_BEAMS]; /* Beam number the detection is taken from */ float detection_point[MBSYS_RESON7K_MAX_BEAMS]; /* Non-corrected fractional sample number with the reference to the receiver's acoustic center with the zero sample at the transmit time */ unsigned int flags[MBSYS_RESON7K_MAX_BEAMS]; /* Bit field: Bit 0: 1 = automatic limits valid Bit 1: 1 = User-defined limits valid Bit 2-8: Quality type, defines the type of the quality field 0: Quality not available / not used 1: Quality used Bit 9: 1 = Quality passes user-defined criteria or no user-defined criteria was specified Bit 10: 1 = Magnitude based detection Bit 11: 1 = Phase based detection Bit 12: 1 = Other detection 1 Bit 13-31: Reserved for future use Note that bits 1-12 are not mutually exclusive. For example, bits 10 & 11 will both be set when the current "blend" of magnitude and phase detection is used. */ unsigned int auto_limits_min_sample[MBSYS_RESON7K_MAX_BEAMS]; /* Minimum sample number for automatic limits */ unsigned int auto_limits_max_sample[MBSYS_RESON7K_MAX_BEAMS]; /* Maximum sample number for automatic limits */ unsigned int user_limits_min_sample[MBSYS_RESON7K_MAX_BEAMS]; /* Minimum sample number for user-defined limits */ unsigned int user_limits_max_sample[MBSYS_RESON7K_MAX_BEAMS]; /* Maximum sample number for user-defined limits */ unsigned int quality[MBSYS_RESON7K_MAX_BEAMS]; /* Bit field: Bit 0: 1 = Brightness filter passed Bit 1: 1 = Colinearity filter passed Bit 2-31: Reserved for future use */ float uncertainty[MBSYS_RESON7K_MAX_BEAMS]; /* Detection uncertainty represented as an error normalized to the detection point */ } s7kr_v2detectionsetup; /* Reson 7k amplitude and phase data (part of record 7018) */ typedef struct s7kr_v2amplitudephase_struct { unsigned short beam_number; /* Beam or element number */ unsigned int number_samples; /* Number of samples */ unsigned int nalloc; /* Number of samples allocated */ unsigned short *amplitude; /* Amplitude time series */ short *phase; /* Phase time series (radians scaled by 10430) */ } s7kr_v2amplitudephase; /* Reson 7k beamformed magnitude and phase data (record 7018) */ typedef struct s7kr_v2beamformed_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned short number_beams; /* Total number of beams or elements in record */ unsigned int number_samples; /* Number of samples in each beam in this record */ mb_u_char reserved[32]; /* Reserved for future use */ s7kr_v2amplitudephase amplitudephase[MBSYS_RESON7K_MAX_BEAMS]; /* amplitude and phase data for each beam */ } s7kr_v2beamformed; /* Reson 7k BITE field (part of record 7021) */ typedef struct s7kr_v2bitefield_struct { unsigned short reserved; /* Reserved */ char name[64]; /* Name - null terminated ASCII string */ mb_u_char device_type; /* Device type: 1 = Error count 2 = FPGA die temperature 3 = Humidity 4 = Serial 8-channel ADC 5 = Firmware version 6 = Head Temp,_8K WetEnd 7 = Leak V,_8K WetEnd 8 = 5 Volt,_8K WetEnd 9 = 12 Volt,_8K WetEnd 10 = DipSwitch,_8K WetEnd */ float minimum; /* Minimum value */ float maximum; /* Maximum value */ float value; /* Current value */ } s7kr_v2bitefield; /* Reson 7k BITE (part of record 7021) */ typedef struct s7kr_v2bitereport_struct { char source_name[64]; /* source name - null terminated string */ mb_u_char source_address; /* source address */ float frequency; /* frequency for transmitter or 0 */ unsigned short enumerator; /* Enumerator for transmitter or 0 */ s7k_time downlink_time; /* Downlink time sent */ s7k_time uplink_time; /* Uplink time received */ s7k_time bite_time; /* BITE time received */ mb_u_char status; /* Bit field: Bit 0: 0 = Uplink ok 1 = Uplink error Bit 1: 0 = Downlink ok 1 = Downlink error Bit 2: 0 = BITE ok 1 = BITE error */ unsigned short number_bite; /* Number of valid BITE fields for this board */ mb_u_char bite_status[32]; /* Each bit delineates status of one BITE channel up to 256: 0 = BITE field within range 1 = BITE field out of range */ s7kr_v2bitefield bitefield[256]; /* Array of BITE field data */ } s7kr_v2bitereport; /* Reson 7k BITE (record 7021) */ typedef struct s7kr_v2bite_struct { s7k_header header; unsigned short number_reports; /* Number of Built In Test Environment reports */ unsigned int nalloc; s7kr_v2bitereport *reports; } s7kr_v2bite; /* Reson 7k center version (record 7022) */ typedef struct s7kr_v27kcenterversion_struct { s7k_header header; char version[32]; /* Null terminated ASCII string */ } s7kr_v27kcenterversion; /* Reson 7k 8k wet end version (record 7023) */ typedef struct s7kr_v28kwetendversion_struct { s7k_header header; char version[32]; /* Null terminated ASCII string */ } s7kr_v28kwetendversion; /* Reson 7k version 2 detection (record 7026) */ typedef struct s7kr_v2detection_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int number_beams; /* Number of detection points */ unsigned int data_field_size; /* Size of detection information block in bytes */ mb_u_long corrections; /* Corrections/Methods bit field: Bit 0: 1 = Geometrical corrections for cylindrical arrays applied Bit 1-2: 0 = Manually entered surface sound velocity used 1 = Measured surface sound velocity used 2,3 = reserved for future use Bit 3: 1 = Roll stabilization applied Bit 4: 1 = Pitch stablization applied Bits 5-63: Reserved for future use */ mb_u_char detection_algorithm; /* Detection algorithm: 0 = G1_Simple 1 = G1_BlendFilt 2 = G2 3-255: Reserved for future use */ unsigned int flags; /* Bit field: Bit 0: 1 = Quality filter applied. Only detections that pass user-defined criteria are generated. Bit 1: 1 = Motion error(s) detected. Data may not be accurate Bit 2-3: Reference frame 0 = Sonar 1 = Vessel 2-3 = Reserved */ mb_u_char reserved[64]; /* Reserved for future use */ float range[MBSYS_RESON7K_MAX_BEAMS]; /* Two-way travel time to the bottom/target (seconds) */ float angle_x[MBSYS_RESON7K_MAX_BEAMS]; /* Across-track angle to detection point (radians) */ float angle_y[MBSYS_RESON7K_MAX_BEAMS]; /* Along-track angle to detection point (radians) */ float range_error[MBSYS_RESON7K_MAX_BEAMS]; /* Measurement error (seconds) */ float angle_x_error[MBSYS_RESON7K_MAX_BEAMS]; /* Measurement error (radians) */ float angle_y_error[MBSYS_RESON7K_MAX_BEAMS]; /* Measurement error (radians) */ } s7kr_v2detection; /* Reson 7k version 2 raw detection (record 7027) */ typedef struct s7kr_v2rawdetection_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned int number_beams; /* Number of detection points */ unsigned int data_field_size; /* Size of detection information block in bytes */ mb_u_char detection_algorithm; /* Detection algorithm: 0 = G1_Simple 1 = G1_BlendFilt 2 = G2 3-255: Reserved for future use */ unsigned int detection_flags; /* Bit field: Bits 0-31: Reserved for future use */ float sampling_rate; /* Sonar's sampling frequency in Hz */ float tx_angle; /* Applied transmitter steering angle, in radians */ mb_u_char reserved[64]; /* Reserved for future use */ unsigned short beam_descriptor[MBSYS_RESON7K_MAX_BEAMS]; /* Beam number the detection is taken from */ float detection_point[MBSYS_RESON7K_MAX_BEAMS]; /* Non-corrected fractional sample number with the reference to the receiver's acoustic center with the zero sample at the transmit time */ float rx_angle[MBSYS_RESON7K_MAX_BEAMS]; /* Beam steering angle with reference to receiver's acoustic center in the sonar reference frame, at the detection point, in radians */ unsigned int flags[MBSYS_RESON7K_MAX_BEAMS]; /* Bit fields: Bit 0: 1 = Magnitude based detection Bit 1: 1 = Phase based detection Bits 2-8: Quality type, defines the type of the quality field below 0: Quality not available / not used 1: Quality available 2-31: Reserved for future use Bit 9: Uncertainty information is available Bits 10-31: Reserved for future use */ unsigned int quality[MBSYS_RESON7K_MAX_BEAMS]; /* Detection quality: Bit 0: 1 = Brightness filter passed Bit 1: 1 = Co-linearity filter passed */ float uncertainty[MBSYS_RESON7K_MAX_BEAMS]; /* Detection uncertainty represented as an error normalized to the detection point */ } s7kr_v2rawdetection; /* Reson 7k version 2 snippet data (part of record 7028) */ typedef struct s7kr_v2snippettimeseries_struct { unsigned short beam_number; /* Beam or element number */ unsigned int begin_sample; /* First sample included in snippet */ unsigned int detect_sample; /* Detection point */ unsigned int end_sample; /* Last sample included in snippet */ unsigned int nalloc; /* Bytes allocated to hold amplitude time series */ unsigned short *amplitude; /* Amplitude time series */ } s7kr_v2snippettimeseries; /* Reson 7k version 2 snippet (record 7028) */ typedef struct s7kr_v2snippet_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Sequential number */ unsigned short multi_ping; /* Flag to indicate multi-ping mode 0 = no multi-ping >0 = sequence number of ping in the multi-ping sequence */ unsigned short number_beams; /* Number of detection points */ mb_u_char error_flag; /* If set, record will not contain any data Flag itself will indicate an error: 0 = Ok 6 = Bottom detection failed Other = reserved */ mb_u_char control_flags; /* Control settings from RC 1118 command: Bit 0: Automatic snippet window is used Bit 1: Quality filter enabled Bit 2: Minimum window size is required Bit 3: Maximum window size is required Bit 4-7: Reserved */ mb_u_char reserved[28]; /* Reserved for future use */ s7kr_v2snippettimeseries snippettimeseries[MBSYS_RESON7K_MAX_BEAMS]; /* Snippet time series for each beam */ } s7kr_v2snippet; /* Reson 7k sonar installation parameters (record 7030) */ typedef struct s7kr_installation_struct { s7k_header header; float frequency; /* Sonar frequency (Hz) */ unsigned short firmware_version_len; /* Length of firmware version info in bytes */ char firmware_version[128]; /* Firmware version info */ unsigned short software_version_len; /* Length of software version info in bytes */ char software_version[128]; /* Software version info */ unsigned short s7k_version_len; /* Length of 7k software version info in bytes */ char s7k_version[128]; /* 7k software version info */ unsigned short protocal_version_len; /* Length of protocal version info in bytes */ char protocal_version[128]; /* Protocal version info */ float transmit_x; /* Sonar transmit array X offset (m) */ float transmit_y; /* Sonar transmit array Y offset (m) */ float transmit_z; /* Sonar transmit array Z offset (m) */ float transmit_roll; /* Sonar transmit array roll offset radiansm) */ float transmit_pitch; /* Sonar transmit array pitch offset (radians) */ float transmit_heading; /* Sonar transmit array heading offset (radians) */ float receive_x; /* Sonar receive array X offset (m) */ float receive_y; /* Sonar receive array Y offset (m) */ float receive_z; /* Sonar receive array Z offset (m) */ float receive_roll; /* Sonar receive array roll offset (radians) */ float receive_pitch; /* Sonar receive array pitch offset (radians) */ float receive_heading; /* Sonar receive array heading offset (radians) */ float motion_x; /* Motion sensor X offset (m) */ float motion_y; /* Motion sensor Y offset (m) */ float motion_z; /* Motion sensor Z offset (m) */ float motion_roll; /* Motion sensor roll offset (radians) */ float motion_pitch; /* Motion sensor pitch offset (radians) */ float motion_heading; /* Motion sensor heading offset (radians) */ unsigned short motion_time_delay; /* Motion sensor time delay (msec) */ float position_x; /* Position sensor X offset (m) */ float position_y; /* Position sensor Y offset (m) */ float position_z; /* Position sensor Z offset (m) */ unsigned short position_time_delay; /* Position sensor time delay (msec) */ float waterline_z; /* Vertical offset from reference point to waterline (m) */ } s7kr_installation; /* Reson 7k system event (record 7051) */ typedef struct s7kr_systemeventmessage_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned short event_id; /* Event id: 0: success 1: information (used for MB-System comment record) 2: warning 3: error */ unsigned short message_length; /* Message length in bytes */ unsigned short event_identifier; /* Undefined */ unsigned int message_alloc; /* Number of bytes allocated for message */ char *message; /* Message string (null terminated) */ } s7kr_systemeventmessage; /* Reson 7k subsystem structure */ typedef struct s7kr_subsystem_struct { unsigned int device_identifier; /* Identifier for record type of embedded data */ unsigned short system_enumerator; /* Identifier for the device subsystem */ } s7kr_subsystem; /* Reson 7k file header (record 7200) */ typedef struct s7kr_fileheader_struct { s7k_header header; char file_identifier[16]; /* File identifier: 0xF3302F43CFB04D6FA93E2AEC33DF577D */ unsigned short version; /* File format version number */ unsigned short reserved; /* Reserved */ char session_identifier[16]; /* Session identifier - used to associate multiple files for a given session */ unsigned int record_data_size; /* Size of record data - 0 if not set */ unsigned int number_subsystems; /* Number of subsystems - 0 if not set */ char recording_name[64]; /* Recording program name - null terminated string */ char recording_version[16]; /* Recording program version number - null terminated string */ char user_defined_name[64]; /* User defined name - null terminated string */ char notes[128]; /* Notes - null terminated string */ s7kr_subsystem subsystem[MBSYS_RESON7K_MAX_DEVICE]; } s7kr_fileheader; /* Reson 7k remote control sonar settings (record 7503) */ typedef struct s7kr_remotecontrolsettings_struct { s7k_header header; mb_u_long serial_number; /* Sonar serial number */ unsigned int ping_number; /* Ping number */ float frequency; /* Transmit frequency (Hertz) */ float sample_rate; /* Sample rate (Hertz) */ float receiver_bandwidth; /* Receiver bandwidth (Hertz) */ float pulse_width; /* Transmit pulse length (seconds) */ unsigned int pulse_type; /* Pulse type identifier: 0 - CW 1 - linear chirp */ unsigned int pulse_envelope; /* Pulse envelope identifier: 0 - tapered rectangular 1 - Tukey */ float pulse_envelope_par; /* Pulse envelope parameter */ unsigned int pulse_reserved; /* Reserved pulse information */ float max_ping_rate; /* Maximum ping rate (pings/second) */ float ping_period; /* Time since last ping (seconds) */ float range_selection; /* Range selection (meters) */ float power_selection; /* Power selection (dB/uPa) */ float gain_selection; /* Gain selection (dB) */ unsigned int control_flags; /* Control flags bitfield: 0-3: auto range method 4-7: auto bottom detect filter method 8: bottom detect range filter 9: bottom detect depth filter 10-14: auto receiver gain method 15-31: reserved */ unsigned int projector_magic_no; /* Projector selection */ float steering_vertical; /* Projector steering angle vertical (radians) */ float steering_horizontal; /* Projector steering angle horizontal (radians) */ float beamwidth_vertical; /* Projector -3 dB beamwidth vertical (radians) */ float beamwidth_horizontal; /* Projector -3 dB beamwidth horizontal (radians) */ float focal_point; /* Projector focal point (meters) */ unsigned int projector_weighting; /* Projector beam weighting window type: 0 - rectangular 1 - Chebyshev */ float projector_weighting_par;/* Projector beam weighting window parameter */ unsigned int transmit_flags; /* Transmit flags bitfield: 0-3: pitch stabilization method 4-7: yaw stabilization method 8-31: reserved */ unsigned int hydrophone_magic_no; /* Hydrophone selection (magic number) */ unsigned int receive_weighting; /* Receiver beam weighting window type: 0 - Chebyshev 1 - Kaiser */ float receive_weighting_par;/* Receiver beam weighting window parameter */ unsigned int receive_flags; /* Receive flags bitfield: 0-3: roll stabilization method 4-7: dynamic focusing method 8-11: doppler compensation method 12-15: match filtering method 16-19: TVG method 20-23: Multi-ping mode 0 = no multi-ping >0 = sequence number of the ping in the multi-ping sequence. 24-31: Reserved */ float range_minimum; /* Bottom detection minimum range (meters) */ float range_maximum; /* Bottom detection maximum range (meters) */ float depth_minimum; /* Bottom detection minimum depth (meters) */ float depth_maximum; /* Bottom detection maximum depth (meters) */ float absorption; /* Absorption (dB/km) */ float sound_velocity; /* Sound velocity (meters/second) */ float spreading; /* Spreading loss (dB) */ unsigned short reserved; /* reserved for future pulse shape description */ /* parameters added by version 1.0 */ float tx_offset_x; /* Offset of the transducer array in m, relative to the receiver array on the x axis, positive value is to the right, if the receiver faces forward. */ float tx_offset_y; /* Offset of the transducer array in m, relative to the receiver array on the y axis, positive value is forward, if the receiver faces forward. */ float tx_offset_z; /* Offset of the transducer array in m, relative to the receiver array on the z axis, positive value is up, if the receiver faces forward. */ float head_tilt_x; /* Head tilt x (radians) */ float head_tilt_y; /* Head tilt y (radians) */ float head_tilt_z; /* Head tilt z (radians) */ unsigned short ping_on_off; /* Ping on/off state: 0 = pinging disabled 1 = pinging enabled */ mb_u_char data_sample_types; /* */ mb_u_char projector_orientation; /* Projector orientation: 0: down 1: up */ unsigned short beam_angle_mode; /* Beam angle spacing mode: 1: equiangle 2: eqidistant */ unsigned short r7kcenter_mode; /* 7kCenter mode: 0: normal 1: autopilot 2: calibration (IQ) 3+: reserved */ float gate_depth_min; /* Adaptive gate minimum depth */ float gate_depth_max; /* Adaptive gate maximum depth */ unsigned short reserved2[35]; } s7kr_remotecontrolsettings; /* Reson 7k Reserved (well, unknown really...) (record 7504) */ typedef struct s7kr_reserved_struct { s7k_header header; mb_u_char reserved[R7KHDRSIZE_7kReserved]; /* raw bytes of unknown record */ } s7kr_reserved; /* Reson 7k Roll (record 7600) */ typedef struct s7kr_roll_struct { s7k_header header; float roll; /* Roll (radians) */ } s7kr_roll; /* Reson 7k Pitch (record 7601) */ typedef struct s7kr_pitch_struct { s7k_header header; float pitch; /* Pitch (radians) */ } s7kr_pitch; /* Reson 7k Sound Velocity (record 7610) */ typedef struct s7kr_soundvelocity_struct { s7k_header header; float soundvelocity; /* Water sound speed (m/s) */ } s7kr_soundvelocity; /* Reson 7k Absorption Loss (record 7611) */ typedef struct s7kr_absorptionloss_struct { s7k_header header; float absorptionloss; /* Absorption loss (dB/km) */ } s7kr_absorptionloss; /* 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_reson7k_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; int read_processedsidescan; /* 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; /* Processed sidescan - MB-System extension to 7k format (record 3199) */ s7kr_processedsidescan processedsidescan; /* 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_reson7k_checkheader(s7k_header header); /* system specific function prototypes */ int mbsys_reson7k_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_reson7k_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_reson7k_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_reson7k_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_reson7k_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_reson7k_tlt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_reson7k_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_reson7k_zero_ss(int verbose, void *store_ptr, int *error); int mbsys_reson7k_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_reson7k_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_reson7k_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error); int mbsys_reson7k_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error); int mbsys_reson7k_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_reson7k_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_reson7k_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_reson7k_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_reson7k_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_reson7k_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_reson7k_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_reson7k_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_reson7k_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_reson7k_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_reson7k_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_reson7k_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, int *kind, void *segyheader_ptr, int *error); int mbsys_reson7k_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, int *sampleformat, int *kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_reson7k_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, int kind, void *segyheader_ptr, float *segydata, int *error); int mbsys_reson7k_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_reson7k_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_reson7k_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_reson7k_checkheader(s7k_header header); int mbsys_reson7k_makess(int verbose, void *mbio_ptr, void *store_ptr, int source, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *error); int mbsys_reson7k_print_header(int verbose, s7k_header *header, int *error); int mbsys_reson7k_print_reference(int verbose, s7kr_reference *reference, int *error); int mbsys_reson7k_print_sensoruncal(int verbose, s7kr_sensoruncal *sensoruncal, int *error); int mbsys_reson7k_print_sensorcal(int verbose, s7kr_sensorcal *sensorcal, int *error); int mbsys_reson7k_print_position(int verbose, s7kr_position *position, int *error); int mbsys_reson7k_print_customattitude(int verbose, s7kr_customattitude *customattitude, int *error); int mbsys_reson7k_print_tide(int verbose, s7kr_tide *tide, int *error); int mbsys_reson7k_print_altitude(int verbose, s7kr_altitude *altitude, int *error); int mbsys_reson7k_print_motion(int verbose, s7kr_motion *motion, int *error); int mbsys_reson7k_print_depth(int verbose, s7kr_depth *depth, int *error); int mbsys_reson7k_print_svp(int verbose, s7kr_svp *svp, int *error); int mbsys_reson7k_print_ctd(int verbose, s7kr_ctd *ctd, int *error); int mbsys_reson7k_print_geodesy(int verbose, s7kr_geodesy *geodesy, int *error); int mbsys_reson7k_print_rollpitchheave(int verbose, s7kr_rollpitchheave *rollpitchheave, int *error); int mbsys_reson7k_print_heading(int verbose, s7kr_heading *heading, int *error); int mbsys_reson7k_print_surveyline(int verbose, s7kr_surveyline *surveyline, int *error); int mbsys_reson7k_print_navigation(int verbose, s7kr_navigation *navigation, int *error); int mbsys_reson7k_print_attitude(int verbose, s7kr_attitude *attitude, int *error); int mbsys_reson7k_print_rec1022(int verbose, s7kr_rec1022 *rec1022, int *error); int mbsys_reson7k_print_fsdwchannel(int verbose, int data_format, s7k_fsdwchannel *fsdwchannel, int *error); int mbsys_reson7k_print_fsdwssheader(int verbose, s7k_fsdwssheader *fsdwssheader, int *error); int mbsys_reson7k_print_fsdwsegyheader(int verbose, s7k_fsdwsegyheader *fsdwsegyheader, int *error); int mbsys_reson7k_print_fsdwss(int verbose, s7kr_fsdwss *fsdwss, int *error); int mbsys_reson7k_print_fsdwsb(int verbose, s7kr_fsdwsb *fsdwsb, int *error); int mbsys_reson7k_print_bluefin(int verbose, s7kr_bluefin *bluefin, int *error); int mbsys_reson7k_print_processedsidescan(int verbose, s7kr_processedsidescan *processedsidescan, int *error); int mbsys_reson7k_print_volatilesettings(int verbose, s7kr_volatilesettings *volatilesettings, int *error); int mbsys_reson7k_print_device(int verbose, s7k_device *device, int *error); int mbsys_reson7k_print_configuration(int verbose, s7kr_configuration *configuration, int *error); int mbsys_reson7k_print_matchfilter(int verbose, s7kr_matchfilter *matchfilter, int *error); int mbsys_reson7k_print_v2firmwarehardwareconfiguration(int verbose, s7kr_v2firmwarehardwareconfiguration *v2firmwarehardwareconfiguration, int *error); int mbsys_reson7k_print_beamgeometry(int verbose, s7kr_beamgeometry *beamgeometry, int *error); int mbsys_reson7k_print_calibration(int verbose, s7kr_calibration *calibration, int *error); int mbsys_reson7k_print_bathymetry(int verbose, s7kr_bathymetry *bathymetry, int *error); int mbsys_reson7k_print_backscatter(int verbose, s7kr_backscatter *backscatter, int *error); int mbsys_reson7k_print_beam(int verbose, s7kr_beam *beam, int *error); int mbsys_reson7k_print_verticaldepth(int verbose, s7kr_verticaldepth *verticaldepth, int *error); int mbsys_reson7k_print_image(int verbose, s7kr_image *image, int *error); int mbsys_reson7k_print_v2pingmotion(int verbose, s7kr_v2pingmotion *v2pingmotion, int *error); int mbsys_reson7k_print_v2detectionsetup(int verbose, s7kr_v2detectionsetup *v2detectionsetup, int *error); int mbsys_reson7k_print_v2beamformed(int verbose, s7kr_v2beamformed *v2beamformed, int *error); int mbsys_reson7k_print_v2bite(int verbose, s7kr_v2bite *v2bite, int *error); int mbsys_reson7k_print_v27kcenterversion(int verbose, s7kr_v27kcenterversion *v27kcenterversion, int *error); int mbsys_reson7k_print_v28kwetendversion(int verbose, s7kr_v28kwetendversion *v28kwetendversion, int *error); int mbsys_reson7k_print_v2detection(int verbose, s7kr_v2detection *v2detection, int *error); int mbsys_reson7k_print_v2rawdetection(int verbose, s7kr_v2rawdetection *v2rawdetection, int *error); int mbsys_reson7k_print_v2snippet(int verbose, s7kr_v2snippet *v2snippet, int *error); int mbsys_reson7k_print_installation(int verbose, s7kr_installation *installation, int *error); int mbsys_reson7k_print_systemeventmessage(int verbose, s7kr_systemeventmessage *systemeventmessage, int *error); int mbsys_reson7k_print_subsystem(int verbose, s7kr_subsystem *subsystem, int *error); int mbsys_reson7k_print_fileheader(int verbose, s7kr_fileheader *fileheader, int *error); int mbsys_reson7k_print_remotecontrolsettings(int verbose, s7kr_remotecontrolsettings *remotecontrolsettings, int *error); int mbsys_reson7k_print_reserved(int verbose, s7kr_reserved *reserved, int *error); int mbsys_reson7k_print_roll(int verbose, s7kr_roll *roll, int *error); int mbsys_reson7k_print_pitch(int verbose, s7kr_pitch *pitch, int *error); int mbsys_reson7k_print_soundvelocity(int verbose, s7kr_soundvelocity *soundvelocity, int *error); int mbsys_reson7k_print_absorptionloss(int verbose, s7kr_absorptionloss *absorptionloss, int *error); int mbsys_reson7k_print_spreadingloss(int verbose, s7kr_spreadingloss *spreadingloss, int *error);