/*-------------------------------------------------------------------- * The MB-system: mbsys_reson.h 8/20/94 * $Id: mbsys_reson8k.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2001-2012 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_reson.h defines the data structures used by MBIO functions * to store data from Reson SeaBat 8101 and other 8K series * multibeam sonar systems. * The data formats which are commonly used to store Reson 8K * data in files include * MBF_XTFR8101 : MBIO ID 84 * * * Author: D. W. Caress * Date: September 2, 2001 * * $Log: mbsys_reson8k.h,v $ * Revision 5.5 2006/03/06 21:47:48 caress * Implemented changes suggested by Bob Courtney of the Geological Survey of Canada to support translating Reson data to GSF. * * Revision 5.4 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 5.3 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.2 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.1 2001/11/15 22:36:43 caress * Working on it. * * Revision 5.0 2001/09/17 23:24:10 caress * Added XTF format. * * * */ /* * Notes on the MBSYS_RESON8K data: * */ /* sonar types */ #define MBSYS_RESON8K_UNKNOWN 0 #define MBSYS_RESON8K_SEABAT9001 9001 #define MBSYS_RESON8K_SEABAT9002 9002 #define MBSYS_RESON8K_SEABAT8101 8101 #define MBSYS_RESON8K_SEABAT8111 8111 #define MBSYS_RESON8K_SEABAT8125 8125 #define MBSYS_RESON8K_MESOTECHSM2000 2000 /* maximum number of beams and pixels */ #define MBSYS_RESON8K_MAXBEAMS 240 #define MBSYS_RESON8K_MAXRAWPIXELS 8192 #define MBSYS_RESON8K_MAXPIXELS 1024 #define MBSYS_RESON8K_MAXSVP 500 #define MBSYS_RESON8K_COMMENT_LENGTH 200 #define RESON8K_RT_1 0x11 #define RESON8K_RIT_1 0x12 #define RESON8K_RT_2 0x13 #define RESON8K_RIT_2 0x14 #define RESON8K_RT_3 0x17 #define RESON8K_RIT_3 0x18 /* internal data structure */ struct mbsys_reson8k_struct { /* type of data record */ int kind; /* Data kind */ /* type of sonar */ int sonar; /* Type of Reson sonar */ /* parameter info */ float MBOffsetX; float MBOffsetY; float MBOffsetZ; float NavLatency; /* GPS_time_received - GPS_time_sent (sec) */ float NavOffsetY; /* Nav offset (m) */ float NavOffsetX; /* Nav offset (m) */ float NavOffsetZ; /* Nav z offset (m) */ float NavOffsetYaw; /* Heading offset (m) */ float MRUOffsetY; /* Multibeam MRU y offset (m) */ float MRUOffsetX; /* Multibeam MRU x offset (m) */ float MRUOffsetZ; /* Multibeam MRU z offset (m) */ float MRUOffsetPitch; /* Multibeam MRU pitch offset (degrees) */ float MRUOffsetRoll; /* Multibeam MRU roll offset (degrees) */ /* nav data */ double nav_time_d; double nav_longitude; double nav_latitude; float nav_heading; /* attitude data */ double att_timetag; float att_heading; float att_heave; float att_roll; float att_pitch; /* comment */ char comment[MBSYS_RESON8K_COMMENT_LENGTH]; /* sound velocity profile */ double svp_time_d; int svp_num; float svp_depth[MBSYS_RESON8K_MAXSVP]; /* meters */ float svp_vel[MBSYS_RESON8K_MAXSVP]; /* meters/sec */ /* survey data */ double png_time_d; double png_latency; double png_latitude; double png_longitude; double png_speed; /* km/hr */ double png_roll; double png_pitch; double png_heading; double png_heave; char packet_type; /* identifier for packet type (0x18) */ char packet_subtype; /* identifier for packet subtype */ /* for dual head system, most significant bit (bit 7) */ /* indicates which sonar head to associate with packet */ /* head 1 - bit 7 set to 0 */ /* head 2 - bit 7 set to 1 */ unsigned short latency; /* time from ping to output (milliseconds) */ unsigned int Seconds; /* seconds since 00:00:00, 1 January 1970 */ unsigned int Millisecs; /* milliseconds, LSB = 1 ms */ unsigned int ping_number; /* sequential ping number from sonar startup/reset */ unsigned int sonar_id; /* least significant four bytes of Ethernet address */ unsigned short sonar_model; /* coded model number of sonar */ unsigned short frequency; /* sonar frequency in KHz */ unsigned short velocity; /* programmed sound velocity (LSB = 1 m/sec) */ unsigned short sample_rate; /* A/D sample rate (samples per second) */ unsigned short ping_rate; /* Ping rate (pings per second * 1000) */ unsigned short range_set; /* range setting for SeaBat (meters ) */ unsigned short power; /* power setting for SeaBat */ /* bits 0-4 - power (0 - 8) */ unsigned short gain; /* gain setting for SeaBat */ /* bits 0-6 - gain (1 - 45) */ /* bit 14 (0 = fixed, 1 = tvg) */ /* bit 15 (0 = manual, 1 = auto) */ unsigned short pulse_width; /* transmit pulse width (microseconds) */ mb_u_char tvg_spread; /* spreading coefficient for tvg * 4 */ /* valid values = 0 to 240 (0.0 to 60.0 in 0.25 steps) */ mb_u_char tvg_absorp; /* absorption coefficient for tvg */ mb_u_char projector_type; /* bits 0-4 = projector type */ /* 0 = stick projector */ /* 1 = array face */ /* 2 = ER projector */ /* bit 7 - pitch steering (1=enabled, 0=disabled) */ mb_u_char projector_beam_width; /* along track transmit beam width (degrees * 10) */ unsigned short beam_width_num; /* cross track receive beam width numerator */ unsigned short beam_width_denom; /* cross track receive beam width denominator */ /* beam width degrees = numerator / denominator */ short projector_angle; /* projector pitch steering angle (degrees * 100) */ unsigned short min_range; /* sonar filter settings */ unsigned short max_range; unsigned short min_depth; unsigned short max_depth; mb_u_char filters_active; /* range/depth filters active */ /* bit 0 - range filter (0 = off, 1 = active) */ /* bit 1 - depth filter (0 = off, 1 = active) */ mb_u_char spare[3]; /* spare field for future growth */ short temperature; /* temperature at sonar head (deg C * 10) */ short beam_count; /* number of sets of beam data in packet */ unsigned short range[MBSYS_RESON8K_MAXBEAMS]; /* range for beam where n = Beam Count */ /* range units = sample cells * 4 */ mb_u_char quality[MBSYS_RESON8K_MAXBEAMS/2+1]; /* packed quality array (two 4 bit values/char) */ /* cnt = n/2 if beam count even, n/2+1 if odd */ /* cnt then rounded up to next even number */ /* e.g. if beam count=101, cnt=52 */ /* unused trailing quality values set to zero */ /* bit 0 - brightness test (0=failed, 1=passed) */ /* bit 1 - colinearity test (0=failed, 1=passed) */ /* bit 2 - amplitude bottom detect used */ /* bit 3 - phase bottom detect used */ /* bottom detect can be amplitude, phase or both */ unsigned short intensity[MBSYS_RESON8K_MAXBEAMS]; /* intensities at bottom detect */ float ssrawtimedelay; /* raw sidescan delay (sec) */ float ssrawtimeduration; /* raw sidescan duration (sec) */ float ssrawbottompick; /* bottom pick time (sec) */ unsigned short ssrawportsamples; /* number of port raw sidescan samples */ unsigned short ssrawstbdsamples; /* number of stbd raw sidescan samples */ unsigned short ssrawport[MBSYS_RESON8K_MAXRAWPIXELS]; /* raw port sidescan */ unsigned short ssrawstbd[MBSYS_RESON8K_MAXRAWPIXELS]; /* raw starboard sidescan */ int beams_bath; int beams_amp; int pixels_ss; double pixel_size; char beamflag[MBSYS_RESON8K_MAXBEAMS]; /* beamflags */ double bath[MBSYS_RESON8K_MAXBEAMS]; /* bathymetry (m) */ double amp[MBSYS_RESON8K_MAXBEAMS]; /* bathymetry (m) */ double bath_acrosstrack[MBSYS_RESON8K_MAXBEAMS]; /* acrosstrack distance (m) */ double bath_alongtrack[MBSYS_RESON8K_MAXBEAMS]; /* alongtrack distance (m) */ double ss[MBSYS_RESON8K_MAXPIXELS]; /* sidescan */ double ss_acrosstrack[MBSYS_RESON8K_MAXPIXELS]; /* acrosstrack distance (m) */ double ss_alongtrack[MBSYS_RESON8K_MAXPIXELS]; /* alongtrack distance (m) */ }; /* system specific function prototypes */ int mbsys_reson8k_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_reson8k_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_reson8k_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_reson8k_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_reson8k_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_reson8k_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_reson8k_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_reson8k_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_reson8k_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_reson8k_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_reson8k_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_reson8k_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_reson8k_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_reson8k_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int *error);