/*-------------------------------------------------------------------- * The MB-system: mbsys_sb2100.h 2/4/94 * $Id: mbsys_sb2100.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_sb2100.h defines the data structures used by MBIO functions * to store data from SeaBeam 2100 and 1000 multibeam sonar systems. * The data formats which are commonly used to store SeaBeam 1000/2100 * data in files include * MBF_SB2100RW : MBIO ID 41 * MBF_SB2100BN : MBIO ID 42 * * Author: D. W. Caress * Date: February 4, 1994 * $Log: mbsys_sb2100.h,v $ * Revision 5.9 2009/03/08 09:21:00 caress * Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems. * * Revision 5.8 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.7 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.6 2003/12/24 06:56:34 caress * Fixed problem with formats 42 and 43. Combined former files mbr_sb2100b1.c and mbr_sb2100b2.c into new file mbr_sb2100bi.c. Files mbf_sb2100b1.h and mbf_sb2100b2.h are no longer part of the archive. * * Revision 5.5 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.4 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.3 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.2 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.8 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.7 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.6 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.6 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.6 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.5 1995/06/07 20:39:59 caress * Fixed some typos. * * Revision 4.4 1995/05/08 21:26:28 caress * Made changes consistent with new i/o spec for SB2100 data. * * Revision 4.3 1994/10/21 12:20:01 caress * Release V4.0 * * Revision 4.2 1994/06/21 22:54:21 caress * Added #ifdef statements to handle byte swapping. * * Revision 4.1 1994/04/09 15:49:21 caress * Altered to fit latest iteration of SeaBeam 2100 vendor format. * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.0 1994/03/05 02:12:07 caress * First cut for SeaBeam 2100 i/o. * * */ /* * Notes on the MBSYS_SB2100 data structure: * 1. SeaBeam 2100 multibeam sonars output raw data in two * formats, with a third created in post processing. * The older format is mostly ascii with binary * sidescan (format 41). The newer formats are entirely * binary. Format 42 contains all information; format 43 * is identical to format 42 except that the sidescan * data has been removed. * 2. The SeaBeam 2100 sonars output up to 151 beams of * bathymetry and 2000 pixels of sidescan, along with a * plethora of other information. * 3. The records all include navigation and time stamp information. * The record types are for format 41 are: * PR: sonar parameter record (roll bias, pitch bias, sound velocity profile) * TR: sonar text record (comments) * DR: bathymetry data record (bathymetry and per-beam amplitudes) * SS: side scan data record * The record types are for format 42 are: * PR: sonar parameter record (roll bias, pitch bias, sound velocity profile) * TR: sonar text record (comments) * DH: ping data header (one per ping) * BR: bathymetry data record (bathymetry and per-beam amplitudes) * SR: side scan data record * 4. For format 41 a single ping usually results in both DR and SS * records. The PR record occurs every 30 minutes or when * the sound velocity profile or bias parameters are changed. * 5. For format 42 a single ping results in DH, BR, and SR records. * Format 42 files created directly by the sonars will have * PR records at the beginning; format 42 files created by * translating format 41 files will have the same frequency of * PR records as in the original files. * 5. The kind value in the mbsys_sb2k_struct indicates whether the * mbsys_sb2k_data_struct structure holds data from a ping or * data from some other record: * kind = 1 : data from a ping * (DR + SS) or (DH + BR + SR) * kind = 2 : comment (TR) * kind = 8 : sonar parameter (PR) * 6. The data structure defined below includes all of the values * which are passed in SeaBeam 2100 records. */ /* * Notes on the MBF_SB2100B1 data format: * 1. SeaBeam 2100 multibeam sonars currently generate * raw data in an hybrid ascii/binary format (41). * This is a replacement fully binary (excepting file header) * format which has significantly faster i/o during processing. * 2. The SeaBeam 2100 sonars output up to 151 beams of bathymetry * and 2000 pixels of sidescan measurements, along with a plethora * of other information. * 3. The record types are: * SB21BIFH: file header with data format description * (beginning of file only) * SB21BIPR: sonar parameter record * (roll bias, pitch bias, sound velocity profile) * SB21BITR: sonar text record (comments) * SB21BIDH: sonar data header (one for each ping) * SB21BIBR: bathymetry data record (one for each ping) * SB21BISR: sidescan data record (one for each ping) * 4. The file header record occurs at the beginning of each file. * this is a fully ASCII record with line feeds and null * termination so that uninformed users can figure out the * contents of the file without additional documentation. * There is no analog to this header in format 41. * 5. The parameter record should be generated at the beginning of * every file (after the header); new files with new parameter * records should be generated any time the roll bias, pitch * bias, or sound velocity profile values change. * The existing SeaBeam 2100 sonars output parameter records when * the sonar begins logging and every 30 minutes thereafter, * regardless of where it appears in files. * The parameter also includes values for navigation offsets * due to the offset between the transducers and the GPS antenna. * SeaBeam sonars do not presently make use of such parameters. * 6. Individual comment records are limited to lengths of * 1920 characters. * Each file should begin with comment records stating * the sonar and sonar control software version used to * generate the data. This does not occur at present. * 7. Each ping generates three data records in the following * order: * SB21BIDH: sonar data header * SB21BIBR: bathymetry data record * SB21BISR: sidescan data record * 8. The data structure defined below includes all of the values * which are passed in SeaBeam 2100 records. * * */ /* * Notes on the MBF_SB2100B2 data format: * 1. SeaBeam 2100 multibeam sonars currently generate * raw data in an hybrid ascii/binary format (41). * Format 42 is a replacement fully binary (excepting file header) * format which has significantly faster i/o during processing. * This format is a bathymetry-only variant of format 42 which, * due to the lack of sidescan data, has much smaller data files * and much faster i/o. * 2. The SeaBeam 2100 sonars output up to 151 beams of bathymetry * and 2000 pixels of sidescan measurements, along with a plethora * of other information. * 3. The record types are: * SB21BIFH: file header with data format description * (beginning of file only) * SB21BIPR: sonar parameter record * (roll bias, pitch bias, sound velocity profile) * SB21BITR: sonar text record (comments) * SB21BIDH: sonar data header (one for each ping) * SB21BIBR: bathymetry data record (one for each ping) * SB21BISR: sidescan data record (one for each ping) * 4. The file header record occurs at the beginning of each file. * this is a fully ASCII record with line feeds and null * termination so that uninformed users can figure out the * contents of the file without additional documentation. * There is no analog to this header in format 41. * 5. The parameter record should be generated at the beginning of * every file (after the header); new files with new parameter * records should be generated any time the roll bias, pitch * bias, or sound velocity profile values change. * The existing SeaBeam 2100 sonars output parameter records when * the sonar begins logging and every 30 minutes thereafter, * regardless of where it appears in files. * The parameter also includes values for navigation offsets * due to the offset between the transducers and the GPS antenna. * SeaBeam sonars do not presently make use of such parameters. * 6. Individual comment records are limited to lengths of * 1920 characters. * Each file should begin with comment records stating * the sonar and sonar control software version used to * generate the data. This does not occur at present. * 7. Each ping generates three data records in the following * order: * SB21BIDH: sonar data header * SB21BIBR: bathymetry data record * SB21BISR: sidescan data record * The sidescan records are present in format 43, but contain * no pixels. This allows format 43 files to be read as * format 42 without breaking anything. * 8. The data structure defined below includes all of the values * which are passed in SeaBeam 2100 records. * */ /* maximum number of depth-velocity pairs */ #define MBSYS_SB2100_MAXVEL 30 /* maximum line length in characters */ #define MBSYS_SB2100_MAXLINE 1944 /* maximum number of formed beams for SeaBeam 1000/2100 */ #define MBSYS_SB2100_BEAMS 151 /* maximum number of sidescan pixels for SeaBeam 1000/2100 */ #define MBSYS_SB2100_PIXELS 2000 struct mbsys_sb2100_svp_struct { float depth; /* m */ float velocity; /* m/sec */ }; struct mbsys_sb2100_beam_struct { float depth; /* m */ float acrosstrack; /* m */ float alongtrack; /* m */ float range; /* seconds */ float angle_across; /* degrees */ float angle_forward; /* degrees */ short amplitude; /* 0.25 dB */ short signal_to_noise; /* dB */ short echo_length; /* samples */ char quality; /* 0=no data, Q=poor quality, blank otherwise */ char source; /* B=BDI, W=WMT */ }; struct mbsys_sb2100_ss_struct { float amplitude; /* sidescan value */ float alongtrack; /* m */ }; struct mbsys_sb2100_struct { /* type of data record */ int kind; /* sonar parameters (SB21BIPR) */ float roll_bias_port; /* deg */ float roll_bias_starboard; /* deg */ float pitch_bias; /* deg */ float ship_draft; /* m */ float offset_x; /* m */ float offset_y; /* m */ float offset_z; /* m */ int num_svp; struct mbsys_sb2100_svp_struct svp[MBSYS_SB2100_MAXVEL]; /* sonar data header (SB21BIDH) */ short year; short jday; short hour; short minute; short sec; short msec; short spare1; short spare2; double longitude; /* degrees */ double latitude; /* degrees */ float heading; /* degrees */ float speed; /* m/sec */ float roll; /* degrees */ float pitch; /* degrees */ float heave; /* m */ float ssv; /* m/sec */ char frequency; /* L=12kHz; H=36kHz */ char depth_gate_mode; /* A=Auto, M=Manual */ char ping_gain; /* dB */ char ping_pulse_width; /* msec */ char transmitter_attenuation; /* dB */ char ssv_source; /* V=Velocimeter, M=Manual, T=Temperature */ char svp_correction; /* 0=None; A=True Xtrack and Apparent Depth; T=True Xtrack and True Depth */ char pixel_algorithm; /* pixel intensity algorithm D = logarithm, L = linear */ float pixel_size; /* m */ int nbeams; /* up to 151 */ int npixels; /* up to 2000 */ short spare3; short spare4; short spare5; short spare6; /* bathymetry record (SB21BIBR) */ struct mbsys_sb2100_beam_struct beams[MBSYS_SB2100_BEAMS]; /* sidescan record (SB21BISR) */ struct mbsys_sb2100_ss_struct pixels[MBSYS_SB2100_PIXELS]; /* parameters unique to MBF_SB2100RW format */ char range_scale; /* D = m; I = 0.1 m; S = 0.01 m */ char spare_dr[2]; int num_algorithms; /* If 1 then only "best" algorithm recorded, else multiple algorithm results recorded */ char algorithm_order[4]; /* blank if num_algorithms=1; W=WMT and B=BDI */ char svp_corr_ss; /* 0=off; 1=on */ int ss_data_length; /* number of bytes of sidescan data */ char pixel_size_scale; char spare_ss; /* comment (SB21BITR) - comments are stored by recasting pointer to roll_bias_port to a char ptr and writing over up to MBSYS_SB2100_MAXLINE bytes in structure */ char *comment; }; /* system specific function prototypes */ int mbsys_sb2100_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb2100_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_sb2100_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_sb2100_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_sb2100_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_sb2100_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_sb2100_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_sb2100_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_sb2100_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_sb2100_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_sb2100_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_sb2100_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_sb2100_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_sb2100_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);