/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad2.h 10/9/98 * $Id: mbsys_simrad2.h 1998 2012-11-06 06:50:52Z caress $ * * Copyright (c) 1998-2012 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_simrad2.h defines the MBIO data structures for handling data from * new (post-2006) Simrad multibeam sonars (e.g. EM710). * The data formats associated with Simrad multibeams * (both old and new) include: * MBSYS_SIMRAD formats (code in mbsys_simrad.c and mbsys_simrad.h): * MBF_EMOLDRAW : MBIO ID 51 - Vendor EM1000, EM12S, EM12D, EM121 * : MBIO ID 52 - aliased to 51 * MBF_EM12IFRM : MBIO ID 53 - IFREMER EM12S and EM12D * MBF_EM12DARW : MBIO ID 54 - NERC EM12S * : MBIO ID 55 - aliased to 51 * MBSYS_SIMRAD2 formats (code in mbsys_simrad2.c and mbsys_simrad2.h): * MBF_EM300RAW : MBIO ID 56 - Vendor EM3000, EM300, EM120 * MBF_EM300MBA : MBIO ID 57 - MBARI EM3000, EM300, EM120 for processing * MBSYS_SIMRAD2 formats (code in mbsys_simrad2.c and mbsys_simrad2.h): * MBF_EM710RAW : MBIO ID 58 - Vendor EM710 * MBF_EM710MBA : MBIO ID 59 - MBARI EM710 for processing * * * Author: D. W. Caress * Date: October 9, 1998 * * $Log: mbsys_simrad2.h,v $ * Revision 5.22 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.21 2008/03/01 09:14:03 caress * Some housekeeping changes. * * */ /* * Notes on the MBSYS_SIMRAD2 data structure: * 1. Simrad multibeam systems output datagrams which are * a combination of ascii and binary. This code has been written * using data format specifications found in an April 28, 1998 * technical note from Simrad. * 2. Simrad multibeam sonars output both bathymetry * and amplitude information for beams and sidescan information * with a higher resolution than the bathymetry and amplitude. * 3. There are three systems of interest: * EM-3000: Single array 300 kHz shallow water system with up to 127 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. * EM-3000D: Double array 300 kHz shallow water system with up to 254 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. * EM-2000: Single array 200 kHz shallow water system with up to 87 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. * EM-1002: Single array 95 kHz shallow water system with up to 111 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. * EM-300: Single array 30 kHz mid water system with up to 135 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. This system applies * pitch and yaw compensation to achieve * more uniform coverage of the seafloor. * EM-120: Single array 12 kHz full ocean system with up to 191 * beams of bathymetry and a variable number of sidescan * samples per bathymetry beam. This system applies * pitch and yaw compensation to achieve * more uniform coverage of the seafloor. * 4. Each telegram is preceded by a two byte start code 0x02 and * followed by a three byte end code consisting of 0x03 * followed by two bytes representing the checksum for * the data bytes. MB-System does not check the checksums * on input, but does calculate the checksums for output. * 5. The Kongsberg Simrad datagram format manual lists a large number * of datagram types. The complete list of telegram start codes, * types, and sizes is given below. Datagram listings preceded * by an "*" are recognized by MB-System. Unrecognized datagrams * will be skipped on input and not included in output files. * *0x0231: Parameter - Data out off variable size * *0x0232: Parameter - Data out on variable size * *0x0230: Parameter - Stop variable size * *0x0241: Attitude Output 1222 bytes * *0x0243: Clock Output 28 bytes * *0x0244: Bathymetry 48-4092 bytes * 0x0245: Single beam echosounder depth 32 bytes * *0x0246: Raw range and beam angle 24-2056 bytes * *0x0247: Surface sound speed variable size * *0x0248: Heading Output 422 bytes * *0x0249: Parameter - Start variable size * *0x024A: Mechanical transducer tilt variable size * 0x024B: Central beams echogram variable size * *0x0250: Position 100-134 bytes * *0x0252: Runtime Parameter 52 bytes * *0x0253: Sidescan 48->5K bytes * *0x0254: Tide Output 30 bytes * *0x0255: Sound velocity profile (new) variable size * *0x0256: Sound velocity profile (old) variable size * 0x0257: SSP input variable size * *0x0265: Raw range and beam angle 112-1658 bytes * *0x0266: Raw range and beam angle 44-1658 bytes * *0x0268: Height Output 24 bytes * *0x0269: Parameter - Stop variable size * *0x026B: Water column variable size * 0x0270: Parameter - Remote variable size * 0x0273: Surface sound speed variable size * *0x02E1: Bathymetry (MBARI format 57) 48-4092 bytes * *0x02E2: Sidescan (MBARI format 57) 48->5K bytes * 6. Simrad systems record navigation fixes using the position * datagram; no navigation is included in the per ping data. Thus, * it is necessary to extrapolate the navigation for each ping * at read time from the last navigation fix. The frequency of * GPS fixes generally assures that this is not a problem, but * we offer no guarentees that this will always be the case. * In this format the navigation fix datagrams include copies of * the ASCII data records (typically NMEA 0183) input into the * sonar by the navigation system. * 7. The beam depths are give relative to the transmit transducer * or sonar head depth and the horizontal location of the active * positioning system's antenna (or reference point). Heave, * roll, pitch, sound speed at the transducer depth and ray * bending have been applied. In the EM3000 the beam depths must * be regarded as signed values to take into account beams * which may be going upwards. On the EM300 the beam depths are * always positive and the values are therefore unsigned. * To obtain depths relative to the water line, the * raw depths must be added to the transmit transducer depth plus * the depth offset multiplier times 65536 cm. The depth offset * multiplier will be zero except when * 1) the EM3000 sonar head is on an underwater vehicle * at a depth greater than 650 m, or * 2) when the heave is large enough to bring the transmit * transducer above the water line (the depth offset * multiplier is -1 in this case). * 8. The new Simrad sonars record the heading and attitude sensor * data streams input into the sonar, usually at a sampling * frequency of 100 Hz. * 9. Although this new format started out as a fairly clean conception, * later revisions adding new information have been implemented in * an unnecessarily complicated fashion. For example, * if the sonar is an EM300 or EM3000, then the sample rate * value contains the sample rate in Hz as an unsigned short. * The range resolution in time is half the inverse of the * sampling rate, or approximately 2.5 cm for an EM3000. * HOWEVER, if the sonar is an EM3000D, then the sample rate value * contains the depth difference between the two sonar heads * (the units are not specified in the spec, but are presumably in * cm like the transmit transducer depth). In this case, the transmit * transducer depth for the second sonar head is the transmit * transducer depth plus the depth difference. The sample rate for the * EM3000D is derived from the sonar model, as follows: * Sonar Model Head 1 Sample Rate Head 2 Sample Rate * ----------- ------------------ ------------------ * 3002 13956 Hz 14621 Hz * 3003 13956 Hz 14621 Hz * 3004 14293 Hz 14621 Hz * 3005 13956 Hz 14293 Hz * 3006 14621 Hz 14293 Hz * 3007 14293 Hz 13956 Hz * 3008 14621 Hz 13956 Hz * In the case of sonar model 3002, the depth difference should be * taken as zero, regardless of the value found in the data. * 10. An additional complication involves the beam angles and travel * times reported in the data stream. In the original format * specification, the beam range is given as a one way travel time, * the beam depression angle is positive downwards (90 deg at vertical) * and the beam azimuth angle gives the orientation of the sounding * relative to the heading of the vessel. These values include the * effects of the vessels motion during the ping cycle (heave, pitch, * roll, and yaw), and are sufficient for recalculating bathymetry * by raytracing (an improvement over older Simrad data formats). * HOWEVER, the sonar operator can specify a data recording mode in * which the raw times and angles are recorded without correction * for the vessel motion. In this case, the raw two-way travel times * are recorded instead of one-way travel times. Also, the beam * depression angles are replaced by beam pointing angles, which are * the angles relative to the sonar heads before correction for roll * and roll bias. The beam azimuth angle is replaced by a combination * of a flag signaling the raw data mode (angle values greater than 35999 * indicates storage of uncorrected range and angle data) and the * transmitter tilt angle (angle value minus 54000 in 0.01 deg). The * purpose of the uncorrected data mode is to allow users to * fully recalculate the data following revision of the heading and * attitude data streams. * NOTE: As of May 2002, Simrad seems to have implemented a different * scheme for the EM300 and EM120 sonars. There is a new raw range and * angle datagram (0x0265) that is output in addition to the depth and * seafloor image datagrams. This would seem to make obsolete the notion * of placing uncorrected ranges and angles in the depth datagram. * 11. The sidescan is structured in terms of a certain number of samples * per beam. The range sampling rate for the sidescan is the same as * that specified in the depth datagram and the ranges in the sidescan * datagram (seabed image datagram) are all two way travel times. * 12. The attitude data is output asynchronously with respect to the * ping output datagrams. Typical motion sensors give data at a 100 Hz * rate. The attitude datagrams are given when the number of measurements * is 100, or usually at 1 second intervals. The attitude data timing * is corrected for the sensor time delay entered by the operator. If * roll is input with respect to the horizontal, then the sonar * recalculates the roll so that the output values are in the plane * defined by the heading and pitch axis. The entered sensor offsets * (roll bias, pitch bias, heading bias). Extra heave at the transducer * due to roll and pitch when the sensor does not give its data at the * transducer position is also included and heave is positive downwards. * The sensor status is copied from the input datagram's two sync bytes * with the second byte always set to 0x90. The first byte is either * zero or in the 0x90-0xAF range. If the latter is true, then 0x90 * indicates valid data with full accuracy, 0x91-0x99 indicates valid * data with gradually reduced accuracy, 0x9A-0x9F indicates invalid data * from an operating sensor, and 0xA0-0xAF indicates invalid data * from a faulty sensor. This interpretation may be dependent on the * attitude sensor type. * 13. The heading data is output asynchronously with respect to the * ping output datagrams. Typical heading sensors give data at a 10 Hz * rate. The attitude datagrams are given when the number of measurements * is 100, or usually at 10 second intervals. The heading data is * corrected for the heading offset entered by the operator. * 14. The raw vendor format (format 56) does not support flagging of bathymetry * values nor does it store navigation in the bathymetry data records. * MB-System also supports a processing format (57) which includes * beamflags and navigation in the bathymetry records. This format * is identical to the vendor format except for the use of a * slightly different bathymetry record. * */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /* sonar models */ #define MBSYS_SIMRAD2_UNKNOWN 0 #define MBSYS_SIMRAD2_EM120 120 #define MBSYS_SIMRAD2_EM300 300 #define MBSYS_SIMRAD2_EM1002 1002 #define MBSYS_SIMRAD2_EM2000 2000 #define MBSYS_SIMRAD2_EM3000 3000 #define MBSYS_SIMRAD2_EM3000D_1 3001 #define MBSYS_SIMRAD2_EM3000D_2 3002 #define MBSYS_SIMRAD2_EM3000D_3 3003 #define MBSYS_SIMRAD2_EM3000D_4 3004 #define MBSYS_SIMRAD2_EM3000D_5 3005 #define MBSYS_SIMRAD2_EM3000D_6 3006 #define MBSYS_SIMRAD2_EM3000D_7 3007 #define MBSYS_SIMRAD2_EM3000D_8 3008 #define MBSYS_SIMRAD2_EM3002 3020 #define MBSYS_SIMRAD2_EM710 710 #define MBSYS_SIMRAD2_EM12S 9901 #define MBSYS_SIMRAD2_EM12D 9902 #define MBSYS_SIMRAD2_EM121 9903 #define MBSYS_SIMRAD2_EM100 9904 #define MBSYS_SIMRAD2_EM1000 9905 /* maximum number of beams and pixels */ #define MBSYS_SIMRAD2_MAXBEAMS 254 #define MBSYS_SIMRAD2_MAXPIXELS 1024 #define MBSYS_SIMRAD2_MAXRAWPIXELS 65535 #define MBSYS_SIMRAD2_MAXTX 19 #define MBSYS_SIMRAD2_MAXSVP 1024 #define MBSYS_SIMRAD2_MAXATTITUDE 256 #define MBSYS_SIMRAD2_MAXHEADING 256 #define MBSYS_SIMRAD2_MAXSSV 256 #define MBSYS_SIMRAD2_MAXTILT 256 #define MBSYS_SIMRAD2_COMMENT_LENGTH 256 #define MBSYS_SIMRAD2_BUFFER_SIZE 2048 /* datagram start and end byte */ #define EM2_START_BYTE 0x02 #define EM2_END_BYTE 0x03 #define EM2_END 0x03 /* datagram types including start byte */ #define EM2_NONE 0 #define EM2_STOP2 0x0230 #define EM2_STATUS 0x0231 #define EM2_OFF 0x0231 #define EM2_ON 0x0232 #define EM2_ATTITUDE 0x0241 #define EM2_CLOCK 0x0243 #define EM2_BATH 0x0244 #define EM2_SBDEPTH 0x0245 #define EM2_RAWBEAM 0x0246 #define EM2_SSV 0x0247 #define EM2_HEADING 0x0248 #define EM2_START 0x0249 #define EM2_TILT 0x024A #define EM2_CBECHO 0x024B #define EM2_POS 0x0250 #define EM2_RUN_PARAMETER 0x0252 #define EM2_SS 0x0253 #define EM2_TIDE 0x0254 #define EM2_SVP2 0x0255 #define EM2_SVP 0x0256 #define EM2_SSPINPUT 0x0257 #define EM2_RAWBEAM2 0x0265 #define EM2_RAWBEAM3 0x0266 #define EM2_HEIGHT 0x0268 #define EM2_STOP 0x0269 #define EM2_WATERCOLUMN 0x026B #define EM2_REMOTE 0x0270 #define EM2_SSP 0x0273 #define EM2_BATH_MBA 0x02E1 #define EM2_SS_MBA 0x02E2 /* datagram types */ #define EM2_ID_STOP2 0x30 #define EM2_ID_STATUS 0x31 #define EM2_ID_OFF 0x31 #define EM2_ID_ON 0x32 #define EM2_ID_ATTITUDE 0x41 #define EM2_ID_CLOCK 0x43 #define EM2_ID_BATH 0x44 #define EM2_ID_SBDEPTH 0x45 #define EM2_ID_RAWBEAM 0x46 #define EM2_ID_SSV 0x47 #define EM2_ID_HEADING 0x48 #define EM2_ID_START 0x49 #define EM2_ID_TILT 0x4A #define EM2_ID_CBECHO 0x4B #define EM2_ID_POS 0x50 #define EM2_ID_RUN_PARAMETER 0x52 #define EM2_ID_SS 0x53 #define EM2_ID_TIDE 0x54 #define EM2_ID_SVP2 0x55 #define EM2_ID_SVP 0x56 #define EM2_ID_SSPINPUT 0x57 #define EM2_ID_RAWBEAM2 0x65 #define EM2_ID_RAWBEAM3 0x66 #define EM2_ID_HEIGHT 0x68 #define EM2_ID_STOP 0x69 #define EM2_ID_WATERCOLUMN 0x6B #define EM2_ID_REMOTE 0x70 #define EM2_ID_SSP 0x73 #define EM2_ID_BATH_MBA 0xE1 #define EM2_ID_SS_MBA 0xE2 /* datagram sizes where constant */ #define EM2_RUN_PARAMETER_SIZE 52 #define EM2_CLOCK_SIZE 28 #define EM2_TIDE_SIZE 30 #define EM2_HEIGHT_SIZE 24 #define EM2_START_HEADER_SIZE 14 #define EM2_HEADING_HEADER_SIZE 14 #define EM2_HEADING_SLICE_SIZE 4 #define EM2_SSV_HEADER_SIZE 14 #define EM2_SSV_SLICE_SIZE 4 #define EM2_TILT_HEADER_SIZE 14 #define EM2_TILT_SLICE_SIZE 4 #define EM2_ATTITUDE_HEADER_SIZE 14 #define EM2_ATTITUDE_SLICE_SIZE 12 #define EM2_POS_HEADER_SIZE 30 #define EM2_SVP_HEADER_SIZE 24 #define EM2_SVP_SLICE_SIZE 4 #define EM2_SVP2_HEADER_SIZE 24 #define EM2_SVP2_SLICE_SIZE 8 #define EM2_BATH_HEADER_SIZE 24 #define EM2_BATH_BEAM_SIZE 16 #define EM2_BATH_MBA_HEADER_SIZE 34 #define EM2_BATH_MBA_BEAM_SIZE 18 #define EM2_RAWBEAM_HEADER_SIZE 16 #define EM2_RAWBEAM_BEAM_SIZE 8 #define EM2_RAWBEAM2_HEADER_SIZE 42 #define EM2_RAWBEAM2_BEAM_SIZE 16 #define EM2_RAWBEAM2_TX_SIZE 12 #define EM2_RAWBEAM3_HEADER_SIZE 32 #define EM2_RAWBEAM3_BEAM_SIZE 12 #define EM2_RAWBEAM3_TX_SIZE 20 #define EM2_SS_HEADER_SIZE 28 #define EM2_SS_BEAM_SIZE 6 #define EM2_SS_MBA_HEADER_SIZE 32 #define EM2_SS_MBA_BEAM_SIZE 6 #define EM2_WC_HEADER_SIZE 36 #define EM2_WC_TX_SIZE 6 #define EM2_WC_BEAM_SIZE 10 /* invalid value flags */ #define EM2_INVALID_AMP 0x7F #define EM2_INVALID_CHAR 0xFF #define EM2_INVALID_SHORT 0xFFFF #define EM2_INVALID_U_INT 0xFFFFFFFF #define EM2_INVALID_INT 0x7FFFFFFF /* internal data structure for survey data */ struct mbsys_simrad2_ping_struct { int png_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int png_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int png_count; /* sequential counter or input identifier */ int png_serial; /* system 1 or system 2 serial number */ int png_latitude; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ int png_longitude; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ int png_speed; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ int png_heading; /* heading (0.01 deg) */ int png_heave; /* heave from interpolation (0.01 m) */ int png_roll; /* roll from interpolation (0.01 deg) */ int png_pitch; /* pitch from interpolation (0.01 deg) */ int png_ssv; /* sound speed at transducer (0.1 m/sec) */ int png_xducer_depth; /* transmit transducer depth (0.01 m) - The transmit transducer depth plus the depth offset multiplier times 65536 cm should be added to the beam depths to derive the depths re the water line. The depth offset multiplier will usually be zero, except when the EM3000 sonar head is on an underwater vehicle at a depth greater than about 650 m. Note that the offset multiplier will be negative (-1) if the actual heave is large enough to bring the transmit transducer above the water line. This may represent a valid situation, but may also be due to an erroneously set installation depth of the either transducer or the water line. */ int png_offset_multiplier; /* transmit transducer depth offset multiplier - see note 7 above */ int png_nbeams_max; /* maximum number of beams possible */ int png_nbeams; /* number of valid beams */ int png_depth_res; /* depth resolution (0.01 m) */ int png_distance_res; /* x and y resolution (0.01 m) */ int png_sample_rate; /* sampling rate (Hz) OR depth difference between sonar heads in EM3000D - see note 9 above */ int png_depth[MBSYS_SIMRAD2_MAXBEAMS]; /* depths in depth resolution units */ int png_acrosstrack[MBSYS_SIMRAD2_MAXBEAMS]; /* acrosstrack distances in distance resolution units */ int png_alongtrack[MBSYS_SIMRAD2_MAXBEAMS]; /* alongtrack distances in distance resolution units */ int png_depression[MBSYS_SIMRAD2_MAXBEAMS]; /* Primary beam angles in one of two formats (see note 10 above) 1) Corrected format - gives beam depression angles in 0.01 degree. These are the takeoff angles used in raytracing calculations. 2) Uncorrected format - gives beam pointing angles in 0.01 degree. These values are relative to the transducer array and have not been corrected for vessel motion. */ int png_azimuth[MBSYS_SIMRAD2_MAXBEAMS]; /* Secondary beam angles in one of two formats (see note 10 above) 1) Corrected format - gives beam azimuth angles in 0.01 degree. These values used to rotate sounding position relative to the sonar after raytracing. 2) Uncorrected format - combines a flag indicating that the angles are in the uncorrected format with beam tilt angles. Values greater than 35999 indicate the uncorrected format is in use. The beam tilt angles are given as (value - 54000) in 0.01 degree; the tilt angles give the tilt of the transmitted ping due to compensation for vessel motion. */ int png_range[MBSYS_SIMRAD2_MAXBEAMS]; /* Ranges in one of two formats (see note 10 above): 1) Corrected format - the ranges are one way travel times in time units defined as half the inverse sampling rate. 2) Uncorrected format - the ranges are raw two way travel times in time units defined as half the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ int png_quality[MBSYS_SIMRAD2_MAXBEAMS]; /* 0-254 */ int png_window[MBSYS_SIMRAD2_MAXBEAMS]; /* samples/4 */ int png_amp[MBSYS_SIMRAD2_MAXBEAMS]; /* 0.5 dB */ int png_beam_num[MBSYS_SIMRAD2_MAXBEAMS]; /* beam 128 is first beam on second head of EM3000D */ char png_beamflag[MBSYS_SIMRAD2_MAXBEAMS]; /* uses standard MB-System beamflags */ /* raw travel time and angle data */ int png_raw1_read; /* flag indicating actual reading of old rawbeam record */ int png_raw2_read; /* flag indicating actual reading of new rawbeam record */ int png_raw_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int png_raw_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int png_raw_count; /* sequential counter or input identifier */ int png_raw_serial; /* system 1 or system 2 serial number */ int png_raw_heading; /* heading (0.01 deg) */ int png_raw_ssv; /* sound speed at transducer (0.1 m/sec) */ int png_raw_xducer_depth; /* transmit transducer depth (0.01 m) */ int png_raw_nbeams_max; /* maximum number of beams possible */ int png_raw_nbeams; /* number of raw travel times and angles - nonzero only if raw beam record read */ int png_raw_depth_res; /* depth resolution (0.01 m) */ int png_raw_distance_res; /* x and y resolution (0.01 m) */ int png_raw_sample_rate; /* sampling rate (Hz or 0.01 Hz) */ int png_raw_status; /* status from PU/TRU */ int png_raw_rangenormal; /* normal incidence range (meters) */ int png_raw_normalbackscatter; /* normal incidence backscatter (dB) (-60 to +9) */ int png_raw_obliquebackscatter; /* oblique incidence backscatter (dB) (-60 to +9) */ int png_raw_fixedgain; /* fixed gain (dB) (0 to 30) */ int png_raw_txpower; /* transmit power (dB) (0, -10, or -20) */ int png_raw_mode; /* sonar mode: 0 : very shallow 1 : shallow 2 : medium 3 : deep 4 : very deep 5 : extra deep */ int png_raw_coverage; /* swath width (degrees) (10 to 150 degrees) */ int png_raw_yawstabheading; /* yaw stabilization heading (0.01 degrees) */ int png_raw_ntx; /* number of TX pulses (1 to 9) */ int png_raw_txlastbeam[MBSYS_SIMRAD2_MAXTX];/* last beam number in this TX pulse */ int png_raw_txtiltangle[MBSYS_SIMRAD2_MAXTX];/* tilt angle (0.01 deg) */ int png_raw_txheading[MBSYS_SIMRAD2_MAXTX]; /* heading (0.01 deg) */ int png_raw_txroll[MBSYS_SIMRAD2_MAXTX]; /* roll (0.01 deg) */ int png_raw_txpitch[MBSYS_SIMRAD2_MAXTX]; /* pitch angle (0.01 deg) */ int png_raw_txheave[MBSYS_SIMRAD2_MAXTX]; /* heave (0.01 m) */ int png_raw_rxrange[MBSYS_SIMRAD2_MAXBEAMS]; /* Ranges as raw two way travel times in time units defined as one-fourth the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ int png_raw_rxquality[MBSYS_SIMRAD2_MAXBEAMS]; /* beam quality flag */ int png_raw_rxwindow[MBSYS_SIMRAD2_MAXBEAMS]; /* length of detection window */ int png_raw_rxamp[MBSYS_SIMRAD2_MAXBEAMS]; /* 0.5 dB */ int png_raw_rxbeam_num[MBSYS_SIMRAD2_MAXBEAMS]; /* beam 128 is first beam on second head of EM3000D */ int png_raw_rxpointangle[MBSYS_SIMRAD2_MAXBEAMS]; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ int png_raw_rxtiltangle[MBSYS_SIMRAD2_MAXBEAMS]; /* Raw transmit tilt angles in 0.01 degree, positive forward. These values are relative to the transducer array and have not been corrected for vessel motion. */ int png_raw_rxheading[MBSYS_SIMRAD2_MAXBEAMS]; /* heading (0.01 deg) */ int png_raw_rxroll[MBSYS_SIMRAD2_MAXBEAMS]; /* roll (0.01 deg) */ int png_raw_rxpitch[MBSYS_SIMRAD2_MAXBEAMS]; /* pitch angle (0.01 deg) */ int png_raw_rxheave[MBSYS_SIMRAD2_MAXBEAMS]; /* heave (0.01 m) */ /* raw travel time and angle data version 3 */ int png_raw3_read; /* flag indicating actual reading of newer rawbeam record */ int png_raw3_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int png_raw3_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int png_raw3_count; /* sequential counter or input identifier */ int png_raw3_serial; /* system 1 or system 2 serial number */ int png_raw3_ntx; /* number of TX pulses (1 to 9) */ int png_raw3_nbeams; /* number of raw travel times and angles - nonzero only if raw beam record read */ int png_raw3_sample_rate; /* sampling rate (Hz or 0.01 Hz) */ int png_raw3_xducer_depth; /* transmit transducer depth (0.01 m) */ int png_raw3_ssv; /* sound speed at transducer (0.1 m/sec) */ int png_raw3_nbeams_max; /* maximum number of beams possible */ int png_raw3_txtiltangle[MBSYS_SIMRAD2_MAXTX];/* tilt angle (0.01 deg) */ int png_raw3_txfocus[MBSYS_SIMRAD2_MAXTX]; /* focus range (0.1 m) 0 = no focus */ int png_raw3_txsignallength[MBSYS_SIMRAD2_MAXTX]; /* signal length (usec) */ int png_raw3_txoffset[MBSYS_SIMRAD2_MAXTX]; /* transmit time offset (usec) */ int png_raw3_txcenter[MBSYS_SIMRAD2_MAXTX]; /* center frequency (Hz) */ int png_raw3_txbandwidth[MBSYS_SIMRAD2_MAXTX]; /* bandwidth (10 Hz) */ int png_raw3_txwaveform[MBSYS_SIMRAD2_MAXTX]; /* signal waveform identifier 0 = CW, 1 = FM */ int png_raw3_txsector[MBSYS_SIMRAD2_MAXTX]; /* transmit sector number (0-19) */ int png_raw3_rxpointangle[MBSYS_SIMRAD2_MAXBEAMS]; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ int png_raw3_rxrange[MBSYS_SIMRAD2_MAXBEAMS]; /* Ranges (0.25 samples) */ int png_raw3_rxsector[MBSYS_SIMRAD2_MAXBEAMS]; /* transmit sector identifier */ int png_raw3_rxamp[MBSYS_SIMRAD2_MAXBEAMS]; /* 0.5 dB */ int png_raw3_rxquality[MBSYS_SIMRAD2_MAXBEAMS]; /* beam quality flag */ int png_raw3_rxwindow[MBSYS_SIMRAD2_MAXBEAMS]; /* length of detection window */ int png_raw3_rxbeam_num[MBSYS_SIMRAD2_MAXBEAMS]; /* beam 128 is first beam on second head of EM3000D */ int png_raw3_rxspare[MBSYS_SIMRAD2_MAXBEAMS]; /* spare */ /* sidescan */ int png_ss_read; /* flag indicating actual reading of sidescan record */ int png_ss_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int png_ss_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int png_ss_count; /* sequential counter or input identifier */ int png_ss_serial; /* system 1 or system 2 serial number */ int png_max_range; /* old: max range of ping in number of samples */ /* current: mean absorption coefficient in 0.01 db/km */ /* also: used to store sidescan pixel size in range (m) for old Simrad multibeams (e.g. EM12, EM1000) */ int png_r_zero; /* old: range to normal incidence used in TVG (R0 predicted) in samples */ /* current: pulse length in usec */ int png_r_zero_corr;/* range to normal incidence used to correct sample amplitudes in number of samples */ int png_tvg_start; /* start sample of TVG ramp if not enough dynamic range (0 otherwise) */ int png_tvg_stop; /* stop sample of TVG ramp if not enough dynamic range (0 otherwise) */ int png_bsn; /* normal incidence backscatter (BSN) in dB */ int png_bso; /* oblique incidence backscatter (BSO) in dB */ int png_tx; /* Tx beamwidth in 0.1 degree */ int png_tvg_crossover; /* TVG law crossover angle in degrees */ int png_nbeams_ss; /* number of beams with sidescan */ int png_npixels; /* number of pixels of sidescan */ int png_beam_index[MBSYS_SIMRAD2_MAXBEAMS]; /* beam index number */ int png_sort_direction[MBSYS_SIMRAD2_MAXBEAMS]; /* sorting direction - first sample in beam has lowest range if 1, highest if -1. */ int png_beam_samples[MBSYS_SIMRAD2_MAXBEAMS]; /* number of sidescan samples derived from each beam */ int png_start_sample[MBSYS_SIMRAD2_MAXBEAMS]; /* start sample number */ int png_center_sample[MBSYS_SIMRAD2_MAXBEAMS]; /* center sample number */ mb_s_char png_ssraw[MBSYS_SIMRAD2_MAXRAWPIXELS]; /* the raw sidescan ordered port to starboard */ int png_pixel_size; /* processed sidescan pixel size in cm */ int png_pixels_ss; /* number of processed sidescan pixels stored */ short png_ss[MBSYS_SIMRAD2_MAXPIXELS]; /* the processed sidescan ordered port to starboard */ short png_ssalongtrack[MBSYS_SIMRAD2_MAXPIXELS]; /* the processed sidescan alongtrack distances in distance resolution units */ }; /* internal data structure for attitude data */ struct mbsys_simrad2_wcbeam_struct { int wtc_rxpointangle; /* Beam pointing angles in 0.01 degree, positive to port. These values are roll stabilized. */ int wtc_start_sample; /* start sample number */ int wtc_beam_samples; /* number of water column samples derived from each beam */ int wtc_beam_spare; /* unknown */ int wtc_sector; /* transmit sector identifier */ int wtc_beam; /* beam 128 is first beam on second head of EM3000D */ mb_s_char wtc_amp[MBSYS_SIMRAD2_MAXRAWPIXELS]; /* water column amplitude (dB) */ }; /* internal data structure for attitude data */ struct mbsys_simrad2_watercolumn_struct { int wtc_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int wtc_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int wtc_count; /* sequential counter or input identifier */ int wtc_serial; /* system 1 or system 2 serial number */ int wtc_ndatagrams; /* number of datagrams used to represent the water column for this ping */ int wtc_datagram; /* number this datagram */ int wtc_ntx; /* number of transmit sectors */ int wtc_nrx; /* number of receive beams */ int wtc_nbeam; /* number of beams in this datagram */ int wtc_ssv; /* sound speed at transducer (0.1 m/sec) */ int wtc_sfreq; /* sampling frequency (0.01 Hz) */ int wtc_heave; /* tx time heave at transducer (0.01 m) */ int wtc_spare1; /* spare */ int wtc_spare2; /* spare */ int wtc_spare3; /* spare */ int wtc_txtiltangle[MBSYS_SIMRAD2_MAXTX]; /* tilt angle (0.01 deg) */ int wtc_txcenter[MBSYS_SIMRAD2_MAXTX]; /* center frequency (Hz) */ int wtc_txsector[MBSYS_SIMRAD2_MAXTX]; /* transmit sector number (0-19) */ struct mbsys_simrad2_wcbeam_struct beam[MBSYS_SIMRAD2_MAXBEAMS]; }; /* internal data structure for attitude data */ struct mbsys_simrad2_attitude_struct { int att_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int att_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int att_count; /* sequential counter or input identifier */ int att_serial; /* system 1 or system 2 serial number */ int att_ndata; /* number of attitude data */ int att_time[MBSYS_SIMRAD2_MAXATTITUDE]; /* time since record start (msec) */ int att_sensor_status[MBSYS_SIMRAD2_MAXATTITUDE]; /* see note 12 above */ int att_roll[MBSYS_SIMRAD2_MAXATTITUDE]; /* roll (0.01 degree) */ int att_pitch[MBSYS_SIMRAD2_MAXATTITUDE]; /* pitch (0.01 degree) */ int att_heave[MBSYS_SIMRAD2_MAXATTITUDE]; /* heave (cm) */ int att_heading[MBSYS_SIMRAD2_MAXATTITUDE]; /* heading (0.01 degree) */ int att_heading_status; /* heading status (0=inactive) */ }; /* internal data structure for heading data */ struct mbsys_simrad2_heading_struct { int hed_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int hed_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int hed_count; /* sequential counter or input identifier */ int hed_serial; /* system 1 or system 2 serial number */ int hed_ndata; /* number of heading data */ int hed_time[MBSYS_SIMRAD2_MAXHEADING]; /* time since record start (msec) */ int hed_heading[MBSYS_SIMRAD2_MAXHEADING]; /* heading (0.01 degree) */ int hed_heading_status; /* heading status (0=inactive) */ }; /* internal data structure for ssv data */ struct mbsys_simrad2_ssv_struct { int ssv_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int ssv_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int ssv_count; /* sequential counter or input identifier */ int ssv_serial; /* system 1 or system 2 serial number */ int ssv_ndata; /* number of ssv data */ int ssv_time[MBSYS_SIMRAD2_MAXSSV]; /* time since record start (msec) */ int ssv_ssv[MBSYS_SIMRAD2_MAXSSV]; /* ssv (0.1 m/s) */ }; /* internal data structure for tilt data */ struct mbsys_simrad2_tilt_struct { int tlt_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int tlt_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int tlt_count; /* sequential counter or input identifier */ int tlt_serial; /* system 1 or system 2 serial number */ int tlt_ndata; /* number of tilt data */ int tlt_time[MBSYS_SIMRAD2_MAXTILT]; /* time since record start (msec) */ int tlt_tilt[MBSYS_SIMRAD2_MAXTILT]; /* tilt + forward (0.01 degree) */ }; /* internal data structure */ struct mbsys_simrad2_struct { /* type of data record */ int kind; /* MB-System record ID */ int type; /* Simrad datagram ID */ /* type of sonar */ int sonar; /* Type of Simrad sonar */ int numberheads; /* Number of sonar heads (1 or 2) */ /* time stamp */ int date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ /* installation parameter values */ int par_date; /* installation parameter date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int par_msec; /* installation parameter time since midnight in msec 08:12:51.234 = 29570234 */ int par_line_num; /* survey line number */ int par_serial_1; /* system 1 serial number */ int par_serial_2; /* system 2 serial number */ double par_wlz; /* water line vertical location (m) */ int par_smh; /* system main head serial number */ double par_s1z; /* transducer 1 vertical location (m) */ double par_s1x; /* transducer 1 along location (m) */ double par_s1y; /* transducer 1 athwart location (m) */ double par_s1h; /* transducer 1 heading (deg) */ double par_s1r; /* transducer 1 roll (m) */ double par_s1p; /* transducer 1 pitch (m) */ int par_s1n; /* transducer 1 number of modules */ double par_s2z; /* transducer 2 vertical location (m) */ double par_s2x; /* transducer 2 along location (m) */ double par_s2y; /* transducer 2 athwart location (m) */ double par_s2h; /* transducer 2 heading (deg) */ double par_s2r; /* transducer 2 roll (m) */ double par_s2p; /* transducer 2 pitch (m) */ int par_s2n; /* transducer 2 number of modules */ double par_go1; /* system (sonar head 1) gain offset */ double par_go2; /* sonar head 2 gain offset */ char par_tsv[16]; /* transmitter (sonar head 1) software version */ char par_rsv[16]; /* receiver (sonar head 2) software version */ char par_bsv[16]; /* beamformer software version */ char par_psv[16]; /* processing unit software version */ char par_osv[16]; /* operator station software version */ double par_dsd; /* depth sensor time delay (msec) */ double par_dso; /* depth sensor offset */ double par_dsf; /* depth sensor scale factor */ char par_dsh[2]; /* depth sensor heave (IN or NI) */ int par_aps; /* active position system number */ int par_p1m; /* position system 1 motion compensation (boolean) */ int par_p1t; /* position system 1 time stamp used (0=system time, 1=position input time) */ double par_p1z; /* position system 1 vertical location (m) */ double par_p1x; /* position system 1 along location (m) */ double par_p1y; /* position system 1 athwart location (m) */ double par_p1d; /* position system 1 time delay (sec) */ char par_p1g[16]; /* position system 1 geodetic datum */ int par_p2m; /* position system 2 motion compensation (boolean) */ int par_p2t; /* position system 2 time stamp used (0=system time, 1=position input time) */ double par_p2z; /* position system 2 vertical location (m) */ double par_p2x; /* position system 2 along location (m) */ double par_p2y; /* position system 2 athwart location (m) */ double par_p2d; /* position system 2 time delay (sec) */ char par_p2g[16]; /* position system 2 geodetic datum */ int par_p3m; /* position system 3 motion compensation (boolean) */ int par_p3t; /* position system 3 time stamp used (0=system time, 1=position input time) */ double par_p3z; /* position system 3 vertical location (m) */ double par_p3x; /* position system 3 along location (m) */ double par_p3y; /* position system 3 athwart location (m) */ double par_p3d; /* position system 3 time delay (sec) */ char par_p3g[16]; /* position system 3 geodetic datum */ double par_msz; /* motion sensor vertical location (m) */ double par_msx; /* motion sensor along location (m) */ double par_msy; /* motion sensor athwart location (m) */ char par_mrp[2]; /* motion sensor roll reference plane (HO or RP) */ double par_msd; /* motion sensor time delay (sec) */ double par_msr; /* motion sensor roll offset (deg) */ double par_msp; /* motion sensor pitch offset (deg) */ double par_msg; /* motion sensor heading offset (deg) */ double par_gcg; /* gyro compass heading offset (deg) */ char par_cpr[4]; /* cartographic projection */ char par_rop[MBSYS_SIMRAD2_COMMENT_LENGTH]; /* responsible operator */ char par_sid[MBSYS_SIMRAD2_COMMENT_LENGTH]; /* survey identifier */ char par_pll[MBSYS_SIMRAD2_COMMENT_LENGTH]; /* survey line identifier (planned line number) */ char par_com[MBSYS_SIMRAD2_COMMENT_LENGTH]; /* comment */ /* runtime parameter values */ int run_date; /* runtime parameter date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int run_msec; /* runtime parameter time since midnight in msec 08:12:51.234 = 29570234 */ int run_ping_count; /* ping counter */ int run_serial; /* system 1 or 2 serial number */ int run_status; /* system status */ int run_mode; /* system mode: 0 : nearfield (EM3000) or very shallow (EM300) 1 : normal (EM3000) or shallow (EM300) 2 : medium (EM300) 3 : deep (EM300) 4 : very deep (EM300) */ int run_filter_id; /* filter identifier - the two lowest bits indicate spike filter strength: 00 : off 01 : weak 10 : medium 11 : strong bit 2 is set if the slope filter is on bit 3 is set if the sidelobe filter is on bit 4 is set if the range windows are expanded bit 5 is set if the smoothing filter is on bit 6 is set if the interference filter is on */ int run_min_depth; /* minimum depth (m) */ int run_max_depth; /* maximum depth (m) */ int run_absorption; /* absorption coefficient (0.01 dB/km) */ int run_tran_pulse; /* transmit pulse length (usec) */ int run_tran_beam; /* transmit beamwidth (0.1 deg) */ int run_tran_pow; /* transmit power reduction (dB) */ int run_rec_beam; /* receiver beamwidth (0.1 deg) */ int run_rec_band; /* receiver bandwidth (50 hz) */ int run_rec_gain; /* receiver fixed gain (dB) */ int run_tvg_cross; /* TVG law crossover angle (deg) */ int run_ssv_source; /* source of sound speed at transducer: 0 : from sensor 1 : manual 2 : from profile */ int run_max_swath; /* maximum swath width (m) */ int run_beam_space; /* beam spacing: 0 : determined by beamwidth (EM3000) 1 : equidistant 2 : equiangle */ int run_swath_angle;/* coverage sector of swath (deg) */ int run_stab_mode; /* yaw and pitch stabilization mode: The upper bit (bit 7) is set if pitch stabilization is on. The two lower bits are used to show yaw stabilization mode as follows: 00 : none 01 : to survey line heading 10 : to mean vessel heading 11 : to manually entered heading */ char run_spare[6]; /* sound velocity profile */ int svp_use_date; /* date at start of use date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int svp_use_msec; /* time at start of use since midnight in msec 08:12:51.234 = 29570234 */ int svp_count; /* sequential counter or input identifier */ int svp_serial; /* system 1 serial number */ int svp_origin_date;/* date at svp origin date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int svp_origin_msec;/* time at svp origin since midnight in msec 08:12:51.234 = 29570234 */ int svp_num; /* number of svp entries */ int svp_depth_res; /* depth resolution (cm) */ int svp_depth[MBSYS_SIMRAD2_MAXSVP]; /* depth of svp entries (according to svp_depth_res) */ int svp_vel[MBSYS_SIMRAD2_MAXSVP]; /* sound speed of svp entries (0.1 m/sec) */ /* position */ int pos_date; /* position date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int pos_msec; /* position time since midnight in msec 08:12:51.234 = 29570234 */ int pos_count; /* sequential counter */ int pos_serial; /* system 1 serial number */ int pos_latitude; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ int pos_longitude; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ int pos_quality; /* measure of position fix quality (cm) */ int pos_speed; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ int pos_course; /* course over ground (0.01 deg) if valid, invalid = 0xFFFF */ int pos_heading; /* heading (0.01 deg) if valid, invalid = 0xFFFF */ int pos_heave; /* heave from interpolation (0.01 m) */ int pos_roll; /* roll from interpolation (0.01 deg) */ int pos_pitch; /* pitch from interpolation (0.01 deg) */ int pos_system; /* position system number, type, and realtime use - position system number given by two lowest bits - fifth bit set means position must be derived from input Simrad 90 datagram - sixth bit set means valid time is that of input datagram */ int pos_input_size; /* number of bytes in input position datagram */ char pos_input[256]; /* position input datagram as received, minus header and tail (such as NMEA 0183 $ and CRLF) */ /* height */ int hgt_date; /* height date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int hgt_msec; /* height time since midnight in msec 08:12:51.234 = 29570234 */ int hgt_count; /* sequential counter */ int hgt_serial; /* system 1 serial number */ int hgt_height; /* height (0.01 m) */ int hgt_type; /* height type as given in input datagram or if zero the height is derived from the GGK datagram and is the height of the water level re the vertical datum */ /* tide */ int tid_date; /* tide date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int tid_msec; /* tide time since midnight in msec 08:12:51.234 = 29570234 */ int tid_count; /* sequential counter */ int tid_serial; /* system 1 serial number */ int tid_origin_date;/* tide input date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int tid_origin_msec;/* tide input time since midnight in msec 08:12:51.234 = 29570234 */ int tid_tide; /* tide offset (0.01 m) */ /* clock */ int clk_date; /* system date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int clk_msec; /* system time since midnight in msec 08:12:51.234 = 29570234 */ int clk_count; /* sequential counter */ int clk_serial; /* system 1 serial number */ int clk_origin_date;/* external clock date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int clk_origin_msec;/* external clock time since midnight in msec 08:12:51.234 = 29570234 */ int clk_1_pps_use; /* if 1 then the internal clock is synchronized to an external 1 PPS signal, if 0 then not */ /* pointer to attitude data structure */ struct mbsys_simrad2_attitude_struct *attitude; /* pointer to heading data structure */ struct mbsys_simrad2_heading_struct *heading; /* pointer to ssv data structure */ struct mbsys_simrad2_ssv_struct *ssv; /* pointer to tilt data structure */ struct mbsys_simrad2_tilt_struct *tilt; /* pointer to survey data structures */ struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; /* pointer to water column data structure */ struct mbsys_simrad2_watercolumn_struct *wc; }; /* system specific function prototypes */ int mbsys_simrad2_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad2_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_wc_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_tilt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad2_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad2_zero_ss(int verbose, void *store_ptr, int *error); int mbsys_simrad2_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_simrad2_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_simrad2_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_simrad2_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_simrad2_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_simrad2_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_simrad2_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error); int mbsys_simrad2_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_simrad2_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_simrad2_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_simrad2_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_simrad2_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_simrad2_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_simrad2_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_simrad2_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_simrad2_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *error);