/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad3.h 2/22/2008 * $Id: mbsys_simrad3.h 1960 2012-06-07 00:15:58Z caress $ * * Copyright (c) 2008-2012 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_simrad3.h defines the MBIO data structures for handling data from * new (post-2006) Simrad multibeam sonars (e.g. EM710, EM3002, EM302, EM122). * 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_SIMRAD3 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_SIMRAD3 formats (code in mbsys_simrad3.c and mbsys_simrad3.h): * MBF_EM710RAW : MBIO ID 58 - Vendor EM710 * MBF_EM710MBA : MBIO ID 59 - MBARI EM710 for processing * * * Author: D. W. Caress (L-DEO) * Date: February 22, 2008 * * $Log: mbsys_simrad3.h,v $ * Revision 5.2 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.1 2008/07/10 06:40:34 caress * Fixed support for EM122 * * Revision 5.0 2008/03/01 09:11:35 caress * Added support for Simrad EM710 multibeam in new formats 58 and 59. * * */ /* * Notes on the MBSYS_SIMRAD3 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 Simrad document * 16092ai EM Series Data Formats (rev I January 20, 2006). * 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. This code and formats 58 and 59 support data from the * EM-710 multibeam sonar and later models. Data from older * Simrad multibeams are supported by formats 51, 56, and 57. * 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. * *0x0230: Parameter - Stop variable size * *0x0231: Parameter - Data out off variable size * *0x0232: Parameter - Data out on variable size * *0x0233: Extra Parameter 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 "F" 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 * 0x024E: Raw range and beam angle "N" (EM710 and later) 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 * 0x0258: Bathymetry (EM710 and later) variable size * 0x0259: Sidescan (EM710 and later) variable size * *0x0265: Raw range and beam angle 112-1658 bytes * *0x0266: Raw range and beam angle "f" 44-1658 bytes * *0x0268: Height Output 24 bytes * *0x0269: Parameter - Stop variable size * *0x026B: Water column variable size * *0x026E: Network attitude 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 * *0x02E3: Bathymetry (MBARI format 59) 48-4092 bytes * *0x02E4: Sidescan (MBARI format 59) 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. * 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. The beam angles and travel times are reported in the raw range * and angle datagrams. The raw times and angles are recorded * without correction for the vessel motion. The raw ranges are * given as two-way travel times. * 10. 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. * 11. 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. * 12. 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. * 13. The raw vendor format (format 58) does not support flagging of bathymetry * values nor does it store navigation in the bathymetry data records. * MB-System also supports a processing format (59) 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_SIMRAD3_UNKNOWN 0 #define MBSYS_SIMRAD3_EM2040 2040 #define MBSYS_SIMRAD3_EM710 710 #define MBSYS_SIMRAD3_EM302 302 #define MBSYS_SIMRAD3_EM122 122 #define MBSYS_SIMRAD3_EM120 120 #define MBSYS_SIMRAD3_EM300 300 #define MBSYS_SIMRAD3_EM1002 1002 #define MBSYS_SIMRAD3_EM2000 2000 #define MBSYS_SIMRAD3_EM3000 3000 #define MBSYS_SIMRAD3_EM3000D_1 3001 #define MBSYS_SIMRAD3_EM3000D_2 3002 #define MBSYS_SIMRAD3_EM3000D_3 3003 #define MBSYS_SIMRAD3_EM3000D_4 3004 #define MBSYS_SIMRAD3_EM3000D_5 3005 #define MBSYS_SIMRAD3_EM3000D_6 3006 #define MBSYS_SIMRAD3_EM3000D_7 3007 #define MBSYS_SIMRAD3_EM3000D_8 3008 #define MBSYS_SIMRAD3_EM3002 3020 #define MBSYS_SIMRAD3_EM12S 9901 #define MBSYS_SIMRAD3_EM12D 9902 #define MBSYS_SIMRAD3_EM121 9903 #define MBSYS_SIMRAD3_EM100 9904 #define MBSYS_SIMRAD3_EM1000 9905 /* maximum number of beams and pixels */ #define MBSYS_SIMRAD3_MAXBEAMS 512 #define MBSYS_SIMRAD3_MAXPIXELS 1024 #define MBSYS_SIMRAD3_MAXRAWPIXELS 65535 #define MBSYS_SIMRAD3_MAXTX 19 #define MBSYS_SIMRAD3_MAXSVP 1024 #define MBSYS_SIMRAD3_MAXATTITUDE 256 #define MBSYS_SIMRAD3_MAXHEADING 256 #define MBSYS_SIMRAD3_MAXSSV 256 #define MBSYS_SIMRAD3_MAXTILT 256 #define MBSYS_SIMRAD3_COMMENT_LENGTH 256 #define MBSYS_SIMRAD3_BUFFER_SIZE 2048 /* datagram start and end byte */ #define EM3_START_BYTE 0x02 #define EM3_END_BYTE 0x03 #define EM3_END 0x03 /* datagram types including start byte */ #define EM3_NONE 0 #define EM3_STOP2 0x0230 #define EM3_STATUS 0x0231 #define EM3_OFF 0x0231 #define EM3_ON 0x0232 #define EM3_ATTITUDE 0x0241 #define EM3_CLOCK 0x0243 #define EM3_BATH 0x0244 #define EM3_SBDEPTH 0x0245 #define EM3_RAWBEAM 0x0246 #define EM3_SSV 0x0247 #define EM3_HEADING 0x0248 #define EM3_START 0x0249 #define EM3_TILT 0x024A #define EM3_CBECHO 0x024B #define EM3_RAWBEAM4 0x024E #define EM3_POS 0x0250 #define EM3_RUN_PARAMETER 0x0252 #define EM3_SS 0x0253 #define EM3_TIDE 0x0254 #define EM3_SVP2 0x0255 #define EM3_SVP 0x0256 #define EM3_SSPINPUT 0x0257 #define EM3_BATH2 0x0258 #define EM3_SS2 0x0259 #define EM3_RAWBEAM2 0x0265 #define EM3_RAWBEAM3 0x0266 #define EM3_HEIGHT 0x0268 #define EM3_STOP 0x0269 #define EM3_WATERCOLUMN 0x026B #define EM3_NETATTITUDE 0x026E #define EM3_REMOTE 0x0270 #define EM3_SSP 0x0273 #define EM3_BATH_MBA 0x02E1 #define EM3_SS_MBA 0x02E2 #define EM3_BATH2_MBA 0x02E3 #define EM3_SS2_MBA 0x02E4 #define EM3_BATH3_MBA 0x02E5 /* datagram types */ #define EM3_ID_STOP2 0x30 #define EM3_ID_STATUS 0x31 #define EM3_ID_OFF 0x31 #define EM3_ID_ON 0x32 #define EM3_ID_ATTITUDE 0x41 #define EM3_ID_CLOCK 0x43 #define EM3_ID_BATH 0x44 #define EM3_ID_SBDEPTH 0x45 #define EM3_ID_RAWBEAM 0x46 #define EM3_ID_SSV 0x47 #define EM3_ID_HEADING 0x48 #define EM3_ID_START 0x49 #define EM3_ID_TILT 0x4A #define EM3_ID_CBECHO 0x4B #define EM3_ID_RAWBEAM4 0x4E #define EM3_ID_POS 0x50 #define EM3_ID_RUN_PARAMETER 0x52 #define EM3_ID_SS 0x53 #define EM3_ID_TIDE 0x54 #define EM3_ID_SVP2 0x55 #define EM3_ID_SVP 0x56 #define EM3_ID_SSPINPUT 0x57 #define EM3_ID_BATH2 0x58 #define EM3_ID_SS2 0x59 #define EM3_ID_RAWBEAM2 0x65 #define EM3_ID_RAWBEAM3 0x66 #define EM3_ID_HEIGHT 0x68 #define EM3_ID_STOP 0x69 #define EM3_ID_WATERCOLUMN 0x6B #define EM3_ID_NETATTITUDE 0x6E #define EM3_ID_REMOTE 0x70 #define EM3_ID_SSP 0x73 #define EM3_ID_BATH_MBA 0xE1 #define EM3_ID_SS_MBA 0xE2 #define EM3_ID_BATH2_MBA 0xE3 #define EM3_ID_SS2_MBA 0xE4 #define EM3_ID_BATH3_MBA 0xE5 /* datagram sizes where constant */ #define EM3_STATUS_SIZE 88 #define EM3_RUN_PARAMETER_SIZE 52 #define EM3_CLOCK_SIZE 28 #define EM3_TIDE_SIZE 30 #define EM3_HEIGHT_SIZE 24 #define EM3_START_HEADER_SIZE 14 #define EM3_HEADING_HEADER_SIZE 14 #define EM3_HEADING_SLICE_SIZE 4 #define EM3_SSV_HEADER_SIZE 14 #define EM3_SSV_SLICE_SIZE 4 #define EM3_TILT_HEADER_SIZE 14 #define EM3_TILT_SLICE_SIZE 4 #define EM3_ATTITUDE_HEADER_SIZE 14 #define EM3_ATTITUDE_SLICE_SIZE 12 #define EM3_POS_HEADER_SIZE 30 #define EM3_SVP_HEADER_SIZE 24 #define EM3_SVP_SLICE_SIZE 4 #define EM3_SVP2_HEADER_SIZE 24 #define EM3_SVP2_SLICE_SIZE 8 #define EM3_BATH_HEADER_SIZE 24 #define EM3_BATH_BEAM_SIZE 16 #define EM3_BATH_MBA_HEADER_SIZE 34 #define EM3_BATH_MBA_BEAM_SIZE 18 #define EM3_BATH2_HEADER_SIZE 32 #define EM3_BATH2_BEAM_SIZE 20 #define EM3_BATH2_MBA_HEADER_SIZE 48 #define EM3_BATH2_MBA_BEAM_SIZE 34 #define EM3_RAWBEAM4_HEADER_SIZE 28 #define EM3_RAWBEAM4_TX_SIZE 24 #define EM3_RAWBEAM4_BEAM_SIZE 16 #define EM3_BATH3_MBA_HEADER_SIZE 48 #define EM3_BATH3_MBA_BEAM_SIZE 38 #define EM3_SS2_HEADER_SIZE 28 #define EM3_SS2_BEAM_SIZE 6 #define EM3_SS2_MBA_HEADER_SIZE 36 #define EM3_SS2_MBA_BEAM_SIZE 6 #define EM3_NETATTITUDE_HEADER_SIZE 16 #define EM3_NETATTITUDE_SLICE_SIZE 11 #define EM3_WC_HEADER_SIZE 36 #define EM3_WC_TX_SIZE 6 #define EM3_WC_BEAM_SIZE 10 /* invalid value flags */ #define EM3_INVALID_AMP 0x7F #define EM3_INVALID_CHAR 0xFF #define EM3_INVALID_SHORT 0xFFFF #define EM3_INVALID_U_INT 0xFFFFFFFF #define EM3_INVALID_INT 0x7FFFFFFF /* internal data structure for survey data */ struct mbsys_simrad3_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 */ double png_latitude; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ double png_longitude; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ 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_speed; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ int png_ssv; /* sound speed at transducer (0.1 m/sec) */ float png_xducer_depth; /* transmit transducer depth (m) The transmit transducer depth should be added to the beam depths to derive the depths re the water line. Note that the transducer depth will be negative 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 either the transducer or the water line. */ int png_nbeams; /* maximum number of beams possible */ int png_nbeams_valid; /* number of valid beams */ float png_sample_rate; /* sampling rate (Hz) */ int png_spare; /* sampling rate (Hz) */ float png_depth[MBSYS_SIMRAD3_MAXBEAMS]; /* depths relative to sonar (m) The beam data are given re the transmit transducer or sonar head depth and the horizontal location (x,y) of the active positioning systemÕs reference point. Heave, roll, pitch, sound speed at the transducer depth and ray bending through the water column have been applied. */ float png_acrosstrack[MBSYS_SIMRAD3_MAXBEAMS]; /* acrosstrack distances (m) */ float png_alongtrack[MBSYS_SIMRAD3_MAXBEAMS]; /* alongtrack distances (m) */ int png_window[MBSYS_SIMRAD3_MAXBEAMS]; /* samples */ int png_quality[MBSYS_SIMRAD3_MAXBEAMS]; /* 0-254 Scaled standard deviation (sd) of the range detection divided by the detected range (dr): Quality factor = 250*sd/dr. */ int png_iba[MBSYS_SIMRAD3_MAXBEAMS]; /* beam incidence angle adjustment (IBA) (0.1 deg) Due to raybending, the beam incidence angle at the bottom hit will usually differ from the beam launch angle at the transducer and also from the angle given by a straight line between the transducer and the bottom hit. The difference from the latter is given by the beam incidence angle adjustment (IBA). The beam incidence angle re the horizontal, corrected for the ray bending, can be calculated as follows: BAC = atan( z / abs(y) ) + IBA. BAC is positive downwards and IBA will be positive when the beam is bending towards the bottom. This parameter can be helpful for correcting seabed imagery data and in seabed classification. */ int png_detection[MBSYS_SIMRAD3_MAXBEAMS]; /* Detection info: This datagram may contain data for beams with and without a valid detection. Eight bits (0-7) gives details about the detection: A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is used to specify how the range for this beam is calculated 0: Amplitude detect 1: Phase detect 2-15: Future use B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used to specify how the range (and x,y,z parameters) for this beam is calculated 0: Normal detection 1: Interpolated or extrapolated from neighbour detections 2: Estimated 3: Rejected candidate 4: No detection data is available for this beam (all parameters are set to zero) 5-7: Future use The invalid range has been used to fill in amplitude samples in the seabed image datagram. */ int png_clean[MBSYS_SIMRAD3_MAXBEAMS]; /* realtime cleaning info: For future use. A real time data cleaning module may flag out beams. Bit 7 will be set to 1 if the beam is flagged out. Bit 0-6 will contain a code telling why the beam is flagged out. */ int png_amp[MBSYS_SIMRAD3_MAXBEAMS]; /* 0.5 dB */ char png_beamflag[MBSYS_SIMRAD3_MAXBEAMS]; /* uses standard MB-System beamflags */ float png_depression[MBSYS_SIMRAD3_MAXBEAMS]; /* beam depression angles (deg) */ float png_azimuth[MBSYS_SIMRAD3_MAXBEAMS]; /* beam azimuth angles (deg) */ float png_range[MBSYS_SIMRAD3_MAXBEAMS]; /* Two-way travel times (sec). */ float png_bheave[MBSYS_SIMRAD3_MAXBEAMS]; /* Heave correction to the sonar depth for each beam - this is half the difference between the sonar depth at ping time and the sonar depth at receive time, as measured by heave */ /* raw travel time and angle data version 4 */ int png_raw4_read; /* flag indicating actual reading of raw beam 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_ssv; /* sound speed at transducer (0.1 m/sec) */ int png_raw_ntx; /* number of TX pulses (1 to 9) */ int png_raw_nbeams; /* number of raw travel times and angles - nonzero only if raw beam record read */ int png_raw_detections; /* number of valid detections */ float png_raw_sample_rate; /* sampling rate (Hz) */ int png_raw_spare; int png_raw_txtiltangle[MBSYS_SIMRAD3_MAXTX];/* tilt angle (0.01 deg) */ int png_raw_txfocus[MBSYS_SIMRAD3_MAXTX]; /* focus range (0.1 m) 0 = no focus */ float png_raw_txsignallength[MBSYS_SIMRAD3_MAXTX]; /* signal length (sec) */ float png_raw_txoffset[MBSYS_SIMRAD3_MAXTX]; /* transmit time offset (sec) */ float png_raw_txcenter[MBSYS_SIMRAD3_MAXTX]; /* center frequency (Hz) */ int png_raw_txabsorption[MBSYS_SIMRAD3_MAXTX]; /* mean absorption coeff. (0.01 dB/km) */ int png_raw_txwaveform[MBSYS_SIMRAD3_MAXTX]; /* signal waveform identifier 0 = CW, 1 = FM upsweep, 2 = FM downsweep */ int png_raw_txsector[MBSYS_SIMRAD3_MAXTX]; /* transmit sector number (0-19) */ float png_raw_txbandwidth[MBSYS_SIMRAD3_MAXTX]; /* bandwidth (Hz) */ int png_raw_rxpointangle[MBSYS_SIMRAD3_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_rxsector[MBSYS_SIMRAD3_MAXBEAMS]; /* transmit sector number (0-19) */ int png_raw_rxdetection[MBSYS_SIMRAD3_MAXBEAMS]; /* Detection info: This datagram may contain data for beams with and without a valid detection. Eight bits (0-7) gives details about the detection: A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is used to specify how the range for this beam is calculated 0: Amplitude detect 1: Phase detect 2-15: Future use B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used to specify how the range (and x,y,z parameters) for this beam is calculated 0: Normal detection 1: Interpolated or extrapolated from neighbour detections 2: Estimated 3: Rejected candidate 4: No detection data is available for this beam (all parameters are set to zero) 5-7: Future use The invalid range has been used to fill in amplitude samples in the seabed image datagram. bit 7: 0 = good detection bit 7: 1 = bad detection bit 3: 0 = amplitude detect bit 3: 1 = phase detect bits 4-6: 0 = normal detection bits 4-6: 1 = interpolated from neighbor detections bits 4-6: 2 = estimated bits 4-6: 3 = rejected bits 4-6: 4 = no detection available other bits : future use */ int png_raw_rxwindow[MBSYS_SIMRAD3_MAXBEAMS]; /* length of detection window */ int png_raw_rxquality[MBSYS_SIMRAD3_MAXBEAMS]; /* beam quality flag 0-254 Scaled standard deviation (sd) of the range detection divided by the detected range (dr): Quality factor = 250*sd/dr. */ int png_raw_rxspare1[MBSYS_SIMRAD3_MAXBEAMS]; /* spare */ float png_raw_rxrange[MBSYS_SIMRAD3_MAXBEAMS]; /* range as two-way travel time (s) */ int png_raw_rxamp[MBSYS_SIMRAD3_MAXBEAMS]; /* 0.5 dB */ int png_raw_rxcleaning[MBSYS_SIMRAD3_MAXBEAMS]; /* Real time cleaning info */ /* realtime cleaning info: For future use. A real time data cleaning module may flag out beams. Bit 7 will be set to 1 if the beam is flagged out. Bit 0-6 will contain a code telling why the beam is flagged out. */ int png_raw_rxspare2[MBSYS_SIMRAD3_MAXBEAMS]; /* spare */ /* sidescan */ int png_ss2_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 */ float png_ss_sample_rate; /* sampling rate (Hz) */ int png_r_zero; /* range to normal incidence used in TVG (R0 predicted) in samples */ int png_bsn; /* normal incidence backscatter (BSN) (0.1 dB) */ int png_bso; /* oblique incidence backscatter (BSO) (0.1 dB) */ int png_tx; /* Tx beamwidth (0.1 deg) */ int png_tvg_crossover; /* TVG law crossover angle (0.1 deg) */ int png_nbeams_ss; /* number of beams with sidescan */ int png_npixels; /* number of pixels of sidescan */ int png_sort_direction[MBSYS_SIMRAD3_MAXBEAMS]; /* sorting direction - The first sample in a beam has lowest range if 1, highest if -- 1. Note that the ranges in the seabed image datagram are all two-- way from time of transmit to time of receive. */ int png_ssdetection[MBSYS_SIMRAD3_MAXBEAMS]; /* Detection info: This datagram may contain data for beams with and without a valid detection. Eight bits (0-7) gives details about the detection: A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is used to specify how the range for this beam is calculated 0: Amplitude detect 1: Phase detect 2-15: Future use B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used to specify how the range (and x,y,z parameters) for this beam is calculated 0: Normal detection 1: Interpolated or extrapolated from neighbour detections 2: Estimated 3: Rejected candidate 4: No detection data is available for this beam (all parameters are set to zero) 5-7: Future use The invalid range has been used to fill in amplitude samples in the seabed image datagram. bit 7: 0 = good detection bit 7: 1 = bad detection bit 3: 0 = amplitude detect bit 3: 1 = phase detect bits 4-6: 0 = normal detection bits 4-6: 1 = interpolated from neighbor detections bits 4-6: 2 = estimated bits 4-6: 3 = rejected bits 4-6: 4 = no detection available other bits : future use */ int png_beam_samples[MBSYS_SIMRAD3_MAXBEAMS]; /* number of sidescan samples derived from each beam */ int png_start_sample[MBSYS_SIMRAD3_MAXBEAMS]; /* start sample number */ int png_center_sample[MBSYS_SIMRAD3_MAXBEAMS]; /* center sample number */ short png_ssraw[MBSYS_SIMRAD3_MAXRAWPIXELS]; /* the raw sidescan ordered port to starboard */ float png_pixel_size; /* processed sidescan pixel size (m) */ int png_pixels_ss; /* number of processed sidescan pixels stored */ short png_ss[MBSYS_SIMRAD3_MAXPIXELS]; /* the processed sidescan ordered port to starboard */ short png_ssalongtrack[MBSYS_SIMRAD3_MAXPIXELS]; /* the processed sidescan alongtrack distances (0.01 m) */ }; /* internal data structure for water column time series */ struct mbsys_simrad3_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_SIMRAD3_MAXRAWPIXELS]; /* water column amplitude (dB) */ }; /* internal data structure for water column data */ struct mbsys_simrad3_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_SIMRAD3_MAXTX]; /* tilt angle (0.01 deg) */ int wtc_txcenter[MBSYS_SIMRAD3_MAXTX]; /* center frequency (Hz) */ int wtc_txsector[MBSYS_SIMRAD3_MAXTX]; /* transmit sector number (0-19) */ struct mbsys_simrad3_wcbeam_struct beam[MBSYS_SIMRAD3_MAXBEAMS]; }; /* internal data structure for attitude data */ struct mbsys_simrad3_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_SIMRAD3_MAXATTITUDE]; /* time since record start (msec) */ int att_sensor_status[MBSYS_SIMRAD3_MAXATTITUDE]; /* see note 12 above */ int att_roll[MBSYS_SIMRAD3_MAXATTITUDE]; /* roll (0.01 degree) */ int att_pitch[MBSYS_SIMRAD3_MAXATTITUDE]; /* pitch (0.01 degree) */ int att_heave[MBSYS_SIMRAD3_MAXATTITUDE]; /* heave (cm) */ int att_heading[MBSYS_SIMRAD3_MAXATTITUDE]; /* heading (0.01 degree) */ int att_sensordescriptor; /* sensor system descriptor - indicates which motion sensor is source of these data, and which values have been used in realtime processing: xx00 xxxx - motion sensor number 1 xx01 xxxx - motion sensor number 2 xx10 xxxx - motion sensor number 3 (in netattitude record) xxxx xxx1 - heading from this system is active xxxx xx0x - roll from this system is active xxxx x0xx - pitch from this system is active xxxx 0xxx - heading from this system is active */ }; /* internal data structure for network attitude data */ struct mbsys_simrad3_netattitude_struct { int nat_date; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int nat_msec; /* time since midnight in msec 08:12:51.234 = 29570234 */ int nat_count; /* sequential counter or input identifier */ int nat_serial; /* system 1 or system 2 serial number */ int nat_ndata; /* number of attitude data */ int nat_sensordescriptor; /* sensor system descriptor */ int nat_time[MBSYS_SIMRAD3_MAXATTITUDE]; /* time since record start (msec) */ int nat_roll[MBSYS_SIMRAD3_MAXATTITUDE]; /* roll (0.01 degree) */ int nat_pitch[MBSYS_SIMRAD3_MAXATTITUDE]; /* pitch (0.01 degree) */ int nat_heave[MBSYS_SIMRAD3_MAXATTITUDE]; /* heave (cm) */ int nat_heading[MBSYS_SIMRAD3_MAXATTITUDE]; /* heading (0.01 degree) */ int nat_nbyte_raw[MBSYS_SIMRAD3_MAXATTITUDE]; /* number of bytes in input datagram (Nd) */ char nat_raw[MBSYS_SIMRAD3_MAXATTITUDE*MBSYS_SIMRAD3_BUFFER_SIZE]; /* network attitude input datagram as received by datalogger */ }; /* internal data structure for heading data */ struct mbsys_simrad3_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_SIMRAD3_MAXHEADING]; /* time since record start (msec) */ int hed_heading[MBSYS_SIMRAD3_MAXHEADING]; /* heading (0.01 degree) */ int hed_heading_status; /* heading status (0=inactive) */ }; /* internal data structure for ssv data */ struct mbsys_simrad3_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_SIMRAD3_MAXSSV]; /* time since record start (msec) */ int ssv_ssv[MBSYS_SIMRAD3_MAXSSV]; /* ssv (0.1 m/s) */ }; /* internal data structure for tilt data */ struct mbsys_simrad3_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_SIMRAD3_MAXTILT]; /* time since record start (msec) */ int tlt_tilt[MBSYS_SIMRAD3_MAXTILT]; /* tilt + forward (0.01 degree) */ }; /* internal data structure */ struct mbsys_simrad3_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 */ /* 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 */ /* status parameter values */ int sts_date; /* status date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ int sts_msec; /* status time since midnight in msec 08:12:51.234 = 29570234 */ int sts_status_count; /* status datagram counter */ int sts_serial; /* system 1 or 2 serial number */ int sts_pingrate; /* ping rate (0.01 Hz) */ int sts_ping_count; /* ping counter - latest ping */ int sts_load; /* processing unit load (%) */ int sts_udp_status; /* sensor input status, UDP port 2 */ int sts_serial1_status; /* sensor input status, serial port 1 */ int sts_serial2_status; /* sensor input status, serial port 2 */ int sts_serial3_status; /* sensor input status, serial port 3 */ int sts_serial4_status; /* sensor input status, serial port 4 */ int sts_pps_status; /* sensor input status, pps, >0 ok */ int sts_position_status; /* sensor input status, position, >0 ok */ int sts_attitude_status; /* sensor input status, attitude, >0 ok */ int sts_clock_status; /* sensor input status, clock, >0 ok */ int sts_heading_status; /* sensor input status, heading, >0 ok */ int sts_pu_status; /* sensor input status, processing unit (0=off, 1-on, 2=simulator) */ int sts_last_heading; /* last received heading (0.01 deg) */ int sts_last_roll; /* last received roll (0.01 deg) */ int sts_last_pitch; /* last received pitch (0.01 deg) */ int sts_last_heave; /* last received heave (0.01 m) */ int sts_last_ssv; /* last received sound speed (0.1 m/s) */ int sts_last_depth; /* last received depth (0.01 m) */ int sts_spare; /* spare */ int sts_bso; /* backscatter at oblique angle (dB) */ int sts_bsn; /* backscatter at normal incidence (dB) */ int sts_gain; /* fixed gain (dB) */ int sts_dno; /* depth to normal incidence (m) */ int sts_rno; /* range to normal incidence (m) */ int sts_port; /* port coverage (deg) */ int sts_stbd; /* starboard coverage (deg) */ int sts_ssp; /* sound speed at transducer from profile (0.1 m/s) */ int sts_yaw; /* yaw stabilization (0.01 deg) */ int sts_port2; /* port coverage for second em3002 head (deg) */ int sts_stbd2; /* starboard coverage for second em3002 head (deg) */ int sts_spare2; /* spare */ /* 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_SIMRAD3_COMMENT_LENGTH]; /* responsible operator */ char par_sid[MBSYS_SIMRAD3_COMMENT_LENGTH]; /* survey identifier */ char par_pll[MBSYS_SIMRAD3_COMMENT_LENGTH]; /* survey line identifier (planned line number) */ char par_com[MBSYS_SIMRAD3_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_SIMRAD3_MAXSVP]; /* depth of svp entries (according to svp_depth_res) */ int svp_vel[MBSYS_SIMRAD3_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_simrad3_attitude_struct *attitude; /* pointer to network attitude data structure */ struct mbsys_simrad3_netattitude_struct *netattitude; /* pointer to heading data structure */ struct mbsys_simrad3_heading_struct *heading; /* pointer to ssv data structure */ struct mbsys_simrad3_ssv_struct *ssv; /* pointer to tilt data structure */ struct mbsys_simrad3_tilt_struct *tilt; /* pointer to survey data structure */ struct mbsys_simrad3_ping_struct *ping; /* pointer to water column data structure */ struct mbsys_simrad3_watercolumn_struct *wc; }; /* system specific function prototypes */ int mbsys_simrad3_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad3_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_wc_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_netattitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_tilt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbsys_simrad3_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_simrad3_zero_ss(int verbose, void *store_ptr, int *error); int mbsys_simrad3_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_simrad3_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_simrad3_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_simrad3_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_simrad3_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_simrad3_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_simrad3_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error); int mbsys_simrad3_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_simrad3_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_simrad3_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_simrad3_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_simrad3_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_simrad3_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_simrad3_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_simrad3_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_simrad3_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);