/*-------------------------------------------------------------------- * The MB-system: mbsys_singlebeam.h 4/13/93 * $Id: mbsys_singlebeam.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1999-2012 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_singlebeam.h defines the data structures used by MBIO functions * to store single beam echosounder or navigation data. * The data formats which are commonly used to store single beam * data in files include * MBF_MGD77DAT : MBIO ID 161 * MBF_SIOUWMRG : MBIO ID 162 * MBF_LDEOUWDT : MBIO ID 163 * MBF_MBARINAV : MBIO ID 164 * MBF_MBARIROV : MBIO ID 165 * MBF_MBPRONAV : MBIO ID 166 * MBF_MBARROV2 : MBIO ID 170 * * Author: D. W. Caress * Date: April 13, 1999 * * $Log: mbsys_singlebeam.h,v $ * Revision 5.8 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.7 2006/10/05 18:58:29 caress * Changes for 5.1.0beta4 * * Revision 5.6 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.5 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.4 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.3 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.2 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.3 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.2 1999/10/21 22:40:10 caress * Added MBPRONAV format. * * Revision 4.1 1999/07/16 19:24:15 caress * Yet another version. * * * */ /* * Notes on the MBSYS_SINGLEBEAM data structure: * 1. The single beam formats are intended to support * true single beam formats, marine geophysical underway * data formats, and navigation formats. These formats * in some cases support magnetics and gravity data. * 2. With MB-System 5.1, the mbf_mbpronav format has been * extended to include min and max acrosstrack distances * of non-null data for both bathymetry beams and * sidescan pixels. This allows these values to be included * in the *.fnv files and supports mbgrdviz and mbproject. * These values are accessed by a special function * mbsys_singlebeam_swathbounds(). */ /* maximum line length in characters */ #define MBSYS_SINGLEBEAM_MAXLINE 120 struct mbsys_singlebeam_struct { /* type of data record */ int kind; /* survey id */ char survey_id[8]; /* Identifier supplied by the contributing organization, else given by NGDC in a manner which represents the data. */ /* time stamp */ double time_d; int time_i[7]; int timezone; /* Corrects time (in characters 13-27) to GMT when added: equals zero when time is GMT. Timezone normally falls between -13 and +12 inclusively. */ /* navigation */ double longitude; double latitude; double easting; double northing; double heading; /* degrees */ double speed; /* km/hr */ int nav_type; /* Indicates how lat/lon was obtained: 1 = Observed fix 3 = Interpolated 9 = Unspecified */ int nav_quality; /* QUALITY CODE FOR NAVIGATION - 5 - Suspected, by the originating institution 6 - Suspected, by the data center 9 - No identifiable problem found */ int gps_quality; /* R2Rnav GPS quality using NMEA-0183 definition: The National Marine Electronics Association has defined the following indicator: 0 = fix not available or invalid 1 = GPS Standard Positioning Service (SPS) mode, fix valid 2 = differential GPS, SPS mode, fix valid 3 = GPS Precise Positioning Service (PPS) mode, fix valid values for the GPS quality 4 = Real Time Kinematic (RTK). Satellite system used in RTK mode with fixed integers 5 = Float RTK. Satellite system used in RTK mode with floating integers 6 = Estimated (dead reckoning) mode 7 = Manual input mode 8 = Simulator mode */ int gps_nsat; /* R2Rnav GPS height (m) */ double gps_dilution; /* R2Rnav GPS height (m) */ int gps_height; /* R2Rnav GPS height (m) */ /* motion sensor data */ double roll; double pitch; double heave; /* heave or rov depth in m */ /* submersible/ROV data */ double sonar_depth; /* platform depth in m */ double rov_pressure; /* platform pressure in decibar */ double rov_altitude; /* altitude above seafloor in m */ /* bathymetry */ int flag; /* MB-System style beamflag */ double tt; /* two way travel time in sec */ double bath; /* corrected depth in m */ double tide; /* tidal correction in m */ int bath_corr; /* BATHYMETRIC CORRECTION CODE This code details the procedure used for determining the sound velocity correction to depth: 01-55 Matthews' Zones with zone 59 Matthews' Zones, no zone 60 S. Kuwahara Formula 61 Wilson Formula 62 Del Grosso Formula 63 Carter's Tables 88 Other (see Add. Doc.) 99 Unspecified */ int bath_type; /* BATHYMETRIC TYPE CODE Indicates how the data record's bathymetric value was obtained: 1 = Observed 3 = Interpolated 9 = Unspecified */ /* magnetics */ double mag_tot_1; /* MAGNETICS TOTAL FIELD, 1ST SENSOR In tenths of nanoteslas (gammas). For leading sensor. Use this field for single sensor. */ double mag_tot_2; /* MAGNETICS TOTAL FIELD, 2ND SENSOR In tenths of nanoteslas (gammas). For trailing sensor. */ double mag_res; /* MAGNETICS RESIDUAL FIELD In tenths of nanoteslas (gammas). */ int mag_res_sensor; /* SENSOR FOR RESIDUAL FIELD 1 = 1st or leading sensor 2 = 2nd or trailing sensor 9 = Unspecified */ double mag_diurnal; /* MAGNETICS DIURNAL CORRECTION - In tenths of nanoteslas (gammas). (In nanoteslas) if 9-filled (i.e., set to "+9999"), total and residual fields are assumed to be uncorrected; if used, total and residuals are assumed to have been already corrected. */ double mag_altitude; /* DEPTH OR ALTITUDE OF MAGNETICS SENSOR In meters. + = Below sealevel - = Above sealevel */ /* gravity */ double gravity; /* OBSERVED GRAVITY In milligals. Corrected for Eotvos, drift, and tares */ double eotvos; /* EOTVOS CORRECTION In milligals. E = 7.5 V cos phi sin alpha + 0.0042 V*V */ double free_air; /* FREE-AIR ANOMALY In milligals. Free-air Anomaly = G(observed) - G(theoretical) */ /* seismic */ int seismic_line; /* SEISMIC LINE NUMBER Used for cross referencing with seismic data. */ int seismic_shot; /* SEISMIC SHOT-POINT NUMBER */ int seismic_cdp; /* SEISMIC CDP-POINT NUMBER */ /* ship navigation */ double ship_longitude; /* degrees */ double ship_latitude; /* degrees */ double ship_heading; /* degrees */ /* flags */ int position_flag; int pressure_flag; int heading_flag; int altitude_flag; int attitude_flag; int qc_flag; /* swathbounds */ double portlon; double portlat; double stbdlon; double stbdlat; /* comment */ char comment[MBSYS_SINGLEBEAM_MAXLINE]; }; /* system specific function prototypes */ int mbsys_singlebeam_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_singlebeam_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_singlebeam_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_singlebeam_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_singlebeam_segynumber(int verbose, void *mbio_ptr, int *line, int *shot, int *cdp, int *error); int mbsys_singlebeam_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_singlebeam_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_singlebeam_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_singlebeam_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_singlebeam_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_singlebeam_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_singlebeam_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_singlebeam_swathbounds(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *portlon, double *portlat, double *stbdlon, double *stbdlat, int *error); int mbsys_singlebeam_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_singlebeam_pressuredepth(int verbose, double pressure, double latitude, double *depth, int *error);