/*-------------------------------------------------------------------- * The MB-system: mbsys_surf.h 6/13/02 * $Id: mbsys_surf.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2002-2012 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_surf.h defines the MBIO data structures for handling data from * SAM Electronics multibeam sonars in the Atlas processing format SURF. * The relevant sonars include Hydrosweep DS2, MD2 and Fansweep sonars. * The older Hydrosweep DS and MD sonars produce data in different * formats (e.g. 21-24 and 101-102). * The data format associated with the SURF format is: * MBSYS_SURF formats (code in mbsys_surf.c and mbsys_surf.h): * MBF_SAMESURF : MBIO ID 181 - Vendor processing format * * * Author: D. W. Caress * Author: D. N. Chayes * Date: June 13, 2002 * * $Log: mbsys_surf.h,v $ * Revision 5.9 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.8 2003/11/24 21:09:09 caress * Implement Reinhard Holtkamp's suggested mods for better SURF format support. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2003/03/10 20:04:45 caress * Added mr1pr library. * * Revision 5.5 2003/02/27 04:33:33 caress * Fixed handling of SURF format data. * * Revision 5.4 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.3 2001/12/18 04:27:45 caress * Release 5.0.beta11. * * Revision 5.2 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.1 2001-07-19 17:32:54-07 caress * Release 5.0.beta03 * * Revision 5.0 2001/06/29 22:49:07 caress * Added support for HSDS2RAW * * */ /* * Notes on the MBSYS_SURF data structure: * * 1) STN Atlas Marine Electronics (aka SAM) sonars write raw data in real-time * as binary XDR encoded data. Files are stored on disk by the HYDROMAP * Online workstation. The workstation on the Ewing is an HP Vectra * running SuSe Linux (2.2 kernel.) * * 2) The HYDROMAP Offline software translates the data into a processing * format called SURF * * 3) Multiple parallel files are created. For example: * The '.six' file contains global data and reference tables * The '.sda' file contains sounding dependent mass data * * 4) SAM provides an open source library (SAPI) to read and write * SURF data */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "../../include/mb_define.h" #endif /* include SAPI header file */ #ifndef _SAPI #include "sapi.h" #endif #define MBSYS_SURF_MAXBEAMS 1440 #define MBSYS_SURF_MAXCVALUES 1024 #define MBSYS_SURF_MAXCPOS 16 #define MBSYS_SURF_MAXRXSETS 1024 #define MBSYS_SURF_MAXTXSETS 16 #define MBSYS_SURF_MAXPIXELS 4096 /* internal data structure for survey data */ struct mbsys_surf_struct { /* MBIO data record kind */ int kind; /* global info initialization flag */ int initialized; /* surf global info */ char NameOfShip[LABEL_SIZE]; char TypeOfSounder[LABEL_SIZE]; char NameOfSounder[LABEL_SIZE]; int NrSoundings; int NrBeams; int NrSidescan; int NrDepths; /* should be either 0 or NrBeams */ int NrTravelTimes; /* should be either 0 or NrBeams */ int NrRxSets; /* should be either 0 or NrBeams */ int NrAmplitudes; /* should be either 0 or NrBeams */ int NrExtAmplitudes; /* should be either 0 or NrBeams */ int NrTxSets; /* missing in "SurfTxParameter" */ int SAPI_posPresentationIsRad; int NrPositionsensors; int NrSoundvelocityProfiles; int NrEvents; int NrPolygonElements; double AbsoluteStartTimeOfProfile; /* SURF structures */ SurfGlobalData GlobalData; SurfStatistics Statistics; SurfPositionAnySensor PositionSensor[MBSYS_SURF_MAXCPOS]; SurfSoundingData SoundingData; SurfTransducerParameterTable ActualTransducerTable; SurfMultiBeamAngleTable ActualAngleTable; float reserved1[MBSYS_SURF_MAXBEAMS - 1]; SurfCProfileTable ActualCProfileTable; CProfileValues reserved2[MBSYS_SURF_MAXCVALUES - 1]; SurfCenterPosition CenterPosition[MBSYS_SURF_MAXCPOS]; SurfSingleBeamDepth SingleBeamDepth; SurfMultiBeamDepth MultiBeamDepth[MBSYS_SURF_MAXBEAMS]; SurfMultiBeamTT MultiBeamTraveltime[MBSYS_SURF_MAXBEAMS]; SurfMultiBeamReceive MultiBeamReceiveParams[MBSYS_SURF_MAXBEAMS]; SurfAmplitudes MultibeamBeamAmplitudes[MBSYS_SURF_MAXBEAMS]; SurfExtendedAmplitudes MultibeamExtendedBeamAmplitudes[MBSYS_SURF_MAXBEAMS]; SurfSignalParameter MultibeamSignalParameters; TvgRxSets reserved3[MBSYS_SURF_MAXRXSETS - 1]; SurfTxParameter MultibeamTransmitterParameters; TxSets reserved4[MBSYS_SURF_MAXTXSETS - 1]; SurfSidescanData SidescanData; u_char reserved5[MBSYS_SURF_MAXPIXELS - 1]; }; /* system specific function prototypes */ int mbsys_surf_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_surf_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_surf_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_surf_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_surf_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_surf_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_surf_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_surf_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_surf_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_surf_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_surf_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_surf_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_surf_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);