/*-------------------------------------------------------------------- * The MB-system: mbsys_xse.h 3/27/2000 * $Id: mbsys_xse.h 1975 2012-07-11 19:16:56Z caress $ * * Copyright (c) 2000-2012 by * D. W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and D. N. Chayes (dale@lamont.ldgo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_xse.h defines the data structures used by MBIO functions * to store swath sonar data in the XSE Data Exchange Format * developed by L-3 Communications ELAC Nautik. * This format is used for data from ELAC Bottomchart multibeam sonars * and SeaBeam 2100 multibeam sonars (made by L-3 Communications * SeaBeam Instruments). * The data format associated with XSE is: * MBF_L3XSERAW : MBIO ID 94 * * * Author: D. W. Caress * Date: August 1, 1999 * Additional Authors: P. A. Cohen and S. Dzurenko * * $Log: mbsys_xse.h,v $ * Revision 5.12 2007/07/03 17:28:08 caress * Fixes to XSE format. * * Revision 5.11 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.10 2006/09/11 18:55:53 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.9 2005/11/05 00:48:03 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 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.7 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.6 2001/12/30 20:36:13 caress * Fixed array overflows in handling XSE data. * * Revision 5.5 2001/12/20 20:48:51 caress * Release 5.0.beta11 * * Revision 5.4 2001/07/22 21:19:23 caress * Removed redundant define. * * Revision 5.3 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.2 2001/04/06 22:05:59 caress * Consolidated xse formats into one format. * * 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 4.1 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.0 1999/08/08 04:14:35 caress * Initial revision. * * */ /* * Notes on the MBSYS_XSE (XSE) data format: * 1. L3 Communications introduced a new format called XSE in 1999. * SeaBeam Instruments (maker of SeaBeam multibeam sonars) * and Elac Nautik (make of Bottomchart multibeam sonars) * are both divisions of L3 Communications. * This "Data Exchange Format" is associated with the new * version of "Hydrostar ONLINE" and represents the intended * data format for both ELAC Bottomchart Compact MK II sonars * (50 kHz and/or 180 kHz) and SeaBeam 2100 series sonars * (12 kHz, 20 kHz, 36 kHz). This follows the purchase of * SeaBeam Instruments by L3 Communications, the parent * company of ELAC Nautik. * 2. The XSE format implements a well defined binary format * structure in which each data record is represented as * a "frame" with the following structure: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSF Frame start * Byte Count 4 ulong bytes Between byte count * and frame end * Id 4 ulong Frame id - see below * Source 4 ulong Sensor id * Seconds 4 ulong seconds Seconds since * 1/1/1901 00:00:00 * Microsec 4 ulong usec Microseconds * ... ... ... ... ... Frame specific groups * End 4 ulong #HSF Frame end * ------------------------------------------------------- * Within each frame are "groups", each with the following structure: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSG Group start * Byte Count 4 ulong bytes Between byte count * and group end * Id 4 ulong Group id - see below * ... ... ... ... ... Group specific data * End 4 ulong #HSG Group end * ------------------------------------------------------- * 2. The valid frames include: * Frame Name Id Groups w/ group id's in () * --------------------------------------------------------- * Navigation 1 General(1), Position(2), Accuracy(3), * MotionGroundTruth(4), MotionThroughWater(5), * CurrentTrack(6), HeaveRollPitch(7), Heave(8), * Roll(9), Pitch(10), Heading(11), Log(12), * GPS(13) * Sound Velocity 2 General(1), * Depth(2), Velocity(3), * Conductivity(4), Salinity (5), Temperature(6), * Pressure(7), SSV(8), Position(9) * Tide 3 General(1), Position(2), * Time(3), Tide(4) * Ship 4 General(1), Attitude(2), * Position(3), Dynamics(4), Motion(5), * Geometry(6), Description(7), * Parameter(8), NavigationAndMotion(9), * Transducer(10), TransducerExtended(11) * Sidescan 5 General(1), AmplitudeVsTravelTime(2), * PhaseVsTravelTime(3), * Amplitude(4), Phase(5), Signal(6), PingType(7) * ComplexSignal(8), Weighting(9) * Multibeam 6 General(1), Beam(2), * Traveltime(3), Quality(4), * Amplitude(5), Delay(6), Lateral(7), * Along(8), Depth(9), Angle(10), * Heave(11), Roll(12), Pitch(13), * Gates(14), Noise(15), EchoLength(16), * Hits(17), HeaveReceive(18), Azimuth(19), * MBsystemNavigation(99) * Single Beam 7 General(1) * Control 8 Request(1), Insert(2), Change(3), * Add(4), Delete(5), Action(6), Reply(7) * Bathymetry 9 General(1), Position(2), Depth(3) * Project 10 General(1), Server(2), Status(3), Sources(4) * Native 11 General(1), RWCollectable(2), UNB(3), * Raw(4), ELAC(5) * Geodetic 12 General(1), Ellipsoid(2), Datum(3), * Projection(4), System(5), Alias(6) * SeaBeam 13 Properties(1), HeaveRollPitch(2), Setup(3), * MotionReferenceUnit(4), Settings(5), * Beams(6), Gates(7), Raw(8), Center(9), * Sidescan, Shutdown(), Ping(), Calibrate(), * Collect(), Surface(), Hydrophone(), * Projector(17), Calibration(18), Acknowledge(19), * Warning(20), Message(21), Error(22) * Comment 99 General(1) **MB-System ONLY!!!!** * 3. Not all of these frames are directly supported by this MB-System * i/o module. Unsupported frames are read and passed * through MB-System as MB_DATA_OTHER type data records. * 4. SeaBeam Instruments 2120 12 kHz and 20 KHz multibeam sonar * systems output both bathymetry and amplitude * information for up to 151 beams per multibeam frame. * Each ping produces a variable number of beams. * 5. Elac Bottomchart MkII 50 KHz and 180 kHz sonar systems * output both bathymetry and amplitude information * for up to 126 beams per multibeam frame. * Each ping produces a variable number of beams. * 6. The raw XSE format provides asynchronous navigation only; navigation * is not included in the multibeam or sidescan pings. * MB-System adds MBsystemNavigation(99) groups to the multibeam * frames so that processed navigation can be directly associated * with each survey ping.. * 7. The comment records are supported by MB-System only and are * not part of the L3 Communications XSE format specification. * The comment frame encloses a single general comment group (id=1). * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSF Frame start * Byte Count 4 ulong bytes Between byte count * and frame end * Id 4 ulong 99 Frame id - see below * Source 4 ulong 0 Sensor id * Seconds 4 ulong seconds Seconds since * 1/1/1901 00:00:00 * Microsec 4 ulong usec Microseconds * ... ... ... ... ... Frame specific groups * End 4 ulong #HSF Frame end * ------------------------------------------------------- * The only comment group is 1: * ------------------------------------------------------- * Item Bytes Format Value Units Description * ------------------------------------------------------- * Start 4 ulong $HSG Group start * Byte Count 4 ulong bytes Between byte count * and group end * Id 4 ulong 1 Group id - see below * N 4 long bytes Length of null terminated * comment string, padded * to a multiple of 4 * Comment N char chars Comment string * End 4 ulong #HSG Group end * ------------------------------------------------------- * */ /* maximum number of beams and pixels */ #define MBSYS_XSE_MAXBEAMS 630 #define MBSYS_XSE_MAXPIXELS 32768 #define MBSYS_XSE_MAXSAMPLES 32768 #define MBSYS_XSE_MAXSVP 200 #define MBSYS_XSE_MAXDRAFT 200 #define MBSYS_XSE_MAXPROPERTIES 6 #define MBSYS_XSE_COMMENT_LENGTH 200 #define MBSYS_XSE_DESCRIPTION_LENGTH 64 #define MBSYS_XSE_TIME_OFFSET 2177452800.0 #define MBSYS_XSE_BUFFER_SIZE 131072 #define MBSYS_XSE_MAX_SIZE 200 #define MBSYS_XSE_MAX_SENSORS 16 #define MBSYS_XSE_MAX_TRANSDUCERS 512 /* frame and group id's */ #define MBSYS_XSE_NONE_FRAME 0 #define MBSYS_XSE_NAV_FRAME 1 #define MBSYS_XSE_NAV_GROUP_GEN 1 #define MBSYS_XSE_NAV_GROUP_POS 2 #define MBSYS_XSE_NAV_GROUP_ACCURACY 3 #define MBSYS_XSE_NAV_GROUP_MOTIONGT 4 #define MBSYS_XSE_NAV_GROUP_MOTIONTW 5 #define MBSYS_XSE_NAV_GROUP_TRACK 6 #define MBSYS_XSE_NAV_GROUP_HRP 7 #define MBSYS_XSE_NAV_GROUP_HEAVE 8 #define MBSYS_XSE_NAV_GROUP_ROLL 9 #define MBSYS_XSE_NAV_GROUP_PITCH 10 #define MBSYS_XSE_NAV_GROUP_HEADING 11 #define MBSYS_XSE_NAV_GROUP_LOG 12 #define MBSYS_XSE_NAV_GROUP_GPS 13 #define MBSYS_XSE_SVP_FRAME 2 #define MBSYS_XSE_SVP_GROUP_GEN 1 #define MBSYS_XSE_SVP_GROUP_DEPTH 2 #define MBSYS_XSE_SVP_GROUP_VELOCITY 3 #define MBSYS_XSE_SVP_GROUP_CONDUCTIVITY 4 #define MBSYS_XSE_SVP_GROUP_SALINITY 5 #define MBSYS_XSE_SVP_GROUP_TEMP 6 #define MBSYS_XSE_SVP_GROUP_PRESSURE 7 #define MBSYS_XSE_SVP_GROUP_SSV 8 #define MBSYS_XSE_SVP_GROUP_POS 9 #define MBSYS_XSE_TID_FRAME 3 #define MBSYS_XSE_TID_GROUP_GEN 1 #define MBSYS_XSE_TID_GROUP_POS 2 #define MBSYS_XSE_TID_GROUP_TIME 3 #define MBSYS_XSE_TID_GROUP_TIDE 4 #define MBSYS_XSE_SHP_FRAME 4 #define MBSYS_XSE_SHP_GROUP_GEN 1 #define MBSYS_XSE_SHP_GROUP_TIME 2 #define MBSYS_XSE_SHP_GROUP_DRAFT 3 #define MBSYS_XSE_SHP_GROUP_SENSORS 4 #define MBSYS_XSE_SHP_GROUP_MOTION 5 #define MBSYS_XSE_SHP_GROUP_GEOMETRY 6 #define MBSYS_XSE_SHP_GROUP_DESCRIPTION 7 #define MBSYS_XSE_SHP_GROUP_PARAMETER 8 #define MBSYS_XSE_SHP_GROUP_NAVIGATIONANDMOTION 9 #define MBSYS_XSE_SHP_GROUP_TRANSDUCER 10 #define MBSYS_XSE_SHP_GROUP_TRANSDUCEREXTENDED 11 #define MBSYS_XSE_SSN_FRAME 5 #define MBSYS_XSE_SSN_GROUP_GEN 1 #define MBSYS_XSE_SSN_GROUP_AMPVSTT 2 #define MBSYS_XSE_SSN_GROUP_PHASEVSTT 3 #define MBSYS_XSE_SSN_GROUP_AMPVSLAT 4 #define MBSYS_XSE_SSN_GROUP_PHASEVSLAT 5 #define MBSYS_XSE_SSN_GROUP_SIGNAL 6 #define MBSYS_XSE_SSN_GROUP_PINGTYPE 7 #define MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL 8 #define MBSYS_XSE_SSN_GROUP_WEIGHTING 9 #define MBSYS_XSE_MBM_FRAME 6 #define MBSYS_XSE_MBM_GROUP_GEN 1 #define MBSYS_XSE_MBM_GROUP_BEAM 2 #define MBSYS_XSE_MBM_GROUP_TT 3 #define MBSYS_XSE_MBM_GROUP_QUALITY 4 #define MBSYS_XSE_MBM_GROUP_AMP 5 #define MBSYS_XSE_MBM_GROUP_DELAY 6 #define MBSYS_XSE_MBM_GROUP_LATERAL 7 #define MBSYS_XSE_MBM_GROUP_ALONG 8 #define MBSYS_XSE_MBM_GROUP_DEPTH 9 #define MBSYS_XSE_MBM_GROUP_ANGLE 10 #define MBSYS_XSE_MBM_GROUP_HEAVE 11 #define MBSYS_XSE_MBM_GROUP_ROLL 12 #define MBSYS_XSE_MBM_GROUP_PITCH 13 #define MBSYS_XSE_MBM_GROUP_GATES 14 #define MBSYS_XSE_MBM_GROUP_NOISE 15 #define MBSYS_XSE_MBM_GROUP_LENGTH 16 #define MBSYS_XSE_MBM_GROUP_HITS 17 #define MBSYS_XSE_MBM_GROUP_HEAVERECEIVE 18 #define MBSYS_XSE_MBM_GROUP_AZIMUTH 19 #define MBSYS_XSE_MBM_GROUP_PROPERTIES 20 #define MBSYS_XSE_MBM_GROUP_NORMAMP 21 #define MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV 99 #define MBSYS_XSE_SNG_FRAME 7 #define MBSYS_XSE_CNT_FRAME 8 #define MBSYS_XSE_BTH_FRAME 9 #define MBSYS_XSE_PRD_FRAME 10 #define MBSYS_XSE_NTV_FRAME 11 #define MBSYS_XSE_GEO_FRAME 12 #define MBSYS_XSE_SBM_FRAME 13 #define MBSYS_XSE_SBM_GROUP_PROPERTIES 1 #define MBSYS_XSE_SBM_GROUP_HRP 2 #define MBSYS_XSE_SBM_GROUP_SETUP 3 #define MBSYS_XSE_SBM_GROUP_MRU 4 #define MBSYS_XSE_SBM_GROUP_SETTINGS 5 #define MBSYS_XSE_SBM_GROUP_BEAMS 6 #define MBSYS_XSE_SBM_GROUP_GATES 7 #define MBSYS_XSE_SBM_GROUP_SLICE 8 #define MBSYS_XSE_SBM_GROUP_SIGNAL 9 #define MBSYS_XSE_SBM_GROUP_SIDESCAN 10 #define MBSYS_XSE_SBM_GROUP_SHUTDOWN 11 #define MBSYS_XSE_SBM_GROUP_PING 12 #define MBSYS_XSE_SBM_GROUP_CALIBRATE 13 #define MBSYS_XSE_SBM_GROUP_COLLECT 14 #define MBSYS_XSE_SBM_GROUP_SURFACE 15 #define MBSYS_XSE_SBM_GROUP_HYDROPHONE 16 #define MBSYS_XSE_SBM_GROUP_PROJECTOR 17 #define MBSYS_XSE_SBM_GROUP_BIAS 18 #define MBSYS_XSE_SBM_GROUP_ACKNOWLEDGE 19 #define MBSYS_XSE_SBM_GROUP_WARNING 20 #define MBSYS_XSE_SBM_GROUP_MESSAGE 21 #define MBSYS_XSE_SBM_GROUP_SWEEPSEGMENTS 40 #define MBSYS_XSE_SBM_GROUP_SPACINGMODE 50 #define MBSYS_XSE_MSG_FRAME 14 #define MBSYS_XSE_ATT_FRAME 15 #define MBSYS_XSE_COM_FRAME 99 #define MBSYS_XSE_COM_GROUP_GEN 1 struct mbsys_xse_beam_struct { double tt; double delay; double lateral; double along; double depth; double angle; double heave; double roll; double pitch; short beam; char quality; short amplitude; double gate_angle; double gate_start; double gate_stop; float noise; float length; unsigned int hits; double heavereceive; double azimuth; short normamp; float frequency; }; struct mbsys_xse_struct { /* type of data record */ int kind; /* Survey, nav, Comment */ /* parameter (ship frames) */ int par_source; /* sensor id */ unsigned int par_sec; /* sec since 1/1/1901 00:00 */ unsigned int par_usec; /* microseconds */ unsigned int par_ship_name_length; /* length of ship name, chars */ char par_ship_name[MBSYS_XSE_DESCRIPTION_LENGTH]; /* Name of Vessel */ double par_ship_length; /* vessel total length, meters */ double par_ship_beam; /* vessel total width, meters */ double par_ship_draft; /* vessel maximum draft, meters */ double par_ship_height; /* vessel maximum height, meters */ double par_ship_displacement; /* vessel maximum displacement, cubic meters */ double par_ship_weight; /* vessel maximum weight, kg */ int par_ship_nsensor; /* number of sensors */ int par_ship_sensor_id[MBSYS_XSE_MAX_SENSORS]; /* sensor id array */ int par_ship_sensor_type[MBSYS_XSE_MAX_SENSORS]; /* sensor type array 1000 : SeaBeam 1000 2000 : SeaBeam 2100 2001 : SeaBeam 2100 V-shaped 3000 : SeaBeam 3000 4000 : single beam 8000 : Edgetech sidescan 9000 : 9001 : SSV */ int par_ship_sensor_frequency[MBSYS_XSE_MAX_SENSORS]; /* sensor frequency array (kHz) */ int par_parameter; /* boolean flag for parameter group */ float par_roll_bias; /* radians */ float par_pitch_bias; /* radians */ float par_heading_bias; /* radians */ float par_time_delay; /* nav time lag, seconds */ float par_trans_x_port; /* port transducer x position, meters */ float par_trans_y_port; /* port transducer y position, meters */ float par_trans_z_port; /* port transducer z position, meters */ float par_trans_x_stbd; /* starboard transducer x position, meters */ float par_trans_y_stbd; /* starboard transducer y position, meters */ float par_trans_z_stbd; /* starboard transducer z position, meters */ float par_trans_err_port; /* port transducer rotation in roll direction, radians */ float par_trans_err_stbd; /* starboard transducer rotation in roll direction, radians */ float par_nav_x; /* navigation antenna x position, meters */ float par_nav_y; /* navigation antenna y position, meters */ float par_nav_z; /* navigation antenna z position, meters */ float par_hrp_x; /* motion sensor x position, meters */ float par_hrp_y; /* motion sensor y position, meters */ float par_hrp_z; /* motion sensor z position, meters */ int par_navigationandmotion;/* boolean flag for navigationandmotion group */ double par_nam_roll_bias; /* roll bias, radians */ double par_nam_pitch_bias; /* pitch bias, radians */ double par_nam_heave_bias; /* heave bias, meters */ double par_nam_heading_bias; /* heading/gyro bias, radians */ double par_nam_time_delay; /* nav time lag, seconds */ double par_nam_nav_x; /* navigation antenna x position, meters */ double par_nam_nav_y; /* navigation antenna y position, meters */ double par_nam_nav_z; /* navigation antenna z position, meters */ double par_nam_hrp_x; /* motion sensor x position, meters */ double par_nam_hrp_y; /* motion sensor y position, meters */ double par_nam_hrp_z; /* motion sensor z position, meters */ int par_xdr_num_transducer; /* number of transducers */ int par_xdr_sensorid[MBSYS_XSE_MAX_TRANSDUCERS]; /* sensor ids */ char par_xdr_transducer[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer type: 0: hydrophone 1: projector 2: transducer */ unsigned int par_xdr_frequency[MBSYS_XSE_MAX_TRANSDUCERS]; /* frequency (Hz) */ char par_xdr_side[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer side: 0: undefined 1: port 2: starboard 3: midship 4: system defined */ double par_xdr_mountingroll[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingpitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingazimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* array mounting angle roll (radians) */ double par_xdr_mountingdistance[MBSYS_XSE_MAX_TRANSDUCERS]; /* horizontal distance between innermost elements of the transducer arrays to the ship center line in a V-shaped configuration (m) */ double par_xdr_x[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center across track offset (m) */ double par_xdr_y[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center along track offset (m) */ double par_xdr_z[MBSYS_XSE_MAX_TRANSDUCERS]; /* transducer center vertical offset (m) */ double par_xdr_roll[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming roll bias (radians - port up positive) */ double par_xdr_pitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming pitch bias (radians - bow up positive) */ double par_xdr_azimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* beamforming azimuth bias (radians - projector axis clockwise with respect to compass positive) */ int par_xdx_num_transducer; /* number of transducers */ char par_xdx_roll[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode roll (0: auto, 1: manual) */ char par_xdx_pitch[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode pitch (0: auto, 1: manual) */ char par_xdx_azimuth[MBSYS_XSE_MAX_TRANSDUCERS]; /* mounting mode azimuth (0: auto, 1: manual) */ /* svp (sound velocity frames) */ int svp_source; /* sensor id */ unsigned int svp_sec; /* sec since 1/1/1901 00:00 */ unsigned int svp_usec; /* microseconds */ int svp_nsvp; /* number of depth values */ int svp_nctd; /* number of ctd values */ double svp_depth[MBSYS_XSE_MAXSVP]; /* m */ double svp_velocity[MBSYS_XSE_MAXSVP]; /* m/s */ double svp_conductivity[MBSYS_XSE_MAXSVP]; /* mmho/cm */ double svp_salinity[MBSYS_XSE_MAXSVP]; /* o/oo */ double svp_temperature[MBSYS_XSE_MAXSVP]; /* degree celcius */ double svp_pressure[MBSYS_XSE_MAXSVP]; /* bar */ double svp_ssv; /* m/s */ double svp_ssv_depth; /* m */ char svp_ssv_depthflag; /* 0 = invalid depth, otherwise depth valid */ /* position (navigation frames) */ int nav_group_general; /* boolean flag */ int nav_group_position; /* boolean flag */ int nav_group_accuracy; /* boolean flag */ int nav_group_motiongt; /* boolean flag */ int nav_group_motiontw; /* boolean flag */ int nav_group_track; /* boolean flag */ int nav_group_hrp; /* boolean flag */ int nav_group_heave; /* boolean flag */ int nav_group_roll; /* boolean flag */ int nav_group_pitch; /* boolean flag */ int nav_group_heading; /* boolean flag */ int nav_group_log; /* boolean flag */ int nav_group_gps; /* boolean flag */ int nav_source; /* sensor id */ unsigned int nav_sec; /* sec since 1/1/1901 00:00 */ unsigned int nav_usec; /* microseconds */ int nav_quality; int nav_status; int nav_description_len; char nav_description[MBSYS_XSE_DESCRIPTION_LENGTH]; double nav_x; /* eastings (m) or longitude (radians) */ double nav_y; /* northings (m) or latitude (radians) */ double nav_z; /* height (m) or ellipsoidal height (m) */ short nav_acc_quality; /* GPS quality: 0: invalid 1: SPS 2: SPS differential 3: PPS 4. RTK 5: Float RTK 6: Estimated 7: Manual 8: Simulator */ char nav_acc_numsatellites; /* number of satellites */ float nav_acc_horizdilution; /* horizontal dilution of precision */ float nav_acc_diffage; /* age of differential data (sec since last update) */ unsigned int nav_acc_diffref; /* differential reference station */ double nav_speed_ground; /* m/s */ double nav_course_ground; /* radians */ double nav_speed_water; /* m/s */ double nav_course_water; /* radians */ double nav_trk_offset_track; /* offset track (m) */ double nav_trk_offset_sol; /* offset SOL (m) */ double nav_trk_offset_eol; /* offset EOL (m) */ double nav_trk_distance_sol; /* distance SOL (m) */ double nav_trk_azimuth_sol; /* azimuth SOL (radians) */ double nav_trk_distance_eol; /* distance EOL (m) */ double nav_trk_azimuth_eol; /* azimuth EOL (radians) */ double nav_hrp_heave; /* heave (m) */ double nav_hrp_roll; /* roll (radians) */ double nav_hrp_pitch; /* pitch (radians) */ double nav_hea_heave; /* heave (m) */ double nav_rol_roll; /* roll (radians) */ double nav_pit_pitch; /* pitch (radians) */ double nav_hdg_heading; /* heading (radians) */ double nav_log_speed; /* speed (m/s) */ float nav_gps_altitude; /* altitude with respect to geoid */ float nav_gps_geoidalseparation; /* difference between WGS84 ellipsoid and geoid (m) (positive means sea level geoid is above ellipsoid) */ /* survey depth (multibeam frames) */ int mul_frame; /* boolean flag - multibeam frame read */ int mul_group_beam; /* boolean flag - beam group read */ int mul_group_tt; /* boolean flag - tt group read */ int mul_group_quality; /* boolean flag - quality group read */ int mul_group_amp; /* boolean flag - amp group read */ int mul_group_delay; /* boolean flag - delay group read */ int mul_group_lateral; /* boolean flag - lateral group read */ int mul_group_along; /* boolean flag - along group read */ int mul_group_depth; /* boolean flag - depth group read */ int mul_group_angle; /* boolean flag - angle group read */ int mul_group_heave; /* boolean flag - heave group read */ int mul_group_roll; /* boolean flag - roll group read */ int mul_group_pitch; /* boolean flag - pitch group read */ int mul_group_gates; /* boolean flag - gates group read */ int mul_group_noise; /* boolean flag - noise group read */ int mul_group_length; /* boolean flag - length group read */ int mul_group_hits; /* boolean flag - hits group read */ int mul_group_heavereceive; /* boolean flag - heavereceive group read */ int mul_group_azimuth; /* boolean flag - azimuth group read */ int mul_group_properties; /* boolean flag - properties group read */ int mul_group_normamp; /* boolean flag - normalized amplitude group read */ int mul_group_mbsystemnav; /* boolean flag - mbsystemnav group read */ int mul_source; /* sensor id */ unsigned int mul_sec; /* sec since 1/1/1901 00:00 */ unsigned int mul_usec; /* microseconds */ int mul_ping; /* ping number */ float mul_frequency; /* transducer frequency (Hz) */ float mul_pulse; /* transmit pulse length (sec) */ float mul_power; /* transmit power (dB) */ float mul_bandwidth; /* receive bandwidth (Hz) */ float mul_sample; /* receive sample interval (sec) */ float mul_swath; /* swath width (radians) */ int mul_num_beams; /* number of beams */ double mul_lon; /* longitude (radians) */ double mul_lat; /* latitude (radians) */ double mul_heading; /* heading (radians) */ double mul_speed; /* speed (m/s) */ struct mbsys_xse_beam_struct beams[MBSYS_XSE_MAXBEAMS]; int mul_num_properties; /* number of properties */ unsigned short mul_properties_type[MBSYS_XSE_MAXPROPERTIES]; double mul_properties_value[MBSYS_XSE_MAXPROPERTIES]; char mul_properties_reserved[40]; int mul_normamp_num_beams; /* number of beams */ int mul_normamp_flags; /* multi-frequency flag: 0=one frequency is written, 1=one frequency is written for each beam */ float mul_normamp_along_beamwidth; /* along track beam width for center beam (radians) */ float mul_normamp_across_beamwidth; /* across track beam width for center beam (radians) */ short mul_normamp_amp[MBSYS_XSE_MAXBEAMS]; /* Normalized Amplitude of Bottom Echo per Beam. All System Gain Values (Receiver Gain, Source Level, etc.) have been removed from this value. System independent losses are not part of the normalization! (Beam Order is the same as in the Angle Group (Id 10) ) */ float mul_normamp_frequency[MBSYS_XSE_MAXBEAMS]; /* System Frequency (Number of Values depends on Multi-Frequency- Flag, see above) */ /* survey sidescan (sidescan frames) */ int sid_frame; /* boolean flag - sidescan frame read */ int sid_group_avt; /* boolean flag - amp vs time group read */ int sid_group_pvt; /* boolean flag - phase vs time group read */ int sid_group_avl; /* boolean flag - amp vs lateral group read */ int sid_group_pvl; /* boolean flag - phase vs lateral group read */ int sid_group_signal; /* boolean flag - signal group read */ int sid_group_ping; /* boolean flag - ping group read */ int sid_group_complex; /* boolean flag - complex group read */ int sid_group_weighting; /* boolean flag - weighting group read */ int sid_source; /* sensor id */ unsigned int sid_sec; /* sec since 1/1/1901 00:00 */ unsigned int sid_usec; /* microseconds */ int sid_ping; /* ping number */ float sid_frequency; /* transducer frequency (Hz) */ float sid_pulse; /* transmit pulse length (sec) */ float sid_power; /* transmit power (dB) */ float sid_bandwidth; /* receive bandwidth (Hz) */ float sid_sample; /* receive sample interval (sec) */ int sid_avt_sampleus; /* sample interval (usec) */ int sid_avt_offset; /* time offset (usec) */ int sid_avt_num_samples; /* number of samples */ short sid_avt_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */ int sid_pvt_sampleus; /* sample interval (usec) */ int sid_pvt_offset; /* time offset (usec) */ int sid_pvt_num_samples; /* number of samples */ short sid_pvt_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */ int sid_avl_binsize; /* bin size (mm) */ int sid_avl_offset; /* lateral offset (mm) */ int sid_avl_num_samples; /* number of samples */ short sid_avl_amp[MBSYS_XSE_MAXPIXELS]; /* sidescan amplitude (dB) */ int sid_pvl_binsize; /* bin size (mm) */ int sid_pvl_offset; /* lateral offset (mm) */ int sid_pvl_num_samples; /* number of samples */ short sid_pvl_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase (radians) */ int sid_sig_ping; /* ping number */ int sid_sig_channel; /* channel number */ double sid_sig_offset; /* start offset */ double sid_sig_sample; /* bin size / sample interval */ int sid_sig_num_samples; /* number of samples */ short sid_sig_phase[MBSYS_XSE_MAXPIXELS]; /* sidescan phase in radians */ unsigned int sid_png_pulse; /* pulse type (0=constant, 1=linear sweep) */ double sid_png_startfrequency; /* start frequency (Hz) */ double sid_png_endfrequency; /* end frequency (Hz) */ double sid_png_duration; /* pulse duration (msec) */ int sid_png_mancode; /* manufacturer code (1=Edgetech, 2=Elac) */ unsigned int sid_png_pulseid;/* pulse identifier */ char sid_png_pulsename[MBSYS_XSE_DESCRIPTION_LENGTH]; /* pulse name */ int sid_cmp_ping; /* ping number */ int sid_cmp_channel; /* channel number */ double sid_cmp_offset; /* start offset (usec) */ double sid_cmp_sample; /* bin size / sample interval (usec) */ int sid_cmp_num_samples; /* number of samples */ short sid_cmp_real[MBSYS_XSE_MAXPIXELS]; /* real sidescan signal */ short sid_cmp_imaginary[MBSYS_XSE_MAXPIXELS]; /* imaginary sidescan signal */ short sid_wgt_factorleft; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ unsigned int sid_wgt_samplesleft; /* number of left samples */ short sid_wgt_factorright; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ unsigned int sid_wgt_samplesright; /* number of right samples */ /* seabeam (seabeam frames) */ int sbm_properties; /* boolean flag - sbm properties group read */ int sbm_hrp; /* boolean flag - sbm hrp group read */ int sbm_signal; /* boolean flag - sbm signal group read */ int sbm_sweepsegments; /* boolean flag - sbm sweep segments group read */ int sbm_spacingmode; /* boolean flag - sbm spacing mode group read */ int sbm_source; /* sensor id */ int sbm_message; /* sensor id */ unsigned int sbm_sec; /* sec since 1/1/1901 00:00 */ unsigned int sbm_usec; /* microseconds */ int sbm_ping; /* ping number */ float sbm_ping_gain; /* ping gain (dB) */ float sbm_pulse_width; /* pulse width (s) */ float sbm_transmit_power; /* transmit power (dB) */ float sbm_pixel_width; /* pixel width (m) */ float sbm_swath_width; /* swath width (radians) */ float sbm_time_slice; /* time slice (s) */ int sbm_depth_mode; /* depth mode (1=shallow, 2=deep) */ int sbm_beam_mode; /* focused beam mode (0=off, 1=on) */ float sbm_ssv; /* surface sound velocity (m/s) */ float sbm_frequency; /* sonar frequency (kHz) */ float sbm_bandwidth; /* receiver bandwidth (kHz) */ double sbm_heave; /* heave (m) */ double sbm_roll; /* roll (radians) */ double sbm_pitch; /* pitch (radians) */ int sbm_signal_beam; /* beam number for signal */ int sbm_signal_count; /* number of samples in signal */ float sbm_signal_amp[MBSYS_XSE_MAXSAMPLES]; /* signal values */ int sbm_message_id; /* seabeam message id */ int sbm_message_len; /* seabeam message length */ char sbm_message_txt[MBSYS_XSE_COMMENT_LENGTH]; /* seabeam message */ char sbm_sweep_direction; /* sweep direction 0=static, 1=port, 2=starboard */ float sbm_sweep_azimuth; /* effective azimuth (radians) */ unsigned int sbm_sweep_segments; /* number of segments */ unsigned int sbm_sweep_seconds; /* seconds since start of ping and end of sweep segment */ unsigned int sbm_sweep_micro; /* microseconds of seconds */ float sbm_sweep_extrapolateazimuth; /* extrapolated azimuth at center of sweep segment (radians) */ float sbm_sweep_interpolatedazimuth; /* interpolated azimuth at center of sweep segment (radians) */ float sbm_sweep_extrapolatepitch; /* extrapolated pitch at center of sweep segment (radians) */ float sbm_sweep_interpolatedpitch; /* interpolated pitch at center of sweep segment (radians) */ float sbm_sweep_extrapolateroll; /* extrapolated roll at center of sweep segment (radians) */ float sbm_sweep_interpolatedroll; /* interpolated roll at center of sweep segment (radians) */ float sbm_sweep_stabilizedangle; /* sweep segment stabilized angle (radians) */ char sbm_spacing_mode; /* spacing mode: 0=equiangle, 1=equidistant */ float sbm_spacing_equidistance; /* equidistance (percentage of center depth) */ float sbm_spacing_equidistance_min; /* equidistance minimum value (percentage of center depth) */ float sbm_spacing_equidistance_max; /* equidistance maximum value (percentage of center depth) */ /* comment */ int com_source; /* sensor id */ unsigned int com_sec; /* sec since 1/1/1901 00:00 */ unsigned int com_usec; /* microseconds */ char comment[MBSYS_XSE_COMMENT_LENGTH]; /* unsupported frames */ int rawsize; /* size of unknown frame in bytes */ char raw[MBSYS_XSE_BUFFER_SIZE]; }; /* system specific function prototypes */ int mbsys_xse_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_xse_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_xse_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_xse_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_xse_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_xse_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_xse_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_xse_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_xse_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_xse_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_xse_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_xse_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_xse_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);