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pygsf

python module for access of GSF Files (Generic Sensor Format)

This is going to use the standard libraries from python, ie NOT use numpy, gsglib, or external any dependencies.

2DO

  • 1942 becomes corrugated when we apply the ARC. no problem if not applied
  • make a las file for each frequency where intensity is the amplitude data
  • make a las file of RGB where each color is an intensity

DONE

  • implemented pygsf2las to directly convert a gsf file into a las file
  • set grey scale range from 0 to 255 levels of gray so we user the full spectrum
  • default clip is set to 0.3%, ie 0.15 each side. This represents a clip to 3*SD
  • mask empty areas from waterfall plots
  • implement intensity clip
  • implement range clip
  • implement angular clips
  • implement apply conditioning of backscatter
  • implemented options for snippet processing mean, max, dected and mean5db
  • fixed bug in backscatter algorithm if range was 0m. this is an invalid beam so return 0 for backscatter
  • make conditioning ARC code work on all frequncies simultaneously
  • snippets is now available in 2 forms: detect value or mean of all samples in beam.
  • fixed bug in conditioner where extraction routine was using intensity array instead of mean_rel_array
  • iterate and see how often settings change. We can do this by writing settings changes to shp or csv file.
  • need to make Angular Response Curves for each frequency
  • implemented R2Sonic backscatter adjustment as provided in F77 from Norm Campbell at CSIRO.
  • added option to specify output. very useful when extracting backscatter ARC's
  • conditioner now has dedicated function per functionality
  • write out to a shape file so we can see where each file exists
  • waterfall image creation done for each frequency
  • sample read code in place
  • conditioner in place which strips attitude records. We can easily use this to strip by frequency
  • can read a bathy record of type r2sonic 2024. this what we need for multispectral challenge
  • implement exclude, so we can strip out the attitide records. This will speed up development
  • can read the GSF header record with the version string
  • basic loop in place

Record Decriptions (See page 82)

HEADER 1 SWATH_BATHYMETRY_PING 2 SOUND_VELOCITY_PROFILE 3 PROCESSING_PARAMETERS 4 SENSOR_PARAMETERS 5 COMMENT 6 HISTORY 7 NAVIGATION_ERROR (obsolete) 8 SWATH_BATHY_SUMMARY 9 SINGLE_BEAM_SOUNDING (use discouraged) 10 HV_NAVIGATION_ERROR 11 ATTITUDE 12

Python Struct format characters

Format	C Type	            Python type	            Standard size	    
x	    pad byte	        no value	 	 
c	    char	            string of length 1	    1	 
b	    signed char	        integer	                1	
B	    unsigned char	    integer	                1	
?	    _Bool	            bool	                1	
h	    short	            integer	                2
H	    unsigned short	    integer	                2	
i	    int	                integer	                4	
I	    unsigned int	    integer	                4	
l	    long	            integer	                4	
L	    unsigned long	    integer	                4	
q	    long long	        integer 	            8
Q	    unsigned long long	integer	                8
f	    float	            float               	4
d	    double	            float               	8
s	    char[]	            string	 	 
p	    char[]	            string	 	 
P	    void *	            integer	 	


Processing C:\development\python\sample.gsf
Summary report:
GSF_RECORD_HEADER: GSF Version = GSF-v03.07

Total of 3969723 records:
GSF_RECORD_HEADER: 1
GSF_RECORD_SWATH_BATHYMETRY_PING: 2721
GSF_RECORD_SOUND_VELOCITY_PROFILE: 1
GSF_RECORD_PROCESSING_PARAMETERS: 1
GSF_RECORD_SENSOR_PARAMETERS: 0
GSF_RECORD_COMMENT: 0
GSF_RECORD_HISTORY: 0
GSF_RECORD_NAVIGATION_ERROR: 0
GSF_RECORD_SWATH_BATHY_SUMMARY: 0
GSF_RECORD_SINGLE_BEAM_PING: 0
GSF_RECORD_HV_NAVIGATION_ERROR: 0
GSF_RECORD_ATTITUDE: 3966999 (3966999 measurements)

Finished - 1 files processed.

3967003 MB Ping: Flag: 0x0000 
                   2016/334 21:48:14.677
          lat:   48.6526712  long: -123.4764805
          heading: 042.04 course: 000.00 speed: 00.00
          sensor: 152 beams: 256 center: 127 r: -00.40 p: +00.33 h: +00.00
          tide: -3.030  gps_tide: +0.000  depth corrector: -3.030  GPS Height: +9999.99
          ping is: Port

	Imagery data specifics: 
	  bits_per_sample:     16
	  applied_corrections: 0x00000000
	This record contains:
		depth
		across_track
		along_track
		travel_time
		beam_angle
		mr_amplitude
		quality_factor
		beam_flags
		beam_angle_forward
		vertical_error
		horizontal_error
		brb_inten

   Beam   Depth   XTrack  ATrack   TTime  Angle  FAngle Rel Amp  V_Err  H_Err Flag I/S Q_Factors
    001   65.98  -116.95   +0.03  0.1817  60.12    0.00   339.0  0.100  0.070 0x09 Y N       0.0
    002   65.87  -115.77   +0.05  0.1803  59.92    0.00   355.0  0.100  0.070 0x09 Y N       0.0
    003   65.88  -114.78   +0.06  0.1791  59.71    0.00   363.0  0.100  0.070 0x09 Y N       0.0
    004   65.88  -113.80   +0.07  0.1780  59.50    0.00   372.0  0.100  0.070 0x09 Y N       0.0
    005   65.86  -112.78   +0.08  0.1768  59.28    0.00   380.0  0.100  0.070 0x09 Y N       0.0
    006   65.86  -111.79   +0.09  0.1756  59.06    0.00   388.0  0.100  0.070 0x09 Y N       0.0


DEPTH_ARRAY 1
ACROSS_TRACK_ARRAY 2
ALONG_TRACK_ARRAY 3
TRAVEL_TIME_ARRAY 4
BEAM_ANGLE_ARRAY 5
MEAN_CAL_AMPLITUDE_ARRAY 6
MEAN_REL_AMPLITUDE_ARRAY 7
ECHO_WIDTH_ARRAY 8
QUALITY_FACTOR_ARRAY 9
RECEIVE_HEAVE_ARRAY 10
DEPTH_ERROR_ARRAY (obsolete) 11
ACROSS_TRACK_ERROR_ARRAY (obsolete) 12
ALONG_TRACK_ERROR_ARRAY (obsolete) 13
NOMINAL_DEPTH_ARRAY 14
QUALITY_FLAGS_ARRAY 15
BEAM_FLAGS_ARRAY 16
SIGNAL_TO_NOISE_ARRAY 17
BEAM_ANGLE_FORWARD_ARRAY 18
VERTICAL_ERROR_ARRAY 19
HORIZONTAL_ERROR_ARRAY 20
INTENSITY_SERIES_ARRAY 21
SECTOR_NUMBER_ARRAY 22
DETECTION_INFO_ARRAY 23
INCIDENT_BEAM_ADJ_ARRAY 24
SYSTEM_CLEANING_ARRAY 25
DOPPLER_CORRECTION_ARRAY 26
SONAR_VERT_UNCERTAINTY_ARRAY 27
SCALE_FACTORS 100
SEABEAM_SPECIFIC 102
EM12_SPECIFIC 103
EM100_SPECIFIC 104
EM950_SPECIFIC 105
EM121A_SPECIFIC 106
EM121_SPECIFIC 107
SASS_SPECIFIC (To Be Replaced By CMP_SASS) 108
SEAMAP_SPECIFIC 109
SEABAT_SPECIFIC 110
EM1000_SPECIFIC 111
TYPEIII_SEABEAM_SPECIFIC (To Be Replaced By CMP_SASS ) 112
SB_AMP_SPECIFIC 113
SEABAT_II_SPECIFIC 114
SEABAT_8101_SPECIFIC (obsolete) 115
SEABEAM_2112_SPECIFIC 116
ELAC_MKII_SPECIFIC 117
EM3000_SPECIFIC 118
EM1002_SPECIFIC 119
EM300_SPECIFIC 120
CMP_SASS_SPECIFIC (To replace SASS and TYPEIII_SEABEAM) 121
RESON_8101_SPECIFIC 122
RESON_8111_SPECIFIC 123
RESON_8124_SPECIFIC 124
RESON_8125_SPECIFIC 125
RESON_8150_SPECIFIC 126
RESON_8160_SPECIFIC 127
EM120_SPECIFIC 128
EM3002_SPECIFIC 129
EM3000D_SPECIFIC 130
EM3002D_SPECIFIC 131
EM121A_SIS_SPECIFIC 132
EM710_SPECIFIC 133
EM302_SPECIFIC 134
EM122_SPECIFIC 135
GEOSWATH_PLUS_SPECIFIC 136
KLEIN_5410_BSS_SPECIFIC 137
RESON_7125_SPECIFIC 138
EM2000_SPECIFIC 139
EM300_RAW_SPECIFIC 140
EM1002_RAW_SPECIFIC 141
EM2000_RAW_SPECIFIC 142
EM3000_RAW_SPECIFIC 143
EM120_RAW_SPECIFIC 144
EM3002_RAW_SPECIFIC 145
EM3000D_RAW_SPECIFIC 146
EM3002D_RAW_SPECIFIC 147
EM121A_SIS_RAW_SPECIFIC 148
EM2040_SPECIFIC 149
DELTA_T_SPECIFIC 150
R2SONIC_2022_SPECIFIC 151
R2SONIC_2024_SPECIFIC 152
R2SONIC_2020_SPECIFIC 153
SB_ECHOTRAC_SPECIFIC (obsolete) 206
SB_BATHY2000_SPECIFIC (obsolete) 207
SB_MGD77_SPECIFIC (obsolete) 208
SB_BDB_SPECIFIC (obsolete) 209
SB_NOSHDB_SPECIFIC (obsolete) 210
SB_PDD_SPECIFIC (obsolete) 211
SB_NAVISOUND_SPECIFIC (obsolete) 212