/*-------------------------------------------------------------------- * The MB-system: mbr_edgjstar.c 5/2/2005 * $Id: mbr_edgjstar.c 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2005-2015 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. *--------------------------------------------------------------------*/ /* * mbr_edgjstar.c contains the functions for reading * sidescan data in the EDGJSTAR format. * These functions include: * mbr_alm_edgjstar - allocate read/write memory * mbr_dem_edgjstar - deallocate read/write memory * mbr_rt_edgjstar - read and translate data * mbr_wt_edgjstar - translate and write data * * Author: D. W. Caress * Date: May 2, 2005 * $Log: mbr_edgjstar.c,v $ * Revision 5.4 2008/07/10 06:43:40 caress * Preparing for 5.1.1beta20 * * Revision 5.3 2006/11/10 22:36:04 caress * Working towards release 5.1.0 * * Revision 5.2 2006/04/11 19:14:46 caress * Various fixes. * * Revision 5.1 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 5.0 2005/06/04 04:11:35 caress * Support for Edgetech Jstar format (id 132 and 133). * * * */ /* Debug flag */ /* #define MBF_EDGJSTAR_DEBUG 1 */ /* standard include files */ #include #include #include #include /* mbio include files */ #include "mb_status.h" #include "mb_format.h" #include "mb_io.h" #include "mb_define.h" #include "mb_swap.h" #include "mbsys_jstar.h" /* essential function prototypes */ int mbr_register_edgjstar(int verbose, void *mbio_ptr, int *error); int mbr_info_edgjstar(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error); int mbr_register_edgjstr2(int verbose, void *mbio_ptr, int *error); int mbr_info_edgjstr2(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error); int mbr_alm_edgjstar(int verbose, void *mbio_ptr, int *error); int mbr_dem_edgjstar(int verbose, void *mbio_ptr, int *error); int mbr_rt_edgjstar(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_edgjstar(int verbose, void *mbio_ptr, void *store_ptr, int *error); static char rcs_id[]="$Id: mbr_edgjstar.c 2227 2015-02-05 21:12:31Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_edgjstar(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_edgjstar"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* get mb_io_ptr */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set format info parameters */ status = mbr_info_edgjstar(verbose, &mb_io_ptr->system, &mb_io_ptr->beams_bath_max, &mb_io_ptr->beams_amp_max, &mb_io_ptr->pixels_ss_max, mb_io_ptr->format_name, mb_io_ptr->system_name, mb_io_ptr->format_description, &mb_io_ptr->numfile, &mb_io_ptr->filetype, &mb_io_ptr->variable_beams, &mb_io_ptr->traveltime, &mb_io_ptr->beam_flagging, &mb_io_ptr->nav_source, &mb_io_ptr->heading_source, &mb_io_ptr->vru_source, &mb_io_ptr->svp_source, &mb_io_ptr->beamwidth_xtrack, &mb_io_ptr->beamwidth_ltrack, error); /* set format and system specific function pointers */ mb_io_ptr->mb_io_format_alloc = &mbr_alm_edgjstar; mb_io_ptr->mb_io_format_free = &mbr_dem_edgjstar; mb_io_ptr->mb_io_store_alloc = &mbsys_jstar_alloc; mb_io_ptr->mb_io_store_free = &mbsys_jstar_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_edgjstar; mb_io_ptr->mb_io_write_ping = &mbr_wt_edgjstar; mb_io_ptr->mb_io_dimensions = &mbsys_jstar_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_jstar_pingnumber; mb_io_ptr->mb_io_preprocess = &mbsys_jstar_preprocess; mb_io_ptr->mb_io_extract = &mbsys_jstar_extract; mb_io_ptr->mb_io_insert = &mbsys_jstar_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_jstar_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_jstar_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_jstar_extract_altitude; mb_io_ptr->mb_io_insert_altitude = &mbsys_jstar_insert_altitude; mb_io_ptr->mb_io_extract_svp = NULL; mb_io_ptr->mb_io_insert_svp = NULL; mb_io_ptr->mb_io_ttimes = &mbsys_jstar_ttimes; mb_io_ptr->mb_io_detects = &mbsys_jstar_detects; mb_io_ptr->mb_io_extract_rawssdimensions = &mbsys_jstar_extract_rawssdimensions; mb_io_ptr->mb_io_extract_rawss = &mbsys_jstar_extract_rawss; mb_io_ptr->mb_io_insert_rawss = &mbsys_jstar_insert_rawss; mb_io_ptr->mb_io_extract_segytraceheader = &mbsys_jstar_extract_segytraceheader; mb_io_ptr->mb_io_extract_segy = &mbsys_jstar_extract_segy; mb_io_ptr->mb_io_insert_segy = &mbsys_jstar_insert_segy; mb_io_ptr->mb_io_ctd = &mbsys_jstar_ctd; mb_io_ptr->mb_io_copyrecord = &mbsys_jstar_copyrecord; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %p\n",(void *)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %p\n",(void *)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %p\n",(void *)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %p\n",(void *)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %p\n",(void *)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %p\n",(void *)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %p\n",(void *)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %p\n",(void *)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %p\n",(void *)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %p\n",(void *)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %p\n",(void *)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %p\n",(void *)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %p\n",(void *)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %p\n",(void *)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %p\n",(void *)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %p\n",(void *)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawssdimensions: %p\n",(void *)mb_io_ptr->mb_io_extract_rawssdimensions); fprintf(stderr,"dbg2 extract_rawss: %p\n",(void *)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %p\n",(void *)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 extract_segytraceheader: %p\n",(void *)mb_io_ptr->mb_io_extract_segytraceheader); fprintf(stderr,"dbg2 extract_segy: %p\n",(void *)mb_io_ptr->mb_io_extract_segy); fprintf(stderr,"dbg2 insert_segy: %p\n",(void *)mb_io_ptr->mb_io_insert_segy); fprintf(stderr,"dbg2 ctd: %p\n",(void *)mb_io_ptr->mb_io_ctd); fprintf(stderr,"dbg2 copyrecord: %p\n",(void *)mb_io_ptr->mb_io_copyrecord); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_info_edgjstar(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error) { char *function_name = "mbr_info_edgjstar"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* set format info parameters */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; *system = MB_SYS_JSTAR; *beams_bath_max = 1; *beams_amp_max = 0; *pixels_ss_max = MBSYS_JSTAR_PIXELS_MAX; strncpy(format_name, "EDGJSTAR", MB_NAME_LENGTH); strncpy(system_name, "JSTAR", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EDGJSTAR\nInformal Description: Edgetech Jstar format\nAttributes: variable pixels, dual frequency sidescan and subbottom,\n binary SEGY variant, single files,\n low frequency sidescan returned as\n survey data, Edgetech. \n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *traveltime = MB_NO; *beam_flagging = MB_NO; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_NONE; *beamwidth_xtrack = 0.0; *beamwidth_ltrack = 0.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_register_edgjstr2(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_edgjstr2"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* get mb_io_ptr */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set format info parameters */ status = mbr_info_edgjstr2(verbose, &mb_io_ptr->system, &mb_io_ptr->beams_bath_max, &mb_io_ptr->beams_amp_max, &mb_io_ptr->pixels_ss_max, mb_io_ptr->format_name, mb_io_ptr->system_name, mb_io_ptr->format_description, &mb_io_ptr->numfile, &mb_io_ptr->filetype, &mb_io_ptr->variable_beams, &mb_io_ptr->traveltime, &mb_io_ptr->beam_flagging, &mb_io_ptr->nav_source, &mb_io_ptr->heading_source, &mb_io_ptr->vru_source, &mb_io_ptr->svp_source, &mb_io_ptr->beamwidth_xtrack, &mb_io_ptr->beamwidth_ltrack, error); /* set format and system specific function pointers */ mb_io_ptr->mb_io_format_alloc = &mbr_alm_edgjstar; mb_io_ptr->mb_io_format_free = &mbr_dem_edgjstar; mb_io_ptr->mb_io_store_alloc = &mbsys_jstar_alloc; mb_io_ptr->mb_io_store_free = &mbsys_jstar_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_edgjstar; mb_io_ptr->mb_io_write_ping = &mbr_wt_edgjstar; mb_io_ptr->mb_io_dimensions = &mbsys_jstar_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_jstar_pingnumber; mb_io_ptr->mb_io_preprocess = &mbsys_jstar_preprocess; mb_io_ptr->mb_io_extract = &mbsys_jstar_extract; mb_io_ptr->mb_io_insert = &mbsys_jstar_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_jstar_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_jstar_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_jstar_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = NULL; mb_io_ptr->mb_io_insert_svp = NULL; mb_io_ptr->mb_io_ttimes = &mbsys_jstar_ttimes; mb_io_ptr->mb_io_detects = &mbsys_jstar_detects; mb_io_ptr->mb_io_extract_rawssdimensions = &mbsys_jstar_extract_rawssdimensions; mb_io_ptr->mb_io_extract_rawss = &mbsys_jstar_extract_rawss; mb_io_ptr->mb_io_insert_rawss = &mbsys_jstar_insert_rawss; mb_io_ptr->mb_io_extract_segytraceheader = &mbsys_jstar_extract_segytraceheader; mb_io_ptr->mb_io_extract_segy = &mbsys_jstar_extract_segy; mb_io_ptr->mb_io_insert_segy = &mbsys_jstar_insert_segy; mb_io_ptr->mb_io_ctd = &mbsys_jstar_ctd; mb_io_ptr->mb_io_copyrecord = &mbsys_jstar_copyrecord; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %p\n",(void *)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %p\n",(void *)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %p\n",(void *)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %p\n",(void *)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %p\n",(void *)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %p\n",(void *)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %p\n",(void *)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %p\n",(void *)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %p\n",(void *)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %p\n",(void *)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %p\n",(void *)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %p\n",(void *)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %p\n",(void *)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %p\n",(void *)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %p\n",(void *)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %p\n",(void *)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawssdimensions: %p\n",(void *)mb_io_ptr->mb_io_extract_rawssdimensions); fprintf(stderr,"dbg2 extract_rawss: %p\n",(void *)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %p\n",(void *)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 extract_segytraceheader: %p\n",(void *)mb_io_ptr->mb_io_extract_segytraceheader); fprintf(stderr,"dbg2 extract_segy: %p\n",(void *)mb_io_ptr->mb_io_extract_segy); fprintf(stderr,"dbg2 insert_segy: %p\n",(void *)mb_io_ptr->mb_io_insert_segy); fprintf(stderr,"dbg2 ctd: %p\n",(void *)mb_io_ptr->mb_io_ctd); fprintf(stderr,"dbg2 copyrecord: %p\n",(void *)mb_io_ptr->mb_io_copyrecord); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_info_edgjstr2(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error) { char *function_name = "mbr_info_edgjstr2"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* set format info parameters */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; *system = MB_SYS_JSTAR; *beams_bath_max = 1; *beams_amp_max = 0; *pixels_ss_max = MBSYS_JSTAR_PIXELS_MAX; strncpy(format_name, "EDGJSTR2", MB_NAME_LENGTH); strncpy(system_name, "EDGJSTR2", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EDGJSTR2\nInformal Description: Edgetech Jstar format\nAttributes: variable pixels, dual frequency sidescan and subbottom,\n binary SEGY variant, single files,\n high frequency sidescan returned as\n survey data, Edgetech. \n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *traveltime = MB_NO; *beam_flagging = MB_NO; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_NONE; *beamwidth_xtrack = 0.0; *beamwidth_ltrack = 0.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_edgjstar(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_edgjstar"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = 0; mbsys_jstar_alloc(verbose, mbio_ptr, &mb_io_ptr->store_data, error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_edgjstar(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_edgjstar"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data structure */ status = mbsys_jstar_deall(verbose, mbio_ptr, &mb_io_ptr->store_data, error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_edgjstar(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_edgjstar"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_jstar_message_struct message; struct mbsys_jstar_struct *store; struct mbsys_jstar_channel_struct *sbp; struct mbsys_jstar_channel_struct *ss; struct mbsys_jstar_nmea_struct *nmea; struct mbsys_jstar_pitchroll_struct *pitchroll; struct mbsys_jstar_dvl_struct *dvl; struct mbsys_jstar_pressure_struct *pressure; struct mbsys_jstar_sysinfo_struct *sysinfo; struct mbsys_jstar_comment_struct *comment; struct mbsys_jstar_ssold_struct ssold_tmp; char buffer[MBSYS_JSTAR_SYSINFO_MAX]; char nmeastring[MB_COMMENT_MAXLINE]; int index; int done; int read_status; int shortspersample; int trace_size; double time_d; double navlon, navlat, heading; double speed, sonardepth, altitude; double heave, roll, pitch; double rawvalue; int time_i[7]; int time_j[5]; double depthofsensor, offset; char **nap, *nargv[25], *string; int nargc; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_jstar_struct *) store_ptr; /* have a local struct mbsys_jstar_ss_struct ss_tmp for * reading old "sidescan" records and translating them * to the current form - initialize the trace to null */ ssold_tmp.trace_alloc = 0; ssold_tmp.trace = NULL; /* make sure the sidescan ping numbers and channels are initialized so * that it is impossible to mistakenly report a full ping read when only * one channel has been read */ store->ssport.pingNum = -1; store->ssstbd.pingNum = -1; store->ssport.message.subsystem = -1; store->ssstbd.message.subsystem = -1; /* loop over reading data until a full record of some sort is read */ done = MB_NO; while (done == MB_NO) { /* read message header */ if ((read_status = fread(buffer, MBSYS_JSTAR_MESSAGE_SIZE, 1, mb_io_ptr->mbfp)) == 1) { /* extract the message header values */ index = 0; mb_get_binary_short(MB_YES, &buffer[index], &(message.start_marker)); index += 2; message.version = (mb_u_char) buffer[index]; index++; message.session = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(message.type)); index += 2; message.command = (mb_u_char) buffer[index]; index++; message.subsystem = (mb_u_char) buffer[index]; index++; message.channel = (mb_u_char) buffer[index]; index++; message.sequence = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(message.reserved)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(message.size)); index += 4; store->subsystem = message.subsystem; status = MB_SUCCESS; #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"NEW MESSAGE HEADER: status:%d message.type:%d message.subsystem:%d channel:%d message.size:%d\n", status,message.type,message.subsystem,message.channel,message.size); #endif } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"REACHED END OF FILE: status:%d\n", status); #endif } /* if comment proceed to get data */ if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_COMMENT && message.size < MB_COMMENT_MAXLINE) { /* comment channel */ comment = (struct mbsys_jstar_comment_struct *) &(store->comment); comment->message = message; /* read the comment */ if ((read_status = fread(comment->comment, message.size, 1, mb_io_ptr->mbfp)) == 1) { comment->comment[message.size] = 0; done = MB_YES; store->kind = MB_DATA_COMMENT; } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* if subbottom data and sonar trace 80 proceed to get data */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_SONAR && message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SBP) { /* sbp channel */ sbp = (struct mbsys_jstar_channel_struct *) &(store->sbp); sbp->message = message; /* read the 240 byte trace header */ if ((read_status = fread(buffer, MBSYS_JSTAR_SBPHEADER_SIZE, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sequenceNumber)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->startDepth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->pingNum)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->channelNum)); index += 4; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unused1[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(sbp->traceIDCode)); index += 2; for (i=0;i<2;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unused2[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(sbp->dataFormat)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEAantennaeR)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEAantennaeO)); index += 2; for (i=0;i<32;i++) { sbp->RS232[i] = buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sourceCoordX)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sourceCoordY)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->groupCoordX)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->groupCoordY)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->coordUnits)); index += 2; for (i=0;i<24;i++) { sbp->annotation[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(sbp->samples)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sampleInterval)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->ADCGain)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->pulsePower)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->correlated)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->startFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->endFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->sweepLength)); index += 2; for (i=0;i<4;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unused7[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(sbp->aliasFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->pulseID)); index += 2; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unused8[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(sbp->year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->day)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->hour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->minute)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->second)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->timeBasis)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->weightingFactor)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unused9)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->heading)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->temperature)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->heaveCompensation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->trigSource)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->markNumber)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEAHour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEAMinutes)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEASeconds)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEACourse)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEASpeed)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEADay)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->NMEAYear)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->millisecondsToday)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->ADCMax)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->calConst)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->vehicleID)); index += 2; for (i=0;i<6;i++) { sbp->softwareVersion[i] = buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sphericalCorrection)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->packetNum)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->ADCDecimation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->decimation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(sbp->unuseda)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->depth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sonardepth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sbp->sonaraltitude)); index += 4; /* allocate memory for the trace */ if (sbp->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * sbp->samples * sizeof(short); if (sbp->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose, __FILE__, __LINE__, trace_size, (void **)&(sbp->trace), error)) == MB_SUCCESS) { sbp->trace_alloc = trace_size; } else fprintf(stderr,"TRACE ALLOCATION FAILED %s Line:%d Size:%d\n", __FILE__, __LINE__, trace_size); } /* read the trace */ if (status == MB_SUCCESS && (read_status = fread(sbp->trace, trace_size, 1, mb_io_ptr->mbfp)) == 1) { #ifndef BYTESWAPPED for (i=0;isamples;i++) { sbp->trace[i] = mb_swap_short(sbp->trace[i]);; } #endif } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } /* get time */ time_j[0] = sbp->year; time_j[1] = sbp->day; time_j[2] = 60 * sbp->hour + sbp->minute; time_j[3] = sbp->second; time_j[4] = (int)1000 * (sbp->millisecondsToday - 1000 * floor(0.001 * ((double)sbp->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* set navigation and attitude if needed and available */ if (sbp->heading == 0 && mb_io_ptr->nheading > 0) { mb_hedint_interp(verbose, mbio_ptr, time_d, &heading, error); sbp->heading = (short) (100.0 * heading); } if ((sbp->groupCoordX == 0 || sbp->groupCoordY == 0 || sbp->coordUnits == 2) && mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &navlon, &navlat, &speed, error); sbp->sourceCoordX = (int) (600000.0 * navlon); sbp->sourceCoordY = (int) (600000.0 * navlat); sbp->groupCoordX = (int) (600000.0 * navlon); sbp->groupCoordY = (int) (600000.0 * navlat); } if ((sbp->roll == 0 || sbp->pitch == 0 || sbp->heaveCompensation == 0) && mb_io_ptr->nattitude > 0) { mb_attint_interp(verbose, mbio_ptr, time_d, &heave, &roll, &pitch, error); sbp->roll = 32768 * roll / 180.0; sbp->pitch = 32768 * pitch / 180.0; sbp->heaveCompensation = heave / sbp->sampleInterval / 0.00000075; } if (sbp->sonaraltitude == 0 && mb_io_ptr->naltitude > 0) { mb_altint_interp(verbose, mbio_ptr, time_d, &altitude, error); sbp->sonaraltitude = altitude / 1000.0; } if (sbp->sonardepth == 0 && mb_io_ptr->nsonardepth > 0) { mb_depint_interp(verbose, mbio_ptr, time_d, &sonardepth, error); sbp->sonardepth = sonardepth / 1000.0; } /* set kind */ store->kind = MB_DATA_SUBBOTTOM_SUBBOTTOM; done = MB_YES; } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* if sidescan data and sonar trace 80 proceed to get data */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_SONAR && message.subsystem != MBSYS_JSTAR_SUBSYSTEM_SBP) { /* sidescan channel */ if (message.channel == 0) { ss = (struct mbsys_jstar_channel_struct *) &(store->ssport); } else { ss = (struct mbsys_jstar_channel_struct *) &(store->ssstbd); } ss->message = message; /* read the 240 byte trace header */ if ((read_status = fread(buffer, MBSYS_JSTAR_SBPHEADER_SIZE, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(ss->sequenceNumber)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->startDepth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->pingNum)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->channelNum)); index += 4; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(ss->unused1[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(ss->traceIDCode)); index += 2; for (i=0;i<2;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(ss->unused2[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(ss->dataFormat)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEAantennaeR)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEAantennaeO)); index += 2; for (i=0;i<32;i++) { ss->RS232[i] = buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(ss->sourceCoordX)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->sourceCoordY)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->groupCoordX)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->groupCoordY)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ss->coordUnits)); index += 2; for (i=0;i<24;i++) { ss->annotation[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(ss->samples)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ss->sampleInterval)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ss->ADCGain)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->pulsePower)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->correlated)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->startFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->endFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->sweepLength)); index += 2; for (i=0;i<4;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(ss->unused7[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(ss->aliasFreq)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->pulseID)); index += 2; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(ss->unused8[i])); index += 2; } mb_get_binary_short(MB_YES, &buffer[index], &(ss->year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->day)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->hour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->minute)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->second)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->timeBasis)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->weightingFactor)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->unused9)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->heading)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->temperature)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->heaveCompensation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->trigSource)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->markNumber)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEAHour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEAMinutes)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEASeconds)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEACourse)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEASpeed)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEADay)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->NMEAYear)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ss->millisecondsToday)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ss->ADCMax)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->calConst)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->vehicleID)); index += 2; for (i=0;i<6;i++) { ss->softwareVersion[i] = buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(ss->sphericalCorrection)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ss->packetNum)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->ADCDecimation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->decimation)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ss->unuseda)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ss->depth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->sonardepth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ss->sonaraltitude)); index += 4; /* allocate memory for the trace */ if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * ss->samples * sizeof(short); if (ss->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose, __FILE__, __LINE__, trace_size, (void **)&(ss->trace), error)) == MB_SUCCESS) { ss->trace_alloc = trace_size; } else fprintf(stderr,"TRACE ALLOCATION FAILED %s Line:%d Size:%d\n", __FILE__, __LINE__, trace_size); } /* read the trace */ if (status == MB_SUCCESS && (read_status = fread(ss->trace, trace_size, 1, mb_io_ptr->mbfp)) == 1) { #ifndef BYTESWAPPED for (i=0;isamples;i++) { ss->trace[i] = mb_swap_short(ss->trace[i]);; } #endif } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } /* get time */ time_j[0] = ss->year; time_j[1] = ss->day; time_j[2] = 60 * ss->hour + ss->minute; time_j[3] = ss->second; time_j[4] = (int)1000 * (ss->millisecondsToday - 1000 * floor(0.001 * ((double)ss->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* set navigation and attitude if needed and available */ if (ss->heading == 0 && mb_io_ptr->nheading > 0) { mb_hedint_interp(verbose, mbio_ptr, time_d, &heading, error); ss->heading = (short) (100.0 * heading); } if ((ss->groupCoordX == 0 || ss->groupCoordY == 0 || ss->coordUnits == 2) && mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &navlon, &navlat, &speed, error); ss->sourceCoordX = (int) (600000.0 * navlon); ss->sourceCoordY = (int) (600000.0 * navlat); ss->groupCoordX = (int) (600000.0 * navlon); ss->groupCoordY = (int) (600000.0 * navlat); } if ((ss->roll == 0 || ss->pitch == 0 || ss->heaveCompensation == 0) && mb_io_ptr->nattitude > 0) { mb_attint_interp(verbose, mbio_ptr, time_d, &heave, &roll, &pitch, error); ss->roll = 32768 * roll / 180.0; ss->pitch = 32768 * pitch / 180.0; ss->heaveCompensation = heave / ss->sampleInterval / 0.00000075; } if (ss->sonaraltitude == 0 && mb_io_ptr->naltitude > 0) { mb_altint_interp(verbose, mbio_ptr, time_d, &altitude, error); ss->sonaraltitude = 1000 * altitude; } if (ss->sonardepth == 0 && mb_io_ptr->nsonardepth > 0) { mb_depint_interp(verbose, mbio_ptr, time_d, &sonardepth, error); ss->sonardepth = 1000 * sonardepth; } /* set kind */ if (mb_io_ptr->format == MBF_EDGJSTAR) { if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) store->kind = MB_DATA_DATA; else if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) store->kind = MB_DATA_SIDESCAN2; } else { if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) store->kind = MB_DATA_DATA; else if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) store->kind = MB_DATA_SIDESCAN2; } if (store->ssport.pingNum == store->ssstbd.pingNum && store->ssport.message.subsystem == store->ssstbd.message.subsystem) { done = MB_YES; } #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"Done reading 1: %d pingNum:%d %d subsystem:%d %d\n", done,store->ssport.pingNum,store->ssstbd.pingNum, store->ssport.message.subsystem,store->ssstbd.message.subsystem); #endif } /* else end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* if subbottom data and sonar trace 82 proceed to get data - translate to current form */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_SONAR2 && message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SBP) { /* reset message type to current sonar trace 80 */ message.type = MBSYS_JSTAR_DATA_SONAR; /* sbp channel */ sbp = (struct mbsys_jstar_channel_struct *) &(store->sbp); sbp->message = message; /* temporary old format structure */ ssold_tmp.message = message; /* read the 80 byte trace header */ if ((read_status = fread(buffer, MBSYS_JSTAR_SSOLDHEADER_SIZE, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.subsystem)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.channelNum)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.pingNum)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.packetNum)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.trigSource)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.samples)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.sampleInterval)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.startDepth)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.weightingFactor)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.ADCGain)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.ADCMax)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.rangeSetting)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.pulseID)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.markNumber)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.dataFormat)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.reserved)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.millisecondsToday)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.day)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.hour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.minute)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.second)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.heading)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.heave)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.yaw)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.depth)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.temperature)); index += 2; for (i=0;i<10;i++) { ssold_tmp.reserved2[i] = buffer[index]; index++; } /* translate traceheader to the current form */ sbp->sequenceNumber = 0; sbp->startDepth = ssold_tmp.startDepth; sbp->pingNum = ssold_tmp.pingNum; sbp->channelNum = ssold_tmp.channelNum; for (i=0;i<6;i++) { sbp->unused1[i] = 0; } sbp->traceIDCode = 1; for (i=0;i<2;i++) { sbp->unused2[i] = 0; } sbp->dataFormat = ssold_tmp.dataFormat; sbp->NMEAantennaeR = 0; sbp->NMEAantennaeO= 0; for (i=0;i<32;i++) { sbp->RS232[i] = 0; } sbp->sourceCoordX = 0; sbp->sourceCoordY = 0; sbp->groupCoordX = 0; sbp->groupCoordY = 0; sbp->coordUnits = 2; for (i=0;i<24;i++) { sbp->annotation[i] = 0; } sbp->samples = ssold_tmp.samples; sbp->sampleInterval = ssold_tmp.sampleInterval; sbp->ADCGain = ssold_tmp.ADCGain; sbp->pulsePower = 0; sbp->correlated = 0; sbp->startFreq = 0; sbp->endFreq = 0; sbp->sweepLength = 0; for (i=0;i<4;i++) { sbp->unused7[i] = 0; } sbp->aliasFreq = (unsigned short)(500000000.0 / sbp->sampleInterval); sbp->pulseID = ssold_tmp.pulseID; for (i=0;i<6;i++) { sbp->unused8[i] = 0; } sbp->year = ssold_tmp.year; sbp->day = ssold_tmp.day; sbp->hour = ssold_tmp.hour; sbp->minute = ssold_tmp.minute; sbp->second = ssold_tmp.second; sbp->timeBasis = 3; sbp->weightingFactor = ssold_tmp.weightingFactor; sbp->unused9 = 0; sbp->heading = (short)(100.0 * ssold_tmp.heading / 60.0); sbp->pitch = (short)(100.0 * ssold_tmp.pitch / 60.0); sbp->roll = (short)(100.0 * ssold_tmp.roll / 60.0); sbp->temperature = ssold_tmp.temperature; sbp->heaveCompensation = 0; sbp->trigSource = 0; sbp->markNumber = 0; sbp->NMEAHour = 0; sbp->NMEAMinutes = 0; sbp->NMEASeconds = 0; sbp->NMEACourse = 0; sbp->NMEASpeed = 0; sbp->NMEADay = 0; sbp->NMEAYear = 0; sbp->millisecondsToday = ssold_tmp.millisecondsToday; sbp->ADCMax = ssold_tmp.ADCMax; sbp->calConst = 0; sbp->vehicleID = 0; for (i=0;i<6;i++) { sbp->softwareVersion[i] = 0; } sbp->sphericalCorrection = 0; sbp->packetNum = 1; sbp->ADCDecimation = 0; sbp->decimation = 0; sbp->unuseda = 0; sbp->depth = 0; sbp->sonardepth = 0; sbp->sonaraltitude = 0; /* allocate memory for the trace */ if (sbp->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * sbp->samples * sizeof(short); if (sbp->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose, __FILE__, __LINE__, trace_size, (void **)&(sbp->trace), error)) == MB_SUCCESS) { sbp->trace_alloc = trace_size; } else fprintf(stderr,"TRACE ALLOCATION FAILED %s Line:%d Size:%d\n", __FILE__, __LINE__, trace_size); } /* read the trace */ if (status == MB_SUCCESS && (read_status = fread(sbp->trace, trace_size, 1, mb_io_ptr->mbfp)) == 1) { #ifndef BYTESWAPPED for (i=0;isamples;i++) { sbp->trace[i] = mb_swap_short(sbp->trace[i]);; } #endif } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } /* get time */ time_j[0] = sbp->year; time_j[1] = sbp->day; time_j[2] = 60 * sbp->hour + sbp->minute; time_j[3] = sbp->second; time_j[4] = (int)1000 * (sbp->millisecondsToday - 1000 * floor(0.001 * ((double)sbp->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* set navigation and attitude if needed and available */ if (sbp->heading == 0 && mb_io_ptr->nheading > 0) { mb_hedint_interp(verbose, mbio_ptr, time_d, &heading, error); sbp->heading = (short) (100.0 * heading); } if ((sbp->groupCoordX == 0 || sbp->groupCoordY == 0 || sbp->coordUnits == 2) && mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &navlon, &navlat, &speed, error); sbp->sourceCoordX = (int) (600000.0 * navlon); sbp->sourceCoordY = (int) (600000.0 * navlat); sbp->groupCoordX = (int) (600000.0 * navlon); sbp->groupCoordY = (int) (600000.0 * navlat); } if ((sbp->roll == 0 || sbp->pitch == 0 || sbp->heaveCompensation == 0) && mb_io_ptr->nattitude > 0) { mb_attint_interp(verbose, mbio_ptr, time_d, &heave, &roll, &pitch, error); sbp->roll = 32768 * roll / 180.0; sbp->pitch = 32768 * pitch / 180.0; sbp->heaveCompensation = heave / sbp->sampleInterval / 0.00000075; } if (sbp->sonaraltitude == 0 && mb_io_ptr->naltitude > 0) { mb_altint_interp(verbose, mbio_ptr, time_d, &altitude, error); sbp->sonaraltitude = altitude / 1000.0; } if (sbp->sonardepth == 0 && mb_io_ptr->nsonardepth > 0) { mb_depint_interp(verbose, mbio_ptr, time_d, &sonardepth, error); sbp->sonardepth = sonardepth / 1000.0; } /* set kind */ store->kind = MB_DATA_SUBBOTTOM_SUBBOTTOM; done = MB_YES; } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* if sidescan data and sonar trace 82 proceed to get data - translate to current form */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_SONAR2 && message.subsystem != MBSYS_JSTAR_SUBSYSTEM_SBP) { /* reset message type to current sonar trace 80 */ message.type = MBSYS_JSTAR_DATA_SONAR; /* sidescan channel */ if (message.channel == 0) ss = (struct mbsys_jstar_channel_struct *) &(store->ssport); else ss = (struct mbsys_jstar_channel_struct *) &(store->ssstbd); ss->message = message; /* temporary old format structure */ ssold_tmp.message = message; /* read the 80 byte trace header */ if ((read_status = fread(buffer, MBSYS_JSTAR_SSOLDHEADER_SIZE, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.subsystem)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.channelNum)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.pingNum)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.packetNum)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.trigSource)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.samples)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.sampleInterval)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.startDepth)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.weightingFactor)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.ADCGain)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.ADCMax)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.rangeSetting)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.pulseID)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.markNumber)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.dataFormat)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.reserved)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.millisecondsToday)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.day)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.hour)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.minute)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.second)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.heading)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.heave)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.yaw)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(ssold_tmp.depth)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(ssold_tmp.temperature)); index += 2; for (i=0;i<10;i++) { ssold_tmp.reserved2[i] = buffer[index]; index++; } /* translate traceheader to the current form */ ss->sequenceNumber = 0; ss->startDepth = ssold_tmp.startDepth; ss->pingNum = ssold_tmp.pingNum; ss->channelNum = ssold_tmp.channelNum; for (i=0;i<6;i++) { ss->unused1[i] = 0; } ss->traceIDCode = 1; for (i=0;i<2;i++) { ss->unused2[i] = 0; } ss->dataFormat = ssold_tmp.dataFormat; ss->NMEAantennaeR = 0; ss->NMEAantennaeO= 0; for (i=0;i<32;i++) { ss->RS232[i] = 0; } ss->sourceCoordX = 0; ss->sourceCoordY = 0; ss->groupCoordX = 0; ss->groupCoordY = 0; ss->coordUnits = 2; for (i=0;i<24;i++) { ss->annotation[i] = 0; } ss->samples = ssold_tmp.samples; ss->sampleInterval = ssold_tmp.sampleInterval; ss->ADCGain = ssold_tmp.ADCGain; ss->pulsePower = 0; ss->correlated = 0; ss->startFreq = 0; ss->endFreq = 0; ss->sweepLength = 0; for (i=0;i<4;i++) { ss->unused7[i] = 0; } ss->aliasFreq = (unsigned short)(500000000.0 / ss->sampleInterval); ss->pulseID = ssold_tmp.pulseID; for (i=0;i<6;i++) { ss->unused8[i] = 0; } ss->year = ssold_tmp.year; ss->day = ssold_tmp.day; ss->hour = ssold_tmp.hour; ss->minute = ssold_tmp.minute; ss->second = ssold_tmp.second; ss->timeBasis = 3; ss->weightingFactor = ssold_tmp.weightingFactor; ss->unused9 = 0; ss->heading = (short)(100.0 * ssold_tmp.heading / 60.0); ss->pitch = (short)(100.0 * ssold_tmp.pitch / 60.0); ss->roll = (short)(100.0 * ssold_tmp.roll / 60.0); ss->temperature = ssold_tmp.temperature; ss->heaveCompensation = 0; ss->trigSource = 0; ss->markNumber = 0; ss->NMEAHour = 0; ss->NMEAMinutes = 0; ss->NMEASeconds = 0; ss->NMEACourse = 0; ss->NMEASpeed = 0; ss->NMEADay = 0; ss->NMEAYear = 0; ss->millisecondsToday = ssold_tmp.millisecondsToday; ss->ADCMax = ssold_tmp.ADCMax; ss->calConst = 0; ss->vehicleID = 0; for (i=0;i<6;i++) { ss->softwareVersion[i] = 0; } ss->sphericalCorrection = 0; ss->packetNum = 1; ss->ADCDecimation = 0; ss->decimation = 0; ss->unuseda = 0; ss->depth = 0; ss->sonardepth = 0; ss->sonaraltitude = 0; /* allocate memory for the trace */ if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; trace_size = shortspersample * ss->samples * sizeof(short); if (ss->trace_alloc < trace_size) { if ((status = mb_reallocd(verbose, __FILE__, __LINE__, trace_size, (void **)&(ss->trace), error)) == MB_SUCCESS) { ss->trace_alloc = trace_size; } else fprintf(stderr,"TRACE ALLOCATION FAILED %s Line:%d Size:%d\n", __FILE__, __LINE__, trace_size); } /* read the trace */ if (status == MB_SUCCESS && (read_status = fread(ss->trace, trace_size, 1, mb_io_ptr->mbfp)) == 1) { #ifndef BYTESWAPPED for (i=0;isamples;i++) { ss->trace[i] = mb_swap_short(ss->trace[i]);; } #endif } else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } /* get time */ time_j[0] = ss->year; time_j[1] = ss->day; time_j[2] = 60 * ss->hour + ss->minute; time_j[3] = ss->second; time_j[4] = (int)1000 * (ss->millisecondsToday - 1000 * floor(0.001 * ((double)ss->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); /* set navigation and attitude if needed and available */ if (ss->heading == 0 && mb_io_ptr->nheading > 0) { mb_hedint_interp(verbose, mbio_ptr, time_d, &heading, error); ss->heading = (short) (100.0 * heading); } if ((ss->groupCoordX == 0 || ss->groupCoordY == 0 || ss->coordUnits == 2) && mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &navlon, &navlat, &speed, error); ss->sourceCoordX = (int) (600000.0 * navlon); ss->sourceCoordY = (int) (600000.0 * navlat); ss->groupCoordX = (int) (600000.0 * navlon); ss->groupCoordY = (int) (600000.0 * navlat); } if ((ss->roll == 0 || ss->pitch == 0 || ss->heaveCompensation == 0) && mb_io_ptr->nattitude > 0) { mb_attint_interp(verbose, mbio_ptr, time_d, &heave, &roll, &pitch, error); ss->roll = 32768 * roll / 180.0; ss->pitch = 32768 * pitch / 180.0; ss->heaveCompensation = heave / ss->sampleInterval / 0.00000075; } if (ss->sonaraltitude == 0 && mb_io_ptr->naltitude > 0) { mb_altint_interp(verbose, mbio_ptr, time_d, &altitude, error); ss->sonaraltitude = 1000 * altitude; } if (ss->sonardepth == 0 && mb_io_ptr->nsonardepth > 0) { mb_depint_interp(verbose, mbio_ptr, time_d, &sonardepth, error); ss->sonardepth = 1000 * sonardepth; } /* set kind */ if (mb_io_ptr->format == MBF_EDGJSTAR) { if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) store->kind = MB_DATA_DATA; else if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) store->kind = MB_DATA_SIDESCAN2; } else { if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) store->kind = MB_DATA_DATA; else if (message.subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) store->kind = MB_DATA_SIDESCAN2; } if (store->ssport.pingNum == store->ssstbd.pingNum && store->ssport.message.subsystem == store->ssstbd.message.subsystem) { done = MB_YES; } #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"Done reading 1: %d pingNum:%d %d subsystem:%d %d\n", done,store->ssport.pingNum,store->ssstbd.pingNum, store->ssport.message.subsystem,store->ssstbd.message.subsystem); #endif } /* else end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* if pitchroll data read it */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_PITCHROLL && message.size < MB_COMMENT_MAXLINE) { /* nmea channel */ pitchroll = (struct mbsys_jstar_pitchroll_struct *) &(store->pitchroll); pitchroll->message = message; /* read the pitchroll record */ if ((read_status = fread(buffer, message.size, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(pitchroll->seconds)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pitchroll->msec)); index += 4; pitchroll->reserve1[0] = buffer[index]; index++; pitchroll->reserve1[1] = buffer[index]; index++; pitchroll->reserve1[2] = buffer[index]; index++; pitchroll->reserve1[3] = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->accelerationx)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->accelerationy)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->accelerationz)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->gyroratex)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->gyroratey)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->gyroratez)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->temperature)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->deviceinfo)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->heave)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(pitchroll->heading)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(pitchroll->datavalidflags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pitchroll->reserve2)); index += 4; done = MB_YES; store->kind = MB_DATA_ATTITUDE; } } /* if dvl data read it */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_DVL && message.size < MB_COMMENT_MAXLINE) { /* nmea channel */ dvl = (struct mbsys_jstar_dvl_struct *) &(store->dvl); dvl->message = message; /* read the dvl record */ if ((read_status = fread(buffer, message.size, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->seconds)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->msec)); index += 4; dvl->reserve1[0] = buffer[index]; index++; dvl->reserve1[1] = buffer[index]; index++; dvl->reserve1[2] = buffer[index]; index++; dvl->reserve1[3] = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->datavalidflags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->beam1range)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->beam2range)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->beam3range)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(dvl->beam4range)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitybottomx)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitybottomy)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitybottomz)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitywaterx)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitywatery)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->velocitywaterz)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->depth)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->pitch)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->roll)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->heading)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->salinity)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->temperature)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(dvl->soundspeed)); index += 2; for (i=0;i<7;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(dvl->reserve2[i])); index += 2; } done = MB_YES; store->kind = MB_DATA_DVL; #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"DVL: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d beams:%d %d %d %d velocity:%d %d %d depth:%d pitch:%d roll:%d heading:%d soundspeed:%d\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6], dvl->beam1range,dvl->beam2range,dvl->beam3range,dvl->beam4range, dvl->velocitybottomx,dvl->velocitybottomy,dvl->velocitybottomz, dvl->depth,dvl->pitch,dvl->roll,dvl->heading,dvl->soundspeed); #endif } } /* if nmea data read it, parse it, and and store values for interpolation */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_NMEA && message.size < MB_COMMENT_MAXLINE) { /* nmea channel */ nmea = (struct mbsys_jstar_nmea_struct *) &(store->nmea); nmea->message = message; /* read the NMEA string */ if ((read_status = fread(buffer, message.size, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(nmea->seconds)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(nmea->msec)); index += 4; nmea->source = buffer[index]; index++; nmea->reserve[0] = buffer[index]; index++; nmea->reserve[1] = buffer[index]; index++; nmea->reserve[2] = buffer[index]; index++; for (i=0;inmea[i] = buffer[index]; index++; } nmea->nmea[message.size-12] = 0; strcpy(nmeastring,nmea->nmea); time_d = ((double)nmea->seconds) + 0.001 * ((double)nmea->msec); mb_get_date(verbose, time_d, time_i); /* break up NMEA string into arguments */ nargc = 0; string = (char *) nmeastring; for (nap = nargv; (*nap = strtok(string, ",*")) != NULL;) { if (++nap >= &nargv[25]) break; else nargc++; } /* parse NMEA string if possible */ if (strncmp(&(nargv[0][3]), "RMC", 3) == 0) { rawvalue = atof(nargv[3]); navlat = floor(0.01 * rawvalue) + (rawvalue - 100.0 * floor(0.01 * rawvalue)) / 60.0; if (nargv[4][0] == 'S') navlat *= -1.0; rawvalue = atof(nargv[5]); navlon = floor(0.01 * rawvalue) + (rawvalue - 100.0 * floor(0.01 * rawvalue)) / 60.0; if (nargv[6][0] == 'W') navlon *= -1.0; heading = atof(nargv[8]); #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"RMC: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d navlon:%f navlat:%f heading:%f %s\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],navlon,navlat,heading,nmea->nmea); #endif mb_navint_add(verbose, mbio_ptr, time_d, navlon, navlat, error); mb_hedint_add(verbose, mbio_ptr, time_d, heading, error); store->kind = MB_DATA_NMEA_RMC; } /* parse NMEA string if possible */ else if (strncmp(&(nargv[0][3]), "DBT", 3) == 0) { altitude = atof(nargv[3]); mb_altint_add(verbose, mbio_ptr, time_d, altitude, error); #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"DBT: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d altitude:%f %s\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],altitude,nmea->nmea); #endif store->kind = MB_DATA_NMEA_DBT; } /* parse NMEA string if possible */ else if (strncmp(&(nargv[0][3]), "DPT", 3) == 0) { depthofsensor = atof(nargv[1]); offset = atof(nargv[2]); sonardepth = depthofsensor + offset; mb_depint_add(verbose, mbio_ptr, time_d, sonardepth, error); #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"DPT: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d depthofsensor:%f offset:%f sonardepth:%f %s\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],depthofsensor,offset,sonardepth,nmea->nmea); #endif store->kind = MB_DATA_NMEA_DPT; } done = MB_YES; } } /* if pressure data read it */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_PRESSURE && message.size < MB_COMMENT_MAXLINE) { /* nmea channel */ pressure = (struct mbsys_jstar_pressure_struct *) &(store->pressure); pressure->message = message; /* read the pressure record */ if ((read_status = fread(buffer, message.size, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->seconds)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->msec)); index += 4; pressure->reserve1[0] = buffer[index]; index++; pressure->reserve1[1] = buffer[index]; index++; pressure->reserve1[2] = buffer[index]; index++; pressure->reserve1[3] = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->pressure)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->salinity)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->datavalidflags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->conductivity)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(pressure->soundspeed)); index += 4; for (i=0;i<10;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(pressure->reserve2[i])); index += 4; } #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"PRESSURE: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d pressure:%d soundspeed:%d\n", time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],pressure->pressure,pressure->soundspeed); #endif done = MB_YES; store->kind = MB_DATA_CTD; } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* system info record */ else if (status == MB_SUCCESS && message.type == MBSYS_JSTAR_DATA_SYSINFO) { /* get message */ sysinfo = (struct mbsys_jstar_sysinfo_struct *) &(store->sysinfo); sysinfo->message = message; /* read the pressure record */ if ((read_status = fread(buffer, message.size, 1, mb_io_ptr->mbfp)) == 1) { index = 0; mb_get_binary_int(MB_YES, &buffer[index], &(sysinfo->system_type)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sysinfo->reserved1)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sysinfo->version)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sysinfo->reserved2)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(sysinfo->platformserialnumber)); index += 4; sysinfo->sysinfosize = MIN((message.size - index), MBSYS_JSTAR_SYSINFO_MAX-1); for (i=0;isysinfosize;i++) { sysinfo->sysinfo[i] = buffer[index]; index++; } sysinfo->sysinfo[sysinfo->sysinfosize] = '\0'; #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"SYSINFO: system_type:%d version:%d platformserialnumber:%d sysinfosize:%d\n", sysinfo->system_type,sysinfo->version,sysinfo->platformserialnumber,sysinfo->sysinfosize); #endif done = MB_YES; store->kind = MB_DATA_HEADER; } } /* if not supported data read it and throw it away */ else if (status == MB_SUCCESS) { #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"UNKNOWN: throwing away %d bytes\n", message.size); #endif for (i=0;imbfp); } done = MB_YES; store->kind = MB_DATA_NONE; *error = MB_ERROR_UNINTELLIGIBLE; } /* end of file */ else { status = MB_FAILURE; *error = MB_ERROR_EOF; done = MB_YES; store->kind = MB_DATA_NONE; } } /* set kind and error in mb_io_ptr */ mb_io_ptr->new_kind = store->kind; mb_io_ptr->new_error = *error; #ifdef MBF_EDGJSTAR_DEBUG fprintf(stderr,"kind:%d error:%d status:%d\n",store->kind,*error,status); #endif /* print debug statements */ if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_COMMENT) { fprintf(stderr,"\ndbg5 New comment read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == 0) fprintf(stderr,"(subbottom)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); fprintf(stderr,"\ndbg5 Comment:\n"); comment = (struct mbsys_jstar_comment_struct *) &(store->comment); fprintf(stderr,"dbg5 start_marker: %d\n",comment->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",comment->message.version); fprintf(stderr,"dbg5 session: %d\n",comment->message.session); fprintf(stderr,"dbg5 type: %d\n",comment->message.type); fprintf(stderr,"dbg5 command: %d\n",comment->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",comment->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",comment->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",comment->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",comment->message.reserved); fprintf(stderr,"dbg5 size: %d\n",comment->message.size); fprintf(stderr,"dbg5 comment: %s\n",store->comment.comment); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { sbp = (struct mbsys_jstar_channel_struct *) &(store->sbp); fprintf(stderr,"\ndbg5 New subbottom data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d (subbottom)\n", store->subsystem); fprintf(stderr,"\ndbg5 Channel:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",sbp->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",sbp->message.version); fprintf(stderr,"dbg5 session: %d\n",sbp->message.session); fprintf(stderr,"dbg5 type: %d\n",sbp->message.type); fprintf(stderr,"dbg5 command: %d\n",sbp->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",sbp->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",sbp->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",sbp->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",sbp->message.reserved); fprintf(stderr,"dbg5 size: %d\n",sbp->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",sbp->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",sbp->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",sbp->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",sbp->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,sbp->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",sbp->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,sbp->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",sbp->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",sbp->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",sbp->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,sbp->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",sbp->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",sbp->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",sbp->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",sbp->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",sbp->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",sbp->annotation); fprintf(stderr,"dbg5 samples: %d\n",sbp->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",sbp->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",sbp->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",sbp->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",sbp->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",sbp->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",sbp->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",sbp->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,sbp->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",sbp->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",sbp->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,sbp->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",sbp->year); fprintf(stderr,"dbg5 day: %d\n",sbp->day); fprintf(stderr,"dbg5 hour: %d\n",sbp->hour); fprintf(stderr,"dbg5 minute: %d\n",sbp->minute); fprintf(stderr,"dbg5 second: %d\n",sbp->second); fprintf(stderr,"dbg5 timeBasis: %d\n",sbp->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",sbp->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",sbp->unused9); fprintf(stderr,"dbg5 heading: %d\n",sbp->heading); fprintf(stderr,"dbg5 pitch: %d\n",sbp->pitch); fprintf(stderr,"dbg5 roll: %d\n",sbp->roll); fprintf(stderr,"dbg5 temperature: %d\n",sbp->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",sbp->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",sbp->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",sbp->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",sbp->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",sbp->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",sbp->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",sbp->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",sbp->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",sbp->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",sbp->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",sbp->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",sbp->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",sbp->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",sbp->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",sbp->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",sbp->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",sbp->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",sbp->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",sbp->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",sbp->unuseda); fprintf(stderr,"dbg5 depth: %d\n",sbp->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",sbp->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",sbp->sonaraltitude); if (sbp->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel[%d]: %10d %10d\n",i,sbp->trace[2*i],sbp->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel[%d]: %10d\n",i,sbp->trace[i]); } } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_DATA || store->kind == MB_DATA_SIDESCAN2)) { fprintf(stderr,"\ndbg5 New sidescan data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); ss = (struct mbsys_jstar_channel_struct *) &(store->ssport); fprintf(stderr,"\ndbg5 Channel 0 (Port):\n"); fprintf(stderr,"dbg5 start_marker: %d\n",ss->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",ss->message.version); fprintf(stderr,"dbg5 session: %d\n",ss->message.session); fprintf(stderr,"dbg5 type: %d\n",ss->message.type); fprintf(stderr,"dbg5 command: %d\n",ss->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",ss->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",ss->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",ss->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",ss->message.reserved); fprintf(stderr,"dbg5 size: %d\n",ss->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",ss->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",ss->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",ss->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",ss->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,ss->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",ss->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,ss->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",ss->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",ss->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",ss->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,ss->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",ss->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",ss->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",ss->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",ss->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",ss->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",ss->annotation); fprintf(stderr,"dbg5 samples: %d\n",ss->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",ss->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",ss->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",ss->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",ss->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",ss->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",ss->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",ss->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,ss->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",ss->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",ss->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,ss->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",ss->year); fprintf(stderr,"dbg5 day: %d\n",ss->day); fprintf(stderr,"dbg5 hour: %d\n",ss->hour); fprintf(stderr,"dbg5 minute: %d\n",ss->minute); fprintf(stderr,"dbg5 second: %d\n",ss->second); fprintf(stderr,"dbg5 timeBasis: %d\n",ss->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",ss->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",ss->unused9); fprintf(stderr,"dbg5 heading: %d\n",ss->heading); fprintf(stderr,"dbg5 pitch: %d\n",ss->pitch); fprintf(stderr,"dbg5 roll: %d\n",ss->roll); fprintf(stderr,"dbg5 temperature: %d\n",ss->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",ss->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",ss->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",ss->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",ss->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",ss->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",ss->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",ss->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",ss->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",ss->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",ss->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",ss->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",ss->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",ss->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",ss->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",ss->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",ss->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",ss->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",ss->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",ss->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",ss->unuseda); fprintf(stderr,"dbg5 depth: %d\n",ss->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",ss->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",ss->sonaraltitude); if (ss->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 0[%d]: %10d %10d\n",i,ss->trace[2*i],ss->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 0[%d]: %10d\n",i,ss->trace[i]); } ss = (struct mbsys_jstar_channel_struct *) &(store->ssstbd); fprintf(stderr,"\ndbg5 Channel 1 (Starboard):\n"); fprintf(stderr,"dbg5 start_marker: %d\n",ss->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",ss->message.version); fprintf(stderr,"dbg5 session: %d\n",ss->message.session); fprintf(stderr,"dbg5 type: %d\n",ss->message.type); fprintf(stderr,"dbg5 command: %d\n",ss->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",ss->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",ss->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",ss->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",ss->message.reserved); fprintf(stderr,"dbg5 size: %d\n",ss->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",ss->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",ss->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",ss->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",ss->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,ss->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",ss->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,ss->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",ss->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",ss->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",ss->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,ss->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",ss->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",ss->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",ss->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",ss->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",ss->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",ss->annotation); fprintf(stderr,"dbg5 samples: %d\n",ss->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",ss->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",ss->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",ss->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",ss->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",ss->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",ss->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",ss->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,ss->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",ss->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",ss->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,ss->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",ss->year); fprintf(stderr,"dbg5 day: %d\n",ss->day); fprintf(stderr,"dbg5 hour: %d\n",ss->hour); fprintf(stderr,"dbg5 minute: %d\n",ss->minute); fprintf(stderr,"dbg5 second: %d\n",ss->second); fprintf(stderr,"dbg5 timeBasis: %d\n",ss->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",ss->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",ss->unused9); fprintf(stderr,"dbg5 heading: %d\n",ss->heading); fprintf(stderr,"dbg5 pitch: %d\n",ss->pitch); fprintf(stderr,"dbg5 roll: %d\n",ss->roll); fprintf(stderr,"dbg5 temperature: %d\n",ss->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",ss->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",ss->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",ss->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",ss->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",ss->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",ss->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",ss->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",ss->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",ss->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",ss->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",ss->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",ss->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",ss->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",ss->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",ss->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",ss->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",ss->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",ss->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",ss->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",ss->unuseda); fprintf(stderr,"dbg5 depth: %d\n",ss->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",ss->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",ss->sonaraltitude); if (ss->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 1[%d]: %10d %10d\n",i,ss->trace[2*i],ss->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 1[%d]: %10d\n",i,ss->trace[i]); } } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_ATTITUDE) { fprintf(stderr,"\ndbg5 New roll pitch data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); pitchroll = (struct mbsys_jstar_pitchroll_struct *) &(store->pitchroll); fprintf(stderr,"\ndbg5 Roll and Pitch:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",pitchroll->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",pitchroll->message.version); fprintf(stderr,"dbg5 session: %d\n",pitchroll->message.session); fprintf(stderr,"dbg5 type: %d\n",pitchroll->message.type); fprintf(stderr,"dbg5 command: %d\n",pitchroll->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",pitchroll->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",pitchroll->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",pitchroll->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",pitchroll->message.reserved); fprintf(stderr,"dbg5 size: %d\n",pitchroll->message.size); fprintf(stderr,"dbg5 seconds: %d\n",pitchroll->seconds); fprintf(stderr,"dbg5 msec: %d\n",pitchroll->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",pitchroll->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",pitchroll->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",pitchroll->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",pitchroll->reserve1[3]); fprintf(stderr,"dbg5 accelerationx: %d\n",pitchroll->accelerationx); fprintf(stderr,"dbg5 accelerationy: %d\n",pitchroll->accelerationy); fprintf(stderr,"dbg5 accelerationz: %d\n",pitchroll->accelerationz); fprintf(stderr,"dbg5 gyroratex: %d\n",pitchroll->gyroratex); fprintf(stderr,"dbg5 gyroratey: %d\n",pitchroll->gyroratey); fprintf(stderr,"dbg5 gyroratez: %d\n",pitchroll->gyroratez); fprintf(stderr,"dbg5 pitch: %d\n",pitchroll->pitch); fprintf(stderr,"dbg5 roll: %d\n",pitchroll->roll); fprintf(stderr,"dbg5 temperature: %d\n",pitchroll->temperature); fprintf(stderr,"dbg5 deviceinfo: %d\n",pitchroll->deviceinfo); fprintf(stderr,"dbg5 heave: %d\n",pitchroll->heave); fprintf(stderr,"dbg5 heading: %d\n",pitchroll->heading); fprintf(stderr,"dbg5 datavalidflags: %d\n",pitchroll->datavalidflags); fprintf(stderr,"dbg5 reserve2: %d\n",pitchroll->reserve2); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_DVL) { fprintf(stderr,"\ndbg5 New dvl data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); dvl = (struct mbsys_jstar_dvl_struct *) &(store->dvl); fprintf(stderr,"\ndbg5 Roll and Pitch:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",dvl->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",dvl->message.version); fprintf(stderr,"dbg5 session: %d\n",dvl->message.session); fprintf(stderr,"dbg5 type: %d\n",dvl->message.type); fprintf(stderr,"dbg5 command: %d\n",dvl->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",dvl->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",dvl->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",dvl->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",dvl->message.reserved); fprintf(stderr,"dbg5 size: %d\n",dvl->message.size); fprintf(stderr,"dbg5 seconds: %d\n",dvl->seconds); fprintf(stderr,"dbg5 msec: %d\n",dvl->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",dvl->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",dvl->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",dvl->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",dvl->reserve1[3]); fprintf(stderr,"dbg5 datavalidflags: %d\n",dvl->datavalidflags); fprintf(stderr,"dbg5 beam1range: %d\n",dvl->beam1range); fprintf(stderr,"dbg5 beam2range: %d\n",dvl->beam2range); fprintf(stderr,"dbg5 beam3range: %d\n",dvl->beam3range); fprintf(stderr,"dbg5 beam4range: %d\n",dvl->beam4range); fprintf(stderr,"dbg5 velocitybottomx: %d\n",dvl->velocitybottomx); fprintf(stderr,"dbg5 velocitybottomy: %d\n",dvl->velocitybottomy); fprintf(stderr,"dbg5 velocitybottomz: %d\n",dvl->velocitybottomz); fprintf(stderr,"dbg5 velocitywaterx: %d\n",dvl->velocitywaterx); fprintf(stderr,"dbg5 velocitywatery: %d\n",dvl->velocitywatery); fprintf(stderr,"dbg5 velocitywaterz: %d\n",dvl->velocitywaterz); fprintf(stderr,"dbg5 depth: %d\n",dvl->depth); fprintf(stderr,"dbg5 pitch: %d\n",dvl->pitch); fprintf(stderr,"dbg5 roll: %d\n",dvl->roll); fprintf(stderr,"dbg5 heading: %d\n",dvl->heading); fprintf(stderr,"dbg5 salinity: %d\n",dvl->salinity); fprintf(stderr,"dbg5 temperature: %d\n",dvl->temperature); fprintf(stderr,"dbg5 soundspeed: %d\n",dvl->soundspeed); for (i=0;i<7;i++) fprintf(stderr,"dbg5 reserve2[%d]: %d\n",i,dvl->reserve2[i]); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_CTD) { pressure = (struct mbsys_jstar_pressure_struct *) &(store->pressure); fprintf(stderr,"\ndbg5 New pressure data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",pressure->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",pressure->message.version); fprintf(stderr,"dbg5 session: %d\n",pressure->message.session); fprintf(stderr,"dbg5 type: %d\n",pressure->message.type); fprintf(stderr,"dbg5 command: %d\n",pressure->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",pressure->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",pressure->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",pressure->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",pressure->message.reserved); fprintf(stderr,"dbg5 size: %d\n",pressure->message.size); fprintf(stderr,"dbg5 seconds: %d\n",pressure->seconds); fprintf(stderr,"dbg5 msec: %d\n",pressure->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",pressure->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",pressure->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",pressure->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",pressure->reserve1[3]); fprintf(stderr,"dbg5 pressure: %d\n",pressure->pressure); fprintf(stderr,"dbg5 salinity: %d\n",pressure->salinity); fprintf(stderr,"dbg5 datavalidflags: %d\n",pressure->datavalidflags); fprintf(stderr,"dbg5 conductivity: %d\n",pressure->conductivity); fprintf(stderr,"dbg5 soundspeed: %d\n",pressure->soundspeed); for(i=0;i<10;i++) fprintf(stderr,"dbg5 reserve2[%2d]: %d\n",i,pitchroll->reserve2); } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_NMEA_RMC || store->kind == MB_DATA_NMEA_DBT || store->kind == MB_DATA_NMEA_DPT)) { nmea = (struct mbsys_jstar_nmea_struct *) &(store->nmea); fprintf(stderr,"\ndbg5 New NMEA data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",nmea->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",nmea->message.version); fprintf(stderr,"dbg5 session: %d\n",nmea->message.session); fprintf(stderr,"dbg5 type: %d\n",nmea->message.type); fprintf(stderr,"dbg5 command: %d\n",nmea->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",nmea->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",nmea->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",nmea->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",nmea->message.reserved); fprintf(stderr,"dbg5 size: %d\n",nmea->message.size); fprintf(stderr,"dbg5 seconds: %d\n",nmea->seconds); fprintf(stderr,"dbg5 msec: %d\n",nmea->msec); fprintf(stderr,"dbg5 source: %d\n",nmea->source); fprintf(stderr,"dbg5 reserve[0]: %d\n",nmea->reserve[0]); fprintf(stderr,"dbg5 reserve[1]: %d\n",nmea->reserve[1]); fprintf(stderr,"dbg5 reserve[2]: %d\n",nmea->reserve[2]); fprintf(stderr,"dbg5 nmea: %s\n",nmea->nmea); } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_HEADER)) { sysinfo = (struct mbsys_jstar_sysinfo_struct *) &(store->sysinfo); fprintf(stderr,"\ndbg5 New sysinfo data record read by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",sysinfo->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",sysinfo->message.version); fprintf(stderr,"dbg5 session: %d\n",sysinfo->message.session); fprintf(stderr,"dbg5 type: %d\n",sysinfo->message.type); fprintf(stderr,"dbg5 command: %d\n",sysinfo->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",sysinfo->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",sysinfo->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",sysinfo->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",sysinfo->message.reserved); fprintf(stderr,"dbg5 size: %d\n",sysinfo->message.size); fprintf(stderr,"dbg5 system_type: %d\n",sysinfo->system_type); fprintf(stderr,"dbg5 reserved1: %d\n",sysinfo->reserved1); fprintf(stderr,"dbg5 version: %d\n",sysinfo->version); fprintf(stderr,"dbg5 reserved2: %d\n",sysinfo->reserved2); fprintf(stderr,"dbg5 platformserialnumber: %d\n",sysinfo->platformserialnumber); fprintf(stderr,"dbg5 sysinfosize: %d\n",sysinfo->sysinfosize); fprintf(stderr,"dbg5 sysinfo: \n%s\n",sysinfo->sysinfo); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wt_edgjstar(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_edgjstar"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_jstar_struct *store; struct mbsys_jstar_channel_struct *sbp; struct mbsys_jstar_channel_struct *ss; struct mbsys_jstar_nmea_struct *nmea; struct mbsys_jstar_pitchroll_struct *pitchroll; struct mbsys_jstar_dvl_struct *dvl; struct mbsys_jstar_pressure_struct *pressure; struct mbsys_jstar_sysinfo_struct *sysinfo; struct mbsys_jstar_comment_struct *comment; char buffer[MBSYS_JSTAR_SBPHEADER_SIZE]; int index; int write_len; int shortspersample; int trace_size; int i; /* print input debug statements */ if (verbose >= 3) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_jstar_struct *) store_ptr; /* print debug statements */ if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_COMMENT) { fprintf(stderr,"\ndbg5 New comment to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == 0) fprintf(stderr,"(subbottom)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); fprintf(stderr,"\ndbg5 Comment:\n"); comment = (struct mbsys_jstar_comment_struct *) &(store->comment); fprintf(stderr,"dbg5 start_marker: %d\n",comment->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",comment->message.version); fprintf(stderr,"dbg5 session: %d\n",comment->message.session); fprintf(stderr,"dbg5 type: %d\n",comment->message.type); fprintf(stderr,"dbg5 command: %d\n",comment->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",comment->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",comment->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",comment->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",comment->message.reserved); fprintf(stderr,"dbg5 size: %d\n",comment->message.size); fprintf(stderr,"dbg5 comment: %s\n",store->comment.comment); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { sbp = (struct mbsys_jstar_channel_struct *) &(store->sbp); fprintf(stderr,"\ndbg5 New subbottom data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d (subbottom)\n", store->subsystem); fprintf(stderr,"\ndbg5 Channel:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",sbp->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",sbp->message.version); fprintf(stderr,"dbg5 session: %d\n",sbp->message.session); fprintf(stderr,"dbg5 type: %d\n",sbp->message.type); fprintf(stderr,"dbg5 command: %d\n",sbp->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",sbp->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",sbp->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",sbp->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",sbp->message.reserved); fprintf(stderr,"dbg5 size: %d\n",sbp->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",sbp->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",sbp->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",sbp->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",sbp->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,sbp->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",sbp->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,sbp->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",sbp->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",sbp->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",sbp->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,sbp->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",sbp->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",sbp->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",sbp->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",sbp->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",sbp->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",sbp->annotation); fprintf(stderr,"dbg5 samples: %d\n",sbp->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",sbp->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",sbp->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",sbp->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",sbp->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",sbp->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",sbp->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",sbp->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,sbp->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",sbp->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",sbp->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,sbp->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",sbp->year); fprintf(stderr,"dbg5 day: %d\n",sbp->day); fprintf(stderr,"dbg5 hour: %d\n",sbp->hour); fprintf(stderr,"dbg5 minute: %d\n",sbp->minute); fprintf(stderr,"dbg5 second: %d\n",sbp->second); fprintf(stderr,"dbg5 timeBasis: %d\n",sbp->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",sbp->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",sbp->unused9); fprintf(stderr,"dbg5 heading: %d\n",sbp->heading); fprintf(stderr,"dbg5 pitch: %d\n",sbp->pitch); fprintf(stderr,"dbg5 roll: %d\n",sbp->roll); fprintf(stderr,"dbg5 temperature: %d\n",sbp->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",sbp->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",sbp->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",sbp->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",sbp->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",sbp->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",sbp->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",sbp->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",sbp->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",sbp->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",sbp->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",sbp->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",sbp->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",sbp->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",sbp->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",sbp->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",sbp->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",sbp->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",sbp->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",sbp->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",sbp->unuseda); fprintf(stderr,"dbg5 depth: %d\n",sbp->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",sbp->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",sbp->sonaraltitude); if (sbp->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel[%d]: %10d %10d\n",i,sbp->trace[2*i],sbp->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel[%d]: %10d\n",i,sbp->trace[i]); } } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_DATA || store->kind == MB_DATA_SIDESCAN2)) { fprintf(stderr,"\ndbg5 New sidescan data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); ss = (struct mbsys_jstar_channel_struct *) &(store->ssport); fprintf(stderr,"\ndbg5 Channel 0 (Port):\n"); fprintf(stderr,"dbg5 start_marker: %d\n",ss->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",ss->message.version); fprintf(stderr,"dbg5 session: %d\n",ss->message.session); fprintf(stderr,"dbg5 type: %d\n",ss->message.type); fprintf(stderr,"dbg5 command: %d\n",ss->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",ss->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",ss->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",ss->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",ss->message.reserved); fprintf(stderr,"dbg5 size: %d\n",ss->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",ss->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",ss->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",ss->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",ss->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,ss->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",ss->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,ss->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",ss->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",ss->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",ss->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,ss->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",ss->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",ss->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",ss->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",ss->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",ss->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",ss->annotation); fprintf(stderr,"dbg5 samples: %d\n",ss->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",ss->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",ss->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",ss->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",ss->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",ss->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",ss->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",ss->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,ss->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",ss->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",ss->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,ss->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",ss->year); fprintf(stderr,"dbg5 day: %d\n",ss->day); fprintf(stderr,"dbg5 hour: %d\n",ss->hour); fprintf(stderr,"dbg5 minute: %d\n",ss->minute); fprintf(stderr,"dbg5 second: %d\n",ss->second); fprintf(stderr,"dbg5 timeBasis: %d\n",ss->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",ss->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",ss->unused9); fprintf(stderr,"dbg5 heading: %d\n",ss->heading); fprintf(stderr,"dbg5 pitch: %d\n",ss->pitch); fprintf(stderr,"dbg5 roll: %d\n",ss->roll); fprintf(stderr,"dbg5 temperature: %d\n",ss->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",ss->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",ss->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",ss->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",ss->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",ss->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",ss->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",ss->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",ss->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",ss->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",ss->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",ss->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",ss->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",ss->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",ss->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",ss->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",ss->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",ss->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",ss->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",ss->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",ss->unuseda); fprintf(stderr,"dbg5 depth: %d\n",ss->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",ss->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",ss->sonaraltitude); if (ss->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 0[%d]: %10d %10d\n",i,ss->trace[2*i],ss->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 0[%d]: %10d\n",i,ss->trace[i]); } ss = (struct mbsys_jstar_channel_struct *) &(store->ssstbd); fprintf(stderr,"\ndbg5 Channel 1 (Starboard):\n"); fprintf(stderr,"dbg5 start_marker: %d\n",ss->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",ss->message.version); fprintf(stderr,"dbg5 session: %d\n",ss->message.session); fprintf(stderr,"dbg5 type: %d\n",ss->message.type); fprintf(stderr,"dbg5 command: %d\n",ss->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",ss->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",ss->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",ss->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",ss->message.reserved); fprintf(stderr,"dbg5 size: %d\n",ss->message.size); fprintf(stderr,"dbg5 sequenceNumber: %d\n",ss->sequenceNumber); fprintf(stderr,"dbg5 startDepth: %d\n",ss->startDepth); fprintf(stderr,"dbg5 pingNum: %d\n",ss->pingNum); fprintf(stderr,"dbg5 channelNum: %d\n",ss->channelNum); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused1[%d]: %d\n",i,ss->unused1[i]); fprintf(stderr,"dbg5 traceIDCode: %d\n",ss->traceIDCode); for (i=0;i<2;i++) fprintf(stderr,"dbg5 unused2[%d]: %d\n",i,ss->unused2[i]); fprintf(stderr,"dbg5 dataFormat: %d\n",ss->dataFormat); fprintf(stderr,"dbg5 NMEAantennaeR: %d\n",ss->NMEAantennaeR); fprintf(stderr,"dbg5 NMEAantennaeO: %d\n",ss->NMEAantennaeO); for (i=0;i<32;i++) fprintf(stderr,"dbg5 RS232[%d]: %d\n",i,ss->RS232[i]); fprintf(stderr,"dbg5 sourceCoordX: %d\n",ss->sourceCoordX); fprintf(stderr,"dbg5 sourceCoordY: %d\n",ss->sourceCoordY); fprintf(stderr,"dbg5 groupCoordX: %d\n",ss->groupCoordX); fprintf(stderr,"dbg5 groupCoordY: %d\n",ss->groupCoordY); fprintf(stderr,"dbg5 coordUnits: %d\n",ss->coordUnits); fprintf(stderr,"dbg5 annotation: %s\n",ss->annotation); fprintf(stderr,"dbg5 samples: %d\n",ss->samples); fprintf(stderr,"dbg5 sampleInterval: %d\n",ss->sampleInterval); fprintf(stderr,"dbg5 ADCGain: %d\n",ss->ADCGain); fprintf(stderr,"dbg5 pulsePower: %d\n",ss->pulsePower); fprintf(stderr,"dbg5 correlated: %d\n",ss->correlated); fprintf(stderr,"dbg5 startFreq: %d\n",ss->startFreq); fprintf(stderr,"dbg5 endFreq: %d\n",ss->endFreq); fprintf(stderr,"dbg5 sweepLength: %d\n",ss->sweepLength); for (i=0;i<4;i++) fprintf(stderr,"dbg5 unused7[%d]: %d\n",i,ss->unused7[i]); fprintf(stderr,"dbg5 aliasFreq: %d\n",ss->aliasFreq); fprintf(stderr,"dbg5 pulseID: %d\n",ss->pulseID); for (i=0;i<6;i++) fprintf(stderr,"dbg5 unused8[%d]: %d\n",i,ss->unused8[i]); fprintf(stderr,"dbg5 year: %d\n",ss->year); fprintf(stderr,"dbg5 day: %d\n",ss->day); fprintf(stderr,"dbg5 hour: %d\n",ss->hour); fprintf(stderr,"dbg5 minute: %d\n",ss->minute); fprintf(stderr,"dbg5 second: %d\n",ss->second); fprintf(stderr,"dbg5 timeBasis: %d\n",ss->timeBasis); fprintf(stderr,"dbg5 weightingFactor: %d\n",ss->weightingFactor); fprintf(stderr,"dbg5 unused9: %d\n",ss->unused9); fprintf(stderr,"dbg5 heading: %d\n",ss->heading); fprintf(stderr,"dbg5 pitch: %d\n",ss->pitch); fprintf(stderr,"dbg5 roll: %d\n",ss->roll); fprintf(stderr,"dbg5 temperature: %d\n",ss->temperature); fprintf(stderr,"dbg5 heaveCompensation: %d\n",ss->heaveCompensation); fprintf(stderr,"dbg5 trigSource: %d\n",ss->trigSource); fprintf(stderr,"dbg5 markNumber: %d\n",ss->markNumber); fprintf(stderr,"dbg5 NMEAHour: %d\n",ss->NMEAHour); fprintf(stderr,"dbg5 NMEAMinutes: %d\n",ss->NMEAMinutes); fprintf(stderr,"dbg5 NMEASeconds: %d\n",ss->NMEASeconds); fprintf(stderr,"dbg5 NMEACourse: %d\n",ss->NMEACourse); fprintf(stderr,"dbg5 NMEASpeed: %d\n",ss->NMEASpeed); fprintf(stderr,"dbg5 NMEADay: %d\n",ss->NMEADay); fprintf(stderr,"dbg5 NMEAYear: %d\n",ss->NMEAYear); fprintf(stderr,"dbg5 millisecondsToday: %d\n",ss->millisecondsToday); fprintf(stderr,"dbg5 ADCMax: %d\n",ss->ADCMax); fprintf(stderr,"dbg5 calConst: %d\n",ss->calConst); fprintf(stderr,"dbg5 vehicleID: %d\n",ss->vehicleID); fprintf(stderr,"dbg5 softwareVersion: %s\n",ss->softwareVersion); fprintf(stderr,"dbg5 sphericalCorrection: %d\n",ss->sphericalCorrection); fprintf(stderr,"dbg5 packetNum: %d\n",ss->packetNum); fprintf(stderr,"dbg5 ADCDecimation: %d\n",ss->ADCDecimation); fprintf(stderr,"dbg5 decimation: %d\n",ss->decimation); fprintf(stderr,"dbg5 unuseda: %d\n",ss->unuseda); fprintf(stderr,"dbg5 depth: %d\n",ss->depth); fprintf(stderr,"dbg5 sonardepth: %d\n",ss->sonardepth); fprintf(stderr,"dbg5 sonaraltitude: %d\n",ss->sonaraltitude); if (ss->dataFormat == 1) { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 1[%d]: %10d %10d\n",i,ss->trace[2*i],ss->trace[2*i+1]); } else { for (i=0;isamples;i++) fprintf(stderr,"dbg5 Channel 1[%d]: %10d\n",i,ss->trace[i]); } } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_ATTITUDE) { fprintf(stderr,"\ndbg5 New roll pitch data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); pitchroll = (struct mbsys_jstar_pitchroll_struct *) &(store->pitchroll); fprintf(stderr,"\ndbg5 Roll and Pitch:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",pitchroll->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",pitchroll->message.version); fprintf(stderr,"dbg5 session: %d\n",pitchroll->message.session); fprintf(stderr,"dbg5 type: %d\n",pitchroll->message.type); fprintf(stderr,"dbg5 command: %d\n",pitchroll->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",pitchroll->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",pitchroll->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",pitchroll->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",pitchroll->message.reserved); fprintf(stderr,"dbg5 size: %d\n",pitchroll->message.size); fprintf(stderr,"dbg5 seconds: %d\n",pitchroll->seconds); fprintf(stderr,"dbg5 msec: %d\n",pitchroll->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",pitchroll->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",pitchroll->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",pitchroll->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",pitchroll->reserve1[3]); fprintf(stderr,"dbg5 accelerationx: %d\n",pitchroll->accelerationx); fprintf(stderr,"dbg5 accelerationy: %d\n",pitchroll->accelerationy); fprintf(stderr,"dbg5 accelerationz: %d\n",pitchroll->accelerationz); fprintf(stderr,"dbg5 gyroratex: %d\n",pitchroll->gyroratex); fprintf(stderr,"dbg5 gyroratey: %d\n",pitchroll->gyroratey); fprintf(stderr,"dbg5 gyroratez: %d\n",pitchroll->gyroratez); fprintf(stderr,"dbg5 pitch: %d\n",pitchroll->pitch); fprintf(stderr,"dbg5 roll: %d\n",pitchroll->roll); fprintf(stderr,"dbg5 temperature: %d\n",pitchroll->temperature); fprintf(stderr,"dbg5 deviceinfo: %d\n",pitchroll->deviceinfo); fprintf(stderr,"dbg5 heave: %d\n",pitchroll->heave); fprintf(stderr,"dbg5 heading: %d\n",pitchroll->heading); fprintf(stderr,"dbg5 datavalidflags: %d\n",pitchroll->datavalidflags); fprintf(stderr,"dbg5 reserve2: %d\n",pitchroll->reserve2); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_DVL) { fprintf(stderr,"\ndbg5 New dvl data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 Subsystem ID:\n"); fprintf(stderr,"dbg5 subsystem: %d ", store->subsystem); if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSLOW) fprintf(stderr,"(75 or 120 kHz sidescan)\n"); else if (store->subsystem == MBSYS_JSTAR_SUBSYSTEM_SSHIGH) fprintf(stderr,"(410 kHz sidescan)\n"); dvl = (struct mbsys_jstar_dvl_struct *) &(store->dvl); fprintf(stderr,"\ndbg5 Roll and Pitch:\n"); fprintf(stderr,"dbg5 start_marker: %d\n",dvl->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",dvl->message.version); fprintf(stderr,"dbg5 session: %d\n",dvl->message.session); fprintf(stderr,"dbg5 type: %d\n",dvl->message.type); fprintf(stderr,"dbg5 command: %d\n",dvl->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",dvl->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",dvl->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",dvl->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",dvl->message.reserved); fprintf(stderr,"dbg5 size: %d\n",dvl->message.size); fprintf(stderr,"dbg5 seconds: %d\n",dvl->seconds); fprintf(stderr,"dbg5 msec: %d\n",dvl->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",dvl->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",dvl->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",dvl->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",dvl->reserve1[3]); fprintf(stderr,"dbg5 datavalidflags: %d\n",dvl->datavalidflags); fprintf(stderr,"dbg5 beam1range: %d\n",dvl->beam1range); fprintf(stderr,"dbg5 beam2range: %d\n",dvl->beam2range); fprintf(stderr,"dbg5 beam3range: %d\n",dvl->beam3range); fprintf(stderr,"dbg5 beam4range: %d\n",dvl->beam4range); fprintf(stderr,"dbg5 velocitybottomx: %d\n",dvl->velocitybottomx); fprintf(stderr,"dbg5 velocitybottomy: %d\n",dvl->velocitybottomy); fprintf(stderr,"dbg5 velocitybottomz: %d\n",dvl->velocitybottomz); fprintf(stderr,"dbg5 velocitywaterx: %d\n",dvl->velocitywaterx); fprintf(stderr,"dbg5 velocitywatery: %d\n",dvl->velocitywatery); fprintf(stderr,"dbg5 velocitywaterz: %d\n",dvl->velocitywaterz); fprintf(stderr,"dbg5 depth: %d\n",dvl->depth); fprintf(stderr,"dbg5 pitch: %d\n",dvl->pitch); fprintf(stderr,"dbg5 roll: %d\n",dvl->roll); fprintf(stderr,"dbg5 heading: %d\n",dvl->heading); fprintf(stderr,"dbg5 salinity: %d\n",dvl->salinity); fprintf(stderr,"dbg5 temperature: %d\n",dvl->temperature); fprintf(stderr,"dbg5 soundspeed: %d\n",dvl->soundspeed); for (i=0;i<7;i++) fprintf(stderr,"dbg5 reserve2[%d]: %d\n",i,dvl->reserve2[i]); } else if (status == MB_SUCCESS && verbose >= 5 && store->kind == MB_DATA_CTD) { pressure = (struct mbsys_jstar_pressure_struct *) &(store->pressure); fprintf(stderr,"\ndbg5 New pressure data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",pressure->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",pressure->message.version); fprintf(stderr,"dbg5 session: %d\n",pressure->message.session); fprintf(stderr,"dbg5 type: %d\n",pressure->message.type); fprintf(stderr,"dbg5 command: %d\n",pressure->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",pressure->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",pressure->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",pressure->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",pressure->message.reserved); fprintf(stderr,"dbg5 size: %d\n",pressure->message.size); fprintf(stderr,"dbg5 seconds: %d\n",pressure->seconds); fprintf(stderr,"dbg5 msec: %d\n",pressure->msec); fprintf(stderr,"dbg5 reserve1[0]: %d\n",pressure->reserve1[0]); fprintf(stderr,"dbg5 reserve1[1]: %d\n",pressure->reserve1[1]); fprintf(stderr,"dbg5 reserve1[2]: %d\n",pressure->reserve1[2]); fprintf(stderr,"dbg5 reserve1[3]: %d\n",pressure->reserve1[3]); fprintf(stderr,"dbg5 pressure: %d\n",pressure->pressure); fprintf(stderr,"dbg5 salinity: %d\n",pressure->salinity); fprintf(stderr,"dbg5 datavalidflags: %d\n",pressure->datavalidflags); fprintf(stderr,"dbg5 conductivity: %d\n",pressure->conductivity); fprintf(stderr,"dbg5 soundspeed: %d\n",pressure->soundspeed); for(i=0;i<10;i++) fprintf(stderr,"dbg5 reserve2[%2d]: %d\n",i,pressure->reserve2[i]); } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_NMEA_RMC || store->kind == MB_DATA_NMEA_DBT || store->kind == MB_DATA_NMEA_DPT)) { nmea = (struct mbsys_jstar_nmea_struct *) &(store->nmea); fprintf(stderr,"\ndbg5 New NMEA data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",nmea->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",nmea->message.version); fprintf(stderr,"dbg5 session: %d\n",nmea->message.session); fprintf(stderr,"dbg5 type: %d\n",nmea->message.type); fprintf(stderr,"dbg5 command: %d\n",nmea->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",nmea->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",nmea->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",nmea->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",nmea->message.reserved); fprintf(stderr,"dbg5 size: %d\n",nmea->message.size); fprintf(stderr,"dbg5 seconds: %d\n",nmea->seconds); fprintf(stderr,"dbg5 msec: %d\n",nmea->msec); fprintf(stderr,"dbg5 source: %d\n",nmea->source); fprintf(stderr,"dbg5 reserve[0]: %d\n",nmea->reserve[0]); fprintf(stderr,"dbg5 reserve[1]: %d\n",nmea->reserve[1]); fprintf(stderr,"dbg5 reserve[2]: %d\n",nmea->reserve[2]); fprintf(stderr,"dbg5 nmea: %s\n",nmea->nmea); } else if (status == MB_SUCCESS && verbose >= 5 && (store->kind == MB_DATA_HEADER)) { sysinfo = (struct mbsys_jstar_sysinfo_struct *) &(store->sysinfo); fprintf(stderr,"\ndbg5 New sysinfo data record to be written by MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 start_marker: %d\n",sysinfo->message.start_marker); fprintf(stderr,"dbg5 version: %d\n",sysinfo->message.version); fprintf(stderr,"dbg5 session: %d\n",sysinfo->message.session); fprintf(stderr,"dbg5 type: %d\n",sysinfo->message.type); fprintf(stderr,"dbg5 command: %d\n",sysinfo->message.command); fprintf(stderr,"dbg5 subsystem: %d\n",sysinfo->message.subsystem); fprintf(stderr,"dbg5 channel: %d\n",sysinfo->message.channel); fprintf(stderr,"dbg5 sequence: %d\n",sysinfo->message.sequence); fprintf(stderr,"dbg5 reserved: %d\n",sysinfo->message.reserved); fprintf(stderr,"dbg5 size: %d\n",sysinfo->message.size); fprintf(stderr,"dbg5 system_type: %d\n",sysinfo->system_type); fprintf(stderr,"dbg5 reserved1: %d\n",sysinfo->reserved1); fprintf(stderr,"dbg5 version: %d\n",sysinfo->version); fprintf(stderr,"dbg5 reserved2: %d\n",sysinfo->reserved2); fprintf(stderr,"dbg5 platformserialnumber: %d\n",sysinfo->platformserialnumber); fprintf(stderr,"dbg5 sysinfosize: %d\n",sysinfo->sysinfosize); fprintf(stderr,"dbg5 sysinfo: \n%s\n",sysinfo->sysinfo); } /* write out comment */ if (store->kind == MB_DATA_COMMENT) { /* insert the message header values */ index = 0; comment = (struct mbsys_jstar_comment_struct *) &(store->comment); comment->message.start_marker = 0x1601; comment->message.version = 0; comment->message.session = 0; comment->message.type = MBSYS_JSTAR_DATA_COMMENT; comment->message.subsystem = 0; comment->message.channel = 0; comment->message.sequence = 0; comment->message.reserved = 0; comment->message.size = strlen(comment->comment) + 1; mb_put_binary_short(MB_YES, comment->message.start_marker, &buffer[index]); index += 2; buffer[index] = comment->message.version; index++; buffer[index] = comment->message.session; index++; mb_put_binary_short(MB_YES, comment->message.type, &buffer[index]); index += 2; buffer[index] = comment->message.command; index++; buffer[index] = comment->message.subsystem; index++; buffer[index] = comment->message.channel; index++; buffer[index] = comment->message.sequence; index++; mb_put_binary_short(MB_YES, comment->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, comment->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* write the comment */ if ((write_len = fwrite(comment->comment,1,comment->message.size,mb_io_ptr->mbfp)) != comment->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out subbottom data */ else if (store->kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { /* get the sbp structure */ sbp = (struct mbsys_jstar_channel_struct *) &(store->sbp); /* insert the message header values */ index = 0; if (sbp->dataFormat == 1) shortspersample = 2; else shortspersample = 1; sbp->message.size = shortspersample * sbp->samples * sizeof(short) + MBSYS_JSTAR_SBPHEADER_SIZE; mb_put_binary_short(MB_YES, sbp->message.start_marker, &buffer[index]); index += 2; buffer[index] = sbp->message.version; index++; buffer[index] = sbp->message.session; index++; mb_put_binary_short(MB_YES, sbp->message.type, &buffer[index]); index += 2; buffer[index] = sbp->message.command; index++; buffer[index] = sbp->message.subsystem; index++; buffer[index] = sbp->message.channel; index++; buffer[index] = sbp->message.sequence; index++; mb_put_binary_short(MB_YES, sbp->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, sbp->message.size, &buffer[index]); index += 4; /* write the messsage header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* insert the trace header values */ index = 0; mb_put_binary_int(MB_YES, sbp->sequenceNumber, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->startDepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->pingNum, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->channelNum, &buffer[index]); index += 4; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, sbp->unused1[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, sbp->traceIDCode, &buffer[index]); index += 2; for (i=0;i<2;i++) { mb_put_binary_short(MB_YES, sbp->unused2[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, sbp->dataFormat, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEAantennaeR, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEAantennaeO, &buffer[index]); index += 2; for (i=0;i<32;i++) { buffer[index] = sbp->RS232[i]; index++; } mb_put_binary_int(MB_YES, sbp->sourceCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->sourceCoordY, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->groupCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->groupCoordY, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, sbp->coordUnits, &buffer[index]); index += 2; for (i=0;i<24;i++) { buffer[index] = sbp->annotation[i]; index++; } mb_put_binary_short(MB_YES, sbp->samples, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, sbp->sampleInterval, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, sbp->ADCGain, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->pulsePower, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->correlated, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->startFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->endFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->sweepLength, &buffer[index]); index += 2; for (i=0;i<4;i++) { mb_put_binary_short(MB_YES, sbp->unused7[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, sbp->aliasFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->pulseID, &buffer[index]); index += 2; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, sbp->unused8[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, sbp->year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->day, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->hour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->minute, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->second, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->timeBasis, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->weightingFactor, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->unused9, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->heading, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->pitch, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->roll, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->temperature, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->heaveCompensation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->trigSource, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->markNumber, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEAHour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEAMinutes, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEASeconds, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEACourse, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEASpeed, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEADay, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->NMEAYear, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, sbp->millisecondsToday, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, sbp->ADCMax, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->calConst, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->vehicleID, &buffer[index]); index += 2; for (i=0;i<6;i++) { buffer[index] = sbp->softwareVersion[i]; index++; } mb_put_binary_int(MB_YES, sbp->sphericalCorrection, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, sbp->packetNum, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->ADCDecimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->decimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, sbp->unuseda, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, sbp->depth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->sonardepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sbp->sonaraltitude, &buffer[index]); index += 4; /* write the trace header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_SBPHEADER_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_SBPHEADER_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* byteswap the trace if necessary */ #ifndef BYTESWAPPED if (sbp->dataFormat == 1) shortspersample = 2; else shortspersample = 1; for (i=0;isamples;i++) { sbp->trace[i] = mb_swap_short(sbp->trace[i]);; } #endif /* write the trace */ trace_size = shortspersample * sbp->samples * sizeof(short); if ((write_len = fwrite(sbp->trace,1,trace_size,mb_io_ptr->mbfp)) != trace_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out sidescan data */ else if (store->kind == MB_DATA_DATA || store->kind == MB_DATA_SIDESCAN2) { /* get the port ss structure */ ss = (struct mbsys_jstar_channel_struct *) &(store->ssport); /* insert the message header values */ index = 0; if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; ss->message.size = shortspersample * ss->samples * sizeof(short) + MBSYS_JSTAR_SSHEADER_SIZE; mb_put_binary_short(MB_YES, ss->message.start_marker, &buffer[index]); index += 2; buffer[index] = ss->message.version; index++; buffer[index] = ss->message.session; index++; mb_put_binary_short(MB_YES, ss->message.type, &buffer[index]); index += 2; buffer[index] = ss->message.command; index++; buffer[index] = ss->message.subsystem; index++; buffer[index] = ss->message.channel; index++; buffer[index] = ss->message.sequence; index++; mb_put_binary_short(MB_YES, ss->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->message.size, &buffer[index]); index += 4; /* write the messsage header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* insert the trace header values */ index = 0; mb_put_binary_int(MB_YES, ss->sequenceNumber, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->startDepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->pingNum, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->channelNum, &buffer[index]); index += 4; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, ss->unused1[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->traceIDCode, &buffer[index]); index += 2; for (i=0;i<2;i++) { mb_put_binary_short(MB_YES, ss->unused2[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->dataFormat, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAantennaeR, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAantennaeO, &buffer[index]); index += 2; for (i=0;i<32;i++) { buffer[index] = ss->RS232[i]; index++; } mb_put_binary_int(MB_YES, ss->sourceCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sourceCoordY, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->groupCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->groupCoordY, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->coordUnits, &buffer[index]); index += 2; for (i=0;i<24;i++) { buffer[index] = ss->annotation[i]; index++; } mb_put_binary_short(MB_YES, ss->samples, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->sampleInterval, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->ADCGain, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pulsePower, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->correlated, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->startFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->endFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->sweepLength, &buffer[index]); index += 2; for (i=0;i<4;i++) { mb_put_binary_short(MB_YES, ss->unused7[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->aliasFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pulseID, &buffer[index]); index += 2; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, ss->unused8[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->day, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->hour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->minute, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->second, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->timeBasis, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->weightingFactor, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->unused9, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->heading, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pitch, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->roll, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->temperature, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->heaveCompensation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->trigSource, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->markNumber, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAHour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAMinutes, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEASeconds, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEACourse, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEASpeed, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEADay, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAYear, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->millisecondsToday, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->ADCMax, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->calConst, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->vehicleID, &buffer[index]); index += 2; for (i=0;i<6;i++) { buffer[index] = ss->softwareVersion[i]; index++; } mb_put_binary_int(MB_YES, ss->sphericalCorrection, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->packetNum, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->ADCDecimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->decimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->unuseda, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->depth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sonardepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sonaraltitude, &buffer[index]); index += 4; /* write the trace header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_SSHEADER_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_SSHEADER_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* byteswap the trace if necessary */ #ifndef BYTESWAPPED if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; for (i=0;isamples;i++) { ss->trace[i] = mb_swap_short(ss->trace[i]);; } #endif /* write the trace */ trace_size = shortspersample * ss->samples * sizeof(short); if ((write_len = fwrite(ss->trace,1,trace_size,mb_io_ptr->mbfp)) != trace_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* get the starboard ss structure */ ss = (struct mbsys_jstar_channel_struct *) &(store->ssstbd); /* insert the message header values */ index = 0; if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; ss->message.size = shortspersample * ss->samples * sizeof(short) + MBSYS_JSTAR_SSHEADER_SIZE; mb_put_binary_short(MB_YES, ss->message.start_marker, &buffer[index]); index += 2; buffer[index] = ss->message.version; index++; buffer[index] = ss->message.session; index++; mb_put_binary_short(MB_YES, ss->message.type, &buffer[index]); index += 2; buffer[index] = ss->message.command; index++; buffer[index] = ss->message.subsystem; index++; buffer[index] = ss->message.channel; index++; buffer[index] = ss->message.sequence; index++; mb_put_binary_short(MB_YES, ss->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->message.size, &buffer[index]); index += 4; /* write the messsage header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* insert the trace header values */ index = 0; mb_put_binary_int(MB_YES, ss->sequenceNumber, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->startDepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->pingNum, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->channelNum, &buffer[index]); index += 4; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, ss->unused1[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->traceIDCode, &buffer[index]); index += 2; for (i=0;i<2;i++) { mb_put_binary_short(MB_YES, ss->unused2[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->dataFormat, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAantennaeR, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAantennaeO, &buffer[index]); index += 2; for (i=0;i<32;i++) { buffer[index] = ss->RS232[i]; index++; } mb_put_binary_int(MB_YES, ss->sourceCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sourceCoordY, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->groupCoordX, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->groupCoordY, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->coordUnits, &buffer[index]); index += 2; for (i=0;i<24;i++) { buffer[index] = ss->annotation[i]; index++; } mb_put_binary_short(MB_YES, ss->samples, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->sampleInterval, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->ADCGain, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pulsePower, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->correlated, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->startFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->endFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->sweepLength, &buffer[index]); index += 2; for (i=0;i<4;i++) { mb_put_binary_short(MB_YES, ss->unused7[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->aliasFreq, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pulseID, &buffer[index]); index += 2; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, ss->unused8[i], &buffer[index]); index += 2; } mb_put_binary_short(MB_YES, ss->year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->day, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->hour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->minute, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->second, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->timeBasis, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->weightingFactor, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->unused9, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->heading, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->pitch, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->roll, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->temperature, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->heaveCompensation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->trigSource, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->markNumber, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAHour, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAMinutes, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEASeconds, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEACourse, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEASpeed, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEADay, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->NMEAYear, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->millisecondsToday, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->ADCMax, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->calConst, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->vehicleID, &buffer[index]); index += 2; for (i=0;i<6;i++) { buffer[index] = ss->softwareVersion[i]; index++; } mb_put_binary_int(MB_YES, ss->sphericalCorrection, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, ss->packetNum, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->ADCDecimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->decimation, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, ss->unuseda, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, ss->depth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sonardepth, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ss->sonaraltitude, &buffer[index]); index += 4; /* write the trace header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_SSHEADER_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_SSHEADER_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } /* byteswap the trace if necessary */ #ifndef BYTESWAPPED if (ss->dataFormat == 1) shortspersample = 2; else shortspersample = 1; for (i=0;isamples;i++) { ss->trace[i] = mb_swap_short(ss->trace[i]);; } #endif /* write the trace */ trace_size = shortspersample * ss->samples * sizeof(short); if ((write_len = fwrite(ss->trace,1,trace_size,mb_io_ptr->mbfp)) != trace_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out pitch roll data */ else if (store->kind == MB_DATA_ATTITUDE) { /* insert the message header values */ index = 0; pitchroll = (struct mbsys_jstar_pitchroll_struct *) &(store->pitchroll); mb_put_binary_short(MB_YES, pitchroll->message.start_marker, &buffer[index]); index += 2; buffer[index] = pitchroll->message.version; index++; buffer[index] = pitchroll->message.session; index++; mb_put_binary_short(MB_YES, pitchroll->message.type, &buffer[index]); index += 2; buffer[index] = pitchroll->message.command; index++; buffer[index] = pitchroll->message.subsystem; index++; buffer[index] = pitchroll->message.channel; index++; buffer[index] = pitchroll->message.sequence; index++; mb_put_binary_short(MB_YES, pitchroll->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, pitchroll->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } index = 0; mb_put_binary_int(MB_YES, pitchroll->seconds, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pitchroll->msec, &buffer[index]); index += 4; buffer[index] = pitchroll->reserve1[0]; index++; buffer[index] = pitchroll->reserve1[1]; index++; buffer[index] = pitchroll->reserve1[2]; index++; buffer[index] = pitchroll->reserve1[3]; index++; mb_put_binary_short(MB_YES, pitchroll->accelerationx, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->accelerationy, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->accelerationz, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->gyroratex, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->gyroratey, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->gyroratez, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->pitch, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->roll, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->temperature, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->deviceinfo, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->heave, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, pitchroll->heading, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, pitchroll->datavalidflags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pitchroll->reserve2, &buffer[index]); index += 4; /* write the pitchroll data */ if ((write_len = fwrite(buffer,1,pitchroll->message.size,mb_io_ptr->mbfp)) != pitchroll->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out dvl data */ else if (store->kind == MB_DATA_DVL) { /* insert the message header values */ index = 0; dvl = (struct mbsys_jstar_dvl_struct *) &(store->dvl); mb_put_binary_short(MB_YES, dvl->message.start_marker, &buffer[index]); index += 2; buffer[index] = dvl->message.version; index++; buffer[index] = dvl->message.session; index++; mb_put_binary_short(MB_YES, dvl->message.type, &buffer[index]); index += 2; buffer[index] = dvl->message.command; index++; buffer[index] = dvl->message.subsystem; index++; buffer[index] = dvl->message.channel; index++; buffer[index] = dvl->message.sequence; index++; mb_put_binary_short(MB_YES, dvl->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, dvl->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } index = 0; mb_put_binary_int(MB_YES, dvl->seconds, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, dvl->msec, &buffer[index]); index += 4; buffer[index] = dvl->reserve1[0]; index++; buffer[index] = dvl->reserve1[1]; index++; buffer[index] = dvl->reserve1[2]; index++; buffer[index] = dvl->reserve1[3]; index++; mb_put_binary_int(MB_YES, dvl->datavalidflags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, dvl->beam1range, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, dvl->beam2range, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, dvl->beam3range, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, dvl->beam4range, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, dvl->velocitybottomx, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->velocitybottomy, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->velocitybottomz, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->velocitywaterx, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->velocitywatery, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->velocitywaterz, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->depth, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->pitch, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->roll, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->heading, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->salinity, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->temperature, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, dvl->soundspeed, &buffer[index]); index += 2; for (i=0;i<7;i++) { mb_put_binary_short(MB_YES, dvl->reserve2[i], &buffer[index]); index += 2; } /* write the dvl data */ if ((write_len = fwrite(buffer,1,dvl->message.size,mb_io_ptr->mbfp)) != dvl->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out NMEA data */ else if (store->kind == MB_DATA_NMEA_RMC || store->kind == MB_DATA_NMEA_DBT || store->kind == MB_DATA_NMEA_DPT) { /* insert the message header values */ index = 0; nmea = (struct mbsys_jstar_nmea_struct *) &(store->nmea); mb_put_binary_short(MB_YES, nmea->message.start_marker, &buffer[index]); index += 2; buffer[index] = nmea->message.version; index++; buffer[index] = nmea->message.session; index++; mb_put_binary_short(MB_YES, nmea->message.type, &buffer[index]); index += 2; buffer[index] = nmea->message.command; index++; buffer[index] = nmea->message.subsystem; index++; buffer[index] = nmea->message.channel; index++; buffer[index] = nmea->message.sequence; index++; mb_put_binary_short(MB_YES, nmea->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, nmea->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } index = 0; mb_put_binary_int(MB_YES, nmea->seconds, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, nmea->msec, &buffer[index]); index += 4; buffer[index] = nmea->source; index++; buffer[index] = nmea->reserve[0]; index++; buffer[index] = nmea->reserve[1]; index++; buffer[index] = nmea->reserve[2]; index++; for (i=0;i<(nmea->message.size-12);i++) { buffer[index] = nmea->nmea[i]; index++; } /* write the NMEA data */ if ((write_len = fwrite(buffer,1,nmea->message.size,mb_io_ptr->mbfp)) != nmea->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out pressure data */ else if (store->kind == MB_DATA_CTD) { /* insert the message header values */ index = 0; pressure = (struct mbsys_jstar_pressure_struct *) &(store->pressure); mb_put_binary_short(MB_YES, pressure->message.start_marker, &buffer[index]); index += 2; buffer[index] = pressure->message.version; index++; buffer[index] = pressure->message.session; index++; mb_put_binary_short(MB_YES, pressure->message.type, &buffer[index]); index += 2; buffer[index] = pressure->message.command; index++; buffer[index] = pressure->message.subsystem; index++; buffer[index] = pressure->message.channel; index++; buffer[index] = pressure->message.sequence; index++; mb_put_binary_short(MB_YES, pressure->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, pressure->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } index = 0; mb_put_binary_int(MB_YES, pressure->seconds, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pressure->msec, &buffer[index]); index += 4; buffer[index] = pressure->reserve1[0]; index++; buffer[index] = pressure->reserve1[1]; index++; buffer[index] = pressure->reserve1[2]; index++; buffer[index] = pressure->reserve1[3]; index++; mb_put_binary_int(MB_YES, pressure->pressure, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pressure->salinity, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pressure->datavalidflags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pressure->conductivity, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, pressure->soundspeed, &buffer[index]); index += 4; for (i=0;i<10;i++) { mb_put_binary_int(MB_YES, pressure->reserve2[i], &buffer[index]); index += 4; } /* write the pressure data */ if ((write_len = fwrite(buffer,1,pressure->message.size,mb_io_ptr->mbfp)) != pressure->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* write out sysinfo data */ else if (store->kind == MB_DATA_HEADER) { /* insert the message header values */ index = 0; sysinfo = (struct mbsys_jstar_sysinfo_struct *) &(store->sysinfo); mb_put_binary_short(MB_YES, sysinfo->message.start_marker, &buffer[index]); index += 2; buffer[index] = sysinfo->message.version; index++; buffer[index] = sysinfo->message.session; index++; mb_put_binary_short(MB_YES, sysinfo->message.type, &buffer[index]); index += 2; buffer[index] = sysinfo->message.command; index++; buffer[index] = sysinfo->message.subsystem; index++; buffer[index] = sysinfo->message.channel; index++; buffer[index] = sysinfo->message.sequence; index++; mb_put_binary_short(MB_YES, sysinfo->message.reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, sysinfo->message.size, &buffer[index]); index += 4; /* write the message header */ if ((write_len = fwrite(buffer,1,MBSYS_JSTAR_MESSAGE_SIZE,mb_io_ptr->mbfp)) != MBSYS_JSTAR_MESSAGE_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } index = 0; mb_put_binary_int(MB_YES, sysinfo->system_type, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sysinfo->reserved1, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sysinfo->version, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sysinfo->reserved2, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, sysinfo->platformserialnumber, &buffer[index]); index += 4; for (i=0;isysinfosize;i++) { buffer[index] = sysinfo->sysinfo[i]; } /* write the sysinfo data */ if ((write_len = fwrite(buffer,1,sysinfo->message.size,mb_io_ptr->mbfp)) != sysinfo->message.size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/