/*-------------------------------------------------------------------- * The MB-system: mbsys_gsf.c 3.00 8/20/94 * $Id: mbsys_gsf.c 2226 2015-02-05 20:38:55Z caress $ * * Copyright (c) 1994-2015 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. *--------------------------------------------------------------------*/ /* * mbsys_gsf.c contains the functions for handling the data structure * used by MBIO functions to store data * from Gsf BottomChart Mark II multibeam sonar systems. * The data formats which are commonly used to store Gsf * data in files include * MBF_ELUNB : MBIO ID 92 * * Author: D. W. Caress * Date: March 5, 1998 * * */ /* 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 "mbsys_gsf.h" static char rcs_id[]="$Id: mbsys_gsf.c 2226 2015-02-05 20:38:55Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_gsf_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_gsf_alloc"; 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* allocate memory for data structure */ status = mb_malloc(verbose,sizeof(struct mbsys_gsf_struct), store_ptr,error); memset(*store_ptr, 0, sizeof(struct mbsys_gsf_struct)); /* 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 store_ptr: %p\n",(void *)*store_ptr); 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 mbsys_gsf_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_gsf_deall"; int status = MB_SUCCESS; struct mbsys_gsf_struct *store; gsfRecords *records; /* 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); } /* deallocate memory for data structure */ store = (struct mbsys_gsf_struct *) *store_ptr; records = &(store->records); gsfFree(records); status = mb_free(verbose,store_ptr,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 mbsys_gsf_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_gsf_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; gsfTimeSeriesIntensity *snippet; 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; dataID = &(store->dataID); records = &(store->records); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get beam and pixel numbers */ mb_ping = &(records->mb_ping); if (mb_ping->depth != NULL) *nbath = mb_ping->number_beams; else *nbath = 0; if (mb_ping->mc_amplitude != NULL || mb_ping->mr_amplitude != NULL) *namp = mb_ping->number_beams; else *namp = 0; *nss = 0; if (mb_ping->brb_inten != NULL) { for (i=0;i<*nbath;i++) { snippet = &(mb_ping->brb_inten->time_series[i]); (*nss) += snippet->sample_count; } } } else { /* get beam and pixel numbers */ *nbath = 0; *namp = 0; *nss = 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 nbath: %d\n",*nbath); fprintf(stderr,"dbg2 namp: %d\n",*namp); fprintf(stderr,"dbg2 nss: %d\n",*nss); 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 mbsys_gsf_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error) { char *function_name = "mbsys_gsf_sonartype"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; /* 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; dataID = &(store->dataID); records = &(store->records); mb_ping = &(records->mb_ping); /* get sonar type */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_SPECIFIC /* 102 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM12_SPECIFIC /* 103 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM100_SPECIFIC /* 104 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM950_SPECIFIC /* 105 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121A_SPECIFIC /* 106 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121_SPECIFIC /* 107 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SASS_SPECIFIC /* 108 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC /* 109 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_SPECIFIC /* 110 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1000_SPECIFIC /* 111 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_TYPEIII_SEABEAM_SPECIFIC /* 112 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SB_AMP_SPECIFIC /* 113 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_II_SPECIFIC /* 114 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_8101_SPECIFIC /* 115 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_2112_SPECIFIC /* 116 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_ELAC_MKII_SPECIFIC /* 117 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000_SPECIFIC /* 118 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1002_SPECIFIC /* 119 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM300_SPECIFIC /* 120 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_CMP_SASS_SPECIFIC /* 121 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8101_SPECIFIC /* 122 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8111_SPECIFIC /* 123 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8124_SPECIFIC /* 124 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8125_SPECIFIC /* 125 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8150_SPECIFIC /* 126 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8160_SPECIFIC /* 127 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM120_SPECIFIC /* 128 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002_SPECIFIC /* 129 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000D_SPECIFIC /* 130 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002D_SPECIFIC /* 131 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121A_SIS_SPECIFIC /* 132 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM710_SPECIFIC /* 133 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM302_SPECIFIC /* 134 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM122_SPECIFIC /* 135 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_7125_SPECIFIC /* 138 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM2000_SPECIFIC /* 139 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM300_RAW_SPECIFIC /* 140 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1002_RAW_SPECIFIC /* 141 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM2000_RAW_SPECIFIC /* 142 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000_RAW_SPECIFIC /* 143 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM120_RAW_SPECIFIC /* 144 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002_RAW_SPECIFIC /* 145 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000D_RAW_SPECIFIC /* 146 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002D_RAW_SPECIFIC /* 147 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121A_SIS_RAW_SPECIFIC /* 148 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM2040_SPECIFIC /* 149 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_DELTA_T_SPECIFIC /* 150 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_R2SONIC_2022_SPECIFIC /* 151 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_R2SONIC_2024_SPECIFIC /* 152 */) { *sonartype = MB_TOPOGRAPHY_TYPE_MULTIBEAM; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_GEOSWATH_PLUS_SPECIFIC /* 136 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_KLEIN_5410_BSS_SPECIFIC /* 137 */) { *sonartype = MB_TOPOGRAPHY_TYPE_INTERFEROMETRIC; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_GEOSWATH_PLUS_SPECIFIC /* 136 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_KLEIN_5410_BSS_SPECIFIC /* 137 */) { *sonartype = MB_TOPOGRAPHY_TYPE_SIDESCAN; } else if (mb_ping->sensor_id == GSF_SINGLE_BEAM_SUBRECORD_ECHOTRAC_SPECIFIC /* 201 */ || mb_ping->sensor_id == GSF_SINGLE_BEAM_SUBRECORD_BATHY2000_SPECIFIC /* 202 */ || mb_ping->sensor_id == GSF_SINGLE_BEAM_SUBRECORD_MGD77_SPECIFIC /* 203 */ || mb_ping->sensor_id == GSF_SINGLE_BEAM_SUBRECORD_BDB_SPECIFIC /* 204 */ || mb_ping->sensor_id == GSF_SINGLE_BEAM_SUBRECORD_NOSHDB_SPECIFIC /* 205 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_ECHOTRAC_SPECIFIC /* 206 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_BATHY2000_SPECIFIC /* 207 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_MGD77_SPECIFIC /* 208 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_BDB_SPECIFIC /* 209 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_NOSHDB_SPECIFIC /* 210 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_PDD_SPECIFIC /* 211 */ || mb_ping->sensor_id == GSF_SWATH_BATHY_SB_SUBRECORD_NAVISOUND_SPECIFIC /* 212 */) { *sonartype = MB_TOPOGRAPHY_TYPE_ECHOSOUNDER; } else { *sonartype = MB_TOPOGRAPHY_TYPE_UNKNOWN; } /* 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 sensor_id: %d\n",mb_ping->sensor_id); fprintf(stderr,"dbg2 sonartype: %d\n",*sonartype); 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 mbsys_gsf_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error) { char *function_name = "mbsys_gsf_sidescantype"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; /* 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; dataID = &(store->dataID); records = &(store->records); mb_ping = &(records->mb_ping); /* get sidescan type */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_2112_SPECIFIC) { *ss_type = MB_SIDESCAN_LINEAR; } else { *ss_type = MB_SIDESCAN_LOGARITHMIC; } /* 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 ss_type: %d\n",*ss_type); 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 mbsys_gsf_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_gsf_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; gsfTimeSeriesIntensity *snippet; double ss_spacing, ss_spacing_use; double vertical, range, beam_foot, sint, angle; int gsfstatus; int i, j; /* 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; dataID = &(store->dataID); records = &(store->records); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { mb_ping = &(records->mb_ping); /* get time */ *time_d = mb_ping->ping_time.tv_sec + 0.000000001 * mb_ping->ping_time.tv_nsec; mb_get_date(verbose,*time_d,time_i); /* get navigation */ if (mb_ping->longitude != GSF_NULL_LONGITUDE) *navlon = mb_ping->longitude; else *navlon = 0.0; if (mb_ping->latitude != GSF_NULL_LATITUDE) *navlat = mb_ping->latitude; else *navlat = 0.0; /* get heading */ if (mb_ping->heading != GSF_NULL_HEADING) *heading = mb_ping->heading; else *heading = 0.0; /* get speed */ if (mb_ping->speed != GSF_NULL_SPEED) *speed = 1.852 * mb_ping->speed; else *speed = 0.0; /* set beamwidths in mb_io structure */ gsfstatus = gsfGetSwathBathyBeamWidths(records, &(mb_io_ptr->beamwidth_ltrack), &(mb_io_ptr->beamwidth_xtrack)); /* if not set then use hard coded values */ if (mb_io_ptr->beamwidth_ltrack <= 0.0 || mb_io_ptr->beamwidth_xtrack <= 0.0) { if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 2.67; mb_io_ptr->beamwidth_xtrack = 2.67; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM100_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 3.3; mb_io_ptr->beamwidth_xtrack = 3.3; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM950_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 3.3; mb_io_ptr->beamwidth_xtrack = 3.3; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121A_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.0; mb_io_ptr->beamwidth_xtrack = 1.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.0; mb_io_ptr->beamwidth_xtrack = 1.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 2.0; mb_io_ptr->beamwidth_xtrack = 2.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.5; mb_io_ptr->beamwidth_xtrack = 1.5; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1000_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 3.3; mb_io_ptr->beamwidth_xtrack = 3.3; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_TYPEIII_SEABEAM_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 2.67; mb_io_ptr->beamwidth_xtrack = 2.67; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SB_AMP_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 2.0; mb_io_ptr->beamwidth_xtrack = 2.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_II_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.5; mb_io_ptr->beamwidth_xtrack = 1.5; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_8101_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.5; mb_io_ptr->beamwidth_xtrack = 1.5; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_2112_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 2.0; mb_io_ptr->beamwidth_xtrack = 2.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_ELAC_MKII_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.5; mb_io_ptr->beamwidth_xtrack = 2.8; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_ELAC_MKII_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.5; mb_io_ptr->beamwidth_xtrack = 2.8; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_GEOSWATH_PLUS_SPECIFIC) { mb_io_ptr->beamwidth_ltrack = 1.0; mb_io_ptr->beamwidth_xtrack = 0.1; } else { mb_io_ptr->beamwidth_ltrack = 2.0; mb_io_ptr->beamwidth_xtrack = 2.0; } } /* get numbers of beams and pixels */ if (mb_ping->depth != NULL) *nbath = mb_ping->number_beams; else *nbath = 0; if (mb_ping->mc_amplitude != NULL || mb_ping->mr_amplitude != NULL) *namp = mb_ping->number_beams; else *namp = 0; *nss = 0; /* read depth and beam location values into storage arrays */ for (i=0;i<*nbath;i++) { /* set null beam flag if required */ if (mb_ping->depth[i] == 0.0 && mb_ping->across_track[i] == 0.0 && mb_ping->beam_flags[i] != MB_FLAG_NULL) mb_ping->beam_flags[i] = MB_FLAG_NULL; beamflag[i] = mb_ping->beam_flags[i]; bath[i] = mb_ping->depth[i]; bathacrosstrack[i] = mb_ping->across_track[i]; bathalongtrack[i] = mb_ping->along_track[i]; } /* set beamflags if ping flag set */ /* if (mb_ping->ping_flags != 0) { for (i=0;i<*nbath;i++) if (mb_beam_ok(beamflag[i])) beamflag[i] = mb_beam_set_flag_manual(beamflag[i]); }*/ /* read amplitude values into storage arrays */ if (mb_ping->mc_amplitude != NULL) for (i=0;i<*namp;i++) { amp[i] = mb_ping->mc_amplitude[i]; } else if (mb_ping->mr_amplitude != NULL) for (i=0;i<*namp;i++) { amp[i] = mb_ping->mr_amplitude[i]; } /* read multibeam sidescan if available */ if (mb_ping->brb_inten != NULL) { /* get sample rate and raw sidescan sample size */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8101_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8111_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8124_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8125_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8150_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8160_SPECIFIC) { ss_spacing = 750.0 / ((double)mb_ping->sensor_data.gsfReson8100Specific.sample_rate); } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1002_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM300_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM120_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3000D_SPECIFIC || mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM3002D_SPECIFIC) { ss_spacing = 750.0 / ((double)mb_ping->sensor_data.gsfEM3Specific.sample_rate); } *nss = 0; for (i=0;i<*nbath;i++) { /* get pixel sample size */ snippet = &(mb_ping->brb_inten->time_series[i]); vertical = mb_ping->depth[i] - mb_ping->depth_corrector; range = sqrt(vertical * vertical + bathacrosstrack[i] * bathacrosstrack[i]); angle = 90.0 - fabs(mb_ping->beam_angle[i]); beam_foot = range * sin(DTR * mb_io_ptr->beamwidth_xtrack) / cos(DTR * angle); sint = fabs(sin(DTR * angle)); if (sint < snippet->sample_count * ss_spacing / beam_foot) ss_spacing_use = beam_foot / snippet->sample_count; else ss_spacing_use = ss_spacing / sint; for (j=0;jsample_count;j++) { ss[*nss] = snippet->samples[j]; ssacrosstrack[*nss] = bathacrosstrack[i] + ss_spacing_use * (j - snippet->detect_sample); ssalongtrack[*nss] = bathalongtrack[i]; (*nss)++; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg4 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg4 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg4 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); } /* done translating values */ } /* extract comment from structure */ else if (*kind == MB_DATA_COMMENT) { /* copy comment */ if (records->comment.comment_length > 0 && records->comment.comment != NULL) strcpy(comment, records->comment.comment); else comment[0] = '\0'; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 Comment extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 New ping values:\n"); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 comment: %s\n", comment); } } /* 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 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind != MB_DATA_COMMENT) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg2 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 nss: %d\n", *nss); for (i=0;i<*nss;i++) fprintf(stderr,"dbg2 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } if (verbose >= 2) { 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 mbsys_gsf_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_gsf_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; int anyunflagged; 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); fprintf(stderr,"dbg2 kind: %d\n",kind); } if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); } if (verbose >= 2 && kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n",nbath); if (verbose >= 3) for (i=0;i= 3) for (i=0;i= 2 && kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { dataID->recordID = GSF_RECORD_SWATH_BATHYMETRY_PING; mb_ping = &(records->mb_ping); /* get time */ mb_ping->ping_time.tv_sec = (int) time_d; mb_ping->ping_time.tv_nsec = (int) (1000000000 * (time_d - mb_ping->ping_time.tv_sec)); /* get navigation */ if (navlon != 0.0) mb_ping->longitude = navlon; else mb_ping->longitude = GSF_NULL_LONGITUDE; if (navlat != 0.0) mb_ping->latitude = navlat; else mb_ping->longitude = GSF_NULL_LATITUDE; /* get heading */ if (heading != 0.0) mb_ping->heading = heading; else mb_ping->heading = GSF_NULL_HEADING; /* get speed */ if (speed != 0.0) mb_ping->speed = speed / 1.852; else mb_ping->speed = speed; /* get numbers of beams */ mb_ping->number_beams = nbath; /* allocate memory in arrays if required */ if (nbath > mb_ping->number_beams) { mb_ping->beam_flags = (unsigned char *) realloc(mb_ping->beam_flags, nbath * sizeof(char)); mb_ping->depth = (double *) realloc(mb_ping->depth, nbath * sizeof(double)); mb_ping->across_track = (double *) realloc(mb_ping->across_track, nbath * sizeof(double)); mb_ping->along_track = (double *) realloc(mb_ping->along_track, nbath * sizeof(double)); if (mb_ping->beam_flags == NULL || mb_ping->depth == NULL || mb_ping->across_track == NULL || mb_ping->along_track == NULL) { status = MB_FAILURE; *error = MB_ERROR_MEMORY_FAIL; } } if (namp > mb_ping->number_beams && mb_ping->mc_amplitude != NULL) { mb_ping->mc_amplitude = (double *) realloc(mb_ping->mc_amplitude, namp * sizeof(double)); if (mb_ping->mc_amplitude == NULL) { status = MB_FAILURE; *error = MB_ERROR_MEMORY_FAIL; } } else if (namp > mb_ping->number_beams && mb_ping->mr_amplitude != NULL) { mb_ping->mr_amplitude = (double *) realloc(mb_ping->mr_amplitude, namp * sizeof(double)); if (mb_ping->mr_amplitude == NULL) { status = MB_FAILURE; *error = MB_ERROR_MEMORY_FAIL; } } mb_ping->number_beams = nbath; /* if ping flag set check for any unset beam flags - set or unset ping flag based on whether any unflagged beams are found */ anyunflagged = MB_NO; for (i=0;iping_flags = GSF_IGNORE_PING; else mb_ping->ping_flags = 0; /* read depth and beam location values into storage arrays */ for (i=0;ibeam_flags[i] = beamflag[i]; if (beamflag[i] != MB_FLAG_NULL) { mb_ping->depth[i] = bath[i]; mb_ping->across_track[i] = bathacrosstrack[i]; mb_ping->along_track[i] = bathalongtrack[i]; } else { mb_ping->depth[i] = GSF_NULL_DEPTH; mb_ping->across_track[i] = GSF_NULL_ACROSS_TRACK; mb_ping->along_track[i] = GSF_NULL_ALONG_TRACK; } } /* read amplitude values into storage arrays */ if (mb_ping->mc_amplitude != NULL) for (i=0;imc_amplitude[i] = amp[i]; } else if (mb_ping->mr_amplitude != NULL) for (i=0;imr_amplitude[i] = amp[i]; } /* reset GSF scale factors if needed */ mbsys_gsf_setscalefactors(verbose, MB_NO, mb_ping, error); } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { dataID->recordID = GSF_RECORD_COMMENT; if (records->comment.comment_length < strlen(comment) + 1) { if ((records->comment.comment = (char *) realloc(records->comment.comment, strlen(comment)+1)) == NULL) { status = MB_FAILURE; *error = MB_ERROR_MEMORY_FAIL; records->comment.comment_length = 0; } } if (status == MB_SUCCESS && records->comment.comment != NULL) { strcpy(records->comment.comment, comment); records->comment.comment_length = strlen(comment)+1; records->comment.comment_time.tv_sec = (int) time_d; records->comment.comment_time.tv_nsec = (int) (1000000000 * (time_d - records->comment.comment_time.tv_sec)); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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 mbsys_gsf_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error) { char *function_name = "mbsys_gsf_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; double alpha, beta; 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); fprintf(stderr,"dbg2 ttimes: %p\n",(void *)ttimes); fprintf(stderr,"dbg2 angles_xtrk:%p\n",(void *)angles); fprintf(stderr,"dbg2 angles_ltrk:%p\n",(void *)angles_forward); fprintf(stderr,"dbg2 angles_null:%p\n",(void *)angles_null); fprintf(stderr,"dbg2 heave: %p\n",(void *)heave); fprintf(stderr,"dbg2 ltrk_off: %p\n",(void *)alongtrack_offset); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get nbeams */ *nbeams = mb_ping->number_beams; /* get travel times, angles */ if (mb_ping->travel_time != NULL && mb_ping->beam_angle != NULL) { if (mb_ping->beam_angle_forward != NULL) { for (i=0;i<*nbeams;i++) { ttimes[i] = mb_ping->travel_time[i]; angles[i] = fabs(mb_ping->beam_angle[i]); angles_forward[i] = mb_ping->beam_angle_forward[i]; heave[i] = mb_ping->heave; alongtrack_offset[i] = 0.0; } } else { for (i=0;i<*nbeams;i++) { ttimes[i] = mb_ping->travel_time[i]; angles[i] = fabs(mb_ping->beam_angle[i]); if (mb_ping->across_track[i] < 0.0 || mb_ping->beam_angle[i] < 0.0) angles_forward[i] = 180.0; else angles_forward[i] = 0.0; heave[i] = mb_ping->heave; alongtrack_offset[i] = 0.0; } } /* get surface sound velocity and effective array mount angles */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_SPECIFIC) { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM100_SPECIFIC) { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM950_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfEM950Specific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121A_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfEM121ASpecific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM121_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfEM121Specific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC) { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 50.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfSeaBatSpecific.surface_velocity; *draft = mb_ping->depth_corrector; if (mb_ping->beam_angle_forward == NULL) { for (i=0;i<*nbeams;i++) { if (mb_ping->across_track[i] < 0.0 && mb_ping->beam_angle[i] > 0.0) beta = 90.0 + mb_ping->beam_angle[i]; else beta = 90.0 - mb_ping->beam_angle[i]; alpha = mb_ping->pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[i], &angles_forward[i], error); } } for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_EM1000_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfEM1000Specific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_TYPEIII_SEABEAM_SPECIFIC) { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SB_AMP_SPECIFIC) { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_II_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfSeaBatIISpecific.surface_velocity; *draft = mb_ping->depth_corrector; if (mb_ping->beam_angle_forward == NULL) { for (i=0;i<*nbeams;i++) { if (mb_ping->across_track[i] < 0.0 && mb_ping->beam_angle[i] > 0.0) beta = 90.0 + mb_ping->beam_angle[i]; else beta = 90.0 - mb_ping->beam_angle[i]; alpha = mb_ping->pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[i], &angles_forward[i], error); } } for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABAT_8101_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfSeaBat8101Specific.surface_velocity; *draft = mb_ping->depth_corrector; if (mb_ping->beam_angle_forward == NULL) { for (i=0;i<*nbeams;i++) { if (mb_ping->across_track[i] < 0.0 && mb_ping->beam_angle[i] > 0.0) beta = 90.0 + mb_ping->beam_angle[i]; else beta = 90.0 - mb_ping->beam_angle[i]; alpha = mb_ping->pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[i], &angles_forward[i], error); } } for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_RESON_8101_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfReson8100Specific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = angles[i]; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEABEAM_2112_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfSeaBeam2112Specific.surface_velocity; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } else if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_ELAC_MKII_SPECIFIC) { *ssv = mb_ping->sensor_data.gsfElacMkIISpecific.sound_vel; *draft = mb_ping->depth_corrector; if (mb_ping->beam_angle_forward == NULL) { for (i=0;i<*nbeams;i++) { beta = 90.0 - mb_ping->beam_angle[i]; alpha = mb_ping->pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[i], &angles_forward[i], error); } } for (i=0;i<*nbeams;i++) angles_null[i] = 37.5; } else { *ssv = 1500.0; *draft = mb_ping->depth_corrector; for (i=0;i<*nbeams;i++) angles_null[i] = 0.0; } } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 ssv: %f\n",*ssv); fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: tt:%f angle_xtrk:%f angle_ltrk:%f angle_null:%f heave:%f ltrk_off:%f\n", i,ttimes[i],angles[i], angles_forward[i],angles_null[i], heave[i],alongtrack_offset[i]); } if (verbose >= 2) { 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 mbsys_gsf_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_gsf_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); fprintf(stderr,"dbg2 detects: %p\n",(void *)detects); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get nbeams */ *nbeams = mb_ping->number_beams; /* get detects */ for (i=0;i<*nbeams;i++) { detects[i] = MB_DETECT_UNKNOWN; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: detects:%d\n", i,detects[i]); } if (verbose >= 2) { 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 mbsys_gsf_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error) { char *function_name = "mbsys_gsf_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; double bath_best; double xtrack_min; 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* reset depth_corrector to zero if necessary */ if (mb_ping->depth_corrector == GSF_NULL_DEPTH_CORRECTOR) { mb_ping->depth_corrector = 0.0; } if (mb_ping->heave == GSF_NULL_HEAVE) { mb_ping->heave = 0.0; } /* get transducer_depth */ *transducer_depth = mb_ping->depth_corrector + mb_ping->heave; /* get altitude if available */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC) { *altitude = mb_ping->sensor_data.gsfSeamapSpecific.altitude; } /* else get altitude from depth */ else if (mb_ping->depth != NULL) { bath_best = 0.0; if (mb_beam_ok(mb_ping->beam_flags[mb_ping->number_beams/2])) { bath_best = mb_ping->depth[mb_ping->number_beams/2]; } else { xtrack_min = 99999999.9; for (i=0;inumber_beams;i++) { if (mb_beam_ok(mb_ping->beam_flags[i]) && fabs(mb_ping->across_track[i]) < xtrack_min) { xtrack_min = fabs(mb_ping->across_track[i]); bath_best = mb_ping->depth[i]; } } } if (bath_best <= 0.0) { xtrack_min = 99999999.9; for (i=0;inumber_beams;i++) { if (!mb_beam_check_flag(mb_ping->beam_flags[i]) && fabs(mb_ping->across_track[i]) < xtrack_min) { xtrack_min = fabs(mb_ping->across_track[i]); bath_best = mb_ping->depth[i]; } } } *altitude = bath_best - *transducer_depth; } /* else no info */ else { *altitude = 0.0; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 transducer_depth: %f\n",*transducer_depth); fprintf(stderr,"dbg2 altitude: %f\n",*altitude); 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 mbsys_gsf_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, double transducer_depth, double altitude, int *error) { char *function_name = "mbsys_gsf_insert_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; /* 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); fprintf(stderr,"dbg2 transducer_depth: %f\n",transducer_depth); fprintf(stderr,"dbg2 altitude: %f\n",altitude); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* insert data into structure */ if (store->kind == MB_DATA_DATA) { mb_ping->depth_corrector = transducer_depth - mb_ping->heave; /* set altitude if possible */ if (mb_ping->sensor_id == GSF_SWATH_BATHY_SUBRECORD_SEAMAP_SPECIFIC) { mb_ping->sensor_data.gsfSeamapSpecific.altitude = altitude; } /* get scale factor for bathymetry */ // gsfSetDefaultScaleFactor(mb_ping); /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (store->kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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); } /*--------------------------------------------------------------------*/ int mbsys_gsf_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error) { char *function_name = "mbsys_gsf_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; /* 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get time */ *time_d = mb_ping->ping_time.tv_sec + 0.000000001 * mb_ping->ping_time.tv_nsec; mb_get_date(verbose,*time_d,time_i); /* get navigation */ if (mb_ping->longitude != GSF_NULL_LONGITUDE) *navlon = mb_ping->longitude; else *navlon = 0.0; if (mb_ping->latitude != GSF_NULL_LATITUDE) *navlat = mb_ping->latitude; else *navlat = 0.0; /* get heading */ if (mb_ping->heading != GSF_NULL_HEADING) *heading = mb_ping->heading; else *heading = 0.0; /* get speed */ if (mb_ping->speed != GSF_NULL_SPEED) *speed = 1.852 * mb_ping->speed; else *speed = 0.0; /* get draft */ if (mb_ping->depth_corrector != GSF_NULL_DEPTH_CORRECTOR) *draft = mb_ping->depth_corrector; else *draft = 0.0; /* get roll pitch and heave */ *roll = mb_ping->roll; *pitch = mb_ping->pitch; *heave = mb_ping->heave; if (mb_ping->roll != GSF_NULL_ROLL) *roll = mb_ping->roll; else *roll = 0.0; if (mb_ping->pitch != GSF_NULL_PITCH) *pitch = mb_ping->pitch; else *pitch = 0.0; if (mb_ping->heave != GSF_NULL_HEAVE) *heave = mb_ping->heave; else *heave = 0.0; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 draft: %f\n", *draft); fprintf(stderr,"dbg4 roll: %f\n", *roll); fprintf(stderr,"dbg4 pitch: %f\n", *pitch); fprintf(stderr,"dbg4 heave: %f\n", *heave); } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 roll: %f\n",*roll); fprintf(stderr,"dbg2 pitch: %f\n",*pitch); fprintf(stderr,"dbg2 heave: %f\n",*heave); } if (verbose >= 2) { 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 mbsys_gsf_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error) { char *function_name = "mbsys_gsf_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSwathBathyPing *mb_ping; /* 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); fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); fprintf(stderr,"dbg2 draft: %f\n",draft); fprintf(stderr,"dbg2 roll: %f\n",roll); fprintf(stderr,"dbg2 pitch: %f\n",pitch); fprintf(stderr,"dbg2 heave: %f\n",heave); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); mb_ping = &(records->mb_ping); /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get time */ mb_ping->ping_time.tv_sec = (int) time_d; mb_ping->ping_time.tv_nsec = (int) (1000000000 * (time_d - mb_ping->ping_time.tv_sec)); /* get navigation */ if (navlon != 0.0) mb_ping->longitude = navlon; else mb_ping->longitude = GSF_NULL_LONGITUDE; if (navlat != 0.0) mb_ping->latitude = navlat; else mb_ping->longitude = GSF_NULL_LATITUDE; /* get heading */ if (heading != 0.0) mb_ping->heading = heading; else mb_ping->heading = GSF_NULL_HEADING; /* get speed */ if (speed != 0.0) mb_ping->speed = speed / 1.852; else mb_ping->speed = speed; /* get draft */ if (draft != 0.0) mb_ping->depth_corrector = draft; else mb_ping->depth_corrector = GSF_NULL_DEPTH_CORRECTOR; /* get roll pitch and heave */ if (roll != 0.0) mb_ping->roll = roll; else mb_ping->roll = GSF_NULL_ROLL; if (pitch != 0.0) mb_ping->pitch = pitch; else mb_ping->pitch = GSF_NULL_PITCH; if (heave != 0.0) mb_ping->heave = heave; else mb_ping->heave = GSF_NULL_HEAVE; /* get scale factors */ // gsfSetDefaultScaleFactor(mb_ping); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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 mbsys_gsf_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_gsf_extract_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSVP *svp; 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 mb_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_gsf_struct *) store_ptr; records = &(store->records); dataID = &(store->dataID); svp = &(records->svp); /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_VELOCITY_PROFILE) { /* get number of depth-velocity pairs */ *nsvp = svp->number_points; /* get profile */ for (i=0;i<*nsvp;i++) { depth[i] = svp->depth[i]; velocity[i] = svp->sound_speed[i]; } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; 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 kind: %d\n",*kind); fprintf(stderr,"dbg2 nsvp: %d\n",*nsvp); for (i=0;i<*nsvp;i++) fprintf(stderr,"dbg2 depth[%d]: %f velocity[%d]: %f\n",i, depth[i], i, velocity[i]); 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 mbsys_gsf_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_gsf_insert_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; gsfDataID *dataID; gsfRecords *records; gsfSVP *svp; 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); fprintf(stderr,"dbg2 nsvp: %d\n",nsvp); for (i=0;irecords); dataID = &(store->dataID); svp = &(records->svp); /* insert data in structure */ if (store->kind == MB_DATA_VELOCITY_PROFILE) { /* allocate memory if required */ if (nsvp > svp->number_points || svp->depth == NULL || svp->sound_speed == NULL) { svp->depth = (double *) realloc(svp->depth, nsvp * sizeof(double)); svp->sound_speed = (double *) realloc(svp->sound_speed, nsvp * sizeof(double)); } /* get number of depth-velocity pairs */ svp->number_points = nsvp; /* get profile */ for (i=0;inumber_points;i++) { svp->depth[i] = depth[i]; svp->sound_speed[i] = velocity[i]; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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 mbsys_gsf_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_gsf_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_gsf_struct *store; struct mbsys_gsf_struct *copy; /* 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); fprintf(stderr,"dbg2 copy_ptr: %p\n",(void *)copy_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointers */ store = (struct mbsys_gsf_struct *) store_ptr; copy = (struct mbsys_gsf_struct *) copy_ptr; /* clear copy structure */ gsfFree(&(copy->records)); gsfCopyRecords(&(copy->records), &(store->records)); copy->kind = store->kind; copy->dataID = store->dataID; /* 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 mbsys_gsf_setscalefactors(int verbose, int reset_all, gsfSwathBathyPing *mb_ping, int *error) { char *function_name = "mbsys_gsf_setscalefactors"; int status = MB_SUCCESS; const double GSF_DEPTH_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_ACROSS_TRACK_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_ALONG_TRACK_ASSUMED_HIGHEST_PRECISION = 100000; const double GSF_TRAVEL_TIME_ASSUMED_HIGHEST_PRECISION = 10e6; const double GSF_BEAM_ANGLE_ASSUMED_HIGHEST_PRECISION = 1000; const double GSF_MEAN_CAL_AMPLITUDE_ASSUMED_HIGHEST_PRECISION = 10; const double GSF_MEAN_REL_AMPLITUDE_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_ECHO_WIDTH_ASSUMED_HIGHEST_PRECISION = 10e5; const double GSF_QUALITY_FACTOR_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_RECEIVE_HEAVE_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_DEPTH_ERROR_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_ACROSS_TRACK_ERROR_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_ALONG_TRACK_ERROR_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_NOMINAL_DEPTH_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_QUALITY_FLAGS_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_BEAM_FLAGS_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_SIGNAL_TO_NOISE_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_BEAM_ANGLE_FORWARD_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_VERTICAL_ERROR_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_HORIZONTAL_ERROR_ASSUMED_HIGHEST_PRECISION = 10000; const double GSF_SECTOR_NUMBER_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_DETECTION_INFO_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_INCIDENT_BEAM_ADJ_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_SYSTEM_CLEANING_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_DOPPLER_CORRECTION_ASSUMED_HIGHEST_PRECISION = 100; const double GSF_SONAR_VERT_UNCERT_ASSUMED_HIGHEST_PRECISION = 10000; int i, j; /* iterators */ double *dptr; /* pointer to ping array */ unsigned short *usptr; /* pointer to ping array */ unsigned char *ucptr; /* pointer to ping array */ int id; /* type of ping array subrecord */ double max, min; /* min and max value of each ping array */ double max_scale_factor, min_scale_factor; /* min and max allowable size of values in ping array */ double highest_precision; /* starting value for multiplier */ double multiplier, offset, multiplier_min, multiplier_max; /* 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 reset_all: %d\n",reset_all); fprintf(stderr,"dbg2 mb_ping: %p\n",(void *)mb_ping); } for (i = 1; i <= GSF_MAX_PING_ARRAY_SUBRECORDS; i++) { dptr = NULL; usptr = NULL; switch (i) { case GSF_SWATH_BATHY_SUBRECORD_DEPTH_ARRAY: dptr = mb_ping->depth; highest_precision = GSF_DEPTH_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_DEPTH_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ARRAY: dptr = mb_ping->across_track; highest_precision = GSF_ACROSS_TRACK_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = INT_MAX; min_scale_factor = INT_MIN; } else { max_scale_factor = SHRT_MAX; min_scale_factor = SHRT_MIN; } break; case GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ARRAY: dptr = mb_ping->along_track; highest_precision = GSF_ALONG_TRACK_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = INT_MAX; min_scale_factor = INT_MIN; } else { max_scale_factor = SHRT_MAX; min_scale_factor = SHRT_MIN; } break; case GSF_SWATH_BATHY_SUBRECORD_TRAVEL_TIME_ARRAY: dptr = mb_ping->travel_time; highest_precision = GSF_TRAVEL_TIME_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_TRAVEL_TIME_ARRAY; max_scale_factor = USHRT_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_ARRAY: dptr = mb_ping->beam_angle; highest_precision = GSF_BEAM_ANGLE_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = INT_MAX; min_scale_factor = INT_MIN; } else { max_scale_factor = SHRT_MAX; min_scale_factor = SHRT_MIN; } break; case GSF_SWATH_BATHY_SUBRECORD_MEAN_CAL_AMPLITUDE_ARRAY: dptr = mb_ping->mc_amplitude; highest_precision = GSF_MEAN_CAL_AMPLITUDE_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_MEAN_CAL_AMPLITUDE_ARRAY; max_scale_factor = SCHAR_MAX; min_scale_factor = SCHAR_MIN; break; case GSF_SWATH_BATHY_SUBRECORD_MEAN_REL_AMPLITUDE_ARRAY: dptr = mb_ping->mr_amplitude; highest_precision = GSF_MEAN_REL_AMPLITUDE_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_MEAN_REL_AMPLITUDE_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_ECHO_WIDTH_ARRAY: dptr = mb_ping->echo_width; highest_precision = GSF_ECHO_WIDTH_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_ECHO_WIDTH_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_QUALITY_FACTOR_ARRAY: dptr = mb_ping->quality_factor; highest_precision = GSF_QUALITY_FACTOR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_QUALITY_FACTOR_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_RECEIVE_HEAVE_ARRAY: dptr = mb_ping->receive_heave; highest_precision = GSF_RECEIVE_HEAVE_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_RECEIVE_HEAVE_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_DEPTH_ERROR_ARRAY: dptr = mb_ping->depth_error; highest_precision = GSF_DEPTH_ERROR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_DEPTH_ERROR_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ERROR_ARRAY: dptr = mb_ping->across_track_error; highest_precision = GSF_ACROSS_TRACK_ERROR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_ACROSS_TRACK_ERROR_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ERROR_ARRAY: dptr = mb_ping->along_track_error; highest_precision = GSF_ALONG_TRACK_ERROR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_ALONG_TRACK_ERROR_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_NOMINAL_DEPTH_ARRAY: dptr = mb_ping->nominal_depth; highest_precision = GSF_NOMINAL_DEPTH_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_NOMINAL_DEPTH_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_QUALITY_FLAGS_ARRAY: ucptr = mb_ping->quality_flags; highest_precision = GSF_QUALITY_FLAGS_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_QUALITY_FLAGS_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_BEAM_FLAGS_ARRAY: ucptr = mb_ping->beam_flags; highest_precision = GSF_BEAM_FLAGS_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_BEAM_FLAGS_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_SIGNAL_TO_NOISE_ARRAY: dptr = mb_ping->signal_to_noise; highest_precision = GSF_SIGNAL_TO_NOISE_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_SIGNAL_TO_NOISE_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_FORWARD_ARRAY: dptr = mb_ping->beam_angle_forward; highest_precision = GSF_BEAM_ANGLE_FORWARD_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_BEAM_ANGLE_FORWARD_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_VERTICAL_ERROR_ARRAY: dptr = mb_ping->vertical_error; highest_precision = GSF_VERTICAL_ERROR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_VERTICAL_ERROR_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_HORIZONTAL_ERROR_ARRAY: dptr = mb_ping->horizontal_error; highest_precision = GSF_HORIZONTAL_ERROR_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_HORIZONTAL_ERROR_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; case GSF_SWATH_BATHY_SUBRECORD_SECTOR_NUMBER_ARRAY: usptr = mb_ping->sector_number; highest_precision = GSF_SECTOR_NUMBER_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_SECTOR_NUMBER_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_DETECTION_INFO_ARRAY: usptr = mb_ping->detection_info; highest_precision = GSF_DETECTION_INFO_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_DETECTION_INFO_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_INCIDENT_BEAM_ADJ_ARRAY: dptr = mb_ping->incident_beam_adj; highest_precision = GSF_INCIDENT_BEAM_ADJ_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_INCIDENT_BEAM_ADJ_ARRAY; max_scale_factor = SCHAR_MAX; min_scale_factor = SCHAR_MIN; break; case GSF_SWATH_BATHY_SUBRECORD_SYSTEM_CLEANING_ARRAY: usptr = mb_ping->system_cleaning; highest_precision = GSF_SYSTEM_CLEANING_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_SYSTEM_CLEANING_ARRAY; max_scale_factor = UCHAR_MAX; min_scale_factor = 0; break; case GSF_SWATH_BATHY_SUBRECORD_DOPPLER_CORRECTION_ARRAY: dptr = mb_ping->doppler_corr; highest_precision = GSF_DOPPLER_CORRECTION_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_DOPPLER_CORRECTION_ARRAY; max_scale_factor = SCHAR_MAX; min_scale_factor = SCHAR_MIN; break; case GSF_SWATH_BATHY_SUBRECORD_SONAR_VERT_UNCERT_ARRAY: dptr = mb_ping->sonar_vert_uncert; highest_precision = GSF_SONAR_VERT_UNCERT_ASSUMED_HIGHEST_PRECISION; id = GSF_SWATH_BATHY_SUBRECORD_SONAR_VERT_UNCERT_ARRAY; if ((mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag & 0xF0) == GSF_FIELD_SIZE_FOUR) { max_scale_factor = UINT_MAX; min_scale_factor = 0; } else { max_scale_factor = USHRT_MAX; min_scale_factor = 0; } break; } if (dptr != NULL || usptr != NULL) { max = DBL_MIN; min = DBL_MAX; if (dptr != NULL) { for (j = 0; j < mb_ping->number_beams; j++) { if (dptr[j] > max) max = dptr[j]; if (dptr[j] < min) min = dptr[j]; } } else if (usptr != NULL) { for (j = 0; j < mb_ping->number_beams; j++) { if (usptr[j] > max) max = (double) usptr[j]; if (usptr[j] < min) min = (double) usptr[j]; } } else if (ucptr != NULL) { for (j = 0; j < mb_ping->number_beams; j++) { if (ucptr[j] > max) max = (double) ucptr[j]; if (ucptr[j] < min) min = (double) ucptr[j]; } } if (min_scale_factor == 0.0 && min < 0.0) offset = floor(-min) + 1.0; else if (id == 1 && mb_ping->depth_corrector > 0.0) offset = floor(MAX(-mb_ping->depth_corrector, -min)) + 1.0; else offset = 0; /* calculate the ideal multiplier, but use no value larger than the max scale factor multiplier */ multiplier_min = highest_precision; multiplier_max = highest_precision; if (max > 0.0 && max > offset) multiplier_max = floor(max_scale_factor / ( max + mb_ping->scaleFactors.scaleTable[id - 1].offset)); if (min < 0.0 && min < -offset) multiplier_min = floor(min_scale_factor / ( min + mb_ping->scaleFactors.scaleTable[id - 1].offset)); multiplier = MAX(MIN(multiplier_min, multiplier_max), 1.0); if (reset_all == MB_YES || multiplier < mb_ping->scaleFactors.scaleTable[id - 1].multiplier) { /* fprintf(stderr,"BEFORE Scale Factors %2d of %2d: minmax: %10f %10f compressionFlag:%5x offset:%10f multiplier:%10f\n", id, GSF_MAX_PING_ARRAY_SUBRECORDS, min, max, mb_ping->scaleFactors.scaleTable[id - 1].compressionFlag, mb_ping->scaleFactors.scaleTable[id - 1].offset, mb_ping->scaleFactors.scaleTable[id - 1].multiplier); fprintf(stderr," highest_precision:%f offset:%f multiplier_min:%f multiplier_max:%f multiplier:%f\n", highest_precision,offset,multiplier_min,multiplier_max,multiplier); */ mb_ping->scaleFactors.scaleTable[id - 1].multiplier = multiplier; mb_ping->scaleFactors.scaleTable[id - 1].offset = offset; /* fprintf(stderr,"AFTER Scale Factors %2d of %2d: minmax: %10f %10f compressionFlag:%5x offset:%10f multiplier:%10f\n\n", id, GSF_MAX_PING_ARRAY_SUBRECORDS, min, max, mb_ping->scaleFactors.scaleTable[id - 1].compressionFlag, mb_ping->scaleFactors.scaleTable[id - 1].offset, mb_ping->scaleFactors.scaleTable[id - 1].multiplier); */ } } } /* print output debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 GSF Scale Factors Calculated in MBIO function <%s>\n",function_name); for (i = 1; i <= GSF_MAX_PING_ARRAY_SUBRECORDS; i++) { fprintf(stderr,"dbg4 Scale Factors %2d of %2d: compressionFlag:%5x offset:%10f multiplier:%10f\n", i, GSF_MAX_PING_ARRAY_SUBRECORDS, mb_ping->scaleFactors.scaleTable[i - 1].compressionFlag, mb_ping->scaleFactors.scaleTable[i - 1].offset, mb_ping->scaleFactors.scaleTable[i - 1].multiplier); } } /* 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); } /*--------------------------------------------------------------------*/