/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad3.c 3.00 2/22/2008 * $Id: mbsys_simrad3.c 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2008-2015 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_simrad3.c contains the MBIO functions for handling data from * new (post-2006) Simrad multibeam sonars (e.g. EM710, EM3002, EM302, EM122). * The data formats associated with Simrad multibeams * (both old and new) include: * MBSYS_SIMRAD formats (code in mbsys_simrad.c and mbsys_simrad.h): * MBF_EMOLDRAW : MBIO ID 51 - Vendor EM1000, EM12S, EM12D, EM121 * : MBIO ID 52 - aliased to 51 * MBF_EM12IFRM : MBIO ID 53 - IFREMER EM12S and EM12D * MBF_EM12DARW : MBIO ID 54 - NERC EM12S * : MBIO ID 55 - aliased to 51 * MBSYS_SIMRAD3 formats (code in mbsys_simrad2.c and mbsys_simrad2.h): * MBF_EM300RAW : MBIO ID 56 - Vendor EM3000, EM300, EM120 * MBF_EM300MBA : MBIO ID 57 - MBARI EM3000, EM300, EM120 for processing * MBSYS_SIMRAD3 formats (code in mbsys_simrad3.c and mbsys_simrad3.h): * MBF_EM710RAW : MBIO ID 58 - Vendor EM710 * MBF_EM710MBA : MBIO ID 59 - MBARI EM710 for processing * * Author: D. W. Caress * Date: February 22, 2008 * * $Log: mbsys_simrad3.c,v $ * Revision 5.4 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.3 2009/02/06 19:12:43 caress * Fixed description in mb_angle.c and angle extraction in mb_simrad3.c * * Revision 5.2 2008/11/16 21:51:18 caress * Updating all recent changes, including time lag analysis using mbeditviz and improvements to the mbgrid footprint gridding algorithm. * * Revision 5.1 2008/07/10 06:40:34 caress * Fixed support for EM122 * * Revision 5.0 2008/03/01 09:11:35 caress * Added support for Simrad EM710 multibeam in new formats 58 and 59. * * */ /* 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_simrad3.h" static char rcs_id[]="$Id: mbsys_simrad3.c 2227 2015-02-05 21:12:31Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_simrad3_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad3_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_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_simrad3_struct), (void **)store_ptr,error); /* initialize everything to zero */ if (status == MB_SUCCESS) memset(*store_ptr, 0, sizeof(struct mbsys_simrad3_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_simrad3_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_survey_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; /* 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* 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_simrad3_extraparameters_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_extraparameters_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; /* 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->extraparameters == NULL) { status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad3_extraparameters_struct), (void **)&(store->extraparameters),error); if (status == MB_SUCCESS) memset(store->extraparameters, 0, sizeof(struct mbsys_simrad3_extraparameters_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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad3_wc_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_wc_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_watercolumn_struct *wc; 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 mbio_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_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->wc == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad3_watercolumn_struct), (void **)&(store->wc),error); if (status == MB_SUCCESS) { /* get data structure pointer */ wc = (struct mbsys_simrad3_watercolumn_struct *) store->wc; /* initialize everything */ wc->wtc_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ wc->wtc_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ wc->wtc_count = 0; /* sequential counter or input identifier */ wc->wtc_serial = 0; /* system 1 or system 2 serial number */ wc->wtc_ndatagrams = 0; /* number of datagrams used to represent the water column for this ping */ wc->wtc_datagram = 0; /* number this datagram */ wc->wtc_ntx = 0; /* number of transmit sectors */ wc->wtc_nrx = 0; /* number of receive beams */ wc->wtc_nbeam = 0; /* number of beams in this datagram */ wc->wtc_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ wc->wtc_sfreq = 0; /* sampling frequency (0.01 Hz) */ wc->wtc_heave = 0; /* tx time heave at transducer (0.01 m) */ wc->wtc_spare1 = 0; /* spare */ wc->wtc_spare2 = 0; /* spare */ wc->wtc_spare3 = 0; /* spare */ for (i=0;iwtc_txtiltangle[i] = 0; /* tilt angle (0.01 deg) */ wc->wtc_txcenter[i] = 0; /* center frequency (Hz) */ wc->wtc_txsector[i] = 0; /* transmit sector number (0-19) */ } for (i=0;ibeam[i].wtc_rxpointangle = 0; /* Beam pointing angles in 0.01 degree, positive to port. These values are roll stabilized. */ wc->beam[i].wtc_start_sample = 0; /* start sample number */ wc->beam[i].wtc_beam_samples = 0; /* number of water column samples derived from each beam */ wc->beam[i].wtc_sector = 0; /* transmit sector identifier */ wc->beam[i].wtc_beam = 0; /* beam 128 is first beam on second head of EM3000D */ for (j=0;jbeam[i].wtc_amp[j] = 0; /* water column amplitude (dB) */ } } /* 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_simrad3_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_attitude_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_attitude_struct *attitude; 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->attitude == NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_simrad3_attitude_struct), (void **)&(store->attitude),error); if (status == MB_SUCCESS) { /* get data structure pointer */ attitude = (struct mbsys_simrad3_attitude_struct *) store->attitude; /* initialize everything */ attitude->att_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ attitude->att_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ attitude->att_count = 0; /* sequential counter or input identifier */ attitude->att_serial = 0; /* system 1 or system 2 serial number */ attitude->att_ndata = 0; /* number of attitude data */ for (i=0;iatt_time[i] = 0; /* time since record start (msec) */ attitude->att_sensor_status[i] = 0; /* see note 12 above */ attitude->att_roll[i] = 0; /* roll (0.01 degree) */ attitude->att_pitch[i] = 0; /* pitch (0.01 degree) */ attitude->att_heave[i] = 0; /* heave (cm) */ attitude->att_heading[i] = 0; /* heading (0.01 degree) */ } attitude->att_sensordescriptor = 0; /* heading status (0=inactive) */ } /* 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_simrad3_netattitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_netattitude_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_netattitude_struct *netattitude; 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 mbio_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_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->netattitude == NULL) status = mb_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_simrad3_netattitude_struct), (void **)&(store->netattitude),error); if (status == MB_SUCCESS) { /* get data structure pointer */ netattitude = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; /* initialize everything */ netattitude->nat_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ netattitude->nat_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ netattitude->nat_count = 0; /* sequential counter or input identifier */ netattitude->nat_serial = 0; /* system 1 or system 2 serial number */ netattitude->nat_ndata = 0; /* number of attitude data */ netattitude->nat_sensordescriptor = 0; /* sensor system descriptor */ for (i=0;inat_time[i] = 0; /* time since record start (msec) */ netattitude->nat_roll[i] = 0; /* roll (0.01 degree) */ netattitude->nat_pitch[i] = 0; /* pitch (0.01 degree) */ netattitude->nat_heave[i] = 0; /* heave (cm) */ netattitude->nat_heading[i] = 0; /* heading (0.01 degree) */ netattitude->nat_nbyte_raw[i] = 0; /* number of bytes in input datagram (Nd) */ for (j=0;jnat_raw[i*MBSYS_SIMRAD3_BUFFER_SIZE+j] = 0; /* network attitude input datagram as received by datalogger */ } } /* 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_simrad3_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_heading_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_heading_struct *heading; 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->heading == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad3_heading_struct), (void **)&(store->heading),error); if (status == MB_SUCCESS) { /* get data structure pointer */ heading = (struct mbsys_simrad3_heading_struct *) store->heading; /* initialize everything */ heading->hed_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ heading->hed_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ heading->hed_count = 0; /* sequential counter or input identifier */ heading->hed_serial = 0; /* system 1 or system 2 serial number */ heading->hed_ndata = 0; /* number of heading data */ for (i=0;ihed_time[i] = 0; /* time since record start (msec) */ heading->hed_heading[i] = 0; /* heading (0.01 degree) */ } heading->hed_heading_status = 0; /* heading status (0=inactive) */ } /* 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_simrad3_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_ssv_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ssv_struct *ssv; 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->ssv == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad3_ssv_struct), (void **)&(store->ssv),error); if (status == MB_SUCCESS) { /* get data structure pointer */ ssv = (struct mbsys_simrad3_ssv_struct *) store->ssv; /* initialize everything */ ssv->ssv_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ssv->ssv_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ssv->ssv_count = 0; /* sequential counter or input identifier */ ssv->ssv_serial = 0; /* system 1 or system 2 serial number */ ssv->ssv_ndata = 0; /* number of ssv data */ for (i=0;issv_time[i] = 0; /* time since record start (msec) */ ssv->ssv_ssv[i] = 0; /* ssv (0.1 m/s) */ } } /* 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_simrad3_tilt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_tilt_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_tilt_struct *tilt; 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 mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->tilt == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad3_tilt_struct), (void **)&(store->tilt),error); if (status == MB_SUCCESS) { /* get data structure pointer */ tilt = (struct mbsys_simrad3_tilt_struct *) store->tilt; /* initialize everything */ tilt->tlt_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ tilt->tlt_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ tilt->tlt_count = 0; /* sequential counter or input identifier */ tilt->tlt_serial = 0; /* system 1 or system 2 serial number */ tilt->tlt_ndata = 0; /* number of tilt data */ for (i=0;itlt_time[i] = 0; /* time since record start (msec) */ tilt->tlt_tilt[i] = 0; /* tilt + forward (0.01 deg) */ } } /* 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_simrad3_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad3_deall"; int status = MB_SUCCESS; struct mbsys_simrad3_struct *store; /* 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 data structure pointer */ store = (struct mbsys_simrad3_struct *) *store_ptr; /* deallocate memory for extraparameters data structure */ if (store->extraparameters != NULL) { if (store->extraparameters->xtr_data != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->extraparameters->xtr_data),error); status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->extraparameters),error); } /* deallocate memory for water column data structure */ if (store->wc != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->wc),error); /* deallocate memory for attitude data structure */ if (store->attitude != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->attitude),error); /* deallocate memory for network attitude data structure */ if (store->netattitude != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->netattitude),error); /* deallocate memory for heading data structure */ if (store->heading != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->heading),error); /* deallocate memory for ssv data structure */ if (store->ssv != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->ssv),error); /* deallocate memory for tilt data structure */ if (store->tilt != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->tilt),error); /* deallocate memory for data structure */ status = mb_freed(verbose,__FILE__, __LINE__, (void **)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_simrad3_zero_ss(int verbose, void *store_ptr, int *error) { char *function_name = "mbsys_simrad3_zero_ss"; int status = MB_SUCCESS; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *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 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to data descriptor */ store = (struct mbsys_simrad3_struct *) store_ptr; for (i=0;ipings[i]); ping->png_ss_read = 0; /* flag indicating actual reading of sidescan record */ ping->png_ss_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_ss_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_ss_count = 0; /* sequential counter or input identifier */ ping->png_ss_serial = 0; /* system 1 or system 2 serial number */ ping->png_ss_sample_rate = 0.0; /* sampling rate (Hz) */ ping->png_r_zero = 0; /* range to normal incidence used in TVG (R0 predicted) in samples */ ping->png_bsn = 0; /* normal incidence backscatter (BSN) (0.1 dB) */ ping->png_bso = 0; /* oblique incidence backscatter (BSO) (0.1 dB) */ ping->png_tx = 0; /* Tx beamwidth (0.1 deg) */ ping->png_tvg_crossover = 0; /* TVG law crossover angle (0.1 deg) */ ping->png_nbeams_ss = 0; /* number of beams with sidescan */ ping->png_npixels = 0; /* number of pixels of sidescan */ for (i=0;ipng_sort_direction[i] = 0; /* sorting direction - The first sample in a beam has lowest range if 1, highest if -- 1. Note that the ranges in the seabed image datagram are all two-- way from time of transmit to time of receive. */ ping->png_beam_samples[i] = 0; /* number of sidescan samples derived from each beam */ ping->png_start_sample[i] = 0; /* start sample number */ ping->png_ssdetection[i] = 0; /* Detection info: This datagram may contain data for beams with and without a valid detection. Eight bits (0-7) gives details about the detection: A) If the most significant bit (bit7) is zero, this beam has a valid detection. Bit 0-3 is used to specify how the range for this beam is calculated 0: Amplitude detect 1: Phase detect 2-15: Future use B) If the most significant bit is 1, this beam has an invalid detection. Bit 4-6 is used to specify how the range (and x,y,z parameters) for this beam is calculated 0: Normal detection 1: Interpolated or extrapolated from neighbour detections 2: Estimated 3: Rejected candidate 4: No detection data is available for this beam (all parameters are set to zero) 5-7: Future use The invalid range has been used to fill in amplitude samples in the seabed image datagram. bit 7: 0 = good detection bit 7: 1 = bad detection bit 3: 0 = amplitude detect bit 3: 1 = phase detect bits 4-6: 0 = normal detection bits 4-6: 1 = interpolated from neighbor detections bits 4-6: 2 = estimated bits 4-6: 3 = rejected bits 4-6: 4 = no detection available other bits : future use */ ping->png_center_sample[i] = 0; /* center sample number */ } for (i=0;ipng_ssraw[i] = 0; /* the raw sidescan ordered port to starboard */ } ping->png_pixel_size = 0.0; /* processed sidescan pixel size (m) */ ping->png_pixels_ss = 0; /* number of processed sidescan pixels stored */ for (i=0;ipng_ss[i] = 0; /* the processed sidescan ordered port to starboard */ ping->png_ssalongtrack[i] = 0; /* the processed sidescan alongtrack distances (0.01 m) */ } } /* assume success */ status = MB_SUCCESS; *error = MB_ERROR_NO_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_simrad3_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_simrad3_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get beam and pixel numbers */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); *nbath = ping->png_nbeams; *namp = *nbath; *nss = MBSYS_SIMRAD3_MAXPIXELS; } 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_simrad3_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error) { char *function_name = "mbsys_simrad3_pingnumber"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %p\n",(void *)mbio_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) mb_io_ptr->store_data; /* extract data from structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); *pingnumber = ping->png_count; /* 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 pingnumber: %d\n",*pingnumber); 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_simrad3_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_simrad3_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; double reflscale; double pixel_size; 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM3_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* set beamwidths in mb_io structure */ if (store->run_rec_beam > 0) mb_io_ptr->beamwidth_xtrack = 0.1 * store->run_rec_beam; if (ping->png_tx > 0) { mb_io_ptr->beamwidth_ltrack = 0.1 * ping->png_tx; } else if (store->run_tran_beam > 0) { mb_io_ptr->beamwidth_ltrack = 0.1 * store->run_tran_beam; } /* read distance and depth values into storage arrays */ reflscale = 0.1; *nbath = 0; for (i=0;ipng_nbeams;i++) { bath[i] = ping->png_depth[i] + ping->png_xducer_depth; beamflag[i] = ping->png_beamflag[i]; bathacrosstrack[i] = ping->png_acrosstrack[i]; bathalongtrack[i] = ping->png_alongtrack[i]; amp[i] = reflscale * ping->png_amp[i]; } *nbath = ping->png_nbeams; *namp = *nbath; *nss = MBSYS_SIMRAD3_MAXPIXELS; pixel_size = ping->png_pixel_size; for (i=0;ipng_ss[i] == EM3_INVALID_SS || (ping->png_ss[i] == EM3_INVALID_AMP && ping->png_ssalongtrack[i] == 0)) { ss[i] = MB_SIDESCAN_NULL; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD3_MAXPIXELS / 2); ssalongtrack[i] = 0.0; } else { ss[i] = 0.01 * ping->png_ss[i]; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD3_MAXPIXELS / 2); ssalongtrack[i] = 0.01 * ping->png_ssalongtrack[i]; } } /* 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]); fprintf(stderr,"dbg4 nss: %d\n", *nss); for (i=0;i<*nss;i++) fprintf(stderr,"dbg4 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * store->pos_heading; /* get speed */ if (store->pos_speed != EM3_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; *nbath = 0; *namp = 0; *nss = 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); } /* done translating values */ } /* extract comment from structure */ else if (*kind == MB_DATA_COMMENT) { /* copy comment */ strncpy(comment,store->par_com, MBSYS_SIMRAD3_COMMENT_LENGTH); /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 New ping read 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_simrad3_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_simrad3_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; double reflscale; 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= 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_simrad3_struct *) store_ptr; /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get time */ ping->png_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; ping->png_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->date = ping->png_date; store->msec = ping->png_msec; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; ping->png_longitude = 10000000 * navlon; ping->png_latitude = 20000000 * navlat; /* get heading */ if (heading < 0.0) heading += 360.0; else if (heading >= 360.0) heading -= 360.0; ping->png_heading = (int) rint(heading * 100); /* get speed */ ping->png_speed = (int) rint(speed / 0.036); /* insert bathymetry and amplitude */ reflscale = 0.1; if (status == MB_SUCCESS && ping->png_nbeams == 0) { ping->png_nbeams_valid = 0; for (i=0;ipng_depth[i] = bath[i] - ping->png_xducer_depth; ping->png_beamflag[i] = beamflag[i]; ping->png_acrosstrack[i] = bathacrosstrack[i]; ping->png_alongtrack[i] = bathalongtrack[i]; ping->png_amp[i] = (int) rint(amp[i] / reflscale); ping->png_nbeams++; ping->png_nbeams_valid++; } else { ping->png_depth[i] = 0.0; ping->png_beamflag[i] = MB_FLAG_NULL; ping->png_acrosstrack[i] = 0.0; ping->png_alongtrack[i] = 0.0; ping->png_amp[i] = 0; ping->png_nbeams++; } } ping->png_nbeams = nbath; } else if (status == MB_SUCCESS) { for (i=0;ipng_nbeams;i++) { ping->png_depth[i] = bath[i] - ping->png_xducer_depth; ping->png_beamflag[i] = beamflag[i]; ping->png_acrosstrack[i] = bathacrosstrack[i]; ping->png_alongtrack[i] = bathalongtrack[i]; ping->png_amp[i] = (int) rint(amp[i] / reflscale); } } if (status == MB_SUCCESS) { for (i=0;i MB_SIDESCAN_NULL) { ping->png_ss[i] = (short) rint(100 * ss[i]); ping->png_ssalongtrack[i] = (short) rint(100 * ssalongtrack[i]); } else { ping->png_ss[i] = EM3_INVALID_SS; ping->png_ssalongtrack[i] = 0; } } } } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3) { /* get time */ store->pos_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; store->pos_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = store->pos_msec; store->date = store->pos_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; store->pos_longitude = 10000000 * navlon; store->pos_latitude = 20000000 * navlat; /* get heading */ store->pos_heading = (int) rint(heading * 100); /* get speed */ store->pos_speed = (int) rint(speed / 0.036); /* get roll pitch and heave */ /* set "active" flag if needed */ if (store->kind == MB_DATA_NAV) { store->pos_system = store->pos_system | 128; } /* set secondary nav flag if needed */ else if (store->kind == MB_DATA_NAV1) { store->pos_system = store->pos_system | 1; } else if (store->kind == MB_DATA_NAV2) { store->pos_system = store->pos_system | 2; } else if (store->kind == MB_DATA_NAV3) { store->pos_system = store->pos_system | 3; } } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { strncpy(store->par_com,comment, MBSYS_SIMRAD3_COMMENT_LENGTH); } /* 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_simrad3_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_simrad3_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; int time_i[7]; double ptime_d; double soundspeed; double offset_y; 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get ping time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ptime_d); /* obtain lever arm offset for sonar relative to the position sensor */ //mb_lever(verbose, store->par_s1y, store->par_s1x, store->par_s1z - store->par_wlz, // store->par_p1y, store->par_p1x, store->par_p1z, // store->par_msy, store->par_msx, store->par_msz, // -0.01 * ping->png_pitch + store->par_msp, -0.01 * ping->png_roll + store->par_msr, // &lever_x, &lever_y, &lever_z, error); /* obtain position offset for beam */ //offset_x = store->par_s1y - store->par_p1y + lever_x; //offset_y = store->par_s1x - store->par_p1x + lever_y; //offset_z = lever_z; /* get alongtrack position offset */ if (store->par_aps == 0) { offset_y = store->par_p1x; } else if (store->par_aps == 1) { offset_y = store->par_p2x; } else if (store->par_aps == 2) { offset_y = store->par_p3x; } else { offset_y = store->par_p1x; } /* special case when par_aps value is wrong */ if (offset_y == 0.0 && store->par_p1x != 0.0) offset_y = store->par_p1x; else if (offset_y == 0.0 && store->par_p2x != 0.0) offset_y = store->par_p2x; else if (offset_y == 0.0 && store->par_p3x != 0.0) offset_y = store->par_p3x; /* get sonar depth */ *ssv = 0.1 * ping->png_ssv; *draft = ping->png_xducer_depth; /* get travel times, angles */ *nbeams = ping->png_nbeams; soundspeed = 0.1 * ((double)ping->png_ssv); for (i=0;ipng_nbeams;i++) { ttimes[i] = ping->png_range[i]; angles[i] = ping->png_depression[i]; angles_forward[i] = 180.0 - ping->png_azimuth[i]; if (angles_forward[i] < 0.0) angles_forward[i] += 360.0; angles_null[i] = 0.0; heave[i] = ping->png_bheave[i]; alongtrack_offset[i] = (0.01 * ((double)ping->png_speed)) * ((double) ping->png_raw_txoffset[ping->png_raw_rxsector[i]]) + offset_y; } /* 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 depth_off:%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_simrad3_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_simrad3_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; 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); 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); *nbeams = ping->png_nbeams; for (j=0;jpng_nbeams;j++) { detects[j] = MB_DETECT_UNKNOWN; } for (i=0;ipng_nbeams;i++) { if (ping->png_detection[i] & 1) detects[i] = MB_DETECT_PHASE; else detects[i] = MB_DETECT_AMPLITUDE; } /* 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_simrad3_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error) { char *function_name = "mbsys_simrad3_pulses"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; 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); fprintf(stderr,"dbg2 pulses: %p\n",(void *)pulses); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); *nbeams = ping->png_nbeams; for (j=0;jpng_nbeams;j++) { pulses[j] = MB_PULSE_UNKNOWN; } for (i=0;ipng_nbeams;i++) { if (ping->png_raw_txwaveform[ping->png_raw_rxsector[i]] == 0) pulses[i] = MB_PULSE_CW; else if (ping->png_raw_txwaveform[ping->png_raw_rxsector[i]] == 1) pulses[i] = MB_PULSE_UPCHIRP; else if (ping->png_raw_txwaveform[ping->png_raw_rxsector[i]] == 2) pulses[i] = MB_PULSE_DOWNCHIRP; } /* 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: pulses:%d\n", i,pulses[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_simrad3_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error) { char *function_name = "mbsys_simrad3_gains"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get transmit_gain (dB) */ *transmit_gain = (double)store->run_tran_pow; /* get pulse_length (sec) */ *pulse_length = 0.000001 * (double)store->run_tran_pulse; /* get receive_gain (dB) */ *receive_gain = (double)store->run_rec_gain; /* 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 transmit_gain: %f\n",*transmit_gain); fprintf(stderr,"dbg2 pulse_length: %f\n",*pulse_length); fprintf(stderr,"dbg2 receive_gain: %f\n",*receive_gain); } 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_simrad3_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error) { char *function_name = "mbsys_simrad3_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; double altitude_best; double xtrack_min; int found; 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get transducer depth and altitude */ *transducer_depth = ping->png_xducer_depth; found = MB_NO; altitude_best = 0.0; xtrack_min = 99999999.9; for (i=0;ipng_nbeams;i++) { if (mb_beam_ok(ping->png_beamflag[i]) && fabs(ping->png_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(ping->png_acrosstrack[i]); altitude_best = ping->png_depth[i]; found = MB_YES; } } if (found == MB_NO) { xtrack_min = 99999999.9; for (i=0;ipng_nbeams;i++) { if (ping->png_quality[i] > 0 && fabs(ping->png_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(ping->png_acrosstrack[i]); altitude_best = ping->png_depth[i]; found = MB_YES; } } } if (found == MB_YES) *altitude = altitude_best; 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_simrad3_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr, int nmax, int *kind, int *n, int *time_i, 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_simrad3_extract_nnav"; int status = MB_SUCCESS; int interp_error = MB_ERROR_NO_ERROR; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; struct mbsys_simrad3_attitude_struct *attitude; struct mbsys_simrad3_netattitude_struct *netattitude; double atime_d; int atime_i[7]; int i, inav; /* 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 nmax: %d\n",nmax); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from ping structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* just one navigation value */ *n = 1; /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM3_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* get draft */ *draft = ping->png_xducer_depth; /* get roll pitch and heave */ *roll = 0.01 * ping->png_roll; *pitch = 0.01 * ping->png_pitch; *heave = 0.01 * ping->png_heave; /* done translating values */ } /* extract data from nav structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* just one navigation value */ *n = 1; /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ if (store->pos_heading != EM3_INVALID_SHORT) *heading = 0.01 * store->pos_heading; else *heading = 0.0; /* get speed */ if (store->pos_speed != EM3_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; /* get draft */ if (ping != NULL) *draft = ping->png_xducer_depth; else *draft = 0.0; /* get roll pitch and heave */ *roll = 0.01 * store->pos_roll; *pitch = 0.01 * store->pos_pitch; *heave = 0.01 * store->pos_heave; /* done translating values */ } /* extract data from attitude structure */ else if (store->type == EM3_ATTITUDE && store->attitude != NULL) { /* get attitude data structure */ attitude = (struct mbsys_simrad3_attitude_struct *) store->attitude; /* get n */ *n = MIN(attitude->att_ndata, MB_ASYNCH_SAVE_MAX); /* get attitude time */ atime_i[0] = attitude->att_date / 10000; atime_i[1] = (attitude->att_date % 10000) / 100; atime_i[2] = attitude->att_date % 100; atime_i[3] = attitude->att_msec / 3600000; atime_i[4] = (attitude->att_msec % 3600000) / 60000; atime_i[5] = (attitude->att_msec % 60000) / 1000; atime_i[6] = (attitude->att_msec % 1000) * 1000; mb_get_time(verbose, atime_i, &atime_d); /* loop over the data */ for (i=0;i<*n;i++) { /* get time from the data record */ time_d[i] = (double)(atime_d + 0.001 * attitude->att_time[i]); mb_get_date(verbose,time_d[i],&(time_i[7*i])); /* get attitude from the data record */ heave[i] = (double)(0.01 * attitude->att_heave[i]); roll[i] = (double)(0.01 * attitude->att_roll[i]); pitch[i] = (double)(0.01 * attitude->att_pitch[i]); /* interpolate the heading */ mb_hedint_interp(verbose, mbio_ptr, time_d[i], &heading[i], &interp_error); /* interpolate the navigation */ mb_navint_interp(verbose, mbio_ptr, time_d[i], heading[i], 0.0, &navlon[i], &navlat[i], &speed[i], &interp_error); /* interpolate the sonar depth */ mb_depint_interp(verbose, mbio_ptr, time_d[i], &draft[i], &interp_error); } /* done translating values */ } /* extract data from netattitude structure */ else if (store->type == EM3_NETATTITUDE && store->netattitude != NULL) { /* get attitude data structure */ netattitude = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; /* get n */ *n = MIN(netattitude->nat_ndata, MB_ASYNCH_SAVE_MAX); /* get attitude time */ atime_i[0] = netattitude->nat_date / 10000; atime_i[1] = (netattitude->nat_date % 10000) / 100; atime_i[2] = netattitude->nat_date % 100; atime_i[3] = netattitude->nat_msec / 3600000; atime_i[4] = (netattitude->nat_msec % 3600000) / 60000; atime_i[5] = (netattitude->nat_msec % 60000) / 1000; atime_i[6] = (netattitude->nat_msec % 1000) * 1000; mb_get_time(verbose, atime_i, &atime_d); /* loop over the data */ for (i=0;i<*n;i++) { /* get time from the data record */ time_d[i] = (double)(atime_d + 0.001 * netattitude->nat_time[i]); mb_get_date(verbose,time_d[i],&(time_i[7*i])); /* get attitude from the data record */ heave[i] = (double)(0.01 * netattitude->nat_heave[i]); roll[i] = (double)(0.01 * netattitude->nat_roll[i]); pitch[i] = (double)(0.01 * netattitude->nat_pitch[i]); /* interpolate the heading */ mb_hedint_interp(verbose, mbio_ptr, time_d[i], &heading[i], &interp_error); /* interpolate the navigation */ mb_navint_interp(verbose, mbio_ptr, time_d[i], heading[i], 0.0, &navlon[i], &navlat[i], &speed[i], &interp_error); /* interpolate the sonar depth */ mb_depint_interp(verbose, mbio_ptr, time_d[i], &draft[i], &interp_error); } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *n = 0; *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *n = 0; *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 n: %d\n",*n); for (inav=0;inav<*n;inav++) { for (i=0;i<7;i++) fprintf(stderr,"dbg2 %d time_i[%d]: %d\n",inav,i,time_i[inav * 7 + i]); fprintf(stderr,"dbg2 %d time_d: %f\n",inav,time_d[inav]); fprintf(stderr,"dbg2 %d longitude: %f\n",inav,navlon[inav]); fprintf(stderr,"dbg2 %d latitude: %f\n",inav,navlat[inav]); fprintf(stderr,"dbg2 %d speed: %f\n",inav,speed[inav]); fprintf(stderr,"dbg2 %d heading: %f\n",inav,heading[inav]); fprintf(stderr,"dbg2 %d draft: %f\n",inav,draft[inav]); fprintf(stderr,"dbg2 %d roll: %f\n",inav,roll[inav]); fprintf(stderr,"dbg2 %d pitch: %f\n",inav,pitch[inav]); fprintf(stderr,"dbg2 %d heave: %f\n",inav,heave[inav]); } 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_simrad3_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_simrad3_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from ping structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM3_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* get draft */ *draft = ping->png_xducer_depth; /* get roll pitch and heave */ *roll = 0.01 * ping->png_roll; *pitch = 0.01 * ping->png_pitch; *heave = 0.01 * ping->png_heave; /* done translating values */ } /* extract data from nav structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get survey data structure */ /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM3_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM3_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ if (store->pos_heading != EM3_INVALID_SHORT) *heading = 0.01 * store->pos_heading; else *heading = 0.0; /* get speed */ if (store->pos_speed != EM3_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; /* get draft */ if (ping != NULL) *draft = ping->png_xducer_depth; else *draft = 0.0; /* get roll pitch and heave */ *roll = 0.01 * store->pos_roll; *pitch = 0.01 * store->pos_pitch; *heave = 0.01 * store->pos_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_simrad3_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_simrad3_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *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_simrad3_struct *) store_ptr; /* insert data in ping structure */ if (store->kind == MB_DATA_DATA) { ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* get time */ ping->png_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; ping->png_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = ping->png_msec; store->date = ping->png_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; ping->png_longitude = 10000000 * navlon; ping->png_latitude = 20000000 * navlat; /* get heading */ if (heading < 0.0) heading += 360.0; else if (heading >= 360.0) heading -= 360.0; ping->png_heading = (int) rint(heading * 100); /* get speed */ ping->png_speed = (int) rint(speed / 0.036); /* get draft */ ping->png_xducer_depth = draft; /* get roll pitch and heave */ ping->png_roll = (int) rint(roll / 0.01); ping->png_pitch = (int) rint(pitch / 0.01); ping->png_heave = (int) rint(heave / 0.01); } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3) { /* get time */ store->pos_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; store->pos_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = store->pos_msec; store->date = store->pos_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; store->pos_longitude = 10000000 * navlon; store->pos_latitude = 20000000 * navlat; /* get heading */ store->pos_heading = (int) rint(heading * 100); /* get speed */ store->pos_speed = (int) rint(speed / 0.036); /* get roll pitch and heave */ store->pos_roll = (int) rint(roll / 0.01); store->pos_pitch = (int) rint(pitch / 0.01); store->pos_heave = (int) rint(heave / 0.01); /* set "active" flag if needed */ if (store->kind == MB_DATA_NAV) { store->pos_system = store->pos_system | 128; } /* set secondary nav flag if needed */ else if (store->kind == MB_DATA_NAV1) { store->pos_system = store->pos_system | 1; } else if (store->kind == MB_DATA_NAV2) { store->pos_system = store->pos_system | 2; } else if (store->kind == MB_DATA_NAV3) { store->pos_system = store->pos_system | 3; } } /* 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_simrad3_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad3_extract_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; 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_simrad3_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_VELOCITY_PROFILE) { /* get number of depth-velocity pairs */ *nsvp = store->svp_num; /* get profile */ for (i=0;i<*nsvp;i++) { depth[i] = 0.01 * store->svp_depth_res * store->svp_depth[i]; velocity[i] = 0.1 * store->svp_vel[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_simrad3_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad3_insert_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; 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;ikind == MB_DATA_VELOCITY_PROFILE) { /* get number of depth-velocity pairs */ store->svp_num = MIN(nsvp, MBSYS_SIMRAD3_MAXSVP); store->svp_depth_res = 1; /* get profile */ for (i=0;isvp_num;i++) { store->svp_depth[i] = (int) (100 * depth[i] / store->svp_depth_res); store->svp_vel[i] = (int) (10 * 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_simrad3_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_simrad3_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_struct *copy; struct mbsys_simrad3_attitude_struct *attitude_store; struct mbsys_simrad3_attitude_struct *attitude_copy; char *attitude_save; struct mbsys_simrad3_netattitude_struct *netattitude_store; struct mbsys_simrad3_netattitude_struct *netattitude_copy; char *netattitude_save; struct mbsys_simrad3_heading_struct *heading_store; struct mbsys_simrad3_heading_struct *heading_copy; char *heading_save; struct mbsys_simrad3_ssv_struct *ssv_store; struct mbsys_simrad3_ssv_struct *ssv_copy; char *ssv_save; struct mbsys_simrad3_tilt_struct *tilt_store; struct mbsys_simrad3_tilt_struct *tilt_copy; char *tilt_save; /* 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_simrad3_struct *) store_ptr; copy = (struct mbsys_simrad3_struct *) copy_ptr; /* check if attitude data needs to be copied */ if (store->attitude != NULL) { /* make sure a attitude data structure exists to be copied into */ if (copy->attitude == NULL) { status = mbsys_simrad3_attitude_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ attitude_save = (char *)copy->attitude; } /* check if netattitude data needs to be copied */ if (store->netattitude != NULL) { /* make sure a netattitude data structure exists to be copied into */ if (copy->netattitude == NULL) { status = mbsys_simrad3_netattitude_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ netattitude_save = (char *)copy->netattitude; } /* check if heading data needs to be copied */ if (store->heading != NULL) { /* make sure a heading data structure exists to be copied into */ if (copy->heading == NULL) { status = mbsys_simrad3_heading_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ heading_save = (char *)copy->heading; } /* check if ssv data needs to be copied */ if (store->ssv != NULL) { /* make sure a ssv data structure exists to be copied into */ if (copy->ssv == NULL) { status = mbsys_simrad3_ssv_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ ssv_save = (char *)copy->ssv; } /* check if tilt data needs to be copied */ if (store->tilt != NULL) { /* make sure a tilt data structure exists to be copied into */ if (copy->tilt == NULL) { status = mbsys_simrad3_tilt_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ tilt_save = (char *)copy->tilt; } /* copy the main structure */ *copy = *store; /* if needed copy the attitude data structure */ if (store->attitude != NULL && status == MB_SUCCESS) { copy->attitude = (struct mbsys_simrad3_attitude_struct *) attitude_save; attitude_store = (struct mbsys_simrad3_attitude_struct *) store->attitude; attitude_copy = (struct mbsys_simrad3_attitude_struct *) copy->attitude; *attitude_copy = *attitude_store; } /* if needed copy the netattitude data structure */ if (store->netattitude != NULL && status == MB_SUCCESS) { copy->netattitude = (struct mbsys_simrad3_netattitude_struct *) netattitude_save; netattitude_store = (struct mbsys_simrad3_netattitude_struct *) store->netattitude; netattitude_copy = (struct mbsys_simrad3_netattitude_struct *) copy->netattitude; *netattitude_copy = *netattitude_store; } /* if needed copy the heading data structure */ if (store->heading != NULL && status == MB_SUCCESS) { copy->heading = (struct mbsys_simrad3_heading_struct *) heading_save; heading_store = (struct mbsys_simrad3_heading_struct *) store->heading; heading_copy = (struct mbsys_simrad3_heading_struct *) copy->heading; *heading_copy = *heading_store; } /* if needed copy the ssv data structure */ if (store->ssv != NULL && status == MB_SUCCESS) { copy->ssv = (struct mbsys_simrad3_ssv_struct *) ssv_save; ssv_store = (struct mbsys_simrad3_ssv_struct *) store->ssv; ssv_copy = (struct mbsys_simrad3_ssv_struct *) copy->ssv; *ssv_copy = *ssv_store; } /* if needed copy the tilt data structure */ if (store->tilt != NULL && status == MB_SUCCESS) { copy->tilt = (struct mbsys_simrad3_tilt_struct *) tilt_save; tilt_store = (struct mbsys_simrad3_tilt_struct *) store->tilt; tilt_copy = (struct mbsys_simrad3_tilt_struct *) copy->tilt; *tilt_copy = *tilt_store; } /* 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_simrad3_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *error) { char *function_name = "mbsys_simrad3_makess"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad3_struct *store; struct mbsys_simrad3_ping_struct *ping; double ss[MBSYS_SIMRAD3_MAXPIXELS]; int ss_cnt[MBSYS_SIMRAD3_MAXPIXELS]; double ssacrosstrack[MBSYS_SIMRAD3_MAXPIXELS]; double ssalongtrack[MBSYS_SIMRAD3_MAXPIXELS]; short *beam_ss; int nbathsort; double bathsort[MBSYS_SIMRAD3_MAXBEAMS]; double depthoffset; double reflscale; double pixel_size_calc; double pixel_size_max_swath; double ss_spacing, ss_spacing_use; int pixel_int_use; double angle, xtrackss; double range, beam_foot, beamwidth, sint; int time_i[7]; double bath_time_d, ss_time_d; int ss_ok; int first, last, k1, k2; int i, k, kk; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); 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 pixel_size_set: %d\n",pixel_size_set); fprintf(stderr,"dbg2 pixel_size: %f\n",*pixel_size); fprintf(stderr,"dbg2 swath_width_set: %d\n",swath_width_set); fprintf(stderr,"dbg2 swath_width: %f\n",*swath_width); fprintf(stderr,"dbg2 pixel_int: %d\n",pixel_int); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad3_struct *) store_ptr; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad3_ping_struct *) &(store->pings[store->ping_index]); /* zero the sidescan */ for (i=0;ipng_xducer_depth; reflscale = 0.1; /* get raw pixel size */ ss_spacing = 750.0 / ping->png_sample_rate; /* get beam angle size */ if (store->sonar == MBSYS_SIMRAD3_EM1000) { beamwidth = 2.5; } else if (ping->png_tx > 0) { beamwidth = 0.1 * ping->png_tx; } else if (store->run_tran_beam > 0) { beamwidth = 0.1 * store->run_tran_beam; } /* get median depth */ nbathsort = 0; for (i=0;ipng_nbeams;i++) { if (mb_beam_ok(ping->png_beamflag[i])) { bathsort[nbathsort] = ping->png_depth[i] + depthoffset; nbathsort++; } } /* get sidescan pixel size */ if (swath_width_set == MB_NO) { if (store->run_swath_angle > 0) *swath_width = (double)store->run_swath_angle; else *swath_width = 2.5 + MAX(90.0 - ping->png_depression[0], 90.0 - ping->png_depression[ping->png_nbeams-1]); } if (pixel_size_set == MB_NO && nbathsort > 0) { qsort((char *)bathsort, nbathsort, sizeof(double),(void *)mb_double_compare); pixel_size_calc = 2 * tan(DTR * (*swath_width)) * bathsort[nbathsort/2] / MBSYS_SIMRAD3_MAXPIXELS; if (store->run_max_swath > 0) { pixel_size_max_swath = 2 * ((double) store->run_max_swath) / ((double)MBSYS_SIMRAD3_MAXPIXELS); if (pixel_size_max_swath < pixel_size_calc) pixel_size_calc = pixel_size_max_swath; } pixel_size_calc = MAX(pixel_size_calc, bathsort[nbathsort/2] * sin(DTR * 0.1)); if ((*pixel_size) <= 0.0) (*pixel_size) = pixel_size_calc; else if (0.95 * (*pixel_size) > pixel_size_calc) (*pixel_size) = 0.95 * (*pixel_size); else if (1.05 * (*pixel_size) < pixel_size_calc) (*pixel_size) = 1.05 * (*pixel_size); else (*pixel_size) = pixel_size_calc; } /* get pixel interpolation */ pixel_int_use = pixel_int + 1; /* check that sidescan can be used */ /* get times of bath and sidescan records */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &bath_time_d); time_i[0] = ping->png_ss_date / 10000; time_i[1] = (ping->png_ss_date % 10000) / 100; time_i[2] = ping->png_ss_date % 100; time_i[3] = ping->png_ss_msec / 3600000; time_i[4] = (ping->png_ss_msec % 3600000) / 60000; time_i[5] = (ping->png_ss_msec % 60000) / 1000; time_i[6] = (ping->png_ss_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ss_time_d); ss_ok = MB_YES; if (ping->png_nbeams < ping->png_nbeams_ss || ping->png_nbeams > ping->png_nbeams_ss + 1) { ss_ok = MB_NO; if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: num bath beams != num ss beams: %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], ping->png_nbeams, ping->png_nbeams_ss); } /*fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d bathbeams:%d ssbeams:%d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], ping->png_nbeams, ping->png_nbeams_ss);*/ /* loop over raw sidescan, putting each raw pixel into the binning arrays */ if (ss_ok == MB_YES) for (i=0;ipng_nbeams_ss;i++) { beam_ss = &ping->png_ssraw[ping->png_start_sample[i]]; if (mb_beam_ok(ping->png_beamflag[i])) { if (ping->png_beam_samples[i] > 0) { range = sqrt(ping->png_depth[i] * ping->png_depth[i] + ping->png_acrosstrack[i] * ping->png_acrosstrack[i]); angle = 90.0 - ping->png_depression[i]; beam_foot = range * sin(DTR * beamwidth) / cos(DTR * angle); sint = fabs(sin(DTR * angle)); if (sint < ping->png_beam_samples[i] * ss_spacing / beam_foot) ss_spacing_use = beam_foot / ping->png_beam_samples[i]; else ss_spacing_use = ss_spacing / sint; /* fprintf(stderr, "spacing: %f %f n:%d sint:%f beamwidth:%f angle:%f range:%f foot:%f factor:%f\n", ss_spacing, ss_spacing_use, ping->png_beam_samples[i], sint, beamwidth, angle, range, beam_foot, ping->png_beam_samples[i] * ss_spacing / beam_foot);*/ } for (k=0;kpng_beam_samples[i];k++) { if (beam_ss[k] != EM3_INVALID_AMP) { xtrackss = ping->png_acrosstrack[i] + ss_spacing_use * (k - ping->png_center_sample[i]); kk = MBSYS_SIMRAD3_MAXPIXELS / 2 + (int)(xtrackss / (*pixel_size)); if (kk > 0 && kk < MBSYS_SIMRAD3_MAXPIXELS) { ss[kk] += reflscale*((double)beam_ss[k]); ssalongtrack[kk] += ping->png_alongtrack[i]; ss_cnt[kk]++; } } } } } /* average the sidescan */ first = MBSYS_SIMRAD3_MAXPIXELS; last = -1; for (k=0;k 0) { ss[k] /= ss_cnt[k]; ssalongtrack[k] /= ss_cnt[k]; ssacrosstrack[k] = (k - MBSYS_SIMRAD3_MAXPIXELS / 2) * (*pixel_size); first = MIN(first, k); last = k; } else ss[k] = MB_SIDESCAN_NULL; } /* interpolate the sidescan */ k1 = first; k2 = first; for (k=first+1;kpng_pixel_size = *pixel_size; if (last > first) ping->png_pixels_ss = MBSYS_SIMRAD3_MAXPIXELS; else ping->png_pixels_ss = 0; for (i=0;i MB_SIDESCAN_NULL) { ping->png_ss[i] = (short)(100 * ss[i]); ping->png_ssalongtrack[i] = (short)(100 * ssalongtrack[i]); } else { ping->png_ss[i] = EM3_INVALID_SS; ping->png_ssalongtrack[i] = 0; } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Sidescan regenerated in <%s>\n", function_name); fprintf(stderr,"dbg2 png_nbeams_ss: %d\n", ping->png_nbeams_ss); for (i=0;ipng_nbeams_ss;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f amp:%d acrosstrack:%f alongtrack:%f\n", i, ping->png_beamflag[i], ping->png_depth[i], ping->png_amp[i], ping->png_acrosstrack[i], ping->png_alongtrack[i]); fprintf(stderr,"dbg2 pixels_ss: %d\n", MBSYS_SIMRAD3_MAXPIXELS); for (i=0;ipng_pixels_ss); for (i=0;ipng_ss[i],ping->png_ssalongtrack[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 pixel_size: %f\n",*pixel_size); fprintf(stderr,"dbg2 swath_width: %f\n",*swath_width); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/