/*-------------------------------------------------------------------- * The MB-system: mbrphsbias.c 9/29/2013 * $Id: mbrphsbias.c 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2013-2015 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. *--------------------------------------------------------------------*/ /* * MBrphsbias analyzes sonar soundings to solve for bias parameters associated * with the attitude sensors and first order speed of sound. In particular, * mbrphsbias uses a brute force multi-dimensional search over roll-bias, * pitch-bias, heading-bias, and array-water-sound-speed-bias to minimize the * variance of unflagged soundings in the input bathymetry data. * * Author: D. W. Caress * Date: September 29, 2013 * CCGS Sir Wilfrid Laurier * 136d00.6832'W 70d45.3653'W * Beaufort Sea, Arctic Ocean * * $Log: mbrphsbias.c,v $ * */ /* standard include files */ #include #include #include #include #include #include #include /* mbio include files */ #include "mb_status.h" #include "mb_format.h" #include "mb_define.h" #include "mb_io.h" #include "mb_swap.h" #include "mb_process.h" #include "mb_info.h" /* allocation */ #define FILEALLOCNUM 16 #define PINGALLOCNUM 128 #define SNDGALLOCNUM 128 /* mbrphsbias structures */ struct mbrphsbias_ping_struct { int time_i[7]; double time_d; int multiplicity; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double draft; double roll; double pitch; double heave; double ssv; int beams_bath; char *beamflag; double *bath; double *bathacrosstrack; double *bathalongtrack; double *bathcorr; double *bathlon; double *bathlat; double *angles; double *angles_forward; double *angles_null; double *ttimes; double *bheave; double *alongtrack_offset; }; struct mbrphsbias_file_struct { char path[MB_PATH_MAXLINE]; int format; int num_pings; int num_pings_alloc; int num_beams_tot; int num_beams_good; int num_beams_flagged; int num_beams_null; struct mbrphsbias_ping_struct *pings; }; static char rcs_id[] = "$Id: mbrphsbias.c 2227 2015-02-05 21:12:31Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "MBrphsbias"; char help_message[] = "MBrphsbias analyzes sonar soundings to solve for bias parameters associated with the attitude sensors and first order speed of sound.\n"; char usage_message[] = "mbrphsbias [-Fformat -Iinfile -Rwest/east/south/north -Sbinsize \n\t-B]"; extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message = NULL; /* MBIO read control parameters */ void *mbio_ptr = NULL; void *store_ptr = NULL; int kind; int read_datalist = MB_NO; char read_file[MB_PATH_MAXLINE]; char swathfile[MB_PATH_MAXLINE]; char swathfileread[MB_PATH_MAXLINE]; void *datalist; int look_processed = MB_DATALIST_LOOK_UNSET; int read_data; double file_weight; int format; int formatread; int variable_beams; int traveltime; int beam_flagging; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; struct mb_info_struct mb_info; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double draft; double ssv; double roll; double pitch; double heave; int beams_bath; int beams_amp; int pixels_ss; char *beamflag; double *bath; double *amp; double *bathacrosstrack; double *bathalongtrack; double *ss; double *ssacrosstrack; double *ssalongtrack; double *ttimes; double *angles; double *angles_forward; double *angles_null; double *bheave; double *alongtrack_offset; char comment[MB_COMMENT_MAXLINE]; /* control parameters */ double areabounds[4]; int areaboundsset = MB_NO; double binsize = 0.0; int binsizeset = MB_NO; double mtodeglon; double mtodeglat; double dx, dy; int nx, ny; /* sounding atorage values and arrays */ int nfile = 0; int nfile_alloc = 0; struct mbrphsbias_file_struct *files = NULL; int *gsndgnum = NULL; double *gsndgsqsum = NULL; /* counting parameters */ int files_tot = 0; int pings_tot = 0; int beams_tot = 0; int beams_good_tot = 0; int beams_flagged_tot = 0; int beams_null_tot = 0; struct mbrphsbias_ping_struct *ping; struct mbrphsbias_file_struct *file; int done; int nbeams; int i, j; /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* reset all defaults but the format and lonflip */ strcpy(read_file,"datalist.mb-1"); format = 0; pings = 1; bounds[0] = -360.; bounds[1] = 360.; bounds[2] = -90.; bounds[3] = 90.; btime_i[0] = 1962; btime_i[1] = 2; btime_i[2] = 21; btime_i[3] = 10; btime_i[4] = 30; btime_i[5] = 0; btime_i[6] = 0; etime_i[0] = 2062; etime_i[1] = 2; etime_i[2] = 21; etime_i[3] = 10; etime_i[4] = 30; etime_i[5] = 0; etime_i[6] = 0; speedmin = 0.0; timegap = 1000000000.0; /* process argument list */ while ((c = getopt(argc, argv, "VvHhF:f:I:i:R:r:S:s:")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'R': case 'r': mb_get_bounds(optarg, areabounds); areaboundsset = MB_YES; flag++; break; case 'S': case 's': sscanf (optarg,"%lf", &binsize); binsizeset = MB_YES; flag++; break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 lonflip: %d\n",lonflip); fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stderr,"dbg2 speedmin: %f\n",speedmin); fprintf(stderr,"dbg2 timegap: %f\n",timegap); fprintf(stderr,"dbg2 data format: %d\n",format); fprintf(stderr,"dbg2 input file: %s\n",read_file); fprintf(stderr,"dbg2 areaboundsset: %d\n",areaboundsset); fprintf(stderr,"dbg2 areabounds[0]: %f\n",areabounds[0]); fprintf(stderr,"dbg2 areabounds[1]: %f\n",areabounds[1]); fprintf(stderr,"dbg2 areabounds[2]: %f\n",areabounds[2]); fprintf(stderr,"dbg2 areabounds[3]: %f\n",areabounds[3]); fprintf(stderr,"dbg2 binsizeset: %d\n",binsizeset); fprintf(stderr,"dbg2 binsize: %f\n",binsize); } /* if help desired then print it and exit */ if (help) { fprintf(stderr,"\n%s\n",help_message); fprintf(stderr,"\nusage: %s\n", usage_message); exit(error); } /* if bounds not set get bounds of input data */ if (areaboundsset == MB_NO) { formatread = format; status = mb_get_info_datalist(verbose, read_file, &formatread, &mb_info, lonflip, &error); areabounds[0] = mb_info.lon_min; areabounds[1] = mb_info.lon_max; areabounds[2] = mb_info.lat_min; areabounds[3] = mb_info.lat_max; if (binsizeset == MB_NO) binsize = 0.2 * mb_info.altitude_max; } /* calculate area grid properties */ mb_coor_scale(verbose,0.5*(areabounds[2]+areabounds[3]),&mtodeglon,&mtodeglat); if (binsize <= 0.0) binsize = (areabounds[1] - areabounds[0]) / 101 / mtodeglon; dx = binsize * mtodeglon; dy = binsize * mtodeglat; nx = 1 + (int)((areabounds[1] - areabounds[0]) / dx); ny = 1 + (int)((areabounds[3] - areabounds[2]) / dy); if (nx > 1 && ny > 1) { dx = (areabounds[1] - areabounds[0]) / (nx - 1); dy = (areabounds[3] - areabounds[2]) / (ny - 1); } /* allocate grid arrays */ status = mb_mallocd(verbose,__FILE__,__LINE__, nx * ny * sizeof(int *), (void **)&gsndgnum, &error); if (status == MB_SUCCESS) status = mb_mallocd(verbose,__FILE__,__LINE__, nx * ny * sizeof(double), (void **)&gsndgsqsum, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the grid info */ if (verbose >= 0) { fprintf(stderr,"\nMBrphsbias Processing Parameters:\n"); fprintf(stderr,"-------------------------\n"); fprintf(stderr,"Area Bounds:\n"); fprintf(stderr," longitude: %f %f\n",areabounds[0],areabounds[1]); fprintf(stderr," latitude: %f %f\n",areabounds[2],areabounds[3]); fprintf(stderr,"Binsize: %f meters\n",binsize); fprintf(stderr," longitude: %f\n",dx); fprintf(stderr," latitude: %f\n",dy); fprintf(stderr,"Grid dimensions:\n"); fprintf(stderr," longitude: %d\n",nx); fprintf(stderr," latitude: %d\n",ny); fprintf(stderr,"-------------------------\n"); } /* if error initializing memory then quit */ for (i=0;i Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, swathfile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(swathfile, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES) { /* check format and get format flags */ if ((status = mb_format_flags(verbose,&format, &variable_beams, &traveltime, &beam_flagging, &error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function regarding input format %d:\n%s\n",format,message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* check for "fast bathymetry" or "fbt" file */ strcpy(swathfileread, swathfile); formatread = format; mb_get_fbt(verbose, swathfileread, &formatread, &error); /* initialize reading the input swath sonar file */ if ((status = mb_read_init( verbose,swathfileread,formatread,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &mbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",swathfileread); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the statistics */ if (verbose >= 0) { fprintf(stderr,"\nProcessing %s\n",swathfileread); } /* allocate memory for data arrays */ beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; ttimes = NULL; angles = NULL; angles_forward = NULL; angles_null = NULL; bheave = NULL; alongtrack_offset = NULL; if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&ttimes, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_forward, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_null, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bheave, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&alongtrack_offset, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* update memory for files */ if (nfile >= nfile_alloc) { nfile_alloc += FILEALLOCNUM; status = mb_reallocd(verbose, __FILE__, __LINE__, nfile_alloc * sizeof(struct mbrphsbias_file_struct), (void **)&files, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* initialize current file */ file = &(files[nfile]); nfile++; strcpy(file->path, swathfile); file->format = format; file->num_pings = 0; file->num_beams_tot = 0; file->num_beams_good = 0; file->num_beams_flagged = 0; file->num_beams_null = 0; file->num_pings_alloc = PINGALLOCNUM; file->pings = NULL; status = mb_mallocd(verbose,__FILE__,__LINE__, file->num_pings_alloc * sizeof(struct mbrphsbias_ping_struct), (void **)&(file->pings), &error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the pings into memory */ done = MB_NO; while (done == MB_NO) { if (verbose > 1) fprintf(stderr,"\n"); /* read next record */ error = MB_ERROR_NO_ERROR; status = mb_get_all(verbose,mbio_ptr,&store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); if (status == MB_FAILURE && error > MB_ERROR_NO_ERROR) done = MB_YES; if (verbose >= 2) { fprintf(stderr,"\ndbg2 current data status:\n"); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 status: %d\n",status); } if (status == MB_SUCCESS && kind == MB_DATA_DATA) { status = mb_extract_nav(verbose,mbio_ptr,store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading,&draft, &roll,&pitch,&heave,&error); status = mb_ttimes(verbose,mbio_ptr, store_ptr,&kind,&nbeams, ttimes,angles, angles_forward,angles_null, bheave,alongtrack_offset, &draft,&ssv,&error); /* allocate memory if necessary */ if (file->num_pings >= file->num_pings_alloc) { file->num_pings_alloc += PINGALLOCNUM; status = mb_reallocd(verbose,__FILE__,__LINE__, file->num_pings_alloc * sizeof(struct mbrphsbias_ping_struct), (void **)&(file->pings), &error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } ping = &(file->pings[file->num_pings]); status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(char), (void **)&(ping->beamflag), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->bath), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->bathacrosstrack), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->bathalongtrack), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->ttimes), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->angles), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->angles_forward), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->angles_null), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->bheave), &error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__, beams_bath * sizeof(double), (void **)&(ping->alongtrack_offset), &error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* update counters */ pings_tot++; file->num_pings++; for (i=0;inum_beams_tot++; if (mb_beam_ok(beamflag[i])) { beams_good_tot++; file->num_beams_good++; } else if (beamflag[i] == MB_FLAG_NULL) { beams_null_tot++; file->num_beams_null++; } else { beams_flagged_tot++; file->num_beams_flagged++; } } /* store the ping data */ for (i=0;i<7;i++) ping->time_i[i] = time_i[i]; ping->time_d = time_d; if (file->num_pings > 0 && ping->time_d == file->pings[file->num_pings - 1].time_d) { ping->multiplicity = file->pings[file->num_pings - 1].multiplicity + 1; } else { ping->multiplicity = 0; } ping->navlon = navlon; ping->navlat = navlat; ping->speed = speed; ping->heading = heading; ping->distance = distance; ping->altitude = altitude; ping->sonardepth = sonardepth; ping->draft = sonardepth - heave; ping->roll = roll; ping->pitch = pitch; ping->heave = heave; ping->ssv = ssv; ping->beams_bath = beams_bath; for (i=0;ibeams_bath;i++) { ping->beamflag[i] = beamflag[i]; ping->bath[i] = bath[i]; ping->bathacrosstrack[i] = bathacrosstrack[i]; ping->bathalongtrack[i] = bathalongtrack[i]; ping->ttimes[i] = ttimes[i]; ping->angles[i] = angles[i]; ping->angles_forward[i] = angles_forward[i]; ping->angles_null[i] = angles_null[i]; ping->bheave[i] = bheave[i]; ping->alongtrack_offset[i] = alongtrack_offset[i]; } } } /* close the files */ status = mb_close(verbose,&mbio_ptr,&error); /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, swathfile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } } /* give the total statistics */ if (verbose >= 0) { fprintf(stderr,"\nMBrphsbias Processing Totals:\n"); fprintf(stderr,"-------------------------\n"); fprintf(stderr,"%d total swath data files processed\n",files_tot); fprintf(stderr,"%d total pings processed\n",pings_tot); fprintf(stderr,"%d total soundings processed\n",beams_tot); fprintf(stderr,"-------------------------\n"); for (i=0;inum_pings;j++) { ping = &(file->pings[j]); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->beamflag),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->bath),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->bathacrosstrack),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->bathalongtrack),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->ttimes),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->angles),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->angles_forward),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->angles_null),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->bheave),&error); mb_freed(verbose,__FILE__, __LINE__, (void **)&(ping->alongtrack_offset),&error); } mb_freed(verbose,__FILE__, __LINE__, (void **)&(file->pings),&error); } mb_freed(verbose,__FILE__, __LINE__, (void **)&files,&error); /* set program status */ status = MB_SUCCESS; /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/