/*-------------------------------------------------------------------- * The MB-system: mbsm20002gsf.c 5/15/2009 * * $Id: mbsm20002gsf.c 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 2009-2009 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. *--------------------------------------------------------------------*/ /* * mbsm20002gsf translates native SM2000 MPB format data to GSF (format 121) * while merging navigation from a separate file.q * * Author: D. W. Caress * Location: Trapped at the airport in Sydney Australia * Date: May 15, 2009 * * $Log: mbsm20002gsf.c,v $ * * */ /* standard include files */ #include #include #include #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_define.h" #include "../../include/mb_aux.h" /* local defines */ #define SM2000_NUM_RETURNS 4 #define SM2000_NUM_BEAMS 128 #define SM2000_HEADER_SIZE 36 #define SM2000_BEAM_SIZE 2 #define BUFFERSIZE 256 struct sm2000_return_struct { int range[SM2000_NUM_BEAMS]; int quality[SM2000_NUM_BEAMS]; int amplitude[SM2000_NUM_BEAMS]; double traveltimes[SM2000_NUM_BEAMS]; double angles[SM2000_NUM_BEAMS]; double angles_forward[SM2000_NUM_BEAMS]; char beamflag[SM2000_NUM_BEAMS]; double bath[SM2000_NUM_BEAMS]; double bathacrosstrack[SM2000_NUM_BEAMS]; double bathalongtrack[SM2000_NUM_BEAMS]; double amp[SM2000_NUM_BEAMS]; }; struct sm2000_ping_struct { int sync1; int sync2; int type; int year; int month; int day; int hour; int minute; int second; int ping_number; int alt_time; /* 50 usec */ int agc; /* dB? */ int sound_speed; /* m/sec */ int time_latency; /* msec */ int sample_rate; /* Hz */ int swath_width; /* degrees (60, 90, 120, 150, 180) */ int num_beams_tot; /* 1-128 */ int start_beam; /* 1-128 */ int num_beams; /* 1-128 */ int num_returns; /* 1-4 */ int beam_width; /* alongtrack beam width (0.1 degrees) */ int sonar_range; /* range (cm) */ struct sm2000_return_struct returns[SM2000_NUM_RETURNS]; }; static char rcs_id[] = "$Id: mbsm20002gsf.c 1770 2009-10-19 17:16:39Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { /* id variables */ char program_name[] = "mbsm20002gsf"; char help_message[] = "mbsm20002gsf translates native SM2000 mpb format data to GSF (format 121) while merging navigation from a separate file."; char usage_message[] = "mbsm20002gsf -Impbfile -Mnavformat -Nnavfile -Ogsffile [-V]"; /* parsing variables */ extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* MBIO write control parameters */ int format = MBF_GSFGENMB; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double speedmin; double timegap; int beams_bath; int beams_amp; int pixels_ss; void *ombio_ptr = NULL; int navfile_specified = MB_NO; int gsffile_specified = MB_NO; char mpbfile[MB_PATH_MAXLINE]; char gsffile[MB_PATH_MAXLINE]; char navfile[MB_PATH_MAXLINE]; FILE *mpbfp; FILE *nfp; /* sm2000 read values */ struct sm2000_ping_struct ping; int swap = MB_YES; /* mbio write values */ void *store_ptr; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double sonardepth; double roll; double pitch; int idata = 0; int odata = 0; int onav = 0; int ocomment = 0; char comment[MB_COMMENT_MAXLINE]; /* time, user, host variables */ time_t right_now; char date[25], user[128], *user_ptr, host[128]; /* navigation handling variables */ int navformat = 5; int nnav; double *ntime = NULL; double *nlon = NULL; double *nlat = NULL; double *nheading = NULL; double *nsonardepth = NULL; double *nroll = NULL; double *npitch = NULL; int nav_ok; int time_j[5], hr; double sec; int stime_i[7], ftime_i[7]; int itime; double mtodeglon, mtodeglat; double del_time, dx, dy, dist; int intstat; short short_val; double soundspeed; double alpha, beta, theta, phi; double rr, xx, zz; int nchar; char buffer[BUFFERSIZE], *result; int nget, read_len, index; int i, j; char *ctime(); char *getenv(); /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input and output */ strcpy (mpbfile, "stdin"); strcpy (gsffile, "\0"); strcpy (navfile, "\0"); /* process argument list */ while ((c = getopt(argc, argv, "VvHhI:i:L:l:M:m:N:n:O:o:")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'I': case 'i': sscanf (optarg,"%s", mpbfile); flag++; break; case 'L': case 'l': sscanf (optarg,"%d", &lonflip); flag++; break; case 'M': case 'm': sscanf (optarg,"%d", &navformat); flag++; break; case 'N': case 'n': sscanf (optarg,"%s", navfile); navfile_specified = MB_YES; flag++; break; case 'O': case 'o': sscanf (optarg,"%s", gsffile); gsffile_specified = 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 format: %d\n",format); fprintf(stderr,"dbg2 input file: %s\n",mpbfile); fprintf(stderr,"dbg2 output file: %s\n",gsffile); fprintf(stderr,"dbg2 navigation file: %s\n",navfile); fprintf(stderr,"dbg2 nav format: %d\n",navformat); } /* 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); } /* first read the navigation if any */ if (navfile_specified == MB_YES) { /* set max number of characters to be read at a time */ nchar = 128; /* count the nav points */ nnav = 0; if ((nfp = fopen(navfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,nfp)) == buffer) nnav++; fclose(nfp); /* allocate space for the nav points */ status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&ntime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlon,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlat,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nheading,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nsonardepth,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nroll,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&npitch,&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); } /* read in nav points */ nnav = 0; if ((nfp = fopen(navfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } strncpy(buffer,"\0",sizeof(buffer)); while ((result = fgets(buffer,nchar,nfp)) == buffer) { /* deal with nav in form: time_d lon lat heading sonardepth roll pitch */ nav_ok = MB_NO; if (navformat == 1) { nget = sscanf(buffer,"%lf %lf %lf %lf %lf %lf %lf", &ntime[nnav],&nlon[nnav],&nlat[nnav], &nheading[nnav],&nsonardepth[nnav], &nroll[nnav],&npitch[nnav]); if (nget == 7) nav_ok = MB_YES; } /* deal with nav in form: yr mon day hour min sec lon lat heading sonardepth roll pitch */ else if (navformat == 2) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &nlon[nnav],&nlat[nnav], &nheading[nnav],&nsonardepth[nnav], &nroll[nnav],&npitch[nnav]); time_i[5] = (int) sec; time_i[6] = 1000000*(sec - time_i[5]); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 12) nav_ok = MB_YES; } /* deal with nav in form: yr jday hour min sec lon lat */ else if (navformat == 3) { nget = sscanf(buffer,"%d %d %d %d %lf %lf %lf %lf %lf %lf %lf", &time_j[0],&time_j[1],&hr, &time_j[2],&sec, &nlon[nnav],&nlat[nnav], &nheading[nnav],&nsonardepth[nnav], &nroll[nnav],&npitch[nnav]); time_j[2] = time_j[2] + 60*hr; time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 7) nav_ok = MB_YES; } /* deal with nav in form: yr jday daymin sec lon lat */ else if (navformat == 4) { nget = sscanf(buffer,"%d %d %d %lf %lf %lf %lf %lf %lf %lf", &time_j[0],&time_j[1],&time_j[2], &sec, &nlon[nnav],&nlat[nnav], &nheading[nnav],&nsonardepth[nnav], &nroll[nnav],&npitch[nnav]); time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 10) nav_ok = MB_YES; } /* deal with nav in form: yr mon day hour min sec time_d lon lat */ else if (navformat == 9) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &ntime[nnav], &nlon[nnav],&nlat[nnav], &nheading[nnav],&nsonardepth[nnav], &nroll[nnav],&npitch[nnav]); if (nget == 13) nav_ok = MB_YES; } /* make sure longitude is defined according to lonflip */ if (nav_ok == MB_YES) { if (lonflip == -1 && nlon[nnav] > 0.0) nlon[nnav] = nlon[nnav] - 360.0; else if (lonflip == 0 && nlon[nnav] < -180.0) nlon[nnav] = nlon[nnav] + 360.0; else if (lonflip == 0 && nlon[nnav] > 180.0) nlon[nnav] = nlon[nnav] - 360.0; else if (lonflip == 1 && nlon[nnav] < 0.0) nlon[nnav] = nlon[nnav] + 360.0; } /* output some debug values */ if (verbose >= 5 && nav_ok == MB_YES) { fprintf(stderr,"\ndbg5 New navigation point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 nav[%d]: %f %f %f %f %f %f %f\n", nnav,ntime[nnav],nlon[nnav],nlat[nnav], nheading[nnav],nsonardepth[nnav], nroll[nnav],npitch[nnav]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in navigation file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (nav_ok == MB_YES) { if (nnav == 0) nnav++; else if (ntime[nnav] > ntime[nnav-1]) nnav++; else if (nnav > 0 && ntime[nnav] <= ntime[nnav-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 Navigation time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nnav-1,ntime[nnav-1],nlon[nnav-1], nlat[nnav-1]); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nnav,ntime[nnav],nlon[nnav], nlat[nnav]); } } strncpy(buffer,"\0",sizeof(buffer)); } /* check for nav */ if (nnav < 2) { fprintf(stderr,"\nNo navigation read from file <%s>\n",navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get start and finish times of nav */ mb_get_date(verbose,ntime[0],stime_i); mb_get_date(verbose,ntime[nnav-1],ftime_i); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d navigation records read\n",nnav); fprintf(stderr,"Nav start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Nav end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /* initialize reading the input SM2000 mpb file */ if ((mpbfp = fopen(mpbfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open SM2000 mpb File <%s> for reading\n",mpbfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize writing the output swath sonar file */ if ((status = mb_write_init( verbose,gsffile,MBF_GSFGENMB,&ombio_ptr, &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,"\nSwath Sonar File <%s> not initialized for writing\n",gsffile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* write comments to beginning of output file */ kind = MB_DATA_COMMENT; sprintf(comment,"SM2000 multibeam bathymetry translated to GSF by program %s version %s", program_name,rcs_id); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment,"MB-system Version %s",MB_VERSION); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(date,"\0",25); right_now = time((time_t *)0); strncpy(date,ctime(&right_now),24); if ((user_ptr = getenv("USER")) == NULL) user_ptr = getenv("LOGNAME"); if (user_ptr != NULL) strcpy(user,user_ptr); else strcpy(user, "unknown"); gethostname(host,128); sprintf(comment,"Run by user <%s> on cpu <%s> at <%s>", user,host,date); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment,"Control Parameters:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Input SM2000 mpb file: %s",mpbfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Output GSF file: %s",gsffile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Navigation/Attitude file: %s",navfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," "); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; /* read and write */ while (error <= MB_ERROR_NO_ERROR) { /* read some data */ error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* read the next header */ read_len = fread(buffer,1,SM2000_HEADER_SIZE,mpbfp); if (read_len == SM2000_HEADER_SIZE) { mb_get_binary_short(swap, &buffer[0], &short_val); ping.sync1 = (int) (unsigned short) short_val; mb_get_binary_short(swap, &buffer[2], &short_val); ping.sync2 = (int) (unsigned short) short_val; mb_get_binary_short(swap, &buffer[4], &short_val); ping.type = (int) short_val; ping.year = (mb_u_char) buffer[6]; ping.hour = (mb_u_char) buffer[7]; ping.minute = (mb_u_char) buffer[8]; ping.second = (mb_u_char) buffer[9]; mb_get_binary_short(swap, &buffer[10], &short_val); ping.ping_number = (int) short_val; mb_get_binary_short(swap, &buffer[12], &short_val); ping.agc = (int) short_val; ping.month = buffer[14]; mb_get_binary_int(swap, &buffer[15], &ping.alt_time); ping.day = (mb_u_char) buffer[19]; mb_get_binary_short(swap, &buffer[20], &short_val); ping.sound_speed = (int) short_val; mb_get_binary_short(swap, &buffer[22], &short_val); ping.time_latency = (int) short_val; mb_get_binary_short(swap, &buffer[24], &short_val); ping.sample_rate = (int) short_val; ping.swath_width = (mb_u_char) buffer[26]; ping.num_beams_tot = (mb_u_char) buffer[27]; ping.start_beam = (mb_u_char) buffer[28]; ping.num_beams = (mb_u_char) buffer[29]; ping.num_returns = (mb_u_char) buffer[30]; ping.beam_width = (mb_u_char) buffer[31]; mb_get_binary_int(swap, &buffer[32], &ping.sonar_range); } else { status = MB_FAILURE; error = MB_ERROR_EOF; } /* read the beam data */ read_len = fread(buffer,1,ping.num_beams_tot * SM2000_BEAM_SIZE,mpbfp); index = 0; for (j=0;j> 6); mb_get_binary_short(swap, &buffer[index], &short_val); ping.returns[j].range[i] = (int) (short_val & 0x3FFF); ping.returns[j].amplitude[i] = 0; index += SM2000_BEAM_SIZE; } /* output some debug info */ if (status == MB_SUCCESS && verbose >= 0) { fprintf(stderr,"dbg2 SM2000 Header Values Read:\n"); fprintf(stderr,"dbg2 sync1: %d\n",ping.sync1); fprintf(stderr,"dbg2 sync2: %d\n",ping.sync2); fprintf(stderr,"dbg2 type: %d\n",ping.type); fprintf(stderr,"dbg2 year: %d\n",ping.year); fprintf(stderr,"dbg2 month: %d\n",ping.month); fprintf(stderr,"dbg2 day: %d\n",ping.day); fprintf(stderr,"dbg2 hour: %d\n",ping.hour); fprintf(stderr,"dbg2 minute: %d\n",ping.minute); fprintf(stderr,"dbg2 second: %d\n",ping.second); fprintf(stderr,"dbg2 alt_time: %d\n",ping.alt_time); fprintf(stderr,"dbg2 agc: %d\n",ping.agc); fprintf(stderr,"dbg2 sound_speed: %d\n",ping.sound_speed); fprintf(stderr,"dbg2 time_latency: %d\n",ping.time_latency); fprintf(stderr,"dbg2 sample_rate: %d\n",ping.sample_rate); fprintf(stderr,"dbg2 swath_width: %d\n",ping.swath_width); fprintf(stderr,"dbg2 num_beams_tot: %d\n",ping.num_beams_tot); fprintf(stderr,"dbg2 start_beam: %d\n",ping.start_beam); fprintf(stderr,"dbg2 num_beams: %d\n",ping.num_beams); fprintf(stderr,"dbg2 num_returns: %d\n",ping.num_returns); fprintf(stderr,"dbg2 beam_width: %d\n",ping.beam_width); fprintf(stderr,"dbg2 sonar_range: %d\n",ping.sonar_range); for (j=0;j 2) { intstat = mb_linear_interp(verbose, ntime-1, nlon-1, nnav, time_d, &navlon, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &navlat, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &heading, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &sonardepth, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &roll, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &pitch, &itime, &error); } /* calculate speed */ if (error == MB_ERROR_NO_ERROR && nnav > 2) { if (itime == nnav - 1) itime = nnav - 2; if (itime == 0) itime = 1; mb_coor_scale(verbose,nlat[itime-1],&mtodeglon,&mtodeglat); del_time = ntime[itime] - ntime[itime-1]; dx = (nlon[itime] - nlon[itime-1])/mtodeglon; dy = (nlat[itime] - nlat[itime-1])/mtodeglat; dist = sqrt(dx*dx + dy*dy); if (del_time > 0.0) speed = 3.6*dist/del_time; else speed = 0.0; } /* calculate bathymetry */ if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { /* increment counter */ idata++; /* fix some occasionally missing values */ if (ping.sound_speed == 0) ping.sound_speed = 1500; if (ping.sample_rate == 0) ping.sample_rate = 11428; if (ping.swath_width == 0) ping.swath_width = 120; if (ping.beam_width == 0) ping.beam_width = 15; /* calculate travel times and angles */ soundspeed = 0.001 * (double) ping.sound_speed; for (j=0;j 360.0) phi -= 360.0; ping.returns[j].angles[i] = theta; ping.returns[j].angles_forward[i] = phi; rr = 0.5 * ping.returns[j].traveltimes[i] * ((double)ping.sound_speed); xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); ping.returns[j].beamflag[i] = MB_FLAG_NONE; ping.returns[j].bath[i] = zz + sonardepth; ping.returns[j].bathacrosstrack[i] = xx * cos(DTR * phi); ping.returns[j].bathalongtrack[i] = xx * sin(DTR * phi); } } /* give error message */ if ((verbose >= 1 && error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA || kind == MB_DATA_NAV) && (time_d < ntime[0] || time_d > ntime[nnav-1]))) { fprintf(stderr,"\nNavigation extrapolated!\n"); fprintf(stderr,"Data time lies outside the bounds of the input navigation...\n"); fprintf(stderr,"Data time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", time_i[0],time_i[1],time_i[2],time_i[3], time_i[4],time_i[5],time_i[6]); } /* write some data */ if (error == MB_ERROR_NO_ERROR) { /* loop over each individual return */ for (j=0;j:\n%s\n",message); fprintf(stderr,"\nSwath Sonar Data Not Written To File <%s>\n",gsffile); fprintf(stderr,"Output Record: %d\n",odata+1); fprintf(stderr,"Time: %d %d %d %d %d %d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } } } /* close the files */ fclose(mpbfp); status = mb_close(verbose,&ombio_ptr,&error); /* deallocate memory for data arrays */ mb_freed(verbose,__FILE__,__LINE__,(void **)&ntime,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlon,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlat,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nheading,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nsonardepth,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nroll,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&npitch,&error); /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d input navigation records\n",nnav); fprintf(stderr,"%d input data records\n",idata); fprintf(stderr,"%d output ping records\n",odata); fprintf(stderr,"%d output comment records\n",ocomment); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/