/*-------------------------------------------------------------------- * The MB-system: mbr_bchrtunb.c 8/8/94 * $Id: mbr_bchrtunb.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1994-2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbr_bchrtunb.c contains the functions for reading and writing * multibeam data in the BCHRTUNB format. * These functions include: * mbr_alm_bchrtunb - allocate read/write memory * mbr_dem_bchrtunb - deallocate read/write memory * mbr_rt_bchrtunb - read and translate data * mbr_wt_bchrtunb - translate and write data * * Author: D. W. Caress * Date: August 8, 1994 * $Log: mbr_bchrtunb.c,v $ * Revision 5.8 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.7 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.6 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.5 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.4 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.3 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.2 2001/03/22 20:45:56 caress * Trying to make 5.0.beta0... * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.13 2000/10/11 01:02:30 caress * Convert to ANSI C * * Revision 4.12 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.11 1999/03/31 18:11:35 caress * MB-System 4.6beta7 * * Revision 4.10 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.9 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.8 1997/07/28 14:58:19 caress * Fixed typos. * * Revision 4.7 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.6 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.5 1996/08/05 15:21:58 caress * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support. * * Revision 4.5 1996/08/05 15:21:58 caress * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support. * * Revision 4.4 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.3 1996/04/22 10:57:09 caress * DTR define now in mb_io.h * * Revision 4.2 1995/07/13 19:13:36 caress * Intermediate check-in during major bug-fixing flail. * * Revision 4.1 1995/03/06 19:38:54 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.0 1994/10/21 12:34:53 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_elac.h" #include "../../include/mbf_bchrtunb.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* essential function prototypes */ int mbr_register_bchrtunb(int verbose, void *mbio_ptr, int *error); int mbr_info_bchrtunb(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error); int mbr_alm_bchrtunb(int verbose, void *mbio_ptr, int *error); int mbr_dem_bchrtunb(int verbose, void *mbio_ptr, int *error); int mbr_zero_bchrtunb(int verbose, void *data_ptr, int *error); int mbr_rt_bchrtunb(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_bchrtunb(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_bchrtunb_rd_data(int verbose, void *mbio_ptr, int *error); int mbr_bchrtunb_rd_comment(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_parameter(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_pos(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_svp(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_bath56(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_bath40(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_rd_bath32(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_data(int verbose, void *mbio_ptr, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_comment(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_parameter(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_pos(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_svp(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_bath56(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_bath40(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); int mbr_bchrtunb_wr_bath32(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error); static char rcs_id[]="$Id: mbr_bchrtunb.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_bchrtunb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_bchrtunb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* get mb_io_ptr */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set format info parameters */ status = mbr_info_bchrtunb(verbose, &mb_io_ptr->system, &mb_io_ptr->beams_bath_max, &mb_io_ptr->beams_amp_max, &mb_io_ptr->pixels_ss_max, mb_io_ptr->format_name, mb_io_ptr->system_name, mb_io_ptr->format_description, &mb_io_ptr->numfile, &mb_io_ptr->filetype, &mb_io_ptr->variable_beams, &mb_io_ptr->traveltime, &mb_io_ptr->beam_flagging, &mb_io_ptr->nav_source, &mb_io_ptr->heading_source, &mb_io_ptr->vru_source, &mb_io_ptr->svp_source, &mb_io_ptr->beamwidth_xtrack, &mb_io_ptr->beamwidth_ltrack, error); /* set format and system specific function pointers */ mb_io_ptr->mb_io_format_alloc = &mbr_alm_bchrtunb; mb_io_ptr->mb_io_format_free = &mbr_dem_bchrtunb; mb_io_ptr->mb_io_store_alloc = &mbsys_elac_alloc; mb_io_ptr->mb_io_store_free = &mbsys_elac_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_bchrtunb; mb_io_ptr->mb_io_write_ping = &mbr_wt_bchrtunb; mb_io_ptr->mb_io_dimensions = &mbsys_elac_dimensions; mb_io_ptr->mb_io_extract = &mbsys_elac_extract; mb_io_ptr->mb_io_insert = &mbsys_elac_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_elac_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_elac_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_elac_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_elac_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_elac_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_elac_ttimes; mb_io_ptr->mb_io_detects = &mbsys_elac_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_elac_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = NULL; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %lu\n",(size_t)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %lu\n",(size_t)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %lu\n",(size_t)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %lu\n",(size_t)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %lu\n",(size_t)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %lu\n",(size_t)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %lu\n",(size_t)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %lu\n",(size_t)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %lu\n",(size_t)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %lu\n",(size_t)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 copyrecord: %lu\n",(size_t)mb_io_ptr->mb_io_copyrecord); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_info_bchrtunb(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error) { char *function_name = "mbr_info_bchrtunb"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* set format info parameters */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; *system = MB_SYS_ELAC; *beams_bath_max = 56; *beams_amp_max = 56; *pixels_ss_max = 0; strncpy(format_name, "BCHRTUNB", MB_NAME_LENGTH); strncpy(system_name, "ELAC", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_BCHRTUNB\nInformal Description: Elac BottomChart shallow water multibeam\nAttributes: 56 beam bathymetry and amplitude,\n binary, University of New Brunswick.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 3.0; *beamwidth_ltrack = 6.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_bchrtunb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_bchrtunb"; 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: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = sizeof(struct mbf_bchrtunb_struct); mb_io_ptr->data_structure_size = 0; status = mb_malloc(verbose,mb_io_ptr->structure_size, &mb_io_ptr->raw_data,error); status = mb_malloc(verbose,sizeof(struct mbsys_elac_struct), &mb_io_ptr->store_data,error); /* initialize everything to zeros */ mbr_zero_bchrtunb(verbose,mb_io_ptr->raw_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_bchrtunb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_bchrtunb"; 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: %lu\n",(size_t)mbio_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data descriptor */ status = mb_free(verbose,&mb_io_ptr->raw_data,error); status = mb_free(verbose,&mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_zero_bchrtunb(int verbose, void *data_ptr, int *error) { char *function_name = "mbr_zero_bchrtunb"; int status = MB_SUCCESS; struct mbf_bchrtunb_struct *data; 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 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to data descriptor */ data = (struct mbf_bchrtunb_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { data->kind = MB_DATA_NONE; data->sonar = MBSYS_ELAC_BOTTOMCHART; data->par_year = 0; data->par_month = 0; data->par_day = 0; data->par_hour = 0; data->par_minute = 0; data->par_second = 0; data->par_hundredth_sec = 0; data->par_thousandth_sec = 0; data->roll_offset = 0; /* roll offset (degrees) */ data->pitch_offset = 0; /* pitch offset (degrees) */ data->heading_offset = 0; /* heading offset (degrees) */ data->time_delay = 0; /* positioning system delay (sec) */ data->transducer_port_height = 0; data->transducer_starboard_height = 0; data->transducer_port_depth = 0; data->transducer_starboard_depth = 0; data->transducer_port_x = 0; data->transducer_starboard_x = 0; data->transducer_port_y = 0; data->transducer_starboard_y = 0; data->transducer_port_error = 0; data->transducer_starboard_error = 0; data->antenna_height = 0; data->antenna_x = 0; data->antenna_y = 0; data->vru_height = 0; data->vru_x = 0; data->vru_y = 0; data->heave_offset = 0; data->line_number = 0; data->start_or_stop = 0; data->transducer_serial_number = 0; for (i=0;icomment[i] = '\0'; /* position (position telegrams) */ data->pos_year = 0; data->pos_month = 0; data->pos_day = 0; data->pos_hour = 0; data->pos_minute = 0; data->pos_second = 0; data->par_hundredth_sec = 0; data->pos_thousandth_sec = 0; data->pos_latitude = 0; data->pos_longitude = 0; data->utm_northing = 0; data->utm_easting = 0; data->utm_zone_lon = 0; data->utm_zone = 0; data->hemisphere = 0; data->ellipsoid = 0; data->pos_spare = 0; data->semi_major_axis = 0; data->other_quality = 0; /* sound velocity profile */ data->svp_year = 0; data->svp_month = 0; data->svp_day = 0; data->svp_hour = 0; data->svp_minute = 0; data->svp_second = 0; data->svp_hundredth_sec = 0; data->svp_thousandth_sec = 0; data->svp_num = 0; for (i=0;i<100;i++) { data->svp_depth[i] = 0; /* 0.1 meters */ data->svp_vel[i] = 0; /* 0.1 meters/sec */ } /* depth telegram */ data->ping_num = 0; data->sound_vel = 0; data->mode = 0; data->pulse_length = 0; data->source_power = 0; data->receiver_gain = 0; data->profile_num = 0; data->beams_bath = 0; for (i=0;i<7;i++) { data->profile[i].year = 0; data->profile[i].month = 0; data->profile[i].day = 0; data->profile[i].hour = 0; data->profile[i].minute = 0; data->profile[i].second = 0; data->profile[i].hundredth_sec = 0; data->profile[i].thousandth_sec = 0; data->profile[i].longitude = 0; data->profile[i].latitude = 0; data->profile[i].roll = 0; data->profile[i].pitch = 0; data->profile[i].heading = 0; data->profile[i].heave = 0; for (j=0;j<8;j++) { data->profile[i].bath[j] = 0; data->profile[i].bath_acrosstrack[j] = 0; data->profile[i].bath_alongtrack[j] = 0; data->profile[i].tt[j] = 0; data->profile[i].angle[j] = 0; data->profile[i].quality[j] = 0; data->profile[i].amp[j] = 0; } } } /* 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 mbr_rt_bchrtunb(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_bchrtunb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_bchrtunb_struct *data; struct mbsys_elac_struct *store; int time_i[7]; double time_d; double lon, lat, heading, speed; 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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; data = (struct mbf_bchrtunb_struct *) mb_io_ptr->raw_data; store = (struct mbsys_elac_struct *) store_ptr; /* read next data from file */ status = mbr_bchrtunb_rd_data(verbose,mbio_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = data->kind; /* add nav records to list for interpolation */ if (status == MB_SUCCESS && data->kind == MB_DATA_NAV) { mb_fix_y2k(verbose, data->pos_year,&time_i[0]); time_i[1] = data->pos_month; time_i[2] = data->pos_day; time_i[3] = data->pos_hour; time_i[4] = data->pos_minute; time_i[5] = data->pos_second; time_i[6] = 10000*data->pos_hundredth_sec + 100*data->pos_thousandth_sec; mb_get_time(verbose,time_i, &time_d); lon = data->pos_longitude*0.00000009; lat = data->pos_latitude*0.00000009; mb_navint_add(verbose, mbio_ptr, time_d, lon, lat, error); } /* interpolate navigation for survey pings if needed */ if (status == MB_SUCCESS && data->kind == MB_DATA_DATA && data->profile[0].longitude == 0 && data->profile[0].latitude == 0 && mb_io_ptr->nfix >= 1) { mb_fix_y2k(verbose, data->profile[0].year,&time_i[0]); time_i[1] = data->profile[0].month; time_i[2] = data->profile[0].day; time_i[3] = data->profile[0].hour; time_i[4] = data->profile[0].minute; time_i[5] = data->profile[0].second; time_i[6] = 10000*data->profile[0].hundredth_sec + 100*data->profile[0].thousandth_sec; mb_get_time(verbose,time_i, &time_d); heading = 0.01 * data->profile[0].heading; mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &lon, &lat, &speed, error); data->profile[0].longitude = (int) (lon / 0.00000009); data->profile[0].latitude = (int) (lat / 0.00000009); } /* translate values to elac data storage structure */ if (status == MB_SUCCESS && store != NULL) { store->kind = data->kind; store->sonar = data->sonar; /* parameter telegram */ store->par_year = data->par_year; store->par_month = data->par_month; store->par_day = data->par_day; store->par_hour = data->par_hour; store->par_minute = data->par_minute; store->par_second = data->par_second; store->par_hundredth_sec = data->par_hundredth_sec; store->par_thousandth_sec = data->par_thousandth_sec; store->roll_offset = data->roll_offset; store->pitch_offset = data->pitch_offset; store->heading_offset = data->heading_offset; store->time_delay = data->time_delay; store->transducer_port_height = data->transducer_port_height; store->transducer_starboard_height = data->transducer_starboard_height; store->transducer_port_depth = data->transducer_port_depth; store->transducer_starboard_depth = data->transducer_starboard_depth; store->transducer_port_x = data->transducer_port_x; store->transducer_starboard_x = data->transducer_starboard_x; store->transducer_port_y = data->transducer_port_y; store->transducer_starboard_y = data->transducer_starboard_y; store->transducer_port_error = data->transducer_port_error; store->transducer_starboard_error = data->transducer_starboard_error; store->antenna_height = data->antenna_height; store->antenna_x = data->antenna_x; store->antenna_y = data->antenna_y; store->vru_height = data->vru_height; store->vru_x = data->vru_x; store->vru_y = data->vru_y; store->heave_offset = data->heave_offset; store->line_number = data->line_number; store->start_or_stop = data->start_or_stop; store->transducer_serial_number = data->transducer_serial_number; for (i=0;icomment[i] = data->comment[i]; /* position (position telegrams) */ store->pos_year = data->pos_year; store->pos_month = data->pos_month; store->pos_day = data->pos_day; store->pos_hour = data->pos_hour; store->pos_minute = data->pos_minute; store->pos_second = data->pos_second; store->pos_hundredth_sec = data->pos_hundredth_sec; store->pos_thousandth_sec = data->pos_thousandth_sec; store->pos_latitude = data->pos_latitude; store->pos_longitude = data->pos_longitude; store->utm_northing = data->utm_northing; store->utm_easting = data->utm_easting; store->utm_zone_lon = data->utm_zone_lon; store->utm_zone = data->utm_zone; store->hemisphere = data->hemisphere; store->ellipsoid = data->ellipsoid; store->pos_spare = data->pos_spare; store->semi_major_axis = data->semi_major_axis; store->other_quality = data->other_quality; /* sound velocity profile */ store->svp_year = data->svp_year; store->svp_month = data->svp_month; store->svp_day = data->svp_day; store->svp_hour = data->svp_hour; store->svp_minute = data->svp_minute; store->svp_second = data->svp_second; store->svp_hundredth_sec = data->svp_hundredth_sec; store->svp_thousandth_sec = data->svp_thousandth_sec; store->svp_num = data->svp_num; for (i=0;i<500;i++) { store->svp_depth[i] = data->svp_depth[i]; store->svp_vel[i] = data->svp_vel[i]; } /* depth telegram */ store->ping_num = data->ping_num; store->sound_vel = data->sound_vel; store->mode = data->mode; store->pulse_length = data->pulse_length; store->source_power = data->source_power; store->receiver_gain = data->receiver_gain; store->profile_num = data->profile_num; store->beams_bath = data->beams_bath; for (i=0;i<7;i++) { store->profile[i].year = data->profile[i].year; store->profile[i].month = data->profile[i].month; store->profile[i].day = data->profile[i].day; store->profile[i].hour = data->profile[i].hour; store->profile[i].minute = data->profile[i].minute; store->profile[i].second = data->profile[i].second; store->profile[i].hundredth_sec = data->profile[i].hundredth_sec; store->profile[i].thousandth_sec = data->profile[i].thousandth_sec; store->profile[i].longitude = data->profile[i].longitude; store->profile[i].latitude = data->profile[i].latitude; store->profile[i].roll = data->profile[i].roll; store->profile[i].pitch = data->profile[i].pitch; store->profile[i].heading = data->profile[i].heading; store->profile[i].heave = data->profile[i].heave; for (j=0;j<8;j++) { store->profile[i].bath[j] = data->profile[i].bath[j]; store->profile[i].bath_acrosstrack[j] = 2 * data->profile[i].bath_acrosstrack[j]; store->profile[i].bath_alongtrack[j] = data->profile[i].bath_alongtrack[j]; store->profile[i].tt[j] = data->profile[i].tt[j]; store->profile[i].angle[j] = data->profile[i].angle[j]; store->profile[i].quality[j] = data->profile[i].quality[j]; store->profile[i].amp[j] = data->profile[i].amp[j]; } } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wt_bchrtunb(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_bchrtunb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_bchrtunb_struct *data; char *data_ptr; struct mbsys_elac_struct *store; 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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_bchrtunb_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; store = (struct mbsys_elac_struct *) store_ptr; /* first translate values from data storage structure */ if (store != NULL) { data->kind = store->kind; data->sonar = store->sonar; /* parameter telegram */ data->par_year = store->par_year; data->par_month = store->par_month; data->par_day = store->par_day; data->par_hour = store->par_hour; data->par_minute = store->par_minute; data->par_second = store->par_second; data->par_hundredth_sec = store->par_hundredth_sec; data->par_thousandth_sec = store->par_thousandth_sec; data->roll_offset = store->roll_offset; data->pitch_offset = store->pitch_offset; data->heading_offset = store->heading_offset; data->time_delay = store->time_delay; data->transducer_port_height = store->transducer_port_height; data->transducer_starboard_height = store->transducer_starboard_height; data->transducer_port_depth = store->transducer_port_depth; data->transducer_starboard_depth = store->transducer_starboard_depth; data->transducer_port_x = store->transducer_port_x; data->transducer_starboard_x = store->transducer_starboard_x; data->transducer_port_y = store->transducer_port_y; data->transducer_starboard_y = store->transducer_starboard_y; data->transducer_port_error = store->transducer_port_error; data->transducer_starboard_error = store->transducer_starboard_error; data->antenna_height = store->antenna_height; data->antenna_x = store->antenna_x; data->antenna_y = store->antenna_y; data->vru_height = store->vru_height; data->vru_x = store->vru_x; data->vru_y = store->vru_y; data->heave_offset = store->heave_offset; data->line_number = store->line_number; data->start_or_stop = store->start_or_stop; data->transducer_serial_number = store->transducer_serial_number; for (i=0;icomment[i] = store->comment[i]; /* position (position telegrams) */ data->pos_year = store->pos_year; data->pos_month = store->pos_month; data->pos_day = store->pos_day; data->pos_hour = store->pos_hour; data->pos_minute = store->pos_minute; data->pos_second = store->pos_second; data->pos_hundredth_sec = store->pos_hundredth_sec; data->pos_thousandth_sec = store->pos_thousandth_sec; data->pos_latitude = store->pos_latitude; data->pos_longitude = store->pos_longitude; data->utm_northing = store->utm_northing; data->utm_easting = store->utm_easting; data->utm_zone_lon = store->utm_zone_lon; data->utm_zone = store->utm_zone; data->hemisphere = store->hemisphere; data->ellipsoid = store->ellipsoid; data->pos_spare = store->pos_spare; data->semi_major_axis = store->semi_major_axis; data->other_quality = store->other_quality; /* sound velocity profile */ data->svp_year = store->svp_year; data->svp_month = store->svp_month; data->svp_day = store->svp_day; data->svp_hour = store->svp_hour; data->svp_minute = store->svp_minute; data->svp_second = store->svp_second; data->svp_hundredth_sec = store->svp_hundredth_sec; data->svp_thousandth_sec = store->svp_thousandth_sec; data->svp_num = store->svp_num; for (i=0;i<500;i++) { data->svp_depth[i] = store->svp_depth[i]; data->svp_vel[i] = store->svp_vel[i]; } /* depth telegram */ data->ping_num = store->ping_num; data->sound_vel = store->sound_vel; data->mode = store->mode; data->pulse_length = store->pulse_length; data->source_power = store->source_power; data->receiver_gain = store->receiver_gain; data->profile_num = store->profile_num; data->beams_bath = store->beams_bath; for (i=0;i<7;i++) { data->profile[i].year = store->profile[i].year; data->profile[i].month = store->profile[i].month; data->profile[i].day = store->profile[i].day; data->profile[i].hour = store->profile[i].hour; data->profile[i].minute = store->profile[i].minute; data->profile[i].second = store->profile[i].second; data->profile[i].hundredth_sec = store->profile[i].hundredth_sec; data->profile[i].thousandth_sec = store->profile[i].thousandth_sec; data->profile[i].longitude = store->profile[i].longitude; data->profile[i].latitude = store->profile[i].latitude; data->profile[i].roll = store->profile[i].roll; data->profile[i].pitch = store->profile[i].pitch; data->profile[i].heading = store->profile[i].heading; data->profile[i].heave = store->profile[i].heave; for (j=0;j<8;j++) { data->profile[i].bath[j] = store->profile[i].bath[j]; data->profile[i].bath_acrosstrack[j] = store->profile[i].bath_acrosstrack[j] / 2; data->profile[i].bath_alongtrack[j] = store->profile[i].bath_alongtrack[j]; data->profile[i].tt[j] = store->profile[i].tt[j]; data->profile[i].angle[j] = store->profile[i].angle[j]; data->profile[i].quality[j] = store->profile[i].quality[j]; data->profile[i].amp[j] = store->profile[i].amp[j]; } } } /* write next data to file */ status = mbr_bchrtunb_wr_data(verbose,mbio_ptr,data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_bchrtunb_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_bchrtunb_struct *data; char *data_ptr; FILE *mbfp; int done; short int *type; static char label[2]; /* 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: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_bchrtunb_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; mbfp = mb_io_ptr->mbfp; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; done = MB_NO; type = (short int *) label; *error = MB_ERROR_NO_ERROR; while (done == MB_NO) { /* get next record label */ if ((status = fread(&label[0],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (label[0] == 0x02) if ((status = fread(&label[1],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* swap bytes if necessary */ #ifdef BYTESWAPPED *type = (short int) mb_swap_short(*type); #endif /* read the appropriate data records */ if (status == MB_FAILURE) { done = MB_YES; } else if (*type == ELAC_COMMENT) { status = mbr_bchrtunb_rd_comment( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_COMMENT; } } else if (*type == ELAC_PARAMETER) { status = mbr_bchrtunb_rd_parameter( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_PARAMETER; } } else if (*type == ELAC_POS) { status = mbr_bchrtunb_rd_pos( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_NAV; } } else if (*type == ELAC_SVP) { status = mbr_bchrtunb_rd_svp( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_VELOCITY_PROFILE; } } else if (*type == ELAC_BATH56) { status = mbr_bchrtunb_rd_bath56( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_DATA; } } else if (*type == ELAC_BATH40) { status = mbr_bchrtunb_rd_bath40( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_DATA; } } else if (*type == ELAC_BATH32) { status = mbr_bchrtunb_rd_bath32( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_DATA; } } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* bail out if there is an error */ if (status == MB_FAILURE) done = MB_YES; } /* get file position */ mb_io_ptr->file_bytes = ftell(mbfp); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_comment(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_comment"; int status = MB_SUCCESS; char line[ELAC_COMMENT_SIZE+3]; /* 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_COMMENT_SIZE+3,mbfp); if (status == ELAC_COMMENT_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_COMMENT; strncpy(data->comment,line,MBF_BCHRTUNB_COMMENT_LENGTH-1); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_parameter(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_parameter"; int status = MB_SUCCESS; char line[ELAC_PARAMETER_SIZE+3]; short int *short_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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_PARAMETER_SIZE+3,mbfp); if (status == ELAC_PARAMETER_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_PARAMETER; data->par_day = (int) line[0]; data->par_month = (int) line[1]; data->par_year = (int) line[2]; data->par_hour = (int) line[3]; data->par_minute = (int) line[4]; data->par_second = (int) line[5]; data->par_hundredth_sec = (int) line[6]; data->par_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; data->roll_offset = *short_ptr; short_ptr = (short int *) &line[10]; data->pitch_offset = *short_ptr; short_ptr = (short int *) &line[12]; data->heading_offset = *short_ptr; short_ptr = (short int *) &line[14]; data->time_delay = *short_ptr; short_ptr = (short int *) &line[16]; data->transducer_port_height = *short_ptr; short_ptr = (short int *) &line[18]; data->transducer_starboard_height = *short_ptr; short_ptr = (short int *) &line[20]; data->transducer_port_depth = *short_ptr; short_ptr = (short int *) &line[22]; data->transducer_starboard_depth = *short_ptr; short_ptr = (short int *) &line[24]; data->transducer_port_x = *short_ptr; short_ptr = (short int *) &line[26]; data->transducer_starboard_x = *short_ptr; short_ptr = (short int *) &line[28]; data->transducer_port_y = *short_ptr; short_ptr = (short int *) &line[30]; data->transducer_starboard_y = *short_ptr; short_ptr = (short int *) &line[32]; data->transducer_port_error = *short_ptr; short_ptr = (short int *) &line[34]; data->transducer_starboard_error = *short_ptr; short_ptr = (short int *) &line[36]; data->antenna_height = *short_ptr; short_ptr = (short int *) &line[38]; data->antenna_x = *short_ptr; short_ptr = (short int *) &line[40]; data->antenna_y = *short_ptr; short_ptr = (short int *) &line[42]; data->vru_height = *short_ptr; short_ptr = (short int *) &line[44]; data->vru_x = *short_ptr; short_ptr = (short int *) &line[46]; data->vru_y = *short_ptr; short_ptr = (short int *) &line[48]; data->heave_offset = *short_ptr; short_ptr = (short int *) &line[50]; data->line_number = *short_ptr; short_ptr = (short int *) &line[52]; data->start_or_stop = *short_ptr; short_ptr = (short int *) &line[54]; data->transducer_serial_number = *short_ptr; #else short_ptr = (short int *) &line[8]; data->roll_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[10]; data->pitch_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[12]; data->heading_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[14]; data->time_delay = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[16]; data->transducer_port_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[18]; data->transducer_starboard_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[20]; data->transducer_port_depth = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[22]; data->transducer_starboard_depth = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[24]; data->transducer_port_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[26]; data->transducer_starboard_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[28]; data->transducer_port_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[30]; data->transducer_starboard_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[32]; data->transducer_port_error = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[34]; data->transducer_starboard_error = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[36]; data->antenna_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[38]; data->antenna_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[40]; data->antenna_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[42]; data->vru_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[44]; data->vru_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[46]; data->vru_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[48]; data->heave_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[50]; data->line_number = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[52]; data->start_or_stop = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[54]; data->transducer_serial_number = (short int) mb_swap_short(*short_ptr); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->par_year); fprintf(stderr,"dbg5 month: %d\n",data->par_month); fprintf(stderr,"dbg5 day: %d\n",data->par_day); fprintf(stderr,"dbg5 hour: %d\n",data->par_hour); fprintf(stderr,"dbg5 minute: %d\n",data->par_minute); fprintf(stderr,"dbg5 sec: %d\n",data->par_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->par_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->par_thousandth_sec); fprintf(stderr,"dbg5 roll_offset: %d\n",data->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %d\n",data->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %d\n",data->heading_offset); fprintf(stderr,"dbg5 time_delay: %d\n",data->time_delay); fprintf(stderr,"dbg5 transducer_port_height: %d\n", data->transducer_port_height); fprintf(stderr,"dbg5 transducer_starboard_height:%d\n", data->transducer_starboard_height); fprintf(stderr,"dbg5 transducer_port_depth: %d\n", data->transducer_port_depth); fprintf(stderr,"dbg5 transducer_starboard_depth: %d\n", data->transducer_starboard_depth); fprintf(stderr,"dbg5 transducer_port_x: %d\n", data->transducer_port_x); fprintf(stderr,"dbg5 transducer_starboard_x: %d\n", data->transducer_starboard_x); fprintf(stderr,"dbg5 transducer_port_y: %d\n", data->transducer_port_y); fprintf(stderr,"dbg5 transducer_starboard_y: %d\n", data->transducer_starboard_y); fprintf(stderr,"dbg5 transducer_port_error: %d\n", data->transducer_port_error); fprintf(stderr,"dbg5 transducer_starboard_error: %d\n", data->transducer_starboard_error); fprintf(stderr,"dbg5 antenna_height: %d\n",data->antenna_height); fprintf(stderr,"dbg5 antenna_x: %d\n",data->antenna_x); fprintf(stderr,"dbg5 antenna_y: %d\n",data->antenna_y); fprintf(stderr,"dbg5 vru_height:%d\n",data->vru_height); fprintf(stderr,"dbg5 vru_x:%d\n",data->vru_x); fprintf(stderr,"dbg5 vru_y:%d\n",data->vru_y); fprintf(stderr,"dbg5 heave_offset:%d\n",data->heave_offset); fprintf(stderr,"dbg5 line_number:%d\n",data->line_number); fprintf(stderr,"dbg5 start_or_stop:%d\n",data->start_or_stop); fprintf(stderr,"dbg5 transducer_serial_number:%d\n", data->transducer_serial_number); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_pos(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_pos"; int status = MB_SUCCESS; char line[ELAC_POS_SIZE+3]; short int *short_ptr; int *int_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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_POS_SIZE+3,mbfp); if (status == ELAC_POS_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_NAV; data->pos_day = (int) line[0]; data->pos_month = (int) line[1]; data->pos_year = (int) line[2]; data->pos_hour = (int) line[3]; data->pos_minute = (int) line[4]; data->pos_second = (int) line[5]; data->pos_hundredth_sec = (int) line[6]; data->pos_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; data->pos_latitude = *int_ptr; int_ptr = (int *) &line[12]; data->pos_longitude = *int_ptr; int_ptr = (int *) &line[16]; data->utm_northing = *int_ptr; int_ptr = (int *) &line[20]; data->utm_easting = *int_ptr; int_ptr = (int *) &line[24]; data->utm_zone_lon = *int_ptr; data->utm_zone = line[28]; data->hemisphere = line[29]; data->ellipsoid = line[30]; data->pos_spare = line[31]; short_ptr = (short int *) &line[32]; data->semi_major_axis = (int) *short_ptr; short_ptr = (short int *) &line[34]; data->other_quality = (int) *short_ptr; #else int_ptr = (int *) &line[8]; data->pos_latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[12]; data->pos_longitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[16]; data->utm_northing = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[20]; data->utm_easting = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[24]; data->utm_zone_lon = (int) mb_swap_int(*int_ptr); data->utm_zone = line[28]; data->hemisphere = line[29]; data->ellipsoid = line[30]; data->pos_spare = line[31]; short_ptr = (short int *) &line[32]; data->semi_major_axis = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[34]; data->other_quality = (int) mb_swap_short(*short_ptr); #endif } /* KLUGE for 1996 UNB TRAINING COURSE - FLIP LONGITUDE */ if (data->pos_year == 96 && data->pos_month >= 6 && data->pos_month <= 8) data->pos_longitude = -data->pos_longitude; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->pos_year); fprintf(stderr,"dbg5 month: %d\n",data->pos_month); fprintf(stderr,"dbg5 day: %d\n",data->pos_day); fprintf(stderr,"dbg5 hour: %d\n",data->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",data->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",data->pos_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->pos_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->pos_thousandth_sec); fprintf(stderr,"dbg5 pos_latitude: %d\n",data->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",data->pos_longitude); fprintf(stderr,"dbg5 utm_northing: %d\n",data->utm_northing); fprintf(stderr,"dbg5 utm_easting: %d\n",data->utm_easting); fprintf(stderr,"dbg5 utm_zone_lon: %d\n",data->utm_zone_lon); fprintf(stderr,"dbg5 utm_zone: %c\n",data->utm_zone); fprintf(stderr,"dbg5 hemisphere: %c\n",data->hemisphere); fprintf(stderr,"dbg5 ellipsoid: %c\n",data->ellipsoid); fprintf(stderr,"dbg5 pos_spare: %c\n",data->pos_spare); fprintf(stderr,"dbg5 semi_major_axis: %d\n",data->semi_major_axis); fprintf(stderr,"dbg5 other_quality: %d\n",data->other_quality); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_svp(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_svp"; int status = MB_SUCCESS; char line[ELAC_SVP_SIZE+3]; short int *short_ptr; short int *short_ptr2; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_SVP_SIZE+3,mbfp); if (status == ELAC_SVP_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_VELOCITY_PROFILE; data->svp_day = (int) line[0]; data->svp_month = (int) line[1]; data->svp_year = (int) line[2]; data->svp_hour = (int) line[3]; data->svp_minute = (int) line[4]; data->svp_second = (int) line[5]; data->svp_hundredth_sec = (int) line[6]; data->svp_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; data->svp_latitude = *int_ptr; int_ptr = (int *) &line[12]; data->svp_longitude = *int_ptr; #else int_ptr = (int *) &line[8]; data->svp_latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[12]; data->svp_latitude = (int) mb_swap_int(*int_ptr); #endif data->svp_num = 0; for (i=0;i<500;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; #ifndef BYTESWAPPED data->svp_depth[i] = *short_ptr; data->svp_vel[i] = *short_ptr2; #else data->svp_depth[i] = (short int) mb_swap_short(*short_ptr); data->svp_vel[i] = (short int) mb_swap_short(*short_ptr2); #endif if (data->svp_vel[i] > 0) data->svp_num = i + 1; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->svp_year); fprintf(stderr,"dbg5 month: %d\n",data->svp_month); fprintf(stderr,"dbg5 day: %d\n",data->svp_day); fprintf(stderr,"dbg5 hour: %d\n",data->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",data->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",data->svp_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->svp_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->svp_thousandth_sec); fprintf(stderr,"dbg5 svp_latitude: %d\n",data->svp_latitude); fprintf(stderr,"dbg5 svp_longitude: %d\n",data->svp_longitude); fprintf(stderr,"dbg5 svp_num: %d\n",data->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", data->svp_depth[i],data->svp_vel[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_bath56(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_bath56"; int status = MB_SUCCESS; char line[ELAC_BATH56_SIZE+3]; char *profile; char *beam; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_BATH56_SIZE+3,mbfp); if (status == ELAC_BATH56_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_DATA; #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; data->ping_num = (int) *short_ptr; short_ptr = (short int *) &line[2]; data->sound_vel = (int) *short_ptr; #else short_ptr = (short int *) &line[0]; data->ping_num = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[2]; data->sound_vel = (int) mb_swap_short(*short_ptr); #endif data->mode = (int) line[4]; data->pulse_length = (int) line[5]; data->source_power = (int) line[6]; data->receiver_gain = (int) line[7]; data->profile_num = 7; data->beams_bath = 56; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; data->profile[i].day = (int) profile[0]; data->profile[i].month = (int) profile[1]; data->profile[i].year = (int) profile[2]; data->profile[i].hour = (int) profile[3]; data->profile[i].minute = (int) profile[4]; data->profile[i].second = (int) profile[5]; data->profile[i].hundredth_sec = (int) profile[6]; data->profile[i].thousandth_sec = (int) profile[7]; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) *int_ptr; int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) *int_ptr; short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) *short_ptr; short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) *short_ptr; short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) *short_ptr; short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) *short_ptr; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) *short_ptr; short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) *short_ptr; short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) *short_ptr; data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #else int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) mb_swap_int(*int_ptr); short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) mb_swap_short(*short_ptr); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) mb_swap_short(*short_ptr); data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #endif } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath[%2d][%d]: %d\n", i,j,data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack[%2d][%d]: %d\n", i,j,data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack[%2d][%d]: %d\n", i,j,data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt[%2d][%d]: %d\n", i,j,data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle[%2d][%d]: %d\n", i,j,data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality[%2d][%d]: %d\n", i,j,data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp[%2d][%d]: %d\n", i,j,data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_bath40(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_bath40"; int status = MB_SUCCESS; char line[ELAC_BATH40_SIZE+3]; char *profile; char *beam; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_BATH40_SIZE+3,mbfp); if (status == ELAC_BATH40_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_DATA; #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; data->ping_num = (int) *short_ptr; short_ptr = (short int *) &line[2]; data->sound_vel = (int) *short_ptr; #else short_ptr = (short int *) &line[0]; data->ping_num = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[2]; data->sound_vel = (int) mb_swap_short(*short_ptr); #endif data->mode = (int) line[4]; data->pulse_length = (int) line[5]; data->source_power = (int) line[6]; data->receiver_gain = (int) line[7]; data->profile_num = 5; data->beams_bath = 40; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; data->profile[i].day = (int) profile[0]; data->profile[i].month = (int) profile[1]; data->profile[i].year = (int) profile[2]; data->profile[i].hour = (int) profile[3]; data->profile[i].minute = (int) profile[4]; data->profile[i].second = (int) profile[5]; data->profile[i].hundredth_sec = (int) profile[6]; data->profile[i].thousandth_sec = (int) profile[7]; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) *int_ptr; int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) *int_ptr; short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) *short_ptr; short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) *short_ptr; short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) *short_ptr; short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) *short_ptr; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) *short_ptr; short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) *short_ptr; short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) *short_ptr; data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #else int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) mb_swap_int(*int_ptr); short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) mb_swap_short(*short_ptr); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) mb_swap_short(*short_ptr); data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #endif } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath: %d\n", data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt: %d\n", data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle: %d\n", data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality: %d\n", data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp: %d\n", data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_rd_bath32(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_rd_bath32"; int status = MB_SUCCESS; char line[ELAC_BATH32_SIZE+3]; char *profile; char *beam; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELAC_BATH32_SIZE+3,mbfp); if (status == ELAC_BATH32_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_DATA; #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; data->ping_num = (int) *short_ptr; short_ptr = (short int *) &line[2]; data->sound_vel = (int) *short_ptr; #else short_ptr = (short int *) &line[0]; data->ping_num = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[2]; data->sound_vel = (int) mb_swap_short(*short_ptr); #endif data->mode = (int) line[4]; data->pulse_length = (int) line[5]; data->source_power = (int) line[6]; data->receiver_gain = (int) line[7]; data->profile_num = 4; data->beams_bath = 32; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; data->profile[i].day = (int) profile[0]; data->profile[i].month = (int) profile[1]; data->profile[i].year = (int) profile[2]; data->profile[i].hour = (int) profile[3]; data->profile[i].minute = (int) profile[4]; data->profile[i].second = (int) profile[5]; data->profile[i].hundredth_sec = (int) profile[6]; data->profile[i].thousandth_sec = (int) profile[7]; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) *int_ptr; int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) *int_ptr; short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) *short_ptr; short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) *short_ptr; short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) *short_ptr; short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) *short_ptr; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) *short_ptr; short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) *short_ptr; short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) *short_ptr; short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) *short_ptr; data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #else int_ptr = (int *) &profile[8]; data->profile[i].latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &profile[12]; data->profile[i].longitude = (int) mb_swap_int(*int_ptr); short_ptr = (short int *) &profile[16]; data->profile[i].roll = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[18]; data->profile[i].pitch = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[20]; data->profile[i].heading = (int)(unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &profile[22]; data->profile[i].heave = (int) mb_swap_short(*short_ptr); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; data->profile[i].bath[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[2]; data->profile[i].bath_acrosstrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[4]; data->profile[i].bath_alongtrack[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[6]; data->profile[i].tt[j] = (short int) mb_swap_short(*short_ptr); short_ptr = (short *) &beam[8]; data->profile[i].angle[j] = (short int) mb_swap_short(*short_ptr); data->profile[i].quality[j] = (short int) beam[10]; data->profile[i].amp[j] = (short int) beam[11]; } #endif } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath: %d\n", data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt: %d\n", data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle: %d\n", data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality: %d\n", data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp: %d\n", data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_data(int verbose, void *mbio_ptr, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; FILE *mbfp; /* 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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; mbfp = mb_io_ptr->mbfp; if (data->kind == MB_DATA_COMMENT) { status = mbr_bchrtunb_wr_comment(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_PARAMETER) { status = mbr_bchrtunb_wr_parameter(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_NAV) { status = mbr_bchrtunb_wr_pos(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_VELOCITY_PROFILE) { status = mbr_bchrtunb_wr_svp(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA && data->profile_num == 7) { status = mbr_bchrtunb_wr_bath56(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA && data->profile_num == 5) { status = mbr_bchrtunb_wr_bath40(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA && data->profile_num == 4) { status = mbr_bchrtunb_wr_bath32(verbose,mbfp,data,error); } else { status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",data->kind); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_comment(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_comment"; int status = MB_SUCCESS; char line[ELAC_COMMENT_SIZE+3]; short int label; int len; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->comment); } /* write the record label */ label = ELAC_COMMENT; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ len = strlen(data->comment); if (len > MBSYS_ELAC_COMMENT_LENGTH) len = MBSYS_ELAC_COMMENT_LENGTH; for (i=0;icomment[i]; for (i=len;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_parameter(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_parameter"; int status = MB_SUCCESS; char line[ELAC_PARAMETER_SIZE+3]; short int label; short int *short_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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->par_year); fprintf(stderr,"dbg5 month: %d\n",data->par_month); fprintf(stderr,"dbg5 day: %d\n",data->par_day); fprintf(stderr,"dbg5 hour: %d\n",data->par_hour); fprintf(stderr,"dbg5 minute: %d\n",data->par_minute); fprintf(stderr,"dbg5 sec: %d\n",data->par_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->par_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->par_thousandth_sec); fprintf(stderr,"dbg5 roll_offset: %d\n",data->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %d\n",data->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %d\n",data->heading_offset); fprintf(stderr,"dbg5 time_delay: %d\n",data->time_delay); fprintf(stderr,"dbg5 transducer_port_height: %d\n", data->transducer_port_height); fprintf(stderr,"dbg5 transducer_starboard_height:%d\n", data->transducer_starboard_height); fprintf(stderr,"dbg5 transducer_port_depth: %d\n", data->transducer_port_depth); fprintf(stderr,"dbg5 transducer_starboard_depth: %d\n", data->transducer_starboard_depth); fprintf(stderr,"dbg5 transducer_port_x: %d\n", data->transducer_port_x); fprintf(stderr,"dbg5 transducer_starboard_x: %d\n", data->transducer_starboard_x); fprintf(stderr,"dbg5 transducer_port_y: %d\n", data->transducer_port_y); fprintf(stderr,"dbg5 transducer_starboard_y: %d\n", data->transducer_starboard_y); fprintf(stderr,"dbg5 transducer_port_error: %d\n", data->transducer_port_error); fprintf(stderr,"dbg5 transducer_starboard_error: %d\n", data->transducer_starboard_error); fprintf(stderr,"dbg5 antenna_height: %d\n",data->antenna_height); fprintf(stderr,"dbg5 antenna_x: %d\n",data->antenna_x); fprintf(stderr,"dbg5 antenna_y: %d\n",data->antenna_y); fprintf(stderr,"dbg5 vru_height:%d\n",data->vru_height); fprintf(stderr,"dbg5 vru_x:%d\n",data->vru_x); fprintf(stderr,"dbg5 vru_y:%d\n",data->vru_y); fprintf(stderr,"dbg5 heave_offset:%d\n",data->heave_offset); fprintf(stderr,"dbg5 line_number:%d\n",data->line_number); fprintf(stderr,"dbg5 start_or_stop:%d\n",data->start_or_stop); fprintf(stderr,"dbg5 transducer_serial_number:%d\n", data->transducer_serial_number); } /* write the record label */ label = ELAC_PARAMETER; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->par_day; line[1] = (char) data->par_month; line[2] = (char) data->par_year; line[3] = (char) data->par_hour; line[4] = (char) data->par_minute; line[5] = (char) data->par_second; line[6] = (char) data->par_hundredth_sec; line[7] = (char) data->par_thousandth_sec; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; *short_ptr = data->roll_offset; short_ptr = (short int *) &line[10]; *short_ptr = data->pitch_offset; short_ptr = (short int *) &line[12]; *short_ptr = data->heading_offset; short_ptr = (short int *) &line[14]; *short_ptr = data->time_delay; short_ptr = (short int *) &line[16]; *short_ptr = data->transducer_port_height; short_ptr = (short int *) &line[18]; *short_ptr = data->transducer_starboard_height; short_ptr = (short int *) &line[20]; *short_ptr = data->transducer_port_depth; short_ptr = (short int *) &line[22]; *short_ptr = data->transducer_starboard_depth; short_ptr = (short int *) &line[24]; *short_ptr = data->transducer_port_x; short_ptr = (short int *) &line[26]; *short_ptr = data->transducer_starboard_x; short_ptr = (short int *) &line[28]; *short_ptr = data->transducer_port_y; short_ptr = (short int *) &line[30]; *short_ptr = data->transducer_starboard_y; short_ptr = (short int *) &line[32]; *short_ptr = data->transducer_port_error; short_ptr = (short int *) &line[34]; *short_ptr = data->transducer_starboard_error; short_ptr = (short int *) &line[36]; *short_ptr = data->antenna_height; short_ptr = (short int *) &line[38]; *short_ptr = data->antenna_x; short_ptr = (short int *) &line[40]; *short_ptr = data->antenna_y; short_ptr = (short int *) &line[42]; *short_ptr = data->vru_height; short_ptr = (short int *) &line[44]; *short_ptr = data->vru_x; short_ptr = (short int *) &line[46]; *short_ptr = data->vru_y; short_ptr = (short int *) &line[48]; *short_ptr = data->heave_offset; short_ptr = (short int *) &line[50]; *short_ptr = data->line_number; short_ptr = (short int *) &line[52]; *short_ptr = data->start_or_stop; short_ptr = (short int *) &line[54]; *short_ptr = data->transducer_serial_number; #else short_ptr = (short int *) &line[8]; *short_ptr = (short int) mb_swap_short(data->roll_offset); short_ptr = (short int *) &line[10]; *short_ptr = (short int) mb_swap_short(data->pitch_offset); short_ptr = (short int *) &line[12]; *short_ptr = (short int) mb_swap_short(data->heading_offset); short_ptr = (short int *) &line[14]; *short_ptr = (short int) mb_swap_short(data->time_delay); short_ptr = (short int *) &line[16]; *short_ptr = (short int) mb_swap_short(data->transducer_port_height); short_ptr = (short int *) &line[18]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_height); short_ptr = (short int *) &line[20]; *short_ptr = (short int) mb_swap_short(data->transducer_port_depth); short_ptr = (short int *) &line[22]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_depth); short_ptr = (short int *) &line[24]; *short_ptr = (short int) mb_swap_short(data->transducer_port_x); short_ptr = (short int *) &line[26]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_x); short_ptr = (short int *) &line[28]; *short_ptr = (short int) mb_swap_short(data->transducer_port_y); short_ptr = (short int *) &line[30]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_y); short_ptr = (short int *) &line[32]; *short_ptr = (short int) mb_swap_short(data->transducer_port_error); short_ptr = (short int *) &line[34]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_error); short_ptr = (short int *) &line[36]; *short_ptr = (short int) mb_swap_short(data->antenna_height); short_ptr = (short int *) &line[38]; *short_ptr = (short int) mb_swap_short(data->antenna_x); short_ptr = (short int *) &line[40]; *short_ptr = (short int) mb_swap_short(data->antenna_y); short_ptr = (short int *) &line[42]; *short_ptr = (short int) mb_swap_short(data->vru_height); short_ptr = (short int *) &line[44]; *short_ptr = (short int) mb_swap_short(data->vru_x); short_ptr = (short int *) &line[46]; *short_ptr = (short int) mb_swap_short(data->vru_y); short_ptr = (short int *) &line[48]; *short_ptr = (short int) mb_swap_short(data->heave_offset); short_ptr = (short int *) &line[50]; *short_ptr = (short int) mb_swap_short(data->line_number); short_ptr = (short int *) &line[52]; *short_ptr = (short int) mb_swap_short(data->start_or_stop); short_ptr = (short int *) &line[54]; *short_ptr = (short int) mb_swap_short(data->transducer_serial_number); #endif line[ELAC_PARAMETER_SIZE] = 0x03; line[ELAC_PARAMETER_SIZE+1] = '\0'; line[ELAC_PARAMETER_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_PARAMETER_SIZE+3,mbfp); if (status != ELAC_PARAMETER_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_pos(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_pos"; int status = MB_SUCCESS; char line[ELAC_POS_SIZE+3]; short int label; short int *short_ptr; int *int_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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->pos_year); fprintf(stderr,"dbg5 month: %d\n",data->pos_month); fprintf(stderr,"dbg5 day: %d\n",data->pos_day); fprintf(stderr,"dbg5 hour: %d\n",data->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",data->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",data->pos_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->pos_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->pos_thousandth_sec); fprintf(stderr,"dbg5 pos_latitude: %d\n",data->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",data->pos_longitude); fprintf(stderr,"dbg5 utm_northing: %d\n",data->utm_northing); fprintf(stderr,"dbg5 utm_easting: %d\n",data->utm_easting); fprintf(stderr,"dbg5 utm_zone_lon: %d\n",data->utm_zone_lon); fprintf(stderr,"dbg5 utm_zone: %c\n",data->utm_zone); fprintf(stderr,"dbg5 hemisphere: %c\n",data->hemisphere); fprintf(stderr,"dbg5 ellipsoid: %c\n",data->ellipsoid); fprintf(stderr,"dbg5 pos_spare: %c\n",data->pos_spare); fprintf(stderr,"dbg5 semi_major_axis: %d\n",data->semi_major_axis); fprintf(stderr,"dbg5 other_quality: %d\n",data->other_quality); } /* write the record label */ label = ELAC_POS; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->pos_day; line[1] = (char) data->pos_month; line[2] = (char) data->pos_year; line[3] = (char) data->pos_hour; line[4] = (char) data->pos_minute; line[5] = (char) data->pos_second; line[6] = (char) data->pos_hundredth_sec; line[7] = (char) data->pos_thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; *int_ptr = data->pos_latitude; int_ptr = (int *) &line[12]; *int_ptr = data->pos_longitude; int_ptr = (int *) &line[16]; *int_ptr = data->utm_northing; int_ptr = (int *) &line[20]; *int_ptr = data->utm_easting; int_ptr = (int *) &line[24]; *int_ptr = data->utm_zone_lon; line[28] = data->utm_zone; line[29] = data->hemisphere; line[30] = data->ellipsoid; line[31] = data->pos_spare; short_ptr = (short int *) &line[32]; *short_ptr = (short int) data->semi_major_axis; short_ptr = (short int *) &line[34]; *short_ptr = (short int) data->other_quality; #else int_ptr = (int *) &line[8]; *int_ptr = (int) mb_swap_int(data->pos_latitude); int_ptr = (int *) &line[12]; *int_ptr = (int) mb_swap_int(data->pos_longitude); int_ptr = (int *) &line[16]; *int_ptr = (int) mb_swap_int(data->utm_northing); int_ptr = (int *) &line[20]; *int_ptr = (int) mb_swap_int(data->utm_easting); int_ptr = (int *) &line[24]; *int_ptr = (int) mb_swap_int(data->utm_zone_lon); line[28] = data->utm_zone; line[29] = data->hemisphere; line[30] = data->ellipsoid; line[31] = data->pos_spare; short_ptr = (short int *) &line[32]; *short_ptr = (int) mb_swap_short(data->semi_major_axis); short_ptr = (short int *) &line[34]; *short_ptr = (int) mb_swap_short(data->other_quality); #endif line[ELAC_POS_SIZE] = 0x03; line[ELAC_POS_SIZE+1] = '\0'; line[ELAC_POS_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_POS_SIZE+3,mbfp); if (status != ELAC_POS_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_svp(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_svp"; int status = MB_SUCCESS; char line[ELAC_SVP_SIZE+3]; short int label; short int *short_ptr; short int *short_ptr2; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->svp_year); fprintf(stderr,"dbg5 month: %d\n",data->svp_month); fprintf(stderr,"dbg5 day: %d\n",data->svp_day); fprintf(stderr,"dbg5 hour: %d\n",data->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",data->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",data->svp_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->svp_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->svp_thousandth_sec); fprintf(stderr,"dbg5 svp_latitude: %d\n",data->svp_latitude); fprintf(stderr,"dbg5 svp_longitude: %d\n",data->svp_longitude); fprintf(stderr,"dbg5 svp_num: %d\n",data->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", data->svp_depth[i],data->svp_vel[i]); } /* write the record label */ label = ELAC_SVP; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->svp_day; line[1] = (char) data->svp_month; line[2] = (char) data->svp_year; line[3] = (char) data->svp_hour; line[4] = (char) data->svp_minute; line[5] = (char) data->svp_second; line[6] = (char) data->svp_hundredth_sec; line[7] = (char) data->svp_thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; *int_ptr = data->svp_latitude; int_ptr = (int *) &line[12]; *int_ptr = data->svp_longitude; #else int_ptr = (int *) &line[8]; *int_ptr = (int) mb_swap_int(data->svp_latitude); int_ptr = (int *) &line[12]; *int_ptr = (int) mb_swap_int(data->svp_longitude); #endif for (i=0;isvp_num;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; #ifndef BYTESWAPPED *short_ptr = (short int) data->svp_depth[i]; *short_ptr2 = (short int) data->svp_vel[i]; #else *short_ptr = (short int) mb_swap_short((short int)data->svp_depth[i]); *short_ptr2 = (short int) mb_swap_short((short int)data->svp_vel[i]); #endif } for (i=data->svp_num;i<500;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; *short_ptr = 0; *short_ptr2 = 0; } line[ELAC_SVP_SIZE] = 0x03; line[ELAC_SVP_SIZE+1] = '\0'; line[ELAC_SVP_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_SVP_SIZE+3,mbfp); if (status != ELAC_SVP_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_bath56(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_bath56"; int status = MB_SUCCESS; char line[ELAC_BATH56_SIZE+3]; char *profile; char *beam; short int label; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath: %d\n", data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt: %d\n", data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle: %d\n", data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality: %d\n", data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp: %d\n", data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* write the record label */ label = ELAC_BATH56; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; *short_ptr = (short int) data->ping_num; short_ptr = (short int *) &line[2]; *short_ptr = (short int) data->sound_vel; #else short_ptr = (short int *) &line[0]; *short_ptr = (short int) mb_swap_short((short int) data->ping_num); short_ptr = (short int *) &line[2]; *short_ptr = (short int) mb_swap_short((short int) data->sound_vel); #endif line[4] = (char) data->mode; line[5] = (char) data->pulse_length; line[6] = (char) data->source_power; line[7] = (char) data->receiver_gain; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; profile[0] = (char) data->profile[i].day; profile[1] = (char) data->profile[i].month; profile[2] = (char) data->profile[i].year; profile[3] = (char) data->profile[i].hour; profile[4] = (char) data->profile[i].minute; profile[5] = (char) data->profile[i].second; profile[6] = (char) data->profile[i].hundredth_sec; profile[7] = (char) data->profile[i].thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; *int_ptr = (int) data->profile[i].latitude; int_ptr = (int *) &profile[12]; *int_ptr = (int) data->profile[i].longitude; short_ptr = (short int *) &profile[16]; *short_ptr = (short int) data->profile[i].roll; short_ptr = (short int *) &profile[18]; *short_ptr = (short int) data->profile[i].pitch; short_ptr = (short int *) &profile[20]; *short_ptr = (short int)(unsigned short) data->profile[i].heading; short_ptr = (short int *) &profile[22]; *short_ptr = (short int) data->profile[i].heave; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) data->profile[i].bath[j]; short_ptr = (short *) &beam[2]; *short_ptr = (short int) data->profile[i].bath_acrosstrack[j]; short_ptr = (short *) &beam[4]; *short_ptr = (short int) data->profile[i].bath_alongtrack[j]; short_ptr = (short *) &beam[6]; *short_ptr = (short int) data->profile[i].tt[j]; short_ptr = (short *) &beam[8]; *short_ptr = (short int) data->profile[i].angle[j]; beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #else int_ptr = (int *) &profile[8]; *int_ptr = (int) mb_swap_int(data->profile[i].latitude); int_ptr = (int *) &profile[12]; *int_ptr = (int) mb_swap_int(data->profile[i].longitude); short_ptr = (short int *) &profile[16]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].roll); short_ptr = (short int *) &profile[18]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].pitch); short_ptr = (short int *) &profile[20]; *short_ptr = (short int) mb_swap_short((short int)(unsigned short) data->profile[i].heading); short_ptr = (short int *) &profile[22]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].heave); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath[j]); short_ptr = (short *) &beam[2]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_acrosstrack[j]); short_ptr = (short *) &beam[4]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_alongtrack[j]); short_ptr = (short *) &beam[6]; *short_ptr = (short int) mb_swap_short(data->profile[i].tt[j]); short_ptr = (short *) &beam[8]; *short_ptr = (short int) mb_swap_short(data->profile[i].angle[j]); beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #endif } line[ELAC_BATH56_SIZE] = 0x03; line[ELAC_BATH56_SIZE+1] = '\0'; line[ELAC_BATH56_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_BATH56_SIZE+3,mbfp); if (status != ELAC_BATH56_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_bath40(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_bath40"; int status = MB_SUCCESS; char line[ELAC_BATH40_SIZE+3]; char *profile; char *beam; short int label; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath: %d\n", data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt: %d\n", data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle: %d\n", data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality: %d\n", data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp: %d\n", data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* write the record label */ label = ELAC_BATH40; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; *short_ptr = (short int) data->ping_num; short_ptr = (short int *) &line[2]; *short_ptr = (short int) data->sound_vel; #else short_ptr = (short int *) &line[0]; *short_ptr = (short int) mb_swap_short((short int) data->ping_num); short_ptr = (short int *) &line[2]; *short_ptr = (short int) mb_swap_short((short int) data->sound_vel); #endif line[4] = (char) data->mode; line[5] = (char) data->pulse_length; line[6] = (char) data->source_power; line[7] = (char) data->receiver_gain; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; profile[0] = (char) data->profile[i].day; profile[1] = (char) data->profile[i].month; profile[2] = (char) data->profile[i].year; profile[3] = (char) data->profile[i].hour; profile[4] = (char) data->profile[i].minute; profile[5] = (char) data->profile[i].second; profile[6] = (char) data->profile[i].hundredth_sec; profile[7] = (char) data->profile[i].thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; *int_ptr = (int) data->profile[i].latitude; int_ptr = (int *) &profile[12]; *int_ptr = (int) data->profile[i].longitude; short_ptr = (short int *) &profile[16]; *short_ptr = (short int) data->profile[i].roll; short_ptr = (short int *) &profile[18]; *short_ptr = (short int) data->profile[i].pitch; short_ptr = (short int *) &profile[20]; *short_ptr = (short int)(unsigned short) data->profile[i].heading; short_ptr = (short int *) &profile[22]; *short_ptr = (short int) data->profile[i].heave; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) data->profile[i].bath[j]; short_ptr = (short *) &beam[2]; *short_ptr = (short int) data->profile[i].bath_acrosstrack[j]; short_ptr = (short *) &beam[4]; *short_ptr = (short int) data->profile[i].bath_alongtrack[j]; short_ptr = (short *) &beam[6]; *short_ptr = (short int) data->profile[i].tt[j]; short_ptr = (short *) &beam[8]; *short_ptr = (short int) data->profile[i].angle[j]; beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #else int_ptr = (int *) &profile[8]; *int_ptr = (int) mb_swap_int(data->profile[i].latitude); int_ptr = (int *) &profile[12]; *int_ptr = (int) mb_swap_int(data->profile[i].longitude); short_ptr = (short int *) &profile[16]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].roll); short_ptr = (short int *) &profile[18]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].pitch); short_ptr = (short int *) &profile[20]; *short_ptr = (short int) mb_swap_short((short int)(unsigned short) data->profile[i].heading); short_ptr = (short int *) &profile[22]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].heave); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath[j]); short_ptr = (short *) &beam[2]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_acrosstrack[j]); short_ptr = (short *) &beam[4]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_alongtrack[j]); short_ptr = (short *) &beam[6]; *short_ptr = (short int) mb_swap_short(data->profile[i].tt[j]); short_ptr = (short *) &beam[8]; *short_ptr = (short int) mb_swap_short(data->profile[i].angle[j]); beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #endif } line[ELAC_BATH40_SIZE] = 0x03; line[ELAC_BATH40_SIZE+1] = '\0'; line[ELAC_BATH40_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_BATH40_SIZE+3,mbfp); if (status != ELAC_BATH40_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_bchrtunb_wr_bath32(int verbose, FILE *mbfp, struct mbf_bchrtunb_struct *data, int *error) { char *function_name = "mbr_bchrtunb_wr_bath32"; int status = MB_SUCCESS; char line[ELAC_BATH32_SIZE+3]; char *profile; char *beam; short int label; short int *short_ptr; int *int_ptr; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain: %d\n", data->receiver_gain); fprintf(stderr,"dbg5 profile_num: %d\n", data->profile_num); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;iprofile_num;i++) { fprintf(stderr,"dbg5 profile: %d\n",i); fprintf(stderr,"dbg5 year: %d\n", data->profile[i].year); fprintf(stderr,"dbg5 month: %d\n", data->profile[i].month); fprintf(stderr,"dbg5 day: %d\n", data->profile[i].day); fprintf(stderr,"dbg5 hour: %d\n", data->profile[i].hour); fprintf(stderr,"dbg5 minute: %d\n", data->profile[i].minute); fprintf(stderr,"dbg5 sec: %d\n", data->profile[i].second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->profile[i].hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->profile[i].thousandth_sec); fprintf(stderr,"dbg5 latitude: %d\n", data->profile[i].latitude); fprintf(stderr,"dbg5 longitude: %d\n", data->profile[i].longitude); fprintf(stderr,"dbg5 roll: %d\n", data->profile[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->profile[i].pitch); fprintf(stderr,"dbg5 heading: %d\n", data->profile[i].heading); fprintf(stderr,"dbg5 heave: %d\n", data->profile[i].heave); for (j=0;j<8;j++) { fprintf(stderr,"dbg5 bath: %d\n", data->profile[i].bath[j]); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->profile[i].bath_acrosstrack[j]); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->profile[i].bath_alongtrack[j]); fprintf(stderr,"dbg5 tt: %d\n", data->profile[i].tt[j]); fprintf(stderr,"dbg5 angle: %d\n", data->profile[i].angle[j]); fprintf(stderr,"dbg5 quality: %d\n", data->profile[i].quality[j]); fprintf(stderr,"dbg5 amp: %d\n", data->profile[i].amp[j]); } fprintf(stderr,"dbg5 \n"); } } /* write the record label */ label = ELAC_BATH32; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ #ifndef BYTESWAPPED short_ptr = (short int *) &line[0]; *short_ptr = (short int) data->ping_num; short_ptr = (short int *) &line[2]; *short_ptr = (short int) data->sound_vel; #else short_ptr = (short int *) &line[0]; *short_ptr = (short int) mb_swap_short((short int) data->ping_num); short_ptr = (short int *) &line[2]; *short_ptr = (short int) mb_swap_short((short int) data->sound_vel); #endif line[4] = (char) data->mode; line[5] = (char) data->pulse_length; line[6] = (char) data->source_power; line[7] = (char) data->receiver_gain; for (i=0;iprofile_num;i++) { profile = &line[8+i*120]; profile[0] = (char) data->profile[i].day; profile[1] = (char) data->profile[i].month; profile[2] = (char) data->profile[i].year; profile[3] = (char) data->profile[i].hour; profile[4] = (char) data->profile[i].minute; profile[5] = (char) data->profile[i].second; profile[6] = (char) data->profile[i].hundredth_sec; profile[7] = (char) data->profile[i].thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &profile[8]; *int_ptr = (int) data->profile[i].latitude; int_ptr = (int *) &profile[12]; *int_ptr = (int) data->profile[i].longitude; short_ptr = (short int *) &profile[16]; *short_ptr = (short int) data->profile[i].roll; short_ptr = (short int *) &profile[18]; *short_ptr = (short int) data->profile[i].pitch; short_ptr = (short int *) &profile[20]; *short_ptr = (short int)(unsigned short) data->profile[i].heading; short_ptr = (short int *) &profile[22]; *short_ptr = (short int) data->profile[i].heave; for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) data->profile[i].bath[j]; short_ptr = (short *) &beam[2]; *short_ptr = (short int) data->profile[i].bath_acrosstrack[j]; short_ptr = (short *) &beam[4]; *short_ptr = (short int) data->profile[i].bath_alongtrack[j]; short_ptr = (short *) &beam[6]; *short_ptr = (short int) data->profile[i].tt[j]; short_ptr = (short *) &beam[8]; *short_ptr = (short int) data->profile[i].angle[j]; beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #else int_ptr = (int *) &profile[8]; *int_ptr = (int) mb_swap_int(data->profile[i].latitude); int_ptr = (int *) &profile[12]; *int_ptr = (int) mb_swap_int(data->profile[i].longitude); short_ptr = (short int *) &profile[16]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].roll); short_ptr = (short int *) &profile[18]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].pitch); short_ptr = (short int *) &profile[20]; *short_ptr = (short int) mb_swap_short((short int)(unsigned short) data->profile[i].heading); short_ptr = (short int *) &profile[22]; *short_ptr = (short int) mb_swap_short((short int) data->profile[i].heave); for (j=0;j<8;j++) { beam = &profile[24 + 12*j]; short_ptr = (short *) &beam[0]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath[j]); short_ptr = (short *) &beam[2]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_acrosstrack[j]); short_ptr = (short *) &beam[4]; *short_ptr = (short int) mb_swap_short(data->profile[i].bath_alongtrack[j]); short_ptr = (short *) &beam[6]; *short_ptr = (short int) mb_swap_short(data->profile[i].tt[j]); short_ptr = (short *) &beam[8]; *short_ptr = (short int) mb_swap_short(data->profile[i].angle[j]); beam[10] = (char) data->profile[i].quality[j]; beam[11] = (char) data->profile[i].amp[j]; } #endif } line[ELAC_BATH32_SIZE] = 0x03; line[ELAC_BATH32_SIZE+1] = '\0'; line[ELAC_BATH32_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELAC_BATH32_SIZE+3,mbfp); if (status != ELAC_BATH32_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* 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); } /*--------------------------------------------------------------------*/