/*-------------------------------------------------------------------- * The MB-system: mbr_hsds2raw.c 6/20/01 * $Id: mbr_hsds2raw.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2001-2012 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_hsds2raw.c contains the functions for reading * multibeam data in the HSDS2RAW format. * These functions include: * mbr_alm_hsds2raw - allocate read/write memory * mbr_dem_hsds2raw - deallocate read/write memory * mbr_rt_hsds2raw - read and translate data * mbr_wt_hsds2raw - translate and write data * * Authors: D. W. Caress * D. N. Chayes * Date: June 20, 2001 * $Log: mbr_hsds2raw.c,v $ * Revision 5.12 2007/10/08 15:59:34 caress * MBIO changes as of 8 October 2007. * * Revision 5.11 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.10 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.9 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.8 2003/02/27 04:33:33 caress * Fixed handling of SURF format data. * * Revision 5.7 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.6 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.5 2002/04/06 02:43:39 caress * Release 5.0.beta16 * * Revision 5.4 2001/12/18 04:27:45 caress * Release 5.0.beta11. * * Revision 5.3 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.2 2001-07-25 20:40:56-07 caress * Fixed handling of sidescan. * * Revision 5.1 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.0 2001/06/29 22:49:07 caress * Added support for HSDS2RAW * * * */ /* standard include files */ #include #include #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_atlas.h" /* turn on debug statements here */ /* #define MBR_HSDS2RAW_DEBUG 1 */ /* essential function prototypes */ int mbr_register_hsds2raw(int verbose, void *mbio_ptr, int *error); int mbr_info_hsds2raw(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_hsds2raw(int verbose, void *mbio_ptr, int *error); int mbr_dem_hsds2raw(int verbose, void *mbio_ptr, int *error); int mbr_rt_hsds2raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_hsds2raw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_hsds2raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_hsds2raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); static char rcs_id[]="$Id: mbr_hsds2raw.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_hsds2raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_hsds2raw"; 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_hsds2raw(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_hsds2raw; mb_io_ptr->mb_io_format_free = &mbr_dem_hsds2raw; mb_io_ptr->mb_io_store_alloc = &mbsys_atlas_alloc; mb_io_ptr->mb_io_store_free = &mbsys_atlas_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_hsds2raw; mb_io_ptr->mb_io_write_ping = &mbr_wt_hsds2raw; mb_io_ptr->mb_io_dimensions = &mbsys_atlas_dimensions; mb_io_ptr->mb_io_extract = &mbsys_atlas_extract; mb_io_ptr->mb_io_insert = &mbsys_atlas_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_atlas_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_atlas_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_atlas_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = NULL; mb_io_ptr->mb_io_insert_svp = NULL; mb_io_ptr->mb_io_ttimes = &mbsys_atlas_ttimes; mb_io_ptr->mb_io_detects = &mbsys_atlas_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_atlas_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_hsds2raw(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_hsds2raw"; 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_ATLAS; *beams_bath_max = MBSYS_ATLAS_MAXBEAMS; *beams_amp_max = MBSYS_ATLAS_MAXBEAMS; *pixels_ss_max = MBSYS_ATLAS_MAXPIXELS; strncpy(format_name, "HSDS2RAW", MB_NAME_LENGTH); strncpy(system_name, "ATLAS", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_HSDS2RAW\nInformal Description: STN Atlas raw multibeam format\nAttributes: STN Atlas multibeam sonars, \n Hydrosweep DS2, Hydrosweep MD, \n Fansweep 10, Fansweep 20, \n bathymetry, amplitude, and sidescan,\n up to 1440 beams and 4096 pixels,\n XDR binary, STN Atlas.\n", MB_DESCRIPTION_LENGTH); *numfile = -3; *filetype = MB_FILETYPE_XDR; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 2.67; *beamwidth_ltrack = 2.67; /* 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_hsds2raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_hsds2raw"; 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 = 0; mb_io_ptr->data_structure_size = 0; status = mbsys_atlas_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* set name for navigation and angle files */ if (status == MB_SUCCESS) { if (strlen(mb_io_ptr->file) >= 5 && strncmp(&(mb_io_ptr->file[strlen(mb_io_ptr->file)-4]), ".fsw", 4) == 0) { strcpy(mb_io_ptr->file2,mb_io_ptr->file); strcpy(&(mb_io_ptr->file2[strlen(mb_io_ptr->file)-4]), ".nav"); } if (strlen(mb_io_ptr->file) >= 5 && strncmp(&(mb_io_ptr->file[strlen(mb_io_ptr->file)-4]), ".fsw", 4) == 0) { strcpy(mb_io_ptr->file3,mb_io_ptr->file); strcpy(&(mb_io_ptr->file3[strlen(mb_io_ptr->file)-4]), ".ang"); } } /* 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_hsds2raw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_hsds2raw"; 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 = mbsys_atlas_deall( verbose,mbio_ptr, &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_rt_hsds2raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_hsds2raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_atlas_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* read next data from file */ status = mbr_hsds2raw_rd_data(verbose,mbio_ptr,store_ptr,error); /* get pointers to data structures */ store = (struct mbsys_atlas_struct *) store_ptr; /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->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_wt_hsds2raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_hsds2raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_atlas_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %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 */ store = (struct mbsys_atlas_struct *) store_ptr; /* write next data to file */ /* status = mbr_hsds2raw_wr_data(verbose,mbio_ptr,store_ptr,error); */ /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_hsds2raw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_hsds2raw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_atlas_struct *store; int xdr_status; int read_status; int nskip; int done; int length; int telegram_id; int telegram_cnt; char telegram_send[16]; char telegram_recv[16]; double telegram_utc_time_d; double telegram_loc_time_d; int telegram_block_no; int telegram_block_cnt; int telegram_max_no; int telegram_act_no; int telegram_data_status; int telegram_sensor_status; int tt_max_lead_cnt; int tt_act_lead_cnt; int ss_act_side_cnt; char carrier_name[8]; char task_name[16]; char operator_name[32]; char gauge_name[32]; char comment[32]; char profile_name[32]; int profile_version; double sys_pos_lat; double sys_pos_lon; char sys_pos_sensor[8]; double sys_pos_lat_tpe; double sys_pos_lon_tpe; double sys_pos_time; int sys_pos_data_status; int sys_pos_status; double sys_height; char sys_height_sensor[8]; double sys_height_time; int sys_height_data_status; int sys_height_status; double sys_speed_wlong; double sys_speed_wcross; char sys_tw_sensor[8]; double sys_tw_time; int sys_tw_data_status; int sys_tw_status; double sys_cog; char sys_cog_sensor[8]; double sys_cog_time; int sys_cog_data_status; int sys_cog_status; double sys_sog; char sys_sog_sensor[8]; double sys_sog_time; int sys_sog_data_status; int sys_sog_status; double sys_set; double sys_drift; char sys_set_drift_sensor[8]; double sys_set_drift_time; int sys_set_drift_data_status; int sys_set_drift_status; double sys_heading; char sys_heading_sensor[8]; double sys_heading_time; int sys_heading_data_status; int sys_heading_status; double sys_depth; char sys_depth_sensor[8]; double sys_depth_water_level; double sys_depth_time; int sys_depth_data_status; int sys_depth_status; double sys_wspeed_abs; double sys_wdir_abs; char sys_wind_sensor[8]; double sys_wind_time; int sys_wind_data_status; int sys_wind_status; double rr; double pspeed; double *angle_table; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %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 */ store = (struct mbsys_atlas_struct *) store_ptr; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; /* read the next record (start telegram + travel time telegrams + sidescan telegrams + */ *error = MB_ERROR_NO_ERROR; /* get start telegram */ xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_START) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on START telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_u_int((XDR *)mb_io_ptr->xdrs, &store->start_ping_no); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_transmit_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *) store->start_opmode, 32); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_heave); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_roll); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_pitch); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_heading); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_ckeel); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_cmean); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_depth_min); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->start_depth_max); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_sensor_status); /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Start telegram read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 start_ping_no: %d\n",store->start_ping_no); fprintf(stderr,"dbg5 start_transmit_time_d: %f\n",store->start_transmit_time_d); fprintf(stderr,"dbg5 start_opmode: "); for (i=0;i<32;i++) fprintf(stderr," %d",store->start_opmode[i]); fprintf(stderr,"\n"); fprintf(stderr,"dbg5 start_heave: %f\n",store->start_heave); fprintf(stderr,"dbg5 start_roll: %f\n",store->start_roll); fprintf(stderr,"dbg5 start_pitch: %f\n",store->start_pitch); fprintf(stderr,"dbg5 start_heading: %f\n",store->start_heading); fprintf(stderr,"dbg5 start_ckeel: %f\n",store->start_ckeel); fprintf(stderr,"dbg5 start_cmean: %f\n",store->start_cmean); fprintf(stderr,"dbg5 start_depth_min: %f\n",store->start_depth_min); fprintf(stderr,"dbg5 start_depth_max: %f\n",store->start_depth_max); } /* get travel times telegrams */ done = MB_NO; store->tt_beam_cnt = 0; while (xdr_status == MB_YES && done == MB_NO) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_TRAVELTIMES) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on TRAVELTIMES telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_max_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_act_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_sensor_status); if (xdr_status == MB_YES) xdr_status = xdr_u_int((XDR *)mb_io_ptr->xdrs, &store->tt_ping_no); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tt_transmit_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tt_beam_table_index); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &tt_max_lead_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &tt_act_lead_cnt); store->tt_beam_cnt += tt_act_lead_cnt; if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tt_long1); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tt_long2); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tt_long3); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tt_xdraught); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tt_double1); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tt_double2); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tt_sensdraught); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tt_draught); for (i=0;ixdrs, &(store->tt_lruntime[i])); } if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)store->tt_lamplitude, MBSYS_ATLAS_MAXBEAMTELEGRAM); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)store->tt_lstatus, MBSYS_ATLAS_MAXBEAMTELEGRAM); /* set done if done */ if (xdr_status != MB_YES || telegram_act_no == telegram_max_no) done = MB_YES; /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Travel time telegrams read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 telegram_max_no: %d\n",telegram_max_no); fprintf(stderr,"dbg5 telegram_act_no: %d\n",telegram_act_no); fprintf(stderr,"dbg5 telegram_data_status: %d\n",telegram_data_status); fprintf(stderr,"dbg5 telegram_sensor_status: %d\n",telegram_sensor_status); } } /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Travel time telegrams read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 tt_ping_no: %d\n",store->tt_ping_no); fprintf(stderr,"dbg5 tt_transmit_time_d: %f\n",store->tt_transmit_time_d); fprintf(stderr,"dbg5 tt_beam_table_index: %d\n",store->tt_beam_table_index); fprintf(stderr,"dbg5 tt_beam_cnt: %d\n",store->tt_beam_cnt); fprintf(stderr,"dbg5 tt_long1: %d\n",store->tt_long1); fprintf(stderr,"dbg5 tt_long2: %d\n",store->tt_long2); fprintf(stderr,"dbg5 tt_long3: %d\n",store->tt_long3); fprintf(stderr,"dbg5 tt_xdraught: %d\n",store->tt_xdraught); fprintf(stderr,"dbg5 tt_double1: %f\n",store->tt_double1); fprintf(stderr,"dbg5 tt_double2: %f\n",store->tt_double2); fprintf(stderr,"dbg5 tt_sensdraught: %f\n",store->tt_sensdraught); fprintf(stderr,"dbg5 tt_draught: %f\n",store->tt_draught); if (verbose > 0) for (i=0;itt_lruntime[i], store->tt_lamplitude[i], store->tt_lstatus[i]); } /* get sidescan telegrams */ done = MB_NO; while (xdr_status == MB_YES && done == MB_NO) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_SIDESCAN) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on SIDESCAN telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_max_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_act_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_sensor_status); if (xdr_status == MB_YES) xdr_status = xdr_u_int((XDR *)mb_io_ptr->xdrs, &store->ss_ping_no); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->ss_transmit_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->ss_timedelay); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->ss_timespacing); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->ss_max_side_bb_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->ss_max_side_sb_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &ss_act_side_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) { if (telegram_act_no * MBSYS_ATLAS_MAXPIXELTELEGRAM <= MBSYS_ATLAS_MAXPIXELS) i = (telegram_act_no - 1) * MBSYS_ATLAS_MAXPIXELTELEGRAM; else i = 0; xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)&(store->ss_sidescan[i]), MBSYS_ATLAS_MAXPIXELTELEGRAM); } /* set done if done */ if (xdr_status != MB_YES || telegram_act_no == telegram_max_no) done = MB_YES; /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Sidescan telegram read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 telegram_max_no: %d\n",telegram_max_no); fprintf(stderr,"dbg5 telegram_act_no: %d\n",telegram_act_no); fprintf(stderr,"dbg5 telegram_data_status: %d\n",telegram_data_status); fprintf(stderr,"dbg5 telegram_sensor_status: %d\n",telegram_sensor_status); fprintf(stderr,"dbg5 ss_ping_no: %d\n",store->ss_ping_no); fprintf(stderr,"dbg5 ss_transmit_time_d: %f\n",store->ss_transmit_time_d); } } /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Sidescan telegrams read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 ss_ping_no: %d\n",store->ss_ping_no); fprintf(stderr,"dbg5 ss_transmit_time_d: %f\n",store->ss_transmit_time_d); fprintf(stderr,"dbg5 ss_timedelay: %f\n",store->ss_timedelay); fprintf(stderr,"dbg5 ss_timespacing: %f\n",store->ss_timespacing); fprintf(stderr,"dbg5 ss_max_side_bb_cnt: %d\n",store->ss_max_side_bb_cnt); fprintf(stderr,"dbg5 ss_max_side_sb_cnt: %d\n",store->ss_max_side_sb_cnt); if (verbose > 0) for (i=0;iss_sidescan[i]); } /* get tracking window telegram */ xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_TRACKINGWINDOWS) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on TRACKINGWINDOWS telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_sensor_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->tr_transmit_time_d); if (xdr_status == MB_YES) xdr_status = xdr_u_int((XDR *)mb_io_ptr->xdrs, &store->tr_ping_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tr_window_mode); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tr_no_of_win_groups); for (i=0;i<100;i++) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->tr_repeat_count[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->tr_start[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->tr_stop[i]); } /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Tracking windows telegram read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 telegram_max_no: %d\n",telegram_max_no); fprintf(stderr,"dbg5 telegram_act_no: %d\n",telegram_act_no); fprintf(stderr,"dbg5 telegram_data_status: %d\n",telegram_data_status); fprintf(stderr,"dbg5 telegram_sensor_status: %d\n",telegram_sensor_status); fprintf(stderr,"dbg5 tr_ping_no: %d\n",store->tr_ping_no); fprintf(stderr,"dbg5 tr_transmit_time_d: %f\n",store->tr_transmit_time_d); fprintf(stderr,"dbg5 tr_window_mode: %d\n",store->tr_window_mode); fprintf(stderr,"dbg5 tr_no_of_win_groups: %d\n",store->tr_no_of_win_groups); if (verbose > 0) for (i=0;itr_repeat_count[i], store->tr_start[i], store->tr_stop[i]); } } /* get backscatter telegram */ xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_BACKSCATTER) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on BACKSCATTER telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &telegram_sensor_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs, &store->bs_transmit_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &store->bs_ping_no); if (xdr_status == MB_YES) xdr_status = xdr_u_short((XDR *)mb_io_ptr->xdrs, &store->bs_nrActualGainSets); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_rxGup); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_rxGain); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_ar); for (i=0;ixdrs, &store->bs_TvgRx_time[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_TvgRx_gain[i]); } if (xdr_status == MB_YES) xdr_status = xdr_u_short((XDR *)mb_io_ptr->xdrs, &store->bs_nrTxSets); for (i=0;ixdrs, &store->bs_txBeamIndex[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_txLevel[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_txBeamAngle[i]); if (xdr_status == MB_YES) xdr_status = xdr_float((XDR *)mb_io_ptr->xdrs, &store->bs_pulseLength[i]); } if (xdr_status == MB_YES) xdr_status = xdr_u_short((XDR *)mb_io_ptr->xdrs, &store->bs_nrBsSets); for (i=0;ixdrs, &store->bs_m_tau[i]); } if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)store->bs_eff_ampli, MBSYS_ATLAS_HSDS2_PFB_NUM); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs, (char *)store->bs_nis, MBSYS_ATLAS_HSDS2_PFB_NUM); /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Backscatter telegram read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 telegram_max_no: %d\n",telegram_max_no); fprintf(stderr,"dbg5 telegram_act_no: %d\n",telegram_act_no); fprintf(stderr,"dbg5 telegram_data_status: %d\n",telegram_data_status); fprintf(stderr,"dbg5 telegram_sensor_status: %d\n",telegram_sensor_status); fprintf(stderr,"dbg5 bs_ping_no: %d\n",store->bs_ping_no); fprintf(stderr,"dbg5 bs_transmit_time_d: %f\n",store->bs_transmit_time_d); fprintf(stderr,"dbg5 bs_nrActualGainSets: %d\n",store->bs_nrActualGainSets); fprintf(stderr,"dbg5 bs_rxGup: %f\n",store->bs_rxGup); fprintf(stderr,"dbg5 bs_rxGain: %f\n",store->bs_rxGain); fprintf(stderr,"dbg5 bs_ar: %f\n",store->bs_ar); if (verbose > 0) for (i=0;ibs_TvgRx_time[i], store->bs_TvgRx_gain[i]); } fprintf(stderr,"dbg5 bs_nrTxSets: %d\n",store->bs_nrTxSets); if (verbose > 0) for (i=0;ibs_txBeamIndex[i], store->bs_txLevel[i], store->bs_txBeamAngle[i], store->bs_pulseLength[i]); } fprintf(stderr,"dbg5 bs_nrBsSets: %d\n",store->bs_nrBsSets); if (verbose > 0) for (i=0;ibs_m_tau[i], store->bs_eff_ampli[i], store->bs_nis[i]); } } /* set error if required */ if (xdr_status == MB_NO) { *error = MB_ERROR_EOF; status = MB_FAILURE; } /* check for broken records - these do happen!!! */ if (status == MB_SUCCESS && (store->tt_beam_cnt > MBSYS_ATLAS_MAXBEAMS || store->ss_max_side_bb_cnt > MBSYS_ATLAS_MAXPIXELS || store->ss_max_side_sb_cnt > MBSYS_ATLAS_MAXPIXELS || store->start_opmode[0] != 1)) { *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } /* check again for broken records - these do happen!!! */ if (status == MB_SUCCESS) { for (i=0;itt_beam_cnt;i++) { if (store->tt_lruntime[i] > 20.0) { *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } } } /* check again for broken records - these do happen!!! */ if (status == MB_SUCCESS) { for (i=0;itt_beam_cnt;i++) { if (store->tt_lruntime[i] > 20.0) { *error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } } } /* calculate first cut bathymetry */ if (status == MB_SUCCESS) { /* get angle_table for 90 degree coverage */ if (store->start_opmode[3] == 0) { if (store->tt_beam_cnt == 140) angle_table = (double *) ds2_ang_90d_140b; else if (store->tt_beam_cnt == 59) angle_table = (double *) ds2_ang_90d_59b; } /* get angle_table for 120 degree coverage */ else if (store->start_opmode[3] == 1) { if (store->tt_beam_cnt == 140) angle_table = (double *) ds2_ang_120d_140b; else if (store->tt_beam_cnt == 59) angle_table = (double *) ds2_ang_120d_59b; } /* calculate bathymetry */ for (i=0;itt_beam_cnt;i++) { if (store->tt_lruntime[i] > 0.0) { rr = store->start_cmean * store->tt_lruntime[i] / 2.0; store->pr_bath[i] = rr * cos(angle_table[i]) + store->start_heave + store->tt_draught; store->pr_bathacrosstrack[i] = rr * sin(angle_table[i]); store->pr_bathalongtrack[i] = 0.0; store->pr_beamflag[i] = MB_FLAG_NONE; } else { store->pr_bath[i] = 0.0; store->pr_bathacrosstrack[i] = 0.0; store->pr_bathalongtrack[i] = 0.0; store->pr_beamflag[i] = MB_FLAG_NULL; } } } /* look for navigation if needed */ if ((XDR *)mb_io_ptr->xdrs2 != NULL && ((mb_io_ptr->nfix > 0 && mb_io_ptr->fix_time_d[mb_io_ptr->nfix - 1] < store->tt_transmit_time_d) || mb_io_ptr->nfix <= 0)) { done = MB_NO; while (done == MB_NO) { /* get system telegram */ xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_id); /* telegram id ok - just read send and receive strings */ if (xdr_status == MB_YES && telegram_id == MBSYS_ATLAS_TELEGRAM_SYSTEM) { if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, telegram_send, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, telegram_recv, 16); } /* expected telegram id wrong - try to resync on recv string */ else if (xdr_status == MB_YES) { memset(telegram_recv, 0, 16); read_status = 1; nskip = 0; while (strncmp(telegram_recv, "BROADCAST", 9) != 0 && read_status == 1) { for (i=0;i<15;i++) telegram_recv[i] = telegram_recv[i+1]; if ((read_status = fread(&(telegram_recv[15]), 1, 1, mb_io_ptr->mbfp2)) == 1) nskip++; } if (read_status == MB_YES) { fprintf(stderr, "Resync on SYSTEM telegram: %d missing bytes\n", (44 - nskip)); } else { xdr_status = MB_NO; } } /* hopefully we are synced - read the telegram */ if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &telegram_utc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &telegram_loc_time_d); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, carrier_name, 8); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, task_name, 16); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, operator_name, 32); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, gauge_name, 32); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, comment, 32); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, profile_name, 32); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &profile_version); /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 System telegram read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_id: %d\n",telegram_id); fprintf(stderr,"dbg5 telegram_cnt: %d\n",telegram_cnt); fprintf(stderr,"dbg5 telegram_send: %s\n",telegram_send); fprintf(stderr,"dbg5 telegram_recv: %s\n",telegram_recv); fprintf(stderr,"dbg5 telegram_utc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_loc_time_d: %f\n",telegram_utc_time_d); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 carrier_name: %s\n",carrier_name); fprintf(stderr,"dbg5 task_name: %s\n",task_name); fprintf(stderr,"dbg5 operator_name: %s\n",operator_name); fprintf(stderr,"dbg5 gauge_name: %s\n",gauge_name); fprintf(stderr,"dbg5 comment: %s\n",comment); fprintf(stderr,"dbg5 profile_name: %s\n",profile_name); fprintf(stderr,"dbg5 profile_version: %d\n",profile_version); } if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_block_no); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &telegram_block_cnt); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_pos_lat); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_pos_lon); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_pos_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_pos_lat_tpe); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_pos_lon_tpe); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_pos_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_pos_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_pos_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_height); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_height_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_height_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_height_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_height_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_speed_wlong); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_speed_wcross); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_tw_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_tw_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_tw_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_tw_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_cog); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_cog_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_cog_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_cog_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_cog_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_sog); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_sog_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_sog_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_sog_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_sog_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_set); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_drift); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_set_drift_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_set_drift_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_set_drift_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_set_drift_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_heading); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_heading_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_heading_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_heading_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_heading_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_depth); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_depth_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_depth_water_level); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_depth_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_depth_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_depth_status); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_wspeed_abs); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_wdir_abs); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &length); if (xdr_status == MB_YES) xdr_status = xdr_opaque((XDR *)mb_io_ptr->xdrs2, sys_wind_sensor, 8); if (xdr_status == MB_YES) xdr_status = xdr_double((XDR *)mb_io_ptr->xdrs2, &sys_wind_time); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_wind_data_status); if (xdr_status == MB_YES) xdr_status = xdr_int((XDR *)mb_io_ptr->xdrs2, &sys_wind_status); /* print debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"dbg5 xdr_status: %d\n",xdr_status); fprintf(stderr,"dbg5 telegram_block_no: %d\n",telegram_block_no); fprintf(stderr,"dbg5 telegram_block_cnt: %d\n",telegram_block_cnt); fprintf(stderr,"dbg5 sys_pos_lat: %f\n",sys_pos_lat); fprintf(stderr,"dbg5 sys_pos_lon: %f\n",sys_pos_lon); fprintf(stderr,"dbg5 sys_pos_sensor: %s\n",sys_pos_sensor); fprintf(stderr,"dbg5 sys_pos_lat_tpe: %f\n",sys_pos_lat_tpe); fprintf(stderr,"dbg5 sys_pos_lon_tpe: %f\n",sys_pos_lon_tpe); fprintf(stderr,"dbg5 sys_pos_time: %f\n",sys_pos_time); fprintf(stderr,"dbg5 sys_pos_data_status: %d\n",sys_pos_data_status); fprintf(stderr,"dbg5 sys_pos_status: %d\n",sys_pos_status); fprintf(stderr,"dbg5 sys_height: %f\n",sys_height); fprintf(stderr,"dbg5 sys_height_sensor: %s\n",sys_height_sensor); fprintf(stderr,"dbg5 sys_height_time: %f\n",sys_height_time); fprintf(stderr,"dbg5 sys_height_data_status: %d\n",sys_height_data_status); fprintf(stderr,"dbg5 sys_height_status: %d\n",sys_height_status); fprintf(stderr,"dbg5 sys_speed_wlong: %f\n",sys_speed_wlong); fprintf(stderr,"dbg5 sys_speed_wcross: %f\n",sys_speed_wcross); fprintf(stderr,"dbg5 sys_tw_sensor: %s\n",sys_tw_sensor); fprintf(stderr,"dbg5 sys_tw_time: %f\n",sys_tw_time); fprintf(stderr,"dbg5 sys_tw_data_status: %d\n",sys_tw_data_status); fprintf(stderr,"dbg5 sys_tw_status: %d\n",sys_tw_status); fprintf(stderr,"dbg5 sys_cog: %f\n",sys_cog); fprintf(stderr,"dbg5 sys_cog_sensor: %s\n",sys_cog_sensor); fprintf(stderr,"dbg5 sys_cog_time: %f\n",sys_cog_time); fprintf(stderr,"dbg5 sys_cog_data_status: %d\n",sys_cog_data_status); fprintf(stderr,"dbg5 sys_cog_status: %d\n",sys_cog_status); fprintf(stderr,"dbg5 sys_sog: %f\n",sys_sog); fprintf(stderr,"dbg5 sys_sog_sensor: %s\n",sys_sog_sensor); fprintf(stderr,"dbg5 sys_sog_time: %f\n",sys_sog_time); fprintf(stderr,"dbg5 sys_sog_data_status: %d\n",sys_sog_data_status); fprintf(stderr,"dbg5 sys_sog_status: %d\n",sys_sog_status); fprintf(stderr,"dbg5 sys_set: %f\n",sys_set); fprintf(stderr,"dbg5 sys_drift: %f\n",sys_drift); fprintf(stderr,"dbg5 sys_set_drift_sensor: %s\n",sys_set_drift_sensor); fprintf(stderr,"dbg5 sys_set_drift_time: %f\n",sys_set_drift_time); fprintf(stderr,"dbg5 sys_set_drift_data_status: %d\n",sys_set_drift_data_status); fprintf(stderr,"dbg5 sys_set_drift_status: %d\n",sys_set_drift_status); fprintf(stderr,"dbg5 sys_heading: %f\n",sys_heading); fprintf(stderr,"dbg5 sys_heading_sensor: %s\n",sys_heading_sensor); fprintf(stderr,"dbg5 sys_heading_time: %f\n",sys_heading_time); fprintf(stderr,"dbg5 sys_heading_data_status: %d\n",sys_heading_data_status); fprintf(stderr,"dbg5 sys_heading_status: %d\n",sys_heading_status); fprintf(stderr,"dbg5 sys_depth: %f\n",sys_depth); fprintf(stderr,"dbg5 sys_depth_sensor: %s\n",sys_depth_sensor); fprintf(stderr,"dbg5 sys_depth_water_level: %f\n",sys_depth_water_level); fprintf(stderr,"dbg5 sys_depth_time: %f\n",sys_depth_time); fprintf(stderr,"dbg5 sys_depth_data_status: %d\n",sys_depth_data_status); fprintf(stderr,"dbg5 sys_depth_status: %d\n",sys_depth_status); fprintf(stderr,"dbg5 sys_wspeed_abs: %f\n",sys_wspeed_abs); fprintf(stderr,"dbg5 sys_wdir_abs: %f\n",sys_wdir_abs); fprintf(stderr,"dbg5 sys_wind_sensor: %s\n",sys_wind_sensor); fprintf(stderr,"dbg5 sys_wind_time: %f\n",sys_wind_time); fprintf(stderr,"dbg5 sys_wind_data_status: %d\n",sys_wind_data_status); fprintf(stderr,"dbg5 sys_wind_status: %d\n",sys_wind_status); } /* add to nav fix list */ if (xdr_status == MB_YES) { mb_navint_add(verbose, mbio_ptr, sys_pos_time, (RTD * sys_pos_lon), (RTD * sys_pos_lat), error); if (mb_io_ptr->fix_time_d[mb_io_ptr->nfix - 1] >= store->tt_transmit_time_d) done = MB_YES; } else done = MB_YES; } } /* now interpolate navigation if available */ if (mb_io_ptr->nfix > 0) { mb_navint_interp(verbose, mbio_ptr, store->tt_transmit_time_d, store->start_heading, 0.0, &(store->pr_navlon), &(store->pr_navlat), &pspeed, error); store->pr_speed = pspeed / 3.6; } /* set kind */ if (store->start_opmode[12] == 0) store->kind = MB_DATA_DATA; else store->kind = MB_DATA_CALIBRATE; /* get file position */ mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp); if (mb_io_ptr->mbfp2 != NULL) mb_io_ptr->file2_bytes = ftell(mb_io_ptr->mbfp2); /* 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_hsds2raw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_hsds2raw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_atlas_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %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 */ store = (struct mbsys_atlas_struct *) store_ptr; /* print output debug statements */ #ifndef MBR_HSDS2RAW_DEBUG if (verbose >= 5) #endif { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",store->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); } /*--------------------------------------------------------------------*/