/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad.c 3.00 8/5/94 * $Id: mbsys_simrad.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. *--------------------------------------------------------------------*/ /* * mbsys_simrad.c contains the MBIO functions for handling data from * old (pre-1997) Simrad multibeam sonars (e.g. EM950, EM1000, EM12S, * EM12D). The data formats associated with Simrad multibeams * (both old and new) include: * MBSYS_SIMRAD formats (code in mbsys_simrad.c and mbsys_simrad.h): * MBF_EMOLDRAW : MBIO ID 51 - Vendor EM1000, EM12S, EM12D, EM121 * : MBIO ID 52 - aliased to 51 * MBF_EM12IFRM : MBIO ID 53 - IFREMER EM12S and EM12D * MBF_EM12DARW : MBIO ID 54 - NERC EM12S * : MBIO ID 55 - aliased to 51 * MBSYS_SIMRAD2 formats (code in mbsys_simrad2.c and mbsys_simrad2.h): * MBF_EM300RAW : MBIO ID 56 - Vendor EM3000, EM300, EM120 * MBF_EM300MBA : MBIO ID 57 - MBARI EM3000, EM300, EM120 * * Author: D. W. Caress * Date: August 5, 1994 * * $Log: mbsys_simrad.c,v $ * Revision 5.21 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.20 2008/07/10 18:02:39 caress * Proceeding towards 5.1.1beta20. * * Revision 5.17 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.16 2007/10/31 18:38:41 caress * Fixed handling of null sidescan values. * * Revision 5.15 2007/10/08 15:59:34 caress * MBIO changes as of 8 October 2007. * * Revision 5.14 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.13 2006/08/09 22:41:27 caress * Fixed programs that read or write grids so that they do not use the GMT_begin() function; these programs will now work when GMT is built in the default fashion, when GMT is built in the default fashion, with "advisory file locking" enabled. * * Revision 5.12 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 5.11 2003/12/04 23:10:24 caress * Fixed problems with format 54 EM12DARW due to old code assuming how internal structure was packed. Also changed handling of beamflags for formats that don't support beamflags. Now flagged beams will always be nulled in such cases. * * Revision 5.10 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.9 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.8 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.7 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.6 2002/05/29 23:40:48 caress * Release 5.0.beta18 * * Revision 5.5 2001/08/25 00:54:13 caress * Adding beamwidth values to extract functions. * * Revision 5.4 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.3 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.2 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.1 2000/12/10 20:26:50 caress * Version 5.0.alpha02 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.21 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.20 2000/09/30 06:32:52 caress * Snapshot for Dale. * * Revision 4.19 1999/03/31 18:11:35 caress * MB-System 4.6beta7 * * Revision 4.18 1998/12/18 20:49:54 caress * MB-System version 4.6beta5 * * Revision 4.17 1998/12/18 01:39:32 caress * MB-System version 4.6beta5 * * Revision 4.16 1998/12/17 23:01:15 caress * MB-System version 4.6beta4 * * Revision 4.15 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.14 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.13 1997/07/25 14:19:53 caress * Version 4.5beta2. * Much mucking, particularly with Simrad formats. * * Revision 4.12 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.12 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.11 1996/08/26 18:33:50 caress * Changed "signed char" to "char" for SunOs 4.1 compiler compatibility. * * Revision 4.10 1996/08/05 15:21:58 caress * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support. * * Revision 4.9 1996/07/26 21:06:00 caress * Version after first cut of handling em12s and em121 data. * * Revision 4.8 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.7 1996/04/22 10:57:09 caress * DTR define now in mb_io.h * * Revision 4.6 1995/11/27 21:53:53 caress * New version of mb_ttimes with ssv and angles_null. * * Revision 4.5 1995/09/28 18:10:48 caress * Various bug fixes working toward release 4.3. * * Revision 4.4 1995/08/17 14:41:09 caress * Revision for release 4.3. * * Revision 4.3 1995/07/13 19:13:36 caress * Intermediate check-in during major bug-fixing flail. * * Revision 4.2 1995/03/06 19:38:54 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.1 1994/11/09 21:40:34 caress * Changed ttimes extraction routines to handle forward beam angles * so that alongtrack distances can be calculated. * * Revision 4.0 1994/10/21 12:35:02 caress * Release V4.0 * * Revision 1.1 1994/10/21 12:20:01 caress * Initial revision * * * */ /* standard include files */ #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" #define MBSYS_SIMRAD_C #include "../../include/mbsys_simrad.h" static char rcs_id[]="$Id: mbsys_simrad.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_simrad_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* allocate memory for data structure */ status = mb_mallocd(verbose,__FILE__,__LINE__,sizeof(struct mbsys_simrad_struct), (void **)store_ptr,error); /* get data structure pointer */ store = (struct mbsys_simrad_struct *) *store_ptr; /* initialize everything */ store->kind = MB_DATA_NONE; store->sonar = MBSYS_SIMRAD_UNKNOWN; /* parameter datagram */ store->par_year = 0; store->par_month = 0; store->par_day = 0; store->par_hour = 0; store->par_minute = 0; store->par_second = 0; store->par_centisecond = 0; store->pos_type = 0; /* positioning system type */ store->pos_delay = 0.0; /* positioning system delay (sec) */ store->roll_offset = 0.0; /* roll offset (degrees) */ store->pitch_offset = 0.0; /* pitch offset (degrees) */ store->heading_offset = 0.0; /* heading offset (degrees) */ store->em100_td = 0.0; /* EM-100 tranducer depth (meters) */ store->em100_tx = 0.0; /* EM-100 tranducer fore-aft offset (meters) */ store->em100_ty = 0.0; /* EM-100 tranducer athwartships offset (meters) */ store->em12_td = 0.0; /* EM-12 tranducer depth (meters) */ store->em12_tx = 0.0; /* EM-12 tranducer fore-aft offset (meters) */ store->em12_ty = 0.0; /* EM-12 tranducer athwartships offset (meters) */ store->em1000_td = 0.0; /* EM-1000 tranducer depth (meters) */ store->em1000_tx = 0.0; /* EM-1000 tranducer fore-aft offset (meters) */ store->em1000_ty = 0.0; /* EM-1000 tranducer athwartships offset (meters) */ for (i=0;i<128;i++) store->spare_parameter[i] = '\0'; store->survey_line = 0; for (i=0;i<80;i++) store->comment[i] = '\0'; /* position (position datagrams) */ store->pos_year = 0; store->pos_month = 0; store->pos_day = 0; store->pos_hour = 0; store->pos_minute = 0; store->pos_second = 0; store->pos_centisecond = 0; store->pos_latitude = 0.0; store->pos_longitude = 0.0; store->utm_northing = 0.0; store->utm_easting = 0.0; store->utm_zone = 0; store->utm_zone_lon = 0.0; store->utm_system = 0; store->pos_quality = 0; store->speed = 0.0; /* meters/second */ store->line_heading = 0.0; /* degrees */ /* sound velocity profile */ store->svp_year = 0; store->svp_month = 0; store->svp_day = 0; store->svp_hour = 0; store->svp_minute = 0; store->svp_second = 0; store->svp_centisecond = 0; store->svp_num = 0; for (i=0;i<100;i++) { store->svp_depth[i] = 0; /* meters */ store->svp_vel[i] = 0; /* 0.1 meters/sec */ } /* time stamp */ store->year = 0; store->month = 0; store->day = 0; store->hour = 0; store->minute = 0; store->second = 0; store->centisecond = 0; /* survey data structure not allocated yet */ store->ping = 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 store_ptr: %lu\n",(size_t)*store_ptr); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad_survey_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->ping == NULL) status = mb_mallocd(verbose,__FILE__,__LINE__, sizeof(struct mbsys_simrad_survey_struct), (void **)&(store->ping),error); if (status == MB_SUCCESS) { /* get data structure pointer */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* initialize everything */ ping->swath_id = EM_SWATH_CENTER; ping->longitude = 0.0; ping->latitude = 0.0; ping->ping_number = 0; ping->beams_bath = MBSYS_SIMRAD_MAXBEAMS; ping->bath_mode = 0; ping->bath_res = 0; ping->bath_quality = 0; ping->bath_num = 0; ping->pulse_length = 0; ping->beam_width = 0; ping->power_level = 0; ping->tx_status = 0; ping->rx_status = 0; ping->along_res = 0; ping->across_res = 0; ping->depth_res = 0; ping->range_res = 0; ping->keel_depth = 0; ping->heading = 0; ping->roll = 0; ping->pitch = 0; ping->xducer_pitch = 0; ping->ping_heave = 0; ping->sound_vel = 0; ping->ss_status = EM_SS_NONE; ping->pixels_ssraw = 0; ping->ss_mode = 0; for (i=0;ibath[i] = 0; ping->bath_acrosstrack[i] = 0; ping->bath_alongtrack[i] = 0; ping->tt[i] = 0; ping->amp[i] = 0; ping->quality[i] = 0; ping->heave[i] = 0; ping->beamflag[i] = MB_FLAG_NULL; ping->beam_frequency[i] = 0; ping->beam_samples[i] = 0; ping->beam_center_sample[i] = 0; ping->beam_start_sample[i] = 0; } ping->pixel_size = 0.0; ping->pixels_ss = 0; for (i=0;issraw[i] = 0; ping->ssp[i] = 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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad_deall"; int status = MB_SUCCESS; struct mbsys_simrad_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 data structure pointer */ store = (struct mbsys_simrad_struct *) *store_ptr; /* deallocate memory for survey data structure */ if (store->ping != NULL) status = mb_freed(verbose,__FILE__, __LINE__, (void **)&(store->ping),error); /* deallocate memory for data structure */ status = mb_freed(verbose,__FILE__, __LINE__, (void **)store_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_simrad_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get beam and pixel numbers */ ping = (struct mbsys_simrad_survey_struct *) store->ping; *nbath = ping->beams_bath; *namp = ping->beams_bath; *nss = MBSYS_SIMRAD_MAXPIXELS; } else { /* get beam and pixel numbers */ *nbath = 0; *namp = 0; *nss = 0; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); fprintf(stderr,"dbg2 nbath: %d\n",*nbath); fprintf(stderr,"dbg2 namp: %d\n",*namp); fprintf(stderr,"dbg2 nss: %d\n",*nss); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_simrad_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; double ss_spacing; double depthscale, dacrscale, daloscale, ttscale, reflscale; double pixel_size; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get time */ mb_fix_y2k(verbose, store->year, &time_i[0]); time_i[1] = store->month; time_i[2] = store->day; time_i[3] = store->hour; time_i[4] = store->minute; time_i[5] = store->second; time_i[6] = 10000*store->centisecond; mb_get_time(verbose,time_i,time_d); /* get navigation */ *navlon = ping->longitude; *navlat = ping->latitude; /* get heading */ if (store->sonar == MBSYS_SIMRAD_EM121) *heading = 0.01 * ping->heading; else *heading = 0.1 * ping->heading; /* get speed */ *speed = 3.6*store->speed; /* set beamwidths in mb_io structure */ if (store->sonar == MBSYS_SIMRAD_EM1000) { mb_io_ptr->beamwidth_ltrack = 3.3; mb_io_ptr->beamwidth_xtrack = 3.3; } else if (store->sonar == MBSYS_SIMRAD_EM12S || store->sonar == MBSYS_SIMRAD_EM12D) { mb_io_ptr->beamwidth_ltrack = 1.7; mb_io_ptr->beamwidth_xtrack = 3.5; } else if (store->sonar == MBSYS_SIMRAD_EM121) { if (ping->bath_mode == 3) { mb_io_ptr->beamwidth_ltrack = 4.0; mb_io_ptr->beamwidth_xtrack = 4.0; } else if (ping->bath_mode == 2) { mb_io_ptr->beamwidth_ltrack = 2.0; mb_io_ptr->beamwidth_xtrack = 2.0; } else { mb_io_ptr->beamwidth_ltrack = 1.0; mb_io_ptr->beamwidth_xtrack = 1.0; } } /* read distance and depth values into storage arrays */ *nbath = ping->beams_bath; *namp = ping->beams_bath; if (store->sonar == MBSYS_SIMRAD_EM1000) { depthscale = 0.02; dacrscale = 0.1; daloscale = 0.1; ttscale = 0.05; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; ttscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; ttscale = 0.8; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; ttscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; ttscale = 0.8; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM121) { depthscale = 0.01 * ping->depth_res; dacrscale = 0.01 * ping->across_res; daloscale = 0.01 * ping->along_res; ttscale = 0.1 * ping->range_res; reflscale = 0.5; } else { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; ttscale = 0.2; reflscale = 0.5; } if (ping->ss_mode == 1) ss_spacing = 0.6; else if (ping->ss_mode == 2) ss_spacing = 2.4; else if (ping->ss_mode == 3) ss_spacing = 0.3; else if (ping->ss_mode == 4) ss_spacing = 0.3; else ss_spacing = 0.15; for (i=0;i<*nbath;i++) { beamflag[i] = ping->beamflag[i]; bath[i] = depthscale*ping->bath[i]; bathacrosstrack[i] = dacrscale*ping->bath_acrosstrack[i]; bathalongtrack[i] = daloscale*ping->bath_alongtrack[i]; } for (i=0;i<*namp;i++) { amp[i] = reflscale*ping->amp[i]; } if (ss != NULL) { *nss = MBSYS_SIMRAD_MAXPIXELS; pixel_size = 0.01 * ping->pixel_size; for (i=0;iss[i] != 0) { ss[i] = 0.01 * ping->ss[i]; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD_MAXPIXELS / 2); ssalongtrack[i] = daloscale * ping->ssalongtrack[i]; } else { ss[i] = MB_SIDESCAN_NULL; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD_MAXPIXELS / 2); ssalongtrack[i] = 0.0; } } } else { *nss = 0; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg4 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg4 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg4 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); for (i=0;i<*nss;i++) fprintf(stderr,"dbg4 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get time */ mb_fix_y2k(verbose, store->pos_year, &time_i[0]); time_i[1] = store->pos_month; time_i[2] = store->pos_day; time_i[3] = store->pos_hour; time_i[4] = store->pos_minute; time_i[5] = store->pos_second; time_i[6] = 10000*store->pos_centisecond; mb_get_time(verbose,time_i,time_d); *navlon = store->pos_longitude; *navlat = store->pos_latitude; /* get heading */ *heading = store->line_heading; /* get speed */ *speed = 3.6*store->speed; *nbath = 0; *namp = 0; *nss = 0; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); } /* done translating values */ } /* extract comment from structure */ else if (*kind == MB_DATA_COMMENT) { /* copy comment */ strcpy(comment,store->comment); /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 New ping read by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 New ping values:\n"); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 comment: %s\n", comment); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind != MB_DATA_COMMENT) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg2 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 nss: %d\n", *nss); for (i=0;i<*nss;i++) fprintf(stderr,"dbg2 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n", i,ss[i],ssacrosstrack[i],ssalongtrack[i]); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mbsys_simrad_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; double depthscale, dacrscale,daloscale,ttscale,reflscale; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 kind: %d\n",kind); } if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); } if (verbose >= 2 && kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n",nbath); if (verbose >= 3) for (i=0;i= 3) for (i=0;i= 3) for (i=0;i= 2 && kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* allocate secondary data structure for survey data if needed */ if (store->ping == NULL) { status = mbsys_simrad_survey_alloc( verbose,mbio_ptr, store_ptr,error); } /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get time */ mb_unfix_y2k(verbose, time_i[0], &store->year); store->month = time_i[1]; store->day = time_i[2]; store->hour = time_i[3]; store->minute = time_i[4]; store->second = time_i[5]; store->centisecond = time_i[6]/10000; /* get nav */ ping->longitude = navlon; ping->latitude = navlat; /* get heading */ if (store->sonar == MBSYS_SIMRAD_EM121) ping->heading = (int) (heading * 100); else ping->heading = (int) (heading * 10); /* get speed */ store->speed = speed/3.6; /* insert distance and depth values into storage arrays */ ping->beams_bath = nbath; if (store->sonar == MBSYS_SIMRAD_UNKNOWN) { if (nbath <= 60) { store->sonar = MBSYS_SIMRAD_EM1000; ping->bath_mode = 0; } else if (nbath <= 81) { store->sonar = MBSYS_SIMRAD_EM12S; ping->bath_mode = 0; ping->bath_res = 2; } else if (nbath <= 121) { store->sonar = MBSYS_SIMRAD_EM121; ping->bath_mode = 0; ping->bath_res = 2; } else { *error = MB_ERROR_DATA_NOT_INSERTED; status = MB_FAILURE; } } if (store->sonar == MBSYS_SIMRAD_EM1000) { depthscale = 0.02; dacrscale = 0.1; daloscale = 0.1; ttscale = 0.05; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; ttscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; ttscale = 0.8; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; ttscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; ttscale = 0.8; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM121) { depthscale = 0.01 * ping->depth_res; dacrscale = 0.01 * ping->across_res; daloscale = 0.01 * ping->along_res; ttscale = 0.1 * ping->range_res; reflscale = 0.5; } else { *error = MB_ERROR_DATA_NOT_INSERTED; status = MB_FAILURE; } if (status == MB_SUCCESS) { for (i=0;ibath[i] = bath[i]/depthscale; ping->bath_acrosstrack[i] = bathacrosstrack[i]/dacrscale; ping->bath_alongtrack[i] = bathalongtrack[i]/daloscale; ping->beamflag[i] = beamflag[i]; if (beamflag[i] == MB_FLAG_NULL) ping->bath[i] = 0; } for (i=0;iamp[i] = amp[i] / reflscale; } } if (status == MB_SUCCESS) { for (i=0;i MB_SIDESCAN_NULL) { ping->ss[i] = 100 * ss[i]; ping->ssalongtrack[i] = ssalongtrack[i] / daloscale; } else { ping->ss[i] = 0; ping->ssalongtrack[i] = 0; } } } } /* insert nav in structure */ else if (store->kind == MB_DATA_NAV) { /* get time */ mb_unfix_y2k(verbose, time_i[0], &store->pos_year); store->pos_month = time_i[1]; store->pos_day = time_i[2]; store->pos_hour = time_i[3]; store->pos_minute = time_i[4]; store->pos_second = time_i[5]; store->pos_centisecond = time_i[6]/10000; /* get nav */ store->pos_longitude = navlon; store->pos_latitude = navlat; /* get heading */ store->line_heading = heading; /* get speed */ store->speed = speed/3.6; } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { strncpy(store->comment,comment,79); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error) { char *function_name = "mbsys_simrad_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; double ttscale; double heave_use; double *angles_simrad; double alpha, beta; int istep = 0; int interleave = 0; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)ttimes); fprintf(stderr,"dbg2 angles_xtrk:%lu\n",(size_t)angles); fprintf(stderr,"dbg2 angles_ltrk:%lu\n",(size_t)angles_forward); fprintf(stderr,"dbg2 angles_null:%lu\n",(size_t)angles_null); fprintf(stderr,"dbg2 heave: %lu\n",(size_t)heave); fprintf(stderr,"dbg2 ltrk_off: %lu\n",(size_t)alongtrack_offset); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get nbeams */ *nbeams = ping->beams_bath; /* get depth offset (heave + heave offset) */ heave_use = 0.01 * ping->ping_heave; *ssv = 0.1 * ping->sound_vel; if (store->sonar == MBSYS_SIMRAD_EM12S) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM12D) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM100) *draft = store->em100_td; else if (store->sonar == MBSYS_SIMRAD_EM1000) *draft = store->em1000_td; /* get travel times, angles */ interleave = MB_NO; if (store->sonar == MBSYS_SIMRAD_EM1000) { if (ping->bath_mode == 1) { angles_simrad = angles_EM1000_ISO_ANG_60_2_MS_48_FAIS; interleave = MB_NO; } else if (ping->bath_mode == 2) { angles_simrad = angles_EM1000_ISO_ANG_120_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 3) { angles_simrad = angles_EM1000_ISO_ANG_150_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 4) { angles_simrad = angles_EM1000_CHANNEL_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 5) { angles_simrad = angles_EM1000_150_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 6) { angles_simrad = angles_EM1000_140_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 7) { angles_simrad = angles_EM1000_128_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 8) { angles_simrad = angles_EM1000_120_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 9) { angles_simrad = angles_EM1000_104_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 10) { angles_simrad = angles_EM1000_88_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 11) { angles_simrad = angles_EM1000_70_2_MS_48_FAIS; interleave = MB_NO; } else if (ping->bath_mode == 12) { angles_simrad = angles_EM1000_BERGE_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 13) { angles_simrad = angles_EM1000_BERGE_02_MS_60_FAIS; interleave = MB_YES; } } else if (store->sonar == MBSYS_SIMRAD_EM12S) { if (ping->bath_mode == 1) angles_simrad = angles_EM12S_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12S_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12S_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12S_120; else if (ping->bath_mode == 5) angles_simrad = angles_EM12S_105; else if (ping->bath_mode == 6) angles_simrad = angles_EM12S_90; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->swath_id == EM_SWATH_PORT) { if (ping->bath_mode == 1) angles_simrad = angles_EM12DP_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12DP_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12DP_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12DP_150; else if (ping->bath_mode == 5) angles_simrad = angles_EM12DP_140; else if (ping->bath_mode == 6) angles_simrad = angles_EM12DP_128; else if (ping->bath_mode == 7) angles_simrad = angles_EM12DP_114; else if (ping->bath_mode == 8) angles_simrad = angles_EM12DP_98; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->swath_id == EM_SWATH_STARBOARD) { if (ping->bath_mode == 1) angles_simrad = angles_EM12DS_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12DS_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12DS_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12DS_150; else if (ping->bath_mode == 5) angles_simrad = angles_EM12DS_140; else if (ping->bath_mode == 6) angles_simrad = angles_EM12DS_128; else if (ping->bath_mode == 7) angles_simrad = angles_EM12DS_114; else if (ping->bath_mode == 8) angles_simrad = angles_EM12DS_98; } else if (store->sonar == MBSYS_SIMRAD_EM121) { angles_simrad = angles_EM121_GUESS; } if (store->sonar == MBSYS_SIMRAD_EM1000) { ttscale = 0.00005; } else if ((store->sonar == MBSYS_SIMRAD_EM12S || store->sonar == MBSYS_SIMRAD_EM12D) && ping->bath_res == 1) { ttscale = 0.0002; } else if ((store->sonar == MBSYS_SIMRAD_EM12S || store->sonar == MBSYS_SIMRAD_EM12D) && ping->bath_res == 2) ttscale = 0.0008; else if (store->sonar == MBSYS_SIMRAD_EM121) ttscale = 0.0001 * ping->range_res; else ttscale = 0.0002; /* if interleaved get center beam */ if (interleave == MB_YES) { if (ping->bath_mode == 12 && fabs(ping->bath_acrosstrack[28]) < fabs(ping->bath_acrosstrack[29])) istep = 1; else if (ping->bath_mode == 13 && fabs(ping->bath_acrosstrack[31]) < fabs(ping->bath_acrosstrack[30])) istep = 1; else if (fabs(ping->bath_acrosstrack[*nbeams/2-1]) < fabs(ping->bath_acrosstrack[*nbeams/2])) istep = 1; else istep = 0; } /* get travel times and angles */ for (i=0;i<*nbeams;i++) { ttimes[i] = ttscale * ping->tt[i]; alpha = 0.01 * ping->pitch; if (store->sonar == MBSYS_SIMRAD_EM1000 && ping->bath_mode == 13) { beta = 90.0 - angles_simrad[*nbeams-1-(2*i+istep)]; } else if (store->sonar == MBSYS_SIMRAD_EM1000 && interleave == MB_YES) { beta = 90.0 + angles_simrad[2*i+istep]; } else if (store->sonar == MBSYS_SIMRAD_EM1000) { beta = 90.0 + angles_simrad[i]; } else { beta = 90.0 + angles_simrad[i]; } mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[i], &angles_forward[i], error); if (store->sonar == MBSYS_SIMRAD_EM1000) angles_null[i] = angles[i]; else if (store->sonar == MBSYS_SIMRAD_EM1000) angles_null[i] = angles[i]; else if (store->sonar == MBSYS_SIMRAD_EM12S) angles_null[i] = 0.0; else if (store->sonar == MBSYS_SIMRAD_EM12D) angles_null[i] = 0.0; /* wrong for sure */ heave[i] = heave_use; alongtrack_offset[i] = 0.0; } /* reset null angles for EM1000 outer beams */ if (store->sonar == MBSYS_SIMRAD_EM1000 && *nbeams == 60) { for (i=0;i<6;i++) angles_null[i] = angles_null[6]; for (i=55;i<=60;i++) angles_null[i] = angles_null[54]; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 ssv: %f\n",*ssv); fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: tt:%f angle_xtrk:%f angle_ltrk:%f angle_null:%f depth_off:%f ltrk_off:%f\n", i,ttimes[i],angles[i], angles_forward[i],angles_null[i], heave[i],alongtrack_offset[i]); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_simrad_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)detects); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; *nbeams = ping->beams_bath; for (i=0;ibeams_bath;i++) { if (ping->bath[i] == 0) detects[i] = MB_DETECT_UNKNOWN; else if (ping->quality[i] & 128) detects[i] = MB_DETECT_PHASE; else detects[i] = MB_DETECT_AMPLITUDE; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: detects:%d\n", i,detects[i]); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error) { char *function_name = "mbsys_simrad_pulses"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 pulses: %lu\n",(size_t)pulses); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; *nbeams = ping->beams_bath; for (i=0;ibeams_bath;i++) { pulses[i] = MB_PULSE_CW; } /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 nbeams: %d\n",*nbeams); for (i=0;i<*nbeams;i++) fprintf(stderr,"dbg2 beam %d: pulses:%d\n", i,pulses[i]); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error) { char *function_name = "mbsys_simrad_gains"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get transmit_gain (dB) */ *transmit_gain = (double)ping->power_level; /* get pulse_length (sec) */ *pulse_length = 0.001 * ((double)ping->pulse_length); /* get receive_gain (dB) */ *receive_gain = (double)0.0; /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error == MB_ERROR_NO_ERROR) { fprintf(stderr,"dbg2 transmit_gain: %f\n",*transmit_gain); fprintf(stderr,"dbg2 pulse_length: %f\n",*pulse_length); fprintf(stderr,"dbg2 receive_gain: %f\n",*receive_gain); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error) { char *function_name = "mbsys_simrad_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; double depthscale, dacrscale; double bath_best; double xtrack_min; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get transducer depth and altitude */ if (store->sonar == MBSYS_SIMRAD_EM12S) *transducer_depth = 0.01*ping->ping_heave + store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM12D) *transducer_depth = 0.01*ping->ping_heave + store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM100) *transducer_depth = 0.01*ping->ping_heave + store->em100_td; else if (store->sonar == MBSYS_SIMRAD_EM1000) *transducer_depth = 0.01*ping->ping_heave + store->em1000_td; else if (store->sonar == MBSYS_SIMRAD_EM121) *transducer_depth = 0.01*ping->ping_heave + store->em12_td; else *transducer_depth = 0.0; if (store->sonar == MBSYS_SIMRAD_EM1000) { depthscale = 0.02; dacrscale = 0.1; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM121) { depthscale = 0.01 * ping->depth_res; dacrscale = 0.01 * ping->across_res; } else { depthscale = 0.1; dacrscale = 0.1; } bath_best = 0.0; if (ping->bath[ping->beams_bath/2] > 0) bath_best = depthscale * ping->bath[ping->beams_bath/2]; else { xtrack_min = 99999999.9; for (i=0;ibeams_bath;i++) { if (ping->bath[i] > 0.0 && fabs(dacrscale * ping->bath_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(dacrscale * ping->bath_acrosstrack[i]); bath_best = depthscale * ping->bath[i]; } } } if (bath_best <= 0.0) { xtrack_min = 99999999.9; for (i=0;ibeams_bath;i++) { if (ping->bath[i] < 0.0 && fabs(dacrscale * ping->bath_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(dacrscale * ping->bath_acrosstrack[i]); bath_best = -depthscale * ping->bath[i]; } } } *altitude = bath_best - *transducer_depth; /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); fprintf(stderr,"dbg2 transducer_depth: %f\n",*transducer_depth); fprintf(stderr,"dbg2 altitude: %f\n",*altitude); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error) { char *function_name = "mbsys_simrad_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get time */ mb_fix_y2k(verbose, store->year, &time_i[0]); time_i[1] = store->month; time_i[2] = store->day; time_i[3] = store->hour; time_i[4] = store->minute; time_i[5] = store->second; time_i[6] = 10000*store->centisecond; mb_get_time(verbose,time_i,time_d); /* get navigation */ *navlon = ping->longitude; *navlat = ping->latitude; /* get heading */ if (store->sonar == MBSYS_SIMRAD_EM121) *heading = 0.01 * ping->heading; else *heading = 0.1 * ping->heading; /* get speed */ *speed = 3.6*store->speed; /* get draft */ if (store->sonar == MBSYS_SIMRAD_EM12S) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM12D) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM100) *draft = store->em100_td; else if (store->sonar == MBSYS_SIMRAD_EM1000) *draft = store->em1000_td; /* get roll pitch and heave */ *roll = 0.01*ping->roll; *pitch = 0.01*ping->pitch; *heave = 0.01*ping->ping_heave; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 draft: %f\n", *draft); fprintf(stderr,"dbg4 roll: %f\n", *roll); fprintf(stderr,"dbg4 pitch: %f\n", *pitch); fprintf(stderr,"dbg4 heave: %f\n", *heave); } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV) { /* get time */ mb_fix_y2k(verbose, store->pos_year, &time_i[0]); time_i[1] = store->pos_month; time_i[2] = store->pos_day; time_i[3] = store->pos_hour; time_i[4] = store->pos_minute; time_i[5] = store->pos_second; time_i[6] = 10000*store->pos_centisecond; mb_get_time(verbose,time_i,time_d); *navlon = store->pos_longitude; *navlat = store->pos_latitude; /* get heading */ *heading = store->line_heading; /* get speed */ *speed = 3.6 * store->speed; /* get draft */ if (store->sonar == MBSYS_SIMRAD_EM12S) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM12D) *draft = store->em12_td; else if (store->sonar == MBSYS_SIMRAD_EM100) *draft = store->em100_td; else if (store->sonar == MBSYS_SIMRAD_EM1000) *draft = store->em1000_td; /* get roll pitch and heave */ *roll = 0.0; *pitch = 0.0; *heave = 0.0; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg4 Data extracted by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Extracted values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 time_i[0]: %d\n", time_i[0]); fprintf(stderr,"dbg4 time_i[1]: %d\n", time_i[1]); fprintf(stderr,"dbg4 time_i[2]: %d\n", time_i[2]); fprintf(stderr,"dbg4 time_i[3]: %d\n", time_i[3]); fprintf(stderr,"dbg4 time_i[4]: %d\n", time_i[4]); fprintf(stderr,"dbg4 time_i[5]: %d\n", time_i[5]); fprintf(stderr,"dbg4 time_i[6]: %d\n", time_i[6]); fprintf(stderr,"dbg4 time_d: %f\n", *time_d); fprintf(stderr,"dbg4 longitude: %f\n", *navlon); fprintf(stderr,"dbg4 latitude: %f\n", *navlat); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 heading: %f\n", *heading); fprintf(stderr,"dbg4 draft: %f\n", *draft); fprintf(stderr,"dbg4 roll: %f\n", *roll); fprintf(stderr,"dbg4 pitch: %f\n", *pitch); fprintf(stderr,"dbg4 heave: %f\n", *heave); } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); fprintf(stderr,"dbg2 draft: %f\n",*draft); fprintf(stderr,"dbg2 roll: %f\n",*roll); fprintf(stderr,"dbg2 pitch: %f\n",*pitch); fprintf(stderr,"dbg2 heave: %f\n",*heave); } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error) { char *function_name = "mbsys_simrad_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); fprintf(stderr,"dbg2 draft: %f\n",draft); fprintf(stderr,"dbg2 roll: %f\n",roll); fprintf(stderr,"dbg2 pitch: %f\n",pitch); fprintf(stderr,"dbg2 heave: %f\n",heave); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get time */ mb_unfix_y2k(verbose, time_i[0], &store->year); store->month = time_i[1]; store->day = time_i[2]; store->hour = time_i[3]; store->minute = time_i[4]; store->second = time_i[5]; store->centisecond = time_i[6]/10000; /* get nav */ ping->longitude = navlon; ping->latitude = navlat; /* get heading */ if (store->sonar == MBSYS_SIMRAD_EM121) ping->heading = (int) (heading * 100); else ping->heading = (int) (heading * 10); /* get speed */ store->speed = speed/3.6; /* get draft */ if (store->sonar == MBSYS_SIMRAD_EM12S) store->em12_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM12D) store->em12_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM100) store->em100_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM1000) store->em1000_td = draft; /* get roll pitch and heave */ ping->roll = roll*100.0; ping->pitch = pitch*100.0; ping->ping_heave = heave*100.0; } /* insert nav in structure */ else if (store->kind == MB_DATA_NAV) { /* get time */ mb_unfix_y2k(verbose, time_i[0], &store->pos_year); store->pos_month = time_i[1]; store->pos_day = time_i[2]; store->pos_hour = time_i[3]; store->pos_minute = time_i[4]; store->pos_second = time_i[5]; store->pos_centisecond = time_i[6]/10000; /* get nav */ store->pos_longitude = navlon; store->pos_latitude = navlat; /* get heading */ store->line_heading = heading; /* get speed */ store->speed = speed/3.6; /* get draft */ if (store->sonar == MBSYS_SIMRAD_EM12S) store->em12_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM12D) store->em12_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM100) store->em100_td = draft; else if (store->sonar == MBSYS_SIMRAD_EM1000) store->em1000_td = draft; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad_extract_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_VELOCITY_PROFILE) { /* get number of depth-velocity pairs */ *nsvp = store->svp_num; /* get profile */ for (i=0;i<*nsvp;i++) { depth[i] = store->svp_depth[i]; velocity[i] = 0.1 * store->svp_vel[i]; } /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); fprintf(stderr,"dbg2 nsvp: %d\n",*nsvp); for (i=0;i<*nsvp;i++) fprintf(stderr,"dbg2 depth[%d]: %f velocity[%d]: %f\n",i, depth[i], i, velocity[i]); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad_insert_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 nsvp: %d\n",nsvp); for (i=0;ikind == MB_DATA_VELOCITY_PROFILE) { /* get number of depth-velocity pairs */ store->svp_num = MIN(nsvp, MBSYS_SIMRAD_MAXSVP); /* get profile */ for (i=0;isvp_num;i++) { store->svp_depth[i] = (int) depth[i]; store->svp_vel[i] = (int) (10 * velocity[i]); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_simrad_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_struct *copy; struct mbsys_simrad_survey_struct *ping_store; struct mbsys_simrad_survey_struct *ping_copy; char *ping_save; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); fprintf(stderr,"dbg2 copy_ptr: %lu\n",(size_t)copy_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointers */ store = (struct mbsys_simrad_struct *) store_ptr; copy = (struct mbsys_simrad_struct *) copy_ptr; /* check if survey data needs to be copied */ if (store->kind == MB_DATA_DATA && store->ping != NULL) { /* make sure a survey data structure exists to be copied into */ if (copy->ping == NULL) { status = mbsys_simrad_survey_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ ping_save = (char *)copy->ping; } else ping_save = NULL; /* copy the main structure */ *copy = *store; /* if needed copy the survey data structure */ if (store->kind == MB_DATA_DATA && store->ping != NULL && status == MB_SUCCESS) { copy->ping = (struct mbsys_simrad_survey_struct *) ping_save; ping_store = (struct mbsys_simrad_survey_struct *) store->ping; ping_copy = (struct mbsys_simrad_survey_struct *) copy->ping; *ping_copy = *ping_store; } else copy->ping = 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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad_makess(int verbose, void *mbio_ptr, void *store_ptr, int pixel_size_set, double *pixel_size, int swath_width_set, double *swath_width, int pixel_int, int *error) { char *function_name = "mbsys_simrad_makess"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; double ss[MBSYS_SIMRAD_MAXPIXELS]; int ss_cnt[MBSYS_SIMRAD_MAXPIXELS]; double ssacrosstrack[MBSYS_SIMRAD_MAXPIXELS]; double ssalongtrack[MBSYS_SIMRAD_MAXPIXELS]; mb_s_char *beam_ss; int nbathsort; double bathsort[MBSYS_SIMRAD_MAXBEAMS]; double depthscale, depthoffset; double dacrscale, daloscale; double reflscale; double pixel_size_calc; double ss_spacing, ss_spacing_use; double *angles_simrad; int pixel_int_use; double depth, xtrack, ltrack, xtrackss; double range, beam_foot, beamwidth, sint; double angle; int interleave, istep; int first, last, k1, k2; int i, k, kk; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 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); fprintf(stderr,"dbg2 pixel_size_set: %d\n",pixel_size_set); fprintf(stderr,"dbg2 pixel_size: %f\n",*pixel_size); fprintf(stderr,"dbg2 swath_width_set: %d\n",swath_width_set); fprintf(stderr,"dbg2 swath_width: %f\n",*swath_width); fprintf(stderr,"dbg2 pixel_int: %d\n",pixel_int); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad_struct *) store_ptr; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get pointer to raw data structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* zero the sidescan */ for (i=0;isonar == MBSYS_SIMRAD_EM1000) { depthscale = 0.02; dacrscale = 0.1; daloscale = 0.1; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12S && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 1) { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->bath_res == 2) { depthscale = 0.2; dacrscale = 0.5; daloscale = 0.5; reflscale = 0.5; } else if (store->sonar == MBSYS_SIMRAD_EM121) { depthscale = 0.01 * ping->depth_res; dacrscale = 0.01 * ping->across_res; daloscale = 0.01 * ping->along_res; reflscale = 0.5; } else { depthscale = 0.1; dacrscale = 0.2; daloscale = 0.2; reflscale = 0.5; } depthoffset = 0.0; /* get angles */ interleave = MB_NO; if (store->sonar == MBSYS_SIMRAD_EM1000) { if (ping->bath_mode == 1) { angles_simrad = angles_EM1000_ISO_ANG_60_2_MS_48_FAIS; interleave = MB_NO; } else if (ping->bath_mode == 2) { angles_simrad = angles_EM1000_ISO_ANG_120_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 3) { angles_simrad = angles_EM1000_ISO_ANG_150_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 4) { angles_simrad = angles_EM1000_CHANNEL_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 5) { angles_simrad = angles_EM1000_150_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 6) { angles_simrad = angles_EM1000_140_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 7) { angles_simrad = angles_EM1000_128_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 8) { angles_simrad = angles_EM1000_120_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 9) { angles_simrad = angles_EM1000_104_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 10) { angles_simrad = angles_EM1000_88_07_MS_48_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 11) { angles_simrad = angles_EM1000_70_2_MS_48_FAIS; interleave = MB_NO; } else if (ping->bath_mode == 12) { angles_simrad = angles_EM1000_BERGE_02_MS_60_FAIS; interleave = MB_YES; } else if (ping->bath_mode == 13) { angles_simrad = angles_EM1000_BERGE_02_MS_60_FAIS; interleave = MB_YES; } } else if (store->sonar == MBSYS_SIMRAD_EM12S) { if (ping->bath_mode == 1) angles_simrad = angles_EM12S_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12S_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12S_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12S_120; else if (ping->bath_mode == 5) angles_simrad = angles_EM12S_105; else if (ping->bath_mode == 6) angles_simrad = angles_EM12S_90; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->swath_id == EM_SWATH_PORT) { if (ping->bath_mode == 1) angles_simrad = angles_EM12DP_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12DP_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12DP_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12DP_150; else if (ping->bath_mode == 5) angles_simrad = angles_EM12DP_140; else if (ping->bath_mode == 6) angles_simrad = angles_EM12DP_128; else if (ping->bath_mode == 7) angles_simrad = angles_EM12DP_114; else if (ping->bath_mode == 8) angles_simrad = angles_EM12DP_98; } else if (store->sonar == MBSYS_SIMRAD_EM12D && ping->swath_id == EM_SWATH_STARBOARD) { if (ping->bath_mode == 1) angles_simrad = angles_EM12DS_ISO_ANG_SHALLOW; else if (ping->bath_mode == 2) angles_simrad = angles_EM12DS_ISO_ANG_DEEP; else if (ping->bath_mode == 3) angles_simrad = angles_EM12DS_SHALLOW; else if (ping->bath_mode == 4) angles_simrad = angles_EM12DS_150; else if (ping->bath_mode == 5) angles_simrad = angles_EM12DS_140; else if (ping->bath_mode == 6) angles_simrad = angles_EM12DS_128; else if (ping->bath_mode == 7) angles_simrad = angles_EM12DS_114; else if (ping->bath_mode == 8) angles_simrad = angles_EM12DS_98; } else if (store->sonar == MBSYS_SIMRAD_EM121) { angles_simrad = angles_EM121_GUESS; } /* if interleaved get center beam */ if (interleave == MB_YES) { if (ping->bath_mode == 12 && fabs(ping->bath_acrosstrack[28]) < fabs(ping->bath_acrosstrack[29])) istep = 1; else if (ping->bath_mode == 13 && fabs(ping->bath_acrosstrack[31]) < fabs(ping->bath_acrosstrack[30])) istep = 1; else if (fabs(ping->bath_acrosstrack[ping->beams_bath/2-1]) < fabs(ping->bath_acrosstrack[ping->beams_bath/2])) istep = 1; else istep = 0; } /* get raw pixel size */ if (store->sonar == MBSYS_SIMRAD_EM12D || store->sonar == MBSYS_SIMRAD_EM12S || store->sonar == MBSYS_SIMRAD_EM121) { if (ping->ss_mode == 1) ss_spacing = 0.6; else if (ping->ss_mode == 2) ss_spacing = 2.4; else if (ping->bath_mode == 1 || ping->bath_mode == 3) ss_spacing = 0.6; else ss_spacing = 2.4; } else if (store->sonar == MBSYS_SIMRAD_EM1000) { if (ping->ss_mode == 3) ss_spacing = 0.3; else if (ping->ss_mode == 4) ss_spacing = 0.3; else if (ping->ss_mode == 5) ss_spacing = 0.15; else ss_spacing = 0.15; } /* get beam angle size */ if (store->sonar == MBSYS_SIMRAD_EM12D || store->sonar == MBSYS_SIMRAD_EM12S) { beamwidth = 2.00; } else if (store->sonar == MBSYS_SIMRAD_EM121) { beamwidth = ping->beam_width; } else if (store->sonar == MBSYS_SIMRAD_EM1000) { beamwidth = 2.5; } /* get median depth */ nbathsort = 0; for (i=0;ibeams_bath;i++) { if (ping->bath[i] > 0.0) { bathsort[nbathsort] = depthscale * ping->bath[i]; nbathsort++; } } /* get sidescan pixel size */ if (swath_width_set == MB_NO && nbathsort > 0) { (*swath_width) = 2.5 + angles_simrad[0]; (*swath_width) = MAX((*swath_width), 60.0); } if (pixel_size_set == MB_NO && nbathsort > 0) { qsort((char *)bathsort, nbathsort, sizeof(double),(void *)mb_double_compare); pixel_size_calc = 2 * tan(DTR * (*swath_width)) * bathsort[nbathsort/2] / MBSYS_SIMRAD_MAXPIXELS; pixel_size_calc = MAX(pixel_size_calc, bathsort[nbathsort/2] * sin(DTR * 0.1)); if ((*pixel_size) <= 0.0) (*pixel_size) = pixel_size_calc; else if (0.95 * (*pixel_size) > pixel_size_calc) (*pixel_size) = 0.95 * (*pixel_size); else if (1.05 * (*pixel_size) < pixel_size_calc) (*pixel_size) = 1.05 * (*pixel_size); else (*pixel_size) = pixel_size_calc; } /* get pixel interpolation */ pixel_int_use = pixel_int + 1; /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Sidescan regenerated in <%s>\n", function_name); fprintf(stderr,"dbg2 depthscale: %f\n",depthscale); fprintf(stderr,"dbg2 dacrscale: %f\n",dacrscale); fprintf(stderr,"dbg2 daloscale: %f\n",daloscale); fprintf(stderr,"dbg2 reflscale: %f\n",reflscale); fprintf(stderr,"dbg2 depthscale: %f\n",depthscale); fprintf(stderr,"dbg2 depthoffset: %f\n",depthoffset); fprintf(stderr,"dbg2 depthscale: %f\n",depthscale); fprintf(stderr,"dbg2 ss_spacing: %f\n",ss_spacing); fprintf(stderr,"dbg2 pixel_size: %f\n",*pixel_size); fprintf(stderr,"dbg2 swath_width: %f\n",*swath_width); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg2 beam:%d bath: %d %d %d freq:%d nsamp:%d center:%d start:%d\n", i, ping->bath[i],ping->bath_acrosstrack[i],ping->bath_alongtrack[i], ping->beam_frequency[i],ping->beam_samples[i], ping->beam_center_sample[i],ping->beam_start_sample[i]); } /* loop over raw sidescan, putting each raw pixel into the binning arrays */ for (i=0;ibeams_bath;i++) { beam_ss = &ping->ssraw[ping->beam_start_sample[i]]; if (ping->bath[i] > 0.0) { if (ping->beam_samples[i] > 0) { depth = depthscale * ping->bath[i]; xtrack = dacrscale * ping->bath_acrosstrack[i]; ltrack = daloscale * ping->bath_alongtrack[i]; range = sqrt(depth * depth + xtrack * xtrack); if (store->sonar == MBSYS_SIMRAD_EM1000 && ping->bath_mode == 13) { angle = angles_simrad[ping->beams_bath-1-(2*i+istep)]; } else if (store->sonar == MBSYS_SIMRAD_EM1000 && interleave == MB_YES) { angle = -angles_simrad[2*i+istep]; } else if (store->sonar == MBSYS_SIMRAD_EM1000) { angle = -angles_simrad[i]; } else { angle = -angles_simrad[i]; } beam_foot = range * sin(DTR * beamwidth) / cos(DTR * angle); sint = fabs(sin(DTR * angle)); if (sint < ping->beam_samples[i] * ss_spacing / beam_foot) ss_spacing_use = beam_foot / ping->beam_samples[i]; else ss_spacing_use = ss_spacing / sint; /*fprintf(stderr, "spacing: %f %f n:%d sint:%f angle:%f range:%f foot:%f factor:%f\n", ss_spacing, ss_spacing_use, ping->beam_samples[i], sint, angle, range, beam_foot, ping->beam_samples[i] * ss_spacing / beam_foot);*/ } for (k=0;kbeam_samples[i];k++) { xtrackss = xtrack + ss_spacing_use * (k - ping->beam_center_sample[i]); kk = MBSYS_SIMRAD_MAXPIXELS / 2 + (int)(xtrackss / (*pixel_size)); if (kk > 0 && kk < MBSYS_SIMRAD_MAXPIXELS) { ss[kk] += reflscale*((double)beam_ss[k]); ssalongtrack[kk] += ltrack; ss_cnt[kk]++; } } } } /* average the sidescan */ first = MBSYS_SIMRAD_MAXPIXELS; last = -1; for (k=0;k 0) { ss[k] /= ss_cnt[k]; ssalongtrack[k] /= ss_cnt[k]; ssacrosstrack[k] = (k - MBSYS_SIMRAD_MAXPIXELS / 2) * (*pixel_size); first = MIN(first, k); last = k; } else ss[k] = MB_SIDESCAN_NULL; } /* interpolate the sidescan */ k1 = first; k2 = first; for (k=first+1;kpixel_size = (int) (100 * (*pixel_size)); if (last > first) ping->pixels_ss = MBSYS_SIMRAD_MAXPIXELS; else ping->pixels_ss = 0; for (i=0;i MB_SIDESCAN_NULL) { ping->ss[i] = (short)(100 * ss[i]); ping->ssalongtrack[i] = (short)(ssalongtrack[i] / daloscale); } else { ping->ss[i] = 0; ping->ssalongtrack[i] = 0; } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Sidescan regenerated in <%s>\n", function_name); fprintf(stderr,"dbg2 beams_bath: %d\n", ping->beams_bath); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg2 beam:%d bath:%d amp:%d acrosstrack:%d alongtrack:%d\n", i, ping->bath[i], ping->amp[i], ping->bath_acrosstrack[i], ping->bath_alongtrack[i]); fprintf(stderr,"dbg2 pixels_ss: %d\n", MBSYS_SIMRAD_MAXPIXELS); for (i=0;ipixels_ss); for (i=0;ipixels_ss;i++) fprintf(stderr,"dbg2 pixel:%4d ss:%8d ltrack:%8d\n", i,ping->ss[i],ping->ssalongtrack[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 pixel_size: %f\n",*pixel_size); fprintf(stderr,"dbg2 swath_width: %f\n",*swath_width); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/