/*-------------------------------------------------------------------- * The MB-system: mbsys_simrad2.c 3.00 10/9/98 * $Id: mbsys_simrad2.c 1998 2012-11-06 06:50:52Z caress $ * * Copyright (c) 1998-2012 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_simrad2.c contains the MBIO functions for handling data from * new (post-1997) Simrad multibeam sonars (e.g. EM120, EM300, EM3000). * 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: October 9, 1998 * * $Log: mbsys_simrad2.c,v $ * Revision 5.33 2009/03/02 18:51:52 caress * Fixed problems with formats 58 and 59, and also updated copyright dates in several source files. * * Revision 5.32 2008/07/10 18:02:39 caress * Proceeding towards 5.1.1beta20. * * Revision 5.29 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.28 2007/10/31 18:38:41 caress * Fixed handling of null sidescan values. * * Revision 5.27 2007/10/08 15:59:34 caress * MBIO changes as of 8 October 2007. * * Revision 5.26 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.25 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 5.24 2006/07/27 18:42:52 caress * Working towards 5.1.0 * * Revision 5.23 2006/02/07 03:12:14 caress * Another shot at dealing with broken simrad sidescan records. Now we will keep the raw sidescan data but not use it to make the binned sidescan returned by the standard mbio extract functions. * * Revision 5.22 2006/02/03 21:08:51 caress * Working on supporting water column datagrams in Simrad formats. * * Revision 5.21 2006/01/27 20:09:47 caress * Added support for EM3002 * * Revision 5.20 2006/01/06 18:27:19 caress * Working towards 5.0.8 * * Revision 5.19 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 5.18 2003/04/22 20:51:22 caress * Fixed bug in inserting sonar depth value. * * Revision 5.17 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.16 2002/10/02 23:55:42 caress * Release 5.0.beta24 * * Revision 5.15 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.14 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.13 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.12 2002/05/29 23:40:48 caress * Release 5.0.beta18 * * Revision 5.11 2001/10/19 21:48:16 caress * Fixed acrosstrack scaling. * ., * * Revision 5.10 2001/09/12 19:27:57 caress * Fixed depth scaling problem. * * Revision 5.9 2001/08/25 00:54:13 caress * Adding beamwidth values to extract functions. * * Revision 5.8 2001/08/04 01:00:02 caress * Applied mods from Gordon Keith. * * Revision 5.7 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.6 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.5 2001/06/01 00:14:06 caress * Redid support for current Simrad multibeam data. * * Revision 5.4 2001/05/30 17:57:26 caress * Fixed New Simrad data handling, plus removed use of * intermediate data structure. Still need to reduce use * of #ifdefs related to byteswapping. * * Revision 5.3 2001/05/24 23:18:07 caress * Fixed handling of Revelle EM120 data (first cut). * * Revision 5.2 2001/03/22 20:50:02 caress * Trying to make version 5.0.beta0 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.4 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.3 2000/09/30 06:32:52 caress * Snapshot for Dale. * * Revision 4.2 2000/07/20 20:24:59 caress * First cut at supporting both EM120 and EM1002. * * Revision 4.1 2000/07/19 04:01:41 caress * Supported EM120. * * Revision 4.0 1998/12/17 22:59:14 caress * MB-System version 4.6beta4 * * */ /* 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" #include "../../include/mbsys_simrad2.h" static char rcs_id[]="$Id: mbsys_simrad2.c 1998 2012-11-06 06:50:52Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_simrad2_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad2_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_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_simrad2_struct), (void **)store_ptr,error); /* get data structure pointer */ store = (struct mbsys_simrad2_struct *) *store_ptr; /* initialize everything */ store->kind = MB_DATA_NONE; store->type = EM2_NONE; store->sonar = MBSYS_SIMRAD2_UNKNOWN; store->numberheads = 1; /* time stamp */ store->date = 0; store->msec = 0; /* installation parameter values */ store->par_date = 0; /* installation parameter date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->par_msec = 0; /* installation parameter time since midnight in msec 08:12:51.234 = 29570234 */ store->par_line_num = 0;/* survey line number */ store->par_serial_1 = 0;/* system 1 serial number */ store->par_serial_2 = 0;/* system 2 serial number */ store->par_wlz = 0.0; /* water line vertical location (m) */ store->par_smh = 0; /* system main head serial number */ store->par_s1z = 0.0; /* transducer 1 vertical location (m) */ store->par_s1x = 0.0; /* transducer 1 along location (m) */ store->par_s1y = 0.0; /* transducer 1 athwart location (m) */ store->par_s1h = 0.0; /* transducer 1 heading (deg) */ store->par_s1r = 0.0; /* transducer 1 roll (m) */ store->par_s1p = 0.0; /* transducer 1 pitch (m) */ store->par_s1n = 0; /* transducer 1 number of modules */ store->par_s2z = 0.0; /* transducer 2 vertical location (m) */ store->par_s2x = 0.0; /* transducer 2 along location (m) */ store->par_s2y = 0.0; /* transducer 2 athwart location (m) */ store->par_s2h = 0.0; /* transducer 2 heading (deg) */ store->par_s2r = 0.0; /* transducer 2 roll (m) */ store->par_s2p = 0.0; /* transducer 2 pitch (m) */ store->par_s2n = 0; /* transducer 2 number of modules */ store->par_go1 = 0.0; /* system (sonar head 1) gain offset */ store->par_go2 = 0.0; /* sonar head 2 gain offset */ for (i=0;i<16;i++) { store->par_tsv[i] = '\0'; /* transmitter (sonar head 1) software version */ store->par_rsv[i] = '\0'; /* receiver (sonar head 2) software version */ store->par_bsv[i] = '\0'; /* beamformer software version */ store->par_psv[i] = '\0'; /* processing unit software version */ store->par_osv[i] = '\0'; /* operator station software version */ } store->par_dsd = 0.0; /* depth sensor time delay (msec) */ store->par_dso = 0.0; /* depth sensor offset */ store->par_dsf = 0.0; /* depth sensor scale factor */ store->par_dsh[0] = 'I'; /* depth sensor heave (IN or NI) */ store->par_dsh[1] = 'N'; /* depth sensor heave (IN or NI) */ store->par_aps = 0; /* active position system number */ store->par_p1m = 0; /* position system 1 motion compensation (boolean) */ store->par_p1t = 0; /* position system 1 time stamp used (0=system time, 1=position input time) */ store->par_p1z = 0.0; /* position system 1 vertical location (m) */ store->par_p1x = 0.0; /* position system 1 along location (m) */ store->par_p1y = 0.0; /* position system 1 athwart location (m) */ store->par_p1d = 0.0; /* position system 1 time delay (sec) */ for (i=0;i<16;i++) { store->par_p1g[i] = '\0'; /* position system 1 geodetic datum */ } strcpy(store->par_p1g, "WGS_84"); store->par_p2m = 0; /* position system 2 motion compensation (boolean) */ store->par_p2t = 0; /* position system 2 time stamp used (0=system time, 1=position input time) */ store->par_p2z = 0.0; /* position system 2 vertical location (m) */ store->par_p2x = 0.0; /* position system 2 along location (m) */ store->par_p2y = 0.0; /* position system 2 athwart location (m) */ store->par_p2d = 0.0; /* position system 2 time delay (sec) */ for (i=0;i<16;i++) { store->par_p2g[i] = '\0'; /* position system 2 geodetic datum */ } store->par_p3m = 0; /* position system 3 motion compensation (boolean) */ store->par_p3t = 0; /* position system 3 time stamp used (0=system time, 1=position input time) */ store->par_p3z = 0.0; /* position system 3 vertical location (m) */ store->par_p3x = 0.0; /* position system 3 along location (m) */ store->par_p3y = 0.0; /* position system 3 athwart location (m) */ store->par_p3d = 0.0; /* position system 3 time delay (sec) */ for (i=0;i<16;i++) { store->par_p3g[i] = '\0'; /* position system 3 geodetic datum */ } store->par_msz = 0.0; /* motion sensor vertical location (m) */ store->par_msx = 0.0; /* motion sensor along location (m) */ store->par_msy = 0.0; /* motion sensor athwart location (m) */ store->par_mrp[0] = 'H'; /* motion sensor roll reference plane (HO or RP) */ store->par_mrp[1] = 'O'; /* motion sensor roll reference plane (HO or RP) */ store->par_msd = 0.0; /* motion sensor time delay (sec) */ store->par_msr = 0.0; /* motion sensor roll offset (deg) */ store->par_msp = 0.0; /* motion sensor pitch offset (deg) */ store->par_msg = 0.0; /* motion sensor heading offset (deg) */ store->par_gcg = 0.0; /* gyro compass heading offset (deg) */ for (i=0;i<4;i++) { store->par_cpr[i] = '\0'; /* cartographic projection */ } for (i=0;ipar_rop[i] = '\0'; /* responsible operator */ store->par_sid[i] = '\0'; /* survey identifier */ store->par_pll[i] = '\0'; /* survey line identifier (planned line number) */ store->par_com[i] = '\0'; /* comment */ } /* runtime parameter values */ store->run_date = 0; /* runtime parameter date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->run_msec = 0; /* runtime parameter time since midnight in msec 08:12:51.234 = 29570234 */ store->run_ping_count = 0; /* ping counter */ store->run_serial = 0; /* system 1 or 2 serial number */ store->run_status = 0; /* system status */ store->run_mode = 0; /* system mode: 0 : nearfield (EM3000) or very shallow (EM300) 1 : normal (EM3000) or shallow (EM300) 2 : medium (EM300) 3 : deep (EM300) 4 : very deep (EM300) */ store->run_filter_id = 0; /* filter identifier - the two lowest bits indicate spike filter strength: 00 : off 01 : weak 10 : medium 11 : strong bit 2 is set if the slope filter is on bit 3 is set if the sidelobe filter is on bit 4 is set if the range windows are expanded bit 5 is set if the smoothing filter is on bit 6 is set if the interference filter is on */ store->run_min_depth = 0; /* minimum depth (m) */ store->run_max_depth = 0; /* maximum depth (m) */ store->run_absorption = 0; /* absorption coefficient (0.01 dB/km) */ store->run_tran_pulse = 0; /* transmit pulse length (usec) */ store->run_tran_beam = 0; /* transmit beamwidth (0.1 deg) */ store->run_tran_pow = 0; /* transmit power reduction (dB) */ store->run_rec_beam = 0; /* receiver beamwidth (0.1 deg) */ store->run_rec_beam = 0; /* receiver bandwidth (50 hz) */ store->run_rec_gain = 0; /* receiver fixed gain (dB) */ store->run_tvg_cross = 0; /* TVG law crossover angle (deg) */ store->run_ssv_source = 0; /* source of sound speed at transducer: 0 : from sensor 1 : manual 2 : from profile */ store->run_max_swath = 0; /* maximum swath width (m) */ store->run_beam_space = 0; /* beam spacing: 0 : determined by beamwidth (EM3000) 1 : equidistant 2 : equiangle */ store->run_swath_angle = 0; /* coverage sector of swath (deg) */ store->run_stab_mode = 0; /* yaw and pitch stabilization mode: The upper bit (bit 7) is set if pitch stabilization is on. The two lower bits are used to show yaw stabilization mode as follows: 00 : none 01 : to survey line heading 10 : to mean vessel heading 11 : to manually entered heading */ for (i=0;i<4;i++) { store->run_spare[i] = '\0'; } /* sound velocity profile */ store->svp_use_date = 0; /* date at start of use date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->svp_use_msec = 0; /* time at start of use since midnight in msec 08:12:51.234 = 29570234 */ store->svp_count = 0; /* sequential counter or input identifier */ store->svp_serial = 0; /* system 1 serial number */ store->svp_origin_date = 0; /* date at svp origin date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->svp_origin_msec = 0; /* time at svp origin since midnight in msec 08:12:51.234 = 29570234 */ store->svp_num = 0; /* number of svp entries */ store->svp_depth_res = 0; /* depth resolution (cm) */ for (i=0;isvp_depth[i] = 0; /* depth of svp entries (according to svp_depth_res) */ store->svp_vel[i] = 0; /* sound speed of svp entries (0.1 m/sec) */ } /* position */ store->pos_date = 0; /* position date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->pos_msec = 0; /* position time since midnight in msec 08:12:51.234 = 29570234 */ store->pos_count = 0; /* sequential counter */ store->pos_serial = 0; /* system 1 serial number */ store->pos_latitude = 0; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ store->pos_longitude = 0; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ store->pos_quality = 0; /* measure of position fix quality (cm) */ store->pos_speed = 0; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ store->pos_course = 0; /* course over ground (0.01 deg) if valid, invalid = 0xFFFF */ store->pos_heading = 0; /* heading (0.01 deg) if valid, invalid = 0xFFFF */ store->pos_heave = 0; /* heave from interpolation (0.01 m) */ store->pos_roll = 0; /* roll from interpolation (0.01 deg) */ store->pos_pitch = 0; /* pitch from interpolation (0.01 deg) */ store->pos_system = 0; /* position system number, type, and realtime use - position system number given by two lowest bits - fifth bit set means position must be derived from input Simrad 90 datagram - sixth bit set means valid time is that of input datagram */ store->pos_input_size = 0; /* number of bytes in input position datagram */ for (i=0;i<256;i++) { store->pos_input[i] = 0; /* position input datagram as received, minus header and tail (such as NMEA 0183 $ and CRLF) */ } /* height */ store->hgt_date = 0; /* height date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->hgt_msec = 0; /* height time since midnight in msec 08:12:51.234 = 29570234 */ store->hgt_count = 0; /* sequential counter */ store->hgt_serial = 0; /* system 1 serial number */ store->hgt_height = 0; /* height (0.01 m) */ store->hgt_type = 0; /* height type as given in input datagram or if zero the height is derived from the GGK datagram and is the height of the water level re the vertical datum */ /* tide */ store->tid_date = 0; /* tide date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->tid_msec = 0; /* tide time since midnight in msec 08:12:51.234 = 29570234 */ store->tid_count = 0; /* sequential counter */ store->tid_serial = 0; /* system 1 serial number */ store->tid_origin_date = 0; /* tide input date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->tid_origin_msec = 0; /* tide input time since midnight in msec 08:12:51.234 = 29570234 */ store->tid_tide = 0; /* tide offset (0.01 m) */ /* clock */ store->clk_date = 0; /* system date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->clk_msec = 0; /* system time since midnight in msec 08:12:51.234 = 29570234 */ store->clk_count = 0; /* sequential counter */ store->clk_serial = 0; /* system 1 serial number */ store->clk_origin_date = 0; /* external clock date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ store->clk_origin_msec = 0; /* external clock time since midnight in msec 08:12:51.234 = 29570234 */ store->clk_1_pps_use = 0; /* if 1 then the internal clock is synchronized to an external 1 PPS signal, if 0 then not */ /* pointer to attitude data structure */ store->attitude = NULL; /* pointer to heading data structure */ store->heading = NULL; /* pointer to ssv data structure */ store->ssv = NULL; /* pointer to tilt data structure */ store->tilt = NULL; /* pointer to survey data structure */ store->ping = NULL; store->ping2 = NULL; /* pointer to water column data structure */ store->wc = 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_simrad2_survey_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_survey_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_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_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->ping == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_ping_struct), (void **)&(store->ping),error); if (status == MB_SUCCESS && store->ping != NULL) { /* get data structure pointer */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* initialize everything */ ping->png_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_count = 0; /* sequential counter or input identifier */ ping->png_serial = 0; /* system 1 or system 2 serial number */ ping->png_latitude = EM2_INVALID_INT; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ ping->png_longitude = EM2_INVALID_INT; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ ping->png_speed = 0; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ ping->png_heading = 0; /* heading (0.01 deg) */ ping->png_heave = 0; /* heave from interpolation (0.01 m) */ ping->png_roll = 0; /* roll from interpolation (0.01 deg) */ ping->png_pitch = 0; /* pitch from interpolation (0.01 deg) */ ping->png_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_xducer_depth = 0; /* transmit transducer depth (0.01 m) - The transmit transducer depth plus the depth offset multiplier times 65536 cm should be added to the beam depths to derive the depths re the water line. The depth offset multiplier will usually be zero, except when the EM3000 sonar head is on an underwater vehicle at a depth greater than about 650 m. Note that the offset multiplier will be negative (-1) if the actual heave is large enough to bring the transmit transducer above the water line. This may represent a valid situation, but may also be due to an erroneously set installation depth of the either transducer or the water line. */ ping->png_offset_multiplier = 0; /* transmit transducer depth offset multiplier - see note 7 above */ /* beam data */ ping->png_nbeams_max = 0; /* maximum number of beams possible */ ping->png_nbeams = 0; /* number of valid beams */ ping->png_depth_res = 0; /* depth resolution (0.01 m) */ ping->png_distance_res = 0; /* x and y resolution (0.01 m) */ ping->png_sample_rate = 0; /* sampling rate (Hz) OR depth difference between sonar heads in EM3000D - see note 9 above */ for (i=0;ipng_depth[i] = 0; /* depths in depth resolution units */ ping->png_acrosstrack[i] = 0; /* acrosstrack distances in distance resolution units */ ping->png_alongtrack[i] = 0; /* alongtrack distances in distance resolution units */ ping->png_depression[i] = 0; /* Primary beam angles in one of two formats (see note 10 above) 1: Corrected format - gives beam depression angles in 0.01 degree. These are the takeoff angles used in raytracing calculations. 2: Uncorrected format - gives beam pointing angles in 0.01 degree. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_azimuth[i] = 0; /* Secondary beam angles in one of two formats (see note 10 above) 1: Corrected format - gives beam azimuth angles in 0.01 degree. These values used to rotate sounding position relative to the sonar after raytracing. 2: Uncorrected format - combines a flag indicating that the angles are in the uncorrected format with beam tilt angles. Values greater than 35999 indicate the uncorrected format is in use. The beam tilt angles are given as (value - 54000) in 0.01 degree; the tilt angles give the tilt of the transmitted ping due to compensation for vessel motion. */ ping->png_range[i] = 0; /* Ranges in one of two formats (see note 10 above): 1: Corrected format - the ranges are one way travel times in time units defined as half the inverse sampling rate. 2: Uncorrected format - the ranges are raw two way travel times in time units defined as half the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ ping->png_quality[i] = 0; /* 0-254 */ ping->png_window[i] = 0; /* samples/4 */ ping->png_amp[i] = 0; /* 0.5 dB */ ping->png_beam_num[i] = 0; /* beam 128 is first beam on second head of EM3000D */ ping->png_beamflag[i] = MB_FLAG_NULL; /* uses standard MB-System beamflags */ } /* raw beam record */ ping->png_raw1_read = MB_NO; /* flag indicating actual reading of old rawbeam record */ ping->png_raw2_read = MB_NO; /* flag indicating actual reading of new rawbeam record */ ping->png_raw_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_raw_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_raw_count = 0; /* sequential counter or input identifier */ ping->png_raw_serial = 0; /* system 1 or system 2 serial number */ ping->png_raw_heading = 0; /* heading (0.01 deg) */ ping->png_raw_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_raw_xducer_depth = 0; /* transmit transducer depth (0.01 m) */ ping->png_raw_nbeams_max = 0; /* maximum number of beams possible */ ping->png_raw_nbeams = 0; /* number of valid beams */ ping->png_raw_depth_res = 0; /* depth resolution (0.01 m) */ ping->png_raw_distance_res = 0; /* x and y resolution (0.01 m) */ ping->png_raw_sample_rate = 0; /* sampling rate (Hz) */ ping->png_raw_status = 0; /* status from PU/TRU */ ping->png_raw_nbeams = 0; /* number of raw travel times and angles - nonzero only if raw beam record read */ ping->png_raw_rangenormal = 0; /* normal incidence range (meters) */ ping->png_raw_normalbackscatter = 0; /* normal incidence backscatter (dB) (-60 to +9) */ ping->png_raw_obliquebackscatter = 0; /* oblique incidence backscatter (dB) (-60 to +9) */ ping->png_raw_fixedgain = 0; /* fixed gain (dB) (0 to 30) */ ping->png_raw_txpower = 0; /* transmit power (dB) (0, -10, or -20) */ ping->png_raw_mode = 0; /* sonar mode: 0 : very shallow 1 : shallow 2 : medium 3 : deep 4 : very deep 5 : extra deep */ ping->png_raw_coverage = 0; /* swath width (degrees) (10 to 150 degrees) */ ping->png_raw_yawstabheading = 0; /* yaw stabilization heading (0.01 degrees) */ ping->png_raw_ntx = 0; /* number of TX pulses (1 to 9) */ for (i=0;ipng_raw_txlastbeam[i] = 0;/* last beam number in this TX pulse */ ping->png_raw_txtiltangle[i] = 0;/* tilt angle (0.01 deg) */ ping->png_raw_txheading[i] = 0; /* heading (0.01 deg) */ ping->png_raw_txroll[i] = 0; /* roll (0.01 deg) */ ping->png_raw_txpitch[i] = 0; /* pitch angle (0.01 deg) */ ping->png_raw_txheave[i] = 0; /* heave (0.01 m) */ } for (i=0;ipng_raw_rxrange[i] = 0; /* Ranges as raw two way travel times in time units defined as one-fourth the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ ping->png_raw_rxquality[i] = 0; /* beam quality flag */ ping->png_raw_rxwindow[i] = 0; /* length of detection window */ ping->png_raw_rxamp[i] = 0; /* 0.5 dB */ ping->png_raw_rxbeam_num[i] = 0; /* beam 128 is first beam on second head of EM3000D */ ping->png_raw_rxpointangle[i] = 0; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw_rxtiltangle[i] = 0; /* Raw transmit tilt angles in 0.01 degree, positive forward. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw_rxheading[i] = 0; /* heading (0.01 deg) */ ping->png_raw_rxroll[i] = 0; /* roll (0.01 deg) */ ping->png_raw_rxpitch[i] = 0; /* pitch angle (0.01 deg) */ ping->png_raw_rxheave[i] = 0; /* heave (0.01 m) */ } /* raw travel time and angle data version 3 */ ping->png_raw3_read = 0; /* flag indicating actual reading of newer rawbeam record */ ping->png_raw3_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_raw3_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_raw3_count = 0; /* sequential counter or input identifier */ ping->png_raw3_serial = 0; /* system 1 or system 2 serial number */ ping->png_raw3_ntx = 0; /* number of TX pulses (1 to 9) */ ping->png_raw3_nbeams = 0; /* number of raw travel times and angles - nonzero only if raw beam record read */ ping->png_raw3_sample_rate = 0; /* sampling rate (Hz or 0.01 Hz) */ ping->png_raw3_xducer_depth = 0; /* transmit transducer depth (0.01 m) */ ping->png_raw3_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_raw3_nbeams_max = 0; /* maximum number of beams possible */ for (i=0;ipng_raw3_txtiltangle[i] = 0;/* tilt angle (0.01 deg) */ ping->png_raw3_txfocus[i] = 0; /* focus range (0.1 m) 0 = no focus */ ping->png_raw3_txsignallength[i] = 0; /* signal length (usec) */ ping->png_raw3_txoffset[i] = 0; /* transmit time offset (usec) */ ping->png_raw3_txcenter[i] = 0; /* center frequency (Hz) */ ping->png_raw3_txbandwidth[i] = 0; /* bandwidth (10 Hz) */ ping->png_raw3_txwaveform[i] = 0; /* signal waveform identifier 0 = CW, 1 = FM */ ping->png_raw3_txsector[i] = 0; /* transmit sector number (0-19) */ } for (i=0;ipng_raw3_rxpointangle[i] = 0;; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw3_rxrange[i] = 0;; /* Ranges (0.25 samples) */ ping->png_raw3_rxsector[i] = 0;; /* transmit sector identifier */ ping->png_raw3_rxamp[i] = 0;; /* 0.5 dB */ ping->png_raw3_rxquality[i] = 0;; /* beam quality flag */ ping->png_raw3_rxwindow[i] = 0;; /* length of detection window */ ping->png_raw3_rxbeam_num[i] = 0;; /* beam 128 is first beam on second head of EM3000D */ ping->png_raw3_rxspare[i] = 0;; /* spare */ } /* sidescan */ ping->png_ss_read = MB_NO; /* flag indicating actual reading of sidescan record */ ping->png_ss_count = 0; /* sequential counter or input identifier */ ping->png_ss_serial = 0; /* system 1 or system 2 serial number */ ping->png_max_range = 0; /* max range of ping in number of samples */ ping->png_r_zero = 0; /* range to normal incidence used in TVG (R0 predicted) in samples */ ping->png_r_zero_corr = 0; /* range to normal incidence used to correct sample amplitudes in number of samples */ ping->png_tvg_start = 0; /* start sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_tvg_stop = 0; \ /* stop sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_bsn = 0; /* normal incidence backscatter (BSN) in dB */ ping->png_bso = 0; /* oblique incidence backscatter (BSO) in dB */ ping->png_tx = 0; /* Tx beamwidth in 0.1 degree */ ping->png_tvg_crossover = 0; /* TVG law crossover angle in degrees */ ping->png_nbeams_ss = 0; /* number of beams with sidescan */ for (i=0;ipng_beam_index[i] = 0; /* beam index number */ ping->png_sort_direction[i] = 0; /* sorting direction - first sample in beam has lowest range if 1, highest if -1. */ ping->png_beam_samples[i] = 0; /* number of sidescan samples derived from each beam */ ping->png_start_sample[i] = 0; /* start sample number */ ping->png_center_sample[i] = 0; /* center sample number */ } for (i=0;ipng_ssraw[i] = EM2_INVALID_AMP; /* the raw sidescan ordered port to starboard */ } ping->png_pixel_size = 0; ping->png_pixels_ss = 0; for (i=0;ipng_ss[i] = EM2_INVALID_AMP; /* the processed sidescan ordered port to starboard */ ping->png_ssalongtrack[i] = EM2_INVALID_AMP; /* the processed sidescan alongtrack distances in distance resolution units */ } } /* allocate memory for second data structure if needed */ if (store->ping2 == NULL && store->sonar == MBSYS_SIMRAD2_EM3002) { if ((status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_ping_struct), (void **)&(store->ping2),error)) == MB_SUCCESS) { /* get data structure pointer */ ping = (struct mbsys_simrad2_ping_struct *) store->ping2; /* initialize everything */ ping->png_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_count = 0; /* sequential counter or input identifier */ ping->png_serial = 0; /* system 1 or system 2 serial number */ ping->png_latitude = EM2_INVALID_INT; /* latitude in decimal degrees * 20000000 (negative in southern hemisphere) if valid, invalid = 0x7FFFFFFF */ ping->png_longitude = EM2_INVALID_INT; /* longitude in decimal degrees * 10000000 (negative in western hemisphere) if valid, invalid = 0x7FFFFFFF */ ping->png_speed = 0; /* speed over ground (cm/sec) if valid, invalid = 0xFFFF */ ping->png_heading = 0; /* heading (0.01 deg) */ ping->png_heave = 0; /* heave from interpolation (0.01 m) */ ping->png_roll = 0; /* roll from interpolation (0.01 deg) */ ping->png_pitch = 0; /* pitch from interpolation (0.01 deg) */ ping->png_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_xducer_depth = 0; /* transmit transducer depth (0.01 m) - The transmit transducer depth plus the depth offset multiplier times 65536 cm should be added to the beam depths to derive the depths re the water line. The depth offset multiplier will usually be zero, except when the EM3000 sonar head is on an underwater vehicle at a depth greater than about 650 m. Note that the offset multiplier will be negative (-1) if the actual heave is large enough to bring the transmit transducer above the water line. This may represent a valid situation, but may also be due to an erroneously set installation depth of the either transducer or the water line. */ ping->png_offset_multiplier = 0; /* transmit transducer depth offset multiplier - see note 7 above */ /* beam data */ ping->png_nbeams_max = 0; /* maximum number of beams possible */ ping->png_nbeams = 0; /* number of valid beams */ ping->png_depth_res = 0; /* depth resolution (0.01 m) */ ping->png_distance_res = 0; /* x and y resolution (0.01 m) */ ping->png_sample_rate = 0; /* sampling rate (Hz) OR depth difference between sonar heads in EM3000D - see note 9 above */ for (i=0;ipng_depth[i] = 0; /* depths in depth resolution units */ ping->png_acrosstrack[i] = 0; /* acrosstrack distances in distance resolution units */ ping->png_alongtrack[i] = 0; /* alongtrack distances in distance resolution units */ ping->png_depression[i] = 0; /* Primary beam angles in one of two formats (see note 10 above) 1: Corrected format - gives beam depression angles in 0.01 degree. These are the takeoff angles used in raytracing calculations. 2: Uncorrected format - gives beam pointing angles in 0.01 degree. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_azimuth[i] = 0; /* Secondary beam angles in one of two formats (see note 10 above) 1: Corrected format - gives beam azimuth angles in 0.01 degree. These values used to rotate sounding position relative to the sonar after raytracing. 2: Uncorrected format - combines a flag indicating that the angles are in the uncorrected format with beam tilt angles. Values greater than 35999 indicate the uncorrected format is in use. The beam tilt angles are given as (value - 54000) in 0.01 degree; the tilt angles give the tilt of the transmitted ping due to compensation for vessel motion. */ ping->png_range[i] = 0; /* Ranges in one of two formats (see note 10 above): 1: Corrected format - the ranges are one way travel times in time units defined as half the inverse sampling rate. 2: Uncorrected format - the ranges are raw two way travel times in time units defined as half the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ ping->png_quality[i] = 0; /* 0-254 */ ping->png_window[i] = 0; /* samples/4 */ ping->png_amp[i] = 0; /* 0.5 dB */ ping->png_beam_num[i] = 0; /* beam 128 is first beam on second head of EM3000D */ ping->png_beamflag[i] = MB_FLAG_NULL; /* uses standard MB-System beamflags */ } /* raw beam record */ ping->png_raw1_read = MB_NO; /* flag indicating actual reading of old rawbeam record */ ping->png_raw2_read = MB_NO; /* flag indicating actual reading of new rawbeam record */ ping->png_raw_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_raw_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_raw_count = 0; /* sequential counter or input identifier */ ping->png_raw_serial = 0; /* system 1 or system 2 serial number */ ping->png_raw_heading = 0; /* heading (0.01 deg) */ ping->png_raw_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_raw_xducer_depth = 0; /* transmit transducer depth (0.01 m) */ ping->png_raw_nbeams_max = 0; /* maximum number of beams possible */ ping->png_raw_nbeams = 0; /* number of valid beams */ ping->png_raw_depth_res = 0; /* depth resolution (0.01 m) */ ping->png_raw_distance_res = 0; /* x and y resolution (0.01 m) */ ping->png_raw_sample_rate = 0; /* sampling rate (Hz) */ ping->png_raw_status = 0; /* status from PU/TRU */ ping->png_raw_nbeams = 0; /* number of raw travel times and angles - nonzero only if raw beam record read */ ping->png_raw_rangenormal = 0; /* normal incidence range (meters) */ ping->png_raw_normalbackscatter = 0; /* normal incidence backscatter (dB) (-60 to +9) */ ping->png_raw_obliquebackscatter = 0; /* oblique incidence backscatter (dB) (-60 to +9) */ ping->png_raw_fixedgain = 0; /* fixed gain (dB) (0 to 30) */ ping->png_raw_txpower = 0; /* transmit power (dB) (0, -10, or -20) */ ping->png_raw_mode = 0; /* sonar mode: 0 : very shallow 1 : shallow 2 : medium 3 : deep 4 : very deep 5 : extra deep */ ping->png_raw_coverage = 0; /* swath width (degrees) (10 to 150 degrees) */ ping->png_raw_yawstabheading = 0; /* yaw stabilization heading (0.01 degrees) */ ping->png_raw_ntx = 0; /* number of TX pulses (1 to 9) */ for (i=0;ipng_raw_txlastbeam[i] = 0;/* last beam number in this TX pulse */ ping->png_raw_txtiltangle[i] = 0;/* tilt angle (0.01 deg) */ ping->png_raw_txheading[i] = 0; /* heading (0.01 deg) */ ping->png_raw_txroll[i] = 0; /* roll (0.01 deg) */ ping->png_raw_txpitch[i] = 0; /* pitch angle (0.01 deg) */ ping->png_raw_txheave[i] = 0; /* heave (0.01 m) */ } for (i=0;ipng_raw_rxrange[i] = 0; /* Ranges as raw two way travel times in time units defined as one-fourth the inverse sampling rate. These values have not been corrected for changes in the heave during the ping cycle. */ ping->png_raw_rxquality[i] = 0; /* beam quality flag */ ping->png_raw_rxwindow[i] = 0; /* length of detection window */ ping->png_raw_rxamp[i] = 0; /* 0.5 dB */ ping->png_raw_rxbeam_num[i] = 0; /* beam 128 is first beam on second head of EM3000D */ ping->png_raw_rxpointangle[i] = 0; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw_rxtiltangle[i] = 0; /* Raw transmit tilt angles in 0.01 degree, positive forward. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw_rxheading[i] = 0; /* heading (0.01 deg) */ ping->png_raw_rxroll[i] = 0; /* roll (0.01 deg) */ ping->png_raw_rxpitch[i] = 0; /* pitch angle (0.01 deg) */ ping->png_raw_rxheave[i] = 0; /* heave (0.01 m) */ } /* raw travel time and angle data version 3 */ ping->png_raw3_read = 0; /* flag indicating actual reading of newer rawbeam record */ ping->png_raw3_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_raw3_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_raw3_count = 0; /* sequential counter or input identifier */ ping->png_raw3_serial = 0; /* system 1 or system 2 serial number */ ping->png_raw3_ntx = 0; /* number of TX pulses (1 to 9) */ ping->png_raw3_nbeams = 0; /* number of raw travel times and angles - nonzero only if raw beam record read */ ping->png_raw3_sample_rate = 0; /* sampling rate (Hz or 0.01 Hz) */ ping->png_raw3_xducer_depth = 0; /* transmit transducer depth (0.01 m) */ ping->png_raw3_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ ping->png_raw3_nbeams_max = 0; /* maximum number of beams possible */ for (i=0;ipng_raw3_txtiltangle[i] = 0;/* tilt angle (0.01 deg) */ ping->png_raw3_txfocus[i] = 0; /* focus range (0.1 m) 0 = no focus */ ping->png_raw3_txsignallength[i] = 0; /* signal length (usec) */ ping->png_raw3_txoffset[i] = 0; /* transmit time offset (usec) */ ping->png_raw3_txcenter[i] = 0; /* center frequency (Hz) */ ping->png_raw3_txbandwidth[i] = 0; /* bandwidth (10 Hz) */ ping->png_raw3_txwaveform[i] = 0; /* signal waveform identifier 0 = CW, 1 = FM */ ping->png_raw3_txsector[i] = 0; /* transmit sector number (0-19) */ } for (i=0;ipng_raw3_rxpointangle[i] = 0;; /* Raw beam pointing angles in 0.01 degree, positive to port. These values are relative to the transducer array and have not been corrected for vessel motion. */ ping->png_raw3_rxrange[i] = 0;; /* Ranges (0.25 samples) */ ping->png_raw3_rxsector[i] = 0;; /* transmit sector identifier */ ping->png_raw3_rxamp[i] = 0;; /* 0.5 dB */ ping->png_raw3_rxquality[i] = 0;; /* beam quality flag */ ping->png_raw3_rxwindow[i] = 0;; /* length of detection window */ ping->png_raw3_rxbeam_num[i] = 0;; /* beam 128 is first beam on second head of EM3000D */ ping->png_raw3_rxspare[i] = 0;; /* spare */ } /* sidescan */ ping->png_ss_read = MB_NO; /* flag indicating actual reading of sidescan record */ ping->png_ss_count = 0; /* sequential counter or input identifier */ ping->png_ss_serial = 0; /* system 1 or system 2 serial number */ ping->png_max_range = 0; /* max range of ping in number of samples */ ping->png_r_zero = 0; /* range to normal incidence used in TVG (R0 predicted) in samples */ ping->png_r_zero_corr = 0; /* range to normal incidence used to correct sample amplitudes in number of samples */ ping->png_tvg_start = 0; /* start sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_tvg_stop = 0; \ /* stop sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_bsn = 0; /* normal incidence backscatter (BSN) in dB */ ping->png_bso = 0; /* oblique incidence backscatter (BSO) in dB */ ping->png_tx = 0; /* Tx beamwidth in 0.1 degree */ ping->png_tvg_crossover = 0; /* TVG law crossover angle in degrees */ ping->png_nbeams_ss = 0; /* number of beams with sidescan */ for (i=0;ipng_beam_index[i] = 0; /* beam index number */ ping->png_sort_direction[i] = 0; /* sorting direction - first sample in beam has lowest range if 1, highest if -1. */ ping->png_beam_samples[i] = 0; /* number of sidescan samples derived from each beam */ ping->png_start_sample[i] = 0; /* start sample number */ ping->png_center_sample[i] = 0; /* center sample number */ } for (i=0;ipng_ssraw[i] = EM2_INVALID_AMP; /* the raw sidescan ordered port to starboard */ } ping->png_pixel_size = 0; ping->png_pixels_ss = 0; for (i=0;ipng_ss[i] = EM2_INVALID_AMP; /* the processed sidescan ordered port to starboard */ ping->png_ssalongtrack[i] = EM2_INVALID_AMP; /* the processed sidescan alongtrack distances in distance resolution units */ } } } /* 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_simrad2_wc_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_wc_survey_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_watercolumn_struct *wc; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->wc == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_watercolumn_struct), (void **)&(store->wc),error); if (status == MB_SUCCESS) { /* get data structure pointer */ wc = (struct mbsys_simrad2_watercolumn_struct *) store->wc; /* initialize everything */ wc->wtc_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ wc->wtc_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ wc->wtc_count = 0; /* sequential counter or input identifier */ wc->wtc_serial = 0; /* system 1 or system 2 serial number */ wc->wtc_ndatagrams = 0; /* number of datagrams used to represent the water column for this ping */ wc->wtc_datagram = 0; /* number this datagram */ wc->wtc_ntx = 0; /* number of transmit sectors */ wc->wtc_nrx = 0; /* number of receive beams */ wc->wtc_nbeam = 0; /* number of beams in this datagram */ wc->wtc_ssv = 0; /* sound speed at transducer (0.1 m/sec) */ wc->wtc_sfreq = 0; /* sampling frequency (0.01 Hz) */ wc->wtc_heave = 0; /* tx time heave at transducer (0.01 m) */ wc->wtc_spare1 = 0; /* spare */ wc->wtc_spare2 = 0; /* spare */ wc->wtc_spare3 = 0; /* spare */ for (i=0;iwtc_txtiltangle[i] = 0; /* tilt angle (0.01 deg) */ wc->wtc_txcenter[i] = 0; /* center frequency (Hz) */ wc->wtc_txsector[i] = 0; /* transmit sector number (0-19) */ } for (i=0;ibeam[i].wtc_rxpointangle = 0; /* Beam pointing angles in 0.01 degree, positive to port. These values are roll stabilized. */ wc->beam[i].wtc_start_sample = 0; /* start sample number */ wc->beam[i].wtc_beam_samples = 0; /* number of water column samples derived from each beam */ wc->beam[i].wtc_sector = 0; /* transmit sector identifier */ wc->beam[i].wtc_beam = 0; /* beam 128 is first beam on second head of EM3000D */ for (j=0;jbeam[i].wtc_amp[j] = 0; /* water column amplitude (dB) */ } } /* 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_simrad2_attitude_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_attitude_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_attitude_struct *attitude; 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_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->attitude == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_attitude_struct), (void **)&(store->attitude),error); if (status == MB_SUCCESS) { /* get data structure pointer */ attitude = (struct mbsys_simrad2_attitude_struct *) store->attitude; /* initialize everything */ attitude->att_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ attitude->att_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ attitude->att_count = 0; /* sequential counter or input identifier */ attitude->att_serial = 0; /* system 1 or system 2 serial number */ attitude->att_ndata = 0; /* number of attitude data */ for (i=0;iatt_time[i] = 0; /* time since record start (msec) */ attitude->att_sensor_status[i] = 0; /* see note 12 above */ attitude->att_roll[i] = 0; /* roll (0.01 degree) */ attitude->att_pitch[i] = 0; /* pitch (0.01 degree) */ attitude->att_heave[i] = 0; /* heave (cm) */ attitude->att_heading[i] = 0; /* heading (0.01 degree) */ } attitude->att_heading_status = 0; /* heading status (0=inactive) */ } /* 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_simrad2_heading_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_heading_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_heading_struct *heading; 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_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->heading == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_heading_struct), (void **)&(store->heading),error); if (status == MB_SUCCESS) { /* get data structure pointer */ heading = (struct mbsys_simrad2_heading_struct *) store->heading; /* initialize everything */ heading->hed_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ heading->hed_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ heading->hed_count = 0; /* sequential counter or input identifier */ heading->hed_serial = 0; /* system 1 or system 2 serial number */ heading->hed_ndata = 0; /* number of heading data */ for (i=0;ihed_time[i] = 0; /* time since record start (msec) */ heading->hed_heading[i] = 0; /* heading (0.01 degree) */ } heading->hed_heading_status = 0; /* heading status (0=inactive) */ } /* 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_simrad2_ssv_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_ssv_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ssv_struct *ssv; 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_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->ssv == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_ssv_struct), (void **)&(store->ssv),error); if (status == MB_SUCCESS) { /* get data structure pointer */ ssv = (struct mbsys_simrad2_ssv_struct *) store->ssv; /* initialize everything */ ssv->ssv_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ssv->ssv_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ssv->ssv_count = 0; /* sequential counter or input identifier */ ssv->ssv_serial = 0; /* system 1 or system 2 serial number */ ssv->ssv_ndata = 0; /* number of ssv data */ for (i=0;issv_time[i] = 0; /* time since record start (msec) */ ssv->ssv_ssv[i] = 0; /* ssv (0.1 m/s) */ } } /* 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_simrad2_tilt_alloc(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_tilt_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_tilt_struct *tilt; 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_simrad2_struct *) store_ptr; /* allocate memory for data structure if needed */ if (store->tilt == NULL) status = mb_mallocd(verbose,__FILE__, __LINE__, sizeof(struct mbsys_simrad2_tilt_struct), (void **)&(store->tilt),error); if (status == MB_SUCCESS) { /* get data structure pointer */ tilt = (struct mbsys_simrad2_tilt_struct *) store->tilt; /* initialize everything */ tilt->tlt_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ tilt->tlt_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ tilt->tlt_count = 0; /* sequential counter or input identifier */ tilt->tlt_serial = 0; /* system 1 or system 2 serial number */ tilt->tlt_ndata = 0; /* number of tilt data */ for (i=0;itlt_time[i] = 0; /* time since record start (msec) */ tilt->tlt_tilt[i] = 0; /* tilt + forward (0.01 deg) */ } } /* 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_simrad2_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_simrad2_deall"; int status = MB_SUCCESS; struct mbsys_simrad2_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_simrad2_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 survey data structure */ if (store->ping2 != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->ping2),error); /* deallocate memory for water column data structure */ if (store->wc != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->wc),error); /* deallocate memory for attitude data structure */ if (store->attitude != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->attitude),error); /* deallocate memory for heading data structure */ if (store->heading != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->heading),error); /* deallocate memory for ssv data structure */ if (store->ssv != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->ssv),error); /* deallocate memory for tilt data structure */ if (store->tilt != NULL) status = mb_freed(verbose,__FILE__, __LINE__,(void **)&(store->tilt),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_simrad2_zero_ss(int verbose, void *store_ptr, int *error) { char *function_name = "mbsys_simrad2_zero_ss"; int status = MB_SUCCESS; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_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 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to data descriptor */ store = (struct mbsys_simrad2_struct *) store_ptr; if (store != NULL) ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* initialize all sidescan stuff to zeros */ if (store->ping != NULL) { ping->png_ss_date = 0; /* date = year*10000 + month*100 + day Feb 26, 1995 = 19950226 */ ping->png_ss_msec = 0; /* time since midnight in msec 08:12:51.234 = 29570234 */ ping->png_ss_count = 0; /* sequential counter or input identifier */ ping->png_ss_serial = 0; /* system 1 or system 2 serial number */ ping->png_max_range = 0; /* max range of ping in number of samples */ ping->png_r_zero = 0; /* range to normal incidence used in TVG (R0 predicted) in samples */ ping->png_r_zero_corr = 0; /* range to normal incidence used to correct sample amplitudes in number of samples */ ping->png_tvg_start = 0; /* start sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_tvg_stop = 0; \ /* stop sample of TVG ramp if not enough dynamic range (0 otherwise) */ ping->png_bsn = 0; /* normal incidence backscatter (BSN) in dB */ ping->png_bso = 0; /* oblique incidence backscatter (BSO) in dB */ ping->png_tx = 0; /* Tx beamwidth in 0.1 degree */ ping->png_tvg_crossover = 0; /* TVG law crossover angle in degrees */ ping->png_nbeams_ss = 0; /* number of beams with sidescan */ ping->png_npixels = 0; /* number of pixels of sidescan */ for (i=0;ipng_beam_index[i] = 0; /* beam index number */ ping->png_sort_direction[i] = 0; /* sorting direction - first sample in beam has lowest range if 1, highest if -1. */ ping->png_beam_samples[i] = 0; /* number of sidescan samples derived from each beam */ ping->png_start_sample[i] = 0; /* start sample number */ ping->png_center_sample[i] = 0; /* center sample number */ } for (i=0;ipng_ssraw[i] = EM2_INVALID_AMP; /* the sidescan ordered port to starboard */ } for (i=0;ipng_ss[i] = EM2_INVALID_AMP; /* the sidescan ordered port to starboard */ ping->png_ssalongtrack[i] = EM2_INVALID_AMP; /* the sidescan ordered port to starboard */ } } /* assume success */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_simrad2_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_simrad2_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); 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_simrad2_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_simrad2_ping_struct *) store->ping; *nbath = ping->png_nbeams_max; *namp = *nbath; *nss = MBSYS_SIMRAD2_MAXPIXELS; /* double it for the EM3002 */ if (store->sonar == MBSYS_SIMRAD2_EM3002) { ping = (struct mbsys_simrad2_ping_struct *) store->ping2; *nbath += ping->png_nbeams_max; *namp = *nbath; *nss += MBSYS_SIMRAD2_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_simrad2_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error) { char *function_name = "mbsys_simrad2_pingnumber"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad2_struct *) mb_io_ptr->store_data; /* extract data from structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; *pingnumber = ping->png_count; /* 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 pingnumber: %d\n",*pingnumber); 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_simrad2_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_simrad2_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; double depthscale, depthoffset; double dacrscale, daloscale, reflscale; double pixel_size; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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_simrad2_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_simrad2_ping_struct *) store->ping; /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM2_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* set beamwidths in mb_io structure */ if (store->run_tran_beam > 0) mb_io_ptr->beamwidth_ltrack = 0.1 * store->run_tran_beam; else if (ping->png_tx > 0) { mb_io_ptr->beamwidth_ltrack = 0.1 * ping->png_tx; } else if (store->sonar == MBSYS_SIMRAD2_EM120) mb_io_ptr->beamwidth_ltrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM300) mb_io_ptr->beamwidth_ltrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM1002) mb_io_ptr->beamwidth_ltrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM2000) mb_io_ptr->beamwidth_ltrack = 1.5; else if (store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002) mb_io_ptr->beamwidth_ltrack = 1.5; else if (store->sonar == MBSYS_SIMRAD2_EM1000) mb_io_ptr->beamwidth_ltrack = 3.3; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D) mb_io_ptr->beamwidth_ltrack = 1.7; else if (store->sonar == MBSYS_SIMRAD2_EM121) { mb_io_ptr->beamwidth_ltrack = 1.0; } if (store->run_rec_beam > 0) { mb_io_ptr->beamwidth_xtrack = 0.1 * store->run_rec_beam; } else if (store->sonar == MBSYS_SIMRAD2_EM120) mb_io_ptr->beamwidth_xtrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM300) mb_io_ptr->beamwidth_xtrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM1002) mb_io_ptr->beamwidth_xtrack = 2.0; else if (store->sonar == MBSYS_SIMRAD2_EM2000) mb_io_ptr->beamwidth_xtrack = 1.5; else if (store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002) mb_io_ptr->beamwidth_xtrack = 1.5; else if (store->sonar == MBSYS_SIMRAD2_EM1000) mb_io_ptr->beamwidth_xtrack = 3.3; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D) mb_io_ptr->beamwidth_xtrack = 3.5; else if (store->sonar == MBSYS_SIMRAD2_EM121) mb_io_ptr->beamwidth_xtrack = mb_io_ptr->beamwidth_ltrack; /* read distance and depth values into storage arrays */ depthscale = 0.01 * ping->png_depth_res; depthoffset = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; reflscale = 0.5; *nbath = 0; for (j=0;jpng_nbeams;i++) { j = ping->png_beam_num[i] - 1; bath[j] = depthscale * ping->png_depth[i] + depthoffset; beamflag[j] = ping->png_beamflag[i]; bathacrosstrack[j] = dacrscale * ping->png_acrosstrack[i]; bathalongtrack[j] = daloscale * ping->png_alongtrack[i]; amp[j] = reflscale * ping->png_amp[i]; } *nbath = ping->png_nbeams_max; *namp = *nbath; *nss = MBSYS_SIMRAD2_MAXPIXELS; pixel_size = 0.01 * ping->png_pixel_size; for (i=0;ipng_ss[i] != EM2_INVALID_AMP) { ss[i] = 0.01 * ping->png_ss[i]; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD2_MAXPIXELS / 2); ssalongtrack[i] = daloscale * ping->png_ssalongtrack[i]; } else { ss[i] = MB_SIDESCAN_NULL; ssacrosstrack[i] = pixel_size * (i - MBSYS_SIMRAD2_MAXPIXELS / 2); ssalongtrack[i] = 0.0; } } /* deal with second head in case of EM3002 */ if (store->sonar == MBSYS_SIMRAD2_EM3002 && store->numberheads == 2 && store->ping2 != NULL && store->ping2->png_count == ping->png_count) { /* get survey data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping2; /* read distance and depth values into storage arrays */ depthscale = 0.01 * ping->png_depth_res; depthoffset = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; reflscale = 0.5; for (j=*nbath;j<2*MBSYS_SIMRAD2_MAXBEAMS;j++) { bath[j] = 0.0; beamflag[j] = MB_FLAG_NULL; amp[j] = 0.0; bathacrosstrack[j] = 0.0; bathalongtrack[j] = 0.0; } for (i=0;ipng_nbeams;i++) { j = *nbath + ping->png_beam_num[i] - 1; bath[j] = depthscale * ping->png_depth[i] + depthoffset; beamflag[j] = ping->png_beamflag[i]; bathacrosstrack[j] = dacrscale * ping->png_acrosstrack[i]; bathalongtrack[j] = daloscale * ping->png_alongtrack[i]; amp[j] = reflscale * ping->png_amp[i]; } *nbath += ping->png_nbeams_max; *namp = *nbath; pixel_size = 0.01 * ping->png_pixel_size; for (i=0;ipng_ss[i] != EM2_INVALID_AMP) { ss[j] = 0.01 * ping->png_ss[i]; ssacrosstrack[j] = pixel_size * (i - MBSYS_SIMRAD2_MAXPIXELS / 2); ssalongtrack[j] = daloscale * ping->png_ssalongtrack[i]; } else { ss[j] = MB_SIDESCAN_NULL; ssacrosstrack[j] = pixel_size * (i - MBSYS_SIMRAD2_MAXPIXELS / 2); ssalongtrack[j] = 0.0; } } *nss += MBSYS_SIMRAD2_MAXPIXELS; } /* 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]); fprintf(stderr,"dbg4 nss: %d\n", *nss); 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 || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * store->pos_heading; /* get speed */ if (store->pos_speed != EM2_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; *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 */ strncpy(comment,store->par_com, MBSYS_SIMRAD2_COMMENT_LENGTH); /* 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_simrad2_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_simrad2_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; double depthscale, dacrscale,daloscale,reflscale; double depthoffset; double depthmax, distancemax; int png_depth_res, png_distance_res; int i0, i1; double x0, x1; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); 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_simrad2_struct *) store_ptr; /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get guess at sonar if needed */ if (store->sonar == MBSYS_SIMRAD2_UNKNOWN) { if (nbath <= 87) { store->sonar = MBSYS_SIMRAD2_EM2000; } else if (nbath <= 111) { store->sonar = MBSYS_SIMRAD2_EM1002; } else if (nbath <= 127) { store->sonar = MBSYS_SIMRAD2_EM3000; } else if (nbath <= 135) { store->sonar = MBSYS_SIMRAD2_EM300; } else if (nbath <= 191) { store->sonar = MBSYS_SIMRAD2_EM120; } else if (nbath <= 254) { store->sonar = MBSYS_SIMRAD2_EM3000D_2; } else if (nbath <= 508) { store->sonar = MBSYS_SIMRAD2_EM3002; } } /* allocate secondary data structure for survey data if needed */ if (store->ping == NULL) { status = mbsys_simrad2_survey_alloc( verbose,mbio_ptr, store_ptr,error); } /* get survey data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* get time */ ping->png_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; ping->png_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->date = ping->png_date; store->msec = ping->png_msec; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; ping->png_longitude = 10000000 * navlon; ping->png_latitude = 20000000 * navlat; /* get heading */ ping->png_heading = (int) rint(heading * 100); /* get speed */ ping->png_speed = (int) rint(speed / 0.036); /* get resolutions if needed */ if (ping->png_depth_res == 0 || ping->png_distance_res == 0) { if (store->sonar == MBSYS_SIMRAD2_EM300 || store->sonar == MBSYS_SIMRAD2_EM120) { ping->png_depth_res = 10; /* kluge */ ping->png_distance_res = 10; /* kluge */ } else { ping->png_depth_res = 1; /* kluge */ ping->png_distance_res = 1; /* kluge */ } } /* set initial values for resolutions */ depthscale = 0.01 * ping->png_depth_res; depthoffset = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; reflscale = 0.5; /* Figure out depth and distance scaling on * the fly. Using the existing scaling got us * into trouble with Revelle data in August-September 2001. * Use calculated values only if needed to fit * new depths into short int's. */ if (status == MB_SUCCESS) { /* get max depth and distance values */ depthmax = 0.0; distancemax = 0.0; for (i=0;isonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300) png_depth_res = (int)(depthmax / 655.36) + 1; else png_depth_res = (int)(depthmax / 327.68) + 1; png_distance_res = (int)(distancemax / 327.68) + 1; /* Change scaling if needed */ if (png_depth_res > ping->png_depth_res) { ping->png_depth_res = png_depth_res; depthscale = 0.01 * ping->png_depth_res; } if (png_distance_res > ping->png_distance_res) { ping->png_distance_res = png_distance_res; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; } } /* deal with data from the dual head EM3002 */ if (status == MB_SUCCESS && store->sonar == MBSYS_SIMRAD2_EM3002) { ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; ping2->png_date = ping->png_date; ping2->png_msec = ping->png_msec; ping2->png_longitude = ping->png_longitude; ping2->png_latitude = ping->png_latitude; ping2->png_heading = ping->png_heading; ping2->png_speed = ping->png_speed; ping2->png_depth_res = ping->png_depth_res; ping2->png_distance_res = ping->png_distance_res; if (ping->png_nbeams == 0) { for (i=0;ipng_nbeams; ping->png_beam_num[j] = i + 1; ping->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping->png_beamflag[j] = beamflag[i]; ping->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping->png_amp[j] = (int) rint(amp[i] / reflscale); ping->png_nbeams++; } } ping->png_nbeams_max = nbath; ping2->png_nbeams = 0; for (i=nbath/2;ipng_nbeams; ping2->png_beam_num[j] = i + 1; ping2->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping2->png_beamflag[j] = beamflag[i]; ping2->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping2->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping2->png_amp[j] = (int) rint(amp[i] / reflscale); ping2->png_nbeams++; } } ping2->png_nbeams_max = nbath; } else { for (j=0;jpng_nbeams;j++) { i = ping->png_beam_num[j] - 1; ping->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping->png_beamflag[j] = beamflag[i]; ping->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping->png_amp[j] = (int) rint(amp[i] / reflscale); } for (j=0;jpng_nbeams;j++) { i = ping->png_beam_num[ping->png_nbeams-1] + ping2->png_beam_num[j] - 1; ping2->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping2->png_beamflag[j] = beamflag[i]; ping2->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping2->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping2->png_amp[j] = (int) rint(amp[i] / reflscale); } } /* handle sidescan */ if (ping->png_pixels_ss + ping2->png_pixels_ss != nss) { ping->png_pixels_ss = nss/2; ping2->png_pixels_ss = nss/2; } if (ping->png_pixel_size == 0) { i0 = nss; i1 = 0; for (i=0;i MB_SIDESCAN_NULL) { if (i < i0) { i0 = i; x0 = ssacrosstrack[i]; } i1 = i; x1 = ssacrosstrack[i]; } } if (i1 - i0 > 1) { ping->png_pixel_size = (int)(100.0 * (x1 - x0) / (i1 - 10 - 1)); } } if (ping2->png_pixel_size == 0) { i0 = nss; i1 = 0; for (i=nss/2;i MB_SIDESCAN_NULL) { if (i < i0) { i0 = i; x0 = ssacrosstrack[i]; } i1 = i; x1 = ssacrosstrack[i]; } } if (i1 - i0 > 1) { ping2->png_pixel_size = (int)(100.0 * (x1 - x0) / (i1 - 10 - 1)); } } for (j=0;j MB_SIDESCAN_NULL) { ping->png_ss[j] = (int) rint(100 * ss[j]); ping->png_ssalongtrack[j] = (int) rint(ssalongtrack[j] / daloscale); } else { ping->png_ss[j] = EM2_INVALID_AMP; ping->png_ssalongtrack[j] = EM2_INVALID_AMP; } } for (j=0;j MB_SIDESCAN_NULL) { ping2->png_ss[j] = (int) rint(100 * ss[i]); ping2->png_ssalongtrack[j] = (int) rint(ssalongtrack[i] / daloscale); } else { ping2->png_ss[j] = EM2_INVALID_AMP; ping2->png_ssalongtrack[j] = EM2_INVALID_AMP; } } } /* else deal with data from all the single head sonars */ else if (status == MB_SUCCESS) { if (ping->png_nbeams == 0) { for (i=0;ipng_nbeams; ping->png_beam_num[j] = i + 1; ping->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping->png_beamflag[j] = beamflag[i]; ping->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping->png_amp[j] = (int) rint(amp[i] / reflscale); ping->png_nbeams++; } ping->png_nbeams_max = nbath; } else { for (j=0;jpng_nbeams;j++) { i = ping->png_beam_num[j] - 1; ping->png_depth[j] = (int) rint((bath[i] - depthoffset) / depthscale); ping->png_beamflag[j] = beamflag[i]; ping->png_acrosstrack[j] = (int) rint(bathacrosstrack[i] / dacrscale); ping->png_alongtrack[j] = (int) rint(bathalongtrack[i] / daloscale); ping->png_amp[j] = (int) rint(amp[i] / reflscale); } } for (i=0;i MB_SIDESCAN_NULL) { ping->png_ss[i] = (int) rint(100 * ss[i]); ping->png_ssalongtrack[i] = (int) rint(ssalongtrack[i] / daloscale); } else { ping->png_ss[i] = EM2_INVALID_AMP; ping->png_ssalongtrack[i] = EM2_INVALID_AMP; } } } } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3) { /* get time */ store->pos_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; store->pos_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = store->pos_msec; store->date = store->pos_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; store->pos_longitude = 10000000 * navlon; store->pos_latitude = 20000000 * navlat; /* get heading */ store->pos_heading = (int) rint(heading * 100); /* get speed */ store->pos_speed = (int) rint(speed / 0.036); /* get roll pitch and heave */ /* set "active" flag if needed */ if (store->kind == MB_DATA_NAV) { store->pos_system = store->pos_system | 128; } /* set secondary nav flag if needed */ else if (store->kind == MB_DATA_NAV1) { store->pos_system = store->pos_system | 1; } else if (store->kind == MB_DATA_NAV2) { store->pos_system = store->pos_system | 2; } else if (store->kind == MB_DATA_NAV3) { store->pos_system = store->pos_system | 3; } } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { strncpy(store->par_com,comment, MBSYS_SIMRAD2_COMMENT_LENGTH); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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_simrad2_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_simrad2_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; double ttscale; double heave_use; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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_simrad2_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_simrad2_ping_struct *) store->ping; /* get depth offset (heave + heave offset) */ heave_use = 0.0; *ssv = 0.1 * ping->png_ssv; *draft = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; /* get travel times, angles */ if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300 || store->sonar == MBSYS_SIMRAD2_EM1002 || store->sonar == MBSYS_SIMRAD2_EM2000 || store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM710) ttscale = 0.5 / ping->png_sample_rate; else if (store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002) ttscale = 0.5 / 14000; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D || store->sonar == MBSYS_SIMRAD2_EM121 || store->sonar == MBSYS_SIMRAD2_EM1000) { ttscale = 1.0 / ping->png_sample_rate; } /* deal with data from the dual head EM3002 */ if (status == MB_SUCCESS && store->sonar == MBSYS_SIMRAD2_EM3002) { ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; *nbeams = ping->png_nbeams_max + ping2->png_nbeams_max; for (j=0;j<*nbeams;j++) { ttimes[j] = 0.0; angles[j] = 0.0; angles_forward[j] = 0.0; angles_null[j] = 0.0; heave[j] = 0.0; alongtrack_offset[j] = 0.0; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; ttimes[j] = ttscale * ping->png_range[i]; angles[j] = 90.0 - 0.01 * ping->png_depression[i]; angles_forward[j] = 90 - 0.01 * ping->png_azimuth[i]; if (angles_forward[j] < 0.0) angles_forward[j] += 360.0; angles_null[i] = 0.0; heave[j] = heave_use; alongtrack_offset[j] = 0.0; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[ping->png_nbeams-1] + ping2->png_beam_num[i] - 1; ttimes[j] = ttscale * ping2->png_range[i]; angles[j] = 90.0 - 0.01 * ping2->png_depression[i]; angles_forward[j] = 90 - 0.01 * ping2->png_azimuth[i]; if (angles_forward[j] < 0.0) angles_forward[j] += 360.0; angles_null[i] = 0.0; heave[j] = heave_use; alongtrack_offset[j] = 0.0; } } /* else deal with data from single head sonars */ else if (status == MB_SUCCESS) { *nbeams = ping->png_nbeams_max; for (j=0;jpng_nbeams_max;j++) { ttimes[j] = 0.0; angles[j] = 0.0; angles_forward[j] = 0.0; angles_null[j] = 0.0; heave[j] = 0.0; alongtrack_offset[j] = 0.0; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; ttimes[j] = ttscale * ping->png_range[i]; angles[j] = 90.0 - 0.01 * ping->png_depression[i]; angles_forward[j] = 90 - 0.01 * ping->png_azimuth[i]; if (angles_forward[j] < 0.0) angles_forward[j] += 360.0; if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300 || store->sonar == MBSYS_SIMRAD2_EM2000 || store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002 || store->sonar == MBSYS_SIMRAD2_EM710) angles_null[i] = 0.0; else if (store->sonar == MBSYS_SIMRAD2_EM1000 || store->sonar == MBSYS_SIMRAD2_EM1002) angles_null[i] = angles[i]; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D || store->sonar == MBSYS_SIMRAD2_EM121) angles_null[i] = 0.0; heave[j] = heave_use; alongtrack_offset[j] = 0.0; } /* reset null angles for EM1000 outer beams */ if (store->sonar == MBSYS_SIMRAD2_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_simrad2_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_simrad2_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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_simrad2_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_simrad2_ping_struct *) store->ping; /* deal with data from the dual head EM3002 */ if (store->sonar == MBSYS_SIMRAD2_EM3002) { ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; *nbeams = ping->png_nbeams_max + ping2->png_nbeams_max; for (j=0;j<*nbeams;j++) { detects[j] = MB_DETECT_UNKNOWN; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; if (ping->png_quality[i] & 128) detects[j] = MB_DETECT_PHASE; else detects[j] = MB_DETECT_AMPLITUDE; } for (i=0;ipng_nbeams;i++) { j = ping2->png_beam_num[ping->png_nbeams-1] + ping2->png_beam_num[i] - 1; if (ping2->png_quality[i] & 128) detects[j] = MB_DETECT_PHASE; else detects[j] = MB_DETECT_AMPLITUDE; } } /* else deal with data from single head sonars */ else { *nbeams = ping->png_nbeams_max; for (j=0;jpng_nbeams_max;j++) { detects[j] = MB_DETECT_UNKNOWN; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; if (ping->png_quality[i] & 128) detects[j] = MB_DETECT_PHASE; else detects[j] = 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_simrad2_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error) { char *function_name = "mbsys_simrad2_pulses"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_ping_struct *ping2; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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_simrad2_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_simrad2_ping_struct *) store->ping; /* deal with data from the dual head EM3002 */ if (store->sonar == MBSYS_SIMRAD2_EM3002) { ping2 = (struct mbsys_simrad2_ping_struct *) store->ping2; *nbeams = ping->png_nbeams_max + ping2->png_nbeams_max; for (j=0;j<*nbeams;j++) { pulses[j] = MB_PULSE_UNKNOWN; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; pulses[j] = MB_PULSE_CW; } for (i=0;ipng_nbeams;i++) { j = ping2->png_beam_num[ping->png_nbeams-1] + ping2->png_beam_num[i] - 1; pulses[j] = MB_PULSE_CW; } } /* else deal with data from single head sonars */ else { *nbeams = ping->png_nbeams_max; for (j=0;jpng_nbeams_max;j++) { pulses[j] = MB_PULSE_UNKNOWN; } for (i=0;ipng_nbeams;i++) { j = ping->png_beam_num[i] - 1; pulses[j] = 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_simrad2_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_simrad2_gains"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_survey_struct *ping; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); 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_simrad2_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_simrad2_survey_struct *) store->ping; /* get transmit_gain (dB) */ *transmit_gain = (double)store->run_tran_pow; /* get pulse_length (sec) */ *pulse_length = 0.000001 * (double)store->run_tran_pulse; /* get receive_gain (dB) */ *receive_gain = (double)store->run_rec_gain; /* 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_simrad2_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error) { char *function_name = "mbsys_simrad2_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; double depthscale, dacrscale; double altitude_best; double xtrack_min; int found; 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_simrad2_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_simrad2_ping_struct *) store->ping; /* get transducer depth and altitude */ *transducer_depth = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; depthscale = 0.01 * ping->png_depth_res; dacrscale = 0.01 * ping->png_distance_res; found = MB_NO; altitude_best = 0.0; xtrack_min = 99999999.9; for (i=0;ipng_nbeams;i++) { if (mb_beam_ok(ping->png_beamflag[i]) && fabs(dacrscale * ping->png_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(dacrscale * ping->png_acrosstrack[i]); altitude_best = depthscale * ping->png_depth[i]; found = MB_YES; } } if (found == MB_NO) { xtrack_min = 99999999.9; for (i=0;ipng_nbeams;i++) { if (ping->png_quality[i] > 0 && fabs(dacrscale * ping->png_acrosstrack[i]) < xtrack_min) { xtrack_min = fabs(dacrscale * ping->png_acrosstrack[i]); altitude_best = depthscale * ping->png_depth[i]; found = MB_YES; } } } if (found == MB_YES) { *altitude = altitude_best; } else *altitude = 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); 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_simrad2_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr, int nmax, int *kind, int *n, int *time_i, 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_simrad2_extract_nnav"; int status = MB_SUCCESS; int interp_error = MB_ERROR_NO_ERROR; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; struct mbsys_simrad2_attitude_struct *attitude; double atime_d; int atime_i[7]; int i, inav; /* 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 nmax: %d\n",nmax); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_simrad2_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from ping structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* just one navigation value */ *n = 1; /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM2_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* get draft */ *draft = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; /* get roll pitch and heave */ *roll = 0.01 * ping->png_roll; *pitch = 0.01 * ping->png_pitch; *heave = 0.01 * ping->png_heave; /* done translating values */ } /* extract data from nav structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get survey data structure */ if (store->ping != NULL) ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* just one navigation value */ *n = 1; /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ if (store->pos_heading != EM2_INVALID_SHORT) *heading = 0.01 * store->pos_heading; else *heading = 0.0; /* get speed */ if (store->pos_speed != EM2_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; /* get draft */ if (store->ping != NULL) *draft = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; else *draft = 0.0; /* get roll pitch and heave */ *roll = 0.01 * store->pos_roll; *pitch = 0.01 * store->pos_pitch; *heave = 0.01 * store->pos_heave; /* done translating values */ } /* extract data from attitude structure */ else if (store->type == EM2_ATTITUDE && store->attitude != NULL) { /* get attitude data structure */ attitude = (struct mbsys_simrad2_attitude_struct *) store->attitude; /* get n */ *n = MIN(attitude->att_ndata, MB_ASYNCH_SAVE_MAX); /* get attitude time */ atime_i[0] = attitude->att_date / 10000; atime_i[1] = (attitude->att_date % 10000) / 100; atime_i[2] = attitude->att_date % 100; atime_i[3] = attitude->att_msec / 3600000; atime_i[4] = (attitude->att_msec % 3600000) / 60000; atime_i[5] = (attitude->att_msec % 60000) / 1000; atime_i[6] = (attitude->att_msec % 1000) * 1000; mb_get_time(verbose, atime_i, &atime_d); /* loop over the data */ for (i=0;i<*n;i++) { /* get time from the data record */ time_d[i] = (double)(atime_d + 0.001 * attitude->att_time[i]); mb_get_date(verbose,time_d[i],&(time_i[7*i])); /* get attitude from the data record */ heave[i] = (double)(0.01 * attitude->att_heave[i]); roll[i] = (double)(0.01 * attitude->att_roll[i]); pitch[i] = (double)(0.01 * attitude->att_pitch[i]); /* interpolate the heading */ mb_hedint_interp(verbose, mbio_ptr, time_d[i], &heading[i], &interp_error); /* interpolate the navigation */ mb_navint_interp(verbose, mbio_ptr, time_d[i], heading[i], 0.0, &navlon[i], &navlat[i], &speed[i], &interp_error); /* interpolate the sonar depth */ mb_depint_interp(verbose, mbio_ptr, time_d[i], &draft[i], &interp_error); } /* 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 n: %d\n",*n); for (inav=0;inav<*n;inav++) { for (i=0;i<7;i++) fprintf(stderr,"dbg2 %d time_i[%d]: %d\n",inav,i,time_i[inav * 7 + i]); fprintf(stderr,"dbg2 %d time_d: %f\n",inav,time_d[inav]); fprintf(stderr,"dbg2 %d longitude: %f\n",inav,navlon[inav]); fprintf(stderr,"dbg2 %d latitude: %f\n",inav,navlat[inav]); fprintf(stderr,"dbg2 %d speed: %f\n",inav,speed[inav]); fprintf(stderr,"dbg2 %d heading: %f\n",inav,heading[inav]); fprintf(stderr,"dbg2 %d draft: %f\n",inav,draft[inav]); fprintf(stderr,"dbg2 %d roll: %f\n",inav,roll[inav]); fprintf(stderr,"dbg2 %d pitch: %f\n",inav,pitch[inav]); fprintf(stderr,"dbg2 %d heave: %f\n",inav,heave[inav]); } 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_simrad2_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_simrad2_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_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_simrad2_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from ping structure */ if (*kind == MB_DATA_DATA) { /* get survey data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* get time */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (ping->png_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * ping->png_longitude; else *navlon = 0.0; if (ping->png_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * ping->png_latitude; else *navlat = 0.0; /* get heading */ *heading = 0.01 * ping->png_heading; /* get speed */ if (ping->png_speed != EM2_INVALID_SHORT) *speed = 0.036 * ping->png_speed; else *speed = 0.0; /* get draft */ *draft = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; /* get roll pitch and heave */ *roll = 0.01 * ping->png_roll; *pitch = 0.01 * ping->png_pitch; *heave = 0.01 * ping->png_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 nav structure */ else if (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3) { /* get survey data structure */ if (store->ping != NULL) ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* get time */ time_i[0] = store->pos_date / 10000; time_i[1] = (store->pos_date % 10000) / 100; time_i[2] = store->pos_date % 100; time_i[3] = store->pos_msec / 3600000; time_i[4] = (store->pos_msec % 3600000) / 60000; time_i[5] = (store->pos_msec % 60000) / 1000; time_i[6] = (store->pos_msec % 1000) * 1000; mb_get_time(verbose,time_i,time_d); /* get navigation */ if (store->pos_longitude != EM2_INVALID_INT) *navlon = 0.0000001 * store->pos_longitude; else *navlon = 0.0; if (store->pos_latitude != EM2_INVALID_INT) *navlat = 0.00000005 * store->pos_latitude; else *navlat = 0.0; /* get heading */ if (store->pos_heading != EM2_INVALID_SHORT) *heading = 0.01 * store->pos_heading; else *heading = 0.0; /* get speed */ if (store->pos_speed != EM2_INVALID_SHORT) *speed = 0.036 * store->pos_speed; else *speed = 0.0; /* get draft */ if (store->ping != NULL) *draft = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; else *draft = 0.0; /* get roll pitch and heave */ *roll = 0.01 * store->pos_roll; *pitch = 0.01 * store->pos_pitch; *heave = 0.01 * store->pos_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 */ } /* 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_simrad2_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_simrad2_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_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_simrad2_struct *) store_ptr; /* insert data in ping structure */ if (store->kind == MB_DATA_DATA) { /* allocate secondary data structure for survey data if needed */ if (store->ping == NULL) { status = mbsys_simrad2_survey_alloc( verbose,mbio_ptr, store_ptr,error); } /* get survey data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* get time */ ping->png_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; ping->png_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = ping->png_msec; store->date = ping->png_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; ping->png_longitude = 10000000 * navlon; ping->png_latitude = 20000000 * navlat; /* get heading */ ping->png_heading = (int) rint(heading * 100); /* get speed */ ping->png_speed = (int) rint(speed / 0.036); /* get draft */ ping->png_offset_multiplier = (int)floor(draft / 655.36); ping->png_xducer_depth = 100 * (draft - 655.36 * ping->png_offset_multiplier); /* get roll pitch and heave */ ping->png_roll = (int) rint(roll / 0.01); ping->png_pitch = (int) rint(pitch / 0.01); ping->png_heave = (int) rint(heave / 0.01); } /* insert data in nav structure */ else if (store->kind == MB_DATA_NAV || store->kind == MB_DATA_NAV1 || store->kind == MB_DATA_NAV2 || store->kind == MB_DATA_NAV3) { /* get time */ store->pos_date = 10000 * time_i[0] + 100 * time_i[1] + time_i[2]; store->pos_msec = 3600000 * time_i[3] + 60000 * time_i[4] + 1000 * time_i[5] + 0.001 * time_i[6]; store->msec = store->pos_msec; store->date = store->pos_date; /* get navigation */ if (navlon < -180.0) navlon += 360.0; else if (navlon > 180.0) navlon -= 360.0; store->pos_longitude = 10000000 * navlon; store->pos_latitude = 20000000 * navlat; /* get heading */ store->pos_heading = (int) rint(heading * 100); /* get speed */ store->pos_speed = (int) rint(speed / 0.036); /* get roll pitch and heave */ store->pos_roll = (int) rint(roll / 0.01); store->pos_pitch = (int) rint(pitch / 0.01); store->pos_heave = (int) rint(heave / 0.01); /* set "active" flag if needed */ if (store->kind == MB_DATA_NAV) { store->pos_system = store->pos_system | 128; } /* set secondary nav flag if needed */ else if (store->kind == MB_DATA_NAV1) { store->pos_system = store->pos_system | 1; } else if (store->kind == MB_DATA_NAV2) { store->pos_system = store->pos_system | 2; } else if (store->kind == MB_DATA_NAV3) { store->pos_system = store->pos_system | 3; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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_simrad2_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad2_extract_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_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_simrad2_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] = 0.01 * store->svp_depth_res * 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_simrad2_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_simrad2_insert_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_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_SIMRAD2_MAXSVP); store->svp_depth_res = 1; /* get profile */ for (i=0;isvp_num;i++) { store->svp_depth[i] = (int) (100 * depth[i] / store->svp_depth_res); 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 value:\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_simrad2_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_simrad2_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_struct *copy; struct mbsys_simrad2_ping_struct *ping_store; struct mbsys_simrad2_ping_struct *ping_copy; char *ping_save; struct mbsys_simrad2_attitude_struct *attitude_store; struct mbsys_simrad2_attitude_struct *attitude_copy; char *attitude_save; struct mbsys_simrad2_heading_struct *heading_store; struct mbsys_simrad2_heading_struct *heading_copy; char *heading_save; struct mbsys_simrad2_ssv_struct *ssv_store; struct mbsys_simrad2_ssv_struct *ssv_copy; char *ssv_save; struct mbsys_simrad2_tilt_struct *tilt_store; struct mbsys_simrad2_tilt_struct *tilt_copy; char *tilt_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_simrad2_struct *) store_ptr; copy = (struct mbsys_simrad2_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_simrad2_survey_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ ping_save = (char *)copy->ping; } else ping_save = NULL; /* check if attitude data needs to be copied */ if (store->attitude != NULL) { /* make sure a attitude data structure exists to be copied into */ if (copy->attitude == NULL) { status = mbsys_simrad2_attitude_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ attitude_save = (char *)copy->attitude; } /* check if heading data needs to be copied */ if (store->heading != NULL) { /* make sure a heading data structure exists to be copied into */ if (copy->heading == NULL) { status = mbsys_simrad2_heading_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ heading_save = (char *)copy->heading; } /* check if ssv data needs to be copied */ if (store->ssv != NULL) { /* make sure a ssv data structure exists to be copied into */ if (copy->ssv == NULL) { status = mbsys_simrad2_ssv_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ ssv_save = (char *)copy->ssv; } /* check if tilt data needs to be copied */ if (store->tilt != NULL) { /* make sure a tilt data structure exists to be copied into */ if (copy->tilt == NULL) { status = mbsys_simrad2_tilt_alloc( verbose,mbio_ptr, copy_ptr,error); } /* save pointer value */ tilt_save = (char *)copy->tilt; } /* 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_simrad2_ping_struct *) ping_save; ping_store = (struct mbsys_simrad2_ping_struct *) store->ping; ping_copy = (struct mbsys_simrad2_ping_struct *) copy->ping; *ping_copy = *ping_store; } else copy->ping = NULL; /* if needed copy the attitude data structure */ if (store->attitude != NULL && status == MB_SUCCESS) { copy->attitude = (struct mbsys_simrad2_attitude_struct *) attitude_save; attitude_store = (struct mbsys_simrad2_attitude_struct *) store->attitude; attitude_copy = (struct mbsys_simrad2_attitude_struct *) copy->attitude; *attitude_copy = *attitude_store; } /* if needed copy the heading data structure */ if (store->heading != NULL && status == MB_SUCCESS) { copy->heading = (struct mbsys_simrad2_heading_struct *) heading_save; heading_store = (struct mbsys_simrad2_heading_struct *) store->heading; heading_copy = (struct mbsys_simrad2_heading_struct *) copy->heading; *heading_copy = *heading_store; } /* if needed copy the ssv data structure */ if (store->ssv != NULL && status == MB_SUCCESS) { copy->ssv = (struct mbsys_simrad2_ssv_struct *) ssv_save; ssv_store = (struct mbsys_simrad2_ssv_struct *) store->ssv; ssv_copy = (struct mbsys_simrad2_ssv_struct *) copy->ssv; *ssv_copy = *ssv_store; } /* if needed copy the tilt data structure */ if (store->tilt != NULL && status == MB_SUCCESS) { copy->tilt = (struct mbsys_simrad2_tilt_struct *) tilt_save; tilt_store = (struct mbsys_simrad2_tilt_struct *) store->tilt; tilt_copy = (struct mbsys_simrad2_tilt_struct *) copy->tilt; *tilt_copy = *tilt_store; } /* 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_simrad2_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_simrad2_makess"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store; struct mbsys_simrad2_ping_struct *ping; double ss[MBSYS_SIMRAD2_MAXPIXELS]; int ss_cnt[MBSYS_SIMRAD2_MAXPIXELS]; double ssacrosstrack[MBSYS_SIMRAD2_MAXPIXELS]; double ssalongtrack[MBSYS_SIMRAD2_MAXPIXELS]; mb_s_char *beam_ss; int nbathsort; double bathsort[MBSYS_SIMRAD2_MAXBEAMS]; double depthscale, depthoffset; double dacrscale, daloscale; double reflscale; double ssoffset; double pixel_size_calc; double ss_spacing, ss_spacing_use; int pixel_int_use; double angle, depth, xtrack, xtrackss; double range, beam_foot, beamwidth, sint; int time_i[7]; double bath_time_d, ss_time_d; int ss_ok; 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 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_simrad2_struct *) store_ptr; /* construct sidescan data for first sonar head (all data) */ if (store->kind == MB_DATA_DATA) { /* get pointer to raw data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping; /* zero the sidescan */ for (i=0;ipng_depth_res; depthoffset = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; reflscale = 0.5; ssoffset = 64.0; if (store->sonar == MBSYS_SIMRAD2_EM300 && store->run_mode == 4) { if (depthscale * ping->png_depth[ping->png_nbeams/2] > 3500.0 && ping->png_max_range > 19000 && ping->png_bsn + ping->png_bso < -60) { ssoffset = 64.0 - 0.6 * (ping->png_bsn + ping->png_bso + 60); } } /* get raw pixel size */ if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300 || store->sonar == MBSYS_SIMRAD2_EM1002 || store->sonar == MBSYS_SIMRAD2_EM2000 || store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM710) ss_spacing = 750.0 / ping->png_sample_rate; else if (store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002) ss_spacing = 750.0 / 14000; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D || store->sonar == MBSYS_SIMRAD2_EM121 || store->sonar == MBSYS_SIMRAD2_EM1000) { ss_spacing = 0.01 * ping->png_max_range; } /* get beam angle size */ if (store->sonar == MBSYS_SIMRAD2_EM1000) { beamwidth = 2.5; } else { beamwidth = 0.1 * ((double) ping->png_tx); } /* get median depth */ nbathsort = 0; for (i=0;ipng_nbeams;i++) { if (mb_beam_ok(ping->png_beamflag[i])) { bathsort[nbathsort] = depthscale * ping->png_depth[i] + depthoffset; nbathsort++; } } /* get sidescan pixel size */ if (swath_width_set == MB_NO && nbathsort > 0) { (*swath_width) = 2.5 + MAX(90.0 - 0.01 * ping->png_depression[0], 90.0 - 0.01 * ping->png_depression[ping->png_nbeams-1]); (*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_SIMRAD2_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; /* check that sidescan can be used */ /* get times of bath and sidescan records */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &bath_time_d); time_i[0] = ping->png_ss_date / 10000; time_i[1] = (ping->png_ss_date % 10000) / 100; time_i[2] = ping->png_ss_date % 100; time_i[3] = ping->png_ss_msec / 3600000; time_i[4] = (ping->png_ss_msec % 3600000) / 60000; time_i[5] = (ping->png_ss_msec % 60000) / 1000; time_i[6] = (ping->png_ss_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ss_time_d); ss_ok = MB_YES; if (ping->png_nbeams < ping->png_nbeams_ss || ping->png_nbeams > ping->png_nbeams_ss + 1) { ss_ok = MB_NO; if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: num bath beams != num ss beams: %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], ping->png_nbeams, ping->png_nbeams_ss); } else if (ping->png_nbeams == ping->png_nbeams_ss) { for (i=0;ipng_nbeams;i++) { if (ping->png_beam_num[i] != ping->png_beam_index[i] + 1 && ping->png_beam_num[i] != ping->png_beam_index[i] - 1) { ss_ok = MB_NO; if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: bath and ss beam indexes don't match: : %d %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], i, ping->png_beam_num[i], ping->png_beam_index[i]); } } } /* loop over raw sidescan, putting each raw pixel into the binning arrays */ if (ss_ok == MB_YES) for (i=0;ipng_nbeams_ss;i++) { beam_ss = &ping->png_ssraw[ping->png_start_sample[i]]; if (mb_beam_ok(ping->png_beamflag[i])) { if (ping->png_beam_samples[i] > 0) { depth = depthscale * ping->png_depth[i]; xtrack = dacrscale * ping->png_acrosstrack[i]; range = sqrt(depth * depth + xtrack * xtrack); angle = 90.0 - 0.01 * ping->png_depression[i]; beam_foot = range * sin(DTR * beamwidth) / cos(DTR * angle); sint = fabs(sin(DTR * angle)); if (sint < ping->png_beam_samples[i] * ss_spacing / beam_foot) ss_spacing_use = beam_foot / ping->png_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->png_beam_samples[i], sint, angle, range, beam_foot, ping->png_beam_samples[i] * ss_spacing / beam_foot);*/ } for (k=0;kpng_beam_samples[i];k++) { if (beam_ss[k] != EM2_INVALID_AMP) { /* locate based on range */ if (k == ping->png_center_sample[i]) { xtrackss = xtrack; } else if (i == ping->png_nbeams_ss - 1 || (k <= ping->png_center_sample[i] && i != 0)) { if (ping->png_range[i] != ping->png_range[i-1]) { xtrackss = dacrscale * ping->png_acrosstrack[i] + (dacrscale * ping->png_acrosstrack[i] - dacrscale * ping->png_acrosstrack[i-1]) * 2 *((double)(k - ping->png_center_sample[i])) / fabs((double)(ping->png_range[i] - ping->png_range[i-1])); } else { xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); } } else { if (ping->png_range[i] != ping->png_range[i+1]) { xtrackss = dacrscale * ping->png_acrosstrack[i] + (dacrscale * ping->png_acrosstrack[i+1] - dacrscale * ping->png_acrosstrack[i]) * 2 *((double)(k - ping->png_center_sample[i])) / fabs((double)(ping->png_range[i+1] - ping->png_range[i])); } else { xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); } } xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); kk = MBSYS_SIMRAD2_MAXPIXELS / 2 + (int)(xtrackss / (*pixel_size)); if (kk > 0 && kk < MBSYS_SIMRAD2_MAXPIXELS) { ss[kk] += reflscale*((double)beam_ss[k]); ssalongtrack[kk] += daloscale * ping->png_alongtrack[i]; ss_cnt[kk]++; } } } } } /* average the sidescan */ first = MBSYS_SIMRAD2_MAXPIXELS; last = -1; for (k=0;k 0) { ss[k] /= ss_cnt[k]; ssalongtrack[k] /= ss_cnt[k]; ssacrosstrack[k] = (k - MBSYS_SIMRAD2_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;kpng_pixel_size = (int) (100 * (*pixel_size)); if (last > first) ping->png_pixels_ss = MBSYS_SIMRAD2_MAXPIXELS; else ping->png_pixels_ss = 0; for (i=0;i MB_SIDESCAN_NULL) { ping->png_ss[i] = (short)(100 * ss[i]); ping->png_ssalongtrack[i] = (short)(ssalongtrack[i] / daloscale); } else { ping->png_ss[i] = EM2_INVALID_AMP; ping->png_ssalongtrack[i] = EM2_INVALID_AMP; } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Sidescan regenerated in <%s>\n", function_name); fprintf(stderr,"dbg2 png_nbeams_ss: %d\n", ping->png_nbeams_ss); for (i=0;ipng_nbeams_ss;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%d amp:%d acrosstrack:%d alongtrack:%d\n", ping->png_beam_num[i], ping->png_beamflag[i], ping->png_depth[i], ping->png_amp[i], ping->png_acrosstrack[i], ping->png_alongtrack[i]); fprintf(stderr,"dbg2 pixels_ss: %d\n", MBSYS_SIMRAD2_MAXPIXELS); for (i=0;ipng_pixels_ss); for (i=0;ipng_ss[i],ping->png_ssalongtrack[i]); } } /* construct sidescan data for second sonar head (EM3002 data) */ if (store->kind == MB_DATA_DATA && store->sonar == MBSYS_SIMRAD2_EM3002) { /* get pointer to raw data structure */ ping = (struct mbsys_simrad2_ping_struct *) store->ping2; /* zero the sidescan */ for (i=0;ipng_depth_res; depthoffset = 0.01 * ping->png_xducer_depth + 655.36 * ping->png_offset_multiplier; dacrscale = 0.01 * ping->png_distance_res; daloscale = 0.01 * ping->png_distance_res; reflscale = 0.5; ssoffset = 64.0; if (store->sonar == MBSYS_SIMRAD2_EM300 && store->run_mode == 4) { if (depthscale * ping->png_depth[ping->png_nbeams/2] > 3500.0 && ping->png_max_range > 19000 && ping->png_bsn + ping->png_bso < -60) { ssoffset = 64.0 - 0.6 * (ping->png_bsn + ping->png_bso + 60); } } /* get raw pixel size */ if (store->sonar == MBSYS_SIMRAD2_EM120 || store->sonar == MBSYS_SIMRAD2_EM300 || store->sonar == MBSYS_SIMRAD2_EM1002 || store->sonar == MBSYS_SIMRAD2_EM2000 || store->sonar == MBSYS_SIMRAD2_EM3000 || store->sonar == MBSYS_SIMRAD2_EM710) ss_spacing = 750.0 / ping->png_sample_rate; else if (store->sonar == MBSYS_SIMRAD2_EM3000D_1 || store->sonar == MBSYS_SIMRAD2_EM3000D_2 || store->sonar == MBSYS_SIMRAD2_EM3000D_3 || store->sonar == MBSYS_SIMRAD2_EM3000D_4 || store->sonar == MBSYS_SIMRAD2_EM3000D_5 || store->sonar == MBSYS_SIMRAD2_EM3000D_6 || store->sonar == MBSYS_SIMRAD2_EM3000D_7 || store->sonar == MBSYS_SIMRAD2_EM3000D_8 || store->sonar == MBSYS_SIMRAD2_EM3002) ss_spacing = 750.0 / 14000; else if (store->sonar == MBSYS_SIMRAD2_EM12S || store->sonar == MBSYS_SIMRAD2_EM12D || store->sonar == MBSYS_SIMRAD2_EM121 || store->sonar == MBSYS_SIMRAD2_EM1000) { ss_spacing = 0.01 * ping->png_max_range; } /* get beam angle size */ if (store->sonar == MBSYS_SIMRAD2_EM1000) { beamwidth = 2.5; } else { beamwidth = 0.1 * ((double) ping->png_tx); } /* get median depth */ nbathsort = 0; for (i=0;ipng_nbeams;i++) { if (mb_beam_ok(ping->png_beamflag[i])) { bathsort[nbathsort] = depthscale * ping->png_depth[i] + depthoffset; nbathsort++; } } /* get sidescan pixel size */ if (swath_width_set == MB_NO && nbathsort > 0) { (*swath_width) = 2.5 + MAX(90.0 - 0.01 * ping->png_depression[0], 90.0 - 0.01 * ping->png_depression[ping->png_nbeams-1]); (*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_SIMRAD2_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; /* check that sidescan can be used */ /* get times of bath and sidescan records */ time_i[0] = ping->png_date / 10000; time_i[1] = (ping->png_date % 10000) / 100; time_i[2] = ping->png_date % 100; time_i[3] = ping->png_msec / 3600000; time_i[4] = (ping->png_msec % 3600000) / 60000; time_i[5] = (ping->png_msec % 60000) / 1000; time_i[6] = (ping->png_msec % 1000) * 1000; mb_get_time(verbose, time_i, &bath_time_d); time_i[0] = ping->png_ss_date / 10000; time_i[1] = (ping->png_ss_date % 10000) / 100; time_i[2] = ping->png_ss_date % 100; time_i[3] = ping->png_ss_msec / 3600000; time_i[4] = (ping->png_ss_msec % 3600000) / 60000; time_i[5] = (ping->png_ss_msec % 60000) / 1000; time_i[6] = (ping->png_ss_msec % 1000) * 1000; mb_get_time(verbose, time_i, &ss_time_d); ss_ok = MB_YES; if (ping->png_nbeams < ping->png_nbeams_ss || ping->png_nbeams > ping->png_nbeams_ss + 1) { ss_ok = MB_NO; if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: num bath beams != num ss beams: %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], ping->png_nbeams, ping->png_nbeams_ss); } else if (ping->png_nbeams == ping->png_nbeams_ss) { for (i=0;ipng_nbeams;i++) { if (ping->png_beam_num[i] != ping->png_beam_index[i] + 1 && ping->png_beam_num[i] != ping->png_beam_index[i] - 1) { ss_ok = MB_NO; if (verbose > 0) fprintf(stderr,"%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan ignored: bath and ss beam indexes don't match: : %d %d %d\n", function_name, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], i, ping->png_beam_num[i], ping->png_beam_index[i]); } } } /* loop over raw sidescan, putting each raw pixel into the binning arrays */ if (ss_ok == MB_YES) for (i=0;ipng_nbeams_ss;i++) { beam_ss = &ping->png_ssraw[ping->png_start_sample[i]]; if (mb_beam_ok(ping->png_beamflag[i])) { if (ping->png_beam_samples[i] > 0) { depth = depthscale * ping->png_depth[i]; xtrack = dacrscale * ping->png_acrosstrack[i]; range = sqrt(depth * depth + xtrack * xtrack); angle = 90.0 - 0.01 * ping->png_depression[i]; beam_foot = range * sin(DTR * beamwidth) / cos(DTR * angle); sint = fabs(sin(DTR * angle)); if (sint < ping->png_beam_samples[i] * ss_spacing / beam_foot) ss_spacing_use = beam_foot / ping->png_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->png_beam_samples[i], sint, angle, range, beam_foot, ping->png_beam_samples[i] * ss_spacing / beam_foot);*/ } for (k=0;kpng_beam_samples[i];k++) { if (beam_ss[k] != EM2_INVALID_AMP) { /* locate based on range */ if (k == ping->png_center_sample[i]) { xtrackss = xtrack; } else if (i == ping->png_nbeams_ss - 1 || (k <= ping->png_center_sample[i] && i != 0)) { if (ping->png_range[i] != ping->png_range[i-1]) { xtrackss = dacrscale * ping->png_acrosstrack[i] + (dacrscale * ping->png_acrosstrack[i] - dacrscale * ping->png_acrosstrack[i-1]) * 2 *((double)(k - ping->png_center_sample[i])) / fabs((double)(ping->png_range[i] - ping->png_range[i-1])); } else { xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); } } else { if (ping->png_range[i] != ping->png_range[i+1]) { xtrackss = dacrscale * ping->png_acrosstrack[i] + (dacrscale * ping->png_acrosstrack[i+1] - dacrscale * ping->png_acrosstrack[i]) * 2 *((double)(k - ping->png_center_sample[i])) / fabs((double)(ping->png_range[i+1] - ping->png_range[i])); } else { xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); } } xtrackss = xtrack + ss_spacing_use * (k - ping->png_center_sample[i]); kk = MBSYS_SIMRAD2_MAXPIXELS / 2 + (int)(xtrackss / (*pixel_size)); if (kk > 0 && kk < MBSYS_SIMRAD2_MAXPIXELS) { ss[kk] += reflscale*((double)beam_ss[k]); ssalongtrack[kk] += daloscale * ping->png_alongtrack[i]; ss_cnt[kk]++; } } } } } /* average the sidescan */ first = MBSYS_SIMRAD2_MAXPIXELS; last = -1; for (k=0;k 0) { ss[k] /= ss_cnt[k]; ssalongtrack[k] /= ss_cnt[k]; ssacrosstrack[k] = (k - MBSYS_SIMRAD2_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;kpng_pixel_size = (int) (100 * (*pixel_size)); if (last > first) ping->png_pixels_ss = MBSYS_SIMRAD2_MAXPIXELS; else ping->png_pixels_ss = 0; for (i=0;i MB_SIDESCAN_NULL) { ping->png_ss[i] = (short)(100 * ss[i]); ping->png_ssalongtrack[i] = (short)(ssalongtrack[i] / daloscale); } else { ping->png_ss[i] = EM2_INVALID_AMP; ping->png_ssalongtrack[i] = EM2_INVALID_AMP; } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Sidescan regenerated in <%s>\n", function_name); fprintf(stderr,"dbg2 png_nbeams_ss: %d\n", ping->png_nbeams_ss); for (i=0;ipng_nbeams_ss;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%d amp:%d acrosstrack:%d alongtrack:%d\n", ping->png_beam_num[i], ping->png_beamflag[i], ping->png_depth[i], ping->png_amp[i], ping->png_acrosstrack[i], ping->png_alongtrack[i]); fprintf(stderr,"dbg2 pixels_ss: %d\n", MBSYS_SIMRAD2_MAXPIXELS); for (i=0;ipng_pixels_ss); for (i=0;ipng_ss[i],ping->png_ssalongtrack[i]); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return value:\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); } /*--------------------------------------------------------------------*/