/*-------------------------------------------------------------------- * The MB-system: mbsys_xse.c 3/27/2000 * $Id: mbsys_xse.c 1975 2012-07-11 19:16:56Z caress $ * * Copyright (c) 2000-2012 by * D. W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and D. N. Chayes (dale@lamont.ldgo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_xse.h contains the functions for handling * the data structure used by MBIO functions * to store swath sonar data in the XSE Data Exchange Format * developed by L-3 Communications ELAC Nautik. * This format is used for data from ELAC Bottomchart multibeam sonars * and SeaBeam 2100 multibeam sonars (made by L-3 Communications * SeaBeam Instruments). * The data format associated with XSE is: * MBF_L3XSERAW : MBIO ID 94 * * Author: D. W. Caress * Date: August 1, 1999 * Additional Authors: P. A. Cohen and S. Dzurenko * * $Log: mbsys_xse.c,v $ * Revision 5.19 2007/07/03 17:28:08 caress * Fixes to XSE format. * * Revision 5.18 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.17 2005/11/05 00:48:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.16 2003/12/24 06:51:21 caress * Fixed problem where sonar depth got added to bathymetry when data files where written. * * Revision 5.15 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.14 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.13 2002/04/02 00:33:50 caress * Fixed sidescan flipping (when bathymetry recalculated). * * Revision 5.12 2002/02/22 09:03:43 caress * Release 5.0.beta13 * * Revision 5.11 2001/12/30 20:32:12 caress * Fixed array overflows in handling XSE data. * * Revision 5.10 2001/12/20 20:48:51 caress * Release 5.0.beta11 * * Revision 5.9 2001/08/25 00:54:13 caress * Adding beamwidth values to extract functions. * * Revision 5.8 2001/08/23 20:50:24 caress * Fixed problems with SB2120 data. * * Revision 5.7 2001/07/27 19:07:16 caress * Fixed handling 1180 data. * * Revision 5.6 2001/07/22 21:17:01 caress * Fixed bug initialized too much in ttimes function. * * Revision 5.5 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.4 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.3 2001/04/06 22:05:59 caress * Consolidated xse formats into one format. * * Revision 5.2 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.1 2000/12/10 20:26:50 caress * Version 5.0.alpha02 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.2 2000/10/11 01:03:21 caress * Convert to ANSI C * * Revision 4.1 2000/09/30 06:32:52 caress * Snapshot for Dale. * * Revision 4.0 1999/08/08 04:14:35 caress * Initial revision. * * * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_xse.h" static char rcs_id[]="$Id: mbsys_xse.c 1975 2012-07-11 19:16:56Z caress $"; /*--------------------------------------------------------------------*/ int mbsys_xse_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_xse_alloc"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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_malloc(verbose,sizeof(struct mbsys_xse_struct), store_ptr,error); /* get data structure pointer */ store = (struct mbsys_xse_struct *) *store_ptr; /* initialize everything */ /* type of data record */ store->kind = MB_DATA_NONE; /* Survey, nav, Comment */ /* parameter (ship frames) */ store->par_parameter = MB_NO; /* boolean flag for parameter group */ store->par_source = 0; /* sensor id */ store->par_sec = 0; /* sec since 1/1/1901 00:00 */ store->par_usec = 0; /* microseconds */ store->par_roll_bias = 0.0; /* radians */ store->par_pitch_bias = 0.0; /* radians */ store->par_heading_bias = 0.0; /* radians */ store->par_time_delay = 0.0; /* nav time lag, seconds */ store->par_trans_x_port = 0.0; /* port transducer x position, meters */ store->par_trans_y_port = 0.0; /* port transducer y position, meters */ store->par_trans_z_port = 0.0; /* port transducer z position, meters */ store->par_trans_x_stbd = 0.0; /* starboard transducer x position, meters */ store->par_trans_y_stbd = 0.0; /* starboard transducer y position, meters */ store->par_trans_z_stbd = 0.0; /* starboard transducer z position, meters */ store->par_trans_err_port = 0.0; /* port transducer rotation in roll direction, radians */ store->par_trans_err_stbd = 0.0; /* starboard transducer rotation in roll direction, radians */ store->par_nav_x = 0.0; /* navigation antenna x position, meters */ store->par_nav_y = 0.0; /* navigation antenna y position, meters */ store->par_nav_z = 0.0; /* navigation antenna z position, meters */ store->par_hrp_x = 0.0; /* motion sensor x position, meters */ store->par_hrp_y = 0.0; /* motion sensor y position, meters */ store->par_hrp_z = 0.0; /* motion sensor z position, meters */ /* navigation and motion (ship frames) */ store->par_navigationandmotion = MB_NO; /* boolean flag for navigationandmotion group */ store->par_nam_roll_bias = 0.0; /* roll bias, radians */ store->par_nam_pitch_bias = 0.0; /* pitch bias, radians */ store->par_nam_heave_bias = 0.0; /* heave bias, meters */ store->par_nam_heading_bias = 0.0; /* heading/gyro bias, radians */ store->par_nam_time_delay = 0.0; /* nav time lag, seconds */ store->par_nam_nav_x = 0.0; /* navigation antenna x position, meters */ store->par_nam_nav_y = 0.0; /* navigation antenna y position, meters */ store->par_nam_nav_z = 0.0; /* navigation antenna z position, meters */ store->par_nam_hrp_x = 0.0; /* motion sensor x position, meters */ store->par_nam_hrp_y = 0.0; /* motion sensor y position, meters */ store->par_nam_hrp_z = 0.0; /* motion sensor z position, meters */ store->par_xdr_num_transducer = 0; /* number of transducers */ for (i=0;ipar_xdr_sensorid[i] = 0; /* sensor ids */ store->par_xdr_transducer[i] = 0; /* transducer type: 0: hydrophone 1: projector 2: transducer */ store->par_xdr_frequency[i] = 0; /* frequency (Hz) */ store->par_xdr_side[i] = 0; /* transducer side: 0: undefined 1: port 2: starboard 3: midship 4: system defined */ store->par_xdr_mountingroll[i] = 0.0; /* array mounting angle roll (radians) */ store->par_xdr_mountingpitch[i] = 0.0; /* array mounting angle roll (radians) */ store->par_xdr_mountingazimuth[i] = 0.0; /* array mounting angle roll (radians) */ store->par_xdr_mountingdistance[i] = 0.0; /* horizontal distance between innermost elements of the transducer arrays to the ship center line in a V-shaped configuration (m) */ store->par_xdr_x[i] = 0.0; /* transducer center across track offset (m) */ store->par_xdr_y[i] = 0.0; /* transducer center along track offset (m) */ store->par_xdr_z[i] = 0.0; /* transducer center vertical offset (m) */ store->par_xdr_roll[i] = 0.0; /* beamforming roll bias (radians - port up positive) */ store->par_xdr_pitch[i] = 0.0; /* beamforming pitch bias (radians - bow up positive) */ store->par_xdr_azimuth[i] = 0.0; /* beamforming azimuth bias (radians - projector axis clockwise with respect to compass positive) */ } store->par_xdx_num_transducer = 0; /* number of transducers */ for (i=0;ipar_xdx_roll[i] = 0.0; /* mounting mode roll (0: auto, 1: manual) */ store->par_xdx_pitch[i] = 0.0; /* mounting mode pitch (0: auto, 1: manual) */ store->par_xdx_azimuth[i] = 0.0; /* mounting mode azimuth (0: auto, 1: manual) */ } /* svp (sound velocity frames) */ store->svp_source = 0; /* sensor id */ store->svp_sec = 0; /* sec since 1/1/1901 00:00 */ store->svp_usec = 0; /* microseconds */ store->svp_nsvp = 0; /* number of depth values */ store->svp_nctd = 0; /* number of ctd values */ store->svp_ssv = 0.0; /* m/s */ for (i=0;isvp_depth[i] = 0.0; /* m */ store->svp_velocity[i] = 0.0; /* m/s */ store->svp_conductivity[i] = 0.0; /* mmho/cm */ store->svp_salinity[i] = 0.0; /* o/oo */ store->svp_temperature[i] = 0.0; /* degree celcius */ store->svp_pressure[i] = 0.0; /* bar */ } store->svp_ssv_depth = 0.0; /* m */ store->svp_ssv_depthflag = 0; /* 0 = invalid depth, otherwise depth valid */ /* position (navigation frames) */ store->nav_group_general = MB_NO; /* boolean flag */ store->nav_group_position = MB_NO; /* boolean flag */ store->nav_group_accuracy = MB_NO; /* boolean flag */ store->nav_group_motiongt = MB_NO; /* boolean flag */ store->nav_group_motiontw = MB_NO; /* boolean flag */ store->nav_group_track = MB_NO; /* boolean flag */ store->nav_group_hrp = MB_NO; /* boolean flag */ store->nav_group_heave = MB_NO; /* boolean flag */ store->nav_group_roll = MB_NO; /* boolean flag */ store->nav_group_pitch = MB_NO; /* boolean flag */ store->nav_group_heading = MB_NO; /* boolean flag */ store->nav_group_log = MB_NO; /* boolean flag */ store->nav_group_gps = MB_NO; /* boolean flag */ store->nav_source = 0; /* sensor id */ store->nav_sec = 0; /* sec since 1/1/1901 00:00 */ store->nav_usec = 0; /* microseconds */ store->nav_quality = 0; store->nav_status = 0; store->nav_description_len = 0; for (i=0;inav_description[i] = 0; store->nav_x = 0.0; /* eastings (m) or longitude (radians) */ store->nav_y = 0.0; /* northings (m) or latitude (radians) */ store->nav_z = 0.0; /* height (m) or ellipsoidal height (m) */ store->nav_acc_quality = 0; /* GPS quality: 0: invalid 1: SPS 2: SPS differential 3: PPS 4. RTK 5: Float RTK 6: Estimated 7: Manual 8: Simulator */ store->nav_acc_numsatellites = 0; /* number of satellites */ store->nav_acc_horizdilution = 0.0; /* horizontal dilution of precision */ store->nav_acc_diffage = 0.0; /* age of differential data (sec since last update) */ store->nav_acc_diffref = 0; /* differential reference station */ store->nav_speed_ground = 0.0; /* m/s */ store->nav_course_ground = 0.0; /* radians */ store->nav_speed_water = 0.0; /* m/s */ store->nav_course_water = 0.0; /* radians */ store->nav_trk_offset_track = 0.0; /* offset track (m) */ store->nav_trk_offset_sol = 0.0; /* offset SOL (m) */ store->nav_trk_offset_eol = 0.0; /* offset EOL (m) */ store->nav_trk_distance_sol = 0.0; /* distance SOL (m) */ store->nav_trk_azimuth_sol = 0.0; /* azimuth SOL (radians) */ store->nav_trk_distance_eol = 0.0; /* distance EOL (m) */ store->nav_trk_azimuth_eol = 0.0; /* azimuth EOL (radians) */ store->nav_hrp_heave = 0.0; /* heave (m) */ store->nav_hrp_roll = 0.0; /* roll (radians) */ store->nav_hrp_pitch = 0.0; /* pitch (radians) */ store->nav_hea_heave = 0.0; /* heave (m) */ store->nav_rol_roll = 0.0; /* roll (radians) */ store->nav_pit_pitch = 0.0; /* pitch (radians) */ store->nav_hdg_heading = 0.0; /* heading (radians) */ store->nav_log_speed = 0.0; /* speed (m/s) */ store->nav_gps_altitude = 0.0; /* altitude with respect to geoid */ store->nav_gps_geoidalseparation = 0.0; /* difference between WGS84 ellipsoid and geoid (m) (positive means sea level geoid is above ellipsoid) */ /* survey depth (multibeam frames) */ store->mul_frame = MB_NO; /* boolean flag - multibeam frame read */ store->mul_group_beam = MB_NO; /* boolean flag - beam group read */ store->mul_group_tt = MB_NO; /* boolean flag - tt group read */ store->mul_group_quality = MB_NO;/* boolean flag - quality group read */ store->mul_group_amp = MB_NO; /* boolean flag - amp group read */ store->mul_group_delay = MB_NO; /* boolean flag - delay group read */ store->mul_group_lateral = MB_NO;/* boolean flag - lateral group read */ store->mul_group_along = MB_NO; /* boolean flag - along group read */ store->mul_group_depth = MB_NO; /* boolean flag - depth group read */ store->mul_group_angle = MB_NO; /* boolean flag - angle group read */ store->mul_group_heave = MB_NO; /* boolean flag - heave group read */ store->mul_group_roll = MB_NO; /* boolean flag - roll group read */ store->mul_group_pitch = MB_NO; /* boolean flag - pitch group read */ store->mul_group_gates = MB_NO; /* boolean flag - gates group read */ store->mul_group_noise = MB_NO; /* boolean flag - noise group read */ store->mul_group_length = MB_NO;/* boolean flag - length group read */ store->mul_group_hits = MB_NO; /* boolean flag - hits group read */ store->mul_group_heavereceive = MB_NO; /* boolean flag - heavereceive group read */ store->mul_group_azimuth = MB_NO; /* boolean flag - azimuth group read */ store->mul_group_properties = MB_NO; /* boolean flag - properties group read */ store->mul_group_normamp = MB_NO; /* boolean flag - normalized amplitude group read */ store->mul_group_mbsystemnav = MB_NO; /* boolean flag - mbsystemnav group read */ store->mul_source = 0; /* sensor id */ store->mul_sec = 0; /* sec since 1/1/1901 00:00 */ store->mul_usec = 0; /* microseconds */ store->mul_lon = 0.0; /* interpolated longitude in radians */ store->mul_lat = 0.0; /* interpolated latitude in radians */ store->mul_heading = 0.0; /* interpolated heading in radians */ store->mul_speed = 0.0; /* interpolated speed in m/s */ store->mul_ping = 0; /* ping number */ store->mul_frequency = 0.0; /* transducer frequency (Hz) */ store->mul_pulse = 0.0; /* transmit pulse length (sec) */ store->mul_power = 0.0; /* transmit power (dB) */ store->mul_bandwidth = 0.0; /* receive bandwidth (Hz) */ store->mul_sample = 0.0; /* receive sample interval (sec) */ store->mul_swath = 0.0; /* swath width (radians) */ store->mul_num_beams = 0; /* number of beams */ for (i=0;ibeams[i].tt = 0.0; store->beams[i].delay = 0.0; store->beams[i].lateral = 0.0; store->beams[i].along = 0.0; store->beams[i].depth = 0.0; store->beams[i].angle = 0.0; store->beams[i].heave = 0.0; store->beams[i].roll = 0.0; store->beams[i].pitch = 0.0; store->beams[i].beam = i + 1; store->beams[i].quality = 0; store->beams[i].amplitude = 0; store->beams[i].gate_angle = 0.0; store->beams[i].gate_start = 0.0; store->beams[i].gate_stop = 0.0; store->beams[i].noise = 0.0; store->beams[i].length = 0.0; store->beams[i].hits = 0; store->beams[i].heavereceive = 0.0; store->beams[i].azimuth = 0.0; } store->mul_num_properties = 0; /* number of properties */ for (i=0;imul_properties_type[i] = 0; store->mul_properties_value[i] = 0.0; } for (i=0;imul_properties_reserved[i] = 0; } /* survey sidescan (sidescan frames) */ store->sid_frame = MB_NO; /* boolean flag - sidescan frame read */ store->sid_group_avt = MB_NO; /* boolean flag - amp vs time group read */ store->sid_group_pvt = MB_NO; /* boolean flag - phase vs time group read */ store->sid_group_avl = MB_NO; /* boolean flag - amp vs lateral group read */ store->sid_group_pvl = MB_NO; /* boolean flag - phase vs lateral group read */ store->sid_group_signal = MB_NO; /* boolean flag - phase vs lateral group read */ store->sid_group_ping = MB_NO; /* boolean flag - phase vs lateral group read */ store->sid_group_complex = MB_NO; /* boolean flag - phase vs lateral group read */ store->sid_group_weighting = MB_NO; /* boolean flag - phase vs lateral group read */ store->sid_source = 0; /* sensor id */ store->sid_sec = 0; /* sec since 1/1/1901 00:00 */ store->sid_usec = 0; /* microseconds */ store->sid_ping = 0; /* ping number */ store->sid_frequency = 0.0; /* transducer frequency (Hz) */ store->sid_pulse = 0.0; /* transmit pulse length (sec) */ store->sid_power = 0.0; /* transmit power (dB) */ store->sid_bandwidth = 0.0; /* receive bandwidth (Hz) */ store->sid_sample = 0.0; /* receive sample interval (sec) */ store->sid_avt_sampleus = 0; /* sample interval (usec) */ store->sid_avt_offset = 0; /* time offset (usec) */ store->sid_avt_num_samples = 0; /* number of samples */ for (i=0;isid_avt_amp[i] = 0; /* sidescan amplitude (dB) */ store->sid_pvt_sampleus = 0; /* sample interval (usec) */ store->sid_pvt_offset = 0; /* time offset (usec) */ store->sid_pvt_num_samples = 0; /* number of samples */ for (i=0;isid_pvt_phase[i] = 0; /* sidescan phase (radians) */ store->sid_avl_binsize = 0; /* bin size (mm) */ store->sid_avl_offset = 0; /* lateral offset (mm) */ store->sid_avl_num_samples = 0; /* number of samples */ for (i=0;isid_avl_amp[i] = 0; /* sidescan amplitude (dB) */ store->sid_pvl_binsize = 0; /* bin size (mm) */ store->sid_pvl_offset = 0; /* lateral offset (mm) */ store->sid_pvl_num_samples = 0; /* number of samples */ for (i=0;isid_pvl_phase[i] = 0; /* sidescan phase (radians) */ store->sid_sig_ping = 0; /* ping number */ store->sid_sig_channel = 0; /* channel number */ store->sid_sig_offset = 0.0; /* start offset */ store->sid_sig_sample = 0.0; /* bin size / sample interval */ store->sid_sig_num_samples = 0; /* number of samples */ for (i=0;isid_sig_phase[i] = 0; /* sidescan phase in radians */ store->sid_png_pulse = 0; /* pulse type (0=constant, 1=linear sweep) */ store->sid_png_startfrequency = 0.0; /* start frequency (Hz) */ store->sid_png_endfrequency = 0.0; /* end frequency (Hz) */ store->sid_png_duration = 0.0; /* pulse duration (msec) */ store->sid_png_mancode = 0; /* manufacturer code (1=Edgetech, 2=Elac) */ store->sid_png_pulseid = 0;/* pulse identifier */ for (i=0;isid_png_pulsename[i] = 0; /* pulse name */ store->sid_cmp_ping = 0; /* ping number */ store->sid_cmp_channel = 0; /* channel number */ store->sid_cmp_offset = 0.0; /* start offset (usec) */ store->sid_cmp_sample = 0.0; /* bin size / sample interval (usec) */ store->sid_cmp_num_samples = 0; /* number of samples */ for (i=0;isid_cmp_real[i] = 0; /* real sidescan signal */ for (i=0;isid_cmp_imaginary[i] = 0; /* imaginary sidescan signal */ store->sid_wgt_factorleft = 0; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ store->sid_wgt_samplesleft = 0; /* number of left samples */ store->sid_wgt_factorright = 0; /* weighting factor for block floating point expansion -- defined as 2^(-N) volts for lsb */ store->sid_wgt_samplesright = 0; /* number of right samples */ /* seabeam (seabeam frames) */ store->sbm_properties = MB_NO; /* boolean flag - sbm properties group read */ store->sbm_hrp = MB_NO; /* boolean flag - sbm hrp group read */ store->sbm_signal = MB_NO; /* boolean flag - sbm signal group read */ store->sbm_sweepsegments = MB_NO; /* boolean flag - sbm sweep segments group read */ store->sbm_spacingmode = MB_NO; /* boolean flag - sbm spacing mode group read */ store->sbm_message = MB_NO; /* boolean flag - sbm message group read */ store->sbm_source = 0; /* sensor id */ store->sbm_sec = 0; /* sec since 1/1/1901 00:00 */ store->sbm_usec = 0; /* microseconds */ store->sbm_ping = 0; /* ping number */ store->sbm_ping_gain = 0.0; /* ping gain (dB) */ store->sbm_pulse_width = 0.0; /* pulse width (s) */ store->sbm_transmit_power = 0.0; /* transmit power (dB) */ store->sbm_pixel_width = 0.0; /* pixel width (m) */ store->sbm_swath_width = 0.0; /* swath width (radians) */ store->sbm_time_slice = 0.0; /* time slice (s) */ store->sbm_depth_mode = 0; /* depth mode (1=shallow, 2=deep) */ store->sbm_beam_mode = 0; /* focused beam mode (0=off, 1=on) */ store->sbm_ssv = 0.0; /* surface sound velocity (m/s) */ store->sbm_frequency = 0.0; /* sonar frequency (kHz) */ store->sbm_bandwidth = 0.0; /* receiver bandwidth (kHz) */ store->sbm_heave = 0.0; /* heave (m) */ store->sbm_roll = 0.0; /* roll (radians) */ store->sbm_pitch = 0.0; /* pitch (radians) */ store->sbm_signal_beam = 0; /* beam number for signal */ store->sbm_signal_count = 0; /* number of samples in signal */ for (i=0;isbm_signal_amp[i] = 0.0; /* signal values */ store->sbm_message_id = 0; /* seabeam message id */ store->sbm_message_len = 0; /* seabeam message length */ for (i=0;isbm_message_txt[i] = 0; /* seabeam message */ store->sbm_sweep_direction = 0; /* sweep direction 0=static, 1=port, 2=starboard */ store->sbm_sweep_azimuth = 0.0; /* effective azimuth (radians) */ store->sbm_sweep_segments = 0; /* number of segments */ store->sbm_sweep_seconds = 0; /* seconds since start of ping and end of sweep segment */ store->sbm_sweep_micro = 0; /* microseconds of seconds */ store->sbm_sweep_extrapolateazimuth = 0.0; /* extrapolated azimuth at center of sweep segment (radians) */ store->sbm_sweep_interpolatedazimuth = 0.0; /* interpolated azimuth at center of sweep segment (radians) */ store->sbm_sweep_extrapolatepitch = 0.0; /* extrapolated pitch at center of sweep segment (radians) */ store->sbm_sweep_interpolatedpitch = 0.0; /* interpolated pitch at center of sweep segment (radians) */ store->sbm_sweep_extrapolateroll = 0.0; /* extrapolated roll at center of sweep segment (radians) */ store->sbm_sweep_interpolatedroll = 0.0; /* interpolated roll at center of sweep segment (radians) */ store->sbm_sweep_stabilizedangle = 0.0; /* sweep segment stabilized angle (radians) */ /* comment */ for (i=0;icomment[i] = 0; /* unsupported frame */ store->rawsize = 0; for (i=0;iraw[i] = 0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 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_xse_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error) { char *function_name = "mbsys_xse_deall"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)*store_ptr); } /* deallocate memory for data structure */ status = mb_free(verbose,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_xse_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error) { char *function_name = "mbsys_xse_dimensions"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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 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_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get beam and pixel numbers */ *nbath = 0; *namp = 0; *nss = 0; if (store->mul_frame == MB_YES) { *nbath = store->mul_num_beams; if (store->mul_group_amp == MB_YES) *namp = store->mul_num_beams; } if (store->sid_frame == MB_YES) { if (store->sid_group_avl == MB_YES) *nss = store->sid_avl_num_samples; } } /* extract data from structure */ 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_xse_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_xse_extract"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; double xtrackmin, xtrackmax; int ixtrackmin, ixtrackmax; double dsign; 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_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get time */ *time_d = store->mul_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->mul_usec; mb_get_date(verbose,*time_d,time_i); /* get navigation */ *navlon = RTD * store->mul_lon; *navlat = RTD * store->mul_lat; /* get heading and speed */ *heading = RTD * store->mul_heading; /* get speed */ *speed = 3.6 * store->mul_speed; /* set beamwidths in mb_io structure */ if (store->mul_frequency >= 50.0 || store->mul_frequency <= 0.0) { mb_io_ptr->beamwidth_ltrack = 2.8; mb_io_ptr->beamwidth_xtrack = 1.5; } else { mb_io_ptr->beamwidth_ltrack = 1.0; mb_io_ptr->beamwidth_xtrack = 1.0; } /* get distance and depth values */ *nbath = 0; *namp = 0; *nss = 0; if (store->mul_frame == MB_YES) { /* set number of beams */ *nbath = store->mul_num_beams; if (store->mul_group_amp == MB_YES) *namp = store->mul_num_beams; /* determine whether beams are ordered port to starboard or starboard to port */ xtrackmin = 0.0; xtrackmax = 0.0; ixtrackmin = 0; ixtrackmax = 0; for (i=0;imul_num_beams;i++) { if (store->beams[i].lateral < xtrackmin) { xtrackmin = store->beams[i].lateral; ixtrackmin = i; } if (store->beams[i].lateral > xtrackmax) { xtrackmax = store->beams[i].lateral; ixtrackmax = i; } } if (ixtrackmax > ixtrackmin) dsign = -1.0; else dsign = 1.0; /* fprintf(stderr, "itrack: %d %d freq:%f\n", ixtrackmin, ixtrackmax, store->mul_frequency); */ /* now extract the bathymetry */ for (i=0;imul_num_beams;i++) { j = store->mul_num_beams - store->beams[i].beam; if (store->beams[i].quality == 1) beamflag[j] = MB_FLAG_NONE; else if (store->beams[i].quality < 8) beamflag[j] = MB_FLAG_SONAR + MB_FLAG_FLAG; else if (store->beams[i].quality == 8) beamflag[j] = MB_FLAG_NULL; else if (store->beams[i].quality == 10) beamflag[j] = MB_FLAG_MANUAL + MB_FLAG_FLAG; else if (store->beams[i].quality == 20) beamflag[j] = MB_FLAG_FILTER + MB_FLAG_FLAG; else beamflag[j] = MB_FLAG_NULL; /* bathymetry from SeaBeam 2100 multibeams is already heave and draft compensated - bathymetry from Bottomchart multibeams need to have heave and draft applied */ bath[j] = store->beams[i].depth; if (store->par_ship_nsensor > 0 && (store->par_ship_sensor_type[0] < 2000 || store->par_ship_sensor_type[0] > 3000)) { bath[j] += store->beams[i].heave; if (store->beams[i].lateral < 0.0) bath[j] += store->par_trans_z_port; else bath[j] += store->par_trans_z_stbd; } bathacrosstrack[j] = dsign * store->beams[i].lateral; bathalongtrack[j] = store->beams[i].along; amp[j] = store->beams[i].amplitude; } } /* get sidescan */ if (store->sid_frame == MB_YES) { if (store->sid_group_avl == MB_YES) { *nss = store->sid_avl_num_samples; for (i=0;i<*nss;i++) { j = *nss - i - 1; ss[j] = store->sid_avl_amp[i]; ssacrosstrack[j] = dsign * 0.001 * store->sid_avl_binsize * (i - *nss / 2); if (store->mul_frame == MB_YES) ssalongtrack[j] = 0.5 * store->nav_speed_ground * (store->sid_sec + 0.000001 * store->sid_usec - (store->mul_sec + 0.000001 * store->mul_usec)); else ssalongtrack[j] = 0.0; } } } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV) { /* get time */ *time_d = store->nav_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->nav_usec; mb_get_date(verbose,*time_d,time_i); /* get navigation */ *navlon = RTD * store->nav_x; *navlat = RTD * store->nav_y; /* get heading */ if (store->nav_group_heading == MB_YES) *heading = RTD * store->nav_hdg_heading; else if (store->nav_group_motiongt == MB_YES) *heading = RTD * store->nav_course_ground; else if (store->nav_group_motiontw == MB_YES) *heading = RTD * store->nav_course_water; else mb_hedint_interp(verbose, mbio_ptr, *time_d, heading, error); /* get speed */ if (store->nav_group_log == MB_YES) *speed = 3.6 * store->nav_log_speed; else if (store->nav_group_motiongt == MB_YES) *speed = 3.6 * store->nav_speed_ground; else if (store->nav_group_motiontw == MB_YES) *speed = 3.6 * store->nav_speed_water; /* get distance and depth values */ *nbath = 0; *namp = 0; *nss = 0; /* done translating values */ } /* extract comment from structure */ else if (*kind == MB_DATA_COMMENT) { /* copy comment */ strcpy(comment,store->comment); /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 New ping read by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 New ping values:\n"); fprintf(stderr,"dbg4 error: %d\n", *error); fprintf(stderr,"dbg4 comment: %s\n", comment); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind != MB_DATA_COMMENT) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n", *nbath); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg2 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 namp: %d\n", *namp); for (i=0;i<*namp;i++) fprintf(stderr,"dbg2 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n", i,amp[i],bathacrosstrack[i],bathalongtrack[i]); fprintf(stderr,"dbg2 nss: %d\n", *nss); } 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_xse_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_xse_insert"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; double maxoffset, xtrackmin, xtrackmax; int imaxoffset, ixtrackmin, ixtrackmax; double dsign; 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= 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_xse_struct *) store_ptr; /* set data kind */ store->kind = kind; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get time */ store->mul_sec = (unsigned int) (time_d + MBSYS_XSE_TIME_OFFSET); store->mul_usec = (time_d - ((int) time_d)) * 1000000; store->sid_sec = store->mul_sec; store->sid_usec = store->mul_usec; /*get navigation */ store->mul_lon = DTR * navlon; store->mul_lat = DTR * navlat; /* get heading */ store->mul_heading = DTR * heading; /* get speed */ store->mul_speed = speed / 3.6; /* insert distance and depth values into storage arrays */ xtrackmin = 0.0; xtrackmax = 0.0; ixtrackmin = 0; ixtrackmax = 0; if (store->mul_frame == MB_YES) { /* determine whether beams are ordered port to starboard or starboard to port */ for (i=0;imul_num_beams;i++) { if (store->beams[i].lateral < xtrackmin) { xtrackmin = store->beams[i].lateral; ixtrackmin = i; } if (store->beams[i].lateral > xtrackmax) { xtrackmax = store->beams[i].lateral; ixtrackmax = i; } } if (ixtrackmax > ixtrackmin) dsign = -1.0; else dsign = 1.0; /* now insert the bathymetry */ for (i=0;imul_num_beams;i++) { j = store->mul_num_beams - store->beams[i].beam; if (j < nbath) { if (mb_beam_check_flag(beamflag[j])) { if (mb_beam_check_flag_null(beamflag[j])) store->beams[i].quality = 8; else if (mb_beam_check_flag_manual(beamflag[j])) store->beams[i].quality = 10; else if (mb_beam_check_flag_filter(beamflag[j])) store->beams[i].quality = 20; else if (store->beams[i].quality == 1) store->beams[i].quality = 7; } else store->beams[i].quality = 1; store->beams[i].lateral = dsign * bathacrosstrack[j]; store->beams[i].along = bathalongtrack[j]; store->beams[i].amplitude = (int) (amp[j]); /* bathymetry from SeaBeam 2100 multibeams stored heave and draft compensated - bathymetry from Bottomchart multibeams need to have heave and draft removed before storage */ store->beams[i].depth = bath[j]; if (store->par_ship_nsensor > 0 && (store->par_ship_sensor_type[0] < 2000 || store->par_ship_sensor_type[0] > 3000)) { if (store->beams[i].lateral < 0.0) store->beams[i].depth -= (store->beams[i].heave + store->par_trans_z_port); else store->beams[i].depth -= (store->beams[i].heave + store->par_trans_z_stbd); } } } } /* now insert the sidescan */ if (store->sid_frame == MB_YES) { store->sid_group_avl = MB_YES; if (nss != store->sid_avl_num_samples) { store->sid_avl_num_samples = nss; maxoffset = 0.0; imaxoffset = -1; for (i=0;i maxoffset) { maxoffset = fabs(ssacrosstrack[i]); imaxoffset = i - (nss / 2); } } if (maxoffset > 0.0 && imaxoffset != 0) store->sid_avl_binsize = (int)(1000 * maxoffset / imaxoffset); } for (i=0;isid_avl_num_samples;i++) { j = store->sid_avl_num_samples - i - 1; if (j < nss) { store->sid_avl_amp[i]= ss[j]; } } } } else if (store->kind == MB_DATA_NAV) { /* get time */ store->nav_sec = (unsigned int) (time_d + MBSYS_XSE_TIME_OFFSET); store->nav_usec = (time_d - ((int) time_d)) * 1000000; /*get navigation */ store->nav_group_position = MB_YES; store->nav_x = DTR * navlon; store->nav_y = DTR * navlat; /* get heading */ store->nav_group_heading = MB_YES; store->nav_hdg_heading = DTR * heading; /* get speed */ store->nav_group_log = MB_YES; store->nav_log_speed = speed / 3.6; } /* insert comment in structure */ else if (store->kind == MB_DATA_COMMENT) { strncpy(store->comment,comment,199); } /* 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_xse_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_xse_ttimes"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; double xtrackmin, xtrackmax; int ixtrackmin, ixtrackmax; double dsign; double alpha, beta; 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_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get draft */ if (store->par_parameter == MB_YES) *draft = 0.5 * (store->par_trans_z_port + store->par_trans_z_stbd); else *draft = store->par_ship_draft; /* get ssv */ if (store->sbm_ssv > 0.0) *ssv = store->sbm_ssv; else *ssv = store->svp_ssv; /* get travel times, angles */ *nbeams = 0; if (store->mul_frame == MB_YES) { /* determine whether beams are ordered port to starboard or starboard to port */ xtrackmin = 0.0; xtrackmax = 0.0; ixtrackmin = 0; ixtrackmax = 0; for (i=0;imul_num_beams;i++) { if (store->beams[i].lateral < xtrackmin) { xtrackmin = store->beams[i].lateral; ixtrackmin = i; } if (store->beams[i].lateral > xtrackmax) { xtrackmax = store->beams[i].lateral; ixtrackmax = i; } } if (ixtrackmax > ixtrackmin) dsign = -1.0; else dsign = 1.0; /* loop over beams */ for (i=0;imul_num_beams;i++) { j = store->mul_num_beams - store->beams[i].beam; *nbeams = MAX(store->beams[i].beam, *nbeams); ttimes[j] = store->beams[i].tt; beta = 90.0 - dsign * RTD * store->beams[i].angle; alpha = RTD * store->beams[i].pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &angles[j], &angles_forward[j], error); if (store->mul_frequency >= 50000.0 || store->mul_frequency <= 0.0) { if (store->beams[j].angle < 0.0) { angles_null[j] = 37.5 + RTD * store->par_trans_err_port; } else { angles_null[j] = 37.5 + RTD * store->par_trans_err_stbd; } } else { angles_null[j] = 0.0; } heave[j] = store->beams[i].heave; alongtrack_offset[j] = 0.5 * store->nav_speed_ground * store->beams[i].delay; } } /* 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 heave:%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_xse_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error) { char *function_name = "mbsys_xse_detects"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get nbeams */ *nbeams = mb_io_ptr->beams_bath_max; /* get detects */ for (i=0;i<*nbeams;i++) { detects[i] = MB_DETECT_AMPLITUDE; } /* get nbeams and detects */ *nbeams = 0; if (store->mul_frame == MB_YES) { /* loop over beams to get nbeams */ for (i=0;imul_num_beams;i++) { j = store->mul_num_beams - store->beams[i].beam; *nbeams = MAX(store->beams[i].beam, *nbeams); } /* loop over beams to set detects */ for (i=0;i<*nbeams;i++) { detects[i] = MB_DETECT_UNKNOWN; } } /* 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_xse_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error) { char *function_name = "mbsys_xse_extract_altitude"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; double bath_best; double xtrack_min; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mb_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get data structure pointer */ store = (struct mbsys_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get draft */ if (store->par_parameter == MB_YES) *transducer_depth = 0.5 * (store->par_trans_z_port + store->par_trans_z_stbd); else *transducer_depth = store->par_ship_draft; bath_best = 0.0; if (store->mul_num_beams > 0) { *transducer_depth -= store->beams[store->mul_num_beams/2].heave; if (store->beams[store->mul_num_beams/2].quality == 1) bath_best = store->beams[store->mul_num_beams/2].depth; else { xtrack_min = 99999999.9; for (i=0;imul_num_beams;i++) { if (store->beams[i].quality == 1 && fabs(store->beams[i].lateral) < xtrack_min) { xtrack_min = fabs(store->beams[i].lateral); bath_best = store->beams[i].depth; } } } if (bath_best <= 0.0) { xtrack_min = 99999999.9; for (i=0;imul_num_beams;i++) { if (store->beams[i].quality < 8 && fabs(store->beams[i].lateral) < xtrack_min) { xtrack_min = fabs(store->beams[i].lateral); bath_best = store->beams[i].depth; } } } } *altitude = bath_best - *transducer_depth; /* set status */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* done translating values */ } /* deal with comment */ else if (*kind == MB_DATA_COMMENT) { /* set status */ *error = MB_ERROR_COMMENT; status = MB_FAILURE; } /* deal with other record type */ else { /* set status */ *error = MB_ERROR_OTHER; status = MB_FAILURE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 kind: %d\n",*kind); fprintf(stderr,"dbg2 transducer_depth: %f\n",*transducer_depth); fprintf(stderr,"dbg2 altitude: %f\n",*altitude); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbsys_xse_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_xse_extract_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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 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_xse_struct *) store_ptr; /* get data kind */ *kind = store->kind; /* extract data from structure */ if (*kind == MB_DATA_DATA) { /* get time */ *time_d = store->mul_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->mul_usec; mb_get_date(verbose,*time_d,time_i); /* get navigation */ *navlon = RTD * store->mul_lon; *navlat = RTD * store->mul_lat; /* get heading */ *heading = RTD * store->mul_heading; /* get speed */ *speed = 3.6 * store->mul_speed; /* get draft */ if (store->par_parameter == MB_YES) *draft = 0.5 * (store->par_trans_z_port + store->par_trans_z_stbd); else *draft = store->par_ship_draft; /* get roll pitch and heave */ if (store->mul_num_beams > 0) { *roll = RTD * store->beams[store->mul_num_beams/2].roll; *pitch = RTD * store->beams[store->mul_num_beams/2].pitch; *heave = store->beams[store->mul_num_beams/2].heave; } else if (store->nav_group_hrp == MB_YES) { *roll = RTD * store->nav_hrp_roll; *pitch = RTD * store->nav_hrp_pitch; *heave = store->nav_hrp_heave; } else if (store->nav_group_heave == MB_YES && store->nav_group_roll == MB_YES && store->nav_group_pitch == MB_YES) { *roll = RTD * store->nav_rol_roll; *pitch = RTD * store->nav_pit_pitch; *heave = store->nav_hea_heave; } else { *roll = 0.0; *pitch = 0.0; *heave = 0.0; } /* done translating values */ } /* extract data from structure */ else if (*kind == MB_DATA_NAV) { /* get time */ *time_d = store->nav_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->nav_usec; mb_get_date(verbose,*time_d,time_i); /* get heading */ if (store->nav_group_heading == MB_YES) *heading = RTD * store->nav_hdg_heading; else if (store->nav_group_motiongt == MB_YES) *heading = RTD * store->nav_course_ground; else if (store->nav_group_motiontw == MB_YES) *heading = RTD * store->nav_course_water; else mb_hedint_interp(verbose, mbio_ptr, *time_d, heading, error); /* get speed if possible */ if (store->nav_group_log == MB_YES) *speed = 3.6 * store->nav_log_speed; else if (store->nav_group_motiongt == MB_YES) *speed = 3.6 * store->nav_speed_ground; else if (store->nav_group_motiontw == MB_YES) *speed = 3.6 * store->nav_speed_water; else *speed = 0.0; /* get navigation */ if (store->nav_group_position == MB_YES) { *navlon = RTD * store->nav_x; *navlat = RTD * store->nav_y; } else mb_navint_interp(verbose, mbio_ptr, *time_d, *heading, *speed, navlon, navlat, speed, error); /* get draft */ if (store->par_parameter == MB_YES) *draft = 0.5 * (store->par_trans_z_port + store->par_trans_z_stbd); else *draft = store->par_ship_draft; /* get roll pitch and heave */ if (store->nav_group_hrp == MB_YES) { *roll = RTD * store->nav_hrp_roll; *pitch = RTD * store->nav_hrp_pitch; *heave = store->nav_hrp_heave; } else if (store->nav_group_heave == MB_YES && store->nav_group_roll == MB_YES && store->nav_group_pitch == MB_YES) { *roll = RTD * store->nav_rol_roll; *pitch = RTD * store->nav_pit_pitch; *heave = store->nav_hea_heave; } else if (store->mul_num_beams > 0) { *roll = RTD * store->beams[store->mul_num_beams/2].roll; *pitch = RTD * store->beams[store->mul_num_beams/2].pitch; *heave = store->beams[store->mul_num_beams/2].heave; } else { *roll = 0.0; *pitch = 0.0; *heave = 0.0; } /* 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 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_xse_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_xse_insert_nav"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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); 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 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_xse_struct *) store_ptr; /* insert data in structure */ if (store->kind == MB_DATA_DATA) { /* get time */ store->mul_sec = (unsigned int) (time_d + MBSYS_XSE_TIME_OFFSET); store->mul_usec = (time_d - ((int) time_d)) * 1000000; store->sid_sec = store->mul_sec; store->sid_usec = store->mul_usec; /*get navigation */ store->mul_lon = DTR * navlon; store->mul_lat = DTR * navlat; /* get heading */ store->mul_heading = DTR * heading; /* get speed */ store->mul_speed = speed / 3.6; /* get draft */ if (store->par_parameter == MB_YES) { store->par_trans_z_port = draft; store->par_trans_z_stbd = draft; } else { store->par_ship_draft = draft; } /* get roll pitch and heave */ } /* insert data in structure */ else if (store->kind == MB_DATA_NAV) { /* get time */ store->nav_sec = (unsigned int) (time_d + MBSYS_XSE_TIME_OFFSET); store->nav_usec = (time_d - ((int) time_d)) * 1000000; /*get navigation */ store->nav_group_position = MB_YES; store->nav_x = DTR * navlon; store->nav_y = DTR * navlat; /* get heading */ store->nav_group_heading = MB_YES; store->nav_hdg_heading = DTR * heading; /* get speed */ store->nav_group_log = MB_YES; store->nav_log_speed = speed / 3.6; /* get draft */ if (store->par_parameter == MB_YES) { store->par_trans_z_port = draft; store->par_trans_z_stbd = draft; } else { store->par_ship_draft = draft; } /* get roll pitch and heave */ } /* 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_xse_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_xse_extract_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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_xse_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_nsvp; /* get profile */ for (i=0;i<*nsvp;i++) { depth[i] = store->svp_depth[i]; velocity[i] = store->svp_velocity[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_xse_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error) { char *function_name = "mbsys_xse_insert_svp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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_nsvp = MIN(nsvp, MBSYS_XSE_MAXSVP); /* get profile */ for (i=0;isvp_nsvp;i++) { store->svp_depth[i] = depth[i]; store->svp_velocity[i] = 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_xse_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error) { char *function_name = "mbsys_xse_copy"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; struct mbsys_xse_struct *copy; /* 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_xse_struct *) store_ptr; copy = (struct mbsys_xse_struct *) copy_ptr; /* copy the data */ *copy = *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); } /*--------------------------------------------------------------------*/