/*-------------------------------------------------------------------- * The MB-system: mb7k2ss.c 8/15/2007 * $Id: mb7k2ss.c 1996 2012-10-29 17:57:04Z caress $ * * Copyright (c) 2007-2012 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. *--------------------------------------------------------------------*/ /* * mb7k2ss extracts Edgetech sidescan data * from Reson 7k format data, lays the sidescan on the bottom, * and outputs in format 71 mbldeoih. * * Author: D. W. Caress * Date: August 15, 2007 * R/V Atlantis, Axial Seamount * * $Log: mb7k2ss.c,v $ * Revision 5.4 2008/11/16 21:51:18 caress * Updating all recent changes, including time lag analysis using mbeditviz and improvements to the mbgrid footprint gridding algorithm. * * Revision 5.3 2008/09/27 03:27:11 caress * Working towards release 5.1.1beta24 * * Revision 5.2 2008/09/11 20:20:14 caress * Checking in updates made during cruise AT15-36. * * Revision 5.1 2008/05/16 22:44:37 caress * Release 5.1.1beta18 * * Revision 5.0 2007/10/08 17:04:13 caress * Update version number. * * Revision 1.1 2007/10/08 16:51:01 caress * Initial version of a program to extract Edgetech sidescan from MBARI Mapping AUV data into format 71. * * * */ /* standard include files */ #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #include "../../include/mb_aux.h" #include "../../include/mbsys_reson7k.h" #include "../../include/mbsys_ldeoih.h" /* local defines */ #define MB7K2SS_SS_FLAT_BOTTOM 0 #define MB7K2SS_SS_3D_BOTTOM 1 #define MB7K2SS_SSDIMENSION 4001 #define MB7K2SS_SSLOW 1 #define MB7K2SS_SSHIGH 2 #define MB7K2SS_BOTTOMPICK_NONE 0 #define MB7K2SS_BOTTOMPICK_BATHYMETRY 1 #define MB7K2SS_BOTTOMPICK_ALTITUDE 2 #define MB7K2SS_BOTTOMPICK_ARRIVAL 3 #define MB7K2SS_BOTTOMPICK_3DBATHY 4 #define MB7K2SS_SSGAIN_OFF 0 #define MB7K2SS_SSGAIN_TVG_1OVERR 1 #define MB7K2SS_ALLOC_NUM 128 #define MB7K2SS_ALLOC_CHUNK 1024 #define MB7K2SS_ROUTE_WAYPOINT_NONE 0 #define MB7K2SS_ROUTE_WAYPOINT_SIMPLE 1 #define MB7K2SS_ROUTE_WAYPOINT_TRANSIT 2 #define MB7K2SS_ROUTE_WAYPOINT_STARTLINE 3 #define MB7K2SS_ROUTE_WAYPOINT_ENDLINE 4 #define MB7K2SS_ONLINE_THRESHOLD 15.0 #define MB7K2SS_ONLINE_COUNT 30 #define MB7K2SS_NUM_ANGLES 171 #define MB7K2SS_ANGLE_MAX 85.0 int mb7k2ss_get_flatbottom_table(int verbose, int nangle, double angle_min, double angle_max, double navlon, double navlat, double altitude, double pitch, double *table_angle, double *table_xtrack, double *table_ltrack, double *table_altitude, double *table_range, int *error); static char rcs_id[] = "$Id: mb7k2ss.c 1996 2012-10-29 17:57:04Z caress $"; char program_name[] = "mb7k2ss"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char help_message[] = "mb7k2ss extracts sidescan sonar data from Reson 7k format data, \nbins and lays the sidescan onto the seafloor, and outputs files \nin the MBF_MBLDEOIH formst (MBIO format id 71).\n"; char usage_message[] = "mb7k2ss [-Ifile -Atype -Bmode[/threshold] -C -D -Fformat -Lstartline/lineroot -Ooutfile -Rroutefile -Ttopogridfile -X -H -V]"; extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* MBIO read control parameters */ int read_datalist = MB_NO; mb_path read_file; mb_path output_file; mb_path current_output_file; int new_output_file = MB_YES; int output_file_set = MB_NO; void *datalist; int look_processed = MB_DATALIST_LOOK_YES; double file_weight; int format = 0; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; mb_path file; int beams_bath; int beams_amp; int pixels_ss; /* topography parameters */ mb_path topogridfile; void *topogrid_ptr = NULL; /* MBIO read values */ void *imbio_ptr = NULL; struct mb_io_struct *imb_io_ptr = NULL; void *istore_ptr = NULL; struct mbsys_reson7k_struct *istore = NULL; void *ombio_ptr = NULL; struct mb_io_struct *omb_io_ptr = NULL; void *ostore_ptr = NULL; struct mbsys_ldeoih_struct *ostore = NULL; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double roll; double pitch; double heave; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; double *ttimes = NULL; double *angles = NULL; double *angles_forward = NULL; double *angles_null = NULL; double *bheave = NULL; double *alongtrack_offset = NULL; double draft; double ssv; double ssv_use = 1500.0; char comment[MB_COMMENT_MAXLINE]; int icomment = 0; /* synchronous navigation, heading, attitude data (from multibeam bathymetry records) */ int ndat = 0; int ndat_alloc = 0; double *dat_time_d = NULL; double *dat_lon = NULL; double *dat_lat = NULL; double *dat_speed = NULL; double *dat_sonardepth = NULL; double *dat_heading = NULL; double *dat_draft = NULL; double *dat_roll = NULL; double *dat_pitch = NULL; double *dat_heave = NULL; double *dat_altitude = NULL; /* sidescan data data */ s7k_fsdwchannel *sschannelport; /* Port hannel header and data */ s7k_fsdwssheader *ssheaderport; /* Port Edgetech sidescan header */ s7k_fsdwchannel *sschannelstbd; /* Starboard channel header and data */ s7k_fsdwssheader *ssheaderstbd; /* Starboard Edgetech sidescan header */ /* output sidescan data */ int obeams_bath; int obeams_amp; int opixels_ss; double oss[MB7K2SS_SSDIMENSION]; double ossacrosstrack[MB7K2SS_SSDIMENSION]; double ossalongtrack[MB7K2SS_SSDIMENSION]; int ossbincount[MB7K2SS_SSDIMENSION]; int swath_width_set = MB_NO; double swath_width = -1.0; double pixel_width; /* extract modes */ int extract_type = MB7K2SS_SSLOW; int target_kind = MB_DATA_SIDESCAN2; int print_comments = MB_NO; /* bottompick mode */ int bottompickmode = MB7K2SS_BOTTOMPICK_ALTITUDE; double bottompickthreshold = 0.4; /* sidescan layout mode */ int sslayoutmode = MB7K2SS_SS_FLAT_BOTTOM; double ss_altitude; /* sidescan gain mode */ int gainmode = MB7K2SS_SSGAIN_OFF; double gainfactor = 1.0; int ssflip = MB_NO; /* sidescan interpolation scale */ int interpbins = 0; /* route and auto-line data */ mb_path timelist_file; int timelist_file_set = MB_NO; int ntimepoint = 0; int ntimepointalloc = 0; double *routetime_d = NULL; mb_path route_file; int route_file_set = MB_NO; int checkroutebearing = MB_NO; int rawroutefile = MB_NO; mb_path lineroot; int nroutepoint = 0; int nroutepointalloc = 0; double lon; double lat; double topo; int waypoint; double *routelon = NULL; double *routelat = NULL; double *routeheading = NULL; int *routewaypoint = NULL; double range; double rangethreshold = 50.0; double rangelast; int activewaypoint = 0; int startline = 1; int linenumber; /* bottom layout parameters */ int nangle = MB7K2SS_NUM_ANGLES; double angle_min = -MB7K2SS_ANGLE_MAX; double angle_max = MB7K2SS_ANGLE_MAX; double table_angle[MB7K2SS_NUM_ANGLES]; double table_xtrack[MB7K2SS_NUM_ANGLES]; double table_ltrack[MB7K2SS_NUM_ANGLES]; double table_altitude[MB7K2SS_NUM_ANGLES]; double table_range[MB7K2SS_NUM_ANGLES]; /* counting variables */ int nreaddata = 0; int nreadheader = 0; int nreadssv = 0; int nreadnav1 = 0; int nreadsbp = 0; int nreadsslo = 0; int nreadsshi = 0; int nwritesslo = 0; int nwritesshi = 0; int nreaddatatot = 0; int nreadheadertot = 0; int nreadssvtot = 0; int nreadnav1tot = 0; int nreadsbptot = 0; int nreadsslotot = 0; int nreadsshitot = 0; int nwritesslotot = 0; int nwritesshitot = 0; /* auto plotting */ FILE *sfp = NULL; char scriptfile[MB_PATH_MAXLINE]; char command[MB_PATH_MAXLINE]; int mode; int format_status, format_guess; int format_output = MBF_MBLDEOIH; unsigned short *datashort; double value, threshold; double channelmax; int portchannelpick; int stbdchannelpick; double ttime; double ttime_min; double ttime_min_use; double nadir_depth; int istart; int ttime_min_ok = MB_NO; int beam_min; int smooth = 0; double weight; double factor; double mtodeglon, mtodeglat; double lastlon; double lastlat; double lastheading; double headingdiff; int linechange; int oktowrite; double dx, dy; int kangle, kstart; double xtrack, ltrack, rr, rangemin; FILE *fp = NULL; char *result; int nget; int point_ok; int previous, jj, interpable; double dss, dssl, fraction; int intstat, itime; int jport, jstbd; int read_data; int found, done; int i, j, n; startline = 1; strcpy(lineroot, "sidescan"); /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input to datalist.mb-1 */ strcpy (read_file, "datalist.mb-1"); /* process argument list */ while ((c = getopt(argc, argv, "A:a:B:b:CcD:d:F:f:G:g:I:i:L:l:MmO:o:Q:q:R:r:S:s:T:t:U:u:W:w:XxVvHh")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'A': case 'a': if (strncmp(optarg, "SSLOW", 5) == 0 || strncmp(optarg, "sslow", 5) == 0) { extract_type = MB7K2SS_SSLOW; target_kind = MB_DATA_SIDESCAN2; } else if (strncmp(optarg, "SSHIGH", 6) == 0 || strncmp(optarg, "sshigh", 6) == 0) { extract_type = MB7K2SS_SSHIGH; target_kind = MB_DATA_SIDESCAN3; } else { sscanf (optarg,"%d", &mode); if (mode == MB7K2SS_SSLOW) { extract_type = MB7K2SS_SSLOW; target_kind = MB_DATA_SIDESCAN2; } else if (mode == MB7K2SS_SSHIGH) { extract_type = MB7K2SS_SSHIGH; target_kind = MB_DATA_SIDESCAN3; } } flag++; break; case 'B': case 'b': n = sscanf (optarg,"%d/%lf", &bottompickmode, &bottompickthreshold); if (n == 0) bottompickmode = MB7K2SS_BOTTOMPICK_ALTITUDE; else if (n == 1 && bottompickmode == MB7K2SS_BOTTOMPICK_ARRIVAL) bottompickthreshold = 0.5; flag++; break; case 'C': case 'c': print_comments = MB_YES; break; case 'D': case 'd': sscanf (optarg,"%d", &interpbins); break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'G': case 'g': sscanf (optarg,"%d/%lf", &gainmode, &gainfactor); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'L': case 'l': sscanf (optarg,"%d/%s", &startline, lineroot); flag++; break; case 'M': case 'm': checkroutebearing = MB_YES; flag++; break; case 'O': case 'o': sscanf (optarg,"%s", output_file); output_file_set = MB_YES; flag++; break; case 'Q': case 'q': sscanf (optarg,"%s", timelist_file); timelist_file_set = MB_YES; flag++; break; case 'R': case 'r': sscanf (optarg,"%s", route_file); route_file_set = MB_YES; flag++; break; case 'S': case 's': sscanf (optarg,"%d", &smooth); flag++; break; case 'T': case 't': sscanf (optarg,"%s", topogridfile); sslayoutmode = MB7K2SS_SS_3D_BOTTOM; flag++; break; case 'U': case 'u': sscanf (optarg,"%lf", &rangethreshold); flag++; break; case 'W': case 'w': sscanf (optarg,"%lf", &swath_width); if (swath_width > 0.0) swath_width_set = MB_YES; flag++; break; case 'X': case 'x': ssflip = MB_YES; flag++; break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 format: %d\n",format); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 lonflip: %d\n",lonflip); fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stderr,"dbg2 speedmin: %f\n",speedmin); fprintf(stderr,"dbg2 timegap: %f\n",timegap); fprintf(stderr,"dbg2 bottompickmode: %d\n",bottompickmode); fprintf(stderr,"dbg2 bottompickthreshold: %f\n",bottompickthreshold); fprintf(stderr,"dbg2 smooth: %d\n",smooth); fprintf(stderr,"dbg2 swath_width_set: %d\n",swath_width_set); fprintf(stderr,"dbg2 swath_width: %f\n",swath_width); fprintf(stderr,"dbg2 interpbins: %d\n",interpbins); fprintf(stderr,"dbg2 gainmode: %d\n",gainmode); fprintf(stderr,"dbg2 gainfactor: %f\n",gainfactor); fprintf(stderr,"dbg2 sslayoutmode: %d\n",sslayoutmode); fprintf(stderr,"dbg2 topogridfile: %s\n",topogridfile); fprintf(stderr,"dbg2 timelist_file_set: %d\n",timelist_file_set); fprintf(stderr,"dbg2 timelist_file: %s\n",timelist_file); fprintf(stderr,"dbg2 route_file_set: %d\n",route_file_set); fprintf(stderr,"dbg2 route_file: %s\n",route_file); fprintf(stderr,"dbg2 checkroutebearing: %d\n",checkroutebearing); fprintf(stderr,"dbg2 output_file: %s\n",output_file); fprintf(stderr,"dbg2 output_file_set: %d\n",output_file_set); fprintf(stderr,"dbg2 lineroot: %s\n",lineroot); fprintf(stderr,"dbg2 extract_type: %d\n",extract_type); fprintf(stderr,"dbg2 print_comments: %d\n",print_comments); } /* if help desired then print it and exit */ if (help) { fprintf(stderr,"\n%s\n",help_message); fprintf(stderr,"\nusage: %s\n", usage_message); exit(status); } /* print starting debug statements */ if (verbose == 1) { fprintf(stderr,"\nProgram <%s>\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); fprintf(stderr,"Control Parameters:\n"); if (bottompickmode == MB7K2SS_BOTTOMPICK_BATHYMETRY) fprintf(stderr," bottompickmode: Bathymetry\n"); else if (bottompickmode == MB7K2SS_BOTTOMPICK_ALTITUDE) fprintf(stderr," bottompickmode: Altitude\n"); else if (bottompickmode == MB7K2SS_BOTTOMPICK_ARRIVAL) { fprintf(stderr," bottompickmode: Sidescan first arrival\n"); fprintf(stderr," bottompickthreshold: %f\n",bottompickthreshold); } else if (bottompickmode == MB7K2SS_BOTTOMPICK_3DBATHY) { fprintf(stderr," bottompickmode: 3D Bathymetry\n"); fprintf(stderr," topogridfile: %s\n",topogridfile); } fprintf(stderr," bottompickthreshold: %f\n",bottompickthreshold); fprintf(stderr," smooth: %d\n",smooth); if (swath_width_set == MB_YES) fprintf(stderr," swath_width: %f\n",swath_width); else fprintf(stderr," swath_width: Maximum available\n"); if (gainmode == MB7K2SS_SSGAIN_OFF) fprintf(stderr," gainmode: Off\n"); else { fprintf(stderr," gainmode: TVG applied as gainfactor/R\n"); fprintf(stderr," gainfactor: %f\n",gainfactor); } if (sslayoutmode == MB7K2SS_SS_FLAT_BOTTOM) fprintf(stderr," sslayoutmode: Flat bottom\n"); else if (sslayoutmode == MB7K2SS_SS_3D_BOTTOM) { fprintf(stderr," sslayoutmode: 3D bottom\n"); fprintf(stderr," topogridfile: %s\n",topogridfile); } fprintf(stderr," interpolation bins: %d\n",interpbins); if (timelist_file_set == MB_YES) fprintf(stderr," timelist_file: %s\n",timelist_file); if (route_file_set == MB_YES) fprintf(stderr," route_file: %s\n",route_file); fprintf(stderr," checkroutebearing: %d\n",checkroutebearing); if (output_file_set == MB_YES) fprintf(stderr," output_file: %s\n",output_file); fprintf(stderr," lineroot: %s\n",lineroot); fprintf(stderr," extract_type: %d\n",extract_type); fprintf(stderr," print_comments: %d\n",print_comments); } /* output output types */ fprintf(stdout, "\nData records to extract:\n"); if (extract_type == MB7K2SS_SSLOW) fprintf(stdout, " Low Sidescan\n"); else if (extract_type == MB7K2SS_SSHIGH) fprintf(stdout, " High Sidescan\n"); if (ssflip == MB_YES) fprintf(stdout, " Sidescan port and starboard exchanged\n"); /* set starting line number and output file if route read */ if (route_file_set == MB_YES || timelist_file_set == MB_YES) { linenumber = startline; if (extract_type == MB7K2SS_SSLOW) sprintf(output_file, "%s_%4.4d_sslo.mb71", lineroot, linenumber); else if (extract_type == MB7K2SS_SSHIGH) sprintf(output_file, "%s_%4.4d_sshi.mb71", lineroot, linenumber); } /* new output file obviously needed */ new_output_file = MB_YES; /* if specified read route time list file */ if (timelist_file_set == MB_YES) { /* open the input file */ if ((fp = fopen(timelist_file, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open time list file <%s> for reading\n",timelist_file); exit(status); } rawroutefile = MB_NO; while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment) { if (comment[0] != '#') { nget = sscanf(comment,"%d %d %lf %lf %lf %lf", &i, &waypoint, &lon, &lat, &heading, &time_d); /* if good data check for need to allocate more space */ if (ntimepoint + 1 > ntimepointalloc) { ntimepointalloc += MB7K2SS_ALLOC_NUM; status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routelon, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routelat, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routeheading, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(int), (void **)&routewaypoint, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routetime_d, &error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* add good point to route */ if (ntimepointalloc > ntimepoint) { routewaypoint[ntimepoint] = waypoint; routelon[ntimepoint] = lon; routelat[ntimepoint] = lat; routeheading[ntimepoint] = heading; routetime_d[ntimepoint] = time_d; ntimepoint++; } } } /* close the file */ fclose(fp); fp = NULL; activewaypoint = 1; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * rangethreshold; oktowrite = 0; linechange = MB_YES; /* output status */ if (verbose > 0) { /* output info on file output */ fprintf(stderr,"Read %d waypoints from time list file: %s\n", ntimepoint, timelist_file); } } /* if specified read route file */ else if (route_file_set == MB_YES) { /* open the input file */ if ((fp = fopen(route_file, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open route file <%s> for reading\n",route_file); exit(status); } rawroutefile = MB_NO; while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment) { if (comment[0] == '#') { if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } else { nget = sscanf(comment,"%lf %lf %lf %d %lf", &lon, &lat, &topo, &waypoint, &heading); if (comment[0] == '#') { fprintf(stderr,"buffer:%s",comment); if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } if ((rawroutefile == MB_YES && nget >= 2) || (rawroutefile == MB_NO && nget >= 3 && waypoint > MB7K2SS_ROUTE_WAYPOINT_NONE)) point_ok = MB_YES; else point_ok = MB_NO; /* if good data check for need to allocate more space */ if (point_ok == MB_YES && nroutepoint + 1 > nroutepointalloc) { nroutepointalloc += MB7K2SS_ALLOC_NUM; status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routelon, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routelat, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routeheading, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(int), (void **)&routewaypoint, &error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* add good point to route */ if (point_ok == MB_YES && nroutepointalloc > nroutepoint + 1) { routelon[nroutepoint] = lon; routelat[nroutepoint] = lat; routeheading[nroutepoint] = heading; routewaypoint[nroutepoint] = waypoint; nroutepoint++; } } } /* close the file */ fclose(fp); fp = NULL; /* set starting values */ activewaypoint = 1; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * rangethreshold; oktowrite = 0; linechange = MB_YES; /* output status */ if (verbose > 0) { /* output info on file output */ fprintf(stderr,"\nImported %d waypoints from route file: %s\n", nroutepoint, route_file); } } /* read topography grid if 3D bottom correction specified */ if (sslayoutmode == MB7K2SS_SS_3D_BOTTOM) { status = mb_topogrid_init(verbose, topogridfile, &lonflip, &topogrid_ptr, &error); } /* set up plotting script file */ if ((route_file_set == MB_YES && nroutepoint > 1) || (timelist_file_set == MB_YES && ntimepoint > 1)) { sprintf(scriptfile, "%s_ssswathplot.cmd", lineroot); } else if (output_file_set == MB_NO || read_datalist == MB_YES) { sprintf(scriptfile, "%s_ssswathplot.cmd", read_file); } else { sprintf(scriptfile, "%s_ssswathplot.cmd", file); } if ((sfp = fopen(scriptfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open plotting script file <%s> \n",scriptfile); exit(status); } /* get format if required */ if (format == 0) mb_get_format(verbose,read_file,NULL,&format,&error); /* determine whether to read one file or a list of files */ if (format < 0) read_datalist = MB_YES; /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(file, read_file); read_data = MB_YES; } /* first read and store all navigation, attitude, heading, sonar depth, and altitude data from the survey (multibeam) records - loop over all files to be read - use fbt files if available */ while (read_data == MB_YES && format == MBF_RESON7KR) { /* use fbt file if available as source for processed navigation and attitude */ mb_get_fbt(verbose, file, &format, &error); /* initialize reading the swath file */ if ((status = mb_read_init( verbose,file,format,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; istore_ptr = imb_io_ptr->store_data; istore = (struct mbsys_reson7k_struct *) istore_ptr; nreaddata = 0; if (error == MB_ERROR_NO_ERROR) { beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&ttimes, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_forward, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_null, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bheave, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&alongtrack_offset, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* loop over reading data from current file */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* reset nonfatal errors */ if (kind == MB_DATA_DATA && error < 0) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* get desired information */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { status = mb_extract_nav(verbose,imbio_ptr,istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading,&draft, &roll,&pitch,&heave,&error); /* allocate memory for altitude arrays if needed */ if (ndat + 1 >= ndat_alloc) { ndat_alloc += MB7K2SS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_lon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_lat,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_speed,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_sonardepth,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_heading,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_draft,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_heave,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_alloc*sizeof(double),(void **)&dat_altitude,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the altitude data */ if (ndat == 0 || dat_time_d[ndat-1] < time_d) { dat_time_d[ndat] = time_d; dat_lon[ndat] = navlon; dat_lat[ndat] = navlat; dat_speed[ndat] = speed; dat_sonardepth[ndat] = sonardepth; dat_heading[ndat] = heading; dat_draft[ndat] = draft; dat_roll[ndat] = roll; dat_pitch[ndat] = pitch; dat_heave[ndat] = heave; dat_altitude[ndat] = altitude; ndat++; nreaddata++; } } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* output counts */ fprintf(stdout, "Read %6d nav and attitude data from: %s\n", nreaddata, file); nreaddatatot += nreaddata; /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* output counts */ fprintf(stdout, "\nRead %6d nav and attitude data from: %s\n", nreaddatatot, read_file); nreaddatatot = 0; nreaddata = 0; /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(file, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES && format == MBF_RESON7KR) { /* initialize reading the swath file */ if ((status = mb_read_init( verbose,file,format,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; istore_ptr = imb_io_ptr->store_data; istore = (struct mbsys_reson7k_struct *) istore_ptr; itime = 0; if (error == MB_ERROR_NO_ERROR) { beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&ttimes, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_forward, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&angles_null, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bheave, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&alongtrack_offset, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* set up output file name if needed */ if (error == MB_ERROR_NO_ERROR) { if (output_file_set == MB_YES && ombio_ptr == NULL) { /* set flag to open new output file */ new_output_file = MB_YES; } else if (output_file_set == MB_NO && route_file_set == MB_NO && timelist_file_set == MB_NO) { new_output_file = MB_YES; format_status = mb_get_format(verbose, file, output_file, &format_guess, &error); if (format_status != MB_SUCCESS || format_guess != format) { strcpy(output_file, file); } if (output_file[strlen(output_file)-1] == 'p') { output_file[strlen(output_file)-1] = '\0'; } if (extract_type == MB7K2SS_SSLOW) { strcat(output_file,"_sslo.mb71"); format_output = MBF_MBLDEOIH; } else if (extract_type == MB7K2SS_SSHIGH) { strcat(output_file,"_sshi.mb71"); format_output = MBF_MBLDEOIH; } } } /* read and print data */ nreaddata = 0; nreadheader = 0; nreadssv = 0; nreadnav1 = 0; nreadsbp = 0; nreadsslo = 0; nreadsshi = 0; ttime_min_ok = MB_NO; while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /*fprintf(stderr,"kind:%d %s \n\ttime_i:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f time_i:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f\n", kind,notice_msg[kind],time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],time_d, istore->time_i[0],istore->time_i[1],istore->time_i[2],istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],istore->time_d);*/ /* reset nonfatal errors */ if (kind == MB_DATA_DATA && error < 0) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* get nav and attitude */ if (status == MB_SUCCESS && (kind == MB_DATA_SUBBOTTOM_SUBBOTTOM || kind == MB_DATA_SIDESCAN2 || kind == MB_DATA_SIDESCAN3)) { intstat = mb_linear_interp(verbose, dat_time_d-1, dat_lon-1, ndat, time_d, &navlon, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_lat-1, ndat, time_d, &navlat, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_speed-1, ndat, time_d, &speed, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_sonardepth-1, ndat, time_d, &sonardepth, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_heading-1, ndat, time_d, &heading, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_draft-1, ndat, time_d, &draft, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_roll-1, ndat, time_d, &roll, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_pitch-1, ndat, time_d, &pitch, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_heave-1, ndat, time_d, &heave, &itime, &error); intstat = mb_linear_interp(verbose, dat_time_d-1, dat_altitude-1, ndat, time_d, &altitude, &itime, &error); } /* save last nav and heading */ if (status == MB_SUCCESS && kind == target_kind) { if (navlon != 0.0) lastlon = navlon; if (navlat != 0.0) lastlat = navlat; if (heading != 0.0) lastheading = heading; } /* check survey data position against time list or waypoints */ if (status == MB_SUCCESS && kind == target_kind && navlon != 0.0 && navlat != 0.0) { /* to set lines check survey data time against time list */ if (ntimepoint > 1) { /* fprintf(stderr,"CHECK TIME: activewaypoint:%d routetime_d:%f time_d:%f dt:%f\n", activewaypoint,routetime_d[activewaypoint],time_d,time_d - routetime_d[activewaypoint]); */ dx = (navlon - routelon[activewaypoint]) / mtodeglon; dy = (navlat - routelat[activewaypoint]) / mtodeglat; range = sqrt(dx * dx + dy * dy); if (time_d >= routetime_d[activewaypoint] && activewaypoint < ntimepoint) { linechange = MB_YES; /* fprintf(stderr,"LINECHANGE BY TIME!! dx:%f dy:%f range:%f activewaypoint:%d time_d: %f %f\n", dx,dy,range,activewaypoint,time_d,routetime_d[activewaypoint]); */ } } /* else to set lines check survey data position against waypoints */ else if (nroutepoint > 1 && navlon != 0.0 && navlat != 0.0) { dx = (navlon - routelon[activewaypoint]) / mtodeglon; dy = (navlat - routelat[activewaypoint]) / mtodeglat; range = sqrt(dx * dx + dy * dy); /* fprintf(stderr,"CHECK WAYPOINT: activewaypoint:%d range:%f rangethreshold:%f\n",activewaypoint,range,rangethreshold); */ if (range < rangethreshold && (activewaypoint == 0 || range > rangelast) && activewaypoint < nroutepoint - 1) { linechange = MB_YES; /* fprintf(stderr,"LINECHANGE BY WAYPOINT!! dx:%f dy:%f range:%f activewaypoint:%d time_d: %f %f\n", dx,dy,range,activewaypoint,time_d,routetime_d[activewaypoint]); */ } } /* fprintf(stderr,"status:%d error:%d | kind:%d %d | route_file_set:%d nroutepoint:%d navlon:%f navlat:%f\n", status,error,kind,target_kind,route_file_set,nroutepoint,navlon,navlat); fprintf(stderr,"activewaypoint:%d range:%f rangelast:%f lon:%f %f lat:%f %f\n", activewaypoint, range, rangelast, navlon, routelon[activewaypoint], navlat, routelat[activewaypoint]); */ /* check survey data position against waypoints */ if (linechange == MB_YES) { /* set output file name */ if (extract_type == MB7K2SS_SSLOW) sprintf(output_file, "%s_%4.4d_sslo.mb71", lineroot, linenumber); else if (extract_type == MB7K2SS_SSHIGH) sprintf(output_file, "%s_%4.4d_sshi.mb71", lineroot, linenumber); format_output = MBF_MBLDEOIH; /* set to open new output file */ new_output_file = MB_YES; /* increment active waypoint */ activewaypoint++; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * rangethreshold; oktowrite = 0; linechange = MB_NO; /* increment line number */ linenumber++; } else rangelast = range; /*fprintf(stderr,"> activewaypoint:%d linenumber:%d range:%f lon: %f %f lat: %f %f oktowrite:%d\n", activewaypoint,linenumber,range, navlon, routelon[activewaypoint], navlat, routelat[activewaypoint], oktowrite);*/ } if (kind == MB_DATA_DATA && error <= MB_ERROR_NO_ERROR) { /* extract travel times */ status = mb_ttimes(verbose,imbio_ptr, istore_ptr,&kind,&beams_bath, ttimes,angles, angles_forward,angles_null, bheave,alongtrack_offset, &draft,&ssv,&error); /* check surface sound velocity */ if (ssv > 0.0) ssv_use = ssv; /* get bottom arrival time, if possible */ ttime_min = 0.0; found = MB_NO; for (i=0;i:\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for writing\n",output_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* save current_output_file */ strcpy(current_output_file, output_file); /* get pointers to data storage */ omb_io_ptr = (struct mb_io_struct *) ombio_ptr; ostore_ptr = omb_io_ptr->store_data; ostore = (struct mbsys_ldeoih_struct *) ostore_ptr; /* reset new_output_file */ new_output_file = MB_NO; } /* if following a route check that the vehicle has come on line (within MB7K2SS_ONLINE_THRESHOLD degrees) before writing any data */ if (checkroutebearing == MB_YES && nroutepoint > 1 && activewaypoint > 0) { headingdiff = fabs(routeheading[activewaypoint-1] - heading); if (headingdiff > 180.0) headingdiff = 360.0 - headingdiff; if (headingdiff < MB7K2SS_ONLINE_THRESHOLD) oktowrite++; else oktowrite = 0; /* fprintf(stderr,"heading: %f %f %f oktowrite:%d\n", routeheading[activewaypoint-1],heading,headingdiff,oktowrite);*/ } else oktowrite = MB7K2SS_ONLINE_COUNT; /* if (status == MB_SUCCESS) fprintf(stderr,"activewaypoint:%d linenumber:%d range:%f lon: %f %f lat: %f %f oktowrite:%d\n", activewaypoint,linenumber,range, navlon, routelon[activewaypoint], navlat, routelat[activewaypoint], oktowrite);*/ /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { /*fprintf(stderr,"MB_DATA_DATA: status:%d error:%d kind:%d\n",status,error,kind);*/ nreaddata++; } /* handle file header data */ else if (status == MB_SUCCESS && kind == MB_DATA_HEADER) { /*fprintf(stderr,"MB_DATA_HEADER: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadheader++; } /* handle bluefin ctd data */ else if (status == MB_SUCCESS && kind == MB_DATA_SSV) { /*fprintf(stderr,"MB_DATA_SSV: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadssv++; } /* handle bluefin nav data */ else if (status == MB_SUCCESS && kind == MB_DATA_NAV2) { /*fprintf(stderr,"MB_DATA_NAV1: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadnav1++; } /* handle subbottom data */ else if (status == MB_SUCCESS && kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { /*fprintf(stderr,"MB_DATA_SUBBOTTOM_SUBBOTTOM: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadsbp++; } /* handle low frequency sidescan data */ else if (status == MB_SUCCESS && kind == MB_DATA_SIDESCAN2) { /*fprintf(stderr,"MB_DATA_SIDESCAN2: status:%d error:%d kind:%d\n",status,error,kind);*/ nreadsslo++; /* output data if desired */ if (extract_type == MB7K2SS_SSLOW && nreadnav1 > 0 && oktowrite >= MB7K2SS_ONLINE_COUNT) { /* get channels */ if (ssflip == MB_YES) { sschannelport = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[1]); ssheaderport = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[1]); sschannelstbd = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[0]); ssheaderstbd = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[0]); } else { sschannelport = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[0]); ssheaderport = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[0]); sschannelstbd = (s7k_fsdwchannel *) &(istore->fsdwsslo.channel[1]); ssheaderstbd = (s7k_fsdwssheader *) &(istore->fsdwsslo.ssheader[1]); } /* set some values */ ostore->depth_scale = 0; ostore->distance_scale = 0; ostore->beam_xwidth = 0.9; ostore->beam_lwidth = 0.9; ostore->kind = MB_DATA_DATA; ostore->ss_type = MB_SIDESCAN_LINEAR; /* sets sidescan to be scaled linear */ opixels_ss = MB7K2SS_SSDIMENSION; /* reset the sonar altitude using the specified mode */ if (bottompickmode == MB7K2SS_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in port trace */ datashort = (unsigned short *) sschannelport->data; channelmax = 0.0; for (i=0;isamples;i++) { if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); channelmax = MAX(value, channelmax); } portchannelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && portchannelpick == 0;i++) { if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); if (value >= threshold) portchannelpick = i; } /* get bottom arrival in starboard trace */ datashort = (unsigned short *) sschannelstbd->data; channelmax = 0.0; for (i=0;isamples;i++) { if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); channelmax = MAX(value, channelmax); } stbdchannelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && stbdchannelpick == 0;i++) { if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); if (value >= threshold) stbdchannelpick = i; } /* set sonar altitude */ ttime = 0.0000000005 * ((portchannelpick + stbdchannelpick) * ssheaderport->sampleInterval); ss_altitude = 0.5 * ssv_use * ttime; } else if (bottompickmode == MB7K2SS_BOTTOMPICK_BATHYMETRY) { if (ttime_min_ok == MB_YES) { ss_altitude = 0.5 * ssv_use * ttime_min_use; } } /* else use the altitude we already have */ else { ss_altitude = altitude; } /* get flat bottom layout table */ if (sslayoutmode == MB7K2SS_SS_FLAT_BOTTOM) mb7k2ss_get_flatbottom_table(verbose, nangle, angle_min, angle_max, navlon, navlat, ss_altitude, 0.0, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); /* else get 3D bottom layout table */ else mb_topogrid_getangletable(verbose, topogrid_ptr, nangle, angle_min, angle_max, navlon, navlat, heading, ss_altitude, sonardepth, pitch, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); /* get swath width and pixel size */ rr = 0.0000000005 * ssv_use *(ssheaderport->samples * ssheaderport->sampleInterval); if (swath_width_set == MB_NO) swath_width = 2.2 * sqrt(rr * rr - ss_altitude * ss_altitude); pixel_width = swath_width / (opixels_ss - 1); /* initialize the output sidescan */ for (j=0;jdata; istart = ss_altitude / (0.0000000005 * ssv_use * ssheaderport->sampleInterval); istart = rangemin / (0.0000000005 * ssv_use * ssheaderport->sampleInterval); weight = exp(MB_LN_2 * ((double)ssheaderport->weightingFactor)); for (i=istart;isamples;i++) { /* get sample value */ if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); /* get sample range */ rr = 0.0000000005 * ssv_use *(i * ssheaderport->sampleInterval); /* look up position(s) for this range */ done = MB_NO; for (kangle=kstart;kangle>0 && done == MB_NO;kangle--) { found = MB_NO; if (rr <= table_range[kstart]) { xtrack = table_xtrack[kstart]; ltrack = table_ltrack[kstart]; done = MB_YES; found = MB_YES; } else if (rr > table_range[kangle] && rr <= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += value / weight; ossbincount[j]++; ossalongtrack[j] += ltrack; } /* fprintf(stderr,"port:%5d rr:%10.2f x:%10.2f l:%10.2f kangle:%d\n", i,rr,xtrack,ltrack,kangle); */ } } } /* find minimum range */ rangemin = table_range[0]; kstart = 0; for (kangle=1;kangledata; istart = ss_altitude / (0.0000000005 * ssv_use * ssheaderstbd->sampleInterval); istart = rangemin / (0.0000000005 * ssv_use * ssheaderstbd->sampleInterval); weight = exp(MB_LN_2 * ((double)ssheaderstbd->weightingFactor)); for (i=istart;isamples;i++) { /* get sample value */ if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); /* get sample range */ rr = 0.0000000005 * ssv_use *(i * ssheaderstbd->sampleInterval); /* look up position for this range */ done = MB_NO; for (kangle=kstart;kangle table_range[kangle] && rr <= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += value / weight; ossbincount[j]++; ossalongtrack[j] += ltrack; } /* fprintf(stderr,"stbd:%5d rr:%10.2f x:%10.2f l:%10.2f kangle:%d\n", i,rr,xtrack,ltrack,kangle); */ } } } /* calculate the output sidescan */ jport = -1; jstbd = -1; for (j=0;j 0) { oss[j] /= (double) ossbincount[j]; ossalongtrack[j] /= (double) ossbincount[j]; if (jport < 0) jport = j; jstbd = j; } else oss[j] = MB_SIDESCAN_NULL; } /* fprintf(stderr,"SS bounds: %d %d %f %f %f\n",jport,jstbd,(jport - opixels_ss/2)*pixel_width,(jstbd - opixels_ss/2)*pixel_width, (jport - opixels_ss/2)*pixel_width - (jstbd - opixels_ss/2)*pixel_width);*/ /*for (j=0;j 0) { interpable = j - previous - 1; if (interpable > 0 && interpable <= interpbins) { dss = oss[j] - oss[previous]; dssl = ossalongtrack[j] - ossalongtrack[previous]; for (jj=previous+1;jj 0 && oktowrite >= MB7K2SS_ONLINE_COUNT) { /* get channels */ if (ssflip == MB_YES) { sschannelport = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[1]); ssheaderport = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[1]); sschannelstbd = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[0]); ssheaderstbd = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[0]); } else { sschannelport = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[0]); ssheaderport = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[0]); sschannelstbd = (s7k_fsdwchannel *) &(istore->fsdwsshi.channel[1]); ssheaderstbd = (s7k_fsdwssheader *) &(istore->fsdwsshi.ssheader[1]); } /* set some values */ ostore->depth_scale = 0; ostore->distance_scale = 0; ostore->beam_xwidth = 0.6; ostore->beam_lwidth = 0.6; ostore->kind = MB_DATA_DATA; ostore->ss_type = MB_SIDESCAN_LINEAR; /* sets sidescan to be scaled linear */ opixels_ss = MB7K2SS_SSDIMENSION; /* reset the sonar altitude using the specified mode */ if (bottompickmode == MB7K2SS_BOTTOMPICK_ARRIVAL) { /* get bottom arrival in port trace */ datashort = (unsigned short *) sschannelport->data; channelmax = 0.0; for (i=0;isamples;i++) { if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); channelmax = MAX(value, channelmax); } portchannelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && portchannelpick == 0;i++) { if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); if (value >= threshold) portchannelpick = i; } /* get bottom arrival in starboard trace */ datashort = (unsigned short *) sschannelstbd->data; channelmax = 0.0; for (i=0;isamples;i++) { if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); channelmax = MAX(value, channelmax); } stbdchannelpick = 0; threshold = bottompickthreshold * channelmax; for (i=0;isamples && stbdchannelpick == 0;i++) { if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); if (value >= threshold) stbdchannelpick = i; } /* set sonar altitude */ ttime = 0.0000000005 * ((portchannelpick + stbdchannelpick) * ssheaderport->sampleInterval); ss_altitude = 0.5 * ssv_use * ttime; } else if (bottompickmode == MB7K2SS_BOTTOMPICK_BATHYMETRY) { if (ttime_min_ok == MB_YES) { ss_altitude = 0.5 * ssv_use * ttime_min_use; } } /* else use the altitude we already have */ else { ss_altitude = altitude; } /* get flat bottom layout table */ if (sslayoutmode == MB7K2SS_SS_FLAT_BOTTOM) mb7k2ss_get_flatbottom_table(verbose, nangle, angle_min, angle_max, navlon, navlat, ss_altitude, 0.0, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); /* else get 3D bottom layout table */ else mb_topogrid_getangletable(verbose, topogrid_ptr, nangle, angle_min, angle_max, navlon, navlat, heading, ss_altitude, sonardepth, pitch, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); /* get swath width and pixel size */ rr = 0.0000000005 * ssv_use *(ssheaderport->samples * ssheaderport->sampleInterval); if (swath_width_set == MB_NO) swath_width = 2.2 * sqrt(rr * rr - ss_altitude * ss_altitude); pixel_width = swath_width / (opixels_ss - 1); /* initialize the output sidescan */ for (j=0;jdata; istart = ss_altitude / (0.0000000005 * ssv_use * ssheaderport->sampleInterval); istart = rangemin / (0.0000000005 * ssv_use * ssheaderport->sampleInterval); weight = exp(MB_LN_2 * ((double)ssheaderport->weightingFactor)); for (i=istart;isamples;i++) { /* get sample value */ if (ssheaderport->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); /* get sample range */ rr = 0.0000000005 * ssv_use *(i * ssheaderport->sampleInterval); /* look up position(s) for this range */ done = MB_NO; for (kangle=kstart;kangle>0 && done == MB_NO;kangle--) { found = MB_NO; if (rr <= table_range[kstart]) { xtrack = table_xtrack[kstart]; ltrack = table_ltrack[kstart]; done = MB_YES; found = MB_YES; } else if (rr > table_range[kangle] && rr <= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += value / weight; ossbincount[j]++; ossalongtrack[j] += ltrack; } } } } /* find minimum range */ rangemin = table_range[0]; kstart = 0; for (kangle=1;kangledata; istart = ss_altitude / (0.0000000005 * ssv_use * ssheaderstbd->sampleInterval); weight = exp(MB_LN_2 * ((double)ssheaderstbd->weightingFactor)); for (i=istart;isamples;i++) { /* get sample value */ if (ssheaderstbd->dataFormat == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (datashort[2*i] * datashort[2*i] + datashort[2*i+1] * datashort[2*i+1])); else value = (double)(datashort[i]); /* get sample range */ rr = 0.0000000005 * ssv_use *(i * ssheaderstbd->sampleInterval); /* look up position for this range */ done = MB_NO; for (kangle=kstart;kangle table_range[kangle] && rr <= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += value / weight; ossbincount[j]++; ossalongtrack[j] += ltrack; } } } } /* calculate the output sidescan */ for (j=0;j 0) { oss[j] /= (double) ossbincount[j]; ossalongtrack[j] /= (double) ossbincount[j]; } else oss[j] = MB_SIDESCAN_NULL; } /* interpolate gaps in the output sidescan */ previous = opixels_ss; for (j=0;j 0) { interpable = j - previous - 1; if (interpable > 0 && interpable <= interpbins) { dss = oss[j] - oss[previous]; dssl = ossalongtrack[j] - ossalongtrack[previous]; for (jj=previous+1;jj= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } /* print comments */ if (print_comments == MB_YES && kind == MB_DATA_COMMENT) { if (icomment == 0) { fprintf(stderr,"\nComments:\n"); icomment++; } fprintf(stderr,"%s\n",comment); } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* output counts */ fprintf(stdout, "\nData records read from: %s\n", file); fprintf(stdout, " Survey: %d\n", nreaddata); fprintf(stdout, " File Header: %d\n", nreadheader); fprintf(stdout, " Bluefin CTD: %d\n", nreadssv); fprintf(stdout, " Bluefin Nav: %d\n", nreadnav1); fprintf(stdout, " Subbottom: %d\n", nreadsbp); fprintf(stdout, " Low Sidescan: %d\n", nreadsslo); fprintf(stdout, " High Sidescan: %d\n", nreadsshi); nreaddatatot += nreaddata; nreadheadertot += nreadheader; nreadssvtot += nreadssv; nreadnav1tot += nreadnav1; nreadsbptot += nreadsbp; nreadsslotot += nreadsslo; nreadsshitot += nreadsshi; /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* close output file if still open */ if (ombio_ptr != NULL) { /* close the swath file */ status = mb_close(verbose,&ombio_ptr,&error); /* generate inf file */ if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, output_file, format_output, &error); /* output commands to first cut plotting script file */ fprintf(sfp, "# Generate swath plot of sidescan file: %s\n", output_file); fprintf(sfp, "mbm_plot -I %s -N -G5 -S -Pb -V -O %s_ssrawplot\n", output_file, output_file); fprintf(sfp, "%s_ssrawplot.cmd\n\n", output_file); } } /* close plotting script file */ fclose(sfp); sprintf(command, "chmod +x %s", scriptfile); system(command); /* output counts */ fprintf(stdout, "\nTotal data records read:\n"); fprintf(stdout, " Survey: %d\n", nreaddatatot); fprintf(stdout, " File Header: %d\n", nreadheadertot); fprintf(stdout, " Bluefin CTD: %d\n", nreadssvtot); fprintf(stdout, " Bluefin Nav: %d\n", nreadnav1tot); fprintf(stdout, " Subbottom: %d\n", nreadsbptot); fprintf(stdout, " Low Sidescan: %d\n", nreadsslotot); fprintf(stdout, " High Sidescan: %d\n", nreadsshitot); fprintf(stdout, "Total data records written:\n"); fprintf(stdout, " Low Sidescan: %d\n", nwritesslotot); fprintf(stdout, " High Sidescan: %d\n", nwritesshitot); /* deallocate route arrays */ if (route_file_set == MB_YES) { status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelon, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelat, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routeheading, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routewaypoint, &error); } /* deallocate topography grid array if necessary */ if (sslayoutmode == MB7K2SS_SS_3D_BOTTOM) status = mb_topogrid_deall(verbose, &topogrid_ptr, &error); /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/ int mb7k2ss_get_flatbottom_table(int verbose, int nangle, double angle_min, double angle_max, double navlon, double navlat, double altitude, double pitch, double *table_angle, double *table_xtrack, double *table_ltrack, double *table_altitude, double *table_range, int *error) { char *function_name = "mb7k2ss_get_flatbottom_table"; int status = MB_SUCCESS; double dangle, angle; double rr, xx, zz; double alpha, beta, theta, phi; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MB7K2SS function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n", verbose); fprintf(stderr,"dbg2 nangle: %d\n", nangle); fprintf(stderr,"dbg2 angle_min: %f\n", angle_min); fprintf(stderr,"dbg2 angle_max: %f\n", angle_max); fprintf(stderr,"dbg2 navlon: %f\n", navlon); fprintf(stderr,"dbg2 navlat: %f\n", navlat); fprintf(stderr,"dbg2 pitch: %f\n", pitch); } /* loop over all of the angles */ dangle = (angle_max - angle_min) / (nangle - 1); alpha = pitch; zz = altitude; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MB7K2SS function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 Lookup tables:\n"); for (i=0;i