/*-------------------------------------------------------------------- * The MB-system: mbprocess.c 3/31/93 * $Id: mbprocess.c 1998 2012-11-06 06:50:52Z caress $ * * Copyright (c) 2000-2012 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. *--------------------------------------------------------------------*/ /* * mbprocess is a tool for processing swath sonar bathymetry data. * This program performs a number of functions, including: * - merging navigation * - recalculating bathymetry from travel time and angle data * by raytracing through a layered water sound velocity model. * - applying changes to ship draft, roll bias and pitch bias * - applying bathymetry edits from edit save files. * The parameters controlling mbprocess are included in an ascii * parameter file. The parameter file syntax is documented by * comments in the source file mbsystem/src/mbio/mb_process.h * and the manual pages for mbprocess and mbset. The program * mbset is used to create and modify parameter files. * The data format and the input and output data files can be * specified using command line options. If no parameter file is * specified (using the -P option) but an input file is specified * (with the -I option), then mbprocess will look for a parameter * file with the path inputfile.par, where inputfile is the input * file path.\n"; * * Author: D. W. Caress * Date: January 4, 2000 * * $Log: mbprocess.c,v $ * Revision 5.61 2009/03/08 09:21:00 caress * Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems. * * Revision 5.60 2009/03/02 18:54:40 caress * Fixed pixel size problems with mbmosaic, resurrected program mbfilter, and also updated copyright dates in several source files. * * Revision 5.59 2009/01/15 17:37:28 caress * Update on 15 Jan 2009 - fix to mbm_grd2arc and mbm_arc2grd * * Revision 5.58 2008/12/22 08:36:18 caress * Check in of 22 Dec 2008. * * Revision 5.57 2008/09/11 20:20:14 caress * Checking in updates made during cruise AT15-36. * * Revision 5.56 2008/07/19 07:45:30 caress * Fix for crashes provided by Gordon Keith. * * Revision 5.55 2008/07/10 18:16:33 caress * Proceeding towards 5.1.1beta20. * * Revision 5.53 2008/05/24 19:41:44 caress * Added processing kluge (kluge006) allowing the sonar draft to be be changed without changing the calculated bathymetry. * * Revision 5.52 2008/03/01 09:22:29 caress * Changed verbosity behavior to only print out files skipped because processing unknown when verbose > 0. * * Revision 5.51 2008/01/14 18:37:12 caress * Fixed problems in comments embedded in output processed files. * * Revision 5.50 2007/10/31 18:41:42 caress * Fixed handling of null sidescan values. * * Revision 5.49 2007/10/08 16:48:07 caress * State of the code on 8 October 2007. * * Revision 5.48 2007/05/12 19:44:26 caress * Use sonar depth adjustments generated by mbnavadjust. * * Revision 5.47 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.46 2006/03/14 01:51:53 caress * Fixed problem with per-beam heave values when applying rotational bathymetry correction - previously did not initialize heave values for non-null but flagged beams. * * Revision 5.45 2006/02/16 21:11:44 caress * Fixed problems with reading time from some navigation formats. * * Revision 5.44 2006/01/27 19:13:04 caress * Version 5.0.8beta2 * * Revision 5.43 2006/01/20 19:34:47 caress * Working towards 5.0.8 * * Revision 5.42 2006/01/18 15:17:00 caress * Added stdlib.h include. * * Revision 5.41 2006/01/06 18:19:59 caress * Working towards 5.0.8 * * Revision 5.40 2005/11/05 01:07:54 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.39 2005/08/17 17:31:56 caress * Improved how the best altitude value is obtained for sidescan and amplitude data correction. * * Revision 5.38 2005/06/04 05:17:28 caress * Added KLUGE005 feature to insert navigation record timestamps into processed survey records. This allows timestamp fixes made using MBnavedit to be applied during processing. * * Revision 5.37 2005/04/06 17:29:40 caress * Moved tide correction to end of processing tasks so that it doesn't mess up grazing angle calculations for amplitude and sidescan correction. * * Revision 5.36 2005/03/25 04:39:01 caress * Sonar depth merging has been added to mbprocess and mbset. This is controlled by the SONARDEPTHMODE, SONARDEPTHFILE, and SONARDEPTHFORMAT mbprocess parameters. * * Revision 5.35 2004/12/02 06:37:42 caress * Fixes while supporting Reson 7k data. * * Revision 5.34 2004/10/06 19:10:52 caress * Release 5.0.5 update. * * Revision 5.33 2004/04/27 02:56:37 caress * Implemented Kluge004 * * Revision 5.32 2003/11/25 01:16:58 caress * The LDEO processed nav format has changed slightly. The code now reads old or new LDEO nav as NAVFORMAT:5. * * Revision 5.31 2003/07/30 16:43:59 caress * Fixed handling of nonfatal errors in data. * Added KLUGE003 for fixing roll units error in Healy 2112 data. * * Revision 5.30 2003/07/26 18:01:22 caress * Changed beamflag handling code. * * Revision 5.29 2003/04/17 21:18:57 caress * Release 5.0.beta30 * * Revision 5.28 2003/04/05 14:56:11 caress * Fixed bug where program bus faulted at mb_rt_init if it encountered a file not undergoing * raytracing after raytracing has been applied. * * Revision 5.27 2003/02/27 04:45:15 caress * Fixed handling of beam edits. * * Revision 5.26 2003/01/15 20:52:13 caress * Release 5.0.beta28 * * Revision 5.25 2002/10/02 23:56:06 caress * Release 5.0.beta24 * * Revision 5.24 2002/09/19 00:28:12 caress * Release 5.0.beta23 * * Revision 5.23 2002/09/07 04:49:23 caress * Added slope mode option to mb_process. * * Revision 5.22 2002/07/25 19:07:17 caress * Release 5.0.beta21 * * Revision 5.21 2002/07/20 20:56:55 caress * Release 5.0.beta20 * * Revision 5.20 2002/05/29 23:43:09 caress * Release 5.0.beta18 * * Revision 5.19 2002/04/08 21:01:04 caress * Release 5.0.beta17 * * Revision 5.18 2002/04/06 02:53:45 caress * Release 5.0.beta16 * * Revision 5.17 2002/03/26 07:45:14 caress * Release 5.0.beta15 * * Revision 5.16 2001/12/18 04:29:57 caress * Release 5.0.beta11. * * Revision 5.15 2001/11/20 02:00:19 caress * Now inserts metadata tags before comments. * * Revision 5.14 2001/11/15 22:58:02 caress * Added datalist parsing to mbset, fixed file path handling. * * Revision 5.13 2001/11/04 00:27:29 caress * Fixed handling of angle modes. * * Revision 5.12 2001/11/02 01:03:08 caress * Now handles ray source above top of SVP even when * SVP begins at nonzero depth. * * Revision 5.11 2001/10/19 00:56:17 caress * Now tries to use relative paths. * * Revision 5.10 2001/08/10 22:42:50 dcaress * Release 5.0.beta07 * * Revision 5.9 2001-08-03 18:01:07-07 caress * Added cut by speed. * * Revision 5.8 2001/07/31 00:42:12 caress * Added data cutting capability. * * Revision 5.7 2001/07/27 19:09:41 caress * Started adding data cutting, but not done yet. * * Revision 5.6 2001/07/20 00:34:38 caress * Release 5.0.beta03 * * Revision 5.5 2001/06/08 21:45:46 caress * Version 5.0.beta01 * * Revision 5.4 2001/06/03 07:07:34 caress * Release 5.0.beta01. * * Revision 5.3 2001/03/22 21:15:49 caress * Trying to make release 5.0.beta0. * * Revision 5.2 2001/01/22 07:54:22 caress * Version 5.0.beta01 * * Revision 5.1 2000/12/10 20:30:44 caress * Version 5.0.alpha02 * * Revision 5.0 2000/12/01 22:57:08 caress * First cut at Version 5.0. * * Revision 4.3 2000/10/11 01:06:15 caress * Convert to ANSI C * * Revision 4.2 2000/09/30 07:06:28 caress * Snapshot for Dale. * * Revision 4.1 2000/09/11 20:10:02 caress * Added suppport for merging edited sonar depth values. * * Revision 4.0 2000/03/08 00:04:28 caress * Release 4.6.10 * * */ /* standard include files */ #include #include #include #include #include #include #include #include /* mbio include files */ #include "../../include/mb_format.h" #include "../../include/mb_status.h" #include "../../include/mb_define.h" #include "../../include/mb_aux.h" #include "../../include/mb_process.h" #include "../../include/mb_swap.h" #include "../../include/mbsys_atlas.h" #include "../../include/mbsys_simrad2.h" /* define sidescan correction table structure */ struct mbprocess_sscorr_struct { double time_d; int nangle; double *angle; double *amplitude; double *sigma; }; /* define grid structure */ struct mbprocess_grid_struct { mb_path file; mb_path projectionname; int projection_mode; mb_path projection_id; float nodatavalue; int nxy; int nx; int ny; double min; double max; double xmin; double xmax; double ymin; double ymax; double dx; double dy; float *data; }; /* function prototypes */ int check_ss_for_bath(int verbose, int nbath, char *beamflag, double *bath, double *bathacrosstrack, int nss, double *ss, double *ssacrosstrack, int *error); int get_corrtable(int verbose, double time_d, int ncorrtable, int ncorrangle, struct mbprocess_sscorr_struct *corrtable, struct mbprocess_sscorr_struct *corrtableuse, int *error); int get_anglecorr(int verbose, int nangle, double *angles, double *corrs, double angle, double *corr, int *error); static char rcs_id[] = "$Id: mbprocess.c 1998 2012-11-06 06:50:52Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { /* id variables */ char program_name[] = "mbprocess"; char help_message[] = "mbprocess is a tool for processing swath sonar bathymetry data.\n\ This program performs a number of functions, including:\n\ - merging navigation\n\ - recalculating bathymetry from travel time and angle data\n\ by raytracing through a layered water sound velocity model.\n\ - applying changes to ship draft, roll bias and pitch bias\n\ - applying bathymetry edits from edit save files.\n\ The parameters controlling mbprocess are included in an ascii\n\ parameter file. The parameter file syntax is documented by\n\ the manual pages for mbprocess and mbset. The program\n\ mbset is used to create and modify parameter files.\n\ The input file \"infile\" must be specified with the -I option. The\n\ data format can also be specified, thought the program can\n\ infer the format if the standard MB-System suffix convention\n\ is used (*.mbXXX where XXX is the MB-System format id number).\n\ The program will look for and use a parameter file with the \n\ name \"infile.par\". If no parameter file exists, the program \n\ will infer a reasonable processing path by looking for navigation\n\ and mbedit edit save files.\n"; char usage_message[] = "mbprocess -Iinfile [-C -Fformat -N -Ooutfile -P -S -T -V -H]"; /* parsing variables */ 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 = NULL; /* MBIO read and write control parameters */ 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; int beams_bath; int beams_amp; int pixels_ss; void *imbio_ptr = NULL; void *ombio_ptr = NULL; int nav_source; int heading_source; int vru_source; int svp_source; /* mbio read and write values */ void *store_ptr = 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 draft; double roll; double pitch; double heave; int nbath; int namp; int nss; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; int idata = 0; int inav = 0; int icomment = 0; int iother = 0; int odata = 0; int onav = 0; int ocomment = 0; int oother = 0; char comment[MB_COMMENT_MAXLINE]; /* sidescan recalculation */ int pixel_size_set; int swath_width_set; int pixel_int; double pixel_size; double swath_width; /* time, user, host variables */ time_t right_now; char date[25], user[MBP_FILENAMESIZE], *user_ptr, host[MBP_FILENAMESIZE]; /* parameter controls */ struct mb_process_struct process; /* processing variables */ int checkuptodate = MB_YES; int testonly = MB_NO; int printfilestatus = MB_NO; int read_datalist = MB_NO; int read_data = MB_NO; char read_file[MB_PATH_MAXLINE]; void *datalist; int look_processed = MB_DATALIST_LOOK_NO; double file_weight; int proceedprocess= MB_NO; int outofdate = MB_NO; double time_d_lastping = 0.0; int ifilemodtime = 0; int ofilemodtime = 0; int pfilemodtime = 0; int navfilemodtime = 0; int navadjfilemodtime = 0; int attitudefilemodtime = 0; int sonardepthfilemodtime = 0; int esfmodtime = 0; int svpmodtime = 0; char str_process_yes[] = "**: Data processed"; char str_process_no[] = "--: Data not processed"; char str_process_yes_test[] = "Data processed (test-only mode)"; char str_process_no_test[] = "Data not processed (test-only mode)"; char str_outofdate_yes[] = "out of date"; char str_outofdate_overridden[] = "up to date but overridden"; char str_outofdate_no[] = "up to date"; char str_locked_yes[] = "locked"; char str_locked_ignored[] = "locked but lock ignored"; char str_locked_fail[] = "unlocked but set lock failed"; char str_locked_no[] = "unlocked"; int format = 0; int variable_beams; int traveltime; int beam_flagging; int calculatespeedheading = MB_NO; int mbp_ifile_specified; char mbp_ifile[MBP_FILENAMESIZE]; char mbp_pfile[MBP_FILENAMESIZE]; int mbp_ofile_specified; char mbp_ofile[MBP_FILENAMESIZE]; int mbp_format_specified; int mbp_format; int strip_comments; FILE *tfp; struct stat file_status; int fstat; int nnav = 0; int nanav = 0; int nattitude = 0; int nsonardepth = 0; int ntide = 0; int nstatic = 0; int size, nchar, len, nget, nav_ok, attitude_ok, sonardepth_ok, tide_ok, static_ok; int time_j[5], stime_i[7], ftime_i[7]; int ihr; double sec, hr; int quality, nsatellite, dilution, gpsheight; char *bufftmp; char NorS[2], EorW[2]; double mlon, llon, mlat, llat; int degree, time_set; double dminute; double splineflag; double *ntime, *nlon, *nlat, *nheading, *nspeed; double *ndraft, *nroll, *npitch, *nheave; double *natime, *nalon, *nalat, *naz; double zoffset; double *nlonspl, *nlatspl; double *nalonspl, *nalatspl, *nazspl; double *attitudetime, *attituderoll, *attitudepitch, *attitudeheave; double *fsonardepthtime, *fsonardepth; double *tidetime, *tide, tideval; int *staticbeam; double *staticoffset; int itime, iatime; double headingx, headingy; double mtodeglon, mtodeglat; double del_time, dx, dy, dist; double headingcalc, speedcalc; double lever_x = 0.0; double lever_y = 0.0; double lever_heave = 0.0; double time_d_old = 0.0; double navlon_old = 0.0; double navlat_old = 0.0; double speed_old = 0.0; double heading_old = 0.0; int nsvp = 0; double *depth = NULL; double *velocity = NULL; double *velocity_sum = NULL; void *rt_svp; double ssv; /* swath file locking variables */ int uselockfiles; int lock_status; int lock_error; int locked; int lock_purpose; mb_path lock_program; mb_path lock_cpu; mb_path lock_user; mb_path lock_date; /* edit save file control variables */ struct mb_esf_struct esf; int neditnull; int neditduplicate; int neditnotused; int neditused; double draft_org, depth_offset_use, depth_offset_change, depth_offset_org, static_shift; double roll_org, pitch_org, heave_org; double ttime, range; double xx, zz, rr, vsum, vavg; double alpha, beta; int ray_stat; double *ttimes = NULL; double *angles = NULL; double *angles_forward = NULL; double *angles_null = NULL; double *bheave = NULL; double *alongtrack_offset = NULL; /* ssv handling variables */ int ssv_prelimpass = MB_NO; double ssv_default; double ssv_start; /* sidescan correction */ double altitude_default = 1000.0; int nsmooth = 5; double reference_amp; double reference_amp_port; double reference_amp_stbd; int itable; int nsscorrtable = 0; int nsscorrangle = 0; struct mbprocess_sscorr_struct *sscorrtable = NULL; struct mbprocess_sscorr_struct sscorrtableuse; int nampcorrtable = 0; int nampcorrangle = 0; struct mbprocess_sscorr_struct *ampcorrtable = NULL; struct mbprocess_sscorr_struct ampcorrtableuse; int ndepths; double *depths; double *depthsmooth; double *depthacrosstrack; int nslopes; double *slopes; double *slopeacrosstrack; double r[3]; double v1[3], v2[3], v[3], vv; double slope; double bathy; double altitude_use; double angle; double correction; /* topography parameters */ struct mbprocess_grid_struct grid; char buffer[MBP_FILENAMESIZE], dummy[MBP_FILENAMESIZE], *result; char *string1, *string2, *string3; double factor; int pingmultiplicity; int nbeams; int istart, iend, icut; int intstat; int ioff; int i, j, k, mm; int ix, jy, kgrid; int kgrid00, kgrid10,kgrid01,kgrid11; char *ctime(); char *getenv(); /* get current default values */ status = mb_defaults(verbose,&mbp_format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); status = mb_uselockfiles(verbose,&uselockfiles); /* reset all defaults */ pings = 1; lonflip = 0; bounds[0] = -360.; bounds[1] = 360.; bounds[2] = -90.; bounds[3] = 90.; btime_i[0] = 1962; btime_i[1] = 2; btime_i[2] = 21; btime_i[3] = 10; btime_i[4] = 30; btime_i[5] = 0; btime_i[6] = 0; etime_i[0] = 2062; etime_i[1] = 2; etime_i[2] = 21; etime_i[3] = 10; etime_i[4] = 30; etime_i[5] = 0; etime_i[6] = 0; speedmin = 0.0; timegap = 1000000000.0; /* set default input and output */ mbp_ifile_specified = MB_NO; strcpy (mbp_ifile, "\0"); mbp_ofile_specified = MB_NO; strcpy (mbp_ofile, "\0"); mbp_format_specified = MB_NO; strip_comments = MB_NO; /* initialize grid */ memset(&grid, 0, sizeof (struct mbprocess_grid_struct)); /* process argument list */ while ((c = getopt(argc, argv, "VvHhF:f:I:i:NnO:o:PpSsTt")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; flag++; break; case 'F': case 'f': sscanf (optarg,"%d", &format); mbp_format_specified = MB_YES; flag++; break; case 'I': case 'i': mbp_ifile_specified = MB_YES; sscanf (optarg,"%s", read_file); flag++; break; case 'N': case 'n': strip_comments = MB_YES; flag++; break; case 'O': case 'o': mbp_ofile_specified = MB_YES; sscanf (optarg,"%s", mbp_ofile); flag++; break; case 'P': case 'p': checkuptodate = MB_NO; flag++; break; case 'S': case 's': printfilestatus = MB_YES; flag++; break; case 'T': case 't': testonly = 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); } /* 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(error); } /* try datalist.mb-1 as input */ if (mbp_ifile_specified == MB_NO) { if ((fstat = stat("datalist.mb-1", &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { strcpy(read_file, "datalist.mb-1"); mbp_ifile_specified = MB_YES; } } /* quit if no input file specified */ if (mbp_ifile_specified == MB_NO) { fprintf(stderr,"\nProgram <%s> requires an input data file.\n",program_name); fprintf(stderr,"The input file may be specified with the -I option.\n"); fprintf(stderr,"The default input file is \"datalist.mb-1\".\n"); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_OPEN_FAIL; exit(error); } /* 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, mbp_ifile,&mbp_format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(mbp_ifile, read_file); mbp_format = format; read_data = MB_YES; } /* 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,"\ndbg2 MB-System Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 read_file: %s\n",read_file); 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 strip_comments: %d\n",strip_comments); fprintf(stderr,"dbg2 checkuptodate: %d\n",checkuptodate); fprintf(stderr,"dbg2 printfilestatus: %d\n",printfilestatus); fprintf(stderr,"dbg2 testonly: %d\n",testonly); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* print starting info statements */ else { 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,"\nProgram Operation:\n"); fprintf(stderr," Input file: %s\n",read_file); fprintf(stderr," Format: %d\n",format); if (checkuptodate == MB_YES) fprintf(stderr," Files processed only if out of date.\n"); else fprintf(stderr," All files processed.\n"); if (strip_comments == MB_NO) fprintf(stderr," Comments embedded in output.\n\n"); else fprintf(stderr," Comments stripped from output.\n\n"); } /* loop over all files to be read */ while (read_data == MB_YES) { /* load parameters */ status = mb_pr_readpar(verbose, mbp_ifile, MB_NO, &process, &error); /* reset output file and format if not reading from datalist */ if (read_datalist == MB_NO) { if (mbp_ofile_specified == MB_YES) { strcpy(process.mbp_ofile, mbp_ofile); } if (mbp_format_specified == MB_YES) { process.mbp_format = mbp_format; } } /* make output file path global if needed */ if (status == MB_SUCCESS && mbp_ofile_specified == MB_NO && process.mbp_ofile[0] != '/' && strrchr(process.mbp_ifile,'/') != NULL && (len = strrchr(process.mbp_ifile,'/') - process.mbp_ifile + 1) > 1) { strcpy(mbp_ofile,process.mbp_ofile); strncpy(process.mbp_ofile,process.mbp_ifile,len); process.mbp_ofile[len] = '\0'; strcat(process.mbp_ofile,mbp_ofile); } /* get mod time for the input file */ ifilemodtime = 0; if ((fstat = stat(mbp_ifile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { ifilemodtime = file_status.st_mtime; } /* check for existing parameter file */ pfilemodtime = 0; sprintf(mbp_pfile, "%s.par", mbp_ifile); if ((fstat = stat(mbp_pfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { pfilemodtime = file_status.st_mtime; } /* skip if processing cannot be inferred */ if (status == MB_FAILURE) { proceedprocess = MB_NO; if (verbose > 0 || testonly == MB_YES) fprintf(stderr,"Data skipped - processing unknown: %s\n", mbp_ifile); } /* skip if input file can't be read */ else if (ifilemodtime == 0) { proceedprocess = MB_NO; if (verbose > 0 || testonly == MB_YES) fprintf(stderr,"Data skipped - input file cannot be read: %s\n", mbp_ifile); } /* skip if parameter file can't be read */ else if (pfilemodtime == 0) { proceedprocess = MB_NO; if (verbose > 0 || testonly == MB_YES) fprintf(stderr,"Data skipped - parameter file cannot be read: %s\n", mbp_pfile); } /* check for up to date */ else { /* initialize file modification times as 0, update if they exist */ ofilemodtime = 0; navfilemodtime = 0; navadjfilemodtime = 0; attitudefilemodtime = 0; sonardepthfilemodtime = 0; esfmodtime = 0; svpmodtime = 0; /* get mod time for the output file */ if ((fstat = stat(process.mbp_ofile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) ofilemodtime = file_status.st_mtime; /* get mod time for the navigation file if needed */ if (process.mbp_nav_mode != MBP_NAV_OFF && (fstat = stat(process.mbp_navfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) navfilemodtime = file_status.st_mtime; /* get mod time for the navigation adjustment file if needed */ if (process.mbp_navadj_mode != MBP_NAVADJ_OFF && (fstat = stat(process.mbp_navadjfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) navadjfilemodtime = file_status.st_mtime; /* get mod time for the attitude file if needed */ if (process.mbp_attitude_mode != MBP_ATTITUDE_OFF && (fstat = stat(process.mbp_attitudefile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) attitudefilemodtime = file_status.st_mtime; /* get mod time for the sonardepth file if needed */ if (process.mbp_sonardepth_mode != MBP_SONARDEPTH_OFF && (fstat = stat(process.mbp_sonardepthfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) sonardepthfilemodtime = file_status.st_mtime; /* get mod time for the edit save file if needed */ if (process.mbp_edit_mode != MBP_EDIT_OFF && (fstat = stat(process.mbp_editfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) esfmodtime = file_status.st_mtime; /* get mod time for the svp file if needed */ if (process.mbp_svp_mode != MBP_SVP_OFF && (fstat = stat(process.mbp_svpfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) svpmodtime = file_status.st_mtime; /* now check if processed file is out of date */ if (ofilemodtime > 0 && ofilemodtime >= ifilemodtime && ofilemodtime >= pfilemodtime && ofilemodtime >= navfilemodtime && ofilemodtime >= navadjfilemodtime && ofilemodtime >= attitudefilemodtime && ofilemodtime >= sonardepthfilemodtime && ofilemodtime >= esfmodtime && ofilemodtime >= svpmodtime) outofdate = MB_NO; else outofdate = MB_YES; /* deal with information */ if (outofdate == MB_YES || checkuptodate == MB_NO) { /* not testing - do it for real */ if (testonly == MB_NO) { /* want to process, now try to set a lock of the file to be processed */ if (uselockfiles == MB_YES) { lock_status = mb_pr_lockswathfile(verbose, process.mbp_ifile, MBP_LOCK_PROCESS, program_name, &lock_error); if (lock_status == MB_SUCCESS) { proceedprocess = MB_YES; locked = MB_NO; } else if (lock_error == MB_ERROR_FILE_LOCKED) { proceedprocess = MB_NO; lock_status = mb_pr_lockinfo(verbose, process.mbp_ifile, &locked, &lock_purpose, lock_program, lock_user, lock_cpu, lock_date, &lock_error); } else if (lock_error == MB_ERROR_OPEN_FAIL) { proceedprocess = MB_NO; locked = MB_NO; } } /* want to process, but lock files are disabled */ else { lock_status = mb_pr_lockinfo(verbose, process.mbp_ifile, &locked, &lock_purpose, lock_program, lock_user, lock_cpu, lock_date, &lock_error); proceedprocess = MB_YES; } } /* else only testing */ else { /* want to process, check lock status of the file to be processed */ lock_status = mb_pr_lockinfo(verbose, process.mbp_ifile, &locked, &lock_purpose, lock_program, lock_user, lock_cpu, lock_date, &lock_error); if (locked == MB_NO || uselockfiles == MB_NO) { proceedprocess = MB_YES; } else { proceedprocess = MB_NO; } } } else { proceedprocess = MB_NO; lock_status = mb_pr_lockinfo(verbose, process.mbp_ifile, &locked, &lock_purpose, lock_program, lock_user, lock_cpu, lock_date, &lock_error); } /* write out information */ if (testonly == MB_NO) { if (proceedprocess == MB_YES) string1 = str_process_yes; else if (proceedprocess == MB_NO) string1 = str_process_no; } else { if (proceedprocess == MB_YES) string1 = str_process_yes_test; else if (proceedprocess == MB_NO) string1 = str_process_no_test; } if (outofdate == MB_YES) string2 = str_outofdate_yes; else if (outofdate == MB_NO && checkuptodate == MB_NO) string2 = str_outofdate_overridden; else string2 = str_outofdate_no; if (locked == MB_YES && uselockfiles == MB_NO) string3 = str_locked_ignored; else if (locked == MB_YES) string3 = str_locked_yes; else if (locked == MB_NO && lock_error == MB_ERROR_OPEN_FAIL) string3 = str_locked_fail; else string3 = str_locked_no; fprintf(stderr,"%s - %s - %s: \n\tInput: %s\n\tOutput: %s\n", string1, string2, string3, process.mbp_ifile, process.mbp_ofile); if (locked == MB_YES) fprintf(stderr,"\tLocked by program <%s> run by <%s> on <%s> at <%s>\n", lock_program, lock_user, lock_cpu, lock_date); if (testonly == MB_YES || verbose > 0 || printfilestatus == MB_YES) { if (outofdate == MB_YES) fprintf(stderr,"\tFile Status: out of date\n"); else fprintf(stderr,"\tFile Status: up to date\n"); fprintf(stderr,"\t\tModification times and ages relative to the output file in seconds:\n"); mb_get_date_string(verbose, (double)ifilemodtime, dummy); fprintf(stderr,"\t\t\tInput file: %s %12d <%s>\n", dummy, ofilemodtime - ifilemodtime, mbp_ifile); if (pfilemodtime > 0) { mb_get_date_string(verbose, (double)pfilemodtime, dummy); fprintf(stderr,"\t\t\tParameter file: %s %12d <%s>\n", dummy, ofilemodtime - pfilemodtime, mbp_pfile); } else { fprintf(stderr,"\t\t\tParameter file: None\n"); } if (navfilemodtime > 0) { mb_get_date_string(verbose, (double)navfilemodtime, dummy); fprintf(stderr,"\t\t\tNavigation file: %s %12d <%s>\n", dummy, ofilemodtime - navfilemodtime, process.mbp_navfile); } else { fprintf(stderr,"\t\t\tNavigation file: None\n"); } if (navadjfilemodtime > 0) { mb_get_date_string(verbose, (double)navadjfilemodtime, dummy); fprintf(stderr,"\t\t\tNavigation adjustment file: %s %12d <%s>\n", dummy, ofilemodtime - navadjfilemodtime, process.mbp_navadjfile); } else { fprintf(stderr,"\t\t\tNavigation adjustment file: None\n"); } if (attitudefilemodtime > 0) { mb_get_date_string(verbose, (double)attitudefilemodtime, dummy); fprintf(stderr,"\t\t\tSonar depth file: %s %12d <%s>\n", dummy, ofilemodtime - attitudefilemodtime, process.mbp_attitudefile); } else { fprintf(stderr,"\t\t\tSonar depth file: None\n"); } if (sonardepthfilemodtime > 0) { mb_get_date_string(verbose, (double)sonardepthfilemodtime, dummy); fprintf(stderr,"\t\t\tAttitude file: %s %12d <%s>\n", dummy, ofilemodtime - sonardepthfilemodtime, process.mbp_sonardepthfile); } else { fprintf(stderr,"\t\t\tAttitude file: None\n"); } if (esfmodtime > 0) { mb_get_date_string(verbose, (double)esfmodtime, dummy); fprintf(stderr,"\t\t\tEdit save file: %s %12d <%s>\n", dummy, ofilemodtime - esfmodtime, process.mbp_editfile); } else { fprintf(stderr,"\t\t\tEdit save file: None\n"); } if (svpmodtime > 0) { mb_get_date_string(verbose, (double)svpmodtime, dummy); fprintf(stderr,"\t\t\tSVP file: %s %12d <%s>\n", dummy, ofilemodtime - svpmodtime, process.mbp_svpfile); } else { fprintf(stderr,"\t\t\tSVP file: None\n"); } if (ofilemodtime > 0) { mb_get_date_string(verbose, (double)ofilemodtime, dummy); fprintf(stderr,"\t\t\tOutput file: %s <%s>\n", dummy, process.mbp_ofile); } else { fprintf(stderr,"\t\t\tOutput file: None\n"); } } /* reset proceedprocess if only testing */ if (testonly == MB_YES) proceedprocess = MB_NO; } /* now process the input file */ if (proceedprocess == MB_YES) { /* check for nav format with heading, speed, and draft merge */ if (process.mbp_nav_mode == MBP_NAV_ON && (process.mbp_nav_heading == MBP_NAV_ON || process.mbp_nav_speed == MBP_NAV_ON || process.mbp_nav_draft == MBP_NAV_ON || process.mbp_nav_attitude == MBP_NAV_ON) && process.mbp_nav_format != 9) { fprintf(stderr,"\nWarning:\n\tNavigation format <%d> does not include \n",process.mbp_nav_format); fprintf(stderr,"\theading, speed, draft, roll, pitch and heave values.\n"); if (process.mbp_nav_heading == MBP_NAV_ON) { fprintf(stderr,"Merging of heading data disabled.\n"); process.mbp_nav_heading = MBP_NAV_OFF; } if (process.mbp_nav_speed == MBP_NAV_ON) { fprintf(stderr,"Merging of speed data disabled.\n"); process.mbp_nav_speed = MBP_NAV_OFF; } if (process.mbp_nav_draft == MBP_NAV_ON) { fprintf(stderr,"Merging of draft data disabled.\n"); process.mbp_nav_draft = MBP_NAV_OFF; } if (process.mbp_nav_attitude == MBP_NAV_ON) { fprintf(stderr,"Merging of roll, pitch, and heave data disabled.\n"); process.mbp_nav_attitude = MBP_NAV_OFF; } } /* check for format with travel time data */ if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_RAYTRACE) { status = mb_format_flags(verbose,&process.mbp_format, &variable_beams, &traveltime, &beam_flagging, &error); if (traveltime != MB_YES) { fprintf(stderr,"\nWarning:\n\tFormat %d does not include travel time data.\n", process.mbp_format); fprintf(stderr,"\tTravel times and angles estimated assuming\n"); fprintf(stderr,"\t1500 m/s water sound speed.\n"); } } /* check for right format if recalculating sidescan is on */ if (process.mbp_ssrecalc_mode == MBP_SSRECALC_ON && process.mbp_format != MBF_EM300MBA) { fprintf(stderr,"\nProgram <%s> only recalculates sidescan for format %d\n",program_name,MBF_EM300MBA); fprintf(stderr,"Format %d is specified. Sidescan recalculation disabled\n",process.mbp_format); process.mbp_ssrecalc_mode = MBP_SSRECALC_OFF; } /* print starting info statements */ if (verbose == 1) { fprintf(stderr,"\nInput and Output Files:\n"); if (process.mbp_format_specified == MB_YES) fprintf(stderr," Format: %d\n",process.mbp_format); fprintf(stderr," Input file: %s\n",process.mbp_ifile); fprintf(stderr," Output file: %s\n",process.mbp_ofile); if (strip_comments == MB_YES) fprintf(stderr," Comments in output: OFF\n"); else fprintf(stderr," Comments in output: ON\n"); fprintf(stderr,"\nNavigation Merging:\n"); if (process.mbp_nav_mode == MBP_NAV_ON) { fprintf(stderr," Navigation merged from navigation file.\n"); fprintf(stderr," Navigation file: %s\n", process.mbp_navfile); fprintf(stderr," Navigation format: %d\n", process.mbp_nav_format); if (process.mbp_nav_heading == MBP_NAV_ON) fprintf(stderr," Heading merged from navigation file.\n"); else fprintf(stderr," Heading not merged from navigation file.\n"); if (process.mbp_nav_speed == MBP_NAV_ON) fprintf(stderr," Speed merged from navigation file.\n"); else fprintf(stderr," Speed not merged from navigation file.\n"); if (process.mbp_nav_draft == MBP_NAV_ON) fprintf(stderr," Draft merged from navigation file.\n"); else fprintf(stderr," Draft not merged from navigation file.\n"); if (process.mbp_nav_attitude == MBP_NAV_ON) fprintf(stderr," Roll, pitch, and heave merged from navigation file.\n"); else fprintf(stderr," Roll, pitch, and heave not merged from navigation file.\n"); if (process.mbp_nav_algorithm == MBP_NAV_LINEAR) fprintf(stderr," Navigation algorithm: linear interpolation\n"); else if (process.mbp_nav_algorithm == MBP_NAV_SPLINE) fprintf(stderr," Navigation algorithm: spline interpolation\n"); fprintf(stderr," Navigation time shift: %f\n", process.mbp_nav_timeshift); } else fprintf(stderr," Navigation not merged from navigation file.\n"); fprintf(stderr,"\nNavigation Offsets and Shifts:\n"); if (process.mbp_nav_shift == MBP_NAV_ON) { fprintf(stderr," Navigation positions shifted.\n"); fprintf(stderr," Navigation offset x: %f\n", process.mbp_nav_offsetx); fprintf(stderr," Navigation offset y: %f\n", process.mbp_nav_offsety); fprintf(stderr," Navigation offset z: %f\n", process.mbp_nav_offsetz); fprintf(stderr," Navigation shift longitude:%f\n", process.mbp_nav_shiftlon); fprintf(stderr," Navigation shift latitude: %f\n", process.mbp_nav_shiftlat); } else fprintf(stderr," Navigation positions not shifted.\n"); fprintf(stderr,"\nAdjusted Navigation Merging:\n"); if (process.mbp_navadj_mode >= MBP_NAVADJ_LL) { fprintf(stderr," Navigation merged from adjusted navigation file.\n"); fprintf(stderr," Adjusted navigation file: %s\n", process.mbp_navadjfile); if (process.mbp_navadj_mode == MBP_NAVADJ_LL) fprintf(stderr," Adjusted navigation applied to: lon lat only\n"); else if (process.mbp_navadj_mode == MBP_NAVADJ_LLZ) fprintf(stderr," Adjusted navigation applied to: lon lat depth_offset\n"); if (process.mbp_navadj_algorithm == MBP_NAV_LINEAR) fprintf(stderr," Adjusted navigation algorithm: linear interpolation\n"); else if (process.mbp_navadj_algorithm == MBP_NAV_SPLINE) fprintf(stderr," Adjusted navigation algorithm: spline interpolation\n"); } else fprintf(stderr," Navigation not merged from adjusted navigation file.\n"); fprintf(stderr,"\nAttitude Merging:\n"); if (process.mbp_attitude_mode == MBP_ATTITUDE_ON) { fprintf(stderr," Attitude merged from attitude file.\n"); fprintf(stderr," Attitude file: %s\n", process.mbp_attitudefile); fprintf(stderr," Attitude format: %d\n", process.mbp_attitude_format); } else fprintf(stderr," Attitude not merged from attitude file.\n"); fprintf(stderr,"\nSonardepth Merging:\n"); if (process.mbp_sonardepth_mode == MBP_SONARDEPTH_ON) { fprintf(stderr," Sonardepth merged from sonardepth file.\n"); fprintf(stderr," Sonardepth file: %s\n", process.mbp_sonardepthfile); fprintf(stderr," Sonardepth format: %d\n", process.mbp_sonardepth_format); } else fprintf(stderr," Sonardepth not merged from sonardepth file.\n"); fprintf(stderr,"\nData Cutting:\n"); if (process.mbp_cut_num > 0) fprintf(stderr," Data cutting enabled (%d commands).\n", process.mbp_cut_num); else fprintf(stderr," Data cutting disabled.\n"); for (i=0;i for reading\n",process.mbp_svpfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) if (buffer[0] != '#') nsvp++; fclose(tfp); /* allocate arrays for svp */ if (nsvp > 1) { size = (nsvp+2) * sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,size,(void **)&depth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__,size,(void **)&velocity,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose,__FILE__,__LINE__,size,(void **)&velocity_sum,&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); } } /* if no svp data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from SVP file <%s>\n",process.mbp_svpfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the svp file */ nsvp = 0; if ((tfp = fopen(process.mbp_svpfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Velocity Profile File <%s> for reading\n",process.mbp_svpfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) { if (buffer[0] != '#') { /* read the depth & sound speed pair */ mm = sscanf(buffer,"%lf %lf",&depth[nsvp],&velocity[nsvp]); /* output some debug values */ if (verbose >= 5 && mm == 2) { fprintf(stderr,"\ndbg5 New velocity value read in program <%s>\n",program_name); fprintf(stderr,"dbg5 depth[%d]: %f velocity[%d]: %f\n", nsvp,depth[nsvp],nsvp,velocity[nsvp]); } /* update counter */ if (mm == 2) nsvp++; /* check for nonzero initial depth & fix it if found */ if (mm == 2 && nsvp == 1 && depth[0] != 0.0) { depth[1] = depth[0]; velocity[1] = velocity[0]; depth[0] = 0.0; nsvp++; /* output some debug values */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Nonzero initial SVP depth fixed in program <%s>\n",program_name); fprintf(stderr,"dbg5 depth[%d]: %f velocity[%d]: %f\n", 0,depth[0],0,velocity[0]); fprintf(stderr,"dbg5 depth[%d]: %f velocity[%d]: %f\n", 1,depth[1],1,velocity[1]); } } } } fclose(tfp); /* set ssv_default */ ssv_default = velocity[0]; /* if velocity profile doesn't extend to 12000 m depth extend it to that depth */ if (depth[nsvp-1] < 12000.0) { depth[nsvp] = 12000.0; velocity[nsvp] = velocity[nsvp-1]; nsvp++; } /* get velocity sums */ velocity_sum[0] = 0.5*(velocity[1] + velocity[0]) *(depth[1] - depth[0]); for (i=1;i for reading\n",process.mbp_navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) nnav++; fclose(tfp); /* allocate arrays for nav */ if (nnav > 1) { size = (nnav+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&ntime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlon,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlat,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nheading,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nspeed,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&ndraft,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nroll,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&npitch,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nheave,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlonspl,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nnav*sizeof(double),(void **)&nlatspl,&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); } } /* if no nav data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from navigation file <%s>\n",process.mbp_navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the nav file */ nnav = 0; if ((tfp = fopen(process.mbp_navfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open navigation File <%s> for reading\n",process.mbp_navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { nav_ok = MB_NO; /* deal with nav in form: time_d lon lat */ if (process.mbp_nav_format == 1) { nget = sscanf(buffer,"%lf %lf %lf", &ntime[nnav],&nlon[nnav],&nlat[nnav]); if (nget == 3) nav_ok = MB_YES; } /* deal with nav in form: yr mon day hour min sec lon lat */ else if (process.mbp_nav_format == 2) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &nlon[nnav],&nlat[nnav]); time_i[5] = (int) sec; time_i[6] = 1000000*(sec - time_i[5]); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 8) nav_ok = MB_YES; } /* deal with nav in form: yr jday hour min sec lon lat */ else if (process.mbp_nav_format == 3) { nget = sscanf(buffer,"%d %d %d %d %lf %lf %lf", &time_j[0],&time_j[1],&ihr, &time_j[2],&sec, &nlon[nnav],&nlat[nnav]); time_j[2] = time_j[2] + 60*ihr; time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 7) nav_ok = MB_YES; } /* deal with nav in form: yr jday daymin sec lon lat */ else if (process.mbp_nav_format == 4) { nget = sscanf(buffer,"%d %d %d %lf %lf %lf", &time_j[0],&time_j[1],&time_j[2], &sec, &nlon[nnav],&nlat[nnav]); time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; if (nget == 6) nav_ok = MB_YES; } /* deal with nav in L-DEO processed nav format */ else if (process.mbp_nav_format == 5) { strncpy(dummy,"\0",128); if (buffer[2] == '+') { time_j[0] = atoi(strncpy(dummy,buffer,2)); mb_fix_y2k(verbose, time_j[0], &time_j[0]); ioff = 3; } else { time_j[0] = atoi(strncpy(dummy,buffer,4)); ioff = 5; } strncpy(dummy,"\0",128); time_j[1] = atoi(strncpy(dummy,buffer+ioff,3)); strncpy(dummy,"\0",128); ioff += 4; hr = atoi(strncpy(dummy,buffer+ioff,2)); strncpy(dummy,"\0",128); ioff += 3; time_j[2] = atoi(strncpy(dummy,buffer+ioff,2)) + 60*hr; strncpy(dummy,"\0",128); ioff += 3; time_j[3] = atoi(strncpy(dummy,buffer+ioff,2)); time_j[4] = 0; mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; strncpy(NorS,"\0",sizeof(NorS)); ioff += 7; NorS[0] = buffer[ioff]; ioff += 1; strncpy(dummy,"\0",128); mlat = atof(strncpy(dummy,buffer+ioff,3)); strncpy(dummy,"\0",128); ioff += 3; llat = atof(strncpy(dummy,buffer+ioff,8)); strncpy(EorW,"\0",sizeof(EorW)); ioff += 9; EorW[0] = buffer[ioff]; strncpy(dummy,"\0",128); ioff += 1; mlon = atof(strncpy(dummy,buffer+ioff,4)); strncpy(dummy,"\0",128); ioff += 4; llon = atof(strncpy(dummy,buffer+ioff,8)); nlon[nnav] = mlon + llon/60.; if (strncmp(EorW,"W",1) == 0) nlon[nnav] = -nlon[nnav]; nlat[nnav] = mlat + llat/60.; if (strncmp(NorS,"S",1) == 0) nlat[nnav] = -nlat[nnav]; nav_ok = MB_YES; } /* deal with nav in real and pseudo NMEA 0183 format */ else if (process.mbp_nav_format == 6 || process.mbp_nav_format == 7) { /* check if real sentence */ len = strlen(buffer); if (strncmp(buffer,"$",1) == 0) { if (strncmp(&buffer[3],"DAT",3) == 0 && len > 15) { time_set = MB_NO; strncpy(dummy,"\0",128); time_i[0] = atoi(strncpy(dummy,buffer+7,4)); time_i[1] = atoi(strncpy(dummy,buffer+11,2)); time_i[2] = atoi(strncpy(dummy,buffer+13,2)); } else if ((strncmp(&buffer[3],"ZDA",3) == 0 || strncmp(&buffer[3],"UNX",3) == 0) && len > 14) { time_set = MB_NO; /* find start of ",hhmmss.ss" */ if ((bufftmp = strchr(buffer, ',')) != NULL) { strncpy(dummy,"\0",128); time_i[3] = atoi(strncpy(dummy,bufftmp+1,2)); strncpy(dummy,"\0",128); time_i[4] = atoi(strncpy(dummy,bufftmp+3,2)); strncpy(dummy,"\0",128); time_i[5] = atoi(strncpy(dummy,bufftmp+5,2)); if (bufftmp[7] == '.') { strncpy(dummy,"\0",128); time_i[6] = 10000* atoi(strncpy(dummy,bufftmp+8,2)); } else time_i[6] = 0; /* find start of ",dd,mm,yyyy" */ if ((bufftmp = strchr(&bufftmp[1], ',')) != NULL) { strncpy(dummy,"\0",128); time_i[2] = atoi(strncpy(dummy,bufftmp+1,2)); strncpy(dummy,"\0",128); time_i[1] = atoi(strncpy(dummy,bufftmp+4,2)); strncpy(dummy,"\0",128); time_i[0] = atoi(strncpy(dummy,bufftmp+7,4)); time_set = MB_YES; } } } else if (((process.mbp_nav_format == 6 && strncmp(&buffer[3],"GLL",3) == 0) || (process.mbp_nav_format == 7 && strncmp(&buffer[3],"GGA",3) == 0)) && time_set == MB_YES && len > 26) { time_set = MB_NO; /* find start of ",ddmm.mm,N,ddmm.mm,E" */ if ((bufftmp = strchr(buffer, ',')) != NULL) { if (process.mbp_nav_format == 7) bufftmp = strchr(&bufftmp[1], ','); strncpy(dummy,"\0",128); degree = atoi(strncpy(dummy,bufftmp+1,2)); strncpy(dummy,"\0",128); dminute = atof(strncpy(dummy,bufftmp+3,5)); strncpy(NorS,"\0",sizeof(NorS)); bufftmp = strchr(&bufftmp[1], ','); strncpy(NorS,bufftmp+1,1); nlat[nnav] = degree + dminute/60.; if (strncmp(NorS,"S",1) == 0) nlat[nnav] = -nlat[nnav]; bufftmp = strchr(&bufftmp[1], ','); strncpy(dummy,"\0",128); degree = atoi(strncpy(dummy,bufftmp+1,3)); strncpy(dummy,"\0",128); dminute = atof(strncpy(dummy,bufftmp+4,5)); bufftmp = strchr(&bufftmp[1], ','); strncpy(EorW,"\0",sizeof(EorW)); strncpy(EorW,bufftmp+1,1); nlon[nnav] = degree + dminute/60.; if (strncmp(EorW,"W",1) == 0) nlon[nnav] = -nlon[nnav]; mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; nav_ok = MB_YES; } } } } /* deal with nav in Simrad 90 format */ else if (process.mbp_nav_format == 8) { mb_get_int(&(time_i[2]), buffer+2, 2); mb_get_int(&(time_i[1]), buffer+4, 2); mb_get_int(&(time_i[0]), buffer+6, 2); mb_fix_y2k(verbose, time_i[0], &time_i[0]); mb_get_int(&(time_i[3]), buffer+9, 2); mb_get_int(&(time_i[4]), buffer+11, 2); mb_get_int(&(time_i[5]), buffer+13, 2); mb_get_int(&(time_i[6]), buffer+15, 2); time_i[6] = 10000 * time_i[6]; mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; mb_get_double(&mlat, buffer+18, 2); mb_get_double(&llat, buffer+20, 7); NorS[0] = buffer[27]; nlat[nnav] = mlat + llat/60.0; if (NorS[0] == 'S' || NorS[0] == 's') nlat[nnav] = -nlat[nnav]; mb_get_double(&mlon, buffer+29, 3); mb_get_double(&llon, buffer+32, 7); EorW[0] = buffer[39]; nlon[nnav] = mlon + llon/60.0; if (EorW[0] == 'W' || EorW[0] == 'w') nlon[nnav] = -nlon[nnav]; nav_ok = MB_YES; } /* deal with nav in form: yr mon day hour min sec time_d lon lat heading speed draft*/ else if (process.mbp_nav_format == 9) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &ntime[nnav], &nlon[nnav],&nlat[nnav], &nheading[nnav],&nspeed[nnav],&ndraft[nnav], &nroll[nnav],&npitch[nnav],&nheave[nnav]); if (nget >= 9) nav_ok = MB_YES; if (nav_ok == MB_YES) { if (process.mbp_nav_heading == MBP_NAV_ON && nget < 10) { fprintf(stderr,"\nHeading data missing from nav file.\nMerging of heading data disabled.\n"); process.mbp_nav_heading = MBP_NAV_OFF; } if (process.mbp_nav_speed == MBP_NAV_ON && nget < 11) { fprintf(stderr,"Speed data missing from nav file.\nMerging of speed data disabled.\n"); process.mbp_nav_speed = MBP_NAV_OFF; } if (process.mbp_nav_draft == MBP_NAV_ON && nget < 12) { fprintf(stderr,"Draft data missing from nav file.\nMerging of draft data disabled.\n"); process.mbp_nav_draft = MBP_NAV_OFF; } if (process.mbp_nav_attitude == MBP_NAV_ON && nget < 15) { fprintf(stderr,"Roll, pitch, and heave data missing from nav file.\nMerging of roll, pitch, and heave data disabled.\n"); process.mbp_nav_attitude = MBP_NAV_OFF; } if (process.mbp_nav_heading == MBP_NAV_OFF) { nheading[nnav] = 0.0; } if (process.mbp_nav_speed == MBP_NAV_OFF) { nspeed[nnav] = 0.0; } if (process.mbp_nav_draft == MBP_NAV_OFF) { ndraft[nnav] = 0.0; } if (process.mbp_nav_attitude == MBP_NAV_OFF) { nroll[nnav] = 0.0; npitch[nnav] = 0.0; nheave[nnav] = 0.0; } } } /* deal with nav in r2rnav form: yyyy-mm-ddThh:mm:ss.sssZ decimalLongitude decimalLatitude quality nsat dilution height */ else if (process.mbp_nav_format == 10) { nget = sscanf(buffer,"%d-%d-%dT%d:%d:%lfZ %lf %lf %d %d %d %d", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &nlon[nnav],&nlat[nnav], &quality,&nsatellite,&dilution,&gpsheight); if (nget != 12) { quality = 0; nsatellite = 0; dilution = 0; gpsheight = 0; } time_i[5] = (int) floor(sec); time_i[6] = (int)((sec - time_i[5]) * 1000000); mb_get_time(verbose,time_i,&time_d); ntime[nnav] = time_d; nheading[nnav] = 0.0; nspeed[nnav] = 0.0; ndraft[nnav] = 0.0; nroll[nnav] = 0.0; npitch[nnav] = 0.0; nheave[nnav] = 0.0; if (nget >= 8) nav_ok = MB_YES; } /* make sure longitude is defined according to lonflip */ if (nav_ok == MB_YES) { if (lonflip == -1 && nlon[nnav] > 0.0) nlon[nnav] = nlon[nnav] - 360.0; else if (lonflip == 0 && nlon[nnav] < -180.0) nlon[nnav] = nlon[nnav] + 360.0; else if (lonflip == 0 && nlon[nnav] > 180.0) nlon[nnav] = nlon[nnav] - 360.0; else if (lonflip == 1 && nlon[nnav] < 0.0) nlon[nnav] = nlon[nnav] + 360.0; } /* output some debug values */ if (verbose >= 5 && nav_ok == MB_YES) { fprintf(stderr,"\ndbg5 New navigation point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nnav,ntime[nnav],nlon[nnav],nlat[nnav]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in navigation file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (nav_ok == MB_YES) { if (nnav == 0) nnav++; else if (ntime[nnav] > ntime[nnav-1]) nnav++; else if (nnav > 0 && ntime[nnav] <= ntime[nnav-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 Navigation time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nnav-1,ntime[nnav-1],nlon[nnav-1], nlat[nnav-1]); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nnav,ntime[nnav],nlon[nnav], nlat[nnav]); } } strncpy(buffer,"\0",sizeof(buffer)); } fclose(tfp); /* check for nav */ if (nnav < 2) { fprintf(stderr,"\nNo navigation read from file <%s>\n",process.mbp_navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* apply time shift if needed */ if (process.mbp_nav_timeshift != 0.0) for (i=0;i= 1) { fprintf(stderr,"\n%d navigation records read\n",nnav); fprintf(stderr,"Nav start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Nav end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /*-------------------------------------------- get adjusted nav --------------------------------------------*/ /* if adjusted nav merging to be done get adjusted nav */ if (process.mbp_navadj_mode >= MBP_NAVADJ_LL) { /* set max number of characters to be read at a time */ nchar = 128; /* count the data points in the adjusted nav file */ nanav = 0; if ((tfp = fopen(process.mbp_navadjfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Adjusted Navigation File <%s> for reading\n",process.mbp_navadjfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) if (buffer[0] != '#') nanav++; fclose(tfp); /* allocate arrays for adjusted nav */ if (nanav > 1) { size = (nanav+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&natime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&nalon,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&nalat,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&naz,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&nalonspl,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&nalatspl,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nanav*sizeof(double),(void **)&nazspl,&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); } } /* if no adjusted nav data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from adjusted navigation file <%s>\n",process.mbp_navadjfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the nav file */ nanav = 0; if ((tfp = fopen(process.mbp_navadjfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open navigation File <%s> for reading\n",process.mbp_navadjfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { nav_ok = MB_NO; /* deal with nav in form: yr mon day hour min sec time_d lon lat */ if (buffer[0] != '#') { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &natime[nanav], &nalon[nanav],&nalat[nanav], &heading, &speed, &draft, &roll, &pitch, &heave, &naz[nanav]); if (process.mbp_navadj_mode == MBP_NAVADJ_LL && nget >= 9) nav_ok = MB_YES; else if (process.mbp_navadj_mode == MBP_NAVADJ_LLZ && nget >= 16) nav_ok = MB_YES; } /* make sure longitude is defined according to lonflip */ if (nav_ok == MB_YES) { if (lonflip == -1 && nalon[nanav] > 0.0) nalon[nanav] = nalon[nanav] - 360.0; else if (lonflip == 0 && nalon[nanav] < -180.0) nalon[nanav] = nalon[nanav] + 360.0; else if (lonflip == 0 && nalon[nanav] > 180.0) nalon[nanav] = nalon[nanav] - 360.0; else if (lonflip == 1 && nalon[nanav] < 0.0) nalon[nanav] = nalon[nanav] + 360.0; } /* output some debug values */ if (verbose >= 5 && nav_ok == MB_YES) { fprintf(stderr,"\ndbg5 New adjusted navigation point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 nav[%d]: %f %f %f\n", nanav,natime[nanav],nalon[nanav],nalat[nanav]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in navigation file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (nav_ok == MB_YES) { if (nanav == 0) nanav++; else if (natime[nanav] > natime[nanav-1]) nanav++; else if (nanav > 0 && natime[nanav] <= natime[nanav-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 Navigation time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 adjusted nav[%d]: %f %f %f\n", nanav-1,natime[nanav-1],nalon[nanav-1], nalat[nanav-1]); fprintf(stderr,"dbg5 adjusted nav[%d]: %f %f %f\n", nanav,natime[nanav],nalon[nanav], nalat[nanav]); } } strncpy(buffer,"\0",sizeof(buffer)); } fclose(tfp); /* check for adjusted nav */ if (nanav < 2) { fprintf(stderr,"\nNo adjusted navigation read from file <%s>\n",process.mbp_navadjfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* set up spline interpolation of adjusted nav points */ splineflag = 1.0e30; mb_spline_init(verbose, natime-1, nalon-1, nanav, splineflag, splineflag, nalonspl-1, &error); mb_spline_init(verbose, natime-1, nalat-1, nanav, splineflag, splineflag, nalatspl-1, &error); mb_spline_init(verbose, natime-1, naz-1, nanav, splineflag, splineflag, nazspl-1, &error); /* get start and finish times of nav */ mb_get_date(verbose,natime[0],stime_i); mb_get_date(verbose,natime[nanav-1],ftime_i); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d adjusted navigation records read\n",nanav); fprintf(stderr,"Adjusted nav start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Adjusted nav end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /*-------------------------------------------- get attitude --------------------------------------------*/ /* if attitude merging to be done get attitude */ if (process.mbp_attitude_mode == MBP_ATTITUDE_ON) { /* set max number of characters to be read at a time */ nchar = 128; /* count the data points in the attitude file */ nattitude = 0; if ((tfp = fopen(process.mbp_attitudefile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Attitude File <%s> for reading\n",process.mbp_attitudefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) nattitude++; fclose(tfp); /* allocate arrays for attitude */ if (nattitude > 1) { size = (nattitude+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,nattitude*sizeof(double),(void **)&attitudetime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nattitude*sizeof(double),(void **)&attituderoll,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nattitude*sizeof(double),(void **)&attitudepitch,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nattitude*sizeof(double),(void **)&attitudeheave,&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); } } /* if no attitude data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from attitude file <%s>\n",process.mbp_attitudefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the attitude file */ nattitude = 0; if ((tfp = fopen(process.mbp_attitudefile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Attitude File <%s> for reading\n",process.mbp_attitudefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { attitude_ok = MB_NO; /* ignore comments */ if (buffer[0] != '#') { /* deal with attitude in form: time_d roll pitch heave */ if (process.mbp_attitude_format == 1) { nget = sscanf(buffer,"%lf %lf %lf %lf", &attitudetime[nattitude],&attituderoll[nattitude], &attitudepitch[nattitude],&attitudeheave[nattitude]); if (nget == 4) attitude_ok = MB_YES; } /* deal with attitude in form: yr mon day hour min sec roll pitch heave */ else if (process.mbp_attitude_format == 2) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &attituderoll[nattitude], &attitudepitch[nattitude], &attitudeheave[nattitude]); time_i[5] = (int) sec; time_i[6] = 1000000*(sec - time_i[5]); mb_get_time(verbose,time_i,&time_d); attitudetime[nattitude] = time_d; if (nget == 9) attitude_ok = MB_YES; } /* deal with attitude in form: yr jday hour min sec roll pitch heave */ else if (process.mbp_attitude_format == 3) { nget = sscanf(buffer,"%d %d %d %d %lf %lf %lf %lf", &time_j[0],&time_j[1],&ihr, &time_j[2],&sec, &attituderoll[nattitude], &attitudepitch[nattitude], &attitudeheave[nattitude]); time_j[2] = time_j[2] + 60*ihr; time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); attitudetime[nattitude] = time_d; if (nget == 9) attitude_ok = MB_YES; } /* deal with attitude in form: yr jday daymin sec roll pitch heave */ else if (process.mbp_attitude_format == 4) { nget = sscanf(buffer,"%d %d %d %lf %lf %lf %lf", &time_j[0],&time_j[1],&time_j[2], &sec, &attituderoll[nattitude], &attitudepitch[nattitude], &attitudeheave[nattitude]); time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); attitudetime[nattitude] = time_d; if (nget == 7) attitude_ok = MB_YES; } } /* output some debug values */ if (verbose >= 5 && attitude_ok == MB_YES) { fprintf(stderr,"\ndbg5 New attitude point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 attitude[%d]: %f %f %f %f\n", nattitude,attitudetime[nattitude],attituderoll[nattitude], attitudepitch[nattitude],attitudeheave[nattitude]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in attitude file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (attitude_ok == MB_YES) { if (nattitude == 0) nattitude++; else if (attitudetime[nattitude] > attitudetime[nattitude-1]) nattitude++; else if (nattitude > 0 && attitudetime[nattitude] <= attitudetime[nattitude-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 Attitude time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 attitude[%d]: %f %f %f %f\n", nattitude-1,attitudetime[nattitude-1], attituderoll[nattitude-1], attitudepitch[nattitude-1], attitudeheave[nattitude-1]); fprintf(stderr,"dbg5 attitude[%d]: %f %f %f %f\n", nattitude,attitudetime[nattitude], attituderoll[nattitude-1], attitudepitch[nattitude-1], attitudeheave[nattitude-1]); } } strncpy(buffer,"\0",sizeof(buffer)); } fclose(tfp); /* check for attitude */ if (nattitude < 2) { fprintf(stderr,"\nNo attitude read from file <%s>\n",process.mbp_attitudefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get start and finish times of attitude */ mb_get_date(verbose,attitudetime[0],stime_i); mb_get_date(verbose,attitudetime[nattitude-1],ftime_i); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d attitude records read\n",nattitude); fprintf(stderr,"Attitude start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Attitude end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /*-------------------------------------------- get sonardepth --------------------------------------------*/ /* if sonardepth merging to be done get sonardepth */ if (process.mbp_sonardepth_mode == MBP_SONARDEPTH_ON) { /* set max number of characters to be read at a time */ nchar = 128; /* count the data points in the sonardepth file */ nsonardepth = 0; if ((tfp = fopen(process.mbp_sonardepthfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Sonardepth File <%s> for reading\n",process.mbp_sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) nsonardepth++; fclose(tfp); /* allocate arrays for sonardepth */ if (nsonardepth > 1) { size = (nsonardepth+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,nsonardepth*sizeof(double),(void **)&fsonardepthtime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nsonardepth*sizeof(double),(void **)&fsonardepth,&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); } } /* if no sonardepth data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from sonardepth file <%s>\n",process.mbp_sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the sonardepth file */ nsonardepth = 0; if ((tfp = fopen(process.mbp_sonardepthfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Sonardepth File <%s> for reading\n",process.mbp_sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { sonardepth_ok = MB_NO; /* ignore comments */ if (buffer[0] != '#') { /* deal with sonardepth in form: time_d sonardepth */ if (process.mbp_sonardepth_format == 1) { nget = sscanf(buffer,"%lf %lf", &fsonardepthtime[nsonardepth],&fsonardepth[nsonardepth]); if (nget == 2) sonardepth_ok = MB_YES; } /* deal with sonardepth in form: yr mon day hour min sec sonardepth */ else if (process.mbp_sonardepth_format == 2) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &fsonardepth[nsonardepth]); time_i[5] = (int) sec; time_i[6] = 1000000*(sec - time_i[5]); mb_get_time(verbose,time_i,&time_d); fsonardepthtime[nsonardepth] = time_d; if (nget == 7) sonardepth_ok = MB_YES; } /* deal with sonardepth in form: yr jday hour min sec sonardepth */ else if (process.mbp_sonardepth_format == 3) { nget = sscanf(buffer,"%d %d %d %d %lf %lf", &time_j[0],&time_j[1],&ihr, &time_j[2],&sec, &fsonardepth[nsonardepth]); time_j[2] = time_j[2] + 60*ihr; time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); fsonardepthtime[nsonardepth] = time_d; if (nget == 7) sonardepth_ok = MB_YES; } /* deal with sonardepth in form: yr jday daymin sec sonardepth */ else if (process.mbp_sonardepth_format == 4) { nget = sscanf(buffer,"%d %d %d %lf %lf", &time_j[0],&time_j[1],&time_j[2], &sec, &fsonardepth[nsonardepth]); time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); fsonardepthtime[nsonardepth] = time_d; if (nget == 5) sonardepth_ok = MB_YES; } } /* output some debug values */ if (verbose >= 5 && sonardepth_ok == MB_YES) { fprintf(stderr,"\ndbg5 New sonardepth point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 sonardepth[%d]: %f %f\n", nsonardepth,fsonardepthtime[nsonardepth],fsonardepth[nsonardepth]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in sonardepth file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (sonardepth_ok == MB_YES) { if (nsonardepth == 0) nsonardepth++; else if (fsonardepthtime[nsonardepth] > fsonardepthtime[nsonardepth-1]) nsonardepth++; else if (nsonardepth > 0 && fsonardepthtime[nsonardepth] <= fsonardepthtime[nsonardepth-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 sonardepth time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 sonardepth[%d]: %f %f\n", nsonardepth-1,fsonardepthtime[nsonardepth-1], fsonardepth[nsonardepth-1]); fprintf(stderr,"dbg5 sonardepth[%d]: %f %f\n", nsonardepth,fsonardepthtime[nsonardepth], fsonardepth[nsonardepth-1]); } } strncpy(buffer,"\0",sizeof(buffer)); } fclose(tfp); /* check for sonardepth */ if (nsonardepth < 2) { fprintf(stderr,"\nNo sonardepth read from file <%s>\n",process.mbp_sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get start and finish times of sonardepth */ mb_get_date(verbose,fsonardepthtime[0],stime_i); mb_get_date(verbose,fsonardepthtime[nsonardepth-1],ftime_i); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d sonardepth records read\n",nsonardepth); fprintf(stderr,"Sonardepth start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Sonardepth end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /*-------------------------------------------- get tide --------------------------------------------*/ /* if tide correction to be done get tide */ if (process.mbp_tide_mode == MBP_TIDE_ON) { /* set max number of characters to be read at a time */ nchar = 128; /* count the data points in the tide file */ ntide = 0; if ((tfp = fopen(process.mbp_tidefile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Tide File <%s> for reading\n",process.mbp_tidefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) ntide++; fclose(tfp); /* allocate arrays for tide */ if (ntide > 1) { size = (ntide+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,ntide*sizeof(double),(void **)&tidetime,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,ntide*sizeof(double),(void **)&tide,&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); } } /* if no tide data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from tide file <%s>\n",process.mbp_tidefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the tide file */ ntide = 0; if ((tfp = fopen(process.mbp_tidefile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Tide File <%s> for reading\n",process.mbp_tidefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { tide_ok = MB_NO; /* ignore comments */ if (buffer[0] != '#') { /* deal with tide in form: time_d tide */ if (process.mbp_tide_format == 1) { nget = sscanf(buffer,"%lf %lf", &tidetime[ntide],&tide[ntide]); if (nget == 2) tide_ok = MB_YES; } /* deal with tide in form: yr mon day hour min sec tide */ else if (process.mbp_tide_format == 2) { nget = sscanf(buffer,"%d %d %d %d %d %lf %lf", &time_i[0],&time_i[1],&time_i[2], &time_i[3],&time_i[4],&sec, &tide[ntide]); time_i[5] = (int) sec; time_i[6] = 1000000*(sec - time_i[5]); mb_get_time(verbose,time_i,&time_d); tidetime[ntide] = time_d; if (nget == 7) tide_ok = MB_YES; } /* deal with tide in form: yr jday hour min sec tide */ else if (process.mbp_tide_format == 3) { nget = sscanf(buffer,"%d %d %d %d %lf %lf", &time_j[0],&time_j[1],&ihr, &time_j[2],&sec, &tide[ntide]); time_j[2] = time_j[2] + 60*ihr; time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); tidetime[ntide] = time_d; if (nget == 6) tide_ok = MB_YES; } /* deal with tide in form: yr jday daymin sec tide */ else if (process.mbp_tide_format == 4) { nget = sscanf(buffer,"%d %d %d %lf %lf", &time_j[0],&time_j[1],&time_j[2], &sec, &tide[ntide]); time_j[3] = (int) sec; time_j[4] = 1000000*(sec - time_j[3]); mb_get_itime(verbose,time_j,time_i); mb_get_time(verbose,time_i,&time_d); tidetime[ntide] = time_d; if (nget == 5) tide_ok = MB_YES; } } /* output some debug values */ if (verbose >= 5 && tide_ok == MB_YES) { fprintf(stderr,"\ndbg5 New tide point read in program <%s>\n",program_name); fprintf(stderr,"dbg5 tide[%d]: %f %f\n", ntide,tidetime[ntide],tide[ntide]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in tide file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } /* check for reverses or repeats in time */ if (tide_ok == MB_YES) { if (ntide == 0) ntide++; else if (tidetime[ntide] > tidetime[ntide-1]) ntide++; else if (ntide > 0 && tidetime[ntide] <= tidetime[ntide-1] && verbose >= 5) { fprintf(stderr,"\ndbg5 Tide time error in program <%s>\n",program_name); fprintf(stderr,"dbg5 tide[%d]: %f %f\n", ntide-1,tidetime[ntide-1],tide[ntide-1]); fprintf(stderr,"dbg5 tide[%d]: %f %f\n", ntide,tidetime[ntide],tide[ntide]); } } strncpy(buffer,"\0",sizeof(buffer)); } fclose(tfp); /* check for tide */ if (ntide < 2) { fprintf(stderr,"\nNo tide read from file <%s>\n",process.mbp_tidefile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get start and finish times of tide */ mb_get_date(verbose,tidetime[0],stime_i); mb_get_date(verbose,tidetime[ntide-1],ftime_i); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d tide records read\n",ntide); fprintf(stderr,"Tide start time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", stime_i[0],stime_i[1],stime_i[2],stime_i[3], stime_i[4],stime_i[5],stime_i[6]); fprintf(stderr,"Tide end time: %4.4d %2.2d %2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", ftime_i[0],ftime_i[1],ftime_i[2],ftime_i[3], ftime_i[4],ftime_i[5],ftime_i[6]); } } /*-------------------------------------------- get edits --------------------------------------------*/ /* get edits */ if (process.mbp_edit_mode == MBP_EDIT_ON) { status = mb_esf_open(verbose, process.mbp_editfile, MB_YES, MB_NO, &esf, &error); if (status == MB_FAILURE) { fprintf(stderr,"\nUnable to resd from Edit Save File <%s>\n",process.mbp_editfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d bathymetry edits read\n",esf.nedit); } } /*-------------------------------------------- get beam static corrections --------------------------------------------*/ /* if static correction to be done get statics */ if (process.mbp_static_mode == MBP_STATIC_ON) { /* set max number of characters to be read at a time */ nchar = 128; /* count the data points in the static file */ nstatic = 0; if ((tfp = fopen(process.mbp_staticfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Static File <%s> for reading\n",process.mbp_staticfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) nstatic++; fclose(tfp); /* allocate arrays for static */ if (nstatic > 0) { size = (nstatic+1)*sizeof(double); status = mb_mallocd(verbose,__FILE__,__LINE__,nstatic*sizeof(int),(void **)&staticbeam,&error); status = mb_mallocd(verbose,__FILE__,__LINE__,nstatic*sizeof(double),(void **)&staticoffset,&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); } } /* if no static data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from static file <%s>\n",process.mbp_staticfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the static file */ nstatic = 0; if ((tfp = fopen(process.mbp_staticfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Static File <%s> for reading\n",process.mbp_staticfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,nchar,tfp)) == buffer) { static_ok = MB_NO; /* deal with static in form: beam_# offset */ if (buffer[0] != '#') { nget = sscanf(buffer,"%d %lf", &staticbeam[nstatic],&staticoffset[nstatic]); if (nget == 2) { static_ok = MB_YES; nstatic++; } /* output some debug values */ if (verbose >= 5 && static_ok == MB_YES) { fprintf(stderr,"\ndbg5 New static beam correction read in program <%s>\n",program_name); fprintf(stderr,"dbg5 beam:%d offset:%f\n", staticbeam[nstatic],staticoffset[nstatic]); } else if (verbose >= 5) { fprintf(stderr,"\ndbg5 Error parsing line in static beam correction file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } } } fclose(tfp); /* check for good static data */ if (nstatic < 1) { fprintf(stderr,"\nNo static beam corrections read from file <%s>\n",process.mbp_staticfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d static beam corrections read\n",nstatic); } } /*-------------------------------------------- get amplitude corrections --------------------------------------------*/ if (process.mbp_ampcorr_mode == MBP_AMPCORR_ON) { /* count the data points in the amplitude correction file */ nampcorrtable = 0; nampcorrangle = 0; if ((tfp = fopen(process.mbp_ampcorrfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Amplitude Correction File <%s> for reading\n",process.mbp_ampcorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) { if (strncmp(buffer,"# table:",8) == 0) nampcorrtable++; else if (strncmp(buffer,"# nangles:",10) == 0) sscanf(buffer,"# nangles:%d",&nampcorrangle); } fclose(tfp); /* allocate arrays for amplitude correction tables */ if (nampcorrtable > 0) { size = nampcorrtable*sizeof(struct mbprocess_sscorr_struct); ampcorrtable = NULL; status = mb_mallocd(verbose,__FILE__,__LINE__,size,(void **)&corrtable,&error); for (i=0;i Terminated\n", program_name); exit(error); } } /* if no amplitude correction file then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from amplitude correction file <%s>\n",process.mbp_ampcorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the amplitude correction file */ nampcorrtable = 0; if ((tfp = fopen(process.mbp_ampcorrfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Amplitude Correction File <%s> for reading\n",process.mbp_ampcorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) { /* deal with amplitude correction tables */ if (strncmp(buffer, "# table:",8) == 0) { nget = sscanf(buffer, "# table:%d", &itable); nampcorrtable++; ampcorrtable[itable].nangle = 0; } else if (strncmp(buffer, "# time:",7) == 0) nget = sscanf(buffer, "# time: %d/%d/%d %d:%d:%d.%d %lf", &time_i[0], &time_i[1], &time_i[2], &time_i[3], &time_i[4], &time_i[5], &time_i[6], &(ampcorrtable[itable].time_d)); else if (buffer[0] != '#') { nget = sscanf(buffer, "%lf %lf %lf", &(ampcorrtable[itable].angle[ampcorrtable[itable].nangle]), &(ampcorrtable[itable].amplitude[ampcorrtable[itable].nangle]), &(ampcorrtable[itable].sigma[ampcorrtable[itable].nangle])); (ampcorrtable[itable].nangle)++; if (nget != 3) { fprintf(stderr,"\ndbg5 Error parsing line in sidescan correction file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } } } fclose(tfp); /* force amplitude correction tables to be symmetric if desired */ if (process.mbp_ampcorr_symmetry == MBP_AMPCORR_SYMMETRIC) { for (itable=0;itable\n",process.mbp_ampcorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d amplitude correction tables with %d angles read\n", nampcorrtable, nampcorrangle); } } /*-------------------------------------------- get sidescan corrections --------------------------------------------*/ if (process.mbp_sscorr_mode == MBP_SSCORR_ON) { /* count the data points in the sidescan correction file */ nsscorrtable = 0; nsscorrangle = 0; if ((tfp = fopen(process.mbp_sscorrfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Sidescan Correction File <%s> for reading\n",process.mbp_sscorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) { if (strncmp(buffer,"# table:",8) == 0) nsscorrtable++; else if (strncmp(buffer,"# nangles:",10) == 0) sscanf(buffer,"# nangles:%d",&nsscorrangle); } fclose(tfp); /* allocate arrays for sidescan correction tables */ if (nsscorrtable > 0) { size = nsscorrtable*sizeof(struct mbprocess_sscorr_struct); sscorrtable = NULL; status = mb_mallocd(verbose,__FILE__,__LINE__,size,(void **)&sscorrtable,&error); for (i=0;i Terminated\n", program_name); exit(error); } } /* if no sidescan correction file then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from sidescan correction file <%s>\n",process.mbp_sscorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the sidescan correction file */ nsscorrtable = 0; if ((tfp = fopen(process.mbp_sscorrfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to Open Sidescan Correction File <%s> for reading\n",process.mbp_sscorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MBP_FILENAMESIZE,tfp)) == buffer) { /* deal with sidescan correction tables */ if (strncmp(buffer, "# table:",8) == 0) { nget = sscanf(buffer, "# table:%d", &itable); nsscorrtable++; sscorrtable[itable].nangle = 0; } else if (strncmp(buffer, "# time:",7) == 0) nget = sscanf(buffer, "# time: %d/%d/%d %d:%d:%d.%d %lf", &time_i[0], &time_i[1], &time_i[2], &time_i[3], &time_i[4], &time_i[5], &time_i[6], &(sscorrtable[itable].time_d)); else if (buffer[0] != '#') { nget = sscanf(buffer, "%lf %lf %lf", &(sscorrtable[itable].angle[sscorrtable[itable].nangle]), &(sscorrtable[itable].amplitude[sscorrtable[itable].nangle]), &(sscorrtable[itable].sigma[sscorrtable[itable].nangle])); (sscorrtable[itable].nangle)++; if (nget != 3) { fprintf(stderr,"\ndbg5 Error parsing line in sidescan correction file in program <%s>\n",program_name); fprintf(stderr,"dbg5 line: %s\n",buffer); } } } fclose(tfp); /* force sidescan correction tables to be symmetric if desired */ if (process.mbp_sscorr_symmetry == MBP_SSCORR_SYMMETRIC) { for (itable=0;itable\n",process.mbp_sscorrfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d sidescan correction tables with %d angles read\n", nsscorrtable, nsscorrangle); } } /*-------------------------------------------- get topography grid --------------------------------------------*/ if ((process.mbp_ampcorr_mode == MBP_AMPCORR_ON && (process.mbp_ampcorr_slope == MBP_AMPCORR_USETOPO || process.mbp_ampcorr_slope == MBP_AMPCORR_USETOPOSLOPE)) || (process.mbp_sscorr_mode == MBP_SSCORR_ON && (process.mbp_sscorr_slope == MBP_SSCORR_USETOPO || process.mbp_sscorr_slope == MBP_SSCORR_USETOPOSLOPE))) { grid.data = NULL; strcpy(grid.file, process.mbp_ampsscorr_topofile); status = mb_readgrd(verbose, grid.file, &grid.projection_mode, grid.projection_id, &grid.nodatavalue, &grid.nxy, &grid.nx, &grid.ny, &grid.min, &grid.max, &grid.xmin, &grid.xmax, &grid.ymin, &grid.ymax, &grid.dx, &grid.dy, &grid.data, NULL, NULL, &error); if (status == MB_FAILURE) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to read topography grid file: %s\n", grid.file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* rationalize grid bounds and lonflip */ if (lonflip == -1) { if (grid.xmax > 180.0) { grid.xmin -= 360.0; grid.xmax -= 360.0; } } else if (lonflip == 0) { if (grid.xmin > 180.0) { grid.xmin -= 360.0; grid.xmax -= 360.0; } else if (grid.xmax < -180.0) { grid.xmin += 360.0; grid.xmax += 360.0; } } else if (lonflip == 1) { if (grid.xmin < -180.0) { grid.xmin += 360.0; grid.xmax += 360.0; } } if (grid.xmax > 180.0) { lonflip = 1; } else if (grid.xmin < -180.0) { lonflip = -1; } else { lonflip = 0; } } /*-------------------------------------------- now open the swath files --------------------------------------------*/ /* initialize reading the input swath sonar file */ if ((status = mb_read_init( verbose,process.mbp_ifile,process.mbp_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",process.mbp_ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize writing the output swath sonar file */ if ((status = mb_write_init( verbose,process.mbp_ofile,process.mbp_format,&ombio_ptr, &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 writing\n",process.mbp_ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* allocate memory for data arrays */ 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); } /* get data kind sources for input format */ mb_format_source(verbose, &(process.mbp_format), &nav_source, &heading_source, &vru_source, &svp_source, &error); /*-------------------------------------------- read the input file to get first ssv if necessary --------------------------------------------*/ /* read input file until a surface sound velocity value is obtained, then close and reopen the file this provides the starting surface sound velocity for recalculating the bathymetry */ if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_RAYTRACE && traveltime == MB_YES && process.mbp_ssv_mode != MBP_SSV_SET) { ssv_start = 0.0; ssv_prelimpass = MB_YES; error = MB_ERROR_NO_ERROR; while (error <= MB_ERROR_NO_ERROR && ssv_start <= 0.0) { /* read some data */ error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; status = mb_get_all(verbose,imbio_ptr,&store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &nbath,&namp,&nss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* time gaps do not matter to mbprocess */ if (error == MB_ERROR_TIME_GAP) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* out of bounds do not matter to mbprocess */ if (error == MB_ERROR_OUT_BOUNDS) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* non-survey data do not matter to mbprocess */ if (error == MB_ERROR_OTHER) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } if (kind == MB_DATA_DATA && error <= MB_ERROR_NO_ERROR) { /* extract travel times */ status = mb_ttimes(verbose,imbio_ptr, store_ptr,&kind,&nbeams, ttimes,angles, angles_forward,angles_null, bheave,alongtrack_offset, &draft,&ssv,&error); /* check surface sound velocity */ if (ssv > 0.0) ssv_start = ssv; } } /* close and reopen the input file */ status = mb_close(verbose,&imbio_ptr,&error); if ((status = mb_read_init( verbose,process.mbp_ifile,process.mbp_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",process.mbp_ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* reallocate memory for data arrays */ 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); } } if (ssv_start <= 0.0) ssv_start = ssv_default; /* reset error */ error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* allocate memory for amplitude and sidescan correction arrays */ if (process.mbp_sscorr_mode == MBP_SSCORR_ON || process.mbp_ampcorr_mode == MBP_AMPCORR_ON) { if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&depths, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&depthsmooth, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&depthacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, 2 * sizeof(double), (void **)&slopes, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, 2 * sizeof(double), (void **)&slopeacrosstrack, &error); } /*-------------------------------------------- output comments --------------------------------------------*/ /* write comments to beginning of output file */ if (strip_comments == MB_NO) { /* insert metadata */ if (strlen(process.mbp_meta_vessel) > 0) { sprintf(comment,"METAVESSEL:%s", process.mbp_meta_vessel); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_institution) > 0) { sprintf(comment,"METAINSTITUTION:%s", process.mbp_meta_institution); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_platform) > 0) { sprintf(comment,"METAPLATFORM:%s", process.mbp_meta_platform); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_sonar) > 0) { sprintf(comment,"METASONAR:%s", process.mbp_meta_sonar); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_sonarversion) > 0) { sprintf(comment,"METASONARVERSION:%s", process.mbp_meta_sonarversion); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_cruiseid) > 0) { sprintf(comment,"METACRUISEID:%s", process.mbp_meta_cruiseid); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_cruisename) > 0) { sprintf(comment,"METACRUISENAME:%s", process.mbp_meta_cruisename); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_pi) > 0) { sprintf(comment,"METAPI:%s", process.mbp_meta_pi); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_piinstitution) > 0) { sprintf(comment,"METAPIINSTITUTION:%s", process.mbp_meta_piinstitution); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (strlen(process.mbp_meta_client) > 0) { sprintf(comment,"METACLIENT:%s", process.mbp_meta_client); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_svcorrected > -1) { sprintf(comment,"METASVCORRECTED:%d", process.mbp_meta_svcorrected); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_tidecorrected > -1) { sprintf(comment,"METATIDECORRECTED:%d", process.mbp_meta_tidecorrected); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_batheditmanual > -1) { sprintf(comment,"METABATHEDITMANUAL:%d", process.mbp_meta_batheditmanual); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_batheditauto > -1) { sprintf(comment,"METABATHEDITAUTO:%d", process.mbp_meta_batheditauto); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_rollbias < MBP_METANOVALUE) { sprintf(comment,"METAROLLBIAS:%f", process.mbp_meta_rollbias); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_pitchbias < MBP_METANOVALUE) { sprintf(comment,"METAPITCHBIAS:%f", process.mbp_meta_pitchbias); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_headingbias < MBP_METANOVALUE) { sprintf(comment,"METAHEADINGBIAS:%f", process.mbp_meta_headingbias); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_meta_draft < MBP_METANOVALUE) { sprintf(comment,"METADRAFT:%f", process.mbp_meta_draft); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } kind = MB_DATA_COMMENT; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Swath data modified by program %s",program_name); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Version %s",rcs_id); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"MB-system Version %s",MB_VERSION); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(date,"\0",25); right_now = time((time_t *)0); strncpy(date,ctime(&right_now),24); if ((user_ptr = getenv("USER")) == NULL) user_ptr = getenv("LOGNAME"); if (user_ptr != NULL) strcpy(user,user_ptr); else strcpy(user, "unknown"); gethostname(host,MBP_FILENAMESIZE); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Run by user <%s> on cpu <%s> at <%s>", user,host,date); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_RAYTRACE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Depths and crosstrack distances recalculated from travel times"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," by raytracing through a water velocity profile specified"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," by the user. The depths have been saved in units of"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); if (process.mbp_corrected == MB_NO) sprintf(comment," uncorrected meters (the depth values are adjusted to be"); else sprintf(comment," corrected meters (the depth values obtained by"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); if (process.mbp_corrected == MB_NO) sprintf(comment," consistent with a vertical water velocity of 1500 m/s)."); else sprintf(comment," raytracing are not adjusted further)."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_ROTATE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Depths and crosstrack distances adjusted for roll bias"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," and pitch bias."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_OFFSET) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Depths and crosstrack distances adjusted for "); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," change in transducer depth and/or heave."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Control Parameters:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," MBIO data format: %d",process.mbp_format); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Input file: %s",process.mbp_ifile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Output file: %s",process.mbp_ofile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_RAYTRACE) { if (process.mbp_angle_mode == MBP_ANGLES_OK) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Angle mode: angles not altered"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_angle_mode == MBP_ANGLES_SNELL) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Angle mode: angles corrected using Snell's Law"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_angle_mode == MBP_ANGLES_SNELLNULL) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Angle mode: angles corrected using Snell's Law and array geometry"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Default SSV: %f",ssv_default); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; if (ssv_prelimpass == MB_YES) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," SSV initial pass: on"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," SSV initial pass: off"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," SVP file: %s",process.mbp_svpfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Input water sound velocity profile:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," depth (m) velocity (m/s)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; for (i=0;i= MBP_NAVADJ_LL) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Adjusted navigation file: %s", process.mbp_navadjfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); if (process.mbp_navadj_mode == MBP_NAVADJ_LL) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Adjusted navigation applied to lon lat only"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); } else if (process.mbp_navadj_mode == MBP_NAVADJ_LLZ) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Adjusted navigation applied to lon lat depth"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; strncpy(comment,"\0",MBP_FILENAMESIZE); } if (process.mbp_navadj_algorithm == MBP_NAV_LINEAR) sprintf(comment," Adjusted navigation algorithm: linear interpolation"); else if (process.mbp_navadj_algorithm == MBP_NAV_SPLINE) sprintf(comment," Adjusted navigation algorithm: spline interpolation"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_attitude_mode == MBP_ATTITUDE_OFF) { sprintf(comment," Attitude merging: OFF."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else { sprintf(comment," Attitude merging: ON."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Attitude file: %s", process.mbp_attitudefile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Attitude format: %d", process.mbp_attitude_format); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_sonardepth_mode == MBP_SONARDEPTH_OFF) { sprintf(comment," Sonardepth merging: OFF."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else { sprintf(comment," Sonardepth merging: ON."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Sonardepth file: %s", process.mbp_sonardepthfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; sprintf(comment," Sonardepth format: %d", process.mbp_sonardepth_format); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_heading_mode == MBP_HEADING_OFF) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Heading modify: OFF"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_heading_mode == MBP_HEADING_CALC || process.mbp_heading_mode == MBP_HEADING_CALCOFFSET) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Heading modify: COURSE MADE GOOD"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } if (process.mbp_heading_mode == MBP_HEADING_OFFSET || process.mbp_heading_mode == MBP_HEADING_CALCOFFSET) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Heading offset: %f deg", process.mbp_headingbias); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Amplitude Corrections:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_ampcorr_mode == MBP_AMPCORR_ON) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude vs grazing angle corrections applied to amplitudes."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction file: %s m", process.mbp_ampcorrfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_ampcorr_type == MBP_AMPCORR_SUBTRACTION) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction by subtraction (dB scale)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction by division (linear scale)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } if (process.mbp_ampcorr_symmetry == MBP_AMPCORR_SYMMETRIC) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," AVGA tables forced to be symmetric"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," AVGA tables allowed to be asymmetric"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Reference grazing angle: %f deg", process.mbp_ampcorr_angle); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_ampcorr_slope == MBP_AMPCORR_IGNORESLOPE || process.mbp_ampcorr_slope == MBP_AMPCORR_USESLOPE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction uses swath bathymetry in file"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction uses topography grid"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Topography grid file: %s m", process.mbp_ampsscorr_topofile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } if (process.mbp_ampcorr_slope == MBP_AMPCORR_IGNORESLOPE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction ignores seafloor slope"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction uses seafloor slope"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude correction off."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Sidescan Corrections:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_sscorr_mode == MBP_SSCORR_ON) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Amplitude vs grazing angle corrections applied to sidescan."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction file: %s m", process.mbp_sscorrfile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_sscorr_type == MBP_SSCORR_SUBTRACTION) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction by subtraction (dB scale)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction by division (linear scale)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } if (process.mbp_sscorr_symmetry == MBP_SSCORR_SYMMETRIC) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," AVGA tables forced to be symmetric"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," AVGA tables allowed to be asymmetric"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Reference grazing angle: %f deg", process.mbp_sscorr_angle); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_sscorr_slope == MBP_SSCORR_IGNORESLOPE || process.mbp_sscorr_slope == MBP_SSCORR_USESLOPE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction uses swath bathymetry in file"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction uses topography grid"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Topography grid file: %s m", process.mbp_ampsscorr_topofile); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } if (process.mbp_sscorr_slope == MBP_SSCORR_IGNORESLOPE) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction ignores seafloor slope"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction uses seafloor slope"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan correction off."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment,"Sidescan Recalculation:"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (process.mbp_ssrecalc_mode == MBP_SSRECALC_ON) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan recalculated."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan pixel size: %f",process.mbp_ssrecalc_pixelsize); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan swath width: %f",process.mbp_ssrecalc_swathwidth); status = mb_put_comment(verbose,ombio_ptr,comment,&error); strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan interpolation: %d",process.mbp_ssrecalc_interpolate); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } else { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Sidescan not recalculated."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); } strncpy(comment,"\0",MBP_FILENAMESIZE); if (process.mbp_cut_num > 0) sprintf(comment," Data cutting enabled (%d commands).", process.mbp_cut_num); else sprintf(comment," Data cutting disabled."); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; for (i=0;i half altitude)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_kluge008 == MB_YES) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Processing Kluge008 applied (undefined)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_kluge009 == MB_YES) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Processing Kluge009 applied (undefined)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } else if (process.mbp_kluge010 == MB_YES) { strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," Processing Kluge010 applied (undefined)"); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } strncpy(comment,"\0",MBP_FILENAMESIZE); sprintf(comment," "); status = mb_put_comment(verbose,ombio_ptr,comment,&error); if (error == MB_ERROR_NO_ERROR) ocomment++; } /* set up the raytracing */ if (process.mbp_svp_mode != MBP_SVP_OFF) status = mb_rt_init(verbose, nsvp, depth, velocity, &rt_svp, &error); /* set up the sidescan recalculation */ if (process.mbp_ssrecalc_mode == MBP_SSRECALC_ON) { if (process.mbp_ssrecalc_pixelsize != 0.0) { pixel_size_set = MB_YES; pixel_size = process.mbp_ssrecalc_pixelsize; } else { pixel_size_set = MB_NO; pixel_size = 0.0; } if (process.mbp_ssrecalc_swathwidth != 0.0) { swath_width_set = MB_YES; swath_width = process.mbp_ssrecalc_swathwidth; } else { swath_width_set = MB_NO; swath_width = 0.0; } pixel_int = process.mbp_ssrecalc_interpolate; } /* initialize time_d_lastping */ time_d_lastping = 0.0; /*-------------------------------------------- loop over reading input --------------------------------------------*/ /* read and write */ while (error <= MB_ERROR_NO_ERROR) { /* read some data */ error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; status = mb_get_all(verbose,imbio_ptr,&store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &nbath,&namp,&nss, beamflag,bath,amp, bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* time gaps do not matter to mbprocess */ if (error == MB_ERROR_TIME_GAP) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* out of bounds do not matter to mbprocess */ if (error == MB_ERROR_OUT_BOUNDS) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* non-survey data do not matter to mbprocess */ if (error == MB_ERROR_OTHER) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* compare and save survey data timestamps */ if (process.mbp_kluge004 == MB_YES && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { if (time_d <= time_d_lastping) { error = MB_ERROR_UNINTELLIGIBLE; status = MB_FAILURE; } } /* detect multiple pings with the same time stamps */ if (error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { if (time_d == time_d_lastping) { pingmultiplicity++; } else { pingmultiplicity = 0; } time_d_lastping = time_d; } /* increment counter */ if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) idata++; else if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_NAV) inav++; else if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_COMMENT) icomment++; else if (error <= MB_ERROR_NO_ERROR) iother++; /* output error messages */ if (verbose >= 1 && error == MB_ERROR_COMMENT) { if (icomment == 1) fprintf(stderr,"\nComments in Input:\n"); fprintf(stderr,"%s\n",comment); } else if (verbose >= 1 && error < MB_ERROR_NO_ERROR && error > MB_ERROR_OTHER) { mb_error(verbose,error,&message); fprintf(stderr,"\nNonfatal MBIO Error:\n%s\n",message); fprintf(stderr,"Input Record: %d\n",idata); fprintf(stderr,"Time: %d %d %d %d %d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5]); } else if (verbose >= 1 && error < MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nNonfatal MBIO Error:\n%s\n",message); fprintf(stderr,"Input Record: %d\n",idata); } else if (verbose >= 1 && error != MB_ERROR_NO_ERROR && error != MB_ERROR_EOF) { mb_error(verbose,error,&message); fprintf(stderr,"\nFatal MBIO Error:\n%s\n",message); fprintf(stderr,"Last Good Time: %d %d %d %d %d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5]); } /*-------------------------------------------- handle kluges 1 and 7 --------------------------------------------*/ /* apply kluge001 - enables correction of travel times in Hydrosweep DS2 data from the R/V Maurice Ewing in 2001 and 2002. */ if (process.mbp_kluge001 == MB_YES && kind == MB_DATA_DATA && (format == 182 || format == 183)) status = mbsys_atlas_ttcorr(verbose,imbio_ptr,store_ptr,&error); /* apply kluge007 - zero alongtrack distances > half the altitude */ if (process.mbp_kluge007== MB_YES && kind == MB_DATA_DATA) { for (i=0;i 0.5 * altitude) bathalongtrack[i] = 0.0; } for (i=0;i 0.5 * altitude) ssalongtrack[i] = 0.0; } } /*-------------------------------------------- handle navigation merging --------------------------------------------*/ /* extract the navigation if available */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { status = mb_extract_nav(verbose,imbio_ptr,store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading,&draft_org,&roll_org,&pitch_org,&heave_org,&error); draft = draft_org; roll = roll_org; pitch = pitch_org; heave = heave_org; /* apply kluge002 - enables correction of draft values in Simrad data - some Simrad multibeam data has had an error in which the heave has bee added to the sonar depth (draft for hull mounted sonars) - this correction subtracts the heave value from the sonar depth */ if (process.mbp_kluge002 == MB_YES && kind == MB_DATA_DATA) draft -= heave; } /* apply kluge005 - replaces survey record timestamps with timestamps of corresponding merged navigation records - this feature allows users to fix timestamp errors using MBnavedit and then insert the corrected timestamps into processed data */ if (process.mbp_kluge005 == MB_YES && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && nnav > 0) { /*fprintf(stderr,"time_d:%f ntime[%d]:%f kluge005:%d\n", time_d,idata-1,ntime[idata-1],process.mbp_kluge005);*/ time_d = ntime[idata-1]; mb_get_date(verbose,time_d,time_i); } /* interpolate the navigation if desired */ if (error == MB_ERROR_NO_ERROR && process.mbp_nav_mode == MBP_NAV_ON && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { /* interpolate navigation */ if (process.mbp_nav_algorithm == MBP_NAV_SPLINE && time_d >= ntime[0] && time_d <= ntime[nnav-1]) { intstat = mb_spline_interp(verbose, ntime-1, nlon-1, nlonspl-1, nnav, time_d, &navlon, &itime, &error); intstat = mb_spline_interp(verbose, ntime-1, nlat-1, nlatspl-1, nnav, time_d, &navlat, &itime, &error); } else { intstat = mb_linear_interp(verbose, ntime-1, nlon-1, nnav, time_d, &navlon, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nlat-1, nnav, time_d, &navlat, &itime, &error); } /* interpolate heading */ if (process.mbp_nav_heading == MBP_NAV_ON) { intstat = mb_linear_interp_degrees(verbose, ntime-1, nheading-1, nnav, time_d, &heading, &itime, &error); } /* interpolate speed */ if (process.mbp_nav_speed == MBP_NAV_ON) { intstat = mb_linear_interp(verbose, ntime-1, nspeed-1, nnav, time_d, &speed, &itime, &error); } /* interpolate draft */ if (process.mbp_nav_draft == MBP_NAV_ON) { intstat = mb_linear_interp(verbose, ntime-1, ndraft-1, nnav, time_d, &draft, &itime, &error); } /* interpolate attitude */ if (process.mbp_nav_attitude == MBP_NAV_ON) { intstat = mb_linear_interp(verbose, ntime-1, nroll-1, nnav, time_d, &roll, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, npitch-1, nnav, time_d, &pitch, &itime, &error); intstat = mb_linear_interp(verbose, ntime-1, nheave-1, nnav, time_d, &heave, &itime, &error); } } /*-------------------------------------------- handle attitude merging --------------------------------------------*/ /* interpolate the attitude if desired */ if (error == MB_ERROR_NO_ERROR && process.mbp_attitude_mode == MBP_ATTITUDE_ON && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { /* interpolate adjusted navigation */ intstat = mb_linear_interp(verbose, attitudetime-1, attituderoll-1, nattitude, time_d, &roll, &iatime, &error); intstat = mb_linear_interp(verbose, attitudetime-1, attitudepitch-1, nattitude, time_d, &pitch, &iatime, &error); intstat = mb_linear_interp(verbose, attitudetime-1, attitudeheave-1, nattitude, time_d, &heave, &iatime, &error); } /*-------------------------------------------- handle sonar depth merging --------------------------------------------*/ /* interpolate the sonardepth if desired */ if (error == MB_ERROR_NO_ERROR && process.mbp_sonardepth_mode == MBP_SONARDEPTH_ON && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { /* interpolate adjusted navigation */ intstat = mb_linear_interp(verbose, fsonardepthtime-1, fsonardepth-1, nsonardepth, time_d, &draft, &iatime, &error); } /*-------------------------------------------- handle position shifts --------------------------------------------*/ /* apply position shifts if needed */ if (process.mbp_nav_shift == MBP_NAV_ON) { mb_coor_scale(verbose,navlat,&mtodeglon,&mtodeglat); headingx = sin(heading * DTR); headingy = cos(heading * DTR); navlon -= (headingy * mtodeglon * process.mbp_nav_offsetx + headingx * mtodeglon * process.mbp_nav_offsety - process.mbp_nav_shiftlon); navlat -= (-headingx * mtodeglat * process.mbp_nav_offsetx + headingy * mtodeglat * process.mbp_nav_offsety - process.mbp_nav_shiftlat); } /*-------------------------------------------- handle draft correction --------------------------------------------*/ /* add user specified draft correction if desired */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { if (process.mbp_draft_mode == MBP_DRAFT_OFFSET) draft = draft + process.mbp_draft_offset; else if (process.mbp_draft_mode == MBP_DRAFT_MULTIPLY) draft = draft * process.mbp_draft_mult; else if (process.mbp_draft_mode == MBP_DRAFT_MULTIPLYOFFSET) draft = draft * process.mbp_draft_mult + process.mbp_draft_offset; else if (process.mbp_draft_mode == MBP_DRAFT_SET) draft = process.mbp_draft; } /*-------------------------------------------- handle adjusted navigation merging --------------------------------------------*/ /* interpolate the adjusted navigation if desired */ if (error == MB_ERROR_NO_ERROR && process.mbp_navadj_mode >= MBP_NAVADJ_LL && (kind == MB_DATA_DATA || kind == MB_DATA_NAV)) { /* interpolate adjusted navigation */ if (process.mbp_navadj_algorithm == MBP_NAV_SPLINE && time_d >= natime[0] && time_d <= natime[nanav-1]) { intstat = mb_spline_interp(verbose, natime-1, nalon-1, nalonspl-1, nanav, time_d, &navlon, &iatime, &error); intstat = mb_spline_interp(verbose, ntime-1, nalat-1, nalatspl-1, nanav, time_d, &navlat, &iatime, &error); } else { intstat = mb_linear_interp(verbose, natime-1, nalon-1, nanav, time_d, &navlon, &iatime, &error); intstat = mb_linear_interp(verbose, natime-1, nalat-1, nanav, time_d, &navlat, &iatime, &error); } } /*-------------------------------------------- apply z offset from navigation adjustment correction --------------------------------------------*/ /* apply z offset from navigation adjustment correction */ if (error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && process.mbp_navadj_mode == MBP_NAVADJ_LLZ && nanav > 1) { /* interpolate z offset */ if (process.mbp_navadj_algorithm == MBP_NAV_SPLINE && time_d >= natime[0] && time_d <= natime[nanav-1]) { intstat = mb_spline_interp(verbose, natime-1, naz-1, nazspl-1, nanav, time_d, &zoffset, &iatime, &error); } else { intstat = mb_linear_interp(verbose, natime-1, naz-1, nanav, time_d, &zoffset, &iatime, &error); } /* apply z offset to draft / sonar depth */ draft += zoffset; } /*-------------------------------------------- handle lever arm correction --------------------------------------------*/ /* do lever calculation to find heave implied by roll and pitch for a sonar displaced from the vru - this will be added to the bathymetry */ if (error == MB_ERROR_NO_ERROR && process.mbp_lever_mode == MBP_LEVER_ON && kind == MB_DATA_DATA) { alpha = pitch; beta = roll; if (process.mbp_pitchbias_mode == MBP_PITCHBIAS_ON) alpha += process.mbp_pitchbias; if (process.mbp_rollbias_mode == MBP_ROLLBIAS_SINGLE) beta += process.mbp_rollbias; else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) beta += 0.5 * (process.mbp_rollbias_port + process.mbp_rollbias_stbd); mb_lever(verbose, process.mbp_sonar_offsetx, process.mbp_sonar_offsety, process.mbp_sonar_offsetz, (double) 0.0, (double) 0.0, (double) 0.0, process.mbp_vru_offsetx, process.mbp_vru_offsety, process.mbp_vru_offsetz, alpha, beta, &lever_x, &lever_y, &lever_heave, &error); /*fprintf(stderr, "alpha:%f beta:%f lever:%f\n", alpha, beta, lever_heave);*/ } /*-------------------------------------------- handle speed and heading calculation --------------------------------------------*/ /* make up heading and speed if required */ calculatespeedheading = MB_NO; if (process.mbp_heading_mode == MBP_HEADING_CALC || process.mbp_heading_mode == MBP_HEADING_CALCOFFSET) calculatespeedheading = MB_YES; for (icut=0;icut= MBP_NAVADJ_LL) { mb_coor_scale(verbose,nalat[iatime-1],&mtodeglon,&mtodeglat); del_time = natime[iatime] - natime[iatime-1]; dx = (nalon[iatime] - nalon[iatime-1])/mtodeglon; dy = (nalat[iatime] - nalat[iatime-1])/mtodeglat; } else if ((kind == MB_DATA_DATA && idata > 1) || (kind == MB_DATA_NAV && inav > 1)) { mb_coor_scale(verbose,navlat,&mtodeglon,&mtodeglat); del_time = time_d - time_d_old; dx = (navlon - navlon_old)/mtodeglon; dy = (navlat - navlat_old)/mtodeglat; } if ((process.mbp_nav_mode == MBP_NAV_ON) || (process.mbp_navadj_mode >= MBP_NAVADJ_LL) || ((kind == MB_DATA_DATA && idata > 1) || (kind == MB_DATA_NAV && inav > 1))) { dist = sqrt(dx*dx + dy*dy); if (del_time > 0.0) { speedcalc = 3.6*dist/del_time; } else speedcalc = speed_old; if (dist > 0.0 && del_time > 0.0) { headingcalc = RTD*atan2(dx/dist,dy/dist); if (headingcalc < 0.0) headingcalc += 360.0; } else headingcalc = heading_old; } else { speedcalc = speed; headingcalc = heading; } if (process.mbp_heading_mode == MBP_HEADING_CALC || process.mbp_heading_mode == MBP_HEADING_CALCOFFSET) { heading = headingcalc; } else { speed = speedcalc; } time_d_old = time_d; navlon_old = navlon; navlat_old = navlat; heading_old = headingcalc; speed_old = speedcalc; } /* adjust heading if required */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA || kind == MB_DATA_NAV) && (process.mbp_heading_mode == MBP_HEADING_OFFSET || process.mbp_heading_mode == MBP_HEADING_CALCOFFSET)) { heading += process.mbp_headingbias; if (heading > 360.0) heading -= 360.0; else if (heading < 0.0) heading += 360.0; } /*-------------------------------------------- deal with bathymetry --------------------------------------------*/ /* if survey data encountered, get the bathymetry */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA)) { /*-------------------------------------------- get travel time values --------------------------------------------*/ /* extract travel times if they exist */ if (traveltime == MB_YES) { status = mb_ttimes(verbose,imbio_ptr, store_ptr,&kind,&nbeams, ttimes,angles, angles_forward,angles_null, bheave,alongtrack_offset, &draft_org,&ssv,&error); } /* estimate travel times if they don't exist */ else { draft_org = sonardepth - heave; ssv = 1500.0; nbeams = nbath; for (i=0;i 0.0) { /* if needed, translate angles from takeoff angle coordinates to roll-pitch coordinates, apply roll and pitch corrections, and translate back */ if (process.mbp_rollbias_mode != MBP_ROLLBIAS_OFF || process.mbp_pitchbias_mode == MBP_PITCHBIAS_ON || process.mbp_nav_attitude == MBP_NAV_ON || process.mbp_attitude_mode == MBP_ATTITUDE_ON || process.mbp_kluge003 == MB_YES) { mb_takeoff_to_rollpitch( verbose, angles[i], angles_forward[i], &alpha, &beta, &error); /* apply kluge_003 - enables correction of beam angles in SeaBeam 2112 data - a data sample from the SeaBeam 2112 on the USCG Icebreaker Healy (collected on 23 July 2003) was found to have an error in which the beam angles had 0.25 times the roll added - this correction subtracts 0.25 * roll from the beam angles before the bathymetry is recalculated by raytracing through a water sound velocity profile - the mbprocess parameter files must be set to enable bathymetry recalculation by raytracing in order to apply this correction */ if (process.mbp_kluge003 == MB_YES) beta -= 0.25*roll; if (process.mbp_nav_attitude == MBP_NAV_ON || process.mbp_attitude_mode == MBP_ATTITUDE_ON) { beta += roll - roll_org; alpha += pitch - pitch_org; } if (process.mbp_pitchbias_mode == MBP_PITCHBIAS_ON) alpha += process.mbp_pitchbias; if (process.mbp_rollbias_mode == MBP_ROLLBIAS_SINGLE) beta += process.mbp_rollbias; else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE && angles[i] >= 0.0) beta += process.mbp_rollbias_stbd; else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) beta += process.mbp_rollbias_port; mb_rollpitch_to_takeoff( verbose, alpha, beta, &angles[i], &angles_forward[i], &error); } /* add heave and draft */ depth_offset_use = bheave[i] + draft + lever_heave; /* check depth_offset - use static shift if depth_offset negative */ if (depth_offset_use >= depth[0]) { static_shift = 0.0; } else { static_shift = depth_offset_use - depth[0]; if (verbose > 0) { fprintf(stderr, "\nWarning: Sonar depth is shallower than the top\n"); fprintf(stderr, "of the SVP - transducers above water?!\n"); fprintf(stderr, "Raytracing performed from top of SVP followed by static shift.\n"); fprintf(stderr, "Sonar depth is sum of heave + draft (or transducer depth).\n"); fprintf(stderr, "Draft from data: %f\n", draft); fprintf(stderr, "Heave from data: %f\n", bheave[i]); fprintf(stderr, "Heave from lever calc: %f\n", lever_heave); fprintf(stderr, "User specified draft: %f\n", process.mbp_draft); fprintf(stderr, "Depth offset used: %f\n", depth_offset_use); fprintf(stderr, "Data Record: %d\n",odata); fprintf(stderr, "Ping time: %4d %2d %2d %2d:%2d:%2d.%6d\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6]); } } /* fprintf(stderr,"draft_org:%f draft:%f depth_offset_use:%f static_shift:%f\n", draft_org,draft,depth_offset_use,static_shift);*/ /* raytrace */ status = mb_rt(verbose, rt_svp, (depth_offset_use - static_shift), angles[i], 0.5*ttimes[i], process.mbp_angle_mode, ssv, angles_null[i], 0, NULL, NULL, NULL, &xx, &zz, &ttime, &ray_stat, &error); /* apply static shift if any */ zz += static_shift; /* fprintf(stderr,"PING:%4d %2d %2d %2d:%2d:%2d.%6d BEAM:%d depth_offset_use:%f draft:%f bheave:%f lever_heave:%f angle:%f tt:%f mode:%d ssv:%f null:%f xx:%f zz:%f tt:%f\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6],i, depth_offset_use,draft,bheave[i],lever_heave,angles[i], 0.5*ttimes[i],process.mbp_angle_mode, ssv, angles_null[i], xx,zz,ttime); */ /* fprintf(stderr, "%d %d : heave:%f draft:%f %f depth_offset:%f static:%f zz:%f\n", idata, i, bheave[i], draft, draft_org, depth_offset_use, static_shift, zz);*/ /* fprintf(stderr,"COMPARE %d X:%f %f Y:%f %f Z:%f %f %.3f %.3f %.3f\n", i,bathacrosstrack[i],xx*cos(DTR*angles_forward[i]), bathalongtrack[i],xx*sin(DTR*angles_forward[i]), bath[i],zz, bathacrosstrack[i]-xx*cos(DTR*angles_forward[i]), bathalongtrack[i]-xx*sin(DTR*angles_forward[i]), bath[i]-zz); */ /* get alongtrack and acrosstrack distances and depth */ bathacrosstrack[i] = xx*cos(DTR*angles_forward[i]); bathalongtrack[i] = xx*sin(DTR*angles_forward[i]) + alongtrack_offset[i]; bath[i] = zz; /* output some debug values */ if (verbose >= 5) fprintf(stderr,"dbg5 %3d %3d %6.3f %6.3f %6.3f %8.2f %8.2f %8.2f\n", idata, i, 0.5*ttimes[i], angles[i], angles_forward[i], bathacrosstrack[i], bathalongtrack[i], bath[i]); /* output some debug messages */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Depth value calculated in program <%s>:\n",program_name); fprintf(stderr,"dbg5 kind: %d\n",kind); fprintf(stderr,"dbg5 beam: %d\n",i); fprintf(stderr,"dbg5 tt: %f\n",ttimes[i]); fprintf(stderr,"dbg5 xx: %f\n",xx); fprintf(stderr,"dbg5 zz: %f\n",zz); fprintf(stderr,"dbg5 xtrack: %f\n",bathacrosstrack[i]); fprintf(stderr,"dbg5 ltrack: %f\n",bathalongtrack[i]); fprintf(stderr,"dbg5 depth: %f\n",bath[i]); } } /* else if no travel time no data */ else beamflag[i] = MB_FLAG_NULL; } } /* recalculate bathymetry by rigid rotations */ else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_ROTATE) { /* loop over the beams */ for (i=0;i= 5) { fprintf(stderr,"\ndbg5 Depth value to be calculated in program <%s>:\n",program_name); fprintf(stderr,"dbg5 kind: %d\n",kind); fprintf(stderr,"dbg5 beam: %d\n",i); fprintf(stderr,"dbg5 xtrack: %f\n",bathacrosstrack[i]); fprintf(stderr,"dbg5 ltrack: %f\n",bathalongtrack[i]); fprintf(stderr,"dbg5 depth: %f\n",bath[i]); } /* add heave and draft */ depth_offset_use = bheave[i] + draft + lever_heave; depth_offset_org = bheave[i] + draft_org; /* strip off heave + draft */ bath[i] -= depth_offset_org; /* get range and angles in roll-pitch frame */ range = sqrt(bath[i] * bath[i] + bathacrosstrack[i] * bathacrosstrack[i] + bathalongtrack[i] * bathalongtrack[i]); if (fabs(range) < 0.001) { alpha = 0.0; beta = 0.5 * M_PI; } else { alpha = asin(MAX(-1.0, MIN(1.0, (bathalongtrack[i] / range)))); beta = acos(MAX(-1.0, MIN(1.0, (bathacrosstrack[i] / range / cos(alpha))))); } if (bath[i] < 0.0) beta = 2.0 * M_PI - beta; /* apply roll pitch corrections */ if (process.mbp_nav_attitude == MBP_NAV_ON || process.mbp_attitude_mode == MBP_ATTITUDE_ON) { beta += roll - roll_org; alpha += pitch - pitch_org; } if (process.mbp_pitchbias_mode == MBP_PITCHBIAS_ON) alpha += DTR * process.mbp_pitchbias; if (process.mbp_rollbias_mode == MBP_ROLLBIAS_SINGLE) beta += DTR * process.mbp_rollbias; else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE && beta <= M_PI * 0.5) beta += DTR * process.mbp_rollbias_stbd; else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) beta += DTR * process.mbp_rollbias_port; /* recalculate bathymetry */ bath[i] = range * cos(alpha) * sin(beta); bathalongtrack[i] = range * sin(alpha); bathacrosstrack[i] = range * cos(alpha) * cos(beta); /* add heave and draft back in */ bath[i] += depth_offset_use; /* output some debug values */ if (verbose >= 5) fprintf(stderr,"dbg5 %3d %3d %8.2f %8.2f %8.2f\n", idata, i, bathacrosstrack[i], bathalongtrack[i], bath[i]); /* output some debug messages */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Depth value calculated in program <%s>:\n",program_name); fprintf(stderr,"dbg5 kind: %d\n",kind); fprintf(stderr,"dbg5 beam: %d\n",i); fprintf(stderr,"dbg5 xtrack: %f\n",bathacrosstrack[i]); fprintf(stderr,"dbg5 ltrack: %f\n",bathalongtrack[i]); fprintf(stderr,"dbg5 depth: %f\n",bath[i]); } } } } /* recalculate bathymetry by changes to transducer depth */ else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_OFFSET || process.mbp_navadj_mode == MBP_NAVADJ_LLZ) { /* get draft change */ depth_offset_change = draft - draft_org + lever_heave; /* fprintf(stderr, "time:%f drafts:%f %f lever:%f depth_offset_change:%f\n", time_d, draft, draft_org, lever_heave, depth_offset_change);*/ /* loop over the beams */ for (i=0;i= 5) fprintf(stderr,"dbg5 %3d %3d %8.2f %8.2f %8.2f\n", idata, i, bathacrosstrack[i], bathalongtrack[i], bath[i]); /* output some debug messages */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Depth value calculated in program <%s>:\n",program_name); fprintf(stderr,"dbg5 kind: %d\n",kind); fprintf(stderr,"dbg5 beam: %d\n",i); fprintf(stderr,"dbg5 xtrack: %f\n",bathacrosstrack[i]); fprintf(stderr,"dbg5 ltrack: %f\n",bathalongtrack[i]); fprintf(stderr,"dbg5 depth: %f\n",bath[i]); } } } /*fprintf(stderr, "time:%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d draft:%f depth_offset_change:%f\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], draft, depth_offset_change);*/ } /*-------------------------------------------- change water sound reference if needed --------------------------------------------*/ /* change bathymetry water sound reference if required */ if (process.mbp_svp_mode == MBP_SVP_SOUNDSPEEDREF || (process.mbp_svp_mode == MBP_SVP_ON && process.mbp_corrected == MB_NO)) { for (i=0;i= zz)) k = j; } if (k > 0) vsum = velocity_sum[k-1]; else vsum = 0.0; if (k >= 0) { vsum += 0.5*(2*velocity[k] + (zz - depth[k])*(velocity[k+1] - velocity[k]) /(depth[k+1] - depth[k]))*(zz - depth[k]); vavg = vsum / zz; } if (vavg <= 0.0) vavg = 1500.0; /* if uncorrected value desired */ if (process.mbp_corrected == MB_NO) bath[i] = zz * 1500.0 / vavg + depth_offset_use; else bath[i] = zz * vavg / 1500.0 + depth_offset_use; } } } /*-------------------------------------------- apply tide correction --------------------------------------------*/ /* apply tide corrections */ if (process.mbp_tide_mode == MBP_TIDE_ON && ntide > 1) { /* interpolate tide */ intstat = mb_linear_interp(verbose, tidetime-1, tide-1, ntide, time_d, &tideval, &itime, &error); /* apply tide to all valid beams */ for (i=0;i 0 && nstatic <= nbath) { for (i=0;i= 0 && staticbeam[i] < nbath) { if (beamflag[staticbeam[i]] != MB_FLAG_NULL) bath[staticbeam[i]] -= staticoffset[i]; } } } /* output some debug messages */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Depth values calculated in program <%s>:\n",program_name); fprintf(stderr,"dbg5 kind: %d\n",kind); fprintf(stderr,"dbg5 beam ttime depth xtrack ltrack flag\n"); for (i=0;i 0 && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { /* apply edits for this ping */ status = mb_esf_apply(verbose, &esf, time_d, pingmultiplicity, nbath, beamflag, &error); } /*-------------------------------------------- apply data cutting to bathymetry --------------------------------------------*/ /* apply data cutting to bathymetry if specified */ if (process.mbp_cut_num > 0 && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { for (icut=0;icut= process.mbp_cut_min[icut] && bathacrosstrack[i] <= process.mbp_cut_max[icut]) beamflag[i]= MB_FLAG_FLAG + MB_FLAG_MANUAL; } } /* flag data according to speed */ else if (process.mbp_cut_kind[icut] == MBP_CUT_DATA_BATH && process.mbp_cut_mode[icut] == MBP_CUT_MODE_SPEED) { if (speed < process.mbp_cut_min[icut] || speed > process.mbp_cut_max[icut]) { for (i=0;i 0 && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { for (icut=0;icut= process.mbp_cut_min[icut] && bathacrosstrack[i] <= process.mbp_cut_max[icut]) beamflag[i]= MB_FLAG_FLAG + MB_FLAG_MANUAL; } } /* flag data according to speed */ else if (process.mbp_cut_kind[icut] == MBP_CUT_DATA_AMP && process.mbp_cut_mode[icut] == MBP_CUT_MODE_SPEED) { if (speed < process.mbp_cut_min[icut] || speed > process.mbp_cut_max[icut]) { for (i=0;i= process.mbp_cut_min[icut] && ssacrosstrack[i] <= process.mbp_cut_max[icut]) ss[i]= MB_SIDESCAN_NULL; } } /* flag data according to speed */ else if (process.mbp_cut_kind[icut] == MBP_CUT_DATA_SS && process.mbp_cut_mode[icut] == MBP_CUT_MODE_SPEED) { if (speed < process.mbp_cut_min[icut] || speed > process.mbp_cut_max[icut]) { for (i=0;i 0 && nampcorrangle > 0) || (process.mbp_sscorr_mode == MBP_SSCORR_ON && nsscorrtable > 0 && nsscorrangle > 0) )) { mb_pr_set_bathyslope(verbose, nsmooth, nbath, beamflag, bath, bathacrosstrack, &ndepths, depths, depthacrosstrack, &nslopes, slopes, slopeacrosstrack, depthsmooth, &error); } /* correct the amplitude if desired */ if (process.mbp_ampcorr_mode == MBP_AMPCORR_ON && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && nampcorrtable > 0 && nampcorrangle > 0) { /* calculate the correction table */ status = get_corrtable(verbose, time_d, nampcorrtable, nampcorrangle, ampcorrtable, &corrtableuse, &error); /* set the reference amplitudes */ status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, (-process.mbp_ampcorr_angle), &reference_amp_port, &error); status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, process.mbp_ampcorr_angle, &reference_amp_stbd, &error); reference_amp = 0.5 * (reference_amp_port + reference_amp_stbd); /*fprintf(stderr, "itable:%d time:%f nangle:%d\n", itable, ampcorrtableuse.time_d, ampcorrtableuse.nangle); for (i=0;i 1) { status = mb_pr_get_bathyslope(verbose, ndepths, depths, depthacrosstrack, nslopes, slopes, slopeacrosstrack, bathacrosstrack[i], &bathy,&slope,&error); if (status != MB_SUCCESS) { bathy = 0.0; slope = 0.0; status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } } if (bathy <= 0.0) { if (altitude > 0.0) bathy = altitude + sonardepth; else bathy = altitude_default + sonardepth; slope = 0.0; } if (bathy > 0.0) { altitude_use = bathy - sonardepth; angle = RTD * atan(bathacrosstrack[i] / altitude_use); if (process.mbp_ampcorr_slope != MBP_AMPCORR_IGNORESLOPE) angle += RTD * atan(slope); status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, angle, &correction, &error); /*fprintf(stderr, "ping:%d beam:%d slope:%f angle:%f corr:%f reference:%f amp: %f", j, i, slope, angle, correction, reference_amp, amp[i]);*/ if (process.mbp_ampcorr_type == MBP_AMPCORR_SUBTRACTION) amp[i] = amp[i] - correction + reference_amp; else amp[i] = amp[i] / correction * reference_amp; /*fprintf(stderr, " amp: %f\n", amp[i]);*/ } } } } /* correct the sidescan if desired */ if (process.mbp_sscorr_mode == MBP_SSCORR_ON && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && nsscorrtable > 0 && nsscorrangle > 0) { /* calculate the correction table */ status = get_corrtable(verbose, time_d, nsscorrtable, nsscorrangle, sscorrtable, &sscorrtableuse, &error); /* set the reference amplitudes */ status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, (-process.mbp_sscorr_angle), &reference_amp_port, &error); status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, process.mbp_sscorr_angle, &reference_amp_stbd, &error); reference_amp = 0.5 * (reference_amp_port + reference_amp_stbd); /*fprintf(stderr, "itable:%d time:%f nangle:%d\n", itable, sscorrtableuse.time_d, sscorrtableuse.nangle); for (i=0;i MB_SIDESCAN_NULL) { bathy = 0.0; if (ndepths > 1) { status = mb_pr_get_bathyslope(verbose, ndepths, depths, depthacrosstrack, nslopes, slopes, slopeacrosstrack, ssacrosstrack[i], &bathy,&slope,&error); if (status != MB_SUCCESS) { bathy = 0.0; slope = 0.0; status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } } if (bathy <= 0.0) { if (altitude > 0.0) bathy = altitude + sonardepth; else bathy = altitude_default + sonardepth; slope = 0.0; } if (bathy > 0.0) { altitude_use = bathy - sonardepth; angle = RTD * atan(ssacrosstrack[i] / altitude_use); /*fprintf(stderr,"time_d:%f i:%d xtrack:%f altitude:%f sonardepth:%f bathy:%f altitude_use:%f angle:%f\n", time_d, i, ssacrosstrack[i], altitude, sonardepth, bathy, altitude_use, angle);*/ if (process.mbp_sscorr_slope != MBP_SSCORR_IGNORESLOPE) { /*fprintf(stderr,"SLOPECALC: time_d:%f i:%d angle:%f ",time_d,i,angle);*/ angle += RTD * atan(slope); /*fprintf(stderr,"slope:%f slopeangle:%f angle:%f\n",slope,RTD * atan(slope),angle);*/ } status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, angle, &correction, &error); /*fprintf(stderr, "ping:%d pixel:%d altitude_use:%f slope:%f angle:%f corr:%f reference:%f ss: %f", idata, i, altitude_use, slope, angle, correction, reference_amp, ss[i]);*/ if (process.mbp_sscorr_type == MBP_SSCORR_SUBTRACTION) ss[i] = ss[i] - correction + reference_amp; else ss[i] = ss[i] / correction * reference_amp; /*fprintf(stderr, " ss: %f\n", ss[i]);*/ } } } } } /* correct amplitude and sidescan using slopes from topography grid */ else if ((process.mbp_ampcorr_mode == MBP_AMPCORR_ON && (process.mbp_ampcorr_slope == MBP_AMPCORR_USETOPO || process.mbp_ampcorr_slope == MBP_AMPCORR_USETOPOSLOPE)) || (process.mbp_sscorr_mode == MBP_SSCORR_ON && (process.mbp_sscorr_slope == MBP_SSCORR_USETOPO || process.mbp_sscorr_slope == MBP_SSCORR_USETOPOSLOPE))) { /* get distance scaling and heading vector */ mb_coor_scale(verbose,navlat,&mtodeglon,&mtodeglat); headingx = sin(heading * DTR); headingy = cos(heading * DTR); /* correct the amplitude if desired */ if (process.mbp_ampcorr_mode == MBP_AMPCORR_ON && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && nampcorrtable > 0 && nampcorrangle > 0) { /* calculate the correction table */ status = get_corrtable(verbose, time_d, nampcorrtable, nampcorrangle, ampcorrtable, &corrtableuse, &error); /* set the reference amplitudes */ status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, (-process.mbp_ampcorr_angle), &reference_amp_port, &error); status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, process.mbp_ampcorr_angle, &reference_amp_stbd, &error); reference_amp = 0.5 * (reference_amp_port + reference_amp_stbd); /*fprintf(stderr, "itable:%d time:%f nangle:%d\n", itable, ampcorrtableuse.time_d, ampcorrtableuse.nangle); for (i=0;i 0 && ix < grid.nx - 1 && jy > 0 && jy < grid.ny - 1 && grid.data[kgrid] > grid.nodatavalue && grid.data[kgrid00] > grid.nodatavalue && grid.data[kgrid01] > grid.nodatavalue && grid.data[kgrid10] > grid.nodatavalue && grid.data[kgrid11] > grid.nodatavalue) { /* get look vector for data */ bathy = -grid.data[kgrid]; r[2] = grid.data[kgrid] + sonardepth; rr = -sqrt(r[0] * r[0] + r[1] * r[1] + r[2] * r[2]); r[0] /= rr; r[1] /= rr; r[2] /= rr; /* get normal vector to grid surface */ if (process.mbp_ampcorr_slope == MB_YES) { v1[0] = 2.0 * grid.dx / mtodeglon; v1[1] = 2.0 * grid.dy / mtodeglat; v1[2] = grid.data[kgrid11] - grid.data[kgrid00]; v2[0] = -2.0 * grid.dx / mtodeglon; v2[1] = 2.0 * grid.dy / mtodeglat; v2[2] = grid.data[kgrid01] - grid.data[kgrid10]; v[0] = v1[1] * v2[2] - v2[1] * v1[2]; v[1] = v2[0] * v1[2] - v1[0] * v2[2]; v[2] = v1[0] * v2[1] - v2[0] * v1[1]; vv = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); v[0] /= vv; v[1] /= vv; v[2] /= vv; } else { v[0] = 0.0; v[1] = 0.0; v[2] = 1.0; } /* angle between look vector and surface normal is the acos(r dot v) */ angle = RTD * acos(r[0] * v[0] + r[1] * v[1] + r[2] *v[2]); if (bathacrosstrack[i] < 0.0) angle = -angle; /* fprintf(stderr,"i:%d xtrack:%f ltrack:%f depth:%f sonardepth:%f rawangle:%f\n", i,bathacrosstrack[i],bathalongtrack[i],bath[i],sonardepth,RTD * atan(bathacrosstrack[i] / (sonardepth + grid.data[kgrid]))); fprintf(stderr,"ix:%d of %d jy:%d of %d topo:%f\n", ix,grid.nx,jy,grid.ny,grid.data[kgrid]); fprintf(stderr,"R:%f %f %f V1:%f %f %f V2:%f %f %f V:%f %f %f angle:%f\n\n", r[0],r[1],r[2],v1[0],v1[1],v1[2],v2[0],v2[1],v2[2],v[0],v[1],v[2],angle);*/ } else { if (ix >= 0 && ix < grid.nx && jy >= 0 && jy < grid.ny && grid.data[kgrid] > grid.nodatavalue) bathy = -grid.data[kgrid]; else bathy = bath[i]; angle = RTD * atan(bathacrosstrack[i] / (bathy - sonardepth)); slope = 0.0; } /* apply correction */ status = get_anglecorr(verbose, ampcorrtableuse.nangle, ampcorrtableuse.angle, ampcorrtableuse.amplitude, angle, &correction, &error); /*fprintf(stderr, "ping:%d beam:%d slope:%f angle:%f corr:%f reference:%f amp: %f", j, i, slopeangle, angle, correction, reference_amp, amp[i]);*/ if (process.mbp_ampcorr_type == MBP_AMPCORR_SUBTRACTION) amp[i] = amp[i] - correction + reference_amp; else amp[i] = amp[i] / correction * reference_amp; /*fprintf(stderr, " amp: %f\n", amp[i]);*/ } } } /* correct the sidescan if desired */ if (process.mbp_sscorr_mode == MBP_SSCORR_ON && error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA && nsscorrtable > 0 && nsscorrangle > 0) { /* calculate the correction table */ status = get_corrtable(verbose, time_d, nsscorrtable, nsscorrangle, sscorrtable, &sscorrtableuse, &error); /* set the reference amplitudes */ status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, (-process.mbp_sscorr_angle), &reference_amp_port, &error); status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, process.mbp_sscorr_angle, &reference_amp_stbd, &error); reference_amp = 0.5 * (reference_amp_port + reference_amp_stbd); /*fprintf(stderr, "itable:%d time:%f nangle:%d\n", itable, sscorrtableuse.time_d, sscorrtableuse.nangle); for (i=0;i MB_SIDESCAN_NULL) { /* get position in grid */ r[0] = headingy * ssacrosstrack[i] + headingx * ssalongtrack[i]; r[1] = -headingx * ssacrosstrack[i] + headingy * ssalongtrack[i]; ix = (navlon + r[0] * mtodeglon - grid.xmin + 0.5 * grid.dx) / grid.dx; jy = (navlat + r[1] * mtodeglat - grid.ymin + 0.5 * grid.dy) / grid.dy; kgrid = ix * grid.ny + jy; kgrid00 = (ix - 1) * grid.ny + jy - 1; kgrid01 = (ix - 1) * grid.ny + jy + 1; kgrid10 = (ix + 1) * grid.ny + jy - 1; kgrid11 = (ix + 1) * grid.ny + jy + 1; if (ix > 0 && ix < grid.nx - 1 && jy > 0 && jy < grid.ny - 1 && grid.data[kgrid] > grid.nodatavalue && grid.data[kgrid00] > grid.nodatavalue && grid.data[kgrid01] > grid.nodatavalue && grid.data[kgrid10] > grid.nodatavalue && grid.data[kgrid11] > grid.nodatavalue) { /* get look vector for data */ bathy = -grid.data[kgrid]; r[2] = grid.data[kgrid] + sonardepth; rr = -sqrt(r[0] * r[0] + r[1] * r[1] + r[2] * r[2]); r[0] /= rr; r[1] /= rr; r[2] /= rr; /* get normal vector to grid surface */ if (process.mbp_sscorr_slope == MB_YES) { v1[0] = 2.0 * grid.dx / mtodeglon; v1[1] = 2.0 * grid.dy / mtodeglat; v1[2] = grid.data[kgrid11] - grid.data[kgrid00]; v2[0] = -2.0 * grid.dx / mtodeglon; v2[1] = 2.0 * grid.dy / mtodeglat; v2[2] = grid.data[kgrid01] - grid.data[kgrid10]; v[0] = v1[1] * v2[2] - v2[1] * v1[2]; v[1] = v2[0] * v1[2] - v1[0] * v2[2]; v[2] = v1[0] * v2[1] - v2[0] * v1[1]; vv = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); v[0] /= vv; v[1] /= vv; v[2] /= vv; } else { v[0] = 0.0; v[1] = 0.0; v[2] = 1.0; } /* angle between look vector and surface normal is the acos(r dot v) */ angle = RTD * acos(r[0] * v[0] + r[1] * v[1] + r[2] *v[2]); if (ssacrosstrack[i] < 0.0) angle = -angle; /* fprintf(stderr,"i:%d xtrack:%f ltrack:%f depth:%f sonardepth:%f rawangle:%f\n", i,ssacrosstrack[i],ssalongtrack[i],ss[i],sonardepth,RTD * atan(ssacrosstrack[i] / (sonardepth + grid.data[kgrid]))); fprintf(stderr,"ix:%d of %d jy:%d of %d topo:%f\n", ix,grid.nx,jy,grid.ny,grid.data[kgrid]); fprintf(stderr,"R:%f %f %f V1:%f %f %f V2:%f %f %f V:%f %f %f angle:%f\n\n", r[0],r[1],r[2],v1[0],v1[1],v1[2],v2[0],v2[1],v2[2],v[0],v[1],v[2],angle);*/ } else { if (ix >= 0 && ix < grid.nx && jy >= 0 && jy < grid.ny && grid.data[kgrid] > grid.nodatavalue) bathy = -grid.data[kgrid]; else if (altitude > 0.0) bathy = altitude + sonardepth; else bathy = altitude_default + sonardepth; angle = RTD * atan(bathacrosstrack[i] / (bathy - sonardepth)); slope = 0.0; } /* apply correction */ status = get_anglecorr(verbose, sscorrtableuse.nangle, sscorrtableuse.angle, sscorrtableuse.amplitude, angle, &correction, &error); if (process.mbp_sscorr_type == MBP_SSCORR_SUBTRACTION) { ss[i] = ss[i] - correction + reference_amp; } else { ss[i] = ss[i] / correction * reference_amp; } } } } } /*-------------------------------------------- insert the altered data (now done) --------------------------------------------*/ /* insert the altered data if available */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_DATA || kind == MB_DATA_COMMENT)) { status = mb_insert(verbose,imbio_ptr, store_ptr,kind, time_i,time_d, navlon,navlat,speed,heading, nbath,namp,nss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); } /*-------------------------------------------- write the processed data --------------------------------------------*/ /* write some data */ if (error == MB_ERROR_NO_ERROR || (kind == MB_DATA_COMMENT && strip_comments == MB_NO)) { status = mb_put_all(verbose,ombio_ptr, store_ptr,MB_NO,kind, time_i,time_d, navlon,navlat,speed,heading, nbath,namp,nss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); if (status == MB_SUCCESS) { if (kind == MB_DATA_DATA) odata++; else if (kind == MB_DATA_NAV) onav++; else if (kind == MB_DATA_COMMENT) ocomment++; else oother++; } else { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam Data Not Written To File <%s>\n",process.mbp_ofile); fprintf(stderr,"Output Record: %d\n",odata+1); fprintf(stderr,"Time: %4d %2d %2d %2d:%2d:%2d.%6d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } } /* output beam flagging success info */ neditnull = 0; neditduplicate = 0; neditnotused = 0; neditused = 0; for (i=0;i= 2) fprintf(stderr,"BEAM FLAG TIED TO NULL BEAM: i:%d edit: %f %d %d %d\n", i,esf.edit[i].time_d,esf.edit[i].beam,esf.edit[i].action,esf.edit[i].use); } else if (esf.edit[i].use == 100) { neditduplicate++; if (verbose >= 2) fprintf(stderr,"DUPLICATE BEAM FLAG: i:%d edit: %f %d %d %d\n", i,esf.edit[i].time_d,esf.edit[i].beam,esf.edit[i].action,esf.edit[i].use); } else if (esf.edit[i].use != 1) { neditnotused++; if (verbose >= 2) fprintf(stderr,"BEAM FLAG NOT USED: i:%d edit: %f %d %d %d\n", i,esf.edit[i].time_d,esf.edit[i].beam,esf.edit[i].action,esf.edit[i].use); } else if (esf.edit[i].use == 1) { neditused++; if (verbose >= 2) fprintf(stderr,"BEAM FLAG USED: i:%d edit: %f %d %d %d\n", i,esf.edit[i].time_d,esf.edit[i].beam,esf.edit[i].action,esf.edit[i].use); } } if (verbose >= 1) { fprintf(stderr, " %d flags used\n", neditused); fprintf(stderr, " %d flags not used\n", neditnotused); fprintf(stderr, " %d flags tied to null beams\n", neditnull); fprintf(stderr, " %d duplicate flags\n", neditduplicate); } /*-------------------------------------------- close files and deallocate memory --------------------------------------------*/ /* close the files */ status = mb_close(verbose,&imbio_ptr,&error); status = mb_close(verbose,&ombio_ptr,&error); /* unlock the raw swath file */ if (uselockfiles == MB_YES) lock_status = mb_pr_unlockswathfile(verbose, process.mbp_ifile, MBP_LOCK_PROCESS, program_name, &lock_error); /* deallocate arrays for amplitude correction tables */ if (nampcorrtable > 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&(ampcorrtableuse.angle),&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&(ampcorrtableuse.amplitude),&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&(ampcorrtableuse.sigma),&error); for (i=0;i 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&(sscorrtableuse.angle),&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&(sscorrtableuse.amplitude),&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&(sscorrtableuse.sigma),&error); for (i=0;i 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&ntime,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlon,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlat,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nheading,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nspeed,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&ndraft,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nroll,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&npitch,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nheave,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlonspl,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nlatspl,&error); } /* deallocate arrays for adjusted navigation */ if (nanav > 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&natime,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nalon,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nalat,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nalonspl,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&nalatspl,&error); } /* deallocate arrays for attitude merging */ if (nanav > 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&attitudetime,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&attituderoll,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&attitudepitch,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&attitudeheave,&error); } /* deallocate arrays for sonardepth merging */ if (nsonardepth > 0) { mb_freed(verbose,__FILE__,__LINE__,(void **)&fsonardepthtime,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&fsonardepth,&error); } /* deallocate arrays for beam edits */ if (esf.nedit > 0) { mb_esf_close(verbose,&esf,&error); } /* deallocate memory for svp arrays and raytracing */ if (process.mbp_svp_mode != MBP_SVP_OFF) { mb_freed(verbose,__FILE__,__LINE__,(void **)&depth,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&velocity,&error); mb_freed(verbose,__FILE__,__LINE__,(void **)&velocity_sum,&error); if (rt_svp != NULL) status = mb_rt_deall(verbose, &rt_svp, &error); } /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* give the statistics */ if (verbose >= 1) { fprintf(stderr,"\n%d input data records\n",idata); fprintf(stderr,"%d input nav records\n",inav); fprintf(stderr,"%d input comment records\n",icomment); fprintf(stderr,"%d input other records\n",iother); fprintf(stderr,"%d output data records\n",odata); fprintf(stderr,"%d output nav records\n",onav); fprintf(stderr,"%d output comment records\n",ocomment); fprintf(stderr,"%d output other records\n",oother); } /* generate inf file */ if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, process.mbp_ofile, process.mbp_format, &error); } } /* end processing file */ /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, mbp_ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } } /* end loop over datalist */ if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* end it all */ exit(error); } /*--------------------------------------------------------------------*/ int check_ss_for_bath(int verbose, int nbath, char *beamflag, double *bath, double *bathacrosstrack, int nss, double *ss, double *ssacrosstrack, int *error) { char *function_name = "check_ss_for_bath"; int status = MB_SUCCESS; int ifirst, ilast; int iss, ibath; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBPROCESS function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 nbath: %d\n",nbath); fprintf(stderr,"dbg2 bath: %lu\n",(size_t)bath); fprintf(stderr,"dbg2 bathacrosstrack: %lu\n",(size_t)bathacrosstrack); fprintf(stderr,"dbg2 bath:\n"); for (i=0;i bathacrosstrack[ibath+1]))) ibath++; /*fprintf(stderr,"iss:%d ibath:%d %f %f %f %f ss: %f %f\n", iss,ibath,bath[ibath],bath[ibath+1], bathacrosstrack[ibath],bathacrosstrack[ibath+1], ss[iss],ssacrosstrack[iss]);*/ /* now zero sidescan if not surrounded by good bathy */ if (!mb_beam_ok(beamflag[ibath]) || !mb_beam_ok(beamflag[ibath+1])) ss[iss] = 0.0; else if (ssacrosstrack[iss] < bathacrosstrack[ibath]) ss[iss] = 0.0; else if (ssacrosstrack[iss] > bathacrosstrack[ibath+1]) ss[iss] = 0.0; } } /* else if no good bathy zero all sidescan */ else { for (iss=0;iss= 2) { fprintf(stderr,"\ndbg2 MBPROCESS 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 get_corrtable(int verbose, double time_d, int ncorrtable, int ncorrangle, struct mbprocess_sscorr_struct *corrtable, struct mbprocess_sscorr_struct *corrtableuse, int *error) { char *function_name = "get_corrtable"; int status = MB_SUCCESS; double factor; int ifirst, ilast, irecent, inext; int i, ii, itable; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBPROCESS function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 ncorrtable: %d\n",ncorrtable); fprintf(stderr,"dbg2 ncorrangle: %d\n",ncorrangle); fprintf(stderr,"dbg2 corrtable: %lu\n",(size_t)corrtable); } /* find the correction table */ if (ncorrtable == 1 || time_d <= corrtable[0].time_d) { corrtableuse->time_d = corrtable[0].time_d; corrtableuse->nangle = corrtable[0].nangle; for (i=0;iangle[i] = corrtable[0].angle[i]; corrtableuse->amplitude[i] = corrtable[0].amplitude[i]; corrtableuse->sigma[i] = corrtable[0].sigma[i]; } } else if (time_d > corrtable[ncorrtable-1].time_d) { corrtableuse->time_d = corrtable[ncorrtable-1].time_d; corrtableuse->nangle = corrtable[ncorrtable-1].nangle; for (i=0;iangle[i] = corrtable[ncorrtable-1].angle[i]; corrtableuse->amplitude[i] = corrtable[ncorrtable-1].amplitude[i]; corrtableuse->sigma[i] = corrtable[ncorrtable-1].sigma[i]; } } else { itable = 0; for (i=0;i time_d) itable = i; } factor = (time_d - corrtable[itable].time_d) / (corrtable[itable+1].time_d - corrtable[itable].time_d); corrtableuse->time_d = time_d; corrtableuse->nangle = MIN(corrtable[itable].nangle, corrtable[itable].nangle); for (i=0;inangle;i++) { corrtableuse->angle[i] = corrtable[itable].angle[i] + factor * (corrtable[itable+1].angle[i] - corrtable[itable].angle[i]); if (corrtable[itable].amplitude[i] != 0.0 && corrtable[itable+1].amplitude[i] != 0.0) { corrtableuse->amplitude[i] = corrtable[itable].amplitude[i] + factor * (corrtable[itable+1].amplitude[i] - corrtable[itable].amplitude[i]); corrtableuse->sigma[i] = corrtable[itable].sigma[i] + factor * (corrtable[itable+1].sigma[i] - corrtable[itable].sigma[i]); } else if (corrtable[itable].amplitude[i] != 0.0) { corrtableuse->amplitude[i] = corrtable[itable].amplitude[i]; corrtableuse->sigma[i] = corrtable[itable].sigma[i]; } else { corrtableuse->amplitude[i] = corrtable[itable+1].amplitude[i]; corrtableuse->sigma[i] = corrtable[itable+1].sigma[i]; } } } /* now interpolate or extrapolate any zero values */ ifirst = ncorrangle; ilast = -1; for (i=0;iamplitude[i] != 0.0) { ifirst = MIN(i, ifirst); ilast = MAX(i, ilast); } } for (i=0;iamplitude[i] != 0.0) irecent = i; if (i < ifirst) { corrtableuse->amplitude[i] = corrtableuse->amplitude[ifirst]; corrtableuse->sigma[i] = corrtableuse->sigma[ifirst]; } else if (i > ilast) { corrtableuse->amplitude[i] = corrtableuse->amplitude[ilast]; corrtableuse->sigma[i] = corrtableuse->sigma[ilast]; } else if (corrtableuse->amplitude[i] == 0.0) { inext = -1; for (ii=i+1;iiamplitude[ii] != 0.0 && inext < 0) inext = ii; } if (irecent < i && inext > i) { factor = ((double)(i - irecent)) / ((double)(inext - irecent)); corrtableuse->amplitude[i] = corrtableuse->amplitude[irecent] + factor * (corrtableuse->amplitude[inext] - corrtableuse->amplitude[irecent]); corrtableuse->sigma[i] = corrtableuse->sigma[irecent] + factor * (corrtableuse->sigma[inext] - corrtableuse->sigma[irecent]); } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBPROCESS function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 ncorrangle: %d\n",ncorrangle); for (i=0;iangle[i], corrtableuse->amplitude[i], corrtableuse->sigma[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 get_anglecorr(int verbose, int nangle, double *angles, double *corrs, double angle, double *corr, int *error) { char *function_name = "get_anglecorr"; int status = MB_SUCCESS; int iangle, found; int ifirst, ilast; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBPROCESS 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 angles: %lu\n",(size_t)angles); fprintf(stderr,"dbg2 corrs: %lu\n",(size_t)corrs); for (i=0;i= angles[i] && angle <= angles[i+1]) { found = MB_YES; iangle = i; } /* interpolate the correction */ if (found == MB_YES) { *corr = corrs[iangle] + (corrs[iangle+1] - corrs[iangle]) *(angle - angles[iangle]) /(angles[iangle+1] - angles[iangle]); } else if (angle < angles[0]) { iangle = 0; *corr = corrs[0]; } else if (angle > angles[nangle-1]) { iangle = nangle - 1; *corr = corrs[nangle-1]; } else *corr = 0.0; /* use outermost value if angle outside nonzero range */ if (*corr == 0.0) { ifirst = nangle - 1; ilast = 0; for (i=0;i i) ifirst = i; if (ilast < i) ilast = i; } } if (angle < 0.0) *corr = corrs[ifirst]; if (angle > 0.0) *corr = corrs[ilast]; } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBPROCESS function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 corr: %f\n",*corr); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/