/*-------------------------------------------------------------------- * The MB-system: mblist.c 2/1/93 * $Id: mblist.c 1829 2010-02-05 02:53:39Z caress $ * * Copyright (c) 1993-2009 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. *--------------------------------------------------------------------*/ /* * MBlist prints the specified contents of a swath sonar data * file to stdout. The form of the output is quite flexible; * MBlist is tailored to produce ascii files in spreadsheet * style with data columns separated by tabs. * * Author: D. W. Caress * Date: February 1, 1993 * * Note: This program is based on the program mblist created * by A. Malinverno (currently at Schlumberger, formerly * at L-DEO) in August 1991. It also includes elements * derived from the program mbdump created by D. Caress * in 1990. * * $Log: mblist.c,v $ * Revision 5.30 2008/08/12 00:05:54 caress * Gordon Keith's fixes to some of his options. * * Revision 5.29 2008/07/10 18:16:33 caress * Proceeding towards 5.1.1beta20. * * Revision 5.27 2008/05/24 19:39:03 caress * Applied Gordon Keith fix to mblist. * * Revision 5.26 2008/02/12 02:49:15 caress * Added ability to output transmit and receive gain values. * * Revision 5.25 2007/10/17 20:34:00 caress * Release 5.1.1beta11 * Added decimation option. * * Revision 5.24 2007/10/08 16:48:07 caress * State of the code on 8 October 2007. * * Revision 5.23 2007/07/05 19:17:05 caress * Fixed calculation of grazing angles by adding sonar depth to calculation. * * Revision 5.22 2007/07/04 04:05:29 caress * Gordon Keith's mods. * * Revision 5.21 2007/05/12 19:57:21 caress * Fixed array pointer initialization. * * Revision 5.20 2006/10/05 18:58:29 caress * Changes for 5.1.0beta4 * * Revision 5.19 2006/02/01 18:25:57 caress * Added raw Simrad value output to mblist, contributed by Gordon Keith. * * Revision 5.18 2006/01/18 15:17:00 caress * Added stdlib.h include. * * Revision 5.17 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 5.16 2005/06/04 06:17:38 caress * MBlist can now output the data in CDL and netCDF formats. This capability was contributed by Gordon Keith. * * Revision 5.15 2004/12/02 06:38:10 caress * Fixes while supporting Reson 7k data. * * Revision 5.14 2004/06/18 04:11:57 caress * Adding support for segy i/o and working on support for Reson 7k format 88. * * Revision 5.13 2003/08/18 19:07:52 vschmidt * Fixed bug such that 'along track distance' now reports a cumulative distance for a list of files, rather than resetting with each file. * * Revision 5.12 2003/07/30 16:41:06 caress * Fixed handling of time gap errors in data . * * Revision 5.11 2003/04/17 21:18:57 caress * Release 5.0.beta30 * * Revision 5.10 2002/05/29 23:43:09 caress * Release 5.0.beta18 * * Revision 5.9 2002/04/06 02:53:45 caress * Release 5.0.beta16 * * Revision 5.8 2002/03/26 23:21:15 caress * Fixed default output string. * * Revision 5.7 2001/10/29 20:12:40 caress * As per Bob Covill, fixed binary output of sidescan pixel number. * * Revision 5.6 2001/10/26 17:14:21 caress * Fixed bug in binary sidescan output. The program * was sticking tab characters into the binary output. * * Revision 5.5 2001/09/17 23:21:14 caress * Fixed calculation of lon and lat values. * * Revision 5.4 2001/07/20 00:34:38 caress * Release 5.0.beta03 * * Revision 5.3 2001/06/29 22:50:23 caress * Atlas Hydrosweep DS2 raw data and SURF data formats. * * Revision 5.2 2001/06/08 21:45:46 caress * Version 5.0.beta01 * * Revision 5.1 2001/03/22 21:15:49 caress * Trying to make release 5.0.beta0. * * Revision 5.0 2000/12/01 22:57:08 caress * First cut at Version 5.0. * * Revision 4.26 2000/10/11 01:06:15 caress * Convert to ANSI C * * Revision 4.25 2000/09/30 07:06:28 caress * Snapshot for Dale. * * Revision 4.24 2000/09/11 20:10:02 caress * Linked to new datalist parsing functions. Now supports recursive datalists * and comments in datalists. * * Revision 4.23 1998/10/05 19:19:24 caress * MB-System version 4.6beta * * Revision 4.22 1997/04/21 17:19:14 caress * MB-System 4.5 Beta Release. * * Revision 4.21 1996/04/22 13:23:05 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.21 1996/04/22 13:23:05 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.20 1995/11/28 21:03:36 caress * Fixed scaling for meters to feet. * * Revision 4.19 1995/11/22 22:21:36 caress * Now handles bathymetry in feet with -W option. * * Revision 4.18 1995/09/19 14:56:59 caress * Added output for ping interval. * * Revision 4.17 1995/08/17 15:04:52 caress * Revision for release 4.3. * * Revision 4.16 1995/08/10 15:39:36 caress * mblist now works with datalist files. * * Revision 4.15 1995/07/13 20:13:36 caress * Added output options x and y for longitude and latitude in * integer degrees + decimal minutes + EW/NS * * Revision 4.14 1995/06/06 13:31:48 caress * Fixed warnings under Solaris by explicit casting of strlen result. * * Revision 4.13 1995/05/12 17:12:32 caress * Made exit status values consistent with Unix convention. * 0: ok nonzero: error * * Revision 4.12 1995/03/22 18:33:38 caress * Fixed output formats for latitude and depth values. * * Revision 4.11 1995/03/06 19:37:59 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.10 1995/03/02 13:49:21 caress * Fixed bug related to error messages. * * Revision 4.9 1995/01/18 20:20:46 caress * Fixed bug messing up sidescan output. * * Revision 4.8 1994/12/21 20:22:30 caress * Fixed bug in printing sidescan values. * * Revision 4.7 1994/10/21 13:02:31 caress * Release V4.0 * * Revision 4.6 1994/07/29 19:02:56 caress * Changes associated with supporting byte swapped Lynx OS and * using unix second time base. * * Revision 4.5 1994/06/21 22:53:08 caress * Changes to support PCs running Lynx OS. * * Revision 4.4 1994/06/05 22:31:22 caress * Major revision changing the manner in which complete * dumps occur. Options added to control the range of beams * or pixels which are output. * * Revision 4.3 1994/06/01 21:00:55 caress * Added new dump modes with acrosstrack and alongtrack * values. Added topography dumps. * * Revision 4.2 1994/04/29 18:01:20 caress * Added output option "j" for time string in form: year jday daymin sec * * Revision 4.1 1994/04/12 18:50:33 caress * Added #ifdef IRIX statements for compatibility with * SGI machines. The system routine timegm does not exist * on SGI's; mktime must be used instead. * * Revision 4.0 1994/03/06 00:13:22 caress * First cut at version 4.0 * * Revision 4.0 1994/03/01 18:59:27 caress * First cut at new version. Any changes are associated with * support of three data types (beam bathymetry, beam amplitude, * and sidescan) instead of two (bathymetry and backscatter). * * Revision 3.6 1993/09/11 15:44:30 caress * Fixed bug so that mblist no longer checks for a valid depth * even if it is not outputting depth. * * Revision 3.5 1993/06/13 07:47:20 caress * Added new time output options "m" and "u" and changed * old options "U" to "M" and "u" to "U * Now time options are: * T for a time string (yyyy/mm/dd/hh/mm/ss) * t for a time string (yyyy mm dd hh mm ss) * J for a time string (yyyy jd hh mm ss) * M for mbio time in minutes since 1/1/81 00:00:00 * m for time in minutes since first record * U for unix time in seconds since 1/1/70 00:00:00 * u for time in seconds since first record * * Revision 3.4 1993/06/13 03:02:18 caress * Added new output option "A", which outputs the apparent * crosstrack seafloor slope in degrees from vertical. This * value is calculated by fitting a line to the bathymetry * data for each ping. Obtaining a time series of the apparent * seafloor slope is useful for detecting errors in the vertical * reference used by the multibeam sonar. * * Revision 3.3 1993/06/09 11:47:44 caress * Fixed problem with unix time value output. In unix time * months are counted 0-11 instead of 1-12. * * Revision 3.2 1993/05/17 16:37:18 caress * Fixed problem where program crashed if -F was used. * * Revision 3.0 1993/05/04 22:20:17 dale * Initial version * * */ /* standard include files */ #include #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #include "../../include/mbsys_simrad2.h" /* GMT include files */ #include "gmt_nan.h" /* local options */ #define MAX_OPTIONS 25 #define DUMP_MODE_LIST 1 #define DUMP_MODE_BATH 2 #define DUMP_MODE_TOPO 3 #define DUMP_MODE_AMP 4 #define DUMP_MODE_SS 5 #define MBLIST_CHECK_ON 0 #define MBLIST_CHECK_ON_NULL 1 #define MBLIST_CHECK_OFF_RAW 2 #define MBLIST_CHECK_OFF_NAN 3 #define MBLIST_CHECK_OFF_FLAGNAN 4 #define MBLIST_SET_OFF 0 #define MBLIST_SET_ON 1 #define MBLIST_SET_ALL 2 /* function prototypes */ int set_output( int verbose, int beams_bath, int beams_amp, int pixels_ss, int use_bath, int use_amp, int use_ss, int dump_mode, int beam_set, int pixel_set, int beam_vertical, int pixel_vertical, int *beam_start, int *beam_end, int *pixel_start, int *pixel_end, int *n_list, char *list, int *error); int set_bathyslope(int verbose, int nbath, char *beamflag, double *bath, double *bathacrosstrack, int *ndepths, double *depths, double *depthacrosstrack, int *nslopes, double *slopes, double *slopeacrosstrack, int *error); int get_bathyslope(int verbose, int ndepths, double *depths, double *depthacrosstrack, int nslopes, double *slopes, double *slopeacrosstrack, double acrosstrack, double *depth, double *slope, int *error); int printsimplevalue(int verbose, FILE *output, double value, int width, int precision, int ascii, int *invert, int *flipsign, int *error); int printNaN(int verbose, FILE *output, int ascii, int *invert, int *flipsign, int *error); int mb_get_raw(int verbose, void *mbio_ptr, int *mode, int *ipulse_length, int *png_count, int *sample_rate, double *absorption, int *max_range, int *r_zero, int *r_zero_corr, int *tvg_start, int *tvg_stop, double *bsn, double *bso, int *tx, int *tvg_crossover, int *nbeams_ss, int *npixels, int *beam_samples, int *start_sample, int *range, double *depression, double *bs, double *ss_pixels, int *error); int mb_get_raw_simrad2(int verbose, void *mbio_ptr, int *mode, int *ipulse_length, int *png_count, int *sample_rate, double *absorption, int *max_range, int *r_zero, int *r_zero_corr, int *tvg_start, int *tvg_stop, double *bsn, double *bso, int *tx, int *tvg_crossover, int *nbeams_ss, int *npixels, int *beam_samples, int *start_sample, int *range, double *depression, double *bs, double *ss_pixels, int *error); /* NaN value */ double NaN; static char rcs_id[] = "$Id: mblist.c 1829 2010-02-05 02:53:39Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "MBLIST"; char help_message[] = "MBLIST prints the specified contents of a swath data \nfile to stdout. The form of the output is quite flexible; \nMBLIST is tailored to produce ascii files in spreadsheet \nstyle with data columns separated by tabs."; char usage_message[] = "mblist [-Byr/mo/da/hr/mn/sc -C -Ddump_mode -Eyr/mo/da/hr/mn/sc \n-Fformat -Gdelimiter -H -Ifile -Kdecimate -Llonflip -Mbeam_start/beam_end -Npixel_start/pixel_end \n-Ooptions -Ppings -Rw/e/s/n -Sspeed -Ttimegap -Ucheck -Xoutfile -V -W -Zsegment]"; extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* MBIO read control parameters */ int read_datalist = MB_NO; char read_file[MB_PATH_MAXLINE]; void *datalist; int look_processed = MB_DATALIST_LOOK_UNSET; double file_weight; int format; int pings; int pings_read; int decimate; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; char file[MB_PATH_MAXLINE]; int beams_bath; int beams_amp; int pixels_ss; /* output format list controls */ char list[MAX_OPTIONS]; int n_list; int beam_set = MBLIST_SET_OFF; int beam_start; int beam_end; int beam_vertical = 0; int pixel_set = MBLIST_SET_OFF; int pixel_start; int pixel_end; int pixel_vertical = 0; int dump_mode = 1; double distance_total; int nread; int beam_status = MB_SUCCESS; int pixel_status = MB_SUCCESS; int time_j[5]; int use_bath = MB_NO; int use_amp = MB_NO; int use_ss = MB_NO; int use_slope = MB_NO; int use_nav = MB_NO; int use_gains = MB_NO; int check_values = MBLIST_CHECK_ON; int check_bath = MB_NO; int check_amp = MB_NO; int check_ss = MB_NO; int invert_next_value = MB_NO; int signflip_next_value = MB_NO; int raw_next_value = MB_NO; int port_next_value = MB_NO; int stbd_next_value = MB_NO; int use_raw = MB_NO; int first = MB_YES; int ascii = MB_YES; int netcdf = MB_NO; int netcdf_cdl = MB_YES; int segment = MB_NO; char segment_tag[MB_PATH_MAXLINE]; char delimiter[MB_PATH_MAXLINE]; /* MBIO read values */ void *mbio_ptr = NULL; 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; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; char comment[MB_COMMENT_MAXLINE]; int icomment = 0; /* additional time variables */ int first_m = MB_YES; double time_d_ref; int first_u = MB_YES; time_t time_u; time_t time_u_ref; /* crosstrack slope values */ double avgslope; double sx, sy, sxx, sxy; int ns; double angle, depth, slope; int ndepths; double *depths = NULL; double *depthacrosstrack = NULL; int nslopes; double *slopes = NULL; double *slopeacrosstrack = NULL; /* course calculation variables */ int use_course = MB_NO; int use_time_interval = MB_NO; double course, course_old; double time_d_old, dt; double time_interval; double speed_made_good, speed_made_good_old; double navlon_old, navlat_old; double dx, dy, dist; double delta, b; double dlon, dlat, minutes; int degrees; char hemi; double headingx, headingy, mtodeglon, mtodeglat; /* swathbounds variables */ int use_swathbounds = MB_NO; int beam_port, beam_stbd; int pixel_port, pixel_stbd; /* bathymetry feet flag */ int bathy_in_feet = MB_NO; double bathy_scale; /* raw data values */ int count = 0; int invert; int flip; int mode; int ipulse_length; int png_count; int sample_rate; double absorption; int max_range; int r_zero; int r_zero_corr; int tvg_start; int tvg_stop; double bsn; double bso; double mback; int nback; int tx; int tvg_crossover; int nbeams_ss; int npixels; int *beam_samples = NULL; int *range = NULL; int *start_sample = NULL; double *depression = NULL; double *bs = NULL; double *ss_pixels = NULL; double transmit_gain; double pulse_length; double receive_gain; int read_data; int i, j, k, m; /* output files */ FILE **output; FILE *outfile; char output_file[MB_PATH_MAXLINE]; char output_file_temp[MB_PATH_MAXLINE]; char buffer[MB_BUFFER_MAX]; /* netcdf variables */ char variable[MB_PATH_MAXLINE]; int lcount = 0; time_t right_now; char date[128], user[128], *user_ptr, host[128]; /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input to datalist.mb-1 */ strcpy (read_file, "datalist.mb-1"); /* set up the default list controls (Time, lon, lat, heading, speed, along-track distance, center beam depth) */ list[0]='T'; list[1]='X'; list[2]='Y'; list[3]='H'; list[4]='S'; list[5]='L'; list[6]='Z'; n_list = 7; sprintf(delimiter, "\t"); /* set dump mode flag to DUMP_MODE_LIST */ dump_mode = DUMP_MODE_LIST; decimate = 1; /* get NaN value */ GMT_make_dnan(NaN); strcpy(output_file, "-"); /* process argument list */ while ((c = getopt(argc, argv, "AaB:b:CcD:d:E:e:F:f:G:g:I:i:K:k:L:l:M:m:N:n:O:o:P:p:QqR:r:S:s:T:t:U:u:X:x:Z:z:VvWwHh")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'A': case 'a': ascii = MB_NO; netcdf_cdl = MB_NO; flag++; break; case 'B': case 'b': sscanf (optarg,"%d/%d/%d/%d/%d/%d", &btime_i[0],&btime_i[1],&btime_i[2], &btime_i[3],&btime_i[4],&btime_i[5]); btime_i[6] = 0; flag++; break; case 'C': case 'c': netcdf = MB_YES; flag++; break; case 'D': case 'd': sscanf (optarg,"%d", &dump_mode); if (dump_mode == DUMP_MODE_BATH) beam_set = MBLIST_SET_ALL; else if (dump_mode == DUMP_MODE_TOPO) beam_set = MBLIST_SET_ALL; else if (dump_mode == DUMP_MODE_AMP) beam_set = MBLIST_SET_ALL; else if (dump_mode == DUMP_MODE_SS) pixel_set = MBLIST_SET_ALL; flag++; break; case 'E': case 'e': sscanf (optarg,"%d/%d/%d/%d/%d/%d", &etime_i[0],&etime_i[1],&etime_i[2], &etime_i[3],&etime_i[4],&etime_i[5]); etime_i[6] = 0; flag++; break; case 'G': case 'g': sscanf (optarg,"%s", delimiter); flag++; break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'K': case 'k': sscanf (optarg,"%d", &decimate); flag++; break; case 'L': case 'l': sscanf (optarg,"%d", &lonflip); flag++; break; case 'M': case 'm': if (optarg[0] == 'a' || optarg[0] == 'A') { beam_set = MBLIST_SET_ALL; } else { sscanf (optarg,"%d/%d", &beam_start,&beam_end); beam_set = MBLIST_SET_ON; } flag++; break; case 'N': case 'n': if (optarg[0] == 'a' || optarg[0] == 'A') { pixel_set = MBLIST_SET_ALL; } else { sscanf (optarg,"%d/%d", &pixel_start,&pixel_end); pixel_set = MBLIST_SET_ON; } flag++; break; case 'O': case 'o': for(j=0,n_list=0;j<(int)strlen(optarg);j++,n_list++) if (n_list MBLIST_CHECK_OFF_FLAGNAN) check_values = MBLIST_CHECK_ON; flag++; break; case 'W': case 'w': bathy_in_feet = MB_YES; break; case 'X': case 'x': sscanf(optarg,"%s", output_file); break; case 'Z': case 'z': segment = MB_YES; sscanf (optarg,"%s", segment_tag); flag++; break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 format: %d\n",format); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 decimate: %d\n",decimate); 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 file: %s\n",file); fprintf(stderr,"dbg2 output_file: %s\n",output_file); fprintf(stderr,"dbg2 ascii: %d\n",ascii); fprintf(stderr,"dbg2 netcdf: %d\n",netcdf); fprintf(stderr,"dbg2 netcdf_cdl: %d\n",netcdf_cdl); fprintf(stderr,"dbg2 segment: %d\n",segment); fprintf(stderr,"dbg2 segment_tag: %s\n",segment_tag); fprintf(stderr,"dbg2 delimiter: %s\n",delimiter); fprintf(stderr,"dbg2 beam_set: %d\n",beam_set); fprintf(stderr,"dbg2 beam_start: %d\n",beam_start); fprintf(stderr,"dbg2 beam_end: %d\n",beam_end); fprintf(stderr,"dbg2 pixel_set: %d\n",pixel_set); fprintf(stderr,"dbg2 pixel_start: %d\n",pixel_start); fprintf(stderr,"dbg2 pixel_end: %d\n",pixel_end); fprintf(stderr,"dbg2 dump_mode: %d\n",dump_mode); fprintf(stderr,"dbg2 check_values: %d\n",check_values); fprintf(stderr,"dbg2 n_list: %d\n",n_list); for (i=0;i Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(file, read_file); read_data = MB_YES; } /* set the initial along track distance here so */ /* it's cummulative over multiple files*/ distance_total = 0.0; /* initialize output files */ status = mb_mallocd(verbose, __FILE__, __LINE__, n_list*sizeof(FILE*), (void **)&output, &error); if (netcdf == MB_NO) { /* open output file */ if (0 == strncmp("-",output_file,2)) outfile = stdout; else outfile = fopen(output_file, "w"); if (NULL == outfile) { fprintf(stderr,"Could not open file: %s\n", output_file); exit(1); } /* for non netcdf all output goes to the same file */ for ( i=0; i < n_list; i++) output[i] = outfile; } else { /* netcdf must be ascii and must not be segmented */ ascii = MB_YES; segment = MB_NO; /* open CDL file */ if (0 == strncmp("-",output_file,2) && netcdf_cdl == MB_NO) strcpy(output_file, "mblist.nc"); if (0 == strncmp("-",output_file,2)) { outfile = stdout; } else { strncpy(output_file_temp, output_file, MB_PATH_MAXLINE - 5); if (netcdf_cdl == MB_NO) strcat(output_file_temp, ".cdl"); outfile = fopen(output_file_temp, "w+"); if (outfile == NULL) { fprintf(stderr, "Unable to open file: %s\n", output_file_temp); exit(1); } } /* output CDL headers */ fprintf(outfile, "netcdf mlist {\n\n\t// "); for ( i=0; i < argc; i++) fprintf(outfile, "%s ", argv[i]); fprintf(outfile, "\n\t// %s\n\n", rcs_id); fprintf(outfile, "dimensions:\n\ttimestring = 26, timestring_J = 24, timestring_j = 23, \n\t"); fprintf(outfile, "timefields_J = 6, timefields_j = 5, timefields_t = 7, latm = 13, \n\t"); /* find dimensions in format list */ raw_next_value = MB_NO; for (i=0; i= '0' && list[i] <= '9') count = count * 10 + list[i] - '0'; else { raw_next_value = MB_NO; if (count > 0) { fprintf(outfile, "%c = %d, ", list[i], count); count = 0; } } fprintf(outfile, "\n\tdata = unlimited ;\n\n"); fprintf(outfile, "variables:\n\t"); fprintf(outfile, ":command_line = \""); for ( i=0; i < argc; i++) fprintf(outfile, "%s ", argv[i]); fprintf(outfile, "\";\n\t:program_version = \"%s\";\n", rcs_id); fprintf(outfile, "\t:mbsystem_version = \"%s\";\n", MB_VERSION); right_now = time((time_t *)0); strncpy(date,ctime(&right_now),128); if ((user_ptr = (char *) getenv("USER")) == NULL) user_ptr = (char *) getenv("LOGNAME"); if (user_ptr != NULL) strcpy(user,user_ptr); else strcpy(user, "unknown"); gethostname(host,128); fprintf(outfile, "\t:run = \"by <%s> on cpu <%s> at <%s>\";\n\n", user, host, date); /* get temporary output file for each variable */ for (i=0; i:\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* figure out whether bath, amp, or ss will be used */ if (dump_mode == DUMP_MODE_BATH || dump_mode == DUMP_MODE_TOPO) use_bath = MB_YES; else if (dump_mode == DUMP_MODE_AMP) use_amp = MB_YES; else if (dump_mode == DUMP_MODE_SS) use_ss = MB_YES; else for (i=0; i Terminated\n", program_name); exit(error); } /* output separator for GMT style segment file output */ if (segment == MB_YES && ascii == MB_YES && netcdf == MB_NO) { fprintf(output[0],"%s\n", segment_tag); } /* read and print data */ nread = 0; first = MB_YES; while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read a ping of data */ if (pings == 1 || use_nav == MB_YES) { /* read next data record */ status = mb_get_all(verbose,mbio_ptr,&store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* time gaps are not a problem here */ if (error == MB_ERROR_TIME_GAP) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* if survey data extract nav */ if (error == MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) status = mb_extract_nav(verbose,mbio_ptr,store_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading,&draft,&roll,&pitch,&heave,&error); } else { status = mb_get(verbose,mbio_ptr,&kind,&pings_read, time_i,&time_d, &navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* time gaps are not a problem here */ if (error == MB_ERROR_TIME_GAP) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* make sure non survey data records are ignored */ if (error == MB_ERROR_NO_ERROR && kind != MB_DATA_DATA) error = MB_ERROR_OTHER; /* increment counter and set cumulative distance */ if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) { nread++; distance_total += distance; } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } /* print comments */ if (verbose >= 1 && kind == MB_DATA_COMMENT) { if (icomment == 0) { fprintf(stderr,"\nComments:\n"); icomment++; } fprintf(stderr,"%s\n",comment); } /* set output beams and pixels */ if (error == MB_ERROR_NO_ERROR) { /* find vertical-most non-null beam and port and starboard-most good beams */ status = mb_swathbounds(verbose, MB_YES, navlon, navlat, heading, beams_bath, pixels_ss, beamflag, bath, bathacrosstrack, bathalongtrack, ss, ssacrosstrack, ssalongtrack, &beam_port, &beam_vertical, &beam_stbd, &pixel_port, &pixel_vertical, &pixel_stbd, &error); /* set and/or check beams and pixels to be output */ status = set_output(verbose, beams_bath,beams_amp,pixels_ss, use_bath,use_amp,use_ss, dump_mode,beam_set,pixel_set, beam_vertical, pixel_vertical, &beam_start,&beam_end, &pixel_start,&pixel_end, &n_list,list,&error); if (status == MB_FAILURE) { fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Beams set for output in <%s>\n", program_name); fprintf(stderr,"dbg2 status: %d\n", status); fprintf(stderr,"dbg2 error: %d\n", error); fprintf(stderr,"dbg2 use_bath: %d\n", use_bath); fprintf(stderr,"dbg2 use_amp: %d\n", use_amp); fprintf(stderr,"dbg2 use_ss: %d\n", use_ss); fprintf(stderr,"dbg2 beam_start: %d\n", beam_start); fprintf(stderr,"dbg2 beam_end: %d\n", beam_end); fprintf(stderr,"dbg2 pixel_start: %d\n", pixel_start); fprintf(stderr,"dbg2 pixel_end: %d\n", pixel_end); fprintf(stderr,"dbg2 check_values: %d\n", check_values); fprintf(stderr,"dbg2 check_bath: %d\n", check_bath); fprintf(stderr,"dbg2 check_amp: %d\n", check_amp); fprintf(stderr,"dbg2 check_ss: %d\n", check_ss); fprintf(stderr,"dbg2 n_list: %d\n", n_list); for (i=0;i 0.0) course = RTD*atan2(dx/dist,dy/dist); else course = course_old; if (course < 0.0) course = course + 360.0; dt = (time_d - time_d_old); if (dt > 0.0) speed_made_good = 3.6*dist/dt; else speed_made_good = speed_made_good_old; } } /* calculate slopes if required */ if (error == MB_ERROR_NO_ERROR && use_slope == MB_YES) { /* get average slope */ ns = 0; sx = 0.0; sy = 0.0; sxx = 0.0; sxy = 0.0; for (k=0;k 0) { delta = ns*sxx - sx*sx; /* a = (sxx*sy - sx*sxy)/delta; */ b = (ns*sxy - sx*sy)/delta; avgslope = RTD * atan(b); } else avgslope = 0.0; /* get per beam slope */ set_bathyslope(verbose, beams_bath,beamflag,bath,bathacrosstrack, &ndepths,depths,depthacrosstrack, &nslopes,slopes,slopeacrosstrack, &error); } /* reset old values */ if (error == MB_ERROR_NO_ERROR) { navlon_old = navlon; navlat_old = navlat; course_old = course; speed_made_good_old = speed_made_good; time_d_old = time_d; } /* get raw values if required */ if (error == MB_ERROR_NO_ERROR && use_raw == MB_YES) { status = mb_get_raw(verbose, mbio_ptr, &mode, &ipulse_length, &png_count, &sample_rate, &absorption, &max_range, &r_zero, &r_zero_corr, &tvg_start, &tvg_stop, &bsn, &bso, &tx, &tvg_crossover, &nbeams_ss, &npixels, beam_samples, start_sample, range, depression, bs, ss_pixels, &error); } /* get gains values if required */ if (error == MB_ERROR_NO_ERROR && use_gains == MB_YES) { status = mb_gains(verbose,mbio_ptr,store_ptr,&kind, &transmit_gain,&pulse_length,&receive_gain,&error); } /* now loop over beams */ if (error == MB_ERROR_NO_ERROR && (nread - 1) % decimate == 0) for (j=beam_start;j<=beam_end;j++) { /* check beam status */ beam_status = MB_SUCCESS; if (check_bath == MB_YES && check_values == MBLIST_CHECK_ON && !mb_beam_ok(beamflag[j])) beam_status = MB_FAILURE; else if (check_bath == MB_YES && check_values == MBLIST_CHECK_ON_NULL && beamflag[j] == MB_FLAG_NULL) beam_status = MB_FAILURE; if (check_amp == MB_YES && check_values == MBLIST_CHECK_ON && !mb_beam_ok(beamflag[j])) beam_status = MB_FAILURE; else if (check_amp == MB_YES && check_values == MBLIST_CHECK_ON_NULL && beamflag[j] == MB_FLAG_NULL) beam_status = MB_FAILURE; if (check_ss == MB_YES && j != beam_vertical) beam_status = MB_FAILURE; else if (check_ss == MB_YES && j == beam_vertical) if (ss[pixel_vertical] <= 0) beam_status = MB_FAILURE; if (use_time_interval == MB_YES && first == MB_YES) beam_status = MB_FAILURE; /* print out good beams */ if (beam_status == MB_SUCCESS) { for (i=0; i 0) fprintf(output[i], ", "); if (port_next_value == MB_YES) { k = beam_port; port_next_value = MB_NO; } else if (stbd_next_value == MB_YES) { k = beam_stbd; stbd_next_value = MB_NO; } else k = j; if (raw_next_value == MB_NO) { switch (list[i]) { case '/': /* Inverts next simple value */ invert_next_value = MB_YES; break; case '-': /* Flip sign on next simple value */ signflip_next_value = MB_YES; break; case '.': /* Raw value next field */ raw_next_value = MB_YES; count = 0; break; case '=': /* Port-most value next field -ignored here */ port_next_value = MB_YES; break; case '+': /* Starboard-most value next field - ignored here*/ stbd_next_value = MB_YES; break; case 'A': /* Average seafloor crosstrack slope */ printsimplevalue(verbose, output[i], avgslope, 0, 4, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'a': /* Per-beam seafloor crosstrack slope */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { status = get_bathyslope(verbose, ndepths,depths,depthacrosstrack, nslopes,slopes,slopeacrosstrack, bathacrosstrack[k], &depth,&slope,&error); printsimplevalue(verbose, output[i], slope, 0, 4, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'B': /* amplitude */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { printsimplevalue(verbose, output[i], amp[k], 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'b': /* sidescan */ printsimplevalue(verbose, output[i], ss[pixel_vertical], 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'C': /* Sonar altitude (m) */ printsimplevalue(verbose, output[i], altitude, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'c': /* Sonar transducer depth (m) */ printsimplevalue(verbose, output[i], sonardepth, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'D': /* acrosstrack dist. */ case 'd': if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = bathy_scale * bathacrosstrack[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'E': /* alongtrack dist. */ case 'e': if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = bathy_scale * bathalongtrack[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'G': /* flat bottom grazing angle */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { angle = RTD*(atan(bathacrosstrack[k] / (bath[k] - sonardepth))); printsimplevalue(verbose, output[i], angle, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'g': /* grazing angle using slope */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { status = get_bathyslope(verbose, ndepths,depths,depthacrosstrack, nslopes,slopes,slopeacrosstrack, bathacrosstrack[k], &depth,&slope,&error); angle = RTD * (atan(bathacrosstrack[k] / (bath[k] - sonardepth))) + slope; printsimplevalue(verbose, output[i], angle, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'H': /* heading */ printsimplevalue(verbose, output[i], heading, 6, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'h': /* course */ printsimplevalue(verbose, output[i], course, 6, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'J': /* time string */ mb_get_jtime(verbose,time_i,time_j); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d, %d", time_j[0],time_j[1], time_i[3],time_i[4], time_i[5],time_i[6]); else fprintf(output[i],"%.4d %.3d %.2d %.2d %.2d.%6.6d", time_j[0],time_j[1], time_i[3],time_i[4], time_i[5],time_i[6]); } else { b = time_j[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'j': /* time string */ mb_get_jtime(verbose,time_i,time_j); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d", time_j[0],time_j[1], time_j[2],time_j[3],time_j[4]); else fprintf(output[i],"%.4d %.3d %.4d %.2d.%6.6d", time_j[0],time_j[1], time_j[2],time_j[3],time_j[4]); } else { b = time_j[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[4]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'L': /* along-track distance (km) */ printsimplevalue(verbose, output[i], distance_total, 7, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'l': /* along-track distance (m) */ printsimplevalue(verbose, output[i], 1000.0 * distance_total, 7, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'M': /* Decimal unix seconds since 1/1/70 00:00:00 */ printsimplevalue(verbose, output[i], time_d, 0, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'm': /* time in decimal seconds since first record */ if (first_m == MB_YES) { time_d_ref = time_d; first_m = MB_NO; } b = time_d - time_d_ref; printsimplevalue(verbose, output[i], b, 0, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'N': /* ping counter */ if (ascii == MB_YES) fprintf(output[i],"%6d",nread); else { b = nread; fwrite(&b, sizeof(double), 1, outfile); } break; case 'P': /* pitch */ printsimplevalue(verbose, output[i], pitch, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'p': /* draft */ printsimplevalue(verbose, output[i], draft, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'R': /* roll */ printsimplevalue(verbose, output[i], roll, 6, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'r': /* heave */ printsimplevalue(verbose, output[i], heave, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'S': /* speed */ printsimplevalue(verbose, output[i], speed, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 's': /* speed made good */ printsimplevalue(verbose, output[i], speed_made_good, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'T': /* yyyy/mm/dd/hh/mm/ss time string */ if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%.4d/%.2d/%.2d/%.2d/%.2d/%.2d.%.6d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = time_i[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5] + 1e-6 * time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 't': /* yyyy mm dd hh mm ss time string */ if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d, %d, %d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); else fprintf(output[i],"%.4d %.2d %.2d %.2d %.2d %.2d.%.6d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); } else { b = time_i[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5] + 1e-6 * time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'U': /* unix time in seconds since 1/1/70 00:00:00 */ time_u = (int) time_d; if (ascii == MB_YES) fprintf(output[i],"%ld",time_u); else { b = time_u; fwrite(&b, sizeof(double), 1, outfile); } break; case 'u': /* time in seconds since first record */ time_u = (int) time_d; if (first_u == MB_YES) { time_u_ref = time_u; first_u = MB_NO; } if (ascii == MB_YES) fprintf(output[i],"%ld",time_u - time_u_ref); else { b = time_u - time_u_ref; fwrite(&b, sizeof(double), 1, outfile); } break; case 'V': /* time in seconds since last ping */ case 'v': if (ascii == MB_YES) { if ( fabs(time_interval) > 100. ) fprintf(output[i],"%g",time_interval); else fprintf(output[i],"%7.3f",time_interval); } else { fwrite(&time_interval, sizeof(double), 1, outfile); } break; case 'X': /* longitude decimal degrees */ dlon = navlon; if (beam_set != MBLIST_SET_OFF || k != j) dlon += headingy*mtodeglon *bathacrosstrack[k] + headingx*mtodeglon *bathalongtrack[k]; printsimplevalue(verbose, output[i], dlon, 11, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'x': /* longitude degress + decimal minutes */ dlon = navlon; if (beam_set != MBLIST_SET_OFF || k != j) dlon += headingy*mtodeglon *bathacrosstrack[k] + headingx*mtodeglon *bathalongtrack[k]; if (dlon < 0.0) { hemi = 'W'; dlon = -dlon; } else hemi = 'E'; degrees = (int) dlon; minutes = 60.0*(dlon - degrees); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%3d %8.5f%c", degrees, minutes, hemi); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = degrees; if (hemi == 'W') b = -b; fwrite(&b, sizeof(double), 1, outfile); b = minutes; fwrite(&b, sizeof(double), 1, outfile); } break; case 'Y': /* latitude decimal degrees */ dlat = navlat; if (beam_set != MBLIST_SET_OFF || k != j) dlat += -headingx*mtodeglat *bathacrosstrack[k] + headingy*mtodeglat *bathalongtrack[k]; printsimplevalue(verbose, output[i], dlat, 11, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'y': /* latitude degrees + decimal minutes */ dlat = navlat; if (beam_set != MBLIST_SET_OFF || k != j) dlat += -headingx*mtodeglat *bathacrosstrack[k] + headingy*mtodeglat *bathalongtrack[k]; if (dlat < 0.0) { hemi = 'S'; dlat = -dlat; } else hemi = 'N'; degrees = (int) dlat; minutes = 60.0*(dlat - degrees); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%3d %8.5f%c", degrees, minutes, hemi); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = degrees; if (hemi == 'S') b = -b; fwrite(&b, sizeof(double), 1, outfile); b = minutes; fwrite(&b, sizeof(double), 1, outfile); } break; case 'Z': /* topography */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = -bathy_scale * bath[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'z': /* depth */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = bathy_scale * bath[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case '#': /* beam number */ if (ascii == MB_YES) fprintf(output[i],"%6d",k); else { b = k; fwrite(&b, sizeof(double), 1, outfile); } break; default: if (ascii == MB_YES) fprintf(output[i],"", list[i]); break; } } else /* raw_next_value */ { switch (list[i]) { case '/': /* Inverts next simple value */ invert_next_value = MB_YES; break; case '-': /* Flip sign on next simple value */ signflip_next_value = MB_YES; break; case '.': /* Raw value next field */ raw_next_value = MB_YES; count = 0; break; case '=': /* Port-most value next field -ignored here */ port_next_value = MB_YES; break; case '+': /* Starboard-most value next field - ignored here*/ stbd_next_value = MB_YES; break; case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9': count = count * 10 + list[i] - '0'; break; case 'A': /* backscatter */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { printsimplevalue(verbose, output[i], bs[k], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); } raw_next_value = MB_NO; break; case 'a': /* absorption */ printsimplevalue(verbose, output[i], absorption, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'B': /* BSN - Normal incidence backscatter */ printsimplevalue(verbose, output[i], bsn, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'b': /* BSO - Oblique backscatter */ printsimplevalue(verbose, output[i], bso, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'c': /* Mean backscatter */ mback = 0; nback = 0; for (m = 0; m < beams_amp ; m++) { if (mb_beam_ok(beamflag[m])) { mback += amp[m]; nback++; } } printsimplevalue(verbose, output[i], mback / nback, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'd': /* beam depression angle */ if (beamflag[k] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[k]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { printsimplevalue(verbose, output[i], depression[k], 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); } raw_next_value = MB_NO; break; case 'F': /* filename */ if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i], "%s", file); if (netcdf == MB_YES) fprintf(output[i], "\""); if (ascii == MB_NO) for (k = strlen(file); k < MB_PATH_MAXLINE; k++) fwrite(&file[strlen(file)], sizeof(char), 1, outfile); raw_next_value = MB_NO; break; case 'f': /* format */ if (ascii == MB_YES) fprintf(output[i],"%6d",format); else { b = format; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; break; case 'G': /* TVG start */ if (ascii == MB_YES) fprintf(output[i],"%6d",tvg_start); else { b = tvg_start; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'g': /* TVG stop */ if (ascii == MB_YES) fprintf(output[i],"%6d",tvg_stop); else { b = tvg_stop; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'L': /* Pulse length */ if (ascii == MB_YES) fprintf(output[i],"%6d",ipulse_length); else { b = ipulse_length; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'l': /* Transmit pulse length (sec) */ printsimplevalue(verbose, output[i], pulse_length, 9, 6, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'M': /* mode */ if (ascii == MB_YES) fprintf(output[i],"%4d",mode); else { b = mode; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'N': /* ping counter */ if (ascii == MB_YES) fprintf(output[i],"%6d",png_count); else { b = png_count; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'p': /* sidescan */ invert = invert_next_value; flip = signflip_next_value; printsimplevalue(verbose, output[i], ss_pixels[start_sample[k]], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); if (count > 0) { for (m = 1; m < count && m < beam_samples[k]; m++) { if (netcdf == MB_YES) fprintf(output[i], ", "); if (ascii == MB_YES) fprintf(output[i], "%s", delimiter); invert_next_value = invert; signflip_next_value = flip; printsimplevalue(verbose, output[i], ss_pixels[start_sample[k] + m], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); } for (; m < count; m++) { if (netcdf == MB_YES) fprintf(output[i], ", "); if (ascii == MB_YES) fprintf(output[i], "%s", delimiter); printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } } raw_next_value = MB_NO; break; case 'R': /* range */ if (ascii == MB_YES) fprintf(output[i],"%6d",range[k]); else { b = range[k]; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'r': /* Sample rate */ if (ascii == MB_YES) fprintf(output[i],"%6d",sample_rate); else { b = sample_rate; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'S': /* Sidescan pixels */ if (ascii == MB_YES) fprintf(output[i],"%6d",npixels); else { b = npixels; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 's': /* Sidescan pixels per beam */ if (ascii == MB_YES) fprintf(output[i],"%6d",beam_samples[k]); else { b = beam_samples[k]; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'T': /* Transmit gain (dB) */ printsimplevalue(verbose, output[i], transmit_gain, 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 't': /* Receive gain (dB) */ printsimplevalue(verbose, output[i], receive_gain, 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; default: if (ascii == MB_YES) fprintf(output[i],"", list[i]); raw_next_value = MB_NO; break; } } if (ascii == MB_YES) { if (i<(n_list-1)) fprintf(output[i], "%s", delimiter); else fprintf (output[lcount++ % n_list], "\n"); } } } } /* now loop over pixels */ if (error == MB_ERROR_NO_ERROR && (nread - 1) % decimate == 0) for (j=pixel_start;j<=pixel_end;j++) { /* check pixel status */ pixel_status = MB_SUCCESS; if (check_bath == MB_YES && j != pixel_vertical) pixel_status = MB_FAILURE; else if (check_bath == MB_YES && j == pixel_vertical) { if (check_values == MBLIST_CHECK_ON && !mb_beam_ok(beamflag[beam_vertical])) pixel_status = MB_FAILURE; else if (check_values == MBLIST_CHECK_ON_NULL && beamflag[beam_vertical] == MB_FLAG_NULL) pixel_status = MB_FAILURE; } if (check_amp == MB_YES && j != pixel_vertical) pixel_status = MB_FAILURE; else if (check_amp == MB_YES && j == pixel_vertical) { if (check_values == MBLIST_CHECK_ON && !mb_beam_ok(beamflag[beam_vertical])) pixel_status = MB_FAILURE; else if (check_values == MBLIST_CHECK_ON_NULL && beamflag[beam_vertical] == MB_FLAG_NULL) pixel_status = MB_FAILURE; } if (check_ss == MB_YES && ss[k] <= 0) pixel_status = MB_FAILURE; if (use_time_interval == MB_YES && first == MB_YES) pixel_status = MB_FAILURE; /* print out good pixels */ if (pixel_status == MB_SUCCESS) { for (i=0; i 0) fprintf(output[i], ", "); if (port_next_value == MB_YES) { k = pixel_port; port_next_value = MB_NO; } else if (stbd_next_value == MB_YES) { k = pixel_stbd; stbd_next_value = MB_NO; } else k = j; if (raw_next_value == MB_NO) { switch (list[i]) { case '/': /* Inverts next simple value */ invert_next_value = MB_YES; break; case '-': /* Flip sign on next simple value */ signflip_next_value = MB_YES; break; case '.': /* Raw value next field */ raw_next_value = MB_YES; count = 0; break; case '=': /* Port-most value next field -ignored here */ port_next_value = MB_YES; break; case '+': /* Starboard-most value next field - ignored here*/ stbd_next_value = MB_YES; break; case 'A': /* Average seafloor crosstrack slope */ printsimplevalue(verbose, output[i], avgslope, 0, 4, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'a': /* Per-pixel seafloor crosstrack slope */ status = get_bathyslope(verbose, ndepths,depths,depthacrosstrack, nslopes,slopes,slopeacrosstrack, ssacrosstrack[k], &depth,&slope,&error); printsimplevalue(verbose, output[i], slope, 0, 4, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'B': /* amplitude */ printsimplevalue(verbose, output[i], amp[beam_vertical], 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'b': /* sidescan */ printsimplevalue(verbose, output[i], ss[k], 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'C': /* Sonar altitude (m) */ printsimplevalue(verbose, output[i], altitude, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'c': /* Sonar transducer depth (m) */ printsimplevalue(verbose, output[i], sonardepth, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'D': /* acrosstrack dist. */ case 'd': b = bathy_scale * ssacrosstrack[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'E': /* alongtrack dist. */ case 'e': b = bathy_scale * ssalongtrack[k]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'G': /* flat bottom grazing angle */ status = get_bathyslope(verbose, ndepths,depths,depthacrosstrack, nslopes,slopes,slopeacrosstrack, ssacrosstrack[k], &depth,&slope,&error); angle = RTD*(atan(ssacrosstrack[k] / (depth - sonardepth))); printsimplevalue(verbose, output[i], angle, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'g': /* grazing angle using slope */ status = get_bathyslope(verbose, ndepths,depths,depthacrosstrack, nslopes,slopes,slopeacrosstrack, ssacrosstrack[k], &depth,&slope,&error); angle = RTD * (atan(bathacrosstrack[k] / (depth - sonardepth))) + slope; printsimplevalue(verbose, output[i], angle, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'H': /* heading */ printsimplevalue(verbose, output[i], heading, 6, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'h': /* course */ printsimplevalue(verbose, output[i], course, 6, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'J': /* time string */ mb_get_jtime(verbose,time_i,time_j); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d, %d", time_j[0],time_j[1], time_i[3],time_i[4], time_i[5],time_i[6]); else fprintf(output[i],"%.4d %.3d %.2d %.2d %.2d.%6.6d", time_j[0],time_j[1], time_i[3],time_i[4], time_i[5],time_i[6]); } else { b = time_j[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'j': /* time string */ mb_get_jtime(verbose,time_i,time_j); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d", time_j[0],time_j[1], time_j[2],time_j[3],time_j[4]); else fprintf(output[i],"%.4d %.3d %.4d %.2d.%6.6d", time_j[0],time_j[1], time_j[2],time_j[3],time_j[4]); } else { b = time_j[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_j[4]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'L': /* along-track distance (km) */ printsimplevalue(verbose, output[i], distance_total, 7, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'l': /* along-track distance (m) */ printsimplevalue(verbose, output[i], 1000.0 * distance_total, 7, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'M': /* Decimal unix seconds since 1/1/70 00:00:00 */ printsimplevalue(verbose, output[i], time_d, 0, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'm': /* time in decimal seconds since first record */ if (first_m == MB_YES) { time_d_ref = time_d; first_m = MB_NO; } b = time_d - time_d_ref; printsimplevalue(verbose, output[i], b, 0, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'N': /* ping counter */ if (ascii == MB_YES) fprintf(output[i],"%6d",nread); else { b = nread; fwrite(&b, sizeof(double), 1, outfile); } break; case 'P': /* pitch */ printsimplevalue(verbose, output[i], pitch, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'p': /* draft */ printsimplevalue(verbose, output[i], draft, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'R': /* roll */ printsimplevalue(verbose, output[i], roll, 6, 3, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'r': /* heave */ printsimplevalue(verbose, output[i], heave, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'S': /* speed */ printsimplevalue(verbose, output[i], speed, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 's': /* speed made good */ printsimplevalue(verbose, output[i], speed_made_good, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'T': /* yyyy/mm/dd/hh/mm/ss time string */ if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%.4d/%.2d/%.2d/%.2d/%.2d/%.2d.%.6d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = time_i[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5] + 1e-6 * time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 't': /* yyyy mm dd hh mm ss time string */ if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i],"%d, %d, %d, %d, %d, %d, %d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); else fprintf(output[i],"%.4d %.2d %.2d %.2d %.2d %.2d.%.6d", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5], time_i[6]); } else { b = time_i[0]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[1]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[2]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[3]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[4]; fwrite(&b, sizeof(double), 1, outfile); b = time_i[5] + 1e-6 * time_i[6]; fwrite(&b, sizeof(double), 1, outfile); } break; case 'U': /* unix time in seconds since 1/1/70 00:00:00 */ time_u = (int) time_d; if (ascii == MB_YES) fprintf(output[i],"%ld",time_u); else { b = time_u; fwrite(&b, sizeof(double), 1, outfile); } break; case 'u': /* time in seconds since first record */ time_u = (int) time_d; if (first_u == MB_YES) { time_u_ref = time_u; first_u = MB_NO; } if (ascii == MB_YES) fprintf(output[i],"%ld",time_u - time_u_ref); else { b = time_u - time_u_ref; fwrite(&b, sizeof(double), 1, outfile); } break; case 'V': /* time in seconds since last ping */ case 'v': if (ascii == MB_YES) { if ( fabs(time_interval) > 100. ) fprintf(output[i],"%g",time_interval); else fprintf(output[i],"%7.3f",time_interval); } else { fwrite(&time_interval, sizeof(double), 1, outfile); } break; case 'X': /* longitude decimal degrees */ dlon = navlon; if (pixel_set != MBLIST_SET_OFF || k != j) dlon += headingy*mtodeglon *ssacrosstrack[k] + headingx*mtodeglon *ssalongtrack[k]; printsimplevalue(verbose, output[i], dlon, 11, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'x': /* longitude degress + decimal minutes */ dlon = navlon; if (pixel_set != MBLIST_SET_OFF || k != j) dlon += headingy*mtodeglon *ssacrosstrack[k] + headingx*mtodeglon *ssalongtrack[k]; if (dlon < 0.0) { hemi = 'W'; dlon = -dlon; } else hemi = 'E'; degrees = (int) dlon; minutes = 60.0*(dlon - degrees); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%3d %8.5f%c", degrees, minutes, hemi); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = degrees; if (hemi == 'W') b = -b; fwrite(&b, sizeof(double), 1, outfile); b = minutes; fwrite(&b, sizeof(double), 1, outfile); } break; case 'Y': /* latitude decimal degrees */ dlat = navlat; if (pixel_set != MBLIST_SET_OFF || k != j) dlat += -headingx*mtodeglat *ssacrosstrack[k] + headingy*mtodeglat *ssalongtrack[k]; printsimplevalue(verbose, output[i], dlat, 11, 6, ascii, &invert_next_value, &signflip_next_value, &error); break; case 'y': /* latitude degrees + decimal minutes */ dlat = navlat; if (pixel_set != MBLIST_SET_OFF || k != j) dlat += -headingx*mtodeglat *ssacrosstrack[k] + headingy*mtodeglat *ssalongtrack[k]; if (dlat < 0.0) { hemi = 'S'; dlat = -dlat; } else hemi = 'N'; degrees = (int) dlat; minutes = 60.0*(dlat - degrees); if (ascii == MB_YES) { if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i],"%3d %8.5f%c", degrees, minutes, hemi); if (netcdf == MB_YES) fprintf(output[i], "\""); } else { b = degrees; if (hemi == 'S') b = -b; fwrite(&b, sizeof(double), 1, outfile); b = minutes; fwrite(&b, sizeof(double), 1, outfile); } break; case 'Z': /* topography */ if (beamflag[beam_vertical] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[beam_vertical]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = -bathy_scale * bath[beam_vertical]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case 'z': /* depth */ if (beamflag[beam_vertical] == MB_FLAG_NULL && (check_values == MBLIST_CHECK_OFF_NAN || check_values == MBLIST_CHECK_OFF_FLAGNAN)) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else if (!mb_beam_ok(beamflag[beam_vertical]) && check_values == MBLIST_CHECK_OFF_FLAGNAN) { printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } else { b = bathy_scale * bath[beam_vertical]; printsimplevalue(verbose, output[i], b, 0, 3, ascii, &invert_next_value, &signflip_next_value, &error); } break; case '#': /* pixel number */ if (ascii == MB_YES) fprintf(output[i],"%6d",k); else { b = k; fwrite(&b, sizeof(double), 1, outfile); } break; default: fprintf(output[i],"", list[i]); break; } } else /* raw_next_value */ { switch (list[i]) { case '/': /* Inverts next simple value */ invert_next_value = MB_YES; break; case '-': /* Flip sign on next simple value */ signflip_next_value = MB_YES; break; case '.': /* Raw value next field */ raw_next_value = MB_YES; count = 0; break; case '=': /* Port-most value next field -ignored here */ port_next_value = MB_YES; break; case '+': /* Starboard-most value next field - ignored here*/ stbd_next_value = MB_YES; break; case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9': count = count * 10 + list[i] - '0'; break; case 'A': /* backscatter */ printsimplevalue(verbose, output[i], bs[beam_vertical], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'a': /* absorption */ printsimplevalue(verbose, output[i], absorption, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'B': /* BSN - Normal incidence backscatter */ printsimplevalue(verbose, output[i], bsn, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'b': /* BSO - Oblique backscatter */ printsimplevalue(verbose, output[i], bso, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'c': /* Mean backscatter */ mback = 0; nback = 0; for (m = 0; m < beams_amp ; m++) { if (mb_beam_ok(beamflag[m])) { mback += amp[m]; nback++; } } printsimplevalue(verbose, output[i], mback / nback, 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'd': /* beam depression angle */ printsimplevalue(verbose, output[i], depression[beam_vertical], 5, 2, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'F': /* filename */ if (netcdf == MB_YES) fprintf(output[i], "\""); fprintf(output[i], "%s", file); if (netcdf == MB_YES) fprintf(output[i], "\""); if (ascii == MB_NO) for (k = strlen(file); k < MB_PATH_MAXLINE; k++) fwrite(&file[strlen(file)], sizeof(char), 1, outfile); raw_next_value = MB_NO; break; case 'f': /* format */ if (ascii == MB_YES) fprintf(output[i],"%6d",format); else { b = format; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'G': /* TVG start */ if (ascii == MB_YES) fprintf(output[i],"%6d",tvg_start); else { b = tvg_start; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'g': /* TVG stop */ if (ascii == MB_YES) fprintf(output[i],"%6d",tvg_stop); else { b = tvg_stop; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'L': /* Pulse length */ if (ascii == MB_YES) fprintf(output[i],"%6d",ipulse_length); else { b = ipulse_length; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'l': /* Transmit pulse length (sec) */ printsimplevalue(verbose, output[i], pulse_length, 9, 6, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 'M': /* mode */ if (ascii == MB_YES) fprintf(output[i],"%4d",mode); else { b = mode; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'N': /* ping counter */ if (ascii == MB_YES) fprintf(output[i],"%6d",png_count); else { b = png_count; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'p': /* sidescan */ invert = invert_next_value; flip = signflip_next_value; printsimplevalue(verbose, output[i], ss_pixels[start_sample[beam_vertical]], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); if (count > 0) { for (m = 1; m < count && m < beam_samples[beam_vertical]; m++) { if (netcdf == MB_YES) fprintf(output[i], ", "); if (ascii == MB_YES) fprintf(output[i], "%s", delimiter); invert_next_value = invert; signflip_next_value = flip; printsimplevalue(verbose, output[i], ss_pixels[start_sample[beam_vertical] + m], 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); } for (; m < count; m++) { if (netcdf == MB_YES) fprintf(output[i], ", "); if (ascii == MB_YES) fprintf(output[i], "%s", delimiter); printNaN(verbose, output[i], ascii, &invert_next_value, &signflip_next_value, &error); } } raw_next_value = MB_NO; break; case 'R': /* range */ if (ascii == MB_YES) fprintf(output[i],"%6d",range[beam_vertical]); else { b = range[beam_vertical]; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'r': /* Sample rate */ if (ascii == MB_YES) fprintf(output[i],"%6d",sample_rate); else { b = sample_rate; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'S': /* Sidescan pixels */ if (ascii == MB_YES) fprintf(output[i],"%6d",npixels); else { b = npixels; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 's': /* Sidescan pixels per beam */ if (ascii == MB_YES) fprintf(output[i],"%6d",beam_samples[beam_vertical]); else { b = beam_samples[beam_vertical]; fwrite(&b, sizeof(double), 1, outfile); } raw_next_value = MB_NO; break; case 'T': /* Transmit gain (dB) */ printsimplevalue(verbose, output[i], transmit_gain, 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; case 't': /* Receive gain (dB) */ printsimplevalue(verbose, output[i], receive_gain, 5, 1, ascii, &invert_next_value, &signflip_next_value, &error); raw_next_value = MB_NO; break; default: if (ascii == MB_YES) fprintf(output[i],"", list[i]); raw_next_value = MB_NO; break; } } if (ascii == MB_YES) { if (i<(n_list-1)) fprintf(output[i], "%s", delimiter); else fprintf (output[lcount++ % n_list], "\n"); } } } } /* reset first flag */ if (error == MB_ERROR_NO_ERROR && first == MB_YES) { first = MB_NO; } } /* close the swath file */ status = mb_close(verbose,&mbio_ptr,&error); /* deallocate memory used for data arrays */ if (use_raw == MB_YES) { mb_freed(verbose,__FILE__, __LINE__, (void **)&ss_pixels,&error); } /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, file,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* compile CDL file */ if (netcdf == MB_YES) { for (i=0; i= '0' && list[i] <= '9')) { fprintf(output[i], " ;\n\n"); rewind(output[i]); /* copy data to CDL file */ for (j = fread(buffer, sizeof(char), MB_BUFFER_MAX, output[i]); j > 0; j = fread(buffer, sizeof(char), MB_BUFFER_MAX, output[i])) { if (j != fwrite(buffer, sizeof(char), j, outfile)) { fprintf(stderr, "Error writing to CDL file"); } } } fclose(output[i]); } fprintf(outfile, "}\n"); fclose(outfile); /* convert cdl to netcdf */ if (netcdf_cdl == MB_NO) { sprintf(output_file_temp, "ncgen -o %s %s.cdl", output_file, output_file); if (0 == system(output_file_temp)) { sprintf(output_file_temp, "rm %s.cdl", output_file); system(output_file_temp); } } } else { fclose(outfile); } /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/ int set_output( int verbose, int beams_bath, int beams_amp, int pixels_ss, int use_bath, int use_amp, int use_ss, int dump_mode, int beam_set, int pixel_set, int beam_vertical, int pixel_vertical, int *beam_start, int *beam_end, int *pixel_start, int *pixel_end, int *n_list, char *list, int *error) { char *function_name = "set_output"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBLIST function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 beams_bath: %d\n",beams_bath); fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp); fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss); fprintf(stderr,"dbg2 use_bath: %d\n",use_bath); fprintf(stderr,"dbg2 use_amp: %d\n",use_amp); fprintf(stderr,"dbg2 use_ss: %d\n",use_ss); fprintf(stderr,"dbg2 dump_mode: %d\n",dump_mode); fprintf(stderr,"dbg2 : %d\n",beam_set); fprintf(stderr,"dbg2 pixel_set: %d\n",pixel_set); fprintf(stderr,"dbg2 beam_vertical: %d\n",beam_vertical); fprintf(stderr,"dbg2 pixel_vertical: %d\n",pixel_vertical); fprintf(stderr,"dbg2 beam_start: %d\n",*beam_start); fprintf(stderr,"dbg2 beam_end: %d\n",*beam_end); fprintf(stderr,"dbg2 pixel_start: %d\n",*pixel_start); fprintf(stderr,"dbg2 pixel_end: %d\n",*pixel_end); fprintf(stderr,"dbg2 n_list: %d\n",*n_list); for (i=0;i<*n_list;i++) fprintf(stderr,"dbg2 list[%2d]: %c\n", i,list[i]); } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; if (beam_set == MBLIST_SET_OFF && pixel_set == MBLIST_SET_OFF && beams_bath <= 0 && pixels_ss <= 0) { *beam_start = 0; *beam_end = 1; *pixel_start = 0; *pixel_end = -1; } else if (beam_set == MBLIST_SET_OFF && pixel_set != MBLIST_SET_OFF) { *beam_start = 0; *beam_end = -1; } else if (beam_set == MBLIST_SET_OFF && beams_bath <= 0) { *beam_start = 0; *beam_end = -1; *pixel_start = pixel_vertical; *pixel_end = pixel_vertical; } else if (beam_set == MBLIST_SET_OFF) { *beam_start = beam_vertical; *beam_end = beam_vertical; } else if (beam_set == MBLIST_SET_ALL) { *beam_start = 0; *beam_end = beams_bath - 1; } if (pixel_set == MBLIST_SET_OFF && beams_bath > 0) { *pixel_start = 0; *pixel_end = -1; } else if (pixel_set == MBLIST_SET_ALL) { *pixel_start = 0; *pixel_end = pixels_ss - 1; } /* deal with dump_mode if set */ if (dump_mode == DUMP_MODE_BATH) { *beam_start = 0; *beam_end = beams_bath - 1; *pixel_start = 0; *pixel_end = -1; strcpy(list,"XYz"); *n_list = 3; } else if (dump_mode == DUMP_MODE_TOPO) { *beam_start = 0; *beam_end = beams_bath - 1; *pixel_start = 0; *pixel_end = -1; strcpy(list,"XYZ"); *n_list = 3; } else if (dump_mode == DUMP_MODE_AMP) { *beam_start = 0; *beam_end = beams_bath - 1; *pixel_start = 0; *pixel_end = -1; strcpy(list,"XYB"); *n_list = 3; } else if (dump_mode == DUMP_MODE_SS) { *beam_start = 0; *beam_end = -1; *pixel_start = 0; *pixel_end = pixels_ss - 1; strcpy(list,"XYb"); *n_list = 3; } /* check if beam and pixel range is ok */ if ((use_bath == MB_YES && *beam_end >= *beam_start) && beams_bath <= 0) { fprintf(stderr,"\nBathymetry data not available\n"); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } else if (use_bath == MB_YES && *beam_end >= *beam_start && (*beam_start < 0 || *beam_end >= beams_bath)) { fprintf(stderr,"\nBeam range %d to %d exceeds available beams 0 to %d\n", *beam_start,*beam_end,beams_bath-1); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } if (*error == MB_ERROR_NO_ERROR && use_amp == MB_YES && beams_amp <= 0) { fprintf(stderr,"\nAmplitude data not available\n"); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } else if (*error == MB_ERROR_NO_ERROR && *beam_end >= *beam_start && use_amp == MB_YES && (*beam_start < 0 || *beam_end >= beams_amp)) { fprintf(stderr,"\nAmplitude beam range %d to %d exceeds available beams 0 to %d\n", *beam_start,*beam_end,beams_amp-1); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } if (*error == MB_ERROR_NO_ERROR && (use_ss == MB_YES || *pixel_end >= *pixel_start) && pixels_ss <= 0) { fprintf(stderr,"\nSidescan data not available\n"); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } else if (*error == MB_ERROR_NO_ERROR && *pixel_end >= *pixel_start && (*pixel_start < 0 || *pixel_end >= pixels_ss)) { fprintf(stderr,"\nPixels range %d to %d exceeds available pixels 0 to %d\n", *pixel_start,*pixel_end,pixels_ss-1); status = MB_FAILURE; *error = MB_ERROR_BAD_USAGE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBCOPY function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 beam_start: %d\n",*beam_start); fprintf(stderr,"dbg2 beam_end: %d\n",*beam_end); fprintf(stderr,"dbg2 pixel_start: %d\n",*pixel_start); fprintf(stderr,"dbg2 pixel_end: %d\n",*pixel_end); fprintf(stderr,"dbg2 n_list: %d\n",*n_list); for (i=0;i<*n_list;i++) fprintf(stderr,"dbg2 list[%2d]: %c\n", i,list[i]); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int set_bathyslope(int verbose, int nbath, char *beamflag, double *bath, double *bathacrosstrack, int *ndepths, double *depths, double *depthacrosstrack, int *nslopes, double *slopes, double *slopeacrosstrack, int *error) { char *function_name = "set_bathyslope"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist 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 1) { slopes[0] = 0.0; slopeacrosstrack[0] = depthacrosstrack[0]; slopes[*ndepths] = 0.0; slopeacrosstrack[*ndepths] = depthacrosstrack[*ndepths-1]; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 ndepths: %d\n", *ndepths); fprintf(stderr,"dbg2 depths:\n"); for (i=0;i<*ndepths;i++) fprintf(stderr,"dbg2 %d %f %f\n", i, depths[i], depthacrosstrack[i]); fprintf(stderr,"dbg2 nslopes: %d\n", *nslopes); fprintf(stderr,"dbg2 slopes:\n"); for (i=0;i<*nslopes;i++) fprintf(stderr,"dbg2 %d %f %f\n", i, slopes[i], slopeacrosstrack[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_bathyslope(int verbose, int ndepths, double *depths, double *depthacrosstrack, int nslopes, double *slopes, double *slopeacrosstrack, double acrosstrack, double *depth, double *slope, int *error) { char *function_name = "get_bathyslope"; int status = MB_SUCCESS; int found_depth, found_slope; int idepth, islope; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 ndepths: %d\n", ndepths); fprintf(stderr,"dbg2 depths:\n"); for (i=0;i 1) if (acrosstrack >= depthacrosstrack[0] && acrosstrack <= depthacrosstrack[ndepths-1]) { /* look for depth */ idepth = -1; while (found_depth == MB_NO && idepth < ndepths - 2) { idepth++; if (acrosstrack >= depthacrosstrack[idepth] && acrosstrack <= depthacrosstrack[idepth+1]) { *depth = depths[idepth] + (acrosstrack - depthacrosstrack[idepth]) /(depthacrosstrack[idepth+1] - depthacrosstrack[idepth]) *(depths[idepth+1] - depths[idepth]); found_depth = MB_YES; *error = MB_ERROR_NO_ERROR; } } /* look for slope */ islope = -1; while (found_slope == MB_NO && islope < nslopes - 2) { islope++; if (acrosstrack >= slopeacrosstrack[islope] && acrosstrack <= slopeacrosstrack[islope+1]) { *slope = slopes[islope] + (acrosstrack - slopeacrosstrack[islope]) /(slopeacrosstrack[islope+1] - slopeacrosstrack[islope]) *(slopes[islope+1] - slopes[islope]); found_slope = MB_YES; *error = MB_ERROR_NO_ERROR; } } } /* translate slope to degrees */ if (found_slope == MB_YES) *slope = RTD * atan(*slope); /* check for failure */ if (found_depth != MB_YES || found_slope != MB_YES) { status = MB_FAILURE; *error = MB_ERROR_OTHER; *depth = 0.0; *slope = 0.0; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 depth: %f\n",*depth); fprintf(stderr,"dbg2 slope: %f\n",*slope); 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 printsimplevalue(int verbose, FILE *output, double value, int width, int precision, int ascii, int *invert, int *flipsign, int *error) { char *function_name = "printsimplevalue"; int status = MB_SUCCESS; char format[24]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 value: %f\n",value); fprintf(stderr,"dbg2 width: %d\n",width); fprintf(stderr,"dbg2 precision: %d\n",precision); fprintf(stderr,"dbg2 ascii: %d\n",ascii); fprintf(stderr,"dbg2 invert: %d\n",*invert); fprintf(stderr,"dbg2 flipsign: %d\n",*flipsign); } /* make print format */ format[0] = '%'; if (*invert == MB_YES) strcpy(format, "%g"); else if (width > 0) sprintf(&format[1], "%d.%df", width, precision); else sprintf(&format[1], ".%df", precision); /* invert value if desired */ if (*invert == MB_YES) { *invert = MB_NO; if (value != 0.0) value = 1.0 / value; } /* flip sign value if desired */ if (*flipsign == MB_YES) { *flipsign = MB_NO; value = -value; } /* print value */ if (ascii == MB_YES) fprintf(output,format, value); else fwrite(&value, sizeof(double), 1, output); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 invert: %d\n",*invert); 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 printNaN(int verbose, FILE *output, int ascii, int *invert, int *flipsign, int *error) { char *function_name = "printNaN"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 ascii: %d\n",ascii); fprintf(stderr,"dbg2 invert: %d\n",*invert); fprintf(stderr,"dbg2 flipsign: %d\n",*flipsign); } /* reset invert flag */ if (*invert == MB_YES) *invert = MB_NO; /* reset flipsign flag */ if (*flipsign == MB_YES) *flipsign = MB_NO; /* print value */ if (ascii == MB_YES) fprintf(output,"NaN"); else fwrite(&NaN, sizeof(double), 1, output); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 invert: %d\n",*invert); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ /* Method to get fields from raw data, similar to mb_get_all. */ int mb_get_raw(int verbose, void *mbio_ptr, int *mode, int *ipulse_length, int *png_count, int *sample_rate, double *absorption, int *max_range, int *r_zero, int *r_zero_corr, int *tvg_start, int *tvg_stop, double *bsn, double *bso, int *tx, int *tvg_crossover, int *nbeams_ss, int *npixels, int *beam_samples, int *start_sample, int *range, double *depression, double *bs, double *ss_pixels, int *error) { char *function_name = "mb_get_raw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } mb_io_ptr = (struct mb_io_struct *) mbio_ptr; *mode = -1; *ipulse_length = 0; *png_count = 0; *sample_rate = 0; *absorption = 0; *max_range = 0; *r_zero = 0; *r_zero_corr = 0; *tvg_start = 0; *tvg_stop = 0; *bsn = 0; *bso = 0; *tx = 0; *tvg_crossover = 0; *nbeams_ss = 0; *npixels = 0; for (i = 0; i < mb_io_ptr->beams_bath_max; i++) { beam_samples[i] = 0; start_sample[i] = 0; range[i] = 0; depression[i] = 0.0; bs[i] = 0.0; } switch (mb_io_ptr->format) { case MBF_EM300MBA: case MBF_EM300RAW: mb_get_raw_simrad2(verbose, mbio_ptr, mode, ipulse_length, png_count, sample_rate, absorption, max_range, r_zero, r_zero_corr, tvg_start, tvg_stop, bsn, bso, tx, tvg_crossover, nbeams_ss, npixels, beam_samples, start_sample, range, depression, bs, ss_pixels, error); break; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 mode: %d\n",*mode); fprintf(stderr,"dbg2 ipulse_length: %d\n",*ipulse_length); fprintf(stderr,"dbg2 png_count: %d\n",*png_count); fprintf(stderr,"dbg2 sample_rate: %d\n",*sample_rate); fprintf(stderr,"dbg2 absorption: %f\n",*absorption); fprintf(stderr,"dbg2 max_range: %d\n",*max_range); fprintf(stderr,"dbg2 r_zero: %d\n",*r_zero); fprintf(stderr,"dbg2 r_zero_corr: %d\n",*r_zero_corr); fprintf(stderr,"dbg2 tvg_start: %d\n",*tvg_start); fprintf(stderr,"dbg2 tvg_stop: %d\n",*tvg_stop); fprintf(stderr,"dbg2 bsn: %f\n",*bsn); fprintf(stderr,"dbg2 bso: %f\n",*bso); fprintf(stderr,"dbg2 tx: %d\n",*tx); fprintf(stderr,"dbg2 tvg_crossover: %d\n",*tvg_crossover); fprintf(stderr,"dbg2 nbeams_ss: %d\n",*nbeams_ss); fprintf(stderr,"dbg2 npixels: %d\n",*npixels); for (i = 0; i < mb_io_ptr->beams_bath_max; i++) { fprintf(stderr,"dbg2 beam:%d range:%d depression:%f bs:%f\n", i,range[i],depression[i],bs[i]); } for (i = 0; i < mb_io_ptr->beams_bath_max; i++) { fprintf(stderr,"dbg2 beam:%d samples:%d start:%d\n", i,beam_samples[i],start_sample[i]); } for (i = 0; i < *npixels; i++) { fprintf(stderr,"dbg2 pixel:%d ss:%f\n", i,ss_pixels[i]); } fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return status; } /*--------------------------------------------------------------------*/ /* Method to get fields from simrad2 raw data. */ int mb_get_raw_simrad2(int verbose, void *mbio_ptr, int *mode, int *ipulse_length, int *png_count, int *sample_rate, double *absorption, int *max_range, int *r_zero, int *r_zero_corr, int *tvg_start, int *tvg_stop, double *bsn, double *bso, int *tx, int *tvg_crossover, int *nbeams_ss, int *npixels, int *beam_samples, int *start_sample, int *range, double *depression, double *bs, double *ss_pixels, int *error) { char *function_name = "mb_get_raw_simrad2"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad2_struct *store_ptr; struct mbsys_simrad2_ping_struct *ping_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } mb_io_ptr = (struct mb_io_struct *) mbio_ptr; store_ptr = (struct mbsys_simrad2_struct *) mb_io_ptr->store_data; ping_ptr = store_ptr->ping; if (store_ptr->kind == MB_DATA_DATA) { *mode = store_ptr->run_mode; *ipulse_length = store_ptr->run_tran_pulse; *png_count = ping_ptr->png_count; *sample_rate = ping_ptr->png_sample_rate; *absorption = ping_ptr->png_max_range * 0.01; *max_range = ping_ptr->png_max_range; *r_zero = ping_ptr->png_r_zero; *r_zero_corr = ping_ptr->png_r_zero_corr; *tvg_start = ping_ptr->png_tvg_start; *tvg_stop = ping_ptr->png_tvg_stop; *bsn = ping_ptr->png_bsn * 0.5; *bso = ping_ptr->png_bso * 0.5; *tx = ping_ptr->png_tx; *tvg_crossover = ping_ptr->png_tvg_crossover; *nbeams_ss = ping_ptr->png_nbeams_ss; *npixels = ping_ptr->png_npixels; for (i = 0; i < ping_ptr->png_nbeams; i++) { range[ping_ptr->png_beam_num[i] - 1] = ping_ptr->png_range[i]; depression[ping_ptr->png_beam_num[i] - 1] = ping_ptr->png_depression[i] * .01; bs[ping_ptr->png_beam_num[i] - 1] = ping_ptr->png_amp[i] * 0.5; } for (i = 0; i < ping_ptr->png_nbeams_ss; i++) { beam_samples[ping_ptr->png_beam_index[i]] = ping_ptr->png_beam_samples[i]; start_sample[ping_ptr->png_beam_index[i]] = ping_ptr->png_start_sample[i]; } for (i = 0; i < ping_ptr->png_npixels; i++) ss_pixels[i] = ping_ptr->png_ssraw[i] * 0.5; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBlist function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 mode: %d\n",*mode); fprintf(stderr,"dbg2 ipulse_length: %d\n",*ipulse_length); fprintf(stderr,"dbg2 png_count: %d\n",*png_count); fprintf(stderr,"dbg2 sample_rate: %d\n",*sample_rate); fprintf(stderr,"dbg2 absorption: %f\n",*absorption); fprintf(stderr,"dbg2 max_range: %d\n",*max_range); fprintf(stderr,"dbg2 r_zero: %d\n",*r_zero); fprintf(stderr,"dbg2 r_zero_corr: %d\n",*r_zero_corr); fprintf(stderr,"dbg2 tvg_start: %d\n",*tvg_start); fprintf(stderr,"dbg2 tvg_stop: %d\n",*tvg_stop); fprintf(stderr,"dbg2 bsn: %f\n",*bsn); fprintf(stderr,"dbg2 bso: %f\n",*bso); fprintf(stderr,"dbg2 tx: %d\n",*tx); fprintf(stderr,"dbg2 tvg_crossover: %d\n",*tvg_crossover); fprintf(stderr,"dbg2 nbeams_ss: %d\n",*nbeams_ss); fprintf(stderr,"dbg2 npixels: %d\n",*npixels); for (i = 0; i < mb_io_ptr->beams_bath_max; i++) { fprintf(stderr,"dbg2 beam:%d range:%d depression:%f bs:%f\n", i,range[i],depression[i],bs[i]); } for (i = 0; i < mb_io_ptr->beams_bath_max; i++) { fprintf(stderr,"dbg2 beam:%d samples:%d start:%d\n", i,beam_samples[i],start_sample[i]); } for (i = 0; i < *npixels; i++) { fprintf(stderr,"dbg2 pixel:%d ss:%f\n", i,ss_pixels[i]); } fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return status; } /*--------------------------------------------------------------------*/