/*-------------------------------------------------------------------- * The MB-system: mbr_elmk2unb.c 6/6/97 * $Id: mbr_elmk2unb.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1997-2012 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. *--------------------------------------------------------------------*/ /* * mbr_elmk2unb.c contains the functions for reading and writing * multibeam data in the ELMK2UNB format. * These functions include: * mbr_alm_elmk2unb - allocate read/write memory * mbr_dem_elmk2unb - deallocate read/write memory * mbr_rt_elmk2unb - read and translate data * mbr_wt_elmk2unb - translate and write data * * Author: D. W. Caress * Date: June 6, 1997 * * $Log: mbr_elmk2unb.c,v $ * Revision 5.9 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.8 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.5 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.4 2001-07-19 17:31:11-07 caress * Release 5.0.beta03 * * Revision 5.3 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.2 2001/03/22 20:45:56 caress * Trying to make 5.0.beta0... * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.8 2000/10/11 01:02:30 caress * Convert to ANSI C * * Revision 4.7 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.6 1999/04/07 20:38:24 caress * Fixes related to building under Linux. * * Revision 4.6 1999/04/03 07:36:16 caress * Fix bugs in byteswapped code. * * Revision 4.5 1999/04/02 00:55:11 caress * Handles nav and nav records more properly. * * Revision 4.4 1999/03/31 18:11:35 caress * MB-System 4.6beta7 * * Revision 4.3 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.2 1997/09/15 19:06:40 caress * Real Version 4.5 * * Revision 4.1 1997/07/28 14:58:19 caress * Fixed typos. * * Revision 4.0 1997/07/25 14:25:40 caress * Version 4.5beta2. * * Revision 1.1 1997/07/25 14:19:53 caress * Initial revision * * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_elacmk2.h" #include "../../include/mbf_elmk2unb.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* essential function prototypes */ int mbr_register_elmk2unb(int verbose, void *mbio_ptr, int *error); int mbr_info_elmk2unb(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error); int mbr_alm_elmk2unb(int verbose, void *mbio_ptr, int *error); int mbr_dem_elmk2unb(int verbose, void *mbio_ptr, int *error); int mbr_zero_elmk2unb(int verbose, void *data_ptr, int *error); int mbr_rt_elmk2unb(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_elmk2unb(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_elmk2unb_rd_data(int verbose, void *mbio_ptr, int *error); int mbr_elmk2unb_rd_comment(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error); int mbr_elmk2unb_rd_parameter(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error); int mbr_elmk2unb_rd_pos(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error); int mbr_elmk2unb_rd_svp(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error); int mbr_elmk2unb_rd_bathgen(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error); int mbr_elmk2unb_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error); int mbr_elmk2unb_wr_comment(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_elmk2unb_wr_parameter(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_elmk2unb_wr_pos(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_elmk2unb_wr_svp(int verbose, FILE *mbfp, void *data_ptr, int *error); int mbr_elmk2unb_wr_bathgen(int verbose, FILE *mbfp, void *data_ptr, int *error); static char rcs_id[]="$Id: mbr_elmk2unb.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_elmk2unb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_elmk2unb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* get mb_io_ptr */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set format info parameters */ status = mbr_info_elmk2unb(verbose, &mb_io_ptr->system, &mb_io_ptr->beams_bath_max, &mb_io_ptr->beams_amp_max, &mb_io_ptr->pixels_ss_max, mb_io_ptr->format_name, mb_io_ptr->system_name, mb_io_ptr->format_description, &mb_io_ptr->numfile, &mb_io_ptr->filetype, &mb_io_ptr->variable_beams, &mb_io_ptr->traveltime, &mb_io_ptr->beam_flagging, &mb_io_ptr->nav_source, &mb_io_ptr->heading_source, &mb_io_ptr->vru_source, &mb_io_ptr->svp_source, &mb_io_ptr->beamwidth_xtrack, &mb_io_ptr->beamwidth_ltrack, error); /* set format and system specific function pointers */ mb_io_ptr->mb_io_format_alloc = &mbr_alm_elmk2unb; mb_io_ptr->mb_io_format_free = &mbr_dem_elmk2unb; mb_io_ptr->mb_io_store_alloc = &mbsys_elacmk2_alloc; mb_io_ptr->mb_io_store_free = &mbsys_elacmk2_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_elmk2unb; mb_io_ptr->mb_io_write_ping = &mbr_wt_elmk2unb; mb_io_ptr->mb_io_dimensions = &mbsys_elacmk2_dimensions; mb_io_ptr->mb_io_extract = &mbsys_elacmk2_extract; mb_io_ptr->mb_io_insert = &mbsys_elacmk2_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_elacmk2_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_elacmk2_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_elacmk2_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_elacmk2_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_elacmk2_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_elacmk2_ttimes; mb_io_ptr->mb_io_detects = &mbsys_elacmk2_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_elacmk2_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = NULL; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %lu\n",(size_t)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %lu\n",(size_t)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %lu\n",(size_t)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %lu\n",(size_t)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %lu\n",(size_t)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %lu\n",(size_t)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %lu\n",(size_t)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %lu\n",(size_t)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %lu\n",(size_t)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %lu\n",(size_t)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 copyrecord: %lu\n",(size_t)mb_io_ptr->mb_io_copyrecord); 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 mbr_info_elmk2unb(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error) { char *function_name = "mbr_info_elmk2unb"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* set format info parameters */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; *system = MB_SYS_ELACMK2; *beams_bath_max = 126; *beams_amp_max = 126; *pixels_ss_max = 0; strncpy(format_name, "ELMK2UNB", MB_NAME_LENGTH); strncpy(system_name, "ELACMK2", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_ELMK2UNB\nInformal Description: Elac BottomChart MkII shallow water multibeam\nAttributes: 126 beam bathymetry and amplitude,\n binary, University of New Brunswick.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 3.0; *beamwidth_ltrack = 3.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); 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 mbr_alm_elmk2unb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_elmk2unb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = sizeof(struct mbf_elmk2unb_struct); mb_io_ptr->data_structure_size = 0; status = mb_malloc(verbose,mb_io_ptr->structure_size, &mb_io_ptr->raw_data,error); mbsys_elacmk2_alloc(verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* initialize everything to zeros */ mbr_zero_elmk2unb(verbose,mb_io_ptr->raw_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_elmk2unb(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_elmk2unb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data descriptor */ status = mb_free(verbose,&mb_io_ptr->raw_data,error); status = mb_free(verbose,&mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_zero_elmk2unb(int verbose, void *data_ptr, int *error) { char *function_name = "mbr_zero_elmk2unb"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to data descriptor */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { data->kind = MB_DATA_NONE; data->sonar = MBSYS_ELACMK2_BOTTOMCHART_MARKII; data->par_year = 0; data->par_month = 0; data->par_day = 0; data->par_hour = 0; data->par_minute = 0; data->par_second = 0; data->par_hundredth_sec = 0; data->par_thousandth_sec = 0; data->roll_offset = 0; /* roll offset (degrees) */ data->pitch_offset = 0; /* pitch offset (degrees) */ data->heading_offset = 0; /* heading offset (degrees) */ data->time_delay = 0; /* positioning system delay (sec) */ data->transducer_port_height = 0; data->transducer_starboard_height = 0; data->transducer_port_depth = 192; data->transducer_starboard_depth = 192; data->transducer_port_x = 0; data->transducer_starboard_x = 0; data->transducer_port_y = 0; data->transducer_starboard_y = 0; data->transducer_port_error = 0; data->transducer_starboard_error = 0; data->antenna_height = 0; data->antenna_x = 0; data->antenna_y = 0; data->vru_height = 0; data->vru_x = 0; data->vru_y = 0; data->line_number = 0; data->start_or_stop = 0; data->transducer_serial_number = 0; for (i=0;icomment[i] = '\0'; /* position (position telegrams) */ data->pos_year = 0; data->pos_month = 0; data->pos_day = 0; data->pos_hour = 0; data->pos_minute = 0; data->pos_second = 0; data->par_hundredth_sec = 0; data->pos_thousandth_sec = 0; data->pos_latitude = 0; data->pos_longitude = 0; data->utm_northing = 0; data->utm_easting = 0; data->utm_zone_lon = 0; data->utm_zone = 0; data->hemisphere = 0; data->ellipsoid = 0; data->pos_spare = 0; data->semi_major_axis = 0; data->other_quality = 0; /* sound velocity profile */ data->svp_year = 0; data->svp_month = 0; data->svp_day = 0; data->svp_hour = 0; data->svp_minute = 0; data->svp_second = 0; data->svp_hundredth_sec = 0; data->svp_thousandth_sec = 0; data->svp_num = 0; for (i=0;i<100;i++) { data->svp_depth[i] = 0; /* 0.1 meters */ data->svp_vel[i] = 0; /* 0.1 meters/sec */ } /* depth telegram */ data->year = 0; data->month = 0; data->day = 0; data->hour = 0; data->minute = 0; data->second = 0; data->hundredth_sec = 0; data->thousandth_sec = 0; data->latitude = 0; data->longitude = 0; data->ping_num = 0; data->sound_vel = 0; data->heading = 0; data->pulse_length = 0; data->mode = 0; data->pulse_length = 0; data->source_power = 0; data->receiver_gain_stbd = 0; data->receiver_gain_port = 0; data->reserved = 0; data->beams_bath = 0; for (i=0;ibeams[i].bath = 0; data->beams[i].bath_acrosstrack = 0; data->beams[i].bath_alongtrack = 0; data->beams[i].tt = 0; data->beams[i].quality = 0; data->beams[i].amplitude = 0; data->beams[i].time_offset = 0; data->beams[i].heave = 0; data->beams[i].roll = 0; data->beams[i].pitch = 0; data->beams[i].angle = 0; } } /* assume success */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_elmk2unb(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_elmk2unb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_elmk2unb_struct *data; struct mbsys_elacmk2_struct *store; int time_i[7]; double time_d; double lon, lat, heading, speed; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; data = (struct mbf_elmk2unb_struct *) mb_io_ptr->raw_data; store = (struct mbsys_elacmk2_struct *) store_ptr; /* read next data from file */ status = mbr_elmk2unb_rd_data(verbose,mbio_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = data->kind; /* add nav records to list for interpolation */ if (status == MB_SUCCESS && data->kind == MB_DATA_NAV) { mb_fix_y2k(verbose, data->pos_year,&time_i[0]); time_i[1] = data->pos_month; time_i[2] = data->pos_day; time_i[3] = data->pos_hour; time_i[4] = data->pos_minute; time_i[5] = data->pos_second; time_i[6] = 10000*data->pos_hundredth_sec + 100*data->pos_thousandth_sec; mb_get_time(verbose,time_i, &time_d); lon = data->pos_longitude*0.00000009; lat = data->pos_latitude*0.00000009; mb_navint_add(verbose, mbio_ptr, time_d, lon, lat, error); } /* interpolate navigation for survey pings if needed */ if (status == MB_SUCCESS && data->kind == MB_DATA_DATA && mb_io_ptr->nfix >= 1) { mb_fix_y2k(verbose, data->year,&time_i[0]); time_i[1] = data->month; time_i[2] = data->day; time_i[3] = data->hour; time_i[4] = data->minute; time_i[5] = data->second; time_i[6] = 10000*data->hundredth_sec + 100*data->thousandth_sec; mb_get_time(verbose,time_i, &time_d); heading = 0.01 * data->heading; mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, &lon, &lat, &speed, error); data->longitude = (int) (lon / 0.00000009); data->latitude = (int) (lat / 0.00000009); } /* translate values to elac data storage structure */ if (status == MB_SUCCESS && store != NULL) { store->kind = data->kind; store->sonar = data->sonar; /* parameter telegram */ if (store->kind == MB_DATA_PARAMETER) { store->par_year = data->par_year; store->par_month = data->par_month; store->par_day = data->par_day; store->par_hour = data->par_hour; store->par_minute = data->par_minute; store->par_second = data->par_second; store->par_hundredth_sec = data->par_hundredth_sec; store->par_thousandth_sec = data->par_thousandth_sec; store->roll_offset = data->roll_offset; store->pitch_offset = data->pitch_offset; store->heading_offset = data->heading_offset; store->time_delay = data->time_delay; store->transducer_port_height = data->transducer_port_height; store->transducer_starboard_height = data->transducer_starboard_height; store->transducer_port_depth = data->transducer_port_depth; store->transducer_starboard_depth = data->transducer_starboard_depth; store->transducer_port_x = data->transducer_port_x; store->transducer_starboard_x = data->transducer_starboard_x; store->transducer_port_y = data->transducer_port_y; store->transducer_starboard_y = data->transducer_starboard_y; store->transducer_port_error = data->transducer_port_error; store->transducer_starboard_error = data->transducer_starboard_error; store->antenna_height = data->antenna_height; store->antenna_x = data->antenna_x; store->antenna_y = data->antenna_y; store->vru_height = data->vru_height; store->vru_x = data->vru_x; store->vru_y = data->vru_y; store->line_number = data->line_number; store->start_or_stop = data->start_or_stop; store->transducer_serial_number = data->transducer_serial_number; } /* comment */ if (store->kind == MB_DATA_COMMENT) { for (i=0;icomment[i] = data->comment[i]; } /* position (position telegrams) */ if (store->kind == MB_DATA_NAV) { store->pos_year = data->pos_year; store->pos_month = data->pos_month; store->pos_day = data->pos_day; store->pos_hour = data->pos_hour; store->pos_minute = data->pos_minute; store->pos_second = data->pos_second; store->pos_hundredth_sec = data->pos_hundredth_sec; store->pos_thousandth_sec = data->pos_thousandth_sec; store->pos_latitude = data->pos_latitude; store->pos_longitude = data->pos_longitude; store->utm_northing = data->utm_northing; store->utm_easting = data->utm_easting; store->utm_zone_lon = data->utm_zone_lon; store->utm_zone = data->utm_zone; store->hemisphere = data->hemisphere; store->ellipsoid = data->ellipsoid; store->pos_spare = data->pos_spare; store->semi_major_axis = data->semi_major_axis; store->other_quality = data->other_quality; } /* sound velocity profile */ if (store->kind == MB_DATA_VELOCITY_PROFILE) { store->svp_year = data->svp_year; store->svp_month = data->svp_month; store->svp_day = data->svp_day; store->svp_hour = data->svp_hour; store->svp_minute = data->svp_minute; store->svp_second = data->svp_second; store->svp_hundredth_sec = data->svp_hundredth_sec; store->svp_thousandth_sec = data->svp_thousandth_sec; store->svp_num = data->svp_num; for (i=0;i<500;i++) { store->svp_depth[i] = data->svp_depth[i]; store->svp_vel[i] = data->svp_vel[i]; } } /* depth telegram */ if (store->kind == MB_DATA_DATA) { store->year = data->year; store->month = data->month; store->day = data->day; store->hour = data->hour; store->minute = data->minute; store->second = data->second; store->hundredth_sec = data->hundredth_sec; store->thousandth_sec = data->thousandth_sec; store->longitude = lon; store->latitude = lat; store->speed = speed / 3.6; store->ping_num = data->ping_num; store->sound_vel = data->sound_vel; store->heading = data->heading; store->pulse_length = data->pulse_length; store->mode = data->mode; store->source_power = data->source_power; store->receiver_gain_stbd = data->receiver_gain_stbd; store->receiver_gain_port = data->receiver_gain_port; store->reserved = data->reserved; store->beams_bath = data->beams_bath; for (i=0;ibeams_bath;i++) { store->beams[i].bath = data->beams[i].bath; store->beams[i].bath_acrosstrack = data->beams[i].bath_acrosstrack; store->beams[i].bath_alongtrack = data->beams[i].bath_alongtrack; store->beams[i].tt = data->beams[i].tt; store->beams[i].quality = data->beams[i].quality; store->beams[i].amplitude = data->beams[i].amplitude; store->beams[i].time_offset = data->beams[i].time_offset; store->beams[i].heave = data->beams[i].heave; store->beams[i].roll = data->beams[i].roll; store->beams[i].pitch = data->beams[i].pitch; store->beams[i].angle = data->beams[i].angle; } } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wt_elmk2unb(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_elmk2unb"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_elmk2unb_struct *data; char *data_ptr; struct mbsys_elacmk2_struct *store; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; store = (struct mbsys_elacmk2_struct *) store_ptr; /* first translate values from data storage structure */ if (store != NULL) { data->kind = store->kind; data->sonar = store->sonar; /* parameter telegram */ data->par_year = store->par_year; data->par_month = store->par_month; data->par_day = store->par_day; data->par_hour = store->par_hour; data->par_minute = store->par_minute; data->par_second = store->par_second; data->par_hundredth_sec = store->par_hundredth_sec; data->par_thousandth_sec = store->par_thousandth_sec; data->roll_offset = store->roll_offset; data->pitch_offset = store->pitch_offset; data->heading_offset = store->heading_offset; data->time_delay = store->time_delay; data->transducer_port_height = store->transducer_port_height; data->transducer_starboard_height = store->transducer_starboard_height; data->transducer_port_depth = store->transducer_port_depth; data->transducer_starboard_depth = store->transducer_starboard_depth; data->transducer_port_x = store->transducer_port_x; data->transducer_starboard_x = store->transducer_starboard_x; data->transducer_port_y = store->transducer_port_y; data->transducer_starboard_y = store->transducer_starboard_y; data->transducer_port_error = store->transducer_port_error; data->transducer_starboard_error = store->transducer_starboard_error; data->antenna_height = store->antenna_height; data->antenna_x = store->antenna_x; data->antenna_y = store->antenna_y; data->vru_height = store->vru_height; data->vru_x = store->vru_x; data->vru_y = store->vru_y; data->line_number = store->line_number; data->start_or_stop = store->start_or_stop; data->transducer_serial_number = store->transducer_serial_number; for (i=0;icomment[i] = store->comment[i]; /* position (position telegrams) */ data->pos_year = store->pos_year; data->pos_month = store->pos_month; data->pos_day = store->pos_day; data->pos_hour = store->pos_hour; data->pos_minute = store->pos_minute; data->pos_second = store->pos_second; data->pos_hundredth_sec = store->pos_hundredth_sec; data->pos_thousandth_sec = store->pos_thousandth_sec; data->pos_latitude = store->pos_latitude; data->pos_longitude = store->pos_longitude; data->utm_northing = store->utm_northing; data->utm_easting = store->utm_easting; data->utm_zone_lon = store->utm_zone_lon; data->utm_zone = store->utm_zone; data->hemisphere = store->hemisphere; data->ellipsoid = store->ellipsoid; data->pos_spare = store->pos_spare; data->semi_major_axis = store->semi_major_axis; data->other_quality = store->other_quality; /* sound velocity profile */ data->svp_year = store->svp_year; data->svp_month = store->svp_month; data->svp_day = store->svp_day; data->svp_hour = store->svp_hour; data->svp_minute = store->svp_minute; data->svp_second = store->svp_second; data->svp_hundredth_sec = store->svp_hundredth_sec; data->svp_thousandth_sec = store->svp_thousandth_sec; data->svp_num = store->svp_num; for (i=0;i<500;i++) { data->svp_depth[i] = store->svp_depth[i]; data->svp_vel[i] = store->svp_vel[i]; } /* depth telegram */ data->year = store->year; data->month = store->month; data->day = store->day; data->hour = store->hour; data->minute = store->minute; data->second = store->second; data->hundredth_sec = store->hundredth_sec; data->thousandth_sec = store->thousandth_sec; data->ping_num = store->ping_num; data->sound_vel = store->sound_vel; data->heading = store->heading; data->pulse_length = store->pulse_length; data->mode = store->mode; data->source_power = store->source_power; data->receiver_gain_stbd = store->receiver_gain_stbd; data->receiver_gain_port = store->receiver_gain_port; data->reserved = store->reserved; data->beams_bath = store->beams_bath; for (i=0;ibeams_bath;i++) { data->beams[i].bath = store->beams[i].bath; data->beams[i].bath_acrosstrack = store->beams[i].bath_acrosstrack; data->beams[i].bath_alongtrack = store->beams[i].bath_alongtrack; data->beams[i].tt = store->beams[i].tt; data->beams[i].quality = store->beams[i].quality; data->beams[i].amplitude = store->beams[i].amplitude; data->beams[i].time_offset = store->beams[i].time_offset; data->beams[i].heave = store->beams[i].heave; data->beams[i].roll = store->beams[i].roll; data->beams[i].pitch = store->beams[i].pitch; data->beams[i].angle = store->beams[i].angle; } } /* write next data to file */ status = mbr_elmk2unb_wr_data(verbose,mbio_ptr,data_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_elmk2unb_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_elmk2unb_struct *data; char *data_ptr; FILE *mbfp; int done; short int *type; static char label[2]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; mbfp = mb_io_ptr->mbfp; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; done = MB_NO; type = (short int *) label; *error = MB_ERROR_NO_ERROR; while (done == MB_NO) { /* get next record label */ if ((status = fread(&label[0],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } if (label[0] == 0x02) if ((status = fread(&label[1],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* swap bytes if necessary */ #ifdef BYTESWAPPED *type = (short int) mb_swap_short(*type); #endif /* read the appropriate data records */ if (status == MB_FAILURE) { done = MB_YES; } else if (*type == ELACMK2_COMMENT) { status = mbr_elmk2unb_rd_comment( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_COMMENT; } } else if (*type == ELACMK2_PARAMETER) { status = mbr_elmk2unb_rd_parameter( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_PARAMETER; } } else if (*type == ELACMK2_POS) { status = mbr_elmk2unb_rd_pos( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_NAV; } } else if (*type == ELACMK2_SVP) { status = mbr_elmk2unb_rd_svp( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_VELOCITY_PROFILE; } } else if (*type == ELACMK2_BATHGEN) { status = mbr_elmk2unb_rd_bathgen( verbose,mbfp,data,error); if (status == MB_SUCCESS) { done = MB_YES; data->kind = MB_DATA_DATA; } } else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* bail out if there is an error */ if (status == MB_FAILURE) done = MB_YES; } /* get file position */ mb_io_ptr->file_bytes = ftell(mbfp); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_comment(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error) { char *function_name = "mbr_elmk2unb_rd_comment"; int status = MB_SUCCESS; char line[ELACMK2_COMMENT_SIZE+3]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELACMK2_COMMENT_SIZE+3,mbfp); if (status == ELACMK2_COMMENT_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_COMMENT; strncpy(data->comment,line,MBF_ELMK2UNB_COMMENT_LENGTH-1); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->comment); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_parameter(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error) { char *function_name = "mbr_elmk2unb_rd_parameter"; int status = MB_SUCCESS; char line[ELACMK2_PARAMETER_SIZE+3]; short int *short_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELACMK2_PARAMETER_SIZE+3,mbfp); if (status == ELACMK2_PARAMETER_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_PARAMETER; data->par_day = (int) line[0]; data->par_month = (int) line[1]; data->par_year = (int) line[2]; data->par_hour = (int) line[3]; data->par_minute = (int) line[4]; data->par_second = (int) line[5]; data->par_hundredth_sec = (int) line[6]; data->par_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; data->roll_offset = *short_ptr; short_ptr = (short int *) &line[10]; data->pitch_offset = *short_ptr; short_ptr = (short int *) &line[12]; data->heading_offset = *short_ptr; short_ptr = (short int *) &line[14]; data->time_delay = *short_ptr; short_ptr = (short int *) &line[16]; data->transducer_port_height = *short_ptr; short_ptr = (short int *) &line[18]; data->transducer_starboard_height = *short_ptr; short_ptr = (short int *) &line[20]; data->transducer_port_depth = *short_ptr; short_ptr = (short int *) &line[22]; data->transducer_starboard_depth = *short_ptr; short_ptr = (short int *) &line[24]; data->transducer_port_x = *short_ptr; short_ptr = (short int *) &line[26]; data->transducer_starboard_x = *short_ptr; short_ptr = (short int *) &line[28]; data->transducer_port_y = *short_ptr; short_ptr = (short int *) &line[30]; data->transducer_starboard_y = *short_ptr; short_ptr = (short int *) &line[32]; data->transducer_port_error = *short_ptr; short_ptr = (short int *) &line[34]; data->transducer_starboard_error = *short_ptr; short_ptr = (short int *) &line[36]; data->antenna_height = *short_ptr; short_ptr = (short int *) &line[38]; data->antenna_x = *short_ptr; short_ptr = (short int *) &line[40]; data->antenna_y = *short_ptr; short_ptr = (short int *) &line[42]; data->vru_height = *short_ptr; short_ptr = (short int *) &line[44]; data->vru_x = *short_ptr; short_ptr = (short int *) &line[46]; data->vru_y = *short_ptr; short_ptr = (short int *) &line[48]; data->line_number = *short_ptr; short_ptr = (short int *) &line[50]; data->start_or_stop = *short_ptr; short_ptr = (short int *) &line[52]; data->transducer_serial_number = *short_ptr; #else short_ptr = (short int *) &line[8]; data->roll_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[10]; data->pitch_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[12]; data->heading_offset = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[14]; data->time_delay = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[16]; data->transducer_port_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[18]; data->transducer_starboard_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[20]; data->transducer_port_depth = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[22]; data->transducer_starboard_depth = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[24]; data->transducer_port_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[26]; data->transducer_starboard_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[28]; data->transducer_port_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[30]; data->transducer_starboard_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[32]; data->transducer_port_error = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[34]; data->transducer_starboard_error = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[36]; data->antenna_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[38]; data->antenna_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[40]; data->antenna_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[42]; data->vru_height = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[44]; data->vru_x = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[46]; data->vru_y = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[48]; data->line_number = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[50]; data->start_or_stop = (short int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[52]; data->transducer_serial_number = (short int) mb_swap_short(*short_ptr); #endif } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->par_year); fprintf(stderr,"dbg5 month: %d\n",data->par_month); fprintf(stderr,"dbg5 day: %d\n",data->par_day); fprintf(stderr,"dbg5 hour: %d\n",data->par_hour); fprintf(stderr,"dbg5 minute: %d\n",data->par_minute); fprintf(stderr,"dbg5 sec: %d\n",data->par_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->par_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->par_thousandth_sec); fprintf(stderr,"dbg5 roll_offset: %d\n",data->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %d\n",data->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %d\n",data->heading_offset); fprintf(stderr,"dbg5 time_delay: %d\n",data->time_delay); fprintf(stderr,"dbg5 transducer_port_height: %d\n", data->transducer_port_height); fprintf(stderr,"dbg5 transducer_starboard_height:%d\n", data->transducer_starboard_height); fprintf(stderr,"dbg5 transducer_port_depth: %d\n", data->transducer_port_depth); fprintf(stderr,"dbg5 transducer_starboard_depth: %d\n", data->transducer_starboard_depth); fprintf(stderr,"dbg5 transducer_port_x: %d\n", data->transducer_port_x); fprintf(stderr,"dbg5 transducer_starboard_x: %d\n", data->transducer_starboard_x); fprintf(stderr,"dbg5 transducer_port_y: %d\n", data->transducer_port_y); fprintf(stderr,"dbg5 transducer_starboard_y: %d\n", data->transducer_starboard_y); fprintf(stderr,"dbg5 transducer_port_error: %d\n", data->transducer_port_error); fprintf(stderr,"dbg5 transducer_starboard_error: %d\n", data->transducer_starboard_error); fprintf(stderr,"dbg5 antenna_height: %d\n",data->antenna_height); fprintf(stderr,"dbg5 antenna_x: %d\n",data->antenna_x); fprintf(stderr,"dbg5 antenna_y: %d\n",data->antenna_y); fprintf(stderr,"dbg5 vru_height:%d\n",data->vru_height); fprintf(stderr,"dbg5 vru_x:%d\n",data->vru_x); fprintf(stderr,"dbg5 vru_y:%d\n",data->vru_y); fprintf(stderr,"dbg5 line_number:%d\n",data->line_number); fprintf(stderr,"dbg5 start_or_stop:%d\n",data->start_or_stop); fprintf(stderr,"dbg5 transducer_serial_number:%d\n", data->transducer_serial_number); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_pos(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error) { char *function_name = "mbr_elmk2unb_rd_pos"; int status = MB_SUCCESS; char line[ELACMK2_POS_SIZE+3]; short int *short_ptr; int *int_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELACMK2_POS_SIZE+3,mbfp); if (status == ELACMK2_POS_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_NAV; data->pos_day = (int) line[0]; data->pos_month = (int) line[1]; data->pos_year = (int) line[2]; data->pos_hour = (int) line[3]; data->pos_minute = (int) line[4]; data->pos_second = (int) line[5]; data->pos_hundredth_sec = (int) line[6]; data->pos_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; data->pos_latitude = *int_ptr; int_ptr = (int *) &line[12]; data->pos_longitude = *int_ptr; int_ptr = (int *) &line[16]; data->utm_northing = *int_ptr; int_ptr = (int *) &line[20]; data->utm_easting = *int_ptr; int_ptr = (int *) &line[24]; data->utm_zone_lon = *int_ptr; data->utm_zone = line[28]; data->hemisphere = line[29]; data->ellipsoid = line[30]; data->pos_spare = line[31]; short_ptr = (short int *) &line[32]; data->semi_major_axis = (int) *short_ptr; short_ptr = (short int *) &line[34]; data->other_quality = (int) *short_ptr; #else int_ptr = (int *) &line[8]; data->pos_latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[12]; data->pos_longitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[16]; data->utm_northing = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[20]; data->utm_easting = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[24]; data->utm_zone_lon = (int) mb_swap_int(*int_ptr); data->utm_zone = line[28]; data->hemisphere = line[29]; data->ellipsoid = line[30]; data->pos_spare = line[31]; short_ptr = (short int *) &line[32]; data->semi_major_axis = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[34]; data->other_quality = (int) mb_swap_short(*short_ptr); #endif } /* KLUGE for 1996 UNB TRAINING COURSE - FLIP LONGITUDE */ if (data->pos_year == 96 && data->pos_month >= 6 && data->pos_month <= 8) data->pos_longitude = -data->pos_longitude; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->pos_year); fprintf(stderr,"dbg5 month: %d\n",data->pos_month); fprintf(stderr,"dbg5 day: %d\n",data->pos_day); fprintf(stderr,"dbg5 hour: %d\n",data->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",data->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",data->pos_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->pos_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->pos_thousandth_sec); fprintf(stderr,"dbg5 pos_latitude: %d\n",data->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",data->pos_longitude); fprintf(stderr,"dbg5 utm_northing: %d\n",data->utm_northing); fprintf(stderr,"dbg5 utm_easting: %d\n",data->utm_easting); fprintf(stderr,"dbg5 utm_zone_lon: %d\n",data->utm_zone_lon); fprintf(stderr,"dbg5 utm_zone: %c\n",data->utm_zone); fprintf(stderr,"dbg5 hemisphere: %c\n",data->hemisphere); fprintf(stderr,"dbg5 ellipsoid: %c\n",data->ellipsoid); fprintf(stderr,"dbg5 pos_spare: %c\n",data->pos_spare); fprintf(stderr,"dbg5 semi_major_axis: %d\n",data->semi_major_axis); fprintf(stderr,"dbg5 other_quality: %d\n",data->other_quality); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_svp(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error) { char *function_name = "mbr_elmk2unb_rd_svp"; int status = MB_SUCCESS; char line[ELACMK2_SVP_SIZE+3]; short int *short_ptr; short int *short_ptr2; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELACMK2_SVP_SIZE+3,mbfp); if (status == ELACMK2_SVP_SIZE+3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_VELOCITY_PROFILE; data->svp_day = (int) line[0]; data->svp_month = (int) line[1]; data->svp_year = (int) line[2]; data->svp_hour = (int) line[3]; data->svp_minute = (int) line[4]; data->svp_second = (int) line[5]; data->svp_hundredth_sec = (int) line[6]; data->svp_thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; data->svp_latitude = *int_ptr; int_ptr = (int *) &line[12]; data->svp_longitude = *int_ptr; #else int_ptr = (int *) &line[8]; data->svp_latitude = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[12]; data->svp_latitude = (int) mb_swap_int(*int_ptr); #endif data->svp_num = 0; for (i=0;i<500;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; #ifndef BYTESWAPPED data->svp_depth[i] = *short_ptr; data->svp_vel[i] = *short_ptr2; #else data->svp_depth[i] = (short int) mb_swap_short(*short_ptr); data->svp_vel[i] = (short int) mb_swap_short(*short_ptr2); #endif if (data->svp_vel[i] > 0) data->svp_num = i + 1; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->svp_year); fprintf(stderr,"dbg5 month: %d\n",data->svp_month); fprintf(stderr,"dbg5 day: %d\n",data->svp_day); fprintf(stderr,"dbg5 hour: %d\n",data->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",data->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",data->svp_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->svp_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->svp_thousandth_sec); fprintf(stderr,"dbg5 svp_latitude: %d\n",data->svp_latitude); fprintf(stderr,"dbg5 svp_longitude: %d\n",data->svp_longitude); fprintf(stderr,"dbg5 svp_num: %d\n",data->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", data->svp_depth[i],data->svp_vel[i]); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_rd_bathgen(int verbose, FILE *mbfp, struct mbf_elmk2unb_struct *data, int *error) { char *function_name = "mbr_elmk2unb_rd_bathgen"; int status = MB_SUCCESS; char line[ELACMK2_COMMENT_SIZE]; short int *short_ptr; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data: %lu\n",(size_t)data); } /* read record into char array */ status = fread(line,1,ELACMK2_BATHGEN_HDR_SIZE,mbfp); if (status == ELACMK2_BATHGEN_HDR_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { data->kind = MB_DATA_DATA; data->day = (int) line[0]; data->month = (int) line[1]; data->year = (int) line[2]; data->hour = (int) line[3]; data->minute = (int) line[4]; data->second = (int) line[5]; data->hundredth_sec = (int) line[6]; data->thousandth_sec = (int) line[7]; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; data->ping_num = (int) (unsigned short) *short_ptr; short_ptr = (short int *) &line[10]; data->sound_vel = (int) (unsigned short) *short_ptr; short_ptr = (short int *) &line[12]; data->heading = (int) (unsigned short) *short_ptr; short_ptr = (short int *) &line[14]; data->pulse_length = (int) (unsigned short) *short_ptr; #else short_ptr = (short int *) &line[8]; data->ping_num = (int) (unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[10]; data->sound_vel = (int) (unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[12]; data->heading = (int) (unsigned short) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[14]; data->pulse_length = (int) (unsigned short) mb_swap_short(*short_ptr); #endif data->mode = (int) line[16]; data->source_power = (int) line[17]; data->receiver_gain_stbd = (int) line[18]; data->receiver_gain_port = (int) line[19]; #ifndef BYTESWAPPED short_ptr = (short int *) &line[20]; data->reserved = (int) *short_ptr; short_ptr = (short int *) &line[22]; data->beams_bath = (int) *short_ptr; #else short_ptr = (short int *) &line[20]; data->reserved = (int) mb_swap_short(*short_ptr); short_ptr = (short int *) &line[22]; data->beams_bath = (int) mb_swap_short(*short_ptr); #endif } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n", data->year); fprintf(stderr,"dbg5 month: %d\n", data->month); fprintf(stderr,"dbg5 day: %d\n", data->day); fprintf(stderr,"dbg5 hour: %d\n", data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 sec: %d\n", data->second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->thousandth_sec); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 heading: %d\n",data->heading); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain_stbd:%d\n", data->receiver_gain_stbd); fprintf(stderr,"dbg5 receiver_gain_port:%d\n", data->receiver_gain_port); fprintf(stderr,"dbg5 reserved: %d\n", data->reserved); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); } /* now read each of the beams */ if (status == MB_SUCCESS) { for (i=0;ibeams_bath;i++) { /* read record into char array */ status = fread(line,1,ELACMK2_BATHGEN_BEAM_SIZE,mbfp); if (status == ELACMK2_BATHGEN_BEAM_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { #ifndef BYTESWAPPED int_ptr = (int *) &line[0]; data->beams[i].bath = (unsigned int) *int_ptr; int_ptr = (int *) &line[4]; data->beams[i].bath_acrosstrack = (int) *int_ptr; int_ptr = (int *) &line[8]; data->beams[i].bath_alongtrack = (int) *int_ptr; int_ptr = (int *) &line[12]; data->beams[i].tt = (unsigned int) *int_ptr; #else int_ptr = (int *) &line[0]; data->beams[i].bath = (unsigned int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[4]; data->beams[i].bath_acrosstrack = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[8]; data->beams[i].bath_alongtrack = (int) mb_swap_int(*int_ptr); int_ptr = (int *) &line[12]; data->beams[i].tt = (unsigned int) mb_swap_int(*int_ptr); #endif data->beams[i].quality = line[16]; if (data->beams[i].quality <= 0) data->beams[i].quality = 8; data->beams[i].amplitude = (int) ((mb_s_char) line[17] + 128); #ifndef BYTESWAPPED short_ptr = (short *) &line[18]; data->beams[i].time_offset = (unsigned short) *short_ptr; short_ptr = (short *) &line[20]; data->beams[i].heave = (short) *short_ptr; short_ptr = (short *) &line[22]; data->beams[i].roll = (short) *short_ptr; short_ptr = (short *) &line[24]; data->beams[i].pitch = (short) *short_ptr; short_ptr = (short *) &line[26]; data->beams[i].angle = (short) *short_ptr; #else short_ptr = (short *) &line[18]; data->beams[i].time_offset = (unsigned short) mb_swap_short(*short_ptr); short_ptr = (short *) &line[20]; data->beams[i].heave = (short) mb_swap_short(*short_ptr); short_ptr = (short *) &line[22]; data->beams[i].roll = (short) mb_swap_short(*short_ptr); short_ptr = (short *) &line[24]; data->beams[i].pitch = (short) mb_swap_short(*short_ptr); short_ptr = (short *) &line[26]; data->beams[i].angle = (short) mb_swap_short(*short_ptr); #endif } /* print debug statements */ if (status == MB_SUCCESS && verbose >= 5) { fprintf(stderr,"\ndbg5 beam: %d\n", i); fprintf(stderr,"dbg5 bath: %d\n", data->beams[i].bath); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->beams[i].bath_acrosstrack); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->beams[i].bath_alongtrack); fprintf(stderr,"dbg5 tt: %d\n", data->beams[i].tt); fprintf(stderr,"dbg5 quality: %d\n", data->beams[i].quality); fprintf(stderr,"dbg5 amplitude: %d\n", data->beams[i].amplitude); fprintf(stderr,"dbg5 time_offset: %d\n", data->beams[i].time_offset); fprintf(stderr,"dbg5 heave: %d\n", data->beams[i].heave); fprintf(stderr,"dbg5 roll: %d\n", data->beams[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->beams[i].pitch); fprintf(stderr,"dbg5 angle: %d\n", data->beams[i].angle); } } } /* read end of record into char array */ status = fread(line,1,3,mbfp); if (status == 3) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_data(int verbose, void *mbio_ptr, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_elmk2unb_struct *data; FILE *mbfp; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; mbfp = mb_io_ptr->mbfp; if (data->kind == MB_DATA_COMMENT) { status = mbr_elmk2unb_wr_comment(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_PARAMETER) { status = mbr_elmk2unb_wr_parameter(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_NAV) { status = mbr_elmk2unb_wr_pos(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_VELOCITY_PROFILE) { status = mbr_elmk2unb_wr_svp(verbose,mbfp,data,error); } else if (data->kind == MB_DATA_DATA) { status = mbr_elmk2unb_wr_bathgen(verbose,mbfp,data,error); } else { status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",data->kind); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_comment(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_comment"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; char line[ELACMK2_COMMENT_SIZE+3]; short int label; int len; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->comment); } /* write the record label */ label = ELACMK2_COMMENT; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ len = strlen(data->comment); if (len > MBSYS_ELACMK2_COMMENT_LENGTH) len = MBSYS_ELACMK2_COMMENT_LENGTH; for (i=0;icomment[i]; for (i=len;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_parameter(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_parameter"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; char line[ELACMK2_PARAMETER_SIZE+3]; short int label; short int *short_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->par_year); fprintf(stderr,"dbg5 month: %d\n",data->par_month); fprintf(stderr,"dbg5 day: %d\n",data->par_day); fprintf(stderr,"dbg5 hour: %d\n",data->par_hour); fprintf(stderr,"dbg5 minute: %d\n",data->par_minute); fprintf(stderr,"dbg5 sec: %d\n",data->par_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->par_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->par_thousandth_sec); fprintf(stderr,"dbg5 roll_offset: %d\n",data->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %d\n",data->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %d\n",data->heading_offset); fprintf(stderr,"dbg5 time_delay: %d\n",data->time_delay); fprintf(stderr,"dbg5 transducer_port_height: %d\n", data->transducer_port_height); fprintf(stderr,"dbg5 transducer_starboard_height:%d\n", data->transducer_starboard_height); fprintf(stderr,"dbg5 transducer_port_depth: %d\n", data->transducer_port_depth); fprintf(stderr,"dbg5 transducer_starboard_depth: %d\n", data->transducer_starboard_depth); fprintf(stderr,"dbg5 transducer_port_x: %d\n", data->transducer_port_x); fprintf(stderr,"dbg5 transducer_starboard_x: %d\n", data->transducer_starboard_x); fprintf(stderr,"dbg5 transducer_port_y: %d\n", data->transducer_port_y); fprintf(stderr,"dbg5 transducer_starboard_y: %d\n", data->transducer_starboard_y); fprintf(stderr,"dbg5 transducer_port_error: %d\n", data->transducer_port_error); fprintf(stderr,"dbg5 transducer_starboard_error: %d\n", data->transducer_starboard_error); fprintf(stderr,"dbg5 antenna_height: %d\n",data->antenna_height); fprintf(stderr,"dbg5 antenna_x: %d\n",data->antenna_x); fprintf(stderr,"dbg5 antenna_y: %d\n",data->antenna_y); fprintf(stderr,"dbg5 vru_height:%d\n",data->vru_height); fprintf(stderr,"dbg5 vru_x:%d\n",data->vru_x); fprintf(stderr,"dbg5 vru_y:%d\n",data->vru_y); fprintf(stderr,"dbg5 line_number:%d\n",data->line_number); fprintf(stderr,"dbg5 start_or_stop:%d\n",data->start_or_stop); fprintf(stderr,"dbg5 transducer_serial_number:%d\n", data->transducer_serial_number); } /* write the record label */ label = ELACMK2_PARAMETER; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->par_day; line[1] = (char) data->par_month; line[2] = (char) data->par_year; line[3] = (char) data->par_hour; line[4] = (char) data->par_minute; line[5] = (char) data->par_second; line[6] = (char) data->par_hundredth_sec; line[7] = (char) data->par_thousandth_sec; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; *short_ptr = data->roll_offset; short_ptr = (short int *) &line[10]; *short_ptr = data->pitch_offset; short_ptr = (short int *) &line[12]; *short_ptr = data->heading_offset; short_ptr = (short int *) &line[14]; *short_ptr = data->time_delay; short_ptr = (short int *) &line[16]; *short_ptr = data->transducer_port_height; short_ptr = (short int *) &line[18]; *short_ptr = data->transducer_starboard_height; short_ptr = (short int *) &line[20]; *short_ptr = data->transducer_port_depth; short_ptr = (short int *) &line[22]; *short_ptr = data->transducer_starboard_depth; short_ptr = (short int *) &line[24]; *short_ptr = data->transducer_port_x; short_ptr = (short int *) &line[26]; *short_ptr = data->transducer_starboard_x; short_ptr = (short int *) &line[28]; *short_ptr = data->transducer_port_y; short_ptr = (short int *) &line[30]; *short_ptr = data->transducer_starboard_y; short_ptr = (short int *) &line[32]; *short_ptr = data->transducer_port_error; short_ptr = (short int *) &line[34]; *short_ptr = data->transducer_starboard_error; short_ptr = (short int *) &line[36]; *short_ptr = data->antenna_height; short_ptr = (short int *) &line[38]; *short_ptr = data->antenna_x; short_ptr = (short int *) &line[40]; *short_ptr = data->antenna_y; short_ptr = (short int *) &line[42]; *short_ptr = data->vru_height; short_ptr = (short int *) &line[44]; *short_ptr = data->vru_x; short_ptr = (short int *) &line[46]; *short_ptr = data->vru_y; short_ptr = (short int *) &line[48]; *short_ptr = data->line_number; short_ptr = (short int *) &line[50]; *short_ptr = data->start_or_stop; short_ptr = (short int *) &line[52]; *short_ptr = data->transducer_serial_number; #else short_ptr = (short int *) &line[8]; *short_ptr = (short int) mb_swap_short(data->roll_offset); short_ptr = (short int *) &line[10]; *short_ptr = (short int) mb_swap_short(data->pitch_offset); short_ptr = (short int *) &line[12]; *short_ptr = (short int) mb_swap_short(data->heading_offset); short_ptr = (short int *) &line[14]; *short_ptr = (short int) mb_swap_short(data->time_delay); short_ptr = (short int *) &line[16]; *short_ptr = (short int) mb_swap_short(data->transducer_port_height); short_ptr = (short int *) &line[18]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_height); short_ptr = (short int *) &line[20]; *short_ptr = (short int) mb_swap_short(data->transducer_port_depth); short_ptr = (short int *) &line[22]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_depth); short_ptr = (short int *) &line[24]; *short_ptr = (short int) mb_swap_short(data->transducer_port_x); short_ptr = (short int *) &line[26]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_x); short_ptr = (short int *) &line[28]; *short_ptr = (short int) mb_swap_short(data->transducer_port_y); short_ptr = (short int *) &line[30]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_y); short_ptr = (short int *) &line[32]; *short_ptr = (short int) mb_swap_short(data->transducer_port_error); short_ptr = (short int *) &line[34]; *short_ptr = (short int) mb_swap_short(data->transducer_starboard_error); short_ptr = (short int *) &line[36]; *short_ptr = (short int) mb_swap_short(data->antenna_height); short_ptr = (short int *) &line[38]; *short_ptr = (short int) mb_swap_short(data->antenna_x); short_ptr = (short int *) &line[40]; *short_ptr = (short int) mb_swap_short(data->antenna_y); short_ptr = (short int *) &line[42]; *short_ptr = (short int) mb_swap_short(data->vru_height); short_ptr = (short int *) &line[44]; *short_ptr = (short int) mb_swap_short(data->vru_x); short_ptr = (short int *) &line[46]; *short_ptr = (short int) mb_swap_short(data->vru_y); short_ptr = (short int *) &line[48]; *short_ptr = (short int) mb_swap_short(data->line_number); short_ptr = (short int *) &line[50]; *short_ptr = (short int) mb_swap_short(data->start_or_stop); short_ptr = (short int *) &line[52]; *short_ptr = (short int) mb_swap_short(data->transducer_serial_number); #endif line[ELACMK2_PARAMETER_SIZE] = 0x03; line[ELACMK2_PARAMETER_SIZE+1] = '\0'; line[ELACMK2_PARAMETER_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELACMK2_PARAMETER_SIZE+3,mbfp); if (status != ELACMK2_PARAMETER_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_pos(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_pos"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; char line[ELACMK2_POS_SIZE+3]; short int label; short int *short_ptr; int *int_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->pos_year); fprintf(stderr,"dbg5 month: %d\n",data->pos_month); fprintf(stderr,"dbg5 day: %d\n",data->pos_day); fprintf(stderr,"dbg5 hour: %d\n",data->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",data->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",data->pos_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->pos_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->pos_thousandth_sec); fprintf(stderr,"dbg5 pos_latitude: %d\n",data->pos_latitude); fprintf(stderr,"dbg5 pos_longitude: %d\n",data->pos_longitude); fprintf(stderr,"dbg5 utm_northing: %d\n",data->utm_northing); fprintf(stderr,"dbg5 utm_easting: %d\n",data->utm_easting); fprintf(stderr,"dbg5 utm_zone_lon: %d\n",data->utm_zone_lon); fprintf(stderr,"dbg5 utm_zone: %c\n",data->utm_zone); fprintf(stderr,"dbg5 hemisphere: %c\n",data->hemisphere); fprintf(stderr,"dbg5 ellipsoid: %c\n",data->ellipsoid); fprintf(stderr,"dbg5 pos_spare: %c\n",data->pos_spare); fprintf(stderr,"dbg5 semi_major_axis: %d\n",data->semi_major_axis); fprintf(stderr,"dbg5 other_quality: %d\n",data->other_quality); } /* write the record label */ label = ELACMK2_POS; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->pos_day; line[1] = (char) data->pos_month; line[2] = (char) data->pos_year; line[3] = (char) data->pos_hour; line[4] = (char) data->pos_minute; line[5] = (char) data->pos_second; line[6] = (char) data->pos_hundredth_sec; line[7] = (char) data->pos_thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; *int_ptr = data->pos_latitude; int_ptr = (int *) &line[12]; *int_ptr = data->pos_longitude; int_ptr = (int *) &line[16]; *int_ptr = data->utm_northing; int_ptr = (int *) &line[20]; *int_ptr = data->utm_easting; int_ptr = (int *) &line[24]; *int_ptr = data->utm_zone_lon; line[28] = data->utm_zone; line[29] = data->hemisphere; line[30] = data->ellipsoid; line[31] = data->pos_spare; short_ptr = (short int *) &line[32]; *short_ptr = (short int) data->semi_major_axis; short_ptr = (short int *) &line[34]; *short_ptr = (short int) data->other_quality; #else int_ptr = (int *) &line[8]; *int_ptr = (int) mb_swap_int(data->pos_latitude); int_ptr = (int *) &line[12]; *int_ptr = (int) mb_swap_int(data->pos_longitude); int_ptr = (int *) &line[16]; *int_ptr = (int) mb_swap_int(data->utm_northing); int_ptr = (int *) &line[20]; *int_ptr = (int) mb_swap_int(data->utm_easting); int_ptr = (int *) &line[24]; *int_ptr = (int) mb_swap_int(data->utm_zone_lon); line[28] = data->utm_zone; line[29] = data->hemisphere; line[30] = data->ellipsoid; line[31] = data->pos_spare; short_ptr = (short int *) &line[32]; *short_ptr = (int) mb_swap_short(data->semi_major_axis); short_ptr = (short int *) &line[34]; *short_ptr = (int) mb_swap_short(data->other_quality); #endif line[ELACMK2_POS_SIZE] = 0x03; line[ELACMK2_POS_SIZE+1] = '\0'; line[ELACMK2_POS_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELACMK2_POS_SIZE+3,mbfp); if (status != ELACMK2_POS_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_svp(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_svp"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; char line[ELACMK2_SVP_SIZE+3]; short int label; short int *short_ptr; short int *short_ptr2; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",data->svp_year); fprintf(stderr,"dbg5 month: %d\n",data->svp_month); fprintf(stderr,"dbg5 day: %d\n",data->svp_day); fprintf(stderr,"dbg5 hour: %d\n",data->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",data->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",data->svp_second); fprintf(stderr,"dbg5 hundredth_sec: %d\n",data->svp_hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n",data->svp_thousandth_sec); fprintf(stderr,"dbg5 svp_latitude: %d\n",data->svp_latitude); fprintf(stderr,"dbg5 svp_longitude: %d\n",data->svp_longitude); fprintf(stderr,"dbg5 svp_num: %d\n",data->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", data->svp_depth[i],data->svp_vel[i]); } /* write the record label */ label = ELACMK2_SVP; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->svp_day; line[1] = (char) data->svp_month; line[2] = (char) data->svp_year; line[3] = (char) data->svp_hour; line[4] = (char) data->svp_minute; line[5] = (char) data->svp_second; line[6] = (char) data->svp_hundredth_sec; line[7] = (char) data->svp_thousandth_sec; #ifndef BYTESWAPPED int_ptr = (int *) &line[8]; *int_ptr = data->svp_latitude; int_ptr = (int *) &line[12]; *int_ptr = data->svp_longitude; #else int_ptr = (int *) &line[8]; *int_ptr = (int) mb_swap_int(data->svp_latitude); int_ptr = (int *) &line[12]; *int_ptr = (int) mb_swap_int(data->svp_longitude); #endif for (i=0;isvp_num;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; #ifndef BYTESWAPPED *short_ptr = (short int) data->svp_depth[i]; *short_ptr2 = (short int) data->svp_vel[i]; #else *short_ptr = (short int) mb_swap_short((short int)data->svp_depth[i]); *short_ptr2 = (short int) mb_swap_short((short int)data->svp_vel[i]); #endif } for (i=data->svp_num;i<500;i++) { short_ptr = (short int *) &line[16+4*i]; short_ptr2 = (short int *) &line[18+4*i]; *short_ptr = 0; *short_ptr2 = 0; } line[ELACMK2_SVP_SIZE] = 0x03; line[ELACMK2_SVP_SIZE+1] = '\0'; line[ELACMK2_SVP_SIZE+2] = '\0'; /* write out data */ status = fwrite(line,1,ELACMK2_SVP_SIZE+3,mbfp); if (status != ELACMK2_SVP_SIZE+3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_elmk2unb_wr_bathgen(int verbose, FILE *mbfp, void *data_ptr, int *error) { char *function_name = "mbr_elmk2unb_wr_bathgen"; int status = MB_SUCCESS; struct mbf_elmk2unb_struct *data; char line[ELACMK2_COMMENT_SIZE]; short int label; short int *short_ptr; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to raw data structure */ data = (struct mbf_elmk2unb_struct *) data_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n", data->year); fprintf(stderr,"dbg5 month: %d\n", data->month); fprintf(stderr,"dbg5 day: %d\n", data->day); fprintf(stderr,"dbg5 hour: %d\n", data->hour); fprintf(stderr,"dbg5 minute: %d\n", data->minute); fprintf(stderr,"dbg5 sec: %d\n", data->second); fprintf(stderr,"dbg5 hundredth_sec: %d\n", data->hundredth_sec); fprintf(stderr,"dbg5 thousandth_sec: %d\n", data->thousandth_sec); fprintf(stderr,"dbg5 ping_num: %d\n",data->ping_num); fprintf(stderr,"dbg5 sound_vel: %d\n",data->sound_vel); fprintf(stderr,"dbg5 heading: %d\n",data->heading); fprintf(stderr,"dbg5 pulse_length: %d\n", data->pulse_length); fprintf(stderr,"dbg5 mode: %d\n",data->mode); fprintf(stderr,"dbg5 source_power: %d\n", data->source_power); fprintf(stderr,"dbg5 receiver_gain_stbd:%d\n", data->receiver_gain_stbd); fprintf(stderr,"dbg5 receiver_gain_port:%d\n", data->receiver_gain_port); fprintf(stderr,"dbg5 reserved: %d\n", data->reserved); fprintf(stderr,"dbg5 beams_bath: %d\n", data->beams_bath); for (i=0;ibeams_bath;i++) { fprintf(stderr,"\ndbg5 beam: %d\n", i); fprintf(stderr,"dbg5 bath: %d\n", data->beams[i].bath); fprintf(stderr,"dbg5 bath_acrosstrack: %d\n", data->beams[i].bath_acrosstrack); fprintf(stderr,"dbg5 bath_alongtrack: %d\n", data->beams[i].bath_alongtrack); fprintf(stderr,"dbg5 tt: %d\n", data->beams[i].tt); fprintf(stderr,"dbg5 quality: %d\n", data->beams[i].quality); fprintf(stderr,"dbg5 amplitude: %d\n", data->beams[i].amplitude); fprintf(stderr,"dbg5 time_offset: %d\n", data->beams[i].time_offset); fprintf(stderr,"dbg5 heave: %d\n", data->beams[i].heave); fprintf(stderr,"dbg5 roll: %d\n", data->beams[i].roll); fprintf(stderr,"dbg5 pitch: %d\n", data->beams[i].pitch); fprintf(stderr,"dbg5 angle: %d\n", data->beams[i].angle); } } /* write the record label */ label = ELACMK2_BATHGEN; #ifdef BYTESWAPPED label = (short) mb_swap_short(label); #endif status = fwrite(&label,1,2,mbfp); if (status != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the header data */ if (status == MB_SUCCESS) { /* construct record */ line[0] = (char) data->day; line[1] = (char) data->month; line[2] = (char) data->year; line[3] = (char) data->hour; line[4] = (char) data->minute; line[5] = (char) data->second; line[6] = (char) data->hundredth_sec; line[7] = (char) data->thousandth_sec; #ifndef BYTESWAPPED short_ptr = (short int *) &line[8]; *short_ptr = (unsigned short) data->ping_num; short_ptr = (short int *) &line[10]; *short_ptr = (unsigned short) data->sound_vel; short_ptr = (short int *) &line[12]; *short_ptr = (unsigned short) data->heading; short_ptr = (short int *) &line[14]; *short_ptr = (unsigned short) data->pulse_length; #else short_ptr = (short int *) &line[8]; *short_ptr = (unsigned short) mb_swap_short( (unsigned short) data->ping_num); short_ptr = (short int *) &line[10]; *short_ptr = (unsigned short) mb_swap_short( (unsigned short) data->sound_vel); short_ptr = (short int *) &line[12]; *short_ptr = (unsigned short) mb_swap_short( (unsigned short) data->heading); short_ptr = (short int *) &line[14]; *short_ptr = (unsigned short) mb_swap_short( (unsigned short) data->pulse_length); #endif line[16] = (char) data->mode; line[17] = (char) data->source_power; line[18] = (char) data->receiver_gain_stbd; line[19] = (char) data->receiver_gain_port; #ifndef BYTESWAPPED short_ptr = (short int *) &line[20]; *short_ptr = (short int) data->reserved; short_ptr = (short int *) &line[22]; *short_ptr = (short int) data->beams_bath; #else short_ptr = (short int *) &line[20]; *short_ptr = (short int) mb_swap_short((short int) data->reserved); short_ptr = (short int *) &line[22]; *short_ptr = (short int) mb_swap_short((short int) data->beams_bath); #endif /* write out data */ status = fwrite(line,1,ELACMK2_BATHGEN_HDR_SIZE,mbfp); if (status != ELACMK2_BATHGEN_HDR_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* write out the beam data */ if (status == MB_SUCCESS) { for (i=0;ibeams_bath;i++) { #ifndef BYTESWAPPED int_ptr = (int *) &line[0]; *int_ptr = (unsigned int) data->beams[i].bath; int_ptr = (int *) &line[4]; *int_ptr = (int) data->beams[i].bath_acrosstrack; int_ptr = (int *) &line[8]; *int_ptr = (int) data->beams[i].bath_alongtrack; int_ptr = (int *) &line[12]; *int_ptr = (unsigned int) data->beams[i].tt; #else int_ptr = (int *) &line[0]; *int_ptr = (unsigned int) mb_swap_int(data->beams[i].bath); int_ptr = (int *) &line[4]; *int_ptr = (int) mb_swap_int(data->beams[i].bath_acrosstrack); int_ptr = (int *) &line[8]; *int_ptr = (int) mb_swap_int(data->beams[i].bath_alongtrack); int_ptr = (int *) &line[12]; *int_ptr = (unsigned int) mb_swap_int(data->beams[i].tt); #endif line[16] = data->beams[i].quality; line[17] = (char) ((mb_s_char) (data->beams[i].amplitude - 128)); #ifndef BYTESWAPPED short_ptr = (short *) &line[18]; *short_ptr = (unsigned short) data->beams[i].time_offset; short_ptr = (short *) &line[20]; *short_ptr = (short) data->beams[i].heave; short_ptr = (short *) &line[22]; *short_ptr = (short) data->beams[i].roll; short_ptr = (short *) &line[24]; *short_ptr = (short) data->beams[i].pitch; short_ptr = (short *) &line[26]; *short_ptr = (short) data->beams[i].angle; #else short_ptr = (short *) &line[18]; *short_ptr = (unsigned short) mb_swap_short(data->beams[i].time_offset); short_ptr = (short *) &line[20]; *short_ptr = (short) mb_swap_short(data->beams[i].heave); short_ptr = (short *) &line[22]; *short_ptr = (short) mb_swap_short(data->beams[i].roll); short_ptr = (short *) &line[24]; *short_ptr = (short) mb_swap_short(data->beams[i].pitch); short_ptr = (short *) &line[26]; *short_ptr = (short) mb_swap_short(data->beams[i].angle); #endif /* write out data */ status = fwrite(line,1,ELACMK2_BATHGEN_BEAM_SIZE,mbfp); if (status != ELACMK2_BATHGEN_BEAM_SIZE) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } } /* write out the eor data */ if (status == MB_SUCCESS) { line[0] = 0x03; line[1] = '\0'; line[2] = '\0'; /* write out data */ status = fwrite(line,1,3,mbfp); if (status != 3) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } else { *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/